urtware / src / urt_subscriber.c @ 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 | 7d9678db | skenneweg | #include <urtware.h> |
| 23 | 982056f7 | Svenja | #include <stdio.h> |
| 24 | 7d9678db | skenneweg | |
| 25 | 1fb06240 | skenneweg | /******************************************************************************/
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| 26 | /* LOCAL DEFINITIONS */
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| 27 | /******************************************************************************/
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| 28 | |||
| 29 | /******************************************************************************/
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| 30 | /* EXPORTED VARIABLES */
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| 31 | /******************************************************************************/
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| 32 | |||
| 33 | /******************************************************************************/
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| 34 | /* LOCAL TYPES */
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| 35 | /******************************************************************************/
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| 36 | |||
| 37 | /******************************************************************************/
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| 38 | /* LOCAL VARIABLES */
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| 39 | /******************************************************************************/
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| 40 | |||
| 41 | /******************************************************************************/
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| 42 | /* LOCAL FUNCTIONS */
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| 43 | /******************************************************************************/
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| 44 | |||
| 45 | 982056f7 | Svenja | void urtFetchMessage (urt_message_t* message, urt_nrtsubscriber_t* subscriber, void* const payload, size_t bytes) |
| 46 | 65dc89cb | skenneweg | {
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| 47 | 982056f7 | Svenja | subscriber->base.lastMessage = message; |
| 48 | *subscriber->base.lastMessageTime = message->originTime; |
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| 49 | memcpy(message->payload, payload, bytes); |
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| 50 | 65dc89cb | skenneweg | } |
| 51 | |||
| 52 | urt_message_t* urtFindOldestMessage(urt_message_t* oldestMessage) |
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| 53 | {
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| 54 | while (oldestMessage->next->originTime < oldestMessage->originTime)
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| 55 | {
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| 56 | oldestMessage = oldestMessage->next; |
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| 57 | } |
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| 58 | return oldestMessage;
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| 59 | } |
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| 60 | |||
| 61 | urt_message_t* urtFindLatestMessage(urt_message_t* latestMessage) |
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| 62 | {
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| 63 | urt_message_t* lastMessage = subscriber->base.lastMessage; |
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| 64 | while (lastMessage->next->originTime < lastMessage->originTime)
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| 65 | {
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| 66 | lastMessage = lastMessage->next; |
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| 67 | #if (URT_CFG_PUBSUB_PROFILING == true) |
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| 68 | subscriber->base.lastMessage->numConsumersLeft--; |
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| 69 | subscriber->base->numMessagesReceived++; |
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| 70 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
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| 71 | } |
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| 72 | } |
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| 73 | |||
| 74 | 982056f7 | Svenja | void urtContributeMessages(urt_message_t* messages)
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| 75 | {
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| 76 | urt_message_t* lastMessageContribute = messages; |
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| 77 | while (lastMessageContribute->next)
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| 78 | {
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| 79 | lastMessageContribute = lastMessageContribute->next; |
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| 80 | } |
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| 81 | lastMessageContribute->next = topic->latestMessage->next; |
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| 82 | topic->latestMessage->next = messages; |
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| 83 | } |
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| 84 | |||
| 85 | 1fb06240 | skenneweg | /******************************************************************************/
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| 86 | /* EXPORTED FUNCTIONS */
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| 87 | /******************************************************************************/
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| 88 | |||
| 89 | 7d9678db | skenneweg | /**
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| 90 | * @brief Initialize the nrt Subscriber.
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| 91 | *
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| 92 | 5198dfae | skenneweg | * @param[in] subscriber The NRT subscriber to initialize. Must not be NULL.
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| 93 | 7d9678db | skenneweg | */
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| 94 | 5c6cb22f | skenneweg | void urtNrtSubscriberInit (urt_nrtsubscriber_t* subscriber)
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| 95 | {
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| 96 | a5e142de | skenneweg | urtDebugAssert(subscriber); |
| 97 | |||
| 98 | 5c6cb22f | skenneweg | subscriber->base.topic = NULL;
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| 99 | urtEventListenerInit(subscriber->base.evtListener); |
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| 100 | subscriber->base.lastMessage = NULL;
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| 101 | subscriber->base.lastMessageTime = 0;
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| 102 | a5e142de | skenneweg | #if (URT_CFG_PUBSUB_PROFILING == true) |
| 103 | 5c6cb22f | skenneweg | subscriber->minLatency = URT_DELAY_INFINITE; |
| 104 | subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
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| 105 | a5e142de | skenneweg | #endif /* URT_CFG_PUBSUB_PROFILING */ |
| 106 | 5c6cb22f | skenneweg | return;
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| 107 | } |
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| 108 | 1fb06240 | skenneweg | |
| 109 | 7d9678db | skenneweg | /**
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| 110 | 5198dfae | skenneweg | * @brief Subscribes the subscriber to a topic.
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| 111 | 7d9678db | skenneweg | *
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| 112 | 5198dfae | skenneweg | * @param[in] subscriber The NRT subscriber which shall subscribe to a topic. Must not be NULL.
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| 113 | * @param[in] topic The topic to subscribe to. Must not be NULL.
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| 114 | * @param[in] messages NULL terminated list of messages to contribute to the topic.
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| 115 | * Messages must not be associated to another topic.
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| 116 | * Once a message has been contributed, it cannot be removed later.
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| 117 | * May be NULL(no messages to contribute).
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| 118 | 7d9678db | skenneweg | *
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| 119 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on success.
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| 120 | * Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
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| 121 | 7d9678db | skenneweg | */
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| 122 | a5e142de | skenneweg | urt_status_t urtNrtSubscriberSubscribe (urt_nrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages) |
| 123 | {
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| 124 | urtDebugAssert(subscriber); |
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| 125 | urtDebugAssert(topic); |
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| 126 | |||
| 127 | 982056f7 | Svenja | if (!subscriber->base.topic) {
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| 128 | return URT_STATUS_SUBSCRIBE_TOPICSET;
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| 129 | } |
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| 130 | a5e142de | skenneweg | |
| 131 | subscriber->base.topic = topic; |
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| 132 | 37cd5dc2 | Svenja | urtMutexLock(topic->lock); |
| 133 | a5e142de | skenneweg | |
| 134 | 982056f7 | Svenja | if (messages) {
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| 135 | urtContributeMessages(messages); |
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| 136 | a5e142de | skenneweg | } |
| 137 | |||
| 138 | subscriber->base.lastMessage = topic->latestMessage; |
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| 139 | subscriber->base.lastMessageTime = topic->latestMessage->originTime; |
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| 140 | |||
| 141 | 8378a78b | Svenja | urtEventRegister(topic->evtSource, subscriber->base.evtListener, subscriber->base.evtListener.events, subscriber->base.evtListener.flags); |
| 142 | a5e142de | skenneweg | |
| 143 | #if (URT_CFG_PUBSUB_PROFILING == true) |
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| 144 | topic->numHrtSubscribers--; |
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| 145 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
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| 146 | |||
| 147 | 37cd5dc2 | Svenja | urtMutexUnlock(topic->lock); |
| 148 | 7d9678db | skenneweg | return URT_STATUS_OK;
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| 149 | 1fb06240 | skenneweg | } |
| 150 | |||
| 151 | 7d9678db | skenneweg | /**
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| 152 | 5198dfae | skenneweg | * @brief Fetches the next message.
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| 153 | 7d9678db | skenneweg | *
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| 154 | 5198dfae | skenneweg | * @param[in] subscriber The NRT subscriber that shall fetch the message. Must not be NULL.
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| 155 | * @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
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| 156 | * @param[in] bytes Payload size in bytes.
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| 157 | * @param[in] latency The latency can be returned by reference. May be NULL.
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| 158 | 7d9678db | skenneweg | *
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| 159 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on success.
