urtware / inc / urt_primitives.h @ fb72e91b
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1 | 46471486 | Thomas Schöpping | /*
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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 URT_PRIMITIVES_H
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23 | #define URT_PRIMITIVES_H
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24 | |||
25 | #include <urtware.h> |
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26 | #include <stdint.h> |
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27 | |||
28 | /*============================================================================*/
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29 | /* CONSTANTS */
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30 | /*============================================================================*/
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31 | |||
32 | /**
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33 | * @brief Special constant value for immediate (nonexistent) delays.
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34 | */
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35 | #define URT_DELAY_IMMEDIATE (urt_delay_t)0 |
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36 | |||
37 | /**
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38 | * @brief Special constant value for infinite delays.
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39 | */
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40 | #define URT_DELAY_INFINITE (urt_delay_t)~0 |
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41 | |||
42 | /*============================================================================*/
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43 | /* SETTINGS */
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44 | /*============================================================================*/
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45 | |||
46 | /*============================================================================*/
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47 | /* CHECKS */
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48 | /*============================================================================*/
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49 | |||
50 | /*============================================================================*/
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51 | /* DATA STRUCTURES AND TYPES */
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52 | /*============================================================================*/
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53 | |||
54 | /**
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55 | * @brief Type for temporal delays (in microseconds).
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56 | */
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57 | #if (URT_CFG_DELAY_WIDTH == 32) |
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58 | typedef uint32_t urt_delay_t;
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59 | #elif (URT_CFG_DELAY_WIDTH == 64) |
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60 | typedef uint64_t urt_delay_t;
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61 | #else
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62 | # error "URT_CFG_DELAY_WIDTH must be set to 32 or 64." |
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63 | #endif
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64 | |||
65 | /**
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66 | * @brief Type to use for the node stage value.
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67 | * @details Use wide types only if you need to synchronize the system very often.
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68 | */
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69 | #if (URT_CFG_NODESTAGE_WIDTH == 8) |
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70 | typedef uint8_t urt_nodestage_t;
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71 | #elif (URT_CFG_NODESTAGE_WIDTH == 16) |
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72 | typedef uint16_t urt_nodestage_t;
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73 | #elif (URT_CFG_NODESTAGE_WIDTH == 32) |
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74 | typedef uint32_t urt_nodestage_t;
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75 | #elif (URT_CFG_NODESTAGE_WIDTH == 64) |
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76 | typedef uint64_t urt_nodestage_t;
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77 | #else
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78 | # error "URT_CFG_NODESTAGE_WIDTH must be set to 8, 16, 32 or 64." |
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79 | #endif
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80 | |||
81 | /**
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82 | * @brief General status type used throughout µRtWare and its interfaces.
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83 | */
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84 | typedef enum { |
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85 | URT_STATUS_OK = 0, /**< Status indicating success. */ |
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86 | URT_STATUS_DEADLINEVIOLATION, /**< Status indicating a violated deadline. */
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87 | URT_STATUS_JITTERVIOLATION, /**< Status indicating a violated jitter requirement. */
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88 | URT_STATUS_RATEVIOLATION, /**< Status indicating a violated rate requirement. */
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89 | URT_STATUS_SYNC_PENDING, /**< Status indicating a synchronization barrier. */
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90 | URT_STATUS_SYNC_ERROR, /**< Status indicating a failed synchronization. */
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91 | URT_STATUS_NODE_INVALEVTMASK, /**< Status indicating an invalid event mask. */
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92 | #if (URT_CFG_PUBSUB_ENABLED == true) || defined(__DOXYGEN__) |
