urtware / src / urt_publisher.c @ f6e5368e
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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 Initalize the publisher.
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*
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* @param[in] publisher The publisher to initialize. Must not be NULL.
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* @param[in] topic The topic, this publisher is associated 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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*/
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void urtPublisherInit(urt_publisher_t* publisher, urt_topic_t* topic, urt_message_t* message)
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{
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urt_publisher_t.topic = topic; |
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#if (URT_CFG_PUBSUB_PROFILING)
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urt_publisher_t.publishAttempts = 0;
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urt_publisher_t.publishFails = 0;
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endif /* URT_CFG_PUBSUB_PROFILING */
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//add later: messages to contribute,...
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return;
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} |
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/**
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* @brief Publish data.
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*
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* @param[in] publisher Pointer to the publisher to use. Must not be NULL.
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* @param[in] payload Pointer to the data to be published. May be NULL for messages without payload.
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* @param[in] bytes Size of the payload in bytes.
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* @param[in] t Timestamp to be set for the message.
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* @param[in] timeout Timeout delay in case the message cannot be published.
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*
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* @return Returns URT_STATUS_OK on success. Returns URT_STATUS_PUBLISH_TIMEOUT on timeout.
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*/
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urt_status_t urtPublisherPublish(urt_publisher_t* publisher, void* payload, size_t bytes, urt_osTime_t t, urt_delay_t timeout) {return URT_STATUS_OK;} |