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| 160 | * Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
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| 161 | * Retruns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
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| 162 | 7d9678db | skenneweg | */
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| 163 | 982056f7 | Svenja | urt_status_t urtNrtSubscriberFetchNextMessage (urt_nrtsubscriber_t* subscriber, void* const payload, size_t bytes, urt_delay_t* latency) |
| 164 | 65dc89cb | skenneweg | {
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| 165 | a5e142de | skenneweg | urtDebugAssert(subscriber); |
| 166 | 65dc89cb | skenneweg | |
| 167 | 982056f7 | Svenja | if (!subscriber->base.topic) {
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| 168 | return URT_STATUS_FETCH_NOTOPIC;
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| 169 | } |
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| 170 | 65dc89cb | skenneweg | |
| 171 | urtMutexLock(subscriber->base.topic->lock); |
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| 172 | |||
| 173 | 982056f7 | Svenja | urt_message_t* oldestMessage = subscriber->base.lastMessage; |
| 174 | if(oldestMessage->originTime == subscriber->base.lastMessageTime) {
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| 175 | if (subscriber->base.lastMessage->next->originTime > subscriber->base.lastMessageTime) {
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| 176 | 65dc89cb | skenneweg | urtMutexUnlock(subscriber->base.topic->lock); |
| 177 | return URT_STATUS_FETCH_NOMESSAGE;
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| 178 | } |
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| 179 | 982056f7 | Svenja | oldestMessage = oldestMessage->next; |
| 180 | 65dc89cb | skenneweg | } |
| 181 | 982056f7 | Svenja | else {
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| 182 | oldestMessage = urtFindOldestMessage(oldestMessage->next); |
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| 183 | 65dc89cb | skenneweg | } |
| 184 | |||
| 185 | 982056f7 | Svenja | urtFetchMessage(oldestMessage, subscriber, payload, bytes); |
| 186 | |||
| 187 | if (URT_CFG_PUBSUB_PROFILING == true || latency) { |
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| 188 | uint64_t calculatedLatency = urtTimeNow() - oldestMessage->originTime; |
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| 189 | 65dc89cb | skenneweg | |
| 190 | #if(URT_CFG_PUBSUB_PROFILING == true) |
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| 191 | subscriber->base.sumLatencies += calculatedLatency; |
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| 192 | |||
| 193 | 982056f7 | Svenja | if (calculatedLatency < subscriber->minLatency) {
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| 194 | 65dc89cb | skenneweg | subscriber->minLatency = calculatedLatency; |
| 195 | } |
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| 196 | 982056f7 | Svenja | else if (calculatedLatency > subscriber->maxLatency) { |
| 197 | 65dc89cb | skenneweg | subscriber->maxLatency = calculatedLatency; |
| 198 | } |
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| 199 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
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| 200 | 982056f7 | Svenja | |
| 201 | if (latency) {
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| 202 | latency = calculatedLatency; |
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| 203 | } |
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| 204 | 65dc89cb | skenneweg | } |
| 205 | |||
| 206 | #if (URT_CFG_PUBSUB_PROFILING == true) |
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| 207 | subscriber->base.lastMessage->numConsumersLeft--; |
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| 208 | subscriber->base->numMessagesReceived++; |
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| 209 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
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| 210 | |||
| 211 | urtMutexUnlock(subscriber->base.topic->lock); |
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| 212 | 7d9678db | skenneweg | return URT_STATUS_OK;
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| 213 | 1fb06240 | skenneweg | } |
| 214 | |||
| 215 | 7d9678db | skenneweg | /**
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| 216 | a5e142de | skenneweg | * @brief Fetches the latest message.
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| 217 | 7d9678db | skenneweg | *
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| 218 | 5198dfae | skenneweg | * @param[in] subscriber The NRT subscriber that shall fetch the message. Must not be NULL.
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| 219 | * @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
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| 220 | * @param[in] bytes Payload size in bytes.
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| 221 | * @param[in] latency The latency can be returned by reference. May be NULL.
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| 222 | 7d9678db | skenneweg | *
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| 223 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on success.
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| 224 | * Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
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| 225 | * Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
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| 226 | 7d9678db | skenneweg | */
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| 227 | 982056f7 | Svenja | urt_status_t urtNrtSubscriberFetchLatestMessage (urt_nrtsubscriber_t* subscriber, void* const payload, size_t bytes, urt_delay_t* latency) { |
| 228 | 65dc89cb | skenneweg | urtDebugAssert(subscriber); |
| 229 | |||
| 230 | if (!subscriber->base.topic)
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| 231 | return URT_STATUS_FETCH_NOTOPIC;
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| 232 | |||
| 233 | urtMutexLock(subscriber->base.topic->lock); |
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| 234 | urt_message_t* lastMessage = urtFindLatestMessage(subscriber->base.lastMessage); |
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| 235 | |||
| 236 | if (lastMessage->originTime == subscriber->base.lastMessageTime)
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| 237 | {
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| 238 | urtMutexUnlock(subscriber->base.topic->lock); |
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| 239 | return URT_STATUS_FETCH_NOMESSAGE;
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| 240 | } |
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| 241 | |||
| 242 | 982056f7 | Svenja | urtFetchMessage(lastMessage, subscriber, payload, bytes); |
| 243 | |||
| 244 | if (URT_CFG_PUBSUB_PROFILING == true || latency) { |
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| 245 | uint64_t calculatedLatency = urtTimeNow() - lastMessage->originTime; |
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| 246 | 65dc89cb | skenneweg | |
| 247 | #if(URT_CFG_PUBSUB_PROFILING == true) |
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| 248 | subscriber->base.sumLatencies += calculatedLatency; |
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| 249 | |||
| 250 | 982056f7 | Svenja | if (calculatedLatency < subscriber->minLatency) {
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| 251 | 65dc89cb | skenneweg | subscriber->minLatency = calculatedLatency; |
| 252 | } |
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| 253 | 982056f7 | Svenja | else if (calculatedLatency > subscriber->maxLatency) { |
| 254 | 65dc89cb | skenneweg | subscriber->maxLatency = calculatedLatency; |
| 255 | } |
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| 256 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
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| 257 | 982056f7 | Svenja | |
| 258 | if (latency) {
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| 259 | latency = calculatedLatency; |
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| 260 | } |
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| 261 | 65dc89cb | skenneweg | } |
| 262 | |||
| 263 | urtMutexUnlock(subscriber->base.topic->lock); |
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| 264 | 7d9678db | skenneweg | return URT_STATUS_OK;
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| 265 | 1fb06240 | skenneweg | } |
| 266 | |||
| 267 | 7d9678db | skenneweg | /**
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| 268 | 5198dfae | skenneweg | * @brief Unsubscribes from a subscriber.
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| 269 | 7d9678db | skenneweg | *
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| 270 | 5198dfae | skenneweg | * @param[in] subscriber The NRT subscriber to be unsubscribed. Must not be NULL.
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| 271 | 7d9678db | skenneweg | *
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| 272 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on sucess.
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| 273 | * Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
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| 274 | 7d9678db | skenneweg | */
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| 275 | 5b7188aa | skenneweg | urt_status_t urtNrtSubscriberUnsubscribe (urt_nrtsubscriber_t* subscriber) |
| 276 | {
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| 277 | a5e142de | skenneweg | if (subscriber->base.topic)
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| 278 | {
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| 279 | # if(URT_CFG_PUBSUB_PROFILING == true) |
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| 280 | 37cd5dc2 | Svenja | urtMutexLock(topic->lock); |
| 281 | 5b7188aa | skenneweg | subscriber->base.topic->numSubscribers--; |
| 282 | a5e142de | skenneweg | # endif /* URT_CFG_PUBSUB_PROFILING */ |
| 283 | urtEventUnregister(subscriber->base.topic->evtSource, subscriber->base.evtListener); |
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| 284 | # if(URT_CFG_PUBSUB_PROFILING == true) |
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| 285 | 37cd5dc2 | Svenja | urtMutexUnlock(topic->lock); |
| 286 | a5e142de | skenneweg | subscriber->base.topic = NULL;
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| 287 | subscriber->base.lastMessage = NULL;
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| 288 | subscriber->base.lastMessageTime = 0;
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| 289 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
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| 290 | return URT_STATUS_OK;
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| 291 | } |
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| 292 | 5b7188aa | skenneweg | |
| 293 | return URT_STATUS_UNSUBSCRIBE_NOTOPIC;
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| 294 | 1fb06240 | skenneweg | } |
| 295 | |||
| 296 | 7d9678db | skenneweg | |
| 297 | /**
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| 298 | 5198dfae | skenneweg | * @brief Initialize the srt Subscriber.
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| 299 | 7d9678db | skenneweg | *
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| 300 | 5198dfae | skenneweg | * @param[in] subscriber The SRT subscriber to initialize. Must not be NULL.
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| 301 | 7d9678db | skenneweg | */
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| 302 | 5c6cb22f | skenneweg | void urtSrtSubscriberInit(urt_srtsubscriber_t* subscriber)
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| 303 | {
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| 304 | a5e142de | skenneweg | urtDebugAssert(subscriber); |
| 305 | |||
| 306 | 5c6cb22f | skenneweg | subscriber->base.topic = NULL;
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| 307 | urtEventListenerInit(subscriber->base.evtListener); |
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| 308 | subscriber->base.lastMessage = NULL;
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| 309 | subscriber->base.lastMessageTime = 0;
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| 310 | #if (URT_CFG_PUBSUB_PROFILING)
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| 311 | subscriber->base.sumLatencies = 0;
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| 312 | subscriber->base.numMessagesReceived = 0;
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| 313 | subscriber->usefulnesscb = NULL;
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| 314 | subscriber->cbparams = NULL;
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| 315 | subscriber->minLatency = URT_DELAY_INFINITE; |
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| 316 | subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
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| 317 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
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| 318 | return;
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| 319 | } |
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| 320 | 7d9678db | skenneweg | |
| 321 | /**
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| 322 | 5198dfae | skenneweg | * @brief Subscribes the subscriber to a topic.
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| 323 | *
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| 324 | * @param[in] subscriber The SRT subscriber which shall subscribe to a topic. Must not be NULL.
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| 325 | * @param[in] topic The topic to subscribe to. Must not be NULL.
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| 326 | * @param[in] message NULL terminated list of messages to contribute to the topic.
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| 327 | * Messages must not be associated to another topic.
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| 328 | * Once a message has been contributed, it cannot be removed later.
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| 329 | * May be NULL (no messages to contribute)
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| 330 | * @param[in] usefulnesscb Pointer to a function to calculate usefulness of a message. Must not be NULL.
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| 331 | * @param[in] cbparams Optional parameters for the usefulness callback.
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| 332 | * May be NULL if the callback expects no parameters.
