urtware / src / urt_subscriber.c @ 982056f7
History | View | Annotate | Download (42.379 KB)
| 1 |
/*
|
|---|---|
| 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 |
#include <urtware.h> |
| 23 |
#include <stdio.h> |
| 24 |
|
| 25 |
/******************************************************************************/
|
| 26 |
/* LOCAL DEFINITIONS */
|
| 27 |
/******************************************************************************/
|
| 28 |
|
| 29 |
/******************************************************************************/
|
| 30 |
/* EXPORTED VARIABLES */
|
| 31 |
/******************************************************************************/
|
| 32 |
|
| 33 |
/******************************************************************************/
|
| 34 |
/* LOCAL TYPES */
|
| 35 |
/******************************************************************************/
|
| 36 |
|
| 37 |
/******************************************************************************/
|
| 38 |
/* LOCAL VARIABLES */
|
| 39 |
/******************************************************************************/
|
| 40 |
|
| 41 |
/******************************************************************************/
|
| 42 |
/* LOCAL FUNCTIONS */
|
| 43 |
/******************************************************************************/
|
| 44 |
|
| 45 |
void urtFetchMessage (urt_message_t* message, urt_nrtsubscriber_t* subscriber, void* const payload, size_t bytes) |
| 46 |
{
|
| 47 |
subscriber->base.lastMessage = message; |
| 48 |
*subscriber->base.lastMessageTime = message->originTime; |
| 49 |
memcpy(message->payload, payload, bytes); |
| 50 |
} |
| 51 |
|
| 52 |
urt_message_t* urtFindOldestMessage(urt_message_t* oldestMessage) |
| 53 |
{
|
| 54 |
while (oldestMessage->next->originTime < oldestMessage->originTime)
|
| 55 |
{
|
| 56 |
oldestMessage = oldestMessage->next; |
| 57 |
} |
| 58 |
return oldestMessage;
|
| 59 |
} |
| 60 |
|
| 61 |
urt_message_t* urtFindLatestMessage(urt_message_t* latestMessage) |
| 62 |
{
|
| 63 |
urt_message_t* lastMessage = subscriber->base.lastMessage; |
| 64 |
while (lastMessage->next->originTime < lastMessage->originTime)
|
| 65 |
{
|
| 66 |
lastMessage = lastMessage->next; |
| 67 |
#if (URT_CFG_PUBSUB_PROFILING == true) |
| 68 |
subscriber->base.lastMessage->numConsumersLeft--; |
| 69 |
subscriber->base->numMessagesReceived++; |
| 70 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
| 71 |
} |
| 72 |
} |
| 73 |
|
| 74 |
void urtContributeMessages(urt_message_t* messages)
|
| 75 |
{
|
| 76 |
urt_message_t* lastMessageContribute = messages; |
| 77 |
while (lastMessageContribute->next)
|
| 78 |
{
|
| 79 |
lastMessageContribute = lastMessageContribute->next; |
| 80 |
} |
| 81 |
lastMessageContribute->next = topic->latestMessage->next; |
| 82 |
topic->latestMessage->next = messages; |
| 83 |
} |
| 84 |
|
| 85 |
/******************************************************************************/
|
| 86 |
/* EXPORTED FUNCTIONS */
|
| 87 |
/******************************************************************************/
|
| 88 |
|
| 89 |
/**
|
| 90 |
* @brief Initialize the nrt Subscriber.
|
| 91 |
*
|
| 92 |
* @param[in] subscriber The NRT subscriber to initialize. Must not be NULL.
|
| 93 |
*/
|
| 94 |
void urtNrtSubscriberInit (urt_nrtsubscriber_t* subscriber)
|
| 95 |
{
|
| 96 |
urtDebugAssert(subscriber); |
| 97 |
|
| 98 |
subscriber->base.topic = NULL;
|
| 99 |
urtEventListenerInit(subscriber->base.evtListener); |
| 100 |
subscriber->base.lastMessage = NULL;
|
| 101 |
subscriber->base.lastMessageTime = 0;
|
| 102 |
#if (URT_CFG_PUBSUB_PROFILING == true) |
| 103 |
subscriber->minLatency = URT_DELAY_INFINITE; |
| 104 |
subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
| 105 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
| 106 |
return;
|
| 107 |
} |
| 108 |
|
| 109 |
/**
|
| 110 |
* @brief Subscribes the subscriber to a topic.
|
| 111 |
*
|
| 112 |
* @param[in] subscriber The NRT subscriber which shall subscribe to a topic. Must not be NULL.
|
| 113 |
* @param[in] topic The topic to subscribe to. Must not be NULL.
|
| 114 |
* @param[in] messages NULL terminated list of messages to contribute to the topic.
|
| 115 |
* Messages must not be associated to another topic.
|
| 116 |
* Once a message has been contributed, it cannot be removed later.
|
| 117 |
* May be NULL(no messages to contribute).
|
| 118 |
*
|
| 119 |
* @return Returns URT_STATUS_OK on success.
