urtware / src / urt_subscriber.c @ a5e142de
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/*
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µRtWare is a lightweight publish/subscribe middleware for real-time
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applications. It was developed as part of the software habitat for the
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Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
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Copyright (C) 2018..2020 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <urtware.h> |
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/******************************************************************************/
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/* LOCAL DEFINITIONS */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL TYPES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL FUNCTIONS */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED FUNCTIONS */
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/******************************************************************************/
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/**
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* @brief Initialize the nrt Subscriber.
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*
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* @param[in] subscriber The NRT subscriber to initialize. Must not be NULL.
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*/
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void urtNrtSubscriberInit (urt_nrtsubscriber_t* subscriber)
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{ |
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urtDebugAssert(subscriber); |
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subscriber->base.topic = NULL;
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urtEventListenerInit(subscriber->base.evtListener); |
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subscriber->base.lastMessage = NULL;
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subscriber->base.lastMessageTime = 0;
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#if (URT_CFG_PUBSUB_PROFILING == true) |
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subscriber->minLatency = URT_DELAY_INFINITE; |
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subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
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#endif /* URT_CFG_PUBSUB_PROFILING */ |
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return;
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} |
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/**
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* @brief Subscribes the subscriber to a topic.
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*
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* @param[in] subscriber The NRT subscriber which shall subscribe to a topic. Must not be NULL.
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* @param[in] topic The topic to subscribe to. Must not be NULL.
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* @param[in] messages NULL terminated list of messages to contribute to the topic.
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* Messages must not be associated to another topic.
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* Once a message has been contributed, it cannot be removed later.
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* May be NULL(no messages to contribute).
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*
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* @return Returns URT_STATUS_OK on success.
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* Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
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*/
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urt_status_t urtNrtSubscriberSubscribe (urt_nrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages) |
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{ |
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urtDebugAssert(subscriber); |
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urtDebugAssert(topic); |
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if (!subscriber->base.topic)
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return URT_STATUS_SUBSCRIBE_TOPICSET;
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subscriber->base.topic = topic; |
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//TODO: Lock topic
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if (messages)
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{ |
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urt_message_t* lastMessageContribute = messages; |
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while (lastMessageContribute->next)
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{ |
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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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} |
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subscriber->base.lastMessage = topic->latestMessage; |
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subscriber->base.lastMessageTime = topic->latestMessage->originTime; |
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urtEventRegister(topic->evtSource, subscriber->base.evtListener, URT_EVENTMASK_MAXPRIO, URT_EVENTFLAG_PROCEED); //TODO: Correct mask, flag?
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#if (URT_CFG_PUBSUB_PROFILING == true) |
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topic->numHrtSubscribers--; |
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#endif /* URT_CFG_PUBSUB_PROFILING */ |
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//TODO: Unlock topic
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return URT_STATUS_OK;
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} |
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/**
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* @brief Fetches the next message.
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*
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* @param[in] subscriber The NRT subscriber that shall fetch the message. Must not be NULL.
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* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
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* @param[in] bytes Payload size in bytes.
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* @param[in] latency The latency can be returned by reference. May be NULL.
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*
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* @return Returns URT_STATUS_OK on success.
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* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
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* Retruns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
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*/
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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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urtDebugAssert(subscriber); |
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urt_message_t youngestMessage; |
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if (subscriber->base.topic)
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{ |
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//TODO: Lock Topic
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urt_osTime_t localCopy; //TODO: replace with local copy
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if (subscriber->base.lastMessageTime == localCopy)
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{ |
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if(subscriber->base.lastMessage->next->originTime < localCopy)
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{ |
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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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} |
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else
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{ |
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youngestMessage = subscriber->base.lastMessage->next; |
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while (youngestMessage.originTime < localCopy)
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{ |
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youngestMessage = youngestMessage.next; |
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} |
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} |
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} |
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else
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{ |
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return URT_STATUS_FETCH_NOTOPIC;
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} |
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latency = subscriber->base.lastMessageTime - youngestMessage.originTime; |
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//TODO: Other cases
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//TODO: Unlock topic
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return URT_STATUS_OK;
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} |
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/**
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* @brief Fetches the latest message.
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*
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* @param[in] subscriber The NRT subscriber that shall fetch the message. Must not be NULL.
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* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
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* @param[in] bytes Payload size in bytes.
