52 |
52 |
*/
|
53 |
53 |
void urtNrtSubscriberInit (urt_nrtsubscriber_t* subscriber)
|
54 |
54 |
{
|
|
55 |
urtDebugAssert(subscriber);
|
|
56 |
|
55 |
57 |
subscriber->base.topic = NULL;
|
56 |
58 |
urtEventListenerInit(subscriber->base.evtListener);
|
57 |
59 |
subscriber->base.lastMessage = NULL;
|
58 |
60 |
subscriber->base.lastMessageTime = 0;
|
59 |
|
#if (URT_CFG_PUBSUB_PROFILING)
|
|
61 |
#if (URT_CFG_PUBSUB_PROFILING == true)
|
60 |
62 |
subscriber->minLatency = URT_DELAY_INFINITE;
|
61 |
63 |
subscriber->maxLatency = URT_DELAY_IMMEDIATE;
|
62 |
|
#endif /* URT_CFG_PUBSUB_PROFILING */
|
|
64 |
#endif /* URT_CFG_PUBSUB_PROFILING */
|
63 |
65 |
return;
|
64 |
66 |
}
|
65 |
67 |
|
... | ... | |
76 |
78 |
* @return Returns URT_STATUS_OK on success.
|
77 |
79 |
* Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
|
78 |
80 |
*/
|
79 |
|
urt_status_t urtNrtSubscriberSubscribe (urt_nrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages) {
|
|
81 |
urt_status_t urtNrtSubscriberSubscribe (urt_nrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages)
|
|
82 |
{
|
|
83 |
urtDebugAssert(subscriber);
|
|
84 |
urtDebugAssert(topic);
|
|
85 |
|
|
86 |
if (!subscriber->base.topic)
|
|
87 |
return URT_STATUS_SUBSCRIBE_TOPICSET;
|
|
88 |
|
|
89 |
subscriber->base.topic = topic;
|
|
90 |
//TODO: Lock topic
|
|
91 |
|
|
92 |
if (messages)
|
|
93 |
{
|
|
94 |
urt_message_t* lastMessageContribute = messages;
|
|
95 |
while (lastMessageContribute->next)
|
|
96 |
{
|
|
97 |
lastMessageContribute = lastMessageContribute->next;
|
|
98 |
}
|
|
99 |
lastMessageContribute->next = topic->latestMessage->next;
|
|
100 |
topic->latestMessage->next = messages;
|
|
101 |
}
|
|
102 |
|
|
103 |
subscriber->base.lastMessage = topic->latestMessage;
|
|
104 |
subscriber->base.lastMessageTime = topic->latestMessage->originTime;
|
|
105 |
|
|
106 |
urtEventRegister(topic->evtSource, subscriber->base.evtListener, URT_EVENTMASK_MAXPRIO, URT_EVENTFLAG_PROCEED); //TODO: Correct mask, flag?
|
|
107 |
|
|
108 |
#if (URT_CFG_PUBSUB_PROFILING == true)
|
|
109 |
topic->numHrtSubscribers--;
|
|
110 |
#endif /* URT_CFG_PUBSUB_PROFILING */
|
|
111 |
|
|
112 |
//TODO: Unlock topic
|
80 |
113 |
return URT_STATUS_OK;
|
81 |
114 |
}
|
82 |
115 |
|
... | ... | |
92 |
125 |
* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
93 |
126 |
* Retruns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
94 |
127 |
*/
|
95 |
|
urt_status_t urtNrtSubscriberFetchNextMessage (urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency) {
|
|
128 |
urt_status_t urtNrtSubscriberFetchNextMessage (urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency)
|
|
129 |
{
|
|
130 |
urtDebugAssert(subscriber);
|
|
131 |
|
