urtware / inc / urt_subscriber.h @ 982056f7
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1 | 1fb06240 | skenneweg | /*
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2 | µRtWare is a lightweight publish/subscribe middleware for real-time
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3 | applications. It was developed as part of the software habitat for the
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4 | Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
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5 | |||
6 | Copyright (C) 2018..2020 Thomas Schöpping et al.
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7 | |||
8 | This program is free software: you can redistribute it and/or modify
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9 | it under the terms of the GNU General Public License as published by
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10 | the Free Software Foundation, either version 3 of the License, or
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11 | (at your option) any later version.
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12 | |||
13 | This program is distributed in the hope that it will be useful,
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14 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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15 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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16 | GNU General Public License for more details.
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17 | |||
18 | You should have received a copy of the GNU General Public License
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19 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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20 | */
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21 | |||
22 | #ifndef URTWARE_SUBSCRIBER_H
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23 | #define URTWARE_SUBSCRIBER_H
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24 | |||
25 | 7d9678db | skenneweg | #include <urtware.h> |
26 | 982056f7 | Svenja | #include <urt_basesubscriber.h> |
27 | 1fb06240 | skenneweg | |
28 | /******************************************************************************/
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29 | /* CONSTANTS */
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30 | /******************************************************************************/
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31 | |||
32 | /******************************************************************************/
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33 | /* SETTINGS */
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34 | /******************************************************************************/
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35 | |||
36 | /******************************************************************************/
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37 | /* CHECKS */
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38 | /******************************************************************************/
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39 | |||
40 | /******************************************************************************/
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41 | /* DATA STRUCTURES AND TYPES */
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42 | /******************************************************************************/
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43 | |||
44 | /**
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45 | * @brief nrt subscriber
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46 | */
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47 | typedef struct urt_nrtsubscriber |
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48 | { |
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49 | cd21e832 | skenneweg | urt_basesubscriber_t base; |
50 | #if (URT_CFG_PUBSUB_PROFILING)
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51 | urt_delay_t minLatency; |
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52 | urt_delay_t maxLatency; |
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53 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
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54 | 1fb06240 | skenneweg | }urt_nrtsubscriber_t; |
55 | |||
56 | /**
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57 | 5c6cb22f | skenneweg | * @brief srt subscriber
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58 | 1fb06240 | skenneweg | */
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59 | typedef struct urt_srtsubscriber |
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60 | { |
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61 | cd21e832 | skenneweg | urt_basesubscriber_t base; |
62 | 5c6cb22f | skenneweg | void* cbparams;
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63 | urt_usefulness_f* usefulnesscb; |
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64 | cd21e832 | skenneweg | #if (URT_CFG_PUBSUB_PROFILING)
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65 | urt_delay_t minLatency; |
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66 | urt_delay_t maxLatency; |
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67 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
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68 | 1fb06240 | skenneweg | }urt_srtsubscriber_t; |
69 | |||
70 | /**
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71 | 5c6cb22f | skenneweg | * @brief frt subscriber
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72 | 1fb06240 | skenneweg | */
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73 | typedef struct urt_frtsubscriber |
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74 | { |
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75 | cd21e832 | skenneweg | urt_basesubscriber_t base; |
76 | #if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS)
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77 | urt_delay_t deadlineOffset; |
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78 | #endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
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79 | #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS)
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80 | urt_delay_t maxJitter; |
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81 | #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
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82 | #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING)
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83 | urt_delay_t minLatency; |
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84 | urt_delay_t maxLatency; |
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85 | #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
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86 | 1fb06240 | skenneweg | }urt_frtsubscriber_t; |
87 | |||
88 | /**
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89 | * @brief nrt subscriber
