urtware / src / urt_subscriber.c @ fb72e91b
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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 | 7d9678db | skenneweg | #include <urtware.h> |
| 23 | 982056f7 | Svenja | #include <stdio.h> |
| 24 | 7d9678db | skenneweg | |
| 25 | 1fb06240 | skenneweg | /******************************************************************************/
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| 26 | /* LOCAL DEFINITIONS */
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| 27 | /******************************************************************************/
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| 28 | |||
| 29 | /******************************************************************************/
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| 30 | /* EXPORTED VARIABLES */
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| 31 | /******************************************************************************/
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| 32 | |||
| 33 | /******************************************************************************/
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| 34 | /* LOCAL TYPES */
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| 35 | /******************************************************************************/
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| 36 | |||
| 37 | /******************************************************************************/
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| 38 | /* LOCAL VARIABLES */
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| 39 | /******************************************************************************/
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| 40 | |||
| 41 | /******************************************************************************/
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| 42 | /* LOCAL FUNCTIONS */
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| 43 | /******************************************************************************/
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| 44 | |||
| 45 | 65dc89cb | skenneweg | urt_message_t* urtFindOldestMessage(urt_message_t* oldestMessage) |
| 46 | {
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| 47 | fb72e91b | skenneweg | while (oldestMessage->next->originTime < oldestMessage->originTime) {
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| 48 | 65dc89cb | skenneweg | oldestMessage = oldestMessage->next; |
| 49 | } |
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| 50 | return oldestMessage;
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| 51 | } |
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| 52 | |||
| 53 | urt_message_t* urtFindLatestMessage(urt_message_t* latestMessage) |
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| 54 | {
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| 55 | fb72e91b | skenneweg | urt_message_t* lastMessage = latestMessage; |
| 56 | while (lastMessage->next->originTime < lastMessage->originTime) {
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| 57 | 65dc89cb | skenneweg | lastMessage = lastMessage->next; |
| 58 | #if (URT_CFG_PUBSUB_PROFILING == true) |
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| 59 | subscriber->base.lastMessage->numConsumersLeft--; |
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| 60 | subscriber->base->numMessagesReceived++; |
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| 61 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
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| 62 | } |
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| 63 | fb72e91b | skenneweg | return latestMessage;
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| 64 | 65dc89cb | skenneweg | } |
| 65 | |||
| 66 | fb72e91b | skenneweg | void urtContributeMessages(urt_message_t* messages, urt_topic_t* topic)
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| 67 | 982056f7 | Svenja | {
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| 68 | urt_message_t* lastMessageContribute = messages; |
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| 69 | fb72e91b | skenneweg | while (lastMessageContribute->next) {
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| 70 | 982056f7 | Svenja | lastMessageContribute = lastMessageContribute->next; |
| 71 | } |
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| 72 | lastMessageContribute->next = topic->latestMessage->next; |
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| 73 | topic->latestMessage->next = messages; |
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| 74 | } |
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| 75 | |||
| 76 | 1fb06240 | skenneweg | /******************************************************************************/
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| 77 | /* EXPORTED FUNCTIONS */
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| 78 | /******************************************************************************/
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| 79 | |||
| 80 | 7d9678db | skenneweg | /**
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| 81 | * @brief Initialize the nrt Subscriber.
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| 82 | *
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| 83 | 5198dfae | skenneweg | * @param[in] subscriber The NRT subscriber to initialize. Must not be NULL.
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| 84 | 7d9678db | skenneweg | */
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| 85 | 5c6cb22f | skenneweg | void urtNrtSubscriberInit (urt_nrtsubscriber_t* subscriber)
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| 86 | {
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| 87 | a5e142de | skenneweg | urtDebugAssert(subscriber); |
| 88 | |||
| 89 | 5c6cb22f | skenneweg | subscriber->base.topic = NULL;
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| 90 | urtEventListenerInit(subscriber->base.evtListener); |
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| 91 | subscriber->base.lastMessage = NULL;
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| 92 | subscriber->base.lastMessageTime = 0;
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| 93 | a5e142de | skenneweg | #if (URT_CFG_PUBSUB_PROFILING == true) |
| 94 | 5c6cb22f | skenneweg | subscriber->minLatency = URT_DELAY_INFINITE; |
| 95 | subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
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| 96 | a5e142de | skenneweg | #endif /* URT_CFG_PUBSUB_PROFILING */ |
| 97 | 5c6cb22f | skenneweg | return;
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| 98 | } |
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| 99 | 1fb06240 | skenneweg | |
| 100 | 7d9678db | skenneweg | /**
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| 101 | 5198dfae | skenneweg | * @brief Subscribes the subscriber to a topic.
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| 102 | 7d9678db | skenneweg | *
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| 103 | 5198dfae | skenneweg | * @param[in] subscriber The NRT subscriber which shall subscribe to a topic. Must not be NULL.
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| 104 | * @param[in] topic The topic to subscribe to. Must not be NULL.
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| 105 | * @param[in] messages NULL terminated list of messages to contribute to the topic.
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| 106 | * Messages must not be associated to another topic.
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| 107 | * Once a message has been contributed, it cannot be removed later.
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| 108 | * May be NULL(no messages to contribute).
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| 109 | 7d9678db | skenneweg | *
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| 110 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on success.
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| 111 | * Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
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| 112 | 7d9678db | skenneweg | */
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| 113 | a5e142de | skenneweg | urt_status_t urtNrtSubscriberSubscribe (urt_nrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages) |
| 114 | {
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| 115 | urtDebugAssert(subscriber); |
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| 116 | urtDebugAssert(topic); |
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| 117 | |||
| 118 | 982056f7 | Svenja | if (!subscriber->base.topic) {
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| 119 | return URT_STATUS_SUBSCRIBE_TOPICSET;
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| 120 | } |
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| 121 | a5e142de | skenneweg | |
| 122 | subscriber->base.topic = topic; |
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| 123 | fb72e91b | skenneweg | urtMutexLock(&topic->lock); |
| 124 | a5e142de | skenneweg | |
| 125 | 982056f7 | Svenja | if (messages) {
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| 126 | fb72e91b | skenneweg | urtContributeMessages(messages, topic); |
| 127 | a5e142de | skenneweg | } |
| 128 | |||
| 129 | subscriber->base.lastMessage = topic->latestMessage; |
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| 130 | subscriber->base.lastMessageTime = topic->latestMessage->originTime; |
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| 131 | |||
| 132 | fb72e91b | skenneweg | urtEventRegister(&topic->evtSource, &subscriber->base.evtListener, subscriber->base.evtListener.events, subscriber->base.evtListener.flags); |
| 133 | a5e142de | skenneweg | |
| 134 | #if (URT_CFG_PUBSUB_PROFILING == true) |
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| 135 | topic->numHrtSubscribers--; |
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| 136 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
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| 137 | |||
| 138 | fb72e91b | skenneweg | urtMutexUnlock(&topic->lock); |
| 139 | 7d9678db | skenneweg | return URT_STATUS_OK;
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| 140 | 1fb06240 | skenneweg | } |
| 141 | |||
| 142 | 7d9678db | skenneweg | /**
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| 143 | 5198dfae | skenneweg | * @brief Fetches the next message.