|
132 |
urt_message_t youngestMessage;
|
|
133 |
if (subscriber->base.topic)
|
|
134 |
{
|
|
135 |
//TODO: Lock Topic
|
|
136 |
urt_osTime_t localCopy; //TODO: replace with local copy
|
|
137 |
if (subscriber->base.lastMessageTime == localCopy)
|
|
138 |
{
|
|
139 |
if(subscriber->base.lastMessage->next->originTime < localCopy)
|
|
140 |
{
|
|
141 |
youngestMessage = subscriber->base.lastMessage->next;
|
|
142 |
}
|
|
143 |
else
|
|
144 |
{
|
|
145 |
//TODO: Unlock Topic
|
|
146 |
return URT_STATUS_FETCH_NOMESSAGE;
|
|
147 |
}
|
|
148 |
}
|
|
149 |
else
|
|
150 |
{
|
|
151 |
youngestMessage = subscriber->base.lastMessage->next;
|
|
152 |
while (youngestMessage.originTime < localCopy)
|
|
153 |
{
|
|
154 |
youngestMessage = youngestMessage.next;
|
|
155 |
}
|
|
156 |
}
|
|
157 |
}
|
|
158 |
else
|
|
159 |
{
|
|
160 |
return URT_STATUS_FETCH_NOTOPIC;
|
|
161 |
}
|
|
162 |
|
|
163 |
latency = subscriber->base.lastMessageTime - youngestMessage.originTime;
|
|
164 |
|
|
165 |
//TODO: Other cases
|
|
166 |
//TODO: Unlock topic
|
96 |
167 |
return URT_STATUS_OK;
|
97 |
168 |
}
|
98 |
169 |
|
99 |
170 |
/**
|
100 |
|
* @brief Fetches the lates message.
|
|
171 |
* @brief Fetches the latest message.
|
101 |
172 |
*
|
102 |
173 |
* @param[in] subscriber The NRT subscriber that shall fetch the message. Must not be NULL.
|
103 |
174 |
* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
... | ... | |
121 |
192 |
* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
|
122 |
193 |
*/
|
123 |
194 |
urt_status_t urtNrtSubscriberUnsubscribe (urt_nrtsubscriber_t* subscriber) {
|
124 |
|
return URT_STATUS_OK;
|
|
195 |
if (subscriber->base.topic)
|
|
196 |
{
|
|
197 |
# if(URT_CFG_PUBSUB_PROFILING == true)
|
|
198 |
//TODO: LOCK TOPIC
|
|
199 |
subscriber->base.topic->numHrtSubscribers--;
|
|
200 |
# endif /* URT_CFG_PUBSUB_PROFILING */
|
|
201 |
urtEventUnregister(subscriber->base.topic->evtSource, subscriber->base.evtListener);
|
|
202 |
# if(URT_CFG_PUBSUB_PROFILING == true)
|
|
203 |
//TODO: Unlock TOPIC
|
|
204 |
subscriber->base.topic = NULL;
|
|
205 |
subscriber->base.lastMessage = NULL;
|
|
206 |
subscriber->base.lastMessageTime = 0;
|
|
207 |
#endif /* URT_CFG_PUBSUB_PROFILING */
|
|
208 |
return URT_STATUS_OK;
|
|
209 |
}
|
|
210 |
else
|
|
211 |
return URT_STATUS_UNSUBSCRIBE_NOTOPIC;
|
125 |
212 |
}
|
126 |
213 |
|
127 |
214 |
|
... | ... | |
132 |
219 |
*/
|
133 |
220 |
void urtSrtSubscriberInit(urt_srtsubscriber_t* subscriber)
|
134 |
221 |
{
|
|
222 |
urtDebugAssert(subscriber);
|
|
223 |
|
135 |
224 |
subscriber->base.topic = NULL;
|
136 |
225 |
urtEventListenerInit(subscriber->base.evtListener);
|
137 |
226 |
subscriber->base.lastMessage = NULL;
|
... | ... | |
164 |