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93 | URT_STATUS_TOPIC_DUPLICATE, /**< Status indicating multiple use of the same topic ID. */
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94 | URT_STATUS_PUBLISH_TIMEOUT, /**< Status indicating a timeout when publishinh a message. */
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95 | URT_STATUS_SUBSCRIBE_TOPICSET, /**< Status indicating that the subscriber is already associated to a topic. */
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96 | URT_STATUS_FETCH_NOTOPIC, /**< Status indicating that the subscriber is not associated to any topic. */
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97 | URT_STATUS_FETCH_NOMESSAGE, /**< Status indicating that no message could be fetched. */
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98 | URT_STATUS_UNSUBSCRIBE_NOTOPIC, /**< Status indicating that the subscriber is not associated to an topic. */
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99 | #endif /* URT_CFG_PUBSUB_ENABLED == true */ |
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100 | #if (URT_CFG_RPC_ENABLED == true) || defined(__DOXYGEN__) |
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101 | URT_STATUS_SERVICE_DUPLICATE, /**< Status indicating multiple use of the same service ID. */
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102 | URT_STATUS_REQUEST_BADOWNER, /**< Status indicating that a request is currently owned by another component. */
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103 | URT_STATUS_REQUEST_LOCKED, /**< Status indicating a currently locked request. */
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104 | #endif /* URT_CFG_RPC_ENABLED == true */ |
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105 | } urt_status_t; |
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106 | |||
107 | #if (URT_CFG_PUBSUB_ENABLED == true) || defined(__DOXYGEN__) |
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108 | # if (URT_CFG_PUBSUB_TOPICID_WIDTH == 8) |
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109 | typedef uint8_t urt_topicid_t;
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110 | # elif (URT_CFG_PUBSUB_TOPICID_WIDTH == 16) |
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111 | typedef uint16_t urt_topicid_t;
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112 | # elif (URT_CFG_PUBSUB_TOPICID_WIDTH == 32) |
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113 | typedef uint32_t urt_topicid_t;
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114 | # elif (URT_CFG_PUBSUB_TOPICID_WIDTH == 64) |
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115 | typedef uint64_t urt_topicid_t;
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116 | # else
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117 | # error "URT_CFG_PUBSUB_TOPICID_WIDTH must be set to 8, 16, 32 or 64." |
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118 | # endif
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119 | #endif /* URT_CFG_PUBSUB_ENABLED == true */ |
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120 | |||
121 | #if (URT_CFG_RPC_ENABLED == true) || defined(__DOXYGEN__) |
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122 | # if (URT_CFG_RPC_SERVICEID_WIDTH == 8) |
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123 | typedef uint8_t urt_serviced_t;
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124 | # elif (URT_CFG_RPC_SERVICEID_WIDTH == 16) |
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125 | typedef uint16_t urt_serviced_t;
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126 | # elif (URT_CFG_RPC_SERVICEID_WIDTH == 32) |
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127 | typedef uint32_t urt_serviced_t;
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128 | # elif (URT_CFG_RPC_SERVICEID_WIDTH == 64) |
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129 | typedef uint64_t urt_serviced_t;
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130 | # else
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131 | # error "URT_CFG_RPC_SERVICEID_WIDTH must be set to 8, 16, 32 or 64." |
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132 | # endif
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133 | #endif /* URT_CFG_RPC_ENABLED == true */ |
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134 | |||
135 | /**
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136 | * @brief Usefulness calculation function type.
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137 | *
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138 | * @param[in] dt Delay to calculate the usefulness for.
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139 | * @param[in] param Pointer to optional parameters (may be NULL).
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140 | *
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141 | * return The usefulness (of some data) after the specified delay as value in range [0, 1].
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142 | */
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143 | typedef float (*urt_usefulness_f)(urt_delay_t dt, void* params); |
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144 | |||
145 | /*============================================================================*/
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146 | /* MACROS */
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147 | /*============================================================================*/
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148 | |||
149 | /*============================================================================*/
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150 | /* EXTERN DECLARATIONS */
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151 | /*============================================================================*/
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152 | |||
153 | /*============================================================================*/
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154 | /* INLINE FUNCTIONS */
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155 | /*============================================================================*/
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156 | |||
157 | #endif /* URT_PRIMITIVES_H */ |