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| 144 | 7d9678db | skenneweg | *
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| 145 | 5198dfae | skenneweg | * @param[in] subscriber The NRT subscriber that shall fetch the message. Must not be NULL.
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| 146 | * @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
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| 147 | * @param[in] bytes Payload size in bytes.
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| 148 | * @param[in] latency The latency can be returned by reference. May be NULL.
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| 149 | 7d9678db | skenneweg | *
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| 150 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on success.
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| 151 | * Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
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| 152 | * Retruns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
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| 153 | 7d9678db | skenneweg | */
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| 154 | 982056f7 | Svenja | urt_status_t urtNrtSubscriberFetchNextMessage (urt_nrtsubscriber_t* subscriber, void* const payload, size_t bytes, urt_delay_t* latency) |
| 155 | 65dc89cb | skenneweg | {
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| 156 | a5e142de | skenneweg | urtDebugAssert(subscriber); |
| 157 | 65dc89cb | skenneweg | |
| 158 | 982056f7 | Svenja | if (!subscriber->base.topic) {
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| 159 | return URT_STATUS_FETCH_NOTOPIC;
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| 160 | } |
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| 161 | 65dc89cb | skenneweg | |
| 162 | fb72e91b | skenneweg | urtMutexLock(&subscriber->base.topic->lock); |
| 163 | 65dc89cb | skenneweg | |
| 164 | 982056f7 | Svenja | urt_message_t* oldestMessage = subscriber->base.lastMessage; |
| 165 | if(oldestMessage->originTime == subscriber->base.lastMessageTime) {
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| 166 | if (subscriber->base.lastMessage->next->originTime > subscriber->base.lastMessageTime) {
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| 167 | fb72e91b | skenneweg | urtMutexUnlock(&subscriber->base.topic->lock); |
| 168 | 65dc89cb | skenneweg | return URT_STATUS_FETCH_NOMESSAGE;
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| 169 | } |
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| 170 | 982056f7 | Svenja | oldestMessage = oldestMessage->next; |
| 171 | 65dc89cb | skenneweg | } |
| 172 | 982056f7 | Svenja | else {
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| 173 | oldestMessage = urtFindOldestMessage(oldestMessage->next); |
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| 174 | 65dc89cb | skenneweg | } |
| 175 | |||
| 176 | fb72e91b | skenneweg | subscriber->base.lastMessage = oldestMessage; |
| 177 | subscriber->base.lastMessageTime = oldestMessage->originTime; |
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| 178 | memcpy(oldestMessage->payload, payload, bytes); |
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| 179 | 982056f7 | Svenja | |
| 180 | if (URT_CFG_PUBSUB_PROFILING == true || latency) { |
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| 181 | uint64_t calculatedLatency = urtTimeNow() - oldestMessage->originTime; |
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| 182 | 65dc89cb | skenneweg | |
| 183 | #if(URT_CFG_PUBSUB_PROFILING == true) |
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| 184 | subscriber->base.sumLatencies += calculatedLatency; |
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| 185 | |||
| 186 | 982056f7 | Svenja | if (calculatedLatency < subscriber->minLatency) {
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| 187 | 65dc89cb | skenneweg | subscriber->minLatency = calculatedLatency; |
| 188 | } |
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| 189 | 982056f7 | Svenja | else if (calculatedLatency > subscriber->maxLatency) { |
| 190 | 65dc89cb | skenneweg | subscriber->maxLatency = calculatedLatency; |
| 191 | } |
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| 192 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
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| 193 | 982056f7 | Svenja | |
| 194 | if (latency) {
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| 195 | fb72e91b | skenneweg | *latency = calculatedLatency; |
| 196 | 982056f7 | Svenja | } |
| 197 | 65dc89cb | skenneweg | } |
| 198 | |||
| 199 | #if (URT_CFG_PUBSUB_PROFILING == true) |
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| 200 | subscriber->base.lastMessage->numConsumersLeft--; |
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| 201 | subscriber->base->numMessagesReceived++; |
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| 202 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
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| 203 | |||
| 204 | fb72e91b | skenneweg | urtMutexUnlock(&subscriber->base.topic->lock); |
| 205 | 7d9678db | skenneweg | return URT_STATUS_OK;
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| 206 | 1fb06240 | skenneweg | } |
| 207 | |||
| 208 | 7d9678db | skenneweg | /**
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| 209 | a5e142de | skenneweg | * @brief Fetches the latest message.
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| 210 | 7d9678db | skenneweg | *
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| 211 | 5198dfae | skenneweg | * @param[in] subscriber The NRT subscriber that shall fetch the message. Must not be NULL.
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| 212 | * @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
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| 213 | * @param[in] bytes Payload size in bytes.
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| 214 | * @param[in] latency The latency can be returned by reference. May be NULL.
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| 215 | 7d9678db | skenneweg | *
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| 216 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on success.