|
| 120 |
* Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
|
| 121 |
*/
|
| 122 |
urt_status_t urtNrtSubscriberSubscribe (urt_nrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages) |
| 123 |
{
|
| 124 |
urtDebugAssert(subscriber); |
| 125 |
urtDebugAssert(topic); |
| 126 |
|
| 127 |
if (!subscriber->base.topic) {
|
| 128 |
return URT_STATUS_SUBSCRIBE_TOPICSET;
|
| 129 |
} |
| 130 |
|
| 131 |
subscriber->base.topic = topic; |
| 132 |
urtMutexLock(topic->lock); |
| 133 |
|
| 134 |
if (messages) {
|
| 135 |
urtContributeMessages(messages); |
| 136 |
} |
| 137 |
|
| 138 |
subscriber->base.lastMessage = topic->latestMessage; |
| 139 |
subscriber->base.lastMessageTime = topic->latestMessage->originTime; |
| 140 |
|
| 141 |
urtEventRegister(topic->evtSource, subscriber->base.evtListener, subscriber->base.evtListener.events, subscriber->base.evtListener.flags); |
| 142 |
|
| 143 |
#if (URT_CFG_PUBSUB_PROFILING == true) |
| 144 |
topic->numHrtSubscribers--; |
| 145 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
| 146 |
|
| 147 |
urtMutexUnlock(topic->lock); |
| 148 |
return URT_STATUS_OK;
|
| 149 |
} |
| 150 |
|
| 151 |
/**
|
| 152 |
* @brief Fetches the next message.
|
| 153 |
*
|
| 154 |
* @param[in] subscriber The NRT subscriber that shall fetch the message. Must not be NULL.
|
| 155 |
* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
| 156 |
* @param[in] bytes Payload size in bytes.
|
| 157 |
* @param[in] latency The latency can be returned by reference. May be NULL.
|
| 158 |
*
|
| 159 |
* @return Returns URT_STATUS_OK on success.
|
| 160 |
* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
| 161 |
* Retruns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
| 162 |
*/
|
| 163 |
urt_status_t urtNrtSubscriberFetchNextMessage (urt_nrtsubscriber_t* subscriber, void* const payload, size_t bytes, urt_delay_t* latency) |
| 164 |
{
|
| 165 |
urtDebugAssert(subscriber); |
| 166 |
|
| 167 |
if (!subscriber->base.topic) {
|
| 168 |
return URT_STATUS_FETCH_NOTOPIC;
|
| 169 |
} |
| 170 |
|
| 171 |
urtMutexLock(subscriber->base.topic->lock); |
| 172 |
|
| 173 |
urt_message_t* oldestMessage = subscriber->base.lastMessage; |
| 174 |
if(oldestMessage->originTime == subscriber->base.lastMessageTime) {
|
| 175 |
if (subscriber->base.lastMessage->next->originTime > subscriber->base.lastMessageTime) {
|
| 176 |
urtMutexUnlock(subscriber->base.topic->lock); |
| 177 |
return URT_STATUS_FETCH_NOMESSAGE;
|
| 178 |
} |
| 179 |
oldestMessage = oldestMessage->next; |
| 180 |
} |
| 181 |
else {
|
| 182 |
oldestMessage = urtFindOldestMessage(oldestMessage->next); |
| 183 |
} |
| 184 |
|
| 185 |
urtFetchMessage(oldestMessage, subscriber, payload, bytes); |
| 186 |
|
| 187 |
if (URT_CFG_PUBSUB_PROFILING == true || latency) { |
| 188 |
uint64_t calculatedLatency = urtTimeNow() - oldestMessage->originTime; |
| 189 |
|
| 190 |
#if(URT_CFG_PUBSUB_PROFILING == true) |
| 191 |
subscriber->base.sumLatencies += calculatedLatency; |
| 192 |
|
| 193 |
if (calculatedLatency < subscriber->minLatency) {
|
| 194 |
subscriber->minLatency = calculatedLatency; |
| 195 |
} |
| 196 |
else if (calculatedLatency > subscriber->maxLatency) { |
| 197 |
subscriber->maxLatency = calculatedLatency; |
| 198 |
} |
| 199 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
| 200 |
|
| 201 |
if (latency) {
|
| 202 |
latency = calculatedLatency; |
| 203 |
} |
| 204 |
} |
| 205 |
|
| 206 |
#if (URT_CFG_PUBSUB_PROFILING == true) |
| 207 |
subscriber->base.lastMessage->numConsumersLeft--; |
| 208 |
subscriber->base->numMessagesReceived++; |
| 209 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
| 210 |
|
| 211 |
urtMutexUnlock(subscriber->base.topic->lock); |
| 212 |
return URT_STATUS_OK;
|
| 213 |
} |
| 214 |
|
| 215 |
/**
|
| 216 |
* @brief Fetches the latest message.
|
| 217 |
*
|
| 218 |
* @param[in] subscriber The NRT subscriber that shall fetch the message. Must not be NULL.
|
| 219 |
* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
| 220 |
* @param[in] bytes Payload size in bytes.
|
| 221 |
* @param[in] latency The latency can be returned by reference. May be NULL.
|
| 222 |
*
|
| 223 |
* @return Returns URT_STATUS_OK on success.