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| 333 | *
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| 334 | * @return Returns URT_STATUS_OK on success.
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| 335 | * Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
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| 336 | 7d9678db | skenneweg | */
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| 337 | urt_status_t urtSrtSubscriberSubscribe(urt_srtsubscriber_t* subscriber, urt_topic_t* topic, |
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| 338 | a5e142de | skenneweg | urt_message_t* messages, urt_srtusefulnessfunc_t* usefulnesscb, void* cbparams)
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| 339 | {
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| 340 | urtDebugAssert(subscriber); |
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| 341 | urtDebugAssert(topic); |
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| 342 | |||
| 343 | if (subscriber->base.topic)
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| 344 | {
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| 345 | return URT_STATUS_SUBSCRIBE_TOPICSET;
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| 346 | } |
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| 347 | 5b7188aa | skenneweg | |
| 348 | subscriber->base.topic = topic; |
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| 349 | subscriber->usefulnesscb = usefulnesscb; |
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| 350 | subscriber->cbparams = cbparams; |
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| 351 | a5e142de | skenneweg | # if (URT_CFG_PUBSUB_PROFILING == true) |
| 352 | 5b7188aa | skenneweg | subscriber->base.sumLatencies = 0;
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| 353 | subscriber->base.numMessagesReceived = 0;
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| 354 | subscriber->minLatency = URT_DELAY_INFINITE; |
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| 355 | subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
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| 356 | a5e142de | skenneweg | # endif /* URT_CFG_PUBSUB_PROFILING */ |
| 357 | |||
| 358 | 37cd5dc2 | Svenja | urtMutexLock(topic->lock); |
| 359 | a5e142de | skenneweg | if (messages)
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| 360 | {
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| 361 | 982056f7 | Svenja | urtContributeMessages(messages); |
| 362 | a5e142de | skenneweg | } |
| 363 | |||
| 364 | subscriber->base.lastMessage = topic->latestMessage; |
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| 365 | subscriber->base.lastMessageTime = topic->latestMessage->originTime; |
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| 366 | |||
| 367 | 8378a78b | Svenja | urtEventRegister(topic->evtSource, subscriber->base.evtListener, subscriber->base.evtListener.events, subscriber->base.evtListener.flags); |
| 368 | a5e142de | skenneweg | |
| 369 | # if (URT_CFG_PUBSUB_PROFILING == true) |
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| 370 | topic->numHrtSubscribers--; |
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| 371 | # endif /* URT_CFG_PUBSUB_PROFILING */ |
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| 372 | |||
| 373 | 37cd5dc2 | Svenja | urtMutexUnlock(topic->lock); |
| 374 | a5e142de | skenneweg | return URT_STATUS_OK;
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| 375 | } |
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| 376 | 7d9678db | skenneweg | |
| 377 | /**
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| 378 | 5198dfae | skenneweg | * @brief Fetches the next message.
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| 379 | 7d9678db | skenneweg | *
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| 380 | 5198dfae | skenneweg | * @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
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| 381 | * @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
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| 382 | * @param[in] bytes Payload size in bytes.
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| 383 | * @param[in] latency The latency can be returned by reference. May be NULL.
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| 384 | 7d9678db | skenneweg | *
|
| 385 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on success.
|
| 386 | * Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
||
| 387 | * Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
||
| 388 | 7d9678db | skenneweg | */
|
| 389 | 982056f7 | Svenja | urt_status_t urtSrtSubscriberFetchNextMessage(urt_srtsubscriber_t* subscriber, void* const payload, |
| 390 | 65dc89cb | skenneweg | size_t bytes, urt_delay_t* latency) |
| 391 | {
|
||
| 392 | urtDebugAssert(subscriber); |
||
| 393 | |||
| 394 | if (!subscriber->base.topic)
|
||
| 395 | return URT_STATUS_FETCH_NOTOPIC;
|
||
| 396 | |||
| 397 | urtMutexLock(subscriber->base.topic->lock); |
||
| 398 | |||
| 399 | 982056f7 | Svenja | urt_message_t* oldestMessage = subscriber->base.lastMessage; |
| 400 | if(oldestMessage->originTime == subscriber->base.lastMessageTime)
|
||
| 401 | 65dc89cb | skenneweg | {
|
| 402 | if (subscriber->base.lastMessage->next->originTime > subscriber->base.lastMessageTime)
|
||
| 403 | {
|
||
| 404 | urtMutexUnlock(subscriber->base.topic->lock); |
||
| 405 | return URT_STATUS_FETCH_NOMESSAGE;
|
||
| 406 | } |
||
| 407 | 982056f7 | Svenja | oldestMessage = oldestMessage->next; |
| 408 | 65dc89cb | skenneweg | } |
| 409 | else
|
||
| 410 | {
|
||
| 411 | 982056f7 | Svenja | oldestMessage = urtFindOldestMessage(oldestMessage->next); |
| 412 | 65dc89cb | skenneweg | } |
| 413 | |||
| 414 | 982056f7 | Svenja | urtFetchMessage(oldestMessage, subscriber, payload, bytes); |
| 415 | |||
| 416 | if (URT_CFG_PUBSUB_PROFILING == true || latency) { |
||
| 417 | uint64_t calculatedLatency = urtTimeNow() - oldestMessage->originTime; |
||
| 418 | 65dc89cb | skenneweg | |
| 419 | #if(URT_CFG_PUBSUB_PROFILING == true) |
||
| 420 | subscriber->base.sumLatencies += calculatedLatency; |
||
| 421 | |||
| 422 | 982056f7 | Svenja | if (calculatedLatency < subscriber->minLatency) {
|
| 423 | 65dc89cb | skenneweg | subscriber->minLatency = calculatedLatency; |
| 424 | } |
||
| 425 | 982056f7 | Svenja | else if (calculatedLatency > subscriber->maxLatency) { |
| 426 | 65dc89cb | skenneweg | subscriber->maxLatency = calculatedLatency; |
| 427 | } |
||
| 428 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
||
| 429 | 982056f7 | Svenja | |
| 430 | if (latency) {
|
||
| 431 | latency = calculatedLatency; |
||
| 432 | } |
||
| 433 | 65dc89cb | skenneweg | } |
| 434 | |||
| 435 | #if (URT_CFG_PUBSUB_PROFILING == true) |
||
| 436 | subscriber->base.lastMessage->numConsumersLeft--; |
||
| 437 | subscriber->base->numMessagesReceived++; |
||
| 438 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
||
| 439 | |||
| 440 | urtMutexUnlock(subscriber->base.topic->lock); |
||
| 441 | return URT_STATUS_OK;
|
||
| 442 | } |
||
| 443 | 7d9678db | skenneweg | |
| 444 | /**
|
||
| 445 | 5198dfae | skenneweg | * @brief Fetches the latest message.
|
| 446 | 7d9678db | skenneweg | *
|
| 447 | 5198dfae | skenneweg | * @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
| 448 | * @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
||
| 449 | * @param[in] bytes Payload size in bytes.
|
||
| 450 | * @param[in] latency The latency can be returned by reference. May be NULL.
|
||
| 451 | 7d9678db | skenneweg | *
|
| 452 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on success.
|
| 453 | * Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
||
| 454 | * Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
||
| 455 | 7d9678db | skenneweg | */
|
| 456 | 982056f7 | Svenja | urt_status_t urtSrtSubscriberFetchLatestMessage(urt_srtsubscriber_t* subscriber, void* const payload, |
| 457 | 65dc89cb | skenneweg | size_t bytes, urt_delay_t* latency) |
| 458 | {
|
||
| 459 | urtDebugAssert(subscriber); |
||
| 460 | |||
| 461 | 982056f7 | Svenja | if (!subscriber->base.topic) {
|
| 462 | return URT_STATUS_FETCH_NOTOPIC;
|
||
| 463 | } |
||
| 464 | 65dc89cb | skenneweg | |
| 465 | urtMutexLock(subscriber->base.topic->lock); |
||
| 466 | urt_message_t* lastMessage = urtFindLatestMessage(subscriber->base.lastMessage); |
||
| 467 | |||
| 468 | if (lastMessage->originTime == subscriber->base.lastMessageTime)
|
||
| 469 | {
|
||
| 470 | urtMutexUnlock(subscriber->base.topic->lock); |
||
| 471 | return URT_STATUS_FETCH_NOMESSAGE;
|
||
| 472 | } |
||
| 473 | |||
| 474 | 982056f7 | Svenja | urtFetchMessage(lastMessage, subscriber, payload, bytes); |
| 475 | |||
| 476 | if (URT_CFG_PUBSUB_PROFILING == true || latency) { |
||
| 477 | uint64_t calculatedLatency = urtTimeNow() - lastMessage->originTime; |
||
| 478 | 65dc89cb | skenneweg | |
| 479 | #if(URT_CFG_PUBSUB_PROFILING == true) |
||
| 480 | subscriber->base.sumLatencies += calculatedLatency; |
||
| 481 | |||
| 482 | 982056f7 | Svenja | if (calculatedLatency < subscriber->minLatency) {
|
| 483 | 65dc89cb | skenneweg | subscriber->minLatency = calculatedLatency; |
| 484 | } |
||
| 485 | 982056f7 | Svenja | else if (calculatedLatency > subscriber->maxLatency) { |
| 486 | 65dc89cb | skenneweg | subscriber->maxLatency = calculatedLatency; |
| 487 | } |
||
| 488 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
||
| 489 | 982056f7 | Svenja | |
| 490 | if (latency) {
|
||
| 491 | latency = calculatedLatency; |
||
| 492 | } |
||
| 493 | 65dc89cb | skenneweg | } |
| 494 | |||
| 495 | urtMutexUnlock(subscriber->base.topic->lock); |
||
| 496 | return URT_STATUS_OK;
|
||
| 497 | } |
||
| 498 | 7d9678db | skenneweg | |
| 499 | /**
|
||
| 500 | 5198dfae | skenneweg | * @brief Calculates the usefulness of the subscriber.