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| 217 | * Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
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| 218 | * Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
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| 219 | 7d9678db | skenneweg | */
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| 220 | 982056f7 | Svenja | urt_status_t urtNrtSubscriberFetchLatestMessage (urt_nrtsubscriber_t* subscriber, void* const payload, size_t bytes, urt_delay_t* latency) { |
| 221 | 65dc89cb | skenneweg | urtDebugAssert(subscriber); |
| 222 | |||
| 223 | if (!subscriber->base.topic)
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| 224 | return URT_STATUS_FETCH_NOTOPIC;
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| 225 | |||
| 226 | fb72e91b | skenneweg | urtMutexLock(&subscriber->base.topic->lock); |
| 227 | 65dc89cb | skenneweg | urt_message_t* lastMessage = urtFindLatestMessage(subscriber->base.lastMessage); |
| 228 | |||
| 229 | if (lastMessage->originTime == subscriber->base.lastMessageTime)
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| 230 | {
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| 231 | fb72e91b | skenneweg | urtMutexUnlock(&subscriber->base.topic->lock); |
| 232 | 65dc89cb | skenneweg | return URT_STATUS_FETCH_NOMESSAGE;
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| 233 | } |
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| 234 | |||
| 235 | fb72e91b | skenneweg | subscriber->base.lastMessage = lastMessage; |
| 236 | subscriber->base.lastMessageTime = lastMessage->originTime; |
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| 237 | memcpy(lastMessage->payload, payload, bytes); |
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| 238 | 982056f7 | Svenja | |
| 239 | if (URT_CFG_PUBSUB_PROFILING == true || latency) { |
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| 240 | uint64_t calculatedLatency = urtTimeNow() - lastMessage->originTime; |
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| 241 | 65dc89cb | skenneweg | |
| 242 | #if(URT_CFG_PUBSUB_PROFILING == true) |
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| 243 | subscriber->base.sumLatencies += calculatedLatency; |
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| 244 | |||
| 245 | 982056f7 | Svenja | if (calculatedLatency < subscriber->minLatency) {
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| 246 | 65dc89cb | skenneweg | subscriber->minLatency = calculatedLatency; |
| 247 | } |
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| 248 | 982056f7 | Svenja | else if (calculatedLatency > subscriber->maxLatency) { |
| 249 | 65dc89cb | skenneweg | subscriber->maxLatency = calculatedLatency; |
| 250 | } |
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| 251 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
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| 252 | 982056f7 | Svenja | |
| 253 | if (latency) {
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| 254 | fb72e91b | skenneweg | *latency = calculatedLatency; |
| 255 | 982056f7 | Svenja | } |
| 256 | 65dc89cb | skenneweg | } |
| 257 | |||
| 258 | fb72e91b | skenneweg | urtMutexUnlock(&subscriber->base.topic->lock); |
| 259 | 7d9678db | skenneweg | return URT_STATUS_OK;
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| 260 | 1fb06240 | skenneweg | } |
| 261 | |||
| 262 | 7d9678db | skenneweg | /**
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| 263 | 5198dfae | skenneweg | * @brief Unsubscribes from a subscriber.
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| 264 | 7d9678db | skenneweg | *
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| 265 | 5198dfae | skenneweg | * @param[in] subscriber The NRT subscriber to be unsubscribed. Must not be NULL.
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| 266 | 7d9678db | skenneweg | *
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| 267 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on sucess.
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| 268 | * Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
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| 269 | 7d9678db | skenneweg | */
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| 270 | 5b7188aa | skenneweg | urt_status_t urtNrtSubscriberUnsubscribe (urt_nrtsubscriber_t* subscriber) |
| 271 | {
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| 272 | a5e142de | skenneweg | if (subscriber->base.topic)
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| 273 | {
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| 274 | # if(URT_CFG_PUBSUB_PROFILING == true) |
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| 275 | fb72e91b | skenneweg | urtMutexLock(&topic->lock); |
| 276 | 5b7188aa | skenneweg | subscriber->base.topic->numSubscribers--; |
| 277 | a5e142de | skenneweg | # endif /* URT_CFG_PUBSUB_PROFILING */ |
| 278 | fb72e91b | skenneweg | urtEventUnregister(&subscriber->base.topic->evtSource, &subscriber->base.evtListener); |
| 279 | a5e142de | skenneweg | # if(URT_CFG_PUBSUB_PROFILING == true) |
| 280 | fb72e91b | skenneweg | urtMutexUnlock(&topic->lock); |
| 281 | a5e142de | skenneweg | subscriber->base.topic = NULL;
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| 282 | subscriber->base.lastMessage = NULL;
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| 283 | subscriber->base.lastMessageTime = 0;
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| 284 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
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| 285 | return URT_STATUS_OK;
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| 286 | } |
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| 287 | 5b7188aa | skenneweg | |
| 288 | return URT_STATUS_UNSUBSCRIBE_NOTOPIC;
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| 289 | 1fb06240 | skenneweg | } |
| 290 | |||
| 291 | 7d9678db | skenneweg | |
| 292 | /**
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| 293 | 5198dfae | skenneweg | * @brief Initialize the srt Subscriber.
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| 294 | 7d9678db | skenneweg | *
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| 295 | 5198dfae | skenneweg | * @param[in] subscriber The SRT subscriber to initialize. Must not be NULL.
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| 296 | 7d9678db | skenneweg | */
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| 297 | 5c6cb22f | skenneweg | void urtSrtSubscriberInit(urt_srtsubscriber_t* subscriber)
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| 298 | {
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| 299 | a5e142de | skenneweg | urtDebugAssert(subscriber); |
| 300 | |||
| 301 | 5c6cb22f | skenneweg | subscriber->base.topic = NULL;
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| 302 | urtEventListenerInit(subscriber->base.evtListener); |
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| 303 | subscriber->base.lastMessage = NULL;
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| 304 | subscriber->base.lastMessageTime = 0;
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| 305 | fb72e91b | skenneweg | #if (URT_CFG_PUBSUB_PROFILING)
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| 306 | subscriber->base.sumLatencies = 0;
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| 307 | subscriber->base.numMessagesReceived = 0;
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| 308 | subscriber->usefulnesscb = NULL;
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| 309 | subscriber->cbparams = NULL;
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| 310 | subscriber->minLatency = URT_DELAY_INFINITE; |
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| 311 | subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
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| 312 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
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| 313 | 5c6cb22f | skenneweg | return;
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| 314 | } |
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| 315 | 7d9678db | skenneweg | |
| 316 | /**
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| 317 | 5198dfae | skenneweg | * @brief Subscribes the subscriber to a topic.
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| 318 | *
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| 319 | * @param[in] subscriber The SRT subscriber which shall subscribe to a topic. Must not be NULL.
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| 320 | * @param[in] topic The topic to subscribe to. Must not be NULL.
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| 321 | * @param[in] message NULL terminated list of messages to contribute to the topic.
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| 322 | * Messages must not be associated to another topic.
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| 323 | * Once a message has been contributed, it cannot be removed later.
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| 324 | * May be NULL (no messages to contribute)
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| 325 | * @param[in] usefulnesscb Pointer to a function to calculate usefulness of a message. Must not be NULL.
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| 326 | * @param[in] cbparams Optional parameters for the usefulness callback.
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| 327 | * May be NULL if the callback expects no parameters.
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| 328 | *
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| 329 | * @return Returns URT_STATUS_OK on success.