253 |
* Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
|
165 |
254 |
*/
|
166 |
255 |
urt_status_t urtSrtSubscriberSubscribe(urt_srtsubscriber_t* subscriber, urt_topic_t* topic,
|
167 |
|
urt_message_t* message, urt_srtusefulnessfunc_t* usefulnesscb, void* cbparams) {return URT_STATUS_OK;}
|
|
256 |
urt_message_t* messages, urt_srtusefulnessfunc_t* usefulnesscb, void* cbparams)
|
|
257 |
{
|
|
258 |
urtDebugAssert(subscriber);
|
|
259 |
urtDebugAssert(topic);
|
|
260 |
|
|
261 |
if (subscriber->base.topic)
|
|
262 |
{
|
|
263 |
return URT_STATUS_SUBSCRIBE_TOPICSET;
|
|
264 |
}
|
|
265 |
else
|
|
266 |
{
|
|
267 |
subscriber->base.topic = topic;
|
|
268 |
subscriber->usefulnesscb = usefulnesscb;
|
|
269 |
subscriber->cbparams = cbparams;
|
|
270 |
# if (URT_CFG_PUBSUB_PROFILING == true)
|
|
271 |
subscriber->base.sumLatencies = 0;
|
|
272 |
subscriber->base.numMessagesReceived = 0;
|
|
273 |
subscriber->minLatency = URT_DELAY_INFINITE;
|
|
274 |
subscriber->maxLatency = URT_DELAY_IMMEDIATE;
|
|
275 |
# endif /* URT_CFG_PUBSUB_PROFILING */
|
|
276 |
}
|
|
277 |
|
|
278 |
//TODO: Lock topic
|
|
279 |
if (messages)
|
|
280 |
{
|
|
281 |
urt_message_t* lastMessageContribute = messages;
|
|
282 |
while (lastMessageContribute->next)
|
|
283 |
{
|
|
284 |
lastMessageContribute = lastMessageContribute->next;
|
|
285 |
}
|
|
286 |
lastMessageContribute->next = topic->latestMessage->next;
|
|
287 |
topic->latestMessage->next = messages;
|
|
288 |
}
|
|
289 |
|
|
290 |
subscriber->base.lastMessage = topic->latestMessage;
|
|
291 |
subscriber->base.lastMessageTime = topic->latestMessage->originTime;
|
|
292 |
|
|
293 |
urtEventRegister(topic->evtSource, subscriber->base.evtListener, URT_EVENTMASK_MAXPRIO, URT_EVENTFLAG_PROCEED); //TODO: Correct mask, flag?
|
|
294 |
|
|
295 |
# if (URT_CFG_PUBSUB_PROFILING == true)
|
|
296 |
topic->numHrtSubscribers--;
|
|
297 |
# endif /* URT_CFG_PUBSUB_PROFILING */
|
|
298 |
|
|
299 |
//TODO: Unlock topic
|
|
300 |
return URT_STATUS_OK;
|
|
301 |
}
|
168 |
302 |
|
169 |
303 |
/**
|
170 |
304 |
* @brief Fetches the next message.
|
... | ... | |
204 |
338 |
*
|
205 |
339 |
* @return Returns the usefulness as a value within [0,1].
|
206 |
340 |
*/
|
207 |
|
float urtSrtSubscriberCalculateUsefulness(urt_srtsubscriber_t* subscriber, urt_delay_t latency){return 0;}
|
|
341 |
float urtSrtSubscriberCalculateUsefulness(urt_srtsubscriber_t* subscriber, urt_delay_t latency)
|
|
342 |
{
|
|
343 |
urtDebugAssert(subscriber);
|
|
344 |
|
|
345 |
return subscriber->usefulnesscb(latency);
|
|
346 |
}
|
208 |
347 |
|
209 |
348 |
/**
|
210 |
349 |
* @brief Unsubscribes from a subscriber.
|
... | ... | |
214 |
353 |
* @return Returns URT_STATUS_OK on sucess.