|
| 501 | 7d9678db | skenneweg | *
|
| 502 | 5198dfae | skenneweg | * @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
| 503 | * @param[in] latency Latency (of a message) as argument to calculate usefulness.
|
||
| 504 | 7d9678db | skenneweg | *
|
| 505 | 5198dfae | skenneweg | * @return Returns the usefulness as a value within [0,1].
|
| 506 | 7d9678db | skenneweg | */
|
| 507 | a5e142de | skenneweg | float urtSrtSubscriberCalculateUsefulness(urt_srtsubscriber_t* subscriber, urt_delay_t latency)
|
| 508 | {
|
||
| 509 | urtDebugAssert(subscriber); |
||
| 510 | |||
| 511 | return subscriber->usefulnesscb(latency);
|
||
| 512 | } |
||
| 513 | 7d9678db | skenneweg | |
| 514 | /**
|
||
| 515 | 5198dfae | skenneweg | * @brief Unsubscribes from a subscriber.
|
| 516 | 7d9678db | skenneweg | *
|
| 517 | 5198dfae | skenneweg | * @param[in] subscriber The NRT subscriber to be unsubscribed. Must not be NULL.
|
| 518 | 7d9678db | skenneweg | *
|
| 519 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on sucess.
|
| 520 | * Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
|
||
| 521 | 7d9678db | skenneweg | */
|
| 522 | a5e142de | skenneweg | urt_status_t urtSrtSubscriberUnsubscribe(urt_srtsubscriber_t* subscriber) |
| 523 | {
|
||
| 524 | urtDebugAssert(subscriber); |
||
| 525 | |||
| 526 | if (subscriber->base.topic)
|
||
| 527 | {
|
||
| 528 | 5b7188aa | skenneweg | # if (URT_CFG_PUBSUB_PROFILING == true) |
| 529 | 37cd5dc2 | Svenja | urtMutexLock(topic->lock); |
| 530 | 5b7188aa | skenneweg | subscriber->base.topic->numSubscribers--; |
| 531 | # endif /* URT_CFG_PUBSUB_PROFILING */ |
||
| 532 | a5e142de | skenneweg | urtEventUnregister(subscriber->base.topic->evtSource, subscriber->base.evtListener); |
| 533 | # if (URT_CFG_PUBSUB_PROFILING == true) |
||
| 534 | 37cd5dc2 | Svenja | urtMutexUnlock(topic->lock); |
| 535 | a5e142de | skenneweg | # endif /* URT_CFG_PUBSUB_PROFILING */ |
| 536 | subscriber->base.topic = NULL;
|
||
| 537 | subscriber->base.lastMessage = NULL;
|
||
| 538 | subscriber->base.lastMessageTime = 0;
|
||
| 539 | return URT_STATUS_OK;
|
||
| 540 | } |
||
| 541 | |||
| 542 | return URT_STATUS_UNSUBSCRIBE_NOTOPIC;
|
||
| 543 | } |
||
| 544 | 7d9678db | skenneweg | |
| 545 | |||
| 546 | /**
|
||
| 547 | 5198dfae | skenneweg | * @brief Initialize the FRT Subscriber.
|
| 548 | 7d9678db | skenneweg | *
|
| 549 | 5198dfae | skenneweg | * @param[in] subscriber The SRT subscriber to initialize. Must not be NULL.
|
| 550 | 7d9678db | skenneweg | */
|
| 551 | 5c6cb22f | skenneweg | void urtFrtSubscriberInit(urt_frtsubscriber_t* subscriber)
|
| 552 | {
|
||
| 553 | a5e142de | skenneweg | urtDebugAssert(subscriber); |
| 554 | |||
| 555 | 5c6cb22f | skenneweg | subscriber->base.topic = NULL;
|
| 556 | urtEventListenerInit(subscriber->base.evtListener); |
||
| 557 | subscriber->base.lastMessage = NULL;
|
||
| 558 | subscriber->base.lastMessageTime = 0;
|
||
| 559 | |||
| 560 | #if (URT_CFG_PUBSUB_PROFILING)
|
||
| 561 | subscriber->base.sumLatencies = 0;
|
||
| 562 | subscriber->base.numMessagesReceived = 0;
|
||
| 563 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
||
| 564 | |||
| 565 | #if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS)
|
||
| 566 | subscriber->deadlineOffset = 0;
|
||
| 567 | #endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
||
| 568 | |||
| 569 | #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS)
|
||
| 570 | subscriber->maxJitter = 0;
|
||
| 571 | #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
||
| 572 | |||
| 573 | #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING)
|
||
| 574 | subscriber->minLatency = URT_DELAY_INFINITE; |
||
| 575 | subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
||
| 576 | #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
||
| 577 | return;
|
||
| 578 | } |
||
| 579 | |||
| 580 | 7d9678db | skenneweg | |
| 581 | /**
|
||
| 582 | 5198dfae | skenneweg | * @brief Subscribes the subscriber to a topic.
|
| 583 | *
|
||
| 584 | * @param[in] subscriber The NRT subscriber which shall subscribe to a topic. Must not be NULL.
|
||
| 585 | * @param[in] topic The topic to subscribe to. Must not be NULL.
|
||
| 586 | * @param[in] messages NULL terminated list of messages to contribute to the topic.
|
||
| 587 | * Messages must not be associated to another topic.
|
||
| 588 | * Once a message has been contributed, it cannot be removed later.
|
||
| 589 | * May be NULL(no messages to contribute).
|
||
| 590 | * @param[in] deadline Maximum latency to consume messages. A value of 0 indicates that latency is of no concern.
|
||
| 591 | * @param[in] jitter Maximum allowed jitter (difference between maximum and minimum latency) when consuming messages.
|
||
| 592 | * A value of 0 indicates that jitter is of no concern.
|
||
| 593 | *
|
||
| 594 | * @return Returns URT_STATUS_OK on success.
|
||
| 595 | * Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
|
||
| 596 | 7d9678db | skenneweg | */
|
| 597 | urt_status_t urtFrtSubscriberSubscribe(urt_frtsubscriber_t* subscriber, urt_topic_t* topic, |
||
| 598 | a5e142de | skenneweg | urt_message_t* messages, urt_delay_t deadline, urt_delay_t jitter) |
| 599 | {
|
||
| 600 | urtDebugAssert(subscriber); |
||
| 601 | urtDebugAssert(topic); |
||
| 602 | |||
| 603 | 5b7188aa | skenneweg | if (subscriber->base.topic)
|
| 604 | {
|
||
| 605 | return URT_STATUS_SUBSCRIBE_TOPICSET;
|
||
| 606 | } |
||
| 607 | |||
| 608 | subscriber->base.topic = topic; |
||
| 609 | a5e142de | skenneweg | # if (URT_CFG_PUBSUB_PROFILING == true) |
| 610 | 5b7188aa | skenneweg | subscriber->base.sumLatencies = 0;
|
| 611 | subscriber->base.numMessagesReceived = 0;
|
||
| 612 | a5e142de | skenneweg | # endif /* URT_CFG_PUBSUB_PROFILING */ |
| 613 | # if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true) |
||
| 614 | 5b7188aa | skenneweg | subscriber->deadlineOffset = deadline; |
| 615 | a5e142de | skenneweg | # endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
| 616 | # if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) |
||
| 617 | 5b7188aa | skenneweg | subscriber->maxJitter =jitter; |
| 618 | a5e142de | skenneweg | # endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
| 619 | # if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true) |
||
| 620 | 5b7188aa | skenneweg | subscriber->minLatency = URT_DELAY_INFINITE; |
| 621 | subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
||
| 622 | a5e142de | skenneweg | # endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
| 623 | |||
| 624 | 37cd5dc2 | Svenja | urtMutexLock(topic->lock); |
| 625 | 5b7188aa | skenneweg | if (messages)
|
| 626 | {
|
||
| 627 | 982056f7 | Svenja | urtContributeMessages(messages); |
| 628 | 5b7188aa | skenneweg | } |
| 629 | a5e142de | skenneweg | |
| 630 | 5b7188aa | skenneweg | subscriber->base.lastMessage = topic->latestMessage; |
| 631 | subscriber->base.lastMessageTime = topic->latestMessage->originTime; |
||
| 632 | a5e142de | skenneweg | |
| 633 | 8378a78b | Svenja | urtEventRegister(topic->evtSource, subscriber->base.evtListener, subscriber->base.evtListener.events, subscriber->base.evtListener.flags); |
| 634 | a5e142de | skenneweg | |
| 635 | # if (URT_CFG_PUBSUB_PROFILING == true) |
||
| 636 | 5b7188aa | skenneweg | topic->numHrtSubscribers--; |
| 637 | a5e142de | skenneweg | # endif /* URT_CFG_PUBSUB_PROFILING */ |
| 638 | |||
| 639 | 37cd5dc2 | Svenja | urtMutexUnlock(topic->lock); |
| 640 | 5b7188aa | skenneweg | return URT_STATUS_OK;
|
| 641 | a5e142de | skenneweg | } |
| 642 | 7d9678db | skenneweg | |
| 643 | /**
|
||
| 644 | 5198dfae | skenneweg | * @brief Fetches the next message.