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| 330 | * Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
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| 331 | 7d9678db | skenneweg | */
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| 332 | urt_status_t urtSrtSubscriberSubscribe(urt_srtsubscriber_t* subscriber, urt_topic_t* topic, |
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| 333 | fb72e91b | skenneweg | urt_message_t* messages, urt_usefulness_f* usefulnesscb,void* cbparams)
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| 334 | a5e142de | skenneweg | {
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| 335 | urtDebugAssert(subscriber); |
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| 336 | urtDebugAssert(topic); |
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| 337 | |||
| 338 | fb72e91b | skenneweg | if (subscriber->base.topic) {
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| 339 | a5e142de | skenneweg | return URT_STATUS_SUBSCRIBE_TOPICSET;
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| 340 | } |
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| 341 | 5b7188aa | skenneweg | |
| 342 | subscriber->base.topic = topic; |
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| 343 | subscriber->usefulnesscb = usefulnesscb; |
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| 344 | subscriber->cbparams = cbparams; |
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| 345 | fb72e91b | skenneweg | #if (URT_CFG_PUBSUB_PROFILING == true) |
| 346 | 5b7188aa | skenneweg | subscriber->base.sumLatencies = 0;
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| 347 | subscriber->base.numMessagesReceived = 0;
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| 348 | subscriber->minLatency = URT_DELAY_INFINITE; |
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| 349 | subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
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| 350 | fb72e91b | skenneweg | #endif /* URT_CFG_PUBSUB_PROFILING */ |
| 351 | a5e142de | skenneweg | |
| 352 | fb72e91b | skenneweg | urtMutexLock(&topic->lock); |
| 353 | if (messages) {
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| 354 | urtContributeMessages(messages, topic); |
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| 355 | a5e142de | skenneweg | } |
| 356 | |||
| 357 | subscriber->base.lastMessage = topic->latestMessage; |
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| 358 | subscriber->base.lastMessageTime = topic->latestMessage->originTime; |
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| 359 | |||
| 360 | fb72e91b | skenneweg | urtEventRegister(&topic->evtSource, &subscriber->base.evtListener, subscriber->base.evtListener.events, subscriber->base.evtListener.flags); |
| 361 | a5e142de | skenneweg | |
| 362 | # if (URT_CFG_PUBSUB_PROFILING == true) |
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| 363 | topic->numHrtSubscribers--; |
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| 364 | # endif /* URT_CFG_PUBSUB_PROFILING */ |
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| 365 | |||
| 366 | fb72e91b | skenneweg | urtMutexUnlock(&topic->lock); |
| 367 | a5e142de | skenneweg | return URT_STATUS_OK;
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| 368 | } |
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| 369 | 7d9678db | skenneweg | |
| 370 | /**
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| 371 | 5198dfae | skenneweg | * @brief Fetches the next message.
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| 372 | 7d9678db | skenneweg | *
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| 373 | 5198dfae | skenneweg | * @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
| 374 | * @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
||
| 375 | * @param[in] bytes Payload size in bytes.
|
||
| 376 | * @param[in] latency The latency can be returned by reference. May be NULL.
|
||
| 377 | 7d9678db | skenneweg | *
|
| 378 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on success.
|
| 379 | * Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
||
| 380 | * Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
||
| 381 | 7d9678db | skenneweg | */
|
| 382 | 982056f7 | Svenja | urt_status_t urtSrtSubscriberFetchNextMessage(urt_srtsubscriber_t* subscriber, void* const payload, |
| 383 | 65dc89cb | skenneweg | size_t bytes, urt_delay_t* latency) |
| 384 | {
|
||
| 385 | urtDebugAssert(subscriber); |
||
| 386 | |||
| 387 | fb72e91b | skenneweg | if (!subscriber->base.topic){
|
| 388 | return URT_STATUS_FETCH_NOTOPIC;
|
||
| 389 | } |
||
| 390 | 65dc89cb | skenneweg | |
| 391 | fb72e91b | skenneweg | urtMutexLock(&subscriber->base.topic->lock); |
| 392 | 65dc89cb | skenneweg | |
| 393 | 982056f7 | Svenja | urt_message_t* oldestMessage = subscriber->base.lastMessage; |
| 394 | fb72e91b | skenneweg | if(oldestMessage->originTime == subscriber->base.lastMessageTime){
|
| 395 | if (subscriber->base.lastMessage->next->originTime > subscriber->base.lastMessageTime){
|
||
| 396 | urtMutexUnlock(&subscriber->base.topic->lock); |
||
| 397 | 65dc89cb | skenneweg | return URT_STATUS_FETCH_NOMESSAGE;
|
| 398 | } |
||
| 399 | 982056f7 | Svenja | oldestMessage = oldestMessage->next; |
| 400 | 65dc89cb | skenneweg | } |
| 401 | fb72e91b | skenneweg | else{
|
| 402 | 982056f7 | Svenja | oldestMessage = urtFindOldestMessage(oldestMessage->next); |
| 403 | 65dc89cb | skenneweg | } |
| 404 | |||
| 405 | fb72e91b | skenneweg | subscriber->base.lastMessage = oldestMessage; |
| 406 | subscriber->base.lastMessageTime = oldestMessage->originTime; |
||
| 407 | memcpy(oldestMessage->payload, payload, bytes); |
||
| 408 | 982056f7 | Svenja | |
| 409 | if (URT_CFG_PUBSUB_PROFILING == true || latency) { |
||
| 410 | uint64_t calculatedLatency = urtTimeNow() - oldestMessage->originTime; |
||
| 411 | 65dc89cb | skenneweg | |
| 412 | #if(URT_CFG_PUBSUB_PROFILING == true) |
||
| 413 | subscriber->base.sumLatencies += calculatedLatency; |
||
| 414 | |||
| 415 | 982056f7 | Svenja | if (calculatedLatency < subscriber->minLatency) {
|
| 416 | 65dc89cb | skenneweg | subscriber->minLatency = calculatedLatency; |
| 417 | } |
||
| 418 | 982056f7 | Svenja | else if (calculatedLatency > subscriber->maxLatency) { |
| 419 | 65dc89cb | skenneweg | subscriber->maxLatency = calculatedLatency; |
| 420 | } |
||
| 421 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
||
| 422 | 982056f7 | Svenja | |
| 423 | if (latency) {
|
||
| 424 | fb72e91b | skenneweg | *latency = calculatedLatency; |
| 425 | 982056f7 | Svenja | } |
| 426 | 65dc89cb | skenneweg | } |
| 427 | |||
| 428 | #if (URT_CFG_PUBSUB_PROFILING == true) |
||
| 429 | subscriber->base.lastMessage->numConsumersLeft--; |
||
| 430 | subscriber->base->numMessagesReceived++; |
||
| 431 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
||
| 432 | |||
| 433 | fb72e91b | skenneweg | urtMutexUnlock(&subscriber->base.topic->lock); |
| 434 | 65dc89cb | skenneweg | return URT_STATUS_OK;
|
| 435 | } |
||
| 436 | 7d9678db | skenneweg | |
| 437 | /**
|
||
| 438 | 5198dfae | skenneweg | * @brief Fetches the latest message.
