urtware / src / urt_subscriber.c @ cd21e832
History | View | Annotate | Download (8.269 KB)
| 1 | 1fb06240 | skenneweg | /*
|
|---|---|---|---|
| 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 | 7d9678db | skenneweg | #include <urtware.h> |
| 23 | |||
| 24 | 1fb06240 | skenneweg | /******************************************************************************/
|
| 25 | /* LOCAL DEFINITIONS */
|
||
| 26 | /******************************************************************************/
|
||
| 27 | |||
| 28 | /******************************************************************************/
|
||
| 29 | /* EXPORTED VARIABLES */
|
||
| 30 | /******************************************************************************/
|
||
| 31 | |||
| 32 | /******************************************************************************/
|
||
| 33 | /* LOCAL TYPES */
|
||
| 34 | /******************************************************************************/
|
||
| 35 | |||
| 36 | /******************************************************************************/
|
||
| 37 | /* LOCAL VARIABLES */
|
||
| 38 | /******************************************************************************/
|
||
| 39 | |||
| 40 | /******************************************************************************/
|
||
| 41 | /* LOCAL FUNCTIONS */
|
||
| 42 | /******************************************************************************/
|
||
| 43 | |||
| 44 | /******************************************************************************/
|
||
| 45 | /* EXPORTED FUNCTIONS */
|
||
| 46 | /******************************************************************************/
|
||
| 47 | |||
| 48 | 7d9678db | skenneweg | /**
|
| 49 | * @brief Initialize the nrt Subscriber.
|
||
| 50 | *
|
||
| 51 | * @param[in] subscriber Subscriber to initalize.
|
||
| 52 | */
|
||
| 53 | void urtNrtSubscriberInit (urt_nrtsubscriber_t* subscriber) {return;} |
||
| 54 | 1fb06240 | skenneweg | |
| 55 | 7d9678db | skenneweg | /**
|
| 56 | * @brief .
|
||
| 57 | *
|
||
| 58 | * @param[in] subscriber Subscriber to .
|
||
| 59 | * @param[in] topic .
|
||
| 60 | * @param[in] messages .
|
||
| 61 | *
|
||
| 62 | * @return A status value.
|
||
| 63 | */
|
||
| 64 | 1fb06240 | skenneweg | urt_status_t urtNrtSubscriberSubscribe (urt_nrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages) {
|
| 65 | 7d9678db | skenneweg | return URT_STATUS_OK;
|
| 66 | 1fb06240 | skenneweg | } |
| 67 | |||
| 68 | 7d9678db | skenneweg | /**
|
| 69 | * @brief .
|
||
| 70 | *
|
||
| 71 | * @param[in] subscriber .
|
||
| 72 | * @param[in] payload .
|
||
| 73 | * @param[in] bytes .
|
||
| 74 | * @param[in] latency .
|
||
| 75 | *
|
||
| 76 | * @return A status value.
|
||
| 77 | */
|
||
| 78 | 1fb06240 | skenneweg | urt_status_t urtNrtSubscriberFetchNextMessage (urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency) {
|
| 79 | 7d9678db | skenneweg | return URT_STATUS_OK;
|
| 80 | 1fb06240 | skenneweg | } |
| 81 | |||
| 82 | 7d9678db | skenneweg | /**
|
| 83 | * @brief .
|
||
| 84 | *
|
||
| 85 | * @param[in] subscriber .
|
||
| 86 | * @param[in] payload .
|
||
| 87 | * @param[in] bytes .
|
||
| 88 | * @param[in] latency .
|
||
| 89 | *
|
||
| 90 | * @return A status value.
|
||
| 91 | */
|
||
| 92 | 1fb06240 | skenneweg | urt_status_t urtNrtSubscriberFetchLatestMessage (urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency) {
|
| 93 | 7d9678db | skenneweg | return URT_STATUS_OK;
|
| 94 | 1fb06240 | skenneweg | } |
| 95 | |||
| 96 | 7d9678db | skenneweg | /**
|
| 97 | * @brief .
|
||
| 98 | *
|
||
| 99 | * @param[in] subscriber
|
||
| 100 | *
|
||
| 101 | * @return A status value.
|
||
| 102 | */
|
||
| 103 | 1fb06240 | skenneweg | urt_status_t urtNrtSubscriberUnsubscribe (urt_nrtsubscriber_t* subscriber) {
|
| 104 | 7d9678db | skenneweg | return URT_STATUS_OK;
|
| 105 | 1fb06240 | skenneweg | } |
| 106 | |||
| 107 | 7d9678db | skenneweg | |
| 108 | /**
|
||
| 109 | * @brief .