|
| 645 | 7d9678db | skenneweg | *
|
| 646 | 5198dfae | skenneweg | * @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
| 647 | * @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
||
| 648 | * @param[in] bytes Payload size in bytes.
|
||
| 649 | * @param[in] latency The latency can be returned by reference. May be NULL.
|
||
| 650 | 7d9678db | skenneweg | *
|
| 651 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on success.
|
| 652 | * Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
||
| 653 | * Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
||
| 654 | 7d9678db | skenneweg | */
|
| 655 | 982056f7 | Svenja | urt_status_t urtFrtSubscriberFetchNextMessage(urt_frtsubscriber_t* subscriber, void* const payload, |
| 656 | 65dc89cb | skenneweg | size_t bytes, urt_delay_t* latency) |
| 657 | {
|
||
| 658 | urtDebugAssert(subscriber); |
||
| 659 | |||
| 660 | if (!subscriber->base.topic)
|
||
| 661 | return URT_STATUS_FETCH_NOTOPIC;
|
||
| 662 | |||
| 663 | urtMutexLock(subscriber->base.topic->lock); |
||
| 664 | |||
| 665 | 982056f7 | Svenja | urt_message_t* oldestMessage = subscriber->base.lastMessage; |
| 666 | if(oldestMessage->originTime == subscriber->base.lastMessageTime)
|
||
| 667 | 65dc89cb | skenneweg | {
|
| 668 | if (subscriber->base.lastMessage->next->originTime > subscriber->base.lastMessageTime)
|
||
| 669 | {
|
||
| 670 | urtMutexUnlock(subscriber->base.topic->lock); |
||
| 671 | return URT_STATUS_FETCH_NOMESSAGE;
|
||
| 672 | } |
||
| 673 | 982056f7 | Svenja | oldestMessage = oldestMessage->next; |
| 674 | 65dc89cb | skenneweg | } |
| 675 | else
|
||
| 676 | {
|
||
| 677 | 982056f7 | Svenja | oldestMessage = urtFindOldestMessage(oldestMessage->next); |
| 678 | 65dc89cb | skenneweg | } |
| 679 | |||
| 680 | 982056f7 | Svenja | urtFetchMessage(oldestMessage, subscriber, payload, bytes); |
| 681 | 65dc89cb | skenneweg | |
| 682 | 982056f7 | Svenja | if (URT_CFG_PUBSUB_PROFILING == true || URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || latency) { |
| 683 | uint64_t calculatedLatency = urtTimeNow() - oldestMessage->originTime; |
||
| 684 | |||
| 685 | #if(URT_CFG_PUBSUB_PROFILING == true && URT_CFG_PUBSUB_QOS_JITTERCHECKS == false) |
||
| 686 | 65dc89cb | skenneweg | subscriber->base.sumLatencies += calculatedLatency; |
| 687 | 982056f7 | Svenja | |
| 688 | if (calculatedLatency < subscriber->minLatency) {
|
||
| 689 | subscriber->minLatency = calculatedLatency; |
||
| 690 | } |
||
| 691 | else if (calculatedLatency > subscriber->maxLatency) { |
||
| 692 | subscriber->maxLatency = calculatedLatency; |
||
| 693 | } |
||
| 694 | 65dc89cb | skenneweg | #endif /* URT_CFG_PUBSUB_PROFILING */ |
| 695 | |||
| 696 | 982056f7 | Svenja | #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) |
| 697 | if (calculatedLatency < subscriber->minLatency && calculatedLatency > subscriber->minLatency - subscriber->maxJitter) {
|
||
| 698 | 65dc89cb | skenneweg | subscriber->minLatency = calculatedLatency; |
| 699 | } |
||
| 700 | 982056f7 | Svenja | else if (calculatedLatency > subscriber->maxLatency && calculatedLatency < subscriber->maxLatency + subscriber->maxJitter) { |
| 701 | 65dc89cb | skenneweg | subscriber->maxLatency = calculatedLatency; |
| 702 | } |
||
| 703 | 982056f7 | Svenja | else if (calculatedLatency > subscriber->maxLatency || calculatedLatency < subscriber->minLatency) { |
| 704 | urtMutexUnlock(subscriber->base.topic); |
||
| 705 | return URT_STATUS_JITTERVIOLATION;
|
||
| 706 | } |
||
| 707 | #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
||
| 708 | 65dc89cb | skenneweg | |
| 709 | 982056f7 | Svenja | if (latency) {
|
| 710 | latency = calculatedLatency; |
||
| 711 | } |
||
| 712 | 65dc89cb | skenneweg | } |
| 713 | |||
| 714 | #if (URT_CFG_PUBSUB_PROFILING == true) |
||
| 715 | subscriber->base.lastMessage->numConsumersLeft--; |
||
| 716 | subscriber->base->numMessagesReceived++; |
||
| 717 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
||
| 718 | |||
| 719 | urtMutexUnlock(subscriber->base.topic->lock); |
||
| 720 | 982056f7 | Svenja | return URT_STATUS_OK;
|
| 721 | 65dc89cb | skenneweg | } |
| 722 | 7d9678db | skenneweg | |
| 723 | /**
|
||
| 724 | 5198dfae | skenneweg | * @brief Fetches the latest message.
|
| 725 | 7d9678db | skenneweg | *
|
| 726 | 5198dfae | skenneweg | * @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
| 727 | * @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
||
| 728 | * @param[in] bytes Payload size in bytes.
|
||
| 729 | * @param[in] latency The latency can be returned by reference. May be NULL.
|
||
| 730 | 7d9678db | skenneweg | *
|
| 731 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on success.
|
| 732 | * Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
||
| 733 | * Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
||
| 734 | 7d9678db | skenneweg | */
|
| 735 | 982056f7 | Svenja | urt_status_t urtFrtSubscriberFetchLatestMessage(urt_frtsubscriber_t* subscriber, void* const payload, |
| 736 | 65dc89cb | skenneweg | size_t bytes, urt_delay_t* latency) |
| 737 | {
|
||
| 738 | urtDebugAssert(subscriber); |
||
| 739 | |||
| 740 | if (!subscriber->base.topic)
|
||
| 741 | return URT_STATUS_FETCH_NOTOPIC;
|
||
| 742 | |||
| 743 | urtMutexLock(subscriber->base.topic->lock); |
||
| 744 | urt_message_t* lastMessage = urtFindLatestMessage(subscriber->base.lastMessage); |
||
| 745 | |||
| 746 | if (lastMessage->originTime == subscriber->base.lastMessageTime)
|
||
| 747 | {
|
||
| 748 | urtMutexUnlock(subscriber->base.topic->lock); |
||
| 749 | return URT_STATUS_FETCH_NOMESSAGE;
|
||
| 750 | } |
||
| 751 | |||
| 752 | 982056f7 | Svenja | urtFetchMessage(lastMessage, subscriber, payload, bytes); |
| 753 | 65dc89cb | skenneweg | |
| 754 | 982056f7 | Svenja | if (URT_CFG_PUBSUB_PROFILING == true || URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || latency) { |
| 755 | uint64_t calculatedLatency = urtTimeNow() - oldestMessage->originTime; |
||
| 756 | |||
| 757 | #if(URT_CFG_PUBSUB_PROFILING == true && URT_CFG_PUBSUB_QOS_JITTERCHECKS == false) |
||
| 758 | 65dc89cb | skenneweg | subscriber->base.sumLatencies += calculatedLatency; |
| 759 | 982056f7 | Svenja | |
| 760 | if (calculatedLatency < subscriber->minLatency) {
|
||
| 761 | subscriber->minLatency = calculatedLatency; |
||
| 762 | } |
||
| 763 | else if (calculatedLatency > subscriber->maxLatency) { |
||
| 764 | subscriber->maxLatency = calculatedLatency; |
||
| 765 | } |
||
| 766 | 65dc89cb | skenneweg | #endif /* URT_CFG_PUBSUB_PROFILING */ |
| 767 | |||
| 768 | 982056f7 | Svenja | #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) |
| 769 | if (calculatedLatency < subscriber->minLatency && calculatedLatency > subscriber->minLatency - subscriber->maxJitter) {
|
||
| 770 | 65dc89cb | skenneweg | subscriber->minLatency = calculatedLatency; |
| 771 | } |
||
| 772 | 982056f7 | Svenja | else if (calculatedLatency > subscriber->maxLatency && calculatedLatency < subscriber->maxLatency + subscriber->maxJitter) { |
| 773 | 65dc89cb | skenneweg | subscriber->maxLatency = calculatedLatency; |
| 774 | } |
||
| 775 | 982056f7 | Svenja | else if (calculatedLatency > subscriber->maxLatency || calculatedLatency < subscriber->minLatency) { |
| 776 | urtMutexUnlock(subscriber->base.topic); |
||
| 777 | return URT_STATUS_JITTERVIOLATION;
|
||
| 778 | } |
||
| 779 | #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
||
| 780 | 65dc89cb | skenneweg | |
| 781 | 982056f7 | Svenja | if (latency) {
|
| 782 | latency = calculatedLatency; |
||
| 783 | } |
||
| 784 | 65dc89cb | skenneweg | } |
| 785 | |||
| 786 | urtMutexUnlock(subscriber->base.topic->lock); |
||
| 787 | return URT_STATUS_OK;
|
||
| 788 | } |
||
| 789 | 7d9678db | skenneweg | |
| 790 | /**
|
||
| 791 | 5198dfae | skenneweg | * @brief Calculates the validity from the subscriber.