|
| 439 | 7d9678db | skenneweg | *
|
| 440 | 5198dfae | skenneweg | * @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
| 441 | * @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
||
| 442 | * @param[in] bytes Payload size in bytes.
|
||
| 443 | * @param[in] latency The latency can be returned by reference. May be NULL.
|
||
| 444 | 7d9678db | skenneweg | *
|
| 445 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on success.
|
| 446 | * Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
||
| 447 | * Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
||
| 448 | 7d9678db | skenneweg | */
|
| 449 | 982056f7 | Svenja | urt_status_t urtSrtSubscriberFetchLatestMessage(urt_srtsubscriber_t* subscriber, void* const payload, |
| 450 | 65dc89cb | skenneweg | size_t bytes, urt_delay_t* latency) |
| 451 | {
|
||
| 452 | urtDebugAssert(subscriber); |
||
| 453 | |||
| 454 | 982056f7 | Svenja | if (!subscriber->base.topic) {
|
| 455 | return URT_STATUS_FETCH_NOTOPIC;
|
||
| 456 | } |
||
| 457 | 65dc89cb | skenneweg | |
| 458 | fb72e91b | skenneweg | urtMutexLock(&subscriber->base.topic->lock); |
| 459 | 65dc89cb | skenneweg | urt_message_t* lastMessage = urtFindLatestMessage(subscriber->base.lastMessage); |
| 460 | |||
| 461 | if (lastMessage->originTime == subscriber->base.lastMessageTime)
|
||
| 462 | {
|
||
| 463 | fb72e91b | skenneweg | urtMutexUnlock(&subscriber->base.topic->lock); |
| 464 | 65dc89cb | skenneweg | return URT_STATUS_FETCH_NOMESSAGE;
|
| 465 | } |
||
| 466 | |||
| 467 | fb72e91b | skenneweg | subscriber->base.lastMessage = lastMessage; |
| 468 | subscriber->base.lastMessageTime = lastMessage->originTime; |
||
| 469 | memcpy(lastMessage->payload, payload, bytes); |
||
| 470 | 982056f7 | Svenja | |
| 471 | if (URT_CFG_PUBSUB_PROFILING == true || latency) { |
||
| 472 | uint64_t calculatedLatency = urtTimeNow() - lastMessage->originTime; |
||
| 473 | 65dc89cb | skenneweg | |
| 474 | #if(URT_CFG_PUBSUB_PROFILING == true) |
||
| 475 | subscriber->base.sumLatencies += calculatedLatency; |
||
| 476 | |||
| 477 | 982056f7 | Svenja | if (calculatedLatency < subscriber->minLatency) {
|
| 478 | 65dc89cb | skenneweg | subscriber->minLatency = calculatedLatency; |
| 479 | } |
||
| 480 | 982056f7 | Svenja | else if (calculatedLatency > subscriber->maxLatency) { |
| 481 | 65dc89cb | skenneweg | subscriber->maxLatency = calculatedLatency; |
| 482 | } |
||
| 483 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
||
| 484 | 982056f7 | Svenja | |
| 485 | fb72e91b | skenneweg | if (latency != NULL) { |
| 486 | *latency = calculatedLatency; |
||
| 487 | 982056f7 | Svenja | } |
| 488 | 65dc89cb | skenneweg | } |
| 489 | |||
| 490 | fb72e91b | skenneweg | urtMutexUnlock(&subscriber->base.topic->lock); |
| 491 | 65dc89cb | skenneweg | return URT_STATUS_OK;
|
| 492 | } |
||
| 493 | 7d9678db | skenneweg | |
| 494 | /**
|
||
| 495 | 5198dfae | skenneweg | * @brief Calculates the usefulness of the subscriber.
|
| 496 | 7d9678db | skenneweg | *
|
| 497 | 5198dfae | skenneweg | * @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
| 498 | * @param[in] latency Latency (of a message) as argument to calculate usefulness.
|
||
| 499 | 7d9678db | skenneweg | *
|
| 500 | 5198dfae | skenneweg | * @return Returns the usefulness as a value within [0,1].
|
| 501 | 7d9678db | skenneweg | */
|
| 502 | a5e142de | skenneweg | float urtSrtSubscriberCalculateUsefulness(urt_srtsubscriber_t* subscriber, urt_delay_t latency)
|
| 503 | {
|
||
| 504 | urtDebugAssert(subscriber); |
||
| 505 | |||
| 506 | fb72e91b | skenneweg | return (*subscriber->usefulnesscb)(latency, subscriber->cbparams);
|
| 507 | a5e142de | skenneweg | } |
| 508 | 7d9678db | skenneweg | |
| 509 | /**
|
||
| 510 | 5198dfae | skenneweg | * @brief Unsubscribes from a subscriber.
|
| 511 | 7d9678db | skenneweg | *
|
| 512 | 5198dfae | skenneweg | * @param[in] subscriber The NRT subscriber to be unsubscribed. Must not be NULL.
|
| 513 | 7d9678db | skenneweg | *
|
| 514 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on sucess.
