Revision a5e142de src/urt_subscriber.c
src/urt_subscriber.c | ||
---|---|---|
52 | 52 |
*/ |
53 | 53 |
void urtNrtSubscriberInit (urt_nrtsubscriber_t* subscriber) |
54 | 54 |
{ |
55 |
urtDebugAssert(subscriber); |
|
56 |
|
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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)
|
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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); |
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84 |
urtDebugAssert(topic); |
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85 |
|
|
86 |
if (!subscriber->base.topic) |
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return URT_STATUS_SUBSCRIBE_TOPICSET; |
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88 |
|
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subscriber->base.topic = topic; |
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90 |
//TODO: Lock topic |
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91 |
|
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92 |
if (messages) |
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93 |
{ |
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94 |
urt_message_t* lastMessageContribute = messages; |
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while (lastMessageContribute->next) |
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{ |
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97 |
lastMessageContribute = lastMessageContribute->next; |
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} |
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lastMessageContribute->next = topic->latestMessage->next; |
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topic->latestMessage->next = messages; |
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101 |
} |
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102 |
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subscriber->base.lastMessage = topic->latestMessage; |
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subscriber->base.lastMessageTime = topic->latestMessage->originTime; |
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105 |
|
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urtEventRegister(topic->evtSource, subscriber->base.evtListener, URT_EVENTMASK_MAXPRIO, URT_EVENTFLAG_PROCEED); //TODO: Correct mask, flag? |
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107 |
|
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108 |
#if (URT_CFG_PUBSUB_PROFILING == true) |
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topic->numHrtSubscribers--; |
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110 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
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111 |
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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) |
|
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{ |
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130 |
urtDebugAssert(subscriber); |
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131 |
|
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urt_message_t youngestMessage; |
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133 |
if (subscriber->base.topic) |
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134 |
{ |
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135 |
//TODO: Lock Topic |
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136 |
urt_osTime_t localCopy; //TODO: replace with local copy |
|
137 |
if (subscriber->base.lastMessageTime == localCopy) |
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138 |
{ |
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139 |
if(subscriber->base.lastMessage->next->originTime < localCopy) |
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{ |
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141 |
youngestMessage = subscriber->base.lastMessage->next; |
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} |
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else |
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{ |
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//TODO: Unlock Topic |
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return URT_STATUS_FETCH_NOMESSAGE; |
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} |
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148 |
} |
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149 |
else |
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150 |
{ |
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151 |
youngestMessage = subscriber->base.lastMessage->next; |
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152 |
while (youngestMessage.originTime < localCopy) |
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{ |
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154 |
youngestMessage = youngestMessage.next; |
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} |
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156 |
} |
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157 |
} |
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158 |
else |
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159 |
{ |
|
160 |
return URT_STATUS_FETCH_NOTOPIC; |
|
161 |
} |
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162 |
|
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163 |
latency = subscriber->base.lastMessageTime - youngestMessage.originTime; |
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164 |
|
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165 |
//TODO: Other cases |
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166 |
//TODO: Unlock topic |
|
96 | 167 |
return URT_STATUS_OK; |
97 | 168 |
} |
98 | 169 |
|
99 | 170 |
/** |
100 |
* @brief Fetches the lates message. |
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171 |
* @brief Fetches the latest message.
|
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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) |
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196 |
{ |
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197 |
# if(URT_CFG_PUBSUB_PROFILING == true) |
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198 |
//TODO: LOCK TOPIC |
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199 |
subscriber->base.topic->numHrtSubscribers--; |
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200 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
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201 |
urtEventUnregister(subscriber->base.topic->evtSource, subscriber->base.evtListener); |
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202 |
# if(URT_CFG_PUBSUB_PROFILING == true) |
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203 |
//TODO: Unlock TOPIC |
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204 |
subscriber->base.topic = NULL; |
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205 |
subscriber->base.lastMessage = NULL; |
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206 |
subscriber->base.lastMessageTime = 0; |
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207 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
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208 |
return URT_STATUS_OK; |
|
209 |
} |
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210 |
else |
|
211 |
return URT_STATUS_UNSUBSCRIBE_NOTOPIC; |
|
125 | 212 |
} |
126 | 213 |
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127 | 214 |
|
... | ... | |
132 | 219 |
*/ |
133 | 220 |
void urtSrtSubscriberInit(urt_srtsubscriber_t* subscriber) |
134 | 221 |
{ |
222 |
urtDebugAssert(subscriber); |
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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) |
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257 |
{ |
|
258 |
urtDebugAssert(subscriber); |
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259 |
urtDebugAssert(topic); |
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260 |
|
|
261 |
if (subscriber->base.topic) |
|
262 |
{ |
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263 |
return URT_STATUS_SUBSCRIBE_TOPICSET; |
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264 |
} |
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265 |
else |
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266 |
{ |
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267 |
subscriber->base.topic = topic; |
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268 |
subscriber->usefulnesscb = usefulnesscb; |
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269 |
subscriber->cbparams = cbparams; |
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270 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
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subscriber->base.sumLatencies = 0; |
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272 |
subscriber->base.numMessagesReceived = 0; |
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273 |
subscriber->minLatency = URT_DELAY_INFINITE; |
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274 |
subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
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275 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
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276 |
} |
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277 |
|
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278 |
//TODO: Lock topic |
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279 |
if (messages) |
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280 |
{ |
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281 |
urt_message_t* lastMessageContribute = messages; |
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282 |
while (lastMessageContribute->next) |
|
283 |
{ |
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284 |
lastMessageContribute = lastMessageContribute->next; |
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285 |
} |
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286 |
lastMessageContribute->next = topic->latestMessage->next; |
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287 |
topic->latestMessage->next = messages; |
|
288 |
} |
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289 |
|
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290 |
subscriber->base.lastMessage = topic->latestMessage; |
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291 |
subscriber->base.lastMessageTime = topic->latestMessage->originTime; |
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292 |
|
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293 |
urtEventRegister(topic->evtSource, subscriber->base.evtListener, URT_EVENTMASK_MAXPRIO, URT_EVENTFLAG_PROCEED); //TODO: Correct mask, flag? |
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294 |
|
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295 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
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296 |
topic->numHrtSubscribers--; |
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297 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
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298 |
|
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299 |
//TODO: Unlock topic |
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300 |
return URT_STATUS_OK; |
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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) |
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{ |
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urtDebugAssert(subscriber); |
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344 |
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345 |
return subscriber->usefulnesscb(latency); |
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} |
|
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 |
{ |
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358 |
urtDebugAssert(subscriber); |
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359 |
|
|
360 |
if (subscriber->base.topic) |
|
361 |
{ |
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362 |
if (URT_CFG_PUBSUB_PROFILING == true) |
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363 |
{ |
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364 |
//TODO: lock topic |
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365 |
subscriber->base.topic->numHrtSubscribers--; |
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366 |
} |
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367 |
urtEventUnregister(subscriber->base.topic->evtSource, subscriber->base.evtListener); |
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368 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
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369 |
//TODO: unlock topic |
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370 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
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371 |
subscriber->base.topic = NULL; |
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372 |
subscriber->base.lastMessage = NULL; |
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373 |
subscriber->base.lastMessageTime = 0; |
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374 |
return URT_STATUS_OK; |
|
375 |
} |
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376 |
|
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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 |
|
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