|
215 |
354 |
* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
|
216 |
355 |
*/
|
217 |
|
urt_status_t urtSrtSubscriberUnsubscribe(urt_srtsubscriber_t* subscriber){return URT_STATUS_OK;}
|
|
356 |
urt_status_t urtSrtSubscriberUnsubscribe(urt_srtsubscriber_t* subscriber)
|
|
357 |
{
|
|
358 |
urtDebugAssert(subscriber);
|
|
359 |
|
|
360 |
if (subscriber->base.topic)
|
|
361 |
{
|
|
362 |
if (URT_CFG_PUBSUB_PROFILING == true)
|
|
363 |
{
|
|
364 |
//TODO: lock topic
|
|
365 |
subscriber->base.topic->numHrtSubscribers--;
|
|
366 |
}
|
|
367 |
urtEventUnregister(subscriber->base.topic->evtSource, subscriber->base.evtListener);
|
|
368 |
# if (URT_CFG_PUBSUB_PROFILING == true)
|
|
369 |
//TODO: unlock topic
|
|
370 |
# endif /* URT_CFG_PUBSUB_PROFILING */
|
|
371 |
subscriber->base.topic = NULL;
|
|
372 |
subscriber->base.lastMessage = NULL;
|
|
373 |
subscriber->base.lastMessageTime = 0;
|
|
374 |
return URT_STATUS_OK;
|
|
375 |
}
|
|
376 |
|
|
377 |
return URT_STATUS_UNSUBSCRIBE_NOTOPIC;
|
|
378 |
}
|
218 |
379 |
|
219 |
380 |
|
220 |
381 |
/**
|
... | ... | |
224 |
385 |
*/
|
225 |
386 |
void urtFrtSubscriberInit(urt_frtsubscriber_t* subscriber)
|
226 |
387 |
{
|
|
388 |
urtDebugAssert(subscriber);
|
|
389 |
|
227 |
390 |
subscriber->base.topic = NULL;
|
228 |
391 |
urtEventListenerInit(subscriber->base.evtListener);
|
229 |
392 |
subscriber->base.lastMessage = NULL;
|
... | ... | |
267 |
430 |
* Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
|
268 |
431 |
*/
|
269 |
432 |
urt_status_t urtFrtSubscriberSubscribe(urt_frtsubscriber_t* subscriber, urt_topic_t* topic,
|
270 |
|
urt_message_t* messages, urt_delay_t deadline, urt_delay_t jitter){return URT_STATUS_OK;}
|
|
433 |
urt_message_t* messages, urt_delay_t deadline, urt_delay_t jitter)
|
|
434 |
{
|
|
435 |
urtDebugAssert(subscriber);
|
|
436 |
urtDebugAssert(topic);
|
|
437 |
|
|
438 |
if (subscriber->base.topic)
|
|
439 |
{
|
|
440 |
return URT_STATUS_SUBSCRIBE_TOPICSET;
|
|
441 |
}
|
|
442 |
else
|
|
443 |
{
|
|
444 |
subscriber->base.topic = topic;
|
|
445 |
# if (URT_CFG_PUBSUB_PROFILING == true)
|
|
446 |
subscriber->base.sumLatencies = 0;
|
|
447 |
subscriber->base.numMessagesReceived = 0;
|
|
448 |
# endif /* URT_CFG_PUBSUB_PROFILING */
|
|
449 |
# if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true)
|
|
450 |
subscriber->deadlineOffset = deadline;
|
|
451 |
# endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */
|
|
452 |
# if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true)
|
|
453 |
subscriber->maxJitter =jitter;
|
|
454 |
# endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */
|
|
455 |
# if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true)
|
|
456 |
subscriber->minLatency = URT_DELAY_INFINITE;
|
|
457 |
subscriber->maxLatency = URT_DELAY_IMMEDIATE;
|
|
458 |
# endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */
|
|
459 |
}
|
|
460 |
|
|
461 |
//TODO: Lock topic
|
|
462 |
if (messages)
|
|
463 |
{
|
|
464 |
urt_message_t* lastMessageContribute = messages;
|
|
465 |
while (lastMessageContribute->next)
|
|
466 |
{
|
|
467 |
lastMessageContribute = lastMessageContribute->next;
|
|
468 |
}
|
|
469 |
lastMessageContribute->next = topic->latestMessage->next;
|
|
470 |
topic->latestMessage->next = messages;
|
|
471 |
}
|
|
472 |
|
|
473 |
subscriber->base.lastMessage = topic->latestMessage;
|
|
474 |
subscriber->base.lastMessageTime = topic->latestMessage->originTime;
|
|
475 |
|
|
476 |
urtEventRegister(topic->evtSource, subscriber->base.evtListener, URT_EVENTMASK_MAXPRIO, URT_EVENTFLAG_PROCEED); //TODO: Correct mask, flag?