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90 | */
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91 | typedef struct urt_hrtsubscriber |
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92 | { |
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93 | cd21e832 | skenneweg | urt_basesubscriber_t base; |
94 | 5c6cb22f | skenneweg | struct urt_hrtsubscriber* next;
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95 | cd21e832 | skenneweg | #if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS)
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96 | urt_delay_t deadlineOffset; |
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97 | urt_osTimer_t qosDeadlineTimer; |
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98 | #endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
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99 | #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS)
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100 | urt_delay_t maxJitter; |
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101 | #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
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102 | #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING)
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103 | urt_delay_t minLatency; |
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104 | urt_delay_t maxLatency; |
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105 | #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
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106 | #if (URT_CFG_PUBSUB_QOS_RATECHECKS)
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107 | urt_delay_t expectedRate; |
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108 | #endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
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109 | 1fb06240 | skenneweg | }urt_hrtsubscriber_t; |
110 | |||
111 | /******************************************************************************/
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112 | /* MACROS */
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113 | /******************************************************************************/
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114 | |||
115 | /******************************************************************************/
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116 | /* EXTERN DECLARATIONS */
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117 | /******************************************************************************/
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118 | |||
119 | #if defined(__cplusplus)
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120 | extern "C" { |
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121 | #endif /* defined(__cplusplus) */ |
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122 | |||
123 | cd21e832 | skenneweg | void urtNrtSubscriberInit(urt_nrtsubscriber_t* subscriber);
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124 | urt_status_t urtNrtSubscriberSubscribe(urt_nrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages); |
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125 | urt_status_t urtNrtSubscriberFetchNextMessage(urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
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126 | urt_status_t urtNrtSubscriberFetchLatestMessage(urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
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127 | urt_status_t urtNrtSubscriberUnsubscribe(urt_nrtsubscriber_t* subscriber); |
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128 | |||
129 | void urtSrtSubscriberInit(urt_srtsubscriber_t* subscriber);
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130 | a5e142de | skenneweg | urt_status_t urtSrtSubscriberSubscribe(urt_srtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages, urt_usefulness_f* usefulnesscb, void* cbparams);
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131 | cd21e832 | skenneweg | urt_status_t urtSrtSubscriberFetchNextMessage(urt_srtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
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132 | urt_status_t urtSrtSubscriberFetchLatestMessage(urt_srtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
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133 | 5198dfae | skenneweg | float urtSrtSubscriberCalculateUsefulness(urt_srtsubscriber_t* subscriber, urt_delay_t latency);
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134 | cd21e832 | skenneweg | urt_status_t urtSrtSubscriberUnsubscribe(urt_srtsubscriber_t* subscriber); |
135 | |||
136 | void urtFrtSubscriberInit(urt_frtsubscriber_t* subscriber);
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137 | urt_status_t urtFrtSubscriberSubscribe(urt_frtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages, urt_delay_t deadline, urt_delay_t jitter); |
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138 | urt_status_t urtFrtSubscriberFetchNextMessage(urt_frtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
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139 | urt_status_t urtFrtSubscriberFetchLatestMessage(urt_frtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
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140 | bool urtFrtSubscriberCalculateValidity(urt_frtsubscriber_t* subscriber, urt_delay_t latency);
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141 | urt_status_t urtFrtSubscriberUnsubscribe(urt_frtsubscriber_t* subscriber); |
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142 | |||
143 | void urtHrtSubscriberInit(urt_hrtsubscriber_t* subscriber);
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144 | 5b7188aa | skenneweg | urt_status_t urtHrtSubscriberSubscribe(urt_hrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages, urt_delay_t deadline, urt_delay_t rate, urt_delay_t jitter); |
145 | cd21e832 | skenneweg | urt_status_t urtHrtSubscriberFetchNextMessage(urt_hrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
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146 | urt_status_t urtHrtSubscriberFetchLatestMessage(urt_hrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
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147 | urt_status_t urtHrtSubscriberUnsubscribe(urt_hrtsubscriber_t* subscriber); |
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148 | 1fb06240 | skenneweg | #if defined(__cplusplus)
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149 | } |
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150 | #endif /* defined(__cplusplus) */ |
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151 | |||
152 | /******************************************************************************/
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153 | /* INLINE FUNCTIONS */
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154 | /******************************************************************************/
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155 | |||
156 | #endif /* URTWARE_SUBSCRIBER_H */ |