urtware / inc / urt_topic.h @ e566c39e
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1 | 1fb06240 | skenneweg | /*
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2 | µRtWare is a lightweight publish/subscribe middleware for real-time
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3 | applications. It was developed as part of the software habitat for the
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4 | Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
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5 | |||
6 | Copyright (C) 2018..2020 Thomas Schöpping et al.
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7 | |||
8 | This program is free software: you can redistribute it and/or modify
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9 | it under the terms of the GNU General Public License as published by
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10 | the Free Software Foundation, either version 3 of the License, or
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11 | (at your option) any later version.
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12 | |||
13 | This program is distributed in the hope that it will be useful,
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14 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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15 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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16 | GNU General Public License for more details.
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17 | |||
18 | You should have received a copy of the GNU General Public License
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19 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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20 | */
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21 | |||
22 | #ifndef URTWARE_TOPIC_H
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23 | #define URTWARE_TOPIC_H
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24 | |||
25 | 7d9678db | skenneweg | #include <urt_types.h> |
26 | #include <urtware.h> |
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27 | |||
28 | 1fb06240 | skenneweg | /******************************************************************************/
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29 | /* CONSTANTS */
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30 | /******************************************************************************/
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31 | |||
32 | /******************************************************************************/
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33 | /* SETTINGS */
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34 | /******************************************************************************/
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35 | |||
36 | /******************************************************************************/
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37 | /* CHECKS */
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38 | /******************************************************************************/
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39 | |||
40 | /******************************************************************************/
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41 | /* DATA STRUCTURES AND TYPES */
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42 | /******************************************************************************/
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43 | |||
44 | 7d9678db | skenneweg | /**
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45 | * @brief topic
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46 | */
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47 | typedef struct urt_topic |
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48 | { |
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49 | cd21e832 | skenneweg | urt_topic_t* next; |
50 | urt_topicid_t id; |
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51 | urt_osMutex_t lock; |
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52 | urt_osEventSource_t evtSource; |
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53 | unsigned int numHrtSubscribers; |
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54 | urt_osCondvar_t hrtReleased; |
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55 | urt_message_t mandatoryMessage; |
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56 | urt_message_t* latestMessage; |
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57 | #if (URT_CFG_PUBSUB_QOS_RATECHECKS)
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58 | urt_hrtsubscriber_t* hrtSubscribers; |
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59 | urt_osTimer_t qosRateTimer; |
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60 | #endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
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61 | #if (URT_CFG_PUBSUB_PROFILING)
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62 | uint64_t numMessagesPublished; |
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63 | uint64_t numMessagesDiscarded; |
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64 | unsigned int numSubscribers; |
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65 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
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66 | 7d9678db | skenneweg | }urt_topic_t; |
67 | |||
68 | 1fb06240 | skenneweg | /******************************************************************************/
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69 | /* MACROS */
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70 | /******************************************************************************/
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71 | |||
72 | /******************************************************************************/
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73 | /* EXTERN DECLARATIONS */
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74 | /******************************************************************************/
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75 | |||
76 | 7d9678db | skenneweg | #if defined(__cplusplus)
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77 | extern "C" { |
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78 | #endif /* defined(__cplusplus) */ |
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79 | |||
80 | cd21e832 | skenneweg | urt_status_t urtTopicInit(urt_topic_t* topic, urt_topicid_t id); |
81 | 7d9678db | skenneweg | #if defined(__cplusplus)
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82 | } |
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83 | #endif /* defined(__cplusplus) */ |
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84 | |||
85 | 1fb06240 | skenneweg | /******************************************************************************/
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86 | /* INLINE FUNCTIONS */
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87 | /******************************************************************************/
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88 | |||
89 | #endif /* URTWARE_TOPIC_H */ |