|
| 224 |
* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
| 225 |
* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
| 226 |
*/
|
| 227 |
urt_status_t urtNrtSubscriberFetchLatestMessage (urt_nrtsubscriber_t* subscriber, void* const payload, size_t bytes, urt_delay_t* latency) { |
| 228 |
urtDebugAssert(subscriber); |
| 229 |
|
| 230 |
if (!subscriber->base.topic)
|
| 231 |
return URT_STATUS_FETCH_NOTOPIC;
|
| 232 |
|
| 233 |
urtMutexLock(subscriber->base.topic->lock); |
| 234 |
urt_message_t* lastMessage = urtFindLatestMessage(subscriber->base.lastMessage); |
| 235 |
|
| 236 |
if (lastMessage->originTime == subscriber->base.lastMessageTime)
|
| 237 |
{
|
| 238 |
urtMutexUnlock(subscriber->base.topic->lock); |
| 239 |
return URT_STATUS_FETCH_NOMESSAGE;
|
| 240 |
} |
| 241 |
|
| 242 |
urtFetchMessage(lastMessage, subscriber, payload, bytes); |
| 243 |
|
| 244 |
if (URT_CFG_PUBSUB_PROFILING == true || latency) { |
| 245 |
uint64_t calculatedLatency = urtTimeNow() - lastMessage->originTime; |
| 246 |
|
| 247 |
#if(URT_CFG_PUBSUB_PROFILING == true) |
| 248 |
subscriber->base.sumLatencies += calculatedLatency; |
| 249 |
|
| 250 |
if (calculatedLatency < subscriber->minLatency) {
|
| 251 |
subscriber->minLatency = calculatedLatency; |
| 252 |
} |
| 253 |
else if (calculatedLatency > subscriber->maxLatency) { |
| 254 |
subscriber->maxLatency = calculatedLatency; |
| 255 |
} |
| 256 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
| 257 |
|
| 258 |
if (latency) {
|
| 259 |
latency = calculatedLatency; |
| 260 |
} |
| 261 |
} |
| 262 |
|
| 263 |
urtMutexUnlock(subscriber->base.topic->lock); |
| 264 |
return URT_STATUS_OK;
|
| 265 |
} |
| 266 |
|
| 267 |
/**
|
| 268 |
* @brief Unsubscribes from a subscriber.
|
| 269 |
*
|
| 270 |
* @param[in] subscriber The NRT subscriber to be unsubscribed. Must not be NULL.
|
| 271 |
*
|
| 272 |
* @return Returns URT_STATUS_OK on sucess.
|
| 273 |
* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
|
| 274 |
*/
|
| 275 |
urt_status_t urtNrtSubscriberUnsubscribe (urt_nrtsubscriber_t* subscriber) |
| 276 |
{
|
| 277 |
if (subscriber->base.topic)
|
| 278 |
{
|
| 279 |
# if(URT_CFG_PUBSUB_PROFILING == true) |
| 280 |
urtMutexLock(topic->lock); |
| 281 |
subscriber->base.topic->numSubscribers--; |
| 282 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
| 283 |
urtEventUnregister(subscriber->base.topic->evtSource, subscriber->base.evtListener); |
| 284 |
# if(URT_CFG_PUBSUB_PROFILING == true) |
| 285 |
urtMutexUnlock(topic->lock); |
| 286 |
subscriber->base.topic = NULL;
|
| 287 |
subscriber->base.lastMessage = NULL;
|
| 288 |
subscriber->base.lastMessageTime = 0;
|
| 289 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
| 290 |
return URT_STATUS_OK;
|
| 291 |
} |
| 292 |
|
| 293 |
return URT_STATUS_UNSUBSCRIBE_NOTOPIC;
|
| 294 |
} |
| 295 |
|
| 296 |
|
| 297 |
/**
|
| 298 |
* @brief Initialize the srt Subscriber.
|
| 299 |
*
|
| 300 |
* @param[in] subscriber The SRT subscriber to initialize. Must not be NULL.
|
| 301 |
*/
|
| 302 |
void urtSrtSubscriberInit(urt_srtsubscriber_t* subscriber)
|
| 303 |
{
|
| 304 |
urtDebugAssert(subscriber); |
| 305 |
|
| 306 |
subscriber->base.topic = NULL;
|
| 307 |
urtEventListenerInit(subscriber->base.evtListener); |
| 308 |
subscriber->base.lastMessage = NULL;
|
| 309 |
subscriber->base.lastMessageTime = 0;
|
| 310 |
#if (URT_CFG_PUBSUB_PROFILING)
|
| 311 |
subscriber->base.sumLatencies = 0;
|
| 312 |
subscriber->base.numMessagesReceived = 0;
|
| 313 |
subscriber->usefulnesscb = NULL;
|
| 314 |
subscriber->cbparams = NULL;
|
| 315 |
subscriber->minLatency = URT_DELAY_INFINITE; |
| 316 |
subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
| 317 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
| 318 |
return;
|
| 319 |
} |
| 320 |
|
| 321 |
/**
|
| 322 |
* @brief Subscribes the subscriber to a topic.