|
|
477 |
|
|
478 |
# if (URT_CFG_PUBSUB_PROFILING == true)
|
|
479 |
topic->numHrtSubscribers--;
|
|
480 |
# endif /* URT_CFG_PUBSUB_PROFILING */
|
|
481 |
|
|
482 |
//TODO: Unlock topic
|
|
483 |
return URT_STATUS_OK;
|
|
484 |
}
|
271 |
485 |
|
272 |
486 |
/**
|
273 |
487 |
* @brief Fetches the next message.
|
... | ... | |
307 |
521 |
*
|
308 |
522 |
* @return Returns a boolean indicator whether the latency is fine.
|
309 |
523 |
*/
|
310 |
|
bool urtFrtSubscriberCalculateValidity(urt_frtsubscriber_t* subscriber, urt_delay_t latency){return true;}
|
|
524 |
bool urtFrtSubscriberCalculateValidity(urt_frtsubscriber_t* subscriber, urt_delay_t latency)
|
|
525 |
{
|
|
526 |
# if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true && URT_CFG_PUBSUB_QOS_JITTERCHECKS == true)
|
|
527 |
if (latency < subscriber->deadlineOffset && latency < subscriber->maxJitter)
|
|
528 |
return true;
|
|
529 |
# endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS && URT_CFG_PUBSUB_QOS_JITTERCHECKS */
|
|
530 |
return false;
|
|
531 |
}
|
311 |
532 |
|
312 |
533 |
/**
|
313 |
534 |
* @brief Unsubscribes from a subscriber.
|
... | ... | |
327 |
548 |
*/
|
328 |
549 |
void urtHrtSubscriberInit(urt_hrtsubscriber_t* subscriber)
|
329 |
550 |
{
|
|
551 |
urtDebugAssert(subscriber);
|
|
552 |
|
330 |
553 |
subscriber->base.topic = NULL;
|
331 |
554 |
urtEventListenerInit(subscriber->base.evtListener);
|
332 |
555 |
subscriber->base.lastMessage = NULL;
|
333 |
556 |
subscriber->base.lastMessageTime = 0;
|
334 |
557 |
|
335 |
|
#if (URT_CFG_PUBSUB_PROFILING)
|
|
558 |
# if (URT_CFG_PUBSUB_PROFILING)
|
336 |
559 |
subscriber->base.sumLatencies = 0;
|
337 |
560 |
subscriber->base.numMessagesReceived = 0;
|
338 |
|
#endif /* URT_CFG_PUBSUB_PROFILING */
|
|
561 |
# endif /* URT_CFG_PUBSUB_PROFILING */
|
339 |
562 |
|
340 |
563 |
subscriber->next = NULL;
|
341 |
564 |
|
342 |
|
#if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS)
|
|
565 |
# if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS)
|
343 |
566 |
subscriber->deadlineOffset = 0;
|
344 |
567 |
urtTimerInit(subscriber->qodDeadlineTimer);
|
345 |
|
#endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */
|
|
568 |
# endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */
|
346 |
569 |
|
347 |
|
#if (URT_CFG_PUBSUB_QOS_RATECHECKS)
|
|
570 |
# if (URT_CFG_PUBSUB_QOS_RATECHECKS)
|
348 |
571 |
subscriber->expectedRate = 0;
|
349 |
|
#endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */
|
|
572 |
# endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */
|
350 |
573 |
|
351 |
|
#if (URT_CFG_PUBSUB_QOS_JITTERCHECKS)
|
|
574 |
# if (URT_CFG_PUBSUB_QOS_JITTERCHECKS)
|
352 |
575 |
subscriber->maxJitter = 0;
|
353 |
|
#endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */
|
|
576 |
# endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */
|
354 |
577 |
|
355 |
|
#if (URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING)
|
|
578 |
# if (URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING)
|
356 |
579 |
subscriber->minLatency = URT_DELAY_INFINITE;
|
357 |
580 |
subscriber->maxLatency = URT_DELAY_IMMEDIATE;
|
358 |
|
#endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */
|
|
581 |
# endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */
|
359 |
582 |
return;
|
360 |
583 |
}
|
361 |
584 |
|