|
||
| 110 | *
|
||
| 111 | * @param[in] subscriber .
|
||
| 112 | */
|
||
| 113 | void urtSrtSubscriberInit(urt_srtsubscriber_t* subscriber) {return;} |
||
| 114 | |||
| 115 | /**
|
||
| 116 | * @brief .
|
||
| 117 | *
|
||
| 118 | * @param[in] subscriber .
|
||
| 119 | * @param[in] topic .
|
||
| 120 | * @param[in] message .
|
||
| 121 | * @param[in] usefulnesscb .
|
||
| 122 | * @param[in] cbparams .
|
||
| 123 | *
|
||
| 124 | * @return A status value.
|
||
| 125 | */
|
||
| 126 | urt_status_t urtSrtSubscriberSubscribe(urt_srtsubscriber_t* subscriber, urt_topic_t* topic, |
||
| 127 | urt_message_t* message, urt_srtusefulnessfunc_t* usefulnesscb, void* cbparams) {return URT_STATUS_OK;} |
||
| 128 | |||
| 129 | /**
|
||
| 130 | * @brief .
|
||
| 131 | *
|
||
| 132 | * @param[in] subscriber .
|
||
| 133 | * @param[in] payload .
|
||
| 134 | * @param[in] latency .
|
||
| 135 | *
|
||
| 136 | * @return A status value.
|
||
| 137 | */
|
||
| 138 | urt_status_t urtSrtSubscriberFetchNextMessage(urt_srtsubscriber_t* subscriber, void* payload,
|
||
| 139 | size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
|
||
| 140 | |||
| 141 | /**
|
||
| 142 | * @brief .
|
||
| 143 | *
|
||
| 144 | * @param[in] subscriber .
|
||
| 145 | * @param[in] payload .
|
||
| 146 | * @param[in] bytes .
|
||
| 147 | * @param[in] latency .
|
||
| 148 | *
|
||
| 149 | * @return A status value.
|
||
| 150 | */
|
||
| 151 | urt_status_t urtSrtSubscriberFetchLatestMessage(urt_srtsubscriber_t* subscriber, void* payload,
|
||
| 152 | size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
|
||
| 153 | |||
| 154 | /**
|
||
| 155 | * @brief .
|
||
| 156 | *
|
||
| 157 | * @param[in] subscriber .
|
||
| 158 | * @param[in] latency .
|
||
| 159 | *
|
||
| 160 | * @return A status value.
|
||
| 161 | */
|
||
| 162 | urt_status_t urtSrtSubscriberCalculateUsefulness(urt_srtsubscriber_t* subscriber, urt_delay_t latency){return URT_STATUS_OK;}
|
||
| 163 | |||
| 164 | /**
|
||
| 165 | * @brief .
|
||
| 166 | *
|
||
| 167 | * @param[in] subscriber .
|
||
| 168 | *
|
||
| 169 | * @return A status value.
|
||
| 170 | */
|
||
| 171 | urt_status_t urtSrtSubscriberUnsubscribe(urt_srtsubscriber_t* subscriber){return URT_STATUS_OK;}
|
||
| 172 | |||
| 173 | |||
| 174 | /**
|
||
| 175 | * @brief .
|
||
| 176 | *
|
||
| 177 | * @param[in] subscriber .
|
||
| 178 | *
|
||
| 179 | * @return A status value.
|
||
| 180 | */
|
||
| 181 | void urtFrtSubscriberInit(urt_frtsubscriber_t* subscriber){return URT_STATUS_OK;} |
||
| 182 | |||
| 183 | /**
|
||
| 184 | * @brief .
|
||
| 185 | *
|
||
| 186 | * @param[in] subscriber .
|
||
| 187 | * @param[in] topic .
|
||
| 188 | * @param[in] messages .
|
||
| 189 | * @param[in] deadline .
|
||
| 190 | * @param[in] jitter .
|
||
| 191 | *
|
||
| 192 | * @return A status value.
|
||
| 193 | */
|
||
| 194 | urt_status_t urtFrtSubscriberSubscribe(urt_frtsubscriber_t* subscriber, urt_topic_t* topic, |
||
| 195 | urt_message_t* messages, urt_delay_t deadline, urt_delay_t jitter){return URT_STATUS_OK;}
|
||
| 196 | |||
| 197 | /**
|
||
| 198 | * @brief .
|
||
| 199 | *
|
||
| 200 | * @param[in] subscriber .
|
||
| 201 | * @param[in] payload .
|
||
| 202 | * @param[in] bytes .
|
||
| 203 | * @param[in] latency .