|
| 792 | 7d9678db | skenneweg | *
|
| 793 | 5198dfae | skenneweg | * @param[in] subscriber The FRT subscriber to calculate a validity for. Must not be NULL.
|
| 794 | * @param[in] latency Latency (of a message) as argument to calculate validity.
|
||
| 795 | 7d9678db | skenneweg | *
|
| 796 | 5198dfae | skenneweg | * @return Returns a boolean indicator whether the latency is fine.
|
| 797 | 7d9678db | skenneweg | */
|
| 798 | a5e142de | skenneweg | bool urtFrtSubscriberCalculateValidity(urt_frtsubscriber_t* subscriber, urt_delay_t latency)
|
| 799 | {
|
||
| 800 | 37cd5dc2 | Svenja | #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true) |
| 801 | if (latency > subscriber->minLatency && latency < subscriber->maxLatency)
|
||
| 802 | 5b7188aa | skenneweg | return true; |
| 803 | 37cd5dc2 | Svenja | #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
| 804 | |||
| 805 | # if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) |
||
| 806 | if (latency < subscriber->minLatency && subscriber->maxLatency-subscriber->maxJitter < latency)
|
||
| 807 | return true; |
||
| 808 | |||
| 809 | if (latency > subscriber->maxLatency && subscriber->minLatency+subscriber->maxJitter > latency)
|
||
| 810 | return true; |
||
| 811 | a5e142de | skenneweg | # endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS && URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
| 812 | 5b7188aa | skenneweg | |
| 813 | a5e142de | skenneweg | return false; |
| 814 | } |
||
| 815 | 7d9678db | skenneweg | |
| 816 | /**
|
||
| 817 | 5198dfae | skenneweg | * @brief Unsubscribes from a subscriber.
|
| 818 | 7d9678db | skenneweg | *
|
| 819 | 5c6cb22f | skenneweg | * @param[in] subscriber The FRT subscriber to be unsubscribed. Must not be NULL.
|
| 820 | 7d9678db | skenneweg | *
|
| 821 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on sucess.
|
| 822 | * Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
|
||
| 823 | 7d9678db | skenneweg | */
|
| 824 | 5b7188aa | skenneweg | urt_status_t urtFrtSubscriberUnsubscribe(urt_frtsubscriber_t* subscriber) |
| 825 | {
|
||
| 826 | urtDebugAssert(subscriber); |
||
| 827 | |||
| 828 | 982056f7 | Svenja | if (!subscriber->base.topic) {
|
| 829 | return URT_STATUS_UNSUBSCRIBE_NOTOPIC;
|
||
| 830 | } |
||
| 831 | |||
| 832 | #if (URT_CFG_PUBSUB_PROFILING == true) |
||
| 833 | urtMutexLock(topic->lock); |
||
| 834 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
||
| 835 | |||
| 836 | urtEventUnregister(subscriber->base.topic->evtSource, subscriber->base.evtListener); |
||
| 837 | |||
| 838 | 5b7188aa | skenneweg | # if (URT_CFG_PUBSUB_PROFILING == true) |
| 839 | 982056f7 | Svenja | subscriber->base.topic->numSubscribers--; |
| 840 | 5b7188aa | skenneweg | # endif /* URT_CFG_PUBSUB_PROFILING */ |
| 841 | |||
| 842 | # if (URT_CFG_PUBSUB_PROFILING == true) |
||
| 843 | 982056f7 | Svenja | urtMutexUnlock(topic->lock); |
| 844 | 5b7188aa | skenneweg | # endif /* URT_CFG_PUBSUB_PROFILING */ |
| 845 | 982056f7 | Svenja | subscriber->base.topic = NULL;
|
| 846 | subscriber->base.lastMessage = NULL;
|
||
| 847 | subscriber->base.lastMessageTime = 0;
|
||
| 848 | return URT_STATUS_OK;
|
||
| 849 | 5b7188aa | skenneweg | } |
| 850 | 7d9678db | skenneweg | |
| 851 | |||
| 852 | /**
|
||
| 853 | 5198dfae | skenneweg | * @brief Initialize the HRT Subscriber.
|
| 854 | 7d9678db | skenneweg | *
|
| 855 | 5198dfae | skenneweg | * @param[in] subscriber The HRT subscriber to initialize. Must not be NULL.
|
| 856 | 7d9678db | skenneweg | */
|
| 857 | 5c6cb22f | skenneweg | void urtHrtSubscriberInit(urt_hrtsubscriber_t* subscriber)
|
| 858 | {
|
||
| 859 | a5e142de | skenneweg | urtDebugAssert(subscriber); |
| 860 | |||
| 861 | 5c6cb22f | skenneweg | subscriber->base.topic = NULL;
|
| 862 | urtEventListenerInit(subscriber->base.evtListener); |
||
| 863 | subscriber->base.lastMessage = NULL;
|
||
| 864 | subscriber->base.lastMessageTime = 0;
|
||
| 865 | |||
| 866 | a5e142de | skenneweg | # if (URT_CFG_PUBSUB_PROFILING)
|
| 867 | 5c6cb22f | skenneweg | subscriber->base.sumLatencies = 0;
|
| 868 | subscriber->base.numMessagesReceived = 0;
|
||
| 869 | a5e142de | skenneweg | # endif /* URT_CFG_PUBSUB_PROFILING */ |
| 870 | 5c6cb22f | skenneweg | |
| 871 | subscriber->next = NULL;
|
||
| 872 | |||
| 873 | a5e142de | skenneweg | # if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS)
|
| 874 | 5c6cb22f | skenneweg | subscriber->deadlineOffset = 0;
|
| 875 | urtTimerInit(subscriber->qodDeadlineTimer); |
||
| 876 | a5e142de | skenneweg | # endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
| 877 | 5c6cb22f | skenneweg | |
| 878 | a5e142de | skenneweg | # if (URT_CFG_PUBSUB_QOS_RATECHECKS)
|
| 879 | 5c6cb22f | skenneweg | subscriber->expectedRate = 0;
|
| 880 | a5e142de | skenneweg | # endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
| 881 | 5c6cb22f | skenneweg | |
| 882 | a5e142de | skenneweg | # if (URT_CFG_PUBSUB_QOS_JITTERCHECKS)
|
| 883 | 5c6cb22f | skenneweg | subscriber->maxJitter = 0;
|
| 884 | a5e142de | skenneweg | # endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
| 885 | 5c6cb22f | skenneweg | |
| 886 | a5e142de | skenneweg | # if (URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING)
|
| 887 | 5c6cb22f | skenneweg | subscriber->minLatency = URT_DELAY_INFINITE; |
| 888 | subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
||
| 889 | a5e142de | skenneweg | # endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
| 890 | 5c6cb22f | skenneweg | return;
|
| 891 | } |
||
| 892 | |||
| 893 | 7d9678db | skenneweg | |
| 894 | /**
|
||
| 895 | 5198dfae | skenneweg | * @brief Subscribes the subscriber to a topic.
|
| 896 | *
|
||
| 897 | 5c6cb22f | skenneweg | * @param[in] subscriber The HRT subscriber which shall subscribe to a topic. Must not be NULL.
|
| 898 | 5198dfae | skenneweg | * @param[in] topic The topic to subscribe to. Must not be NULL.
|
| 899 | * @param[in] messages NULL terminated list of messages to contribute to the topic.
|
||
| 900 | * Messages must not be associated to another topic.
|
||
| 901 | * Once a message has been contributed, it cannot be removed later.
|
||
| 902 | * May be NULL(no messages to contribute).
|
||
| 903 | * @param[in] deadline Maximum latency to consume messages. A value of 0 indicates that latency is of no concern.
|
||
| 904 | * @param[in] rate Expected minimum rate of new messages (= maximum time between consecutive messages).
|
||
| 905 | * A value of 0 indicates, that rate is of no concern.
|
||
| 906 | * @param[in] jitter Maximum allowed jitter (difference between maximum and minimum latency) when consuming messages.
|
||
| 907 | * A value of 0 indicates that jitter is of no concern.
|
||
| 908 | *
|
||
| 909 | * @return Returns URT_STATUS_OK on success.