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* @param[in] latency The latency can be returned by reference. May be NULL.
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*
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* @return Returns URT_STATUS_OK on success.
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* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
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* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
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*/
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urt_status_t urtNrtSubscriberFetchLatestMessage (urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency) {
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return URT_STATUS_OK;
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} |
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/**
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* @brief Unsubscribes from a subscriber.
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*
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* @param[in] subscriber The NRT subscriber to be unsubscribed. Must not be NULL.
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*
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* @return Returns URT_STATUS_OK on sucess.
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* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
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*/
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urt_status_t urtNrtSubscriberUnsubscribe (urt_nrtsubscriber_t* subscriber) { |
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if (subscriber->base.topic)
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{ |
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# if(URT_CFG_PUBSUB_PROFILING == true) |
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//TODO: LOCK TOPIC
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subscriber->base.topic->numHrtSubscribers--; |
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# endif /* URT_CFG_PUBSUB_PROFILING */ |
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urtEventUnregister(subscriber->base.topic->evtSource, subscriber->base.evtListener); |
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# if(URT_CFG_PUBSUB_PROFILING == true) |
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//TODO: Unlock TOPIC
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subscriber->base.topic = NULL;
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subscriber->base.lastMessage = NULL;
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subscriber->base.lastMessageTime = 0;
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#endif /* URT_CFG_PUBSUB_PROFILING */ |
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return URT_STATUS_OK;
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} |
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else
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return URT_STATUS_UNSUBSCRIBE_NOTOPIC;
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} |
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/**
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* @brief Initialize the srt Subscriber.
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*
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* @param[in] subscriber The SRT subscriber to initialize. Must not be NULL.
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*/
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void urtSrtSubscriberInit(urt_srtsubscriber_t* subscriber)
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{ |
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urtDebugAssert(subscriber); |
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subscriber->base.topic = NULL;
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urtEventListenerInit(subscriber->base.evtListener); |
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subscriber->base.lastMessage = NULL;
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subscriber->base.lastMessageTime = 0;
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#if (URT_CFG_PUBSUB_PROFILING)
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subscriber->base.sumLatencies = 0;
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subscriber->base.numMessagesReceived = 0;
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subscriber->usefulnesscb = NULL;
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subscriber->cbparams = NULL;
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subscriber->minLatency = URT_DELAY_INFINITE; |
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subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
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#endif /* URT_CFG_PUBSUB_PROFILING */ |
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return;
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} |
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/**
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* @brief Subscribes the subscriber to a topic.
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*
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* @param[in] subscriber The SRT subscriber which shall subscribe to a topic. Must not be NULL.
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* @param[in] topic The topic to subscribe to. Must not be NULL.
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* @param[in] message NULL terminated list of messages to contribute to the topic.
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* Messages must not be associated to another topic.
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* Once a message has been contributed, it cannot be removed later.
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* May be NULL (no messages to contribute)
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* @param[in] usefulnesscb Pointer to a function to calculate usefulness of a message. Must not be NULL.
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* @param[in] cbparams Optional parameters for the usefulness callback.
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* May be NULL if the callback expects no parameters.
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*
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* @return Returns URT_STATUS_OK on success.
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* Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
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*/
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urt_status_t urtSrtSubscriberSubscribe(urt_srtsubscriber_t* subscriber, urt_topic_t* topic, |
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urt_message_t* messages, urt_srtusefulnessfunc_t* usefulnesscb, void* cbparams)
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{ |
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urtDebugAssert(subscriber); |
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urtDebugAssert(topic); |
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if (subscriber->base.topic)
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{ |
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return URT_STATUS_SUBSCRIBE_TOPICSET;
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} |
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else
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{ |
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subscriber->base.topic = topic; |
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subscriber->usefulnesscb = usefulnesscb; |
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subscriber->cbparams = cbparams; |
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# if (URT_CFG_PUBSUB_PROFILING == true) |
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subscriber->base.sumLatencies = 0;
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subscriber->base.numMessagesReceived = 0;
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subscriber->minLatency = URT_DELAY_INFINITE; |
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subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
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# endif /* URT_CFG_PUBSUB_PROFILING */ |
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} |
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//TODO: Lock topic
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if (messages)
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{ |
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urt_message_t* lastMessageContribute = messages; |
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while (lastMessageContribute->next)
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{ |
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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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} |
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subscriber->base.lastMessage = topic->latestMessage; |
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subscriber->base.lastMessageTime = topic->latestMessage->originTime; |
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urtEventRegister(topic->evtSource, subscriber->base.evtListener, URT_EVENTMASK_MAXPRIO, URT_EVENTFLAG_PROCEED); //TODO: Correct mask, flag?