|
||
| 204 | *
|
||
| 205 | * @return A status value.
|
||
| 206 | */
|
||
| 207 | urt_status_t urtFrtSubscriberFetchNextMessage(urt_frtsubscriber_t* subscriber, void* payload,
|
||
| 208 | size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
|
||
| 209 | |||
| 210 | /**
|
||
| 211 | * @brief .
|
||
| 212 | *
|
||
| 213 | * @param[in] subscriber .
|
||
| 214 | * @param[in] payload .
|
||
| 215 | * @param[in] bytes .
|
||
| 216 | * @param[in] latency .
|
||
| 217 | *
|
||
| 218 | * @return A status value.
|
||
| 219 | */
|
||
| 220 | urt_status_t urtFrtSubscriberFetchLatestMessage(urt_frtsubscriber_t* subscriber, void* payload,
|
||
| 221 | size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
|
||
| 222 | |||
| 223 | /**
|
||
| 224 | * @brief .
|
||
| 225 | *
|
||
| 226 | * @param[in] subscriber .
|
||
| 227 | * @param[in] latency .
|
||
| 228 | *
|
||
| 229 | * @return A status value.
|
||
| 230 | */
|
||
| 231 | bool urtFrtSubscriberCalculateValidity(urt_frtsubscriber_t* subscriber, urt_delay_t latency){return true;} |
||
| 232 | |||
| 233 | /**
|
||
| 234 | * @brief .
|
||
| 235 | *
|
||
| 236 | * @param[in] subscriber .
|
||
| 237 | *
|
||
| 238 | * @return A status value.
|
||
| 239 | */
|
||
| 240 | urt_status_t urtFrtSubscriberUnsubscribe(urt_frtsubscriber_t* subscriber){return URT_STATUS_OK;}
|
||
| 241 | |||
| 242 | |||
| 243 | /**
|
||
| 244 | * @brief .
|
||
| 245 | *
|
||
| 246 | * @param[in] subscriber .
|
||
| 247 | */
|
||
| 248 | void urtHrtSubscriberInit(urt_hrtsubscriber_t* subscriber){return;} |
||
| 249 | |||
| 250 | /**
|
||
| 251 | * @brief .
|
||
| 252 | *
|
||
| 253 | * @param[in] subscriber .
|
||
| 254 | * @param[in] topic .
|
||
| 255 | * @param[in] message .
|
||
| 256 | * @param[in] deadline .
|
||
| 257 | * @param[in] rate .
|
||
| 258 | * @param[in] jitter .
|
||
| 259 | *
|
||
| 260 | * @return A status value.
|
||
| 261 | */
|
||
| 262 | urt_status_t urtHrtSubscriberSubscribe(urt_hrtsubscriber_t* subscriber, urt_topic_t* topic, |
||
| 263 | urt_message_t* message, urt_delay_t deadline, urt_delay_t rate, urt_delay_t jitter){return URT_STATUS_OK;}
|
||
| 264 | |||
| 265 | |||
| 266 | /**
|
||
| 267 | * @brief .
|
||
| 268 | *
|
||
| 269 | * @param[in] subscriber .
|
||
| 270 | * @param[in] payload .
|
||
| 271 | * @param[in] bytes .
|
||
| 272 | * @param[in] latency .
|
||
| 273 | *
|
||
| 274 | * @return A status value.
|
||
| 275 | */
|
||
| 276 | urt_status_t urtHrtSubscriberFetchNextMessage(urt_hrtsubscriber_t* subscriber, void* payload,
|
||
| 277 | size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
|
||
| 278 | |||
| 279 | |||
| 280 | /**
|
||
| 281 | * @brief .
|
||
| 282 | *
|
||
| 283 | * @param[in] subscriber .
|
||
| 284 | * @param[in] payload .
|
||
| 285 | * @param[in] bytes .
|
||
| 286 | * @param[in] latency .
|
||
| 287 | *
|
||
| 288 | * @return A status value.
|
||
| 289 | */
|
||
| 290 | urt_status_t urtHrtSubscriberFetchLatestMessage(urt_hrtsubscriber_t* subscriber, void* payload,
|
||
| 291 | size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
|
||
| 292 | |||
| 293 | /**
|
||
| 294 | * @brief .
|
||
| 295 | *
|
||
| 296 | * @param[in] subscriber .
|
||
| 297 | *
|
||
| 298 | * @return A status value.
|
||
| 299 | */
|
||
| 300 | urt_status_t urtHrtSubscriberUnsubscribe(urt_hrtsubscriber_t* subscriber){return URT_STATUS_OK;} |