urtware / inc / urt_topic.h @ e360ce71
History | View | Annotate | Download (3.466 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 | #ifndef URTWARE_TOPIC_H
|
||
| 23 | #define URTWARE_TOPIC_H
|
||
| 24 | |||
| 25 | 7d9678db | skenneweg | #include <urt_types.h> |
| 26 | #include <urtware.h> |
||
| 27 | |||
| 28 | 1fb06240 | skenneweg | /******************************************************************************/
|
| 29 | /* CONSTANTS */
|
||
| 30 | /******************************************************************************/
|
||
| 31 | |||
| 32 | /******************************************************************************/
|
||
| 33 | /* SETTINGS */
|
||
| 34 | /******************************************************************************/
|
||
| 35 | |||
| 36 | /******************************************************************************/
|
||
| 37 | /* CHECKS */
|
||
| 38 | /******************************************************************************/
|
||
| 39 | |||
| 40 | /******************************************************************************/
|
||
| 41 | /* DATA STRUCTURES AND TYPES */
|
||
| 42 | /******************************************************************************/
|
||
| 43 | |||
| 44 | 7d9678db | skenneweg | /**
|
| 45 | * @brief topic
|
||
| 46 | */
|
||
| 47 | typedef struct urt_topic |
||
| 48 | {
|
||
| 49 | cd21e832 | skenneweg | urt_topic_t* next; |
| 50 | urt_topicid_t id; |
||
| 51 | urt_osMutex_t lock; |
||
| 52 | urt_osEventSource_t evtSource; |
||
| 53 | unsigned int numHrtSubscribers; |
||
| 54 | urt_osCondvar_t hrtReleased; |
||
| 55 | urt_message_t mandatoryMessage; |
||
| 56 | urt_message_t* latestMessage; |
||
| 57 | #if (URT_CFG_PUBSUB_QOS_RATECHECKS)
|
||
| 58 | urt_hrtsubscriber_t* hrtSubscribers; |
||
| 59 | urt_osTimer_t qosRateTimer; |
||
| 60 | #endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
||
| 61 | #if (URT_CFG_PUBSUB_PROFILING)
|
||
| 62 | uint64_t numMessagesPublished; |
||
| 63 | uint64_t numMessagesDiscarded; |
||
| 64 | unsigned int numSubscribers; |
||
| 65 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
||
| 66 | 7d9678db | skenneweg | }urt_topic_t; |
| 67 | |||
| 68 | 1fb06240 | skenneweg | /******************************************************************************/
|
| 69 | /* MACROS */
|
||
| 70 | /******************************************************************************/
|
||
| 71 | |||
| 72 | /******************************************************************************/
|
||
| 73 | /* EXTERN DECLARATIONS */
|
||
| 74 | /******************************************************************************/
|
||
| 75 | |||
| 76 | 7d9678db | skenneweg | #if defined(__cplusplus)
|
| 77 | extern "C" { |
||
| 78 | #endif /* defined(__cplusplus) */ |
||
| 79 | |||
| 80 | cd21e832 | skenneweg | urt_status_t urtTopicInit(urt_topic_t* topic, urt_topicid_t id); |
| 81 | 7d9678db | skenneweg | #if defined(__cplusplus)
|
| 82 | } |
||
| 83 | #endif /* defined(__cplusplus) */ |
||
| 84 | |||
| 85 | 1fb06240 | skenneweg | /******************************************************************************/
|
| 86 | /* INLINE FUNCTIONS */
|
||
| 87 | /******************************************************************************/
|
||
| 88 | |||
| 89 | #endif /* URTWARE_TOPIC_H */ |