|
| 323 |
*
|
| 324 |
* @param[in] subscriber The SRT subscriber which shall subscribe to a topic. Must not be NULL.
|
| 325 |
* @param[in] topic The topic to subscribe to. Must not be NULL.
|
| 326 |
* @param[in] message NULL terminated list of messages to contribute to the topic.
|
| 327 |
* Messages must not be associated to another topic.
|
| 328 |
* Once a message has been contributed, it cannot be removed later.
|
| 329 |
* May be NULL (no messages to contribute)
|
| 330 |
* @param[in] usefulnesscb Pointer to a function to calculate usefulness of a message. Must not be NULL.
|
| 331 |
* @param[in] cbparams Optional parameters for the usefulness callback.
|
| 332 |
* May be NULL if the callback expects no parameters.
|
| 333 |
*
|
| 334 |
* @return Returns URT_STATUS_OK on success.
|
| 335 |
* Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
|
| 336 |
*/
|
| 337 |
urt_status_t urtSrtSubscriberSubscribe(urt_srtsubscriber_t* subscriber, urt_topic_t* topic, |
| 338 |
urt_message_t* messages, urt_srtusefulnessfunc_t* usefulnesscb, void* cbparams)
|
| 339 |
{
|
| 340 |
urtDebugAssert(subscriber); |
| 341 |
urtDebugAssert(topic); |
| 342 |
|
| 343 |
if (subscriber->base.topic)
|
| 344 |
{
|
| 345 |
return URT_STATUS_SUBSCRIBE_TOPICSET;
|
| 346 |
} |
| 347 |
|
| 348 |
subscriber->base.topic = topic; |
| 349 |
subscriber->usefulnesscb = usefulnesscb; |
| 350 |
subscriber->cbparams = cbparams; |
| 351 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
| 352 |
subscriber->base.sumLatencies = 0;
|
| 353 |
subscriber->base.numMessagesReceived = 0;
|
| 354 |
subscriber->minLatency = URT_DELAY_INFINITE; |
| 355 |
subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
| 356 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
| 357 |
|
| 358 |
urtMutexLock(topic->lock); |
| 359 |
if (messages)
|
| 360 |
{
|
| 361 |
urtContributeMessages(messages); |
| 362 |
} |
| 363 |
|
| 364 |
subscriber->base.lastMessage = topic->latestMessage; |
| 365 |
subscriber->base.lastMessageTime = topic->latestMessage->originTime; |
| 366 |
|
| 367 |
urtEventRegister(topic->evtSource, subscriber->base.evtListener, subscriber->base.evtListener.events, subscriber->base.evtListener.flags); |
| 368 |
|
| 369 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
| 370 |
topic->numHrtSubscribers--; |
| 371 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
| 372 |
|
| 373 |
urtMutexUnlock(topic->lock); |
| 374 |
return URT_STATUS_OK;
|
| 375 |
} |
| 376 |
|
| 377 |
/**
|
| 378 |
* @brief Fetches the next message.
|
| 379 |
*
|
| 380 |
* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
| 381 |
* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
| 382 |
* @param[in] bytes Payload size in bytes.
|
| 383 |
* @param[in] latency The latency can be returned by reference. May be NULL.
|
| 384 |
*
|
| 385 |
* @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 |
*/
|
| 389 |
urt_status_t urtSrtSubscriberFetchNextMessage(urt_srtsubscriber_t* subscriber, void* const payload, |
| 390 |
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 |
urt_message_t* oldestMessage = subscriber->base.lastMessage; |
| 400 |
if(oldestMessage->originTime == subscriber->base.lastMessageTime)
|
| 401 |
{
|
| 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 |
oldestMessage = oldestMessage->next; |
| 408 |
} |
| 409 |
else
|
| 410 |
{
|
| 411 |
oldestMessage = urtFindOldestMessage(oldestMessage->next); |
| 412 |
} |
| 413 |
|
| 414 |
urtFetchMessage(oldestMessage, subscriber, payload, bytes); |
| 415 |
|
| 416 |
if (URT_CFG_PUBSUB_PROFILING == true || latency) { |
| 417 |
uint64_t calculatedLatency = urtTimeNow() - oldestMessage->originTime; |
| 418 |
|
| 419 |
#if(URT_CFG_PUBSUB_PROFILING == true) |
| 420 |
subscriber->base.sumLatencies += calculatedLatency; |
| 421 |
|
| 422 |
if (calculatedLatency < subscriber->minLatency) {
|
| 423 |
subscriber->minLatency = calculatedLatency; |
| 424 |
} |
| 425 |
else if (calculatedLatency > subscriber->maxLatency) { |
| 426 |
subscriber->maxLatency = calculatedLatency; |
| 427 |
} |
| 428 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
| 429 |
|
| 430 |
if (latency) {
|
| 431 |
latency = calculatedLatency; |
| 432 |
} |
| 433 |
} |
| 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 |
|
| 444 |
/**
|
| 445 |
* @brief Fetches the latest message.