|
| 515 | * Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
|
||
| 516 | 7d9678db | skenneweg | */
|
| 517 | a5e142de | skenneweg | urt_status_t urtSrtSubscriberUnsubscribe(urt_srtsubscriber_t* subscriber) |
| 518 | {
|
||
| 519 | urtDebugAssert(subscriber); |
||
| 520 | |||
| 521 | if (subscriber->base.topic)
|
||
| 522 | {
|
||
| 523 | 5b7188aa | skenneweg | # if (URT_CFG_PUBSUB_PROFILING == true) |
| 524 | fb72e91b | skenneweg | urtMutexLock(&topic->lock); |
| 525 | 5b7188aa | skenneweg | subscriber->base.topic->numSubscribers--; |
| 526 | # endif /* URT_CFG_PUBSUB_PROFILING */ |
||
| 527 | fb72e91b | skenneweg | urtEventUnregister(&subscriber->base.topic->evtSource, &subscriber->base.evtListener); |
| 528 | a5e142de | skenneweg | # if (URT_CFG_PUBSUB_PROFILING == true) |
| 529 | fb72e91b | skenneweg | urtMutexUnlock(&topic->lock); |
| 530 | a5e142de | skenneweg | # endif /* URT_CFG_PUBSUB_PROFILING */ |
| 531 | subscriber->base.topic = NULL;
|
||
| 532 | subscriber->base.lastMessage = NULL;
|
||
| 533 | subscriber->base.lastMessageTime = 0;
|
||
| 534 | return URT_STATUS_OK;
|
||
| 535 | } |
||
| 536 | |||
| 537 | return URT_STATUS_UNSUBSCRIBE_NOTOPIC;
|
||
| 538 | } |
||
| 539 | 7d9678db | skenneweg | |
| 540 | |||
| 541 | /**
|
||
| 542 | 5198dfae | skenneweg | * @brief Initialize the FRT Subscriber.
|
| 543 | 7d9678db | skenneweg | *
|
| 544 | 5198dfae | skenneweg | * @param[in] subscriber The SRT subscriber to initialize. Must not be NULL.
|
| 545 | 7d9678db | skenneweg | */
|
| 546 | 5c6cb22f | skenneweg | void urtFrtSubscriberInit(urt_frtsubscriber_t* subscriber)
|
| 547 | {
|
||
| 548 | a5e142de | skenneweg | urtDebugAssert(subscriber); |
| 549 | |||
| 550 | 5c6cb22f | skenneweg | subscriber->base.topic = NULL;
|
| 551 | urtEventListenerInit(subscriber->base.evtListener); |
||
| 552 | subscriber->base.lastMessage = NULL;
|
||
| 553 | subscriber->base.lastMessageTime = 0;
|
||
| 554 | |||
| 555 | #if (URT_CFG_PUBSUB_PROFILING)
|
||
| 556 | subscriber->base.sumLatencies = 0;
|
||
| 557 | subscriber->base.numMessagesReceived = 0;
|
||
| 558 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
||
| 559 | |||
| 560 | #if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS)
|
||
| 561 | subscriber->deadlineOffset = 0;
|
||
| 562 | #endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
||
| 563 | |||
| 564 | #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS)
|
||
| 565 | subscriber->maxJitter = 0;
|
||
| 566 | #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
||
| 567 | |||
| 568 | #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING)
|
||
| 569 | subscriber->minLatency = URT_DELAY_INFINITE; |
||
| 570 | subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
||
| 571 | #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
||
| 572 | return;
|
||
| 573 | } |
||
| 574 | |||
| 575 | 7d9678db | skenneweg | |
| 576 | /**
|
||
| 577 | 5198dfae | skenneweg | * @brief Subscribes the subscriber to a topic.
|
| 578 | *
|
||
| 579 | * @param[in] subscriber The NRT subscriber which shall subscribe to a topic. Must not be NULL.
|
||
| 580 | * @param[in] topic The topic to subscribe to. Must not be NULL.
|
||
| 581 | * @param[in] messages NULL terminated list of messages to contribute to the topic.
|
||
| 582 | * Messages must not be associated to another topic.
|
||
| 583 | * Once a message has been contributed, it cannot be removed later.
|
||
| 584 | * May be NULL(no messages to contribute).
|
||
| 585 | * @param[in] deadline Maximum latency to consume messages. A value of 0 indicates that latency is of no concern.
|
||
| 586 | * @param[in] jitter Maximum allowed jitter (difference between maximum and minimum latency) when consuming messages.
|
||
| 587 | * A value of 0 indicates that jitter is of no concern.
|
||
| 588 | *
|
||
| 589 | * @return Returns URT_STATUS_OK on success.
|
||
| 590 | * Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
|
||
| 591 | 7d9678db | skenneweg | */
|
| 592 | urt_status_t urtFrtSubscriberSubscribe(urt_frtsubscriber_t* subscriber, urt_topic_t* topic, |
||
| 593 | a5e142de | skenneweg | urt_message_t* messages, urt_delay_t deadline, urt_delay_t jitter) |
| 594 | {
|
||
| 595 | urtDebugAssert(subscriber); |
||
| 596 | urtDebugAssert(topic); |
||
| 597 | |||
| 598 | 5b7188aa | skenneweg | if (subscriber->base.topic)
|
| 599 | {
|
||
| 600 | return URT_STATUS_SUBSCRIBE_TOPICSET;
|
||
| 601 | } |
||
| 602 | |||
| 603 | subscriber->base.topic = topic; |
||
| 604 | a5e142de | skenneweg | # if (URT_CFG_PUBSUB_PROFILING == true) |
| 605 | 5b7188aa | skenneweg | subscriber->base.sumLatencies = 0;
|
| 606 | subscriber->base.numMessagesReceived = 0;
|
||
| 607 | a5e142de | skenneweg | # endif /* URT_CFG_PUBSUB_PROFILING */ |
| 608 | # if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true) |
||
| 609 | 5b7188aa | skenneweg | subscriber->deadlineOffset = deadline; |
| 610 | a5e142de | skenneweg | # endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
| 611 | # if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) |
||
| 612 | 5b7188aa | skenneweg | subscriber->maxJitter =jitter; |
| 613 | a5e142de | skenneweg | # endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
| 614 | # if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true) |
||
| 615 | 5b7188aa | skenneweg | subscriber->minLatency = URT_DELAY_INFINITE; |
| 616 | subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
||
| 617 | a5e142de | skenneweg | # endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
| 618 | |||
| 619 | fb72e91b | skenneweg | urtMutexLock(&topic->lock); |
| 620 | 5b7188aa | skenneweg | if (messages)
|
| 621 | {
|
||
| 622 | fb72e91b | skenneweg | urtContributeMessages(messages, topic); |
| 623 | 5b7188aa | skenneweg | } |
| 624 | a5e142de | skenneweg | |
| 625 | 5b7188aa | skenneweg | subscriber->base.lastMessage = topic->latestMessage; |
| 626 | subscriber->base.lastMessageTime = topic->latestMessage->originTime; |
||
| 627 | a5e142de | skenneweg | |
| 628 | fb72e91b | skenneweg | urtEventRegister(&topic->evtSource, &subscriber->base.evtListener, subscriber->base.evtListener.events, subscriber->base.evtListener.flags); |
| 629 | a5e142de | skenneweg | |
| 630 | # if (URT_CFG_PUBSUB_PROFILING == true) |
||
| 631 | 5b7188aa | skenneweg | topic->numHrtSubscribers--; |
| 632 | a5e142de | skenneweg | # endif /* URT_CFG_PUBSUB_PROFILING */ |
| 633 | |||
| 634 | fb72e91b | skenneweg | urtMutexUnlock(&topic->lock); |
| 635 | 5b7188aa | skenneweg | return URT_STATUS_OK;
|
| 636 | a5e142de | skenneweg | } |
| 637 | 7d9678db | skenneweg | |
| 638 | /**
|
||
| 639 | 5198dfae | skenneweg | * @brief Fetches the next message.