|
||
| 910 | * Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
|
||
| 911 | 7d9678db | skenneweg | */
|
| 912 | urt_status_t urtHrtSubscriberSubscribe(urt_hrtsubscriber_t* subscriber, urt_topic_t* topic, |
||
| 913 | 5b7188aa | skenneweg | urt_message_t* messages, urt_delay_t deadline, urt_delay_t rate, urt_delay_t jitter) |
| 914 | {
|
||
| 915 | urtDebugAssert(subscriber); |
||
| 916 | urtDebugAssert(topic); |
||
| 917 | |||
| 918 | if (subscriber->base.topic)
|
||
| 919 | {
|
||
| 920 | return URT_STATUS_SUBSCRIBE_TOPICSET;
|
||
| 921 | } |
||
| 922 | |||
| 923 | subscriber->base.topic = topic; |
||
| 924 | # if (URT_CFG_PUBSUB_PROFILING == true) |
||
| 925 | subscriber->base.sumLatencies = 0;
|
||
| 926 | subscriber->base.numMessagesReceived = 0;
|
||
| 927 | # endif /* URT_CFG_PUBSUB_PROFILING */ |
||
| 928 | # if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true) |
||
| 929 | subscriber->deadlineOffset = deadline; |
||
| 930 | # endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
||
| 931 | # if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) |
||
| 932 | subscriber->maxJitter =jitter; |
||
| 933 | # endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
||
| 934 | # if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true) |
||
| 935 | subscriber->minLatency = URT_DELAY_INFINITE; |
||
| 936 | subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
||
| 937 | # endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
||
| 938 | # if (URT_CFG_PUBSUB_QOS_RATECHECKS == true) |
||
| 939 | subscriber->expectedRate = rate; |
||
| 940 | # endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
||
| 941 | |||
| 942 | 37cd5dc2 | Svenja | urtMutexLock(topic->lock); |
| 943 | 5b7188aa | skenneweg | if (messages)
|
| 944 | {
|
||
| 945 | 982056f7 | Svenja | urtContributeMessages(messages); |
| 946 | 5b7188aa | skenneweg | } |
| 947 | |||
| 948 | subscriber->base.lastMessage = topic->latestMessage; |
||
| 949 | subscriber->base.lastMessageTime = topic->latestMessage->originTime; |
||
| 950 | |||
| 951 | 8378a78b | Svenja | urtEventRegister(topic->evtSource, subscriber->base.evtListener, subscriber->base.evtListener.events, subscriber->base.evtListener.flags); |
| 952 | 5b7188aa | skenneweg | |
| 953 | # if(URT_CFG_PUBSUB_QOS_RATECHECKS == true) |
||
| 954 | 8378a78b | Svenja | //TODO: Implement
|
| 955 | 5b7188aa | skenneweg | # endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
| 956 | |||
| 957 | topic->numHrtSubscribers--; |
||
| 958 | # if (URT_CFG_PUBSUB_PROFILING == true) |
||
| 959 | topic->numSubscribers--; |
||
| 960 | # endif /* URT_CFG_PUBSUB_PROFILING */ |
||
| 961 | |||
| 962 | 37cd5dc2 | Svenja | urtMutexUnlock(topic->lock); |
| 963 | 5b7188aa | skenneweg | return URT_STATUS_OK;
|
| 964 | } |
||
| 965 | 7d9678db | skenneweg | |
| 966 | |||
| 967 | /**
|
||
| 968 | 5198dfae | skenneweg | * @brief Fetches the next message.
|
| 969 | 7d9678db | skenneweg | *
|
| 970 | 5198dfae | skenneweg | * @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
| 971 | * @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
||
| 972 | * @param[in] bytes Payload size in bytes.
|
||
| 973 | * @param[in] latency The latency can be returned by reference. May be NULL.
|
||
| 974 | 7d9678db | skenneweg | *
|
| 975 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on success.
|
| 976 | * Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
||
| 977 | * Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
||
| 978 | 7d9678db | skenneweg | */
|
| 979 | 982056f7 | Svenja | urt_status_t urtHrtSubscriberFetchNextMessage(urt_hrtsubscriber_t* subscriber, void* const payload, |
| 980 | 65dc89cb | skenneweg | size_t bytes, urt_delay_t* latency) |
| 981 | {
|
||
| 982 | urtDebugAssert(subscriber); |
||
| 983 | |||
| 984 | 982056f7 | Svenja | if (!subscriber->base.topic) {
|
| 985 | return URT_STATUS_FETCH_NOTOPIC;
|
||
| 986 | } |
||
| 987 | 65dc89cb | skenneweg | |
| 988 | urtMutexLock(subscriber->base.topic->lock); |
||
| 989 | urt_message_t* messageTemp = subscriber->base.lastMessage; |
||
| 990 | if (messageTemp->next->originTime > messageTemp.originTime)
|
||
| 991 | {
|
||
| 992 | urtMutexUnlock(subscriber->base.topic->lock); |
||
| 993 | return URT_STATUS_FETCH_NOMESSAGE;
|
||
| 994 | } |
||
| 995 | messageTemp = messageTemp->next; |
||
| 996 | |||
| 997 | 982056f7 | Svenja | if (URT_CFG_PUBSUB_PROFILING == true || latency) { |
| 998 | uint64_t calculatedLatency = urtTimeNow() - messageTemp->originTime; |
||
| 999 | |||
| 1000 | #if(URT_CFG_PUBSUB_PROFILING == true) |
||
| 1001 | 65dc89cb | skenneweg | subscriber->base.sumLatencies += calculatedLatency; |
| 1002 | 982056f7 | Svenja | |
| 1003 | if (calculatedLatency < subscriber->minLatency) {
|
||
| 1004 | subscriber->minLatency = calculatedLatency; |
||
| 1005 | } |
||
| 1006 | else if (calculatedLatency > subscriber->maxLatency) { |
||
| 1007 | subscriber->maxLatency = calculatedLatency; |
||
| 1008 | } |
||
| 1009 | 65dc89cb | skenneweg | #endif /* URT_CFG_PUBSUB_PROFILING */ |
| 1010 | 982056f7 | Svenja | |
| 1011 | if (latency) {
|
||
| 1012 | latency = calculatedLatency; |
||
| 1013 | } |
||
| 1014 | 65dc89cb | skenneweg | } |
| 1015 | |||
| 1016 | subscriber->base.lastMessage->numHrtConsumersLeft--; |
||
| 1017 | if (subscriber->base.lastMessage->numHrtConsumersLeft != 0) |
||
| 1018 | {
|
||
| 1019 | urtCondvarSignal(subscriber->base.topic->hrtReleased); |
||
| 1020 | } |
||
| 1021 | |||
| 1022 | #if (URT_CFG_PUBSUB_PROFILING == true) |
||
| 1023 | subscriber->base.lastMessage->numConsumersLeft--; |
||
| 1024 | subscriber->base->numMessagesReceived++; |
||
| 1025 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
||
| 1026 | |||
| 1027 | #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) |
||
| 1028 | 982056f7 | Svenja | if (calculatedLatency < subscriber->minLatency && calculatedLatency > subscriber->minLatency - subscriber->maxJitter) {
|
| 1029 | subscriber->minLatency = calculatedLatency; |
||
| 1030 | } |
||
| 1031 | else if (calculatedLatency > subscriber->maxLatency && calculatedLatency < subscriber->maxLatency + subscriber->maxJitter) { |
||
| 1032 | subscriber->maxLatency = calculatedLatency; |
||
| 1033 | } |
||
| 1034 | else if (calculatedLatency > subscriber->maxLatency || calculatedLatency < subscriber->minLatency) { |
||
| 1035 | urtMutexUnlock(subscriber->base.topic); |
||
| 1036 | 65dc89cb | skenneweg | urtCoreStopNodes(URT_STATUS_JITTERVIOLATION); |
| 1037 | return URT_STATUS_JITTERVIOLATION;
|
||
| 1038 | 982056f7 | Svenja | } |
| 1039 | 65dc89cb | skenneweg | #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
| 1040 | 982056f7 | Svenja | |
| 1041 | #if (URT_CFG_PUBSUB_PROFILING == true && URT_CFG_PUBSUB_QOS_JITTERCHECKS == false) |
||
| 1042 | if (calculatedLatency < subscriber->minLatency) {
|
||
| 1043 | subscriber->minLatency = calculatedLatency; |
||
| 1044 | 65dc89cb | skenneweg | } |
| 1045 | 982056f7 | Svenja | else if (calculatedLatency > subscriber->maxLatency) { |
| 1046 | subscriber->maxLatency = calculatedLatency; |
||
| 1047 | } |
||
| 1048 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
||
| 1049 | 65dc89cb | skenneweg | |
| 1050 | 982056f7 | Svenja | urtFetchMessage(messageTemp, subscriber, payload, bytes); |
| 1051 | 65dc89cb | skenneweg | |
| 1052 | #if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true) |
||
| 1053 | if (messageTemp->next->originTime < messageTemp->originTime)
|
||
| 1054 | {
|
||
| 1055 | 982056f7 | Svenja | //TODO: first reset?! (when ... set)
|
| 1056 | urtTimerSet(subscriber->qosDeadlineTimer, subscriber->deadlineOffset, urtCoreCallbackDefault, NULL);
|
||
| 1057 | 65dc89cb | skenneweg | } |
| 1058 | else
|
||
| 1059 | {
|
||
| 1060 | 982056f7 | Svenja | urtTimerReset(subscriber->qosDeadlineTimer); |
| 1061 | 65dc89cb | skenneweg | } |
| 1062 | #endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
||
| 1063 | |||
| 1064 | urtMutexUnlock(subscriber->base.topic->lock); |
||
| 1065 | return URT_STATUS_OK;
|
||
| 1066 | } |
||
| 1067 | 7d9678db | skenneweg | |
| 1068 | |||
| 1069 | /**
|
||
| 1070 | 5198dfae | skenneweg | * @brief Fetches the latest message.