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# if (URT_CFG_PUBSUB_PROFILING == true) |
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topic->numHrtSubscribers--; |
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# endif /* URT_CFG_PUBSUB_PROFILING */ |
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//TODO: Unlock topic
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return URT_STATUS_OK;
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} |
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/**
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* @brief Fetches the next message.
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*
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* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
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* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
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* @param[in] bytes Payload size in bytes.
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* @param[in] latency The latency can be returned by reference. May be NULL.
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*
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* @return Returns URT_STATUS_OK on success.
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* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
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* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
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*/
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urt_status_t urtSrtSubscriberFetchNextMessage(urt_srtsubscriber_t* subscriber, void* payload,
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size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
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/**
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* @brief Fetches the latest message.
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*
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* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
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* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
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* @param[in] bytes Payload size in bytes.
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* @param[in] latency The latency can be returned by reference. May be NULL.
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*
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* @return Returns URT_STATUS_OK on success.
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* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
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* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
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*/
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urt_status_t urtSrtSubscriberFetchLatestMessage(urt_srtsubscriber_t* subscriber, void* payload,
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size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
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/**
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* @brief Calculates the usefulness of the subscriber.
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*
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* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
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* @param[in] latency Latency (of a message) as argument to calculate usefulness.
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*
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* @return Returns the usefulness as a value within [0,1].
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*/
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float urtSrtSubscriberCalculateUsefulness(urt_srtsubscriber_t* subscriber, urt_delay_t latency)
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{ |
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urtDebugAssert(subscriber); |
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return subscriber->usefulnesscb(latency);
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} |
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/**
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* @brief Unsubscribes from a subscriber.
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*
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* @param[in] subscriber The NRT subscriber to be unsubscribed. Must not be NULL.
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*
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* @return Returns URT_STATUS_OK on sucess.
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* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
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*/
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urt_status_t urtSrtSubscriberUnsubscribe(urt_srtsubscriber_t* subscriber) |
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{ |
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urtDebugAssert(subscriber); |
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if (subscriber->base.topic)
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{ |
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if (URT_CFG_PUBSUB_PROFILING == true) |
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{ |
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//TODO: lock topic
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subscriber->base.topic->numHrtSubscribers--; |
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} |
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urtEventUnregister(subscriber->base.topic->evtSource, subscriber->base.evtListener); |
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# if (URT_CFG_PUBSUB_PROFILING == true) |
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//TODO: unlock topic
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# endif /* URT_CFG_PUBSUB_PROFILING */ |
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subscriber->base.topic = NULL;
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subscriber->base.lastMessage = NULL;
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subscriber->base.lastMessageTime = 0;
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return URT_STATUS_OK;
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} |
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return URT_STATUS_UNSUBSCRIBE_NOTOPIC;
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} |
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/**
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* @brief Initialize the FRT Subscriber.
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*
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* @param[in] subscriber The SRT subscriber to initialize. Must not be NULL.
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*/
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void urtFrtSubscriberInit(urt_frtsubscriber_t* subscriber)
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{ |
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urtDebugAssert(subscriber); |
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subscriber->base.topic = NULL;
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urtEventListenerInit(subscriber->base.evtListener); |
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subscriber->base.lastMessage = NULL;
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subscriber->base.lastMessageTime = 0;
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#if (URT_CFG_PUBSUB_PROFILING)
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subscriber->base.sumLatencies = 0;
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subscriber->base.numMessagesReceived = 0;
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#endif /* URT_CFG_PUBSUB_PROFILING */ |
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#if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS)
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subscriber->deadlineOffset = 0;
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#endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
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#if (URT_CFG_PUBSUB_QOS_JITTERCHECKS)
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subscriber->maxJitter = 0;
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#endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
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#if (URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING)
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subscriber->minLatency = URT_DELAY_INFINITE; |
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subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
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#endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
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return;
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} |
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|
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/**
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* @brief Subscribes the subscriber to a topic.
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*
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* @param[in] subscriber The NRT subscriber which shall subscribe to a topic. Must not be NULL.