|
| 640 | 7d9678db | skenneweg | *
|
| 641 | 5198dfae | skenneweg | * @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
| 642 | * @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
||
| 643 | * @param[in] bytes Payload size in bytes.
|
||
| 644 | * @param[in] latency The latency can be returned by reference. May be NULL.
|
||
| 645 | 7d9678db | skenneweg | *
|
| 646 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on success.
|
| 647 | * Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
||
| 648 | * Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
||
| 649 | 7d9678db | skenneweg | */
|
| 650 | 982056f7 | Svenja | urt_status_t urtFrtSubscriberFetchNextMessage(urt_frtsubscriber_t* subscriber, void* const payload, |
| 651 | 65dc89cb | skenneweg | size_t bytes, urt_delay_t* latency) |
| 652 | {
|
||
| 653 | urtDebugAssert(subscriber); |
||
| 654 | |||
| 655 | if (!subscriber->base.topic)
|
||
| 656 | return URT_STATUS_FETCH_NOTOPIC;
|
||
| 657 | |||
| 658 | fb72e91b | skenneweg | urtMutexLock(&subscriber->base.topic->lock); |
| 659 | 65dc89cb | skenneweg | |
| 660 | 982056f7 | Svenja | urt_message_t* oldestMessage = subscriber->base.lastMessage; |
| 661 | if(oldestMessage->originTime == subscriber->base.lastMessageTime)
|
||
| 662 | 65dc89cb | skenneweg | {
|
| 663 | if (subscriber->base.lastMessage->next->originTime > subscriber->base.lastMessageTime)
|
||
| 664 | {
|
||
| 665 | fb72e91b | skenneweg | urtMutexUnlock(&subscriber->base.topic->lock); |
| 666 | 65dc89cb | skenneweg | return URT_STATUS_FETCH_NOMESSAGE;
|
| 667 | } |
||
| 668 | 982056f7 | Svenja | oldestMessage = oldestMessage->next; |
| 669 | 65dc89cb | skenneweg | } |
| 670 | else
|
||
| 671 | {
|
||
| 672 | 982056f7 | Svenja | oldestMessage = urtFindOldestMessage(oldestMessage->next); |
| 673 | 65dc89cb | skenneweg | } |
| 674 | |||
| 675 | fb72e91b | skenneweg | subscriber->base.lastMessage = oldestMessage; |
| 676 | subscriber->base.lastMessageTime = oldestMessage->originTime; |
||
| 677 | memcpy(oldestMessage->payload, payload, bytes); |
||
| 678 | 65dc89cb | skenneweg | |
| 679 | 982056f7 | Svenja | if (URT_CFG_PUBSUB_PROFILING == true || URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || latency) { |
| 680 | uint64_t calculatedLatency = urtTimeNow() - oldestMessage->originTime; |
||
| 681 | |||
| 682 | #if(URT_CFG_PUBSUB_PROFILING == true && URT_CFG_PUBSUB_QOS_JITTERCHECKS == false) |
||
| 683 | 65dc89cb | skenneweg | subscriber->base.sumLatencies += calculatedLatency; |
| 684 | 982056f7 | Svenja | |
| 685 | if (calculatedLatency < subscriber->minLatency) {
|
||
| 686 | subscriber->minLatency = calculatedLatency; |
||
| 687 | } |
||
| 688 | else if (calculatedLatency > subscriber->maxLatency) { |
||
| 689 | subscriber->maxLatency = calculatedLatency; |
||
| 690 | } |
||
| 691 | 65dc89cb | skenneweg | #endif /* URT_CFG_PUBSUB_PROFILING */ |
| 692 | |||
| 693 | 982056f7 | Svenja | #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) |
| 694 | if (calculatedLatency < subscriber->minLatency && calculatedLatency > subscriber->minLatency - subscriber->maxJitter) {
|
||
| 695 | 65dc89cb | skenneweg | subscriber->minLatency = calculatedLatency; |
| 696 | } |
||
| 697 | 982056f7 | Svenja | else if (calculatedLatency > subscriber->maxLatency && calculatedLatency < subscriber->maxLatency + subscriber->maxJitter) { |
| 698 | 65dc89cb | skenneweg | subscriber->maxLatency = calculatedLatency; |
| 699 | } |
||
| 700 | 982056f7 | Svenja | else if (calculatedLatency > subscriber->maxLatency || calculatedLatency < subscriber->minLatency) { |
| 701 | fb72e91b | skenneweg | urtMutexUnlock(&subscriber->base.topic->lock); |
| 702 | 982056f7 | Svenja | return URT_STATUS_JITTERVIOLATION;
|
| 703 | } |
||
| 704 | #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
||
| 705 | 65dc89cb | skenneweg | |
| 706 | 982056f7 | Svenja | if (latency) {
|
| 707 | fb72e91b | skenneweg | *latency = calculatedLatency; |
| 708 | 982056f7 | Svenja | } |
| 709 | 65dc89cb | skenneweg | } |
| 710 | |||
| 711 | #if (URT_CFG_PUBSUB_PROFILING == true) |
||
| 712 | subscriber->base.lastMessage->numConsumersLeft--; |
||
| 713 | subscriber->base->numMessagesReceived++; |
||
| 714 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
||
| 715 | |||
| 716 | fb72e91b | skenneweg | urtMutexUnlock(&subscriber->base.topic->lock); |
| 717 | 982056f7 | Svenja | return URT_STATUS_OK;
|
| 718 | 65dc89cb | skenneweg | } |
| 719 | 7d9678db | skenneweg | |
| 720 | /**
|
||
| 721 | 5198dfae | skenneweg | * @brief Fetches the latest message.