|
| 1071 | 7d9678db | skenneweg | *
|
| 1072 | 5198dfae | skenneweg | * @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
| 1073 | * @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
||
| 1074 | * @param[in] bytes Payload size in bytes.
|
||
| 1075 | * @param[in] latency The latency can be returned by reference. May be NULL.
|
||
| 1076 | 7d9678db | skenneweg | *
|
| 1077 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on success.
|
| 1078 | * Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
||
| 1079 | * Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
||
| 1080 | 7d9678db | skenneweg | */
|
| 1081 | 982056f7 | Svenja | urt_status_t urtHrtSubscriberFetchLatestMessage(urt_hrtsubscriber_t* subscriber, void* const payload, |
| 1082 | size_t bytes, urt_delay_t* latency) |
||
| 1083 | {
|
||
| 1084 | if (!subscriber->base.topic) {
|
||
| 1085 | return URT_STATUS_FETCH_NOTOPIC;
|
||
| 1086 | } |
||
| 1087 | |||
| 1088 | urtMutexLock(subscriber->base.topic->lock); |
||
| 1089 | urt_message_t* lastMessage = subscriber->base.lastMessage; |
||
| 1090 | bool hrtZero = false; |
||
| 1091 | while (lastMessage->next->originTime < lastMessage->originTime) {
|
||
| 1092 | lastMessage = lastMessage->next; |
||
| 1093 | lastMessage->numHrtConsumersLeft--; |
||
| 1094 | if (lastMessage->numHrtConsumersLeft == 0) { |
||
| 1095 | hertZero = true;
|
||
| 1096 | } |
||
| 1097 | #if (URT_CFG_PUBSUB_PROFILING == true) |
||
| 1098 | lastMessage->numConsumersLeft--; |
||
| 1099 | subscriber->base.numMessagesReceived++; |
||
| 1100 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
||
| 1101 | #if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true) |
||
| 1102 | urtTimerReset(subscriber->qosDeadlineTimer); |
||
| 1103 | #endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
||
| 1104 | } |
||
| 1105 | |||
| 1106 | if (hrtZero) {
|
||
| 1107 | urtCondvarSignal(subscriber->base.topic->hrtReleased); |
||
| 1108 | } |
||
| 1109 | |||
| 1110 | if (lastMessage->originTime == subscriber->base.lastMessageTime) {
|
||
| 1111 | urtMutexUnlock(subscriber->base.topic); |
||
| 1112 | return URT_STATUS_FETCH_NOMESSAGE;
|
||
| 1113 | } |
||
| 1114 | |||
| 1115 | if (URT_CFG_PUBSUB_PROFILING == true || latency) { |
||
| 1116 | uint64_t calculatedLatency = urtTimeNow() - messageTemp->originTime; |
||
| 1117 | |||
| 1118 | #if(URT_CFG_PUBSUB_PROFILING == true) |
||
| 1119 | subscriber->base.sumLatencies += calculatedLatency; |
||
| 1120 | |||
| 1121 | if (calculatedLatency < subscriber->minLatency) {
|
||
| 1122 | subscriber->minLatency = calculatedLatency; |
||
| 1123 | } |
||
| 1124 | else if (calculatedLatency > subscriber->maxLatency) { |
||
| 1125 | subscriber->maxLatency = calculatedLatency; |
||
| 1126 | } |
||
| 1127 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
||
| 1128 | |||
| 1129 | if (latency) {
|
||
| 1130 | latency = calculatedLatency; |
||
| 1131 | } |
||
| 1132 | } |
||
| 1133 | |||
| 1134 | #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) |
||
| 1135 | if (calculatedLatency < subscriber->minLatency && calculatedLatency > subscriber->minLatency - subscriber->maxJitter) {
|
||
| 1136 | subscriber->minLatency = calculatedLatency; |
||
| 1137 | } |
||
| 1138 | else if (calculatedLatency > subscriber->maxLatency && calculatedLatency < subscriber->maxLatency + subscriber->maxJitter) { |
||
| 1139 | subscriber->maxLatency = calculatedLatency; |
||
| 1140 | } |
||
| 1141 | else if (calculatedLatency > subscriber->maxLatency || calculatedLatency < subscriber->minLatency) { |
||
| 1142 | urtMutexUnlock(subscriber->base.topic); |
||
| 1143 | urtCoreStopNodes(URT_STATUS_JITTERVIOLATION); |
||
| 1144 | return URT_STATUS_JITTERVIOLATION;
|
||
| 1145 | } |
||
| 1146 | #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
||
| 1147 | |||
| 1148 | #if (URT_CFG_PUBSUB_PROFILING == true && URT_CFG_PUBSUB_QOS_JITTERCHECKS == false) |
||
| 1149 | if (calculatedLatency < subscriber->minLatency) {
|
||
| 1150 | subscriber->minLatency = calculatedLatency; |
||
| 1151 | } |
||
| 1152 | else if (calculatedLatency > subscriber->maxLatency) { |
||
| 1153 | subscriber->maxLatency = calculatedLatency; |
||
| 1154 | } |
||
| 1155 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
||
| 1156 | |||
| 1157 | urtFetchMessage(lastMessage, subscriber, payload, bytes); |
||
| 1158 | |||
| 1159 | #if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true) |
||
| 1160 | urtTimerReset(subscriber->qosDeadlineTimer); |
||
| 1161 | #endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
||
| 1162 | } |
||
| 1163 | 7d9678db | skenneweg | |
| 1164 | /**
|
||
| 1165 | 5198dfae | skenneweg | * @brief Unsubscribes from a subscriber.
|
| 1166 | 7d9678db | skenneweg | *
|
| 1167 | 5198dfae | skenneweg | * @param[in] subscriber The HRT subscriber to be unsubscribed. Must not be NULL.
|
| 1168 | 7d9678db | skenneweg | *
|
| 1169 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on sucess.
|
| 1170 | * Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
|
||
| 1171 | 7d9678db | skenneweg | */
|
| 1172 | 5b7188aa | skenneweg | urt_status_t urtHrtSubscriberUnsubscribe(urt_hrtsubscriber_t* subscriber) |
| 1173 | {
|
||
| 1174 | urtDebugAssert(subscriber); |
||
| 1175 | |||
| 1176 | if (subscriber->base.topic)
|
||
| 1177 | {
|
||
| 1178 | 37cd5dc2 | Svenja | urtMutexLock(topic->lock); |
| 1179 | 5b7188aa | skenneweg | urtEventUnregister(subscriber->base.topic->evtSource, subscriber->base.evtListener); |
| 1180 | subscriber->base.topic->numHrtSubscribers--; |
||
| 1181 | # if (URT_CFG_PUBSUB_PROFILING == true) |
||
| 1182 | subscriber->base.topic->numSubscribers--; |
||
| 1183 | # endif /* URT_CFG_PUBSUB_PROFILING */ |
||
| 1184 | # if (URT_CFG_PUBSUB_QOS_RATECHECKS == true) |
||
| 1185 | //TODO: remove self from topics lsit of HRT subscribers
|
||
| 1186 | //TODO: ...
|
||
| 1187 | # endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
||
| 1188 | |||
| 1189 | urt_message_t* messageTemp = subscriber->base.lastMessage; |
||
| 1190 | 37cd5dc2 | Svenja | bool hrtZero = false; |
| 1191 | 5b7188aa | skenneweg | while (messageTemp->next->originTime < messageTemp->originTime)
|
| 1192 | {
|
||
| 1193 | messageTemp = messageTemp->next; |
||
| 1194 | messageTemp->numHrtConsumersLeft--; |
||
| 1195 | 37cd5dc2 | Svenja | if (messageTemp->numHrtConsumersLeft == 0) |
| 1196 | {
|
||
| 1197 | hrtZero = true;
|
||
| 1198 | } |
||
| 1199 | 5b7188aa | skenneweg | # if(URT_CFG_PUBSUB_PROFILING == true) |
| 1200 | messageTemp->numConsumersLeft--; |
||
| 1201 | # endif /* URT_CFG_PUBSUB_PROFILING */ |
||
| 1202 | } |
||
| 1203 | 37cd5dc2 | Svenja | if (hrtZero)
|
| 1204 | 5b7188aa | skenneweg | {
|
| 1205 | 37cd5dc2 | Svenja | urtCondvarSignal(subscriber->base.topic->hrtReleased); |
| 1206 | 5b7188aa | skenneweg | } |
| 1207 | |||
| 1208 | 37cd5dc2 | Svenja | urtMutexUnlock(topic->lock); |
| 1209 | 5b7188aa | skenneweg | subscriber->base.topic = NULL;
|
| 1210 | subscriber->base.lastMessage = NULL;
|
||
| 1211 | subscriber->base.lastMessageTime = 0;
|
||
| 1212 | return URT_STATUS_OK;
|
||
| 1213 | } |
||
| 1214 | |||
| 1215 | return URT_STATUS_UNSUBSCRIBE_NOTOPIC;
|
||
| 1216 | } |
||
| 1217 | |||
| 1218 |