urtware / src / urt_subscriber.c @ 982056f7
History | View | Annotate | Download (42.4 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 |
|