|
| 446 |
*
|
| 447 |
* @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 |
*
|
| 452 |
* @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 |
*/
|
| 456 |
urt_status_t urtSrtSubscriberFetchLatestMessage(urt_srtsubscriber_t* subscriber, void* const payload, |
| 457 |
size_t bytes, urt_delay_t* latency) |
| 458 |
{
|
| 459 |
urtDebugAssert(subscriber); |
| 460 |
|
| 461 |
if (!subscriber->base.topic) {
|
| 462 |
return URT_STATUS_FETCH_NOTOPIC;
|
| 463 |
} |
| 464 |
|
| 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 |
urtFetchMessage(lastMessage, subscriber, payload, bytes); |
| 475 |
|
| 476 |
if (URT_CFG_PUBSUB_PROFILING == true || latency) { |
| 477 |
uint64_t calculatedLatency = urtTimeNow() - lastMessage->originTime; |
| 478 |
|
| 479 |
#if(URT_CFG_PUBSUB_PROFILING == true) |
| 480 |
subscriber->base.sumLatencies += calculatedLatency; |
| 481 |
|
| 482 |
if (calculatedLatency < subscriber->minLatency) {
|
| 483 |
subscriber->minLatency = calculatedLatency; |
| 484 |
} |
| 485 |
else if (calculatedLatency > subscriber->maxLatency) { |
| 486 |
subscriber->maxLatency = calculatedLatency; |
| 487 |
} |
| 488 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
| 489 |
|
| 490 |
if (latency) {
|
| 491 |
latency = calculatedLatency; |
| 492 |
} |
| 493 |
} |
| 494 |
|
| 495 |
urtMutexUnlock(subscriber->base.topic->lock); |
| 496 |
return URT_STATUS_OK;
|
| 497 |
} |
| 498 |
|
| 499 |
/**
|
| 500 |
* @brief Calculates the usefulness of the subscriber.
|
| 501 |
*
|
| 502 |
* @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 |
*
|
| 505 |
* @return Returns the usefulness as a value within [0,1].
|
| 506 |
*/
|
| 507 |
float urtSrtSubscriberCalculateUsefulness(urt_srtsubscriber_t* subscriber, urt_delay_t latency)
|
| 508 |
{
|
| 509 |
urtDebugAssert(subscriber); |
| 510 |
|
| 511 |
return subscriber->usefulnesscb(latency);
|
| 512 |
} |
| 513 |
|
| 514 |
/**
|
| 515 |
* @brief Unsubscribes from a subscriber.
|
| 516 |
*
|
| 517 |
* @param[in] subscriber The NRT subscriber to be unsubscribed. Must not be NULL.
|
| 518 |
*
|
| 519 |
* @return Returns URT_STATUS_OK on sucess.
|
| 520 |
* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
|
| 521 |
*/
|
| 522 |
urt_status_t urtSrtSubscriberUnsubscribe(urt_srtsubscriber_t* subscriber) |
| 523 |
{
|
| 524 |
urtDebugAssert(subscriber); |
| 525 |
|
| 526 |
if (subscriber->base.topic)
|
| 527 |
{
|
| 528 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
| 529 |
urtMutexLock(topic->lock); |
| 530 |
subscriber->base.topic->numSubscribers--; |
| 531 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
| 532 |
urtEventUnregister(subscriber->base.topic->evtSource, subscriber->base.evtListener); |
| 533 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
| 534 |
urtMutexUnlock(topic->lock); |
| 535 |
# 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 |
|
| 545 |
|
| 546 |
/**
|
| 547 |
* @brief Initialize the FRT Subscriber.
|
| 548 |
*
|
| 549 |
* @param[in] subscriber The SRT subscriber to initialize. Must not be NULL.
|
| 550 |
*/
|
| 551 |
void urtFrtSubscriberInit(urt_frtsubscriber_t* subscriber)
|
| 552 |
{
|
| 553 |
urtDebugAssert(subscriber); |
| 554 |
|
| 555 |
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 |
|
| 581 |
/**
|
| 582 |
* @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 |
*/
|
| 597 |
urt_status_t urtFrtSubscriberSubscribe(urt_frtsubscriber_t* subscriber, urt_topic_t* topic, |
| 598 |
urt_message_t* messages, urt_delay_t deadline, urt_delay_t jitter) |
| 599 |
{
|
| 600 |
urtDebugAssert(subscriber); |
| 601 |
urtDebugAssert(topic); |
| 602 |
|
| 603 |
if (subscriber->base.topic)
|
| 604 |
{
|
| 605 |
return URT_STATUS_SUBSCRIBE_TOPICSET;
|
| 606 |
} |
| 607 |
|
| 608 |
subscriber->base.topic = topic; |
| 609 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
| 610 |
subscriber->base.sumLatencies = 0;
|
| 611 |
subscriber->base.numMessagesReceived = 0;
|
| 612 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
| 613 |
# if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true) |
| 614 |
subscriber->deadlineOffset = deadline; |
| 615 |
# endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
| 616 |
# if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) |
| 617 |
subscriber->maxJitter =jitter; |
| 618 |
# endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
| 619 |
# if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true) |
| 620 |
subscriber->minLatency = URT_DELAY_INFINITE; |
| 621 |
subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
| 622 |
# endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
| 623 |
|
| 624 |
urtMutexLock(topic->lock); |
| 625 |
if (messages)
|
| 626 |
{
|
| 627 |
urtContributeMessages(messages); |
| 628 |
} |
| 629 |
|
| 630 |
subscriber->base.lastMessage = topic->latestMessage; |
| 631 |
subscriber->base.lastMessageTime = topic->latestMessage->originTime; |
| 632 |
|
| 633 |
urtEventRegister(topic->evtSource, subscriber->base.evtListener, subscriber->base.evtListener.events, subscriber->base.evtListener.flags); |
| 634 |
|
| 635 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
| 636 |
topic->numHrtSubscribers--; |
| 637 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
| 638 |
|
| 639 |
urtMutexUnlock(topic->lock); |
| 640 |
return URT_STATUS_OK;
|
| 641 |
} |
| 642 |
|
| 643 |
/**
|
| 644 |
* @brief Fetches the next message.