|
| 722 | 7d9678db | skenneweg | *
|
| 723 | 5198dfae | skenneweg | * @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
| 724 | * @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
||
| 725 | * @param[in] bytes Payload size in bytes.
|
||
| 726 | * @param[in] latency The latency can be returned by reference. May be NULL.
|
||
| 727 | 7d9678db | skenneweg | *
|
| 728 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on success.
|
| 729 | * Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
||
| 730 | * Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
||
| 731 | 7d9678db | skenneweg | */
|
| 732 | 982056f7 | Svenja | urt_status_t urtFrtSubscriberFetchLatestMessage(urt_frtsubscriber_t* subscriber, void* const payload, |
| 733 | 65dc89cb | skenneweg | size_t bytes, urt_delay_t* latency) |
| 734 | {
|
||
| 735 | urtDebugAssert(subscriber); |
||
| 736 | |||
| 737 | if (!subscriber->base.topic)
|
||
| 738 | return URT_STATUS_FETCH_NOTOPIC;
|
||
| 739 | |||
| 740 | fb72e91b | skenneweg | urtMutexLock(&subscriber->base.topic->lock); |
| 741 | 65dc89cb | skenneweg | urt_message_t* lastMessage = urtFindLatestMessage(subscriber->base.lastMessage); |
| 742 | |||
| 743 | if (lastMessage->originTime == subscriber->base.lastMessageTime)
|
||
| 744 | {
|
||
| 745 | fb72e91b | skenneweg | urtMutexUnlock(&subscriber->base.topic->lock); |
| 746 | 65dc89cb | skenneweg | return URT_STATUS_FETCH_NOMESSAGE;
|
| 747 | } |
||
| 748 | |||
| 749 | fb72e91b | skenneweg | subscriber->base.lastMessage = lastMessage; |
| 750 | subscriber->base.lastMessageTime = lastMessage->originTime; |
||
| 751 | memcpy(lastMessage->payload, payload, bytes); |
||
| 752 | 65dc89cb | skenneweg | |
| 753 | 982056f7 | Svenja | if (URT_CFG_PUBSUB_PROFILING == true || URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || latency) { |
| 754 | fb72e91b | skenneweg | uint64_t calculatedLatency = urtTimeNow() - lastMessage->originTime; |
| 755 | 982056f7 | Svenja | |
| 756 | #if(URT_CFG_PUBSUB_PROFILING == true && URT_CFG_PUBSUB_QOS_JITTERCHECKS == false) |
||
| 757 | 65dc89cb | skenneweg | subscriber->base.sumLatencies += calculatedLatency; |
| 758 | 982056f7 | Svenja | |
| 759 | if (calculatedLatency < subscriber->minLatency) {
|
||
| 760 | subscriber->minLatency = calculatedLatency; |
||
| 761 | } |
||
| 762 | else if (calculatedLatency > subscriber->maxLatency) { |
||
| 763 | subscriber->maxLatency = calculatedLatency; |
||
| 764 | } |
||
| 765 | 65dc89cb | skenneweg | #endif /* URT_CFG_PUBSUB_PROFILING */ |
| 766 | |||
| 767 | 982056f7 | Svenja | #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) |
| 768 | if (calculatedLatency < subscriber->minLatency && calculatedLatency > subscriber->minLatency - subscriber->maxJitter) {
|
||
| 769 | 65dc89cb | skenneweg | subscriber->minLatency = calculatedLatency; |
| 770 | } |
||
| 771 | 982056f7 | Svenja | else if (calculatedLatency > subscriber->maxLatency && calculatedLatency < subscriber->maxLatency + subscriber->maxJitter) { |
| 772 | 65dc89cb | skenneweg | subscriber->maxLatency = calculatedLatency; |
| 773 | } |
||
| 774 | 982056f7 | Svenja | else if (calculatedLatency > subscriber->maxLatency || calculatedLatency < subscriber->minLatency) { |
| 775 | fb72e91b | skenneweg | urtMutexUnlock(&subscriber->base.topic->lock); |
| 776 | 982056f7 | Svenja | return URT_STATUS_JITTERVIOLATION;
|
| 777 | } |
||
| 778 | #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
||
| 779 | 65dc89cb | skenneweg | |
| 780 | 982056f7 | Svenja | if (latency) {
|
| 781 | fb72e91b | skenneweg | *latency = calculatedLatency; |
| 782 | 982056f7 | Svenja | } |
| 783 | 65dc89cb | skenneweg | } |
| 784 | |||
| 785 | fb72e91b | skenneweg | urtMutexUnlock(&subscriber->base.topic->lock); |
| 786 | 65dc89cb | skenneweg | return URT_STATUS_OK;
|
| 787 | } |
||
| 788 | 7d9678db | skenneweg | |
| 789 | /**
|
||
| 790 | 5198dfae | skenneweg | * @brief Calculates the validity from the subscriber.
|
| 791 | 7d9678db | skenneweg | *
|
| 792 | 5198dfae | skenneweg | * @param[in] subscriber The FRT subscriber to calculate a validity for. Must not be NULL.
|
| 793 | * @param[in] latency Latency (of a message) as argument to calculate validity.
|
||
| 794 | 7d9678db | skenneweg | *
|
| 795 | 5198dfae | skenneweg | * @return Returns a boolean indicator whether the latency is fine.
|
| 796 | 7d9678db | skenneweg | */
|
| 797 | a5e142de | skenneweg | bool urtFrtSubscriberCalculateValidity(urt_frtsubscriber_t* subscriber, urt_delay_t latency)
|
| 798 | {
|
||
| 799 | 37cd5dc2 | Svenja | #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true) |
| 800 | if (latency > subscriber->minLatency && latency < subscriber->maxLatency)
|
||
| 801 | 5b7188aa | skenneweg | return true; |
| 802 | 37cd5dc2 | Svenja | #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
| 803 | |||
| 804 | # if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) |
||
| 805 | if (latency < subscriber->minLatency && subscriber->maxLatency-subscriber->maxJitter < latency)
|
||
| 806 | return true; |
||
| 807 | |||
| 808 | if (latency > subscriber->maxLatency && subscriber->minLatency+subscriber->maxJitter > latency)
|
||
| 809 | return true; |
||
| 810 | a5e142de | skenneweg | # endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS && URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
| 811 | 5b7188aa | skenneweg | |
| 812 | a5e142de | skenneweg | return false; |
| 813 | } |
||
| 814 | 7d9678db | skenneweg | |
| 815 | /**
|
||
| 816 | 5198dfae | skenneweg | * @brief Unsubscribes from a subscriber.