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* @param[in] topic The topic to subscribe to. Must not be NULL.
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* @param[in] messages NULL terminated list of messages to contribute to the topic.
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* Messages must not be associated to another topic.
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* Once a message has been contributed, it cannot be removed later.
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* May be NULL(no messages to contribute).
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* @param[in] deadline Maximum latency to consume messages. A value of 0 indicates that latency is of no concern.
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* @param[in] jitter Maximum allowed jitter (difference between maximum and minimum latency) when consuming messages.
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* A value of 0 indicates that jitter is of no concern.
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*
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* @return Returns URT_STATUS_OK on success.
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* Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
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*/
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urt_status_t urtFrtSubscriberSubscribe(urt_frtsubscriber_t* subscriber, urt_topic_t* topic, |
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urt_message_t* messages, urt_delay_t deadline, urt_delay_t jitter) |
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{ |
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urtDebugAssert(subscriber); |
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urtDebugAssert(topic); |
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if (subscriber->base.topic)
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{ |
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return URT_STATUS_SUBSCRIBE_TOPICSET;
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} |
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else
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{ |
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subscriber->base.topic = topic; |
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# if (URT_CFG_PUBSUB_PROFILING == true) |
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subscriber->base.sumLatencies = 0;
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subscriber->base.numMessagesReceived = 0;
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# endif /* URT_CFG_PUBSUB_PROFILING */ |
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# if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true) |
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subscriber->deadlineOffset = deadline; |
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# endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
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# if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) |
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subscriber->maxJitter =jitter; |
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# endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
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# if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true) |
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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 |
} |
485 |
|
486 |
/**
|
487 |
* @brief Fetches the next message.
|
488 |
*
|
489 |
* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
490 |
* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
491 |
* @param[in] bytes Payload size in bytes.
|
492 |
* @param[in] latency The latency can be returned by reference. May be NULL.
|
493 |
*
|
494 |
* @return Returns URT_STATUS_OK on success.
|
495 |
* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
496 |
* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
497 |
*/
|
498 |
urt_status_t urtFrtSubscriberFetchNextMessage(urt_frtsubscriber_t* subscriber, void* payload,
|
499 |
size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
|
500 |
|
501 |
/**
|
502 |
* @brief Fetches the latest message.
|
503 |
*
|
504 |
* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
505 |
* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
506 |
* @param[in] bytes Payload size in bytes.
|
507 |
* @param[in] latency The latency can be returned by reference. May be NULL.
|
508 |
*
|
509 |
* @return Returns URT_STATUS_OK on success.
|
510 |
* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
511 |
* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
512 |
*/
|
513 |
urt_status_t urtFrtSubscriberFetchLatestMessage(urt_frtsubscriber_t* subscriber, void* payload,
|
514 |
size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
|
515 |
|
516 |
/**
|
517 |
* @brief Calculates the validity from the subscriber.
|
518 |
*
|
519 |
* @param[in] subscriber The FRT subscriber to calculate a validity for. Must not be NULL.
|
520 |
* @param[in] latency Latency (of a message) as argument to calculate validity.
|
521 |
*
|
522 |
* @return Returns a boolean indicator whether the latency is fine.
|
523 |
*/
|
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 |
} |
532 |
|
533 |
/**
|
534 |
* @brief Unsubscribes from a subscriber.
|
535 |
*
|
536 |
* @param[in] subscriber The FRT subscriber to be unsubscribed. Must not be NULL.
|
537 |
*
|
538 |
* @return Returns URT_STATUS_OK on sucess.
|
539 |
* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
|
540 |
*/
|
541 |
urt_status_t urtFrtSubscriberUnsubscribe(urt_frtsubscriber_t* subscriber){return URT_STATUS_OK;}
|
542 |
|
543 |
|
544 |
/**
|
545 |
* @brief Initialize the HRT Subscriber.
|
546 |
*
|
547 |
* @param[in] subscriber The HRT subscriber to initialize. Must not be NULL.
