urtware / inc / urt_basesubscriber.h @ 982056f7
History | View | Annotate | Download (3.127 KB)
1 | 982056f7 | Svenja | /*
|
---|---|---|---|
2 | µRtWare is a lightweight publish/subscribe middleware for real-time
|
||
3 | applications. It was developed as part of the software habitat for the
|
||
4 | Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
|
||
5 | |||
6 | Copyright (C) 2018..2020 Thomas Schöpping et al.
|
||
7 | |||
8 | This program is free software: you can redistribute it and/or modify
|
||
9 | it under the terms of the GNU General Public License as published by
|
||
10 | the Free Software Foundation, either version 3 of the License, or
|
||
11 | (at your option) any later version.
|
||
12 | |||
13 | This program is distributed in the hope that it will be useful,
|
||
14 | but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
15 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||
16 | GNU General Public License for more details.
|
||
17 | |||
18 | You should have received a copy of the GNU General Public License
|
||
19 | along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||
20 | */
|
||
21 | |||
22 | #ifndef URTWARE_BASESUBSCRIBER_H
|
||
23 | #define URTWARE_BASESUBSCRIBER_H
|
||
24 | |||
25 | #include <urt_osal.h> |
||
26 | #include <urt_confcheck.h> |
||
27 | |||
28 | /******************************************************************************/
|
||
29 | /* CONSTANTS */
|
||
30 | /******************************************************************************/
|
||
31 | |||
32 | /******************************************************************************/
|
||
33 | /* SETTINGS */
|
||
34 | /******************************************************************************/
|
||
35 | |||
36 | /******************************************************************************/
|
||
37 | /* CHECKS */
|
||
38 | /******************************************************************************/
|
||
39 | |||
40 | /******************************************************************************/
|
||
41 | /* DATA STRUCTURES AND TYPES */
|
||
42 | /******************************************************************************/
|
||
43 | |||
44 | struct urt_topic;
|
||
45 | |||
46 | /**
|
||
47 | * @brief Base subscriber
|
||
48 | * @details The base subscriber is included in each specialized subscriber
|
||
49 | */
|
||
50 | typedef struct urt_basesubscriber |
||
51 | { |
||
52 | struct urt_topic* topic;
|
||
53 | urt_osEventListener_t evtListener; |
||
54 | urt_message_t* lastMessage; |
||
55 | urt_osTime_t lastMessageTime; |
||
56 | #if (URT_CFG_PUBSUB_PROFILING)
|
||
57 | uint64_t sumLatencies; |
||
58 | uint64_t numMessagesReceived; |
||
59 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
||
60 | }urt_basesubscriber_t; |
||
61 | |||
62 | /******************************************************************************/
|
||
63 | /* MACROS */
|
||
64 | /******************************************************************************/
|
||
65 | |||
66 | /******************************************************************************/
|
||
67 | /* EXTERN DECLARATIONS */
|
||
68 | /******************************************************************************/
|
||
69 | |||
70 | /******************************************************************************/
|
||
71 | /* INLINE FUNCTIONS */
|
||
72 | /******************************************************************************/
|
||
73 | |||
74 | #endif /* URTWARE_BASESUBSCRIBER_H */ |