|
| 645 |
*
|
| 646 |
* @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 |
*
|
| 651 |
* @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 |
*/
|
| 655 |
urt_status_t urtFrtSubscriberFetchNextMessage(urt_frtsubscriber_t* subscriber, void* const payload, |
| 656 |
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 |
urt_message_t* oldestMessage = subscriber->base.lastMessage; |
| 666 |
if(oldestMessage->originTime == subscriber->base.lastMessageTime)
|
| 667 |
{
|
| 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 |
oldestMessage = oldestMessage->next; |
| 674 |
} |
| 675 |
else
|
| 676 |
{
|
| 677 |
oldestMessage = urtFindOldestMessage(oldestMessage->next); |
| 678 |
} |
| 679 |
|
| 680 |
urtFetchMessage(oldestMessage, subscriber, payload, bytes); |
| 681 |
|
| 682 |
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 |
subscriber->base.sumLatencies += calculatedLatency; |
| 687 |
|
| 688 |
if (calculatedLatency < subscriber->minLatency) {
|
| 689 |
subscriber->minLatency = calculatedLatency; |
| 690 |
} |
| 691 |
else if (calculatedLatency > subscriber->maxLatency) { |
| 692 |
subscriber->maxLatency = calculatedLatency; |
| 693 |
} |
| 694 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
| 695 |
|
| 696 |
#if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) |
| 697 |
if (calculatedLatency < subscriber->minLatency && calculatedLatency > subscriber->minLatency - subscriber->maxJitter) {
|
| 698 |
subscriber->minLatency = calculatedLatency; |
| 699 |
} |
| 700 |
else if (calculatedLatency > subscriber->maxLatency && calculatedLatency < subscriber->maxLatency + subscriber->maxJitter) { |
| 701 |
subscriber->maxLatency = calculatedLatency; |
| 702 |
} |
| 703 |
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 |
|
| 709 |
if (latency) {
|
| 710 |
latency = calculatedLatency; |
| 711 |
} |
| 712 |
} |
| 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 |
return URT_STATUS_OK;
|
| 721 |
} |
| 722 |
|
| 723 |
/**
|
| 724 |
* @brief Fetches the latest message.
|
| 725 |
*
|
| 726 |
* @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 |
*
|
| 731 |
* @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 |
*/
|
| 735 |
urt_status_t urtFrtSubscriberFetchLatestMessage(urt_frtsubscriber_t* subscriber, void* const payload, |
| 736 |
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 |
urtFetchMessage(lastMessage, subscriber, payload, bytes); |
| 753 |
|
| 754 |
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 |
subscriber->base.sumLatencies += calculatedLatency; |
| 759 |
|
| 760 |
if (calculatedLatency < subscriber->minLatency) {
|
| 761 |
subscriber->minLatency = calculatedLatency; |
| 762 |
} |
| 763 |
else if (calculatedLatency > subscriber->maxLatency) { |
| 764 |
subscriber->maxLatency = calculatedLatency; |
| 765 |
} |
| 766 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
| 767 |
|
| 768 |
#if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) |
| 769 |
if (calculatedLatency < subscriber->minLatency && calculatedLatency > subscriber->minLatency - subscriber->maxJitter) {
|
| 770 |
subscriber->minLatency = calculatedLatency; |
| 771 |
} |
| 772 |
else if (calculatedLatency > subscriber->maxLatency && calculatedLatency < subscriber->maxLatency + subscriber->maxJitter) { |
| 773 |
subscriber->maxLatency = calculatedLatency; |
| 774 |
} |
| 775 |
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 |
|
| 781 |
if (latency) {
|
| 782 |
latency = calculatedLatency; |
| 783 |
} |
| 784 |
} |
| 785 |
|
| 786 |
urtMutexUnlock(subscriber->base.topic->lock); |
| 787 |
return URT_STATUS_OK;
|
| 788 |
} |
| 789 |
|
| 790 |
/**
|
| 791 |
* @brief Calculates the validity from the subscriber.
|
| 792 |
*
|
| 793 |
* @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 |
*
|
| 796 |
* @return Returns a boolean indicator whether the latency is fine.