|
548 |
*/
|
549 |
void urtHrtSubscriberInit(urt_hrtsubscriber_t* subscriber)
|
550 |
{ |
551 |
urtDebugAssert(subscriber); |
552 |
|
553 |
subscriber->base.topic = NULL;
|
554 |
urtEventListenerInit(subscriber->base.evtListener); |
555 |
subscriber->base.lastMessage = NULL;
|
556 |
subscriber->base.lastMessageTime = 0;
|
557 |
|
558 |
# if (URT_CFG_PUBSUB_PROFILING)
|
559 |
subscriber->base.sumLatencies = 0;
|
560 |
subscriber->base.numMessagesReceived = 0;
|
561 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
562 |
|
563 |
subscriber->next = NULL;
|
564 |
|
565 |
# if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS)
|
566 |
subscriber->deadlineOffset = 0;
|
567 |
urtTimerInit(subscriber->qodDeadlineTimer); |
568 |
# endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
569 |
|
570 |
# if (URT_CFG_PUBSUB_QOS_RATECHECKS)
|
571 |
subscriber->expectedRate = 0;
|
572 |
# endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
573 |
|
574 |
# if (URT_CFG_PUBSUB_QOS_JITTERCHECKS)
|
575 |
subscriber->maxJitter = 0;
|
576 |
# endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
577 |
|
578 |
# if (URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING)
|
579 |
subscriber->minLatency = URT_DELAY_INFINITE; |
580 |
subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
581 |
# endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
582 |
return;
|
583 |
} |
584 |
|
585 |
|
586 |
/**
|
587 |
* @brief Subscribes the subscriber to a topic.
|
588 |
*
|
589 |
* @param[in] subscriber The HRT subscriber which shall subscribe to a topic. Must not be NULL.
|
590 |
* @param[in] topic The topic to subscribe to. Must not be NULL.
|
591 |
* @param[in] messages NULL terminated list of messages to contribute to the topic.
|
592 |
* Messages must not be associated to another topic.
|
593 |
* Once a message has been contributed, it cannot be removed later.
|
594 |
* May be NULL(no messages to contribute).
|
595 |
* @param[in] deadline Maximum latency to consume messages. A value of 0 indicates that latency is of no concern.
|
596 |
* @param[in] rate Expected minimum rate of new messages (= maximum time between consecutive messages).
|
597 |
* A value of 0 indicates, that rate is of no concern.
|
598 |
* @param[in] jitter Maximum allowed jitter (difference between maximum and minimum latency) when consuming messages.
|
599 |
* A value of 0 indicates that jitter is of no concern.
|
600 |
*
|
601 |
* @return Returns URT_STATUS_OK on success.
|
602 |
* Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
|
603 |
*/
|
604 |
urt_status_t urtHrtSubscriberSubscribe(urt_hrtsubscriber_t* subscriber, urt_topic_t* topic, |
605 |
urt_message_t* message, urt_delay_t deadline, urt_delay_t rate, urt_delay_t jitter){return URT_STATUS_OK;}
|
606 |
|
607 |
|
608 |
/**
|
609 |
* @brief Fetches the next message.
|
610 |
*
|
611 |
* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
612 |
* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
613 |
* @param[in] bytes Payload size in bytes.
|
614 |
* @param[in] latency The latency can be returned by reference. May be NULL.
|
615 |
*
|
616 |
* @return Returns URT_STATUS_OK on success.
|
617 |
* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
618 |
* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
619 |
*/
|
620 |
urt_status_t urtHrtSubscriberFetchNextMessage(urt_hrtsubscriber_t* subscriber, void* payload,
|
621 |
size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
|
622 |
|
623 |
|
624 |
/**
|
625 |
* @brief Fetches the latest message.
|
626 |
*
|
627 |
* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
628 |
* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
629 |
* @param[in] bytes Payload size in bytes.
|
630 |
* @param[in] latency The latency can be returned by reference. May be NULL.
|
631 |
*
|
632 |
* @return Returns URT_STATUS_OK on success.
|
633 |
* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
634 |
* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
635 |
*/
|
636 |
urt_status_t urtHrtSubscriberFetchLatestMessage(urt_hrtsubscriber_t* subscriber, void* payload,
|
637 |
size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
|
638 |
|
639 |
/**
|
640 |
* @brief Unsubscribes from a subscriber.
|
641 |
*
|
642 |
* @param[in] subscriber The HRT subscriber to be unsubscribed. Must not be NULL.
|
643 |
*
|
644 |
* @return Returns URT_STATUS_OK on sucess.
|
645 |
* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
|
646 |
*/
|
647 |
urt_status_t urtHrtSubscriberUnsubscribe(urt_hrtsubscriber_t* subscriber){return URT_STATUS_OK;}
|