Statistics
| Branch: | Revision:

urtware / inc / urt_subscriber.h @ cd21e832

History | View | Annotate | Download (7.42 KB)

1
/*
2
µRtWare is a lightweight publish/subscribe middleware for real-time
3
applications. It was developed as part of the software habitat for the
4
Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
5

6
Copyright (C) 2018..2020  Thomas Schöpping et al.
7

8
This program is free software: you can redistribute it and/or modify
9
it under the terms of the GNU General Public License as published by
10
the Free Software Foundation, either version 3 of the License, or
11
(at your option) any later version.
12

13
This program is distributed in the hope that it will be useful,
14
but WITHOUT ANY WARRANTY; without even the implied warranty of
15
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
16
GNU General Public License for more details.
17

18
You should have received a copy of the GNU General Public License
19
along with this program.  If not, see <http://www.gnu.org/licenses/>.
20
*/
21

    
22
#ifndef URTWARE_SUBSCRIBER_H
23
#define URTWARE_SUBSCRIBER_H
24

    
25
#include <urt_types.h>
26
#include <urtware.h>
27

    
28
/******************************************************************************/
29
/* CONSTANTS                                                                  */
30
/******************************************************************************/
31

    
32
/******************************************************************************/
33
/* SETTINGS                                                                   */
34
/******************************************************************************/
35

    
36
/******************************************************************************/
37
/* CHECKS                                                                     */
38
/******************************************************************************/
39

    
40
/******************************************************************************/
41
/* DATA STRUCTURES AND TYPES                                                  */
42
/******************************************************************************/
43

    
44
/**
45
 * @brief  Base subscriber
46
 * @details The base subscriber is included in each specialized subscriber
47
 */
48
typedef struct urt_basesubscriber
49
{
50
  urt_topic_t* topic;
51
  urt_osEventListener_t evtListener;
52
  urt_message_t* lastMessage;
53
  urt_osTime_t lastMessageTime;
54
  #if (URT_CFG_PUBSUB_PROFILING)
55
    uint64_t sumLatencies;
56
    uint64_t numMessagesReceived;
57
  #endif /* URT_CFG_PUBSUB_PROFILING */
58
}urt_basesubscriber_t;
59

    
60
/**
61
 * @brief  nrt subscriber
62
 */
63
typedef struct urt_nrtsubscriber
64
{
65
  urt_basesubscriber_t base;
66
  #if (URT_CFG_PUBSUB_PROFILING)
67
    urt_delay_t minLatency;
68
    urt_delay_t maxLatency;
69
  #endif /* URT_CFG_PUBSUB_PROFILING */
70
}urt_nrtsubscriber_t;
71

    
72
/**
73
 * @brief  nrt subscriber
74
 */
75
typedef struct urt_srtsubscriber
76
{
77
  urt_basesubscriber_t base;
78
  urt_srtusefulnessfunc_t* usefulnesscb;
79
  #if (URT_CFG_PUBSUB_PROFILING)
80
    urt_delay_t minLatency;
81
    urt_delay_t maxLatency;
82
  #endif /* URT_CFG_PUBSUB_PROFILING */
83
}urt_srtsubscriber_t;
84

    
85
/**
86
 * @brief  nrt subscriber
87
 */
88
typedef struct urt_frtsubscriber
89
{
90
  urt_basesubscriber_t base;
91
  #if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS)
92
    urt_delay_t deadlineOffset;
93
  #endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */
94
  #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS)
95
    urt_delay_t maxJitter;
96
  #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */
97
  #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING)
98
    urt_delay_t minLatency;
99
    urt_delay_t maxLatency;
100
  #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */
101
}urt_frtsubscriber_t;
102

    
103
/**
104
 * @brief  nrt subscriber
105
 */
106
typedef struct urt_hrtsubscriber
107
{
108
  urt_basesubscriber_t base;
109
  urt_hrtsubscriber_t* next;
110
  #if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS)
111
    urt_delay_t deadlineOffset;
112
    urt_osTimer_t qosDeadlineTimer;
113
  #endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */
114
  #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS)
115
    urt_delay_t maxJitter;
116
  #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */
117
  #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING)
118
    urt_delay_t minLatency;
119
    urt_delay_t maxLatency;
120
  #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */
121
  #if (URT_CFG_PUBSUB_QOS_RATECHECKS)
122
    urt_delay_t expectedRate;
123
  #endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */
124
}urt_hrtsubscriber_t;
125

    
126
/******************************************************************************/
127
/* MACROS                                                                     */
128
/******************************************************************************/
129

    
130
/******************************************************************************/
131
/* EXTERN DECLARATIONS                                                        */
132
/******************************************************************************/
133

    
134
#if defined(__cplusplus)
135
extern "C" {
136
#endif /* defined(__cplusplus) */
137

    
138
  void urtNrtSubscriberInit(urt_nrtsubscriber_t* subscriber);
139
  urt_status_t urtNrtSubscriberSubscribe(urt_nrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages);
140
  urt_status_t urtNrtSubscriberFetchNextMessage(urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
141
  urt_status_t urtNrtSubscriberFetchLatestMessage(urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
142
  urt_status_t urtNrtSubscriberUnsubscribe(urt_nrtsubscriber_t* subscriber);
143

    
144
  void urtSrtSubscriberInit(urt_srtsubscriber_t* subscriber);
145
  urt_status_t urtSrtSubscriberSubscribe(urt_srtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* message, urt_srtusefulnessfunc_t* usefulnesscb, void* cbparams);
146
  urt_status_t urtSrtSubscriberFetchNextMessage(urt_srtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
147
  urt_status_t urtSrtSubscriberFetchLatestMessage(urt_srtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
148
  urt_status_t urtSrtSubscriberCalculateUsefulness(urt_srtsubscriber_t* subscriber, urt_delay_t latency);
149
  urt_status_t urtSrtSubscriberUnsubscribe(urt_srtsubscriber_t* subscriber);
150

    
151
  void urtFrtSubscriberInit(urt_frtsubscriber_t* subscriber);
152
  urt_status_t urtFrtSubscriberSubscribe(urt_frtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages, urt_delay_t deadline, urt_delay_t jitter);
153
  urt_status_t urtFrtSubscriberFetchNextMessage(urt_frtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
154
  urt_status_t urtFrtSubscriberFetchLatestMessage(urt_frtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
155
  bool urtFrtSubscriberCalculateValidity(urt_frtsubscriber_t* subscriber, urt_delay_t latency);
156
  urt_status_t urtFrtSubscriberUnsubscribe(urt_frtsubscriber_t* subscriber);
157

    
158
  void urtHrtSubscriberInit(urt_hrtsubscriber_t* subscriber);
159
  urt_status_t urtHrtSubscriberSubscribe(urt_hrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* message, urt_delay_t deadline, urt_delay_t rate, urt_delay_t jitter);
160
  urt_status_t urtHrtSubscriberFetchNextMessage(urt_hrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
161
  urt_status_t urtHrtSubscriberFetchLatestMessage(urt_hrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
162
  urt_status_t urtHrtSubscriberUnsubscribe(urt_hrtsubscriber_t* subscriber);
163
#if defined(__cplusplus)
164
}
165
#endif /* defined(__cplusplus) */
166

    
167
/******************************************************************************/
168
/* INLINE FUNCTIONS                                                           */
169
/******************************************************************************/
170

    
171
#endif /* URTWARE_SUBSCRIBER_H */