|
| 797 |
*/
|
| 798 |
bool urtFrtSubscriberCalculateValidity(urt_frtsubscriber_t* subscriber, urt_delay_t latency)
|
| 799 |
{
|
| 800 |
#if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true) |
| 801 |
if (latency > subscriber->minLatency && latency < subscriber->maxLatency)
|
| 802 |
return true; |
| 803 |
#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 |
# endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS && URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
| 812 |
|
| 813 |
return false; |
| 814 |
} |
| 815 |
|
| 816 |
/**
|
| 817 |
* @brief Unsubscribes from a subscriber.
|
| 818 |
*
|
| 819 |
* @param[in] subscriber The FRT subscriber to be unsubscribed. Must not be NULL.
|
| 820 |
*
|
| 821 |
* @return Returns URT_STATUS_OK on sucess.
|
| 822 |
* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
|
| 823 |
*/
|
| 824 |
urt_status_t urtFrtSubscriberUnsubscribe(urt_frtsubscriber_t* subscriber) |
| 825 |
{
|
| 826 |
urtDebugAssert(subscriber); |
| 827 |
|
| 828 |
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 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
| 839 |
subscriber->base.topic->numSubscribers--; |
| 840 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
| 841 |
|
| 842 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
| 843 |
urtMutexUnlock(topic->lock); |
| 844 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
| 845 |
subscriber->base.topic = NULL;
|
| 846 |
subscriber->base.lastMessage = NULL;
|
| 847 |
subscriber->base.lastMessageTime = 0;
|
| 848 |
return URT_STATUS_OK;
|
| 849 |
} |
| 850 |
|
| 851 |
|
| 852 |
/**
|
| 853 |
* @brief Initialize the HRT Subscriber.
|
| 854 |
*
|
| 855 |
* @param[in] subscriber The HRT subscriber to initialize. Must not be NULL.
|
| 856 |
*/
|
| 857 |
void urtHrtSubscriberInit(urt_hrtsubscriber_t* subscriber)
|
| 858 |
{
|
| 859 |
urtDebugAssert(subscriber); |
| 860 |
|
| 861 |
subscriber->base.topic = NULL;
|
| 862 |
urtEventListenerInit(subscriber->base.evtListener); |
| 863 |
subscriber->base.lastMessage = NULL;
|
| 864 |
subscriber->base.lastMessageTime = 0;
|
| 865 |
|
| 866 |
# if (URT_CFG_PUBSUB_PROFILING)
|
| 867 |
subscriber->base.sumLatencies = 0;
|
| 868 |
subscriber->base.numMessagesReceived = 0;
|
| 869 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
| 870 |
|
| 871 |
subscriber->next = NULL;
|
| 872 |
|
| 873 |
# if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS)
|
| 874 |
subscriber->deadlineOffset = 0;
|
| 875 |
urtTimerInit(subscriber->qodDeadlineTimer); |
| 876 |
# endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
| 877 |
|
| 878 |
# if (URT_CFG_PUBSUB_QOS_RATECHECKS)
|
| 879 |
subscriber->expectedRate = 0;
|
| 880 |
# endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
| 881 |
|
| 882 |
# if (URT_CFG_PUBSUB_QOS_JITTERCHECKS)
|
| 883 |
subscriber->maxJitter = 0;
|
| 884 |
# endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
| 885 |
|
| 886 |
# if (URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING)
|
| 887 |
subscriber->minLatency = URT_DELAY_INFINITE; |
| 888 |
subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
| 889 |
# endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
| 890 |
return;
|
| 891 |
} |
| 892 |
|
| 893 |
|
| 894 |
/**
|
| 895 |
* @brief Subscribes the subscriber to a topic.
|
| 896 |
*
|
| 897 |
* @param[in] subscriber The HRT subscriber which shall subscribe to a topic. Must not be NULL.
|
| 898 |
* @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 |
*/
|
| 912 |
urt_status_t urtHrtSubscriberSubscribe(urt_hrtsubscriber_t* subscriber, urt_topic_t* topic, |
| 913 |
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 |
urtMutexLock(topic->lock); |
| 943 |
if (messages)
|
| 944 |
{
|
| 945 |
urtContributeMessages(messages); |
| 946 |
} |
| 947 |
|
| 948 |
subscriber->base.lastMessage = topic->latestMessage; |
| 949 |
subscriber->base.lastMessageTime = topic->latestMessage->originTime; |
| 950 |
|
| 951 |
urtEventRegister(topic->evtSource, subscriber->base.evtListener, subscriber->base.evtListener.events, subscriber->base.evtListener.flags); |
| 952 |
|
| 953 |
# if(URT_CFG_PUBSUB_QOS_RATECHECKS == true) |
| 954 |
//TODO: Implement
|
| 955 |
# 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 |
urtMutexUnlock(topic->lock); |
| 963 |
return URT_STATUS_OK;
|
| 964 |
} |
| 965 |
|
| 966 |
|
| 967 |
/**
|
| 968 |
* @brief Fetches the next message.
|
| 969 |
*
|
| 970 |
* @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 |
*
|
| 975 |
* @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 |
*/
|
| 979 |
urt_status_t urtHrtSubscriberFetchNextMessage(urt_hrtsubscriber_t* subscriber, void* const payload, |
| 980 |
size_t bytes, urt_delay_t* latency) |
| 981 |
{
|
| 982 |
urtDebugAssert(subscriber); |
| 983 |
|
| 984 |
if (!subscriber->base.topic) {
|
| 985 |
return URT_STATUS_FETCH_NOTOPIC;
|
| 986 |
} |
| 987 |
|
| 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 |
if (URT_CFG_PUBSUB_PROFILING == true || latency) { |
| 998 |
uint64_t calculatedLatency = urtTimeNow() - messageTemp->originTime; |
| 999 |
|
| 1000 |
#if(URT_CFG_PUBSUB_PROFILING == true) |
| 1001 |
subscriber->base.sumLatencies += calculatedLatency; |
| 1002 |
|
| 1003 |
if (calculatedLatency < subscriber->minLatency) {
|
| 1004 |
subscriber->minLatency = calculatedLatency; |
| 1005 |
} |
| 1006 |
else if (calculatedLatency > subscriber->maxLatency) { |
| 1007 |
subscriber->maxLatency = calculatedLatency; |
| 1008 |
} |
| 1009 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
| 1010 |
|
| 1011 |
if (latency) {
|
| 1012 |
latency = calculatedLatency; |
| 1013 |
} |
| 1014 |
} |
| 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 |
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 |
urtCoreStopNodes(URT_STATUS_JITTERVIOLATION); |
| 1037 |
return URT_STATUS_JITTERVIOLATION;
|
| 1038 |
} |
| 1039 |
#endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
| 1040 |
|
| 1041 |
#if (URT_CFG_PUBSUB_PROFILING == true && URT_CFG_PUBSUB_QOS_JITTERCHECKS == false) |
| 1042 |
if (calculatedLatency < subscriber->minLatency) {
|
| 1043 |
subscriber->minLatency = calculatedLatency; |
| 1044 |
} |
| 1045 |
else if (calculatedLatency > subscriber->maxLatency) { |
| 1046 |
subscriber->maxLatency = calculatedLatency; |
| 1047 |
} |
| 1048 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
| 1049 |
|
| 1050 |
urtFetchMessage(messageTemp, subscriber, payload, bytes); |
| 1051 |
|
| 1052 |
#if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true) |
| 1053 |
if (messageTemp->next->originTime < messageTemp->originTime)
|
| 1054 |
{
|
| 1055 |
//TODO: first reset?! (when ... set)
|
| 1056 |
urtTimerSet(subscriber->qosDeadlineTimer, subscriber->deadlineOffset, urtCoreCallbackDefault, NULL);
|
| 1057 |
} |
| 1058 |
else
|
| 1059 |
{
|
| 1060 |
urtTimerReset(subscriber->qosDeadlineTimer); |
| 1061 |
} |
| 1062 |
#endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
| 1063 |
|
| 1064 |
urtMutexUnlock(subscriber->base.topic->lock); |
| 1065 |
return URT_STATUS_OK;
|
| 1066 |
} |
| 1067 |
|
| 1068 |
|
| 1069 |
/**
|
| 1070 |
* @brief Fetches the latest message.
|
| 1071 |
*
|
| 1072 |
* @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 |
*
|
| 1077 |
* @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 |
*/
|
| 1081 |
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 |
|
| 1164 |
/**
|
| 1165 |
* @brief Unsubscribes from a subscriber.
|
| 1166 |
*
|
| 1167 |
* @param[in] subscriber The HRT subscriber to be unsubscribed. Must not be NULL.
|
| 1168 |
*
|
| 1169 |
* @return Returns URT_STATUS_OK on sucess.
|
| 1170 |
* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
|
| 1171 |
*/
|
| 1172 |
urt_status_t urtHrtSubscriberUnsubscribe(urt_hrtsubscriber_t* subscriber) |
| 1173 |
{
|
| 1174 |
urtDebugAssert(subscriber); |
| 1175 |
|
| 1176 |
if (subscriber->base.topic)
|
| 1177 |
{
|
| 1178 |
urtMutexLock(topic->lock); |
| 1179 |
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 |
bool hrtZero = false; |
| 1191 |
while (messageTemp->next->originTime < messageTemp->originTime)
|
| 1192 |
{
|
| 1193 |
messageTemp = messageTemp->next; |
| 1194 |
messageTemp->numHrtConsumersLeft--; |
| 1195 |
if (messageTemp->numHrtConsumersLeft == 0) |
| 1196 |
{
|
| 1197 |
hrtZero = true;
|
| 1198 |
} |
| 1199 |
# if(URT_CFG_PUBSUB_PROFILING == true) |
| 1200 |
messageTemp->numConsumersLeft--; |
| 1201 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
| 1202 |
} |
| 1203 |
if (hrtZero)
|
| 1204 |
{
|
| 1205 |
urtCondvarSignal(subscriber->base.topic->hrtReleased); |
| 1206 |
} |
| 1207 |
|
| 1208 |
urtMutexUnlock(topic->lock); |
| 1209 |
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 |
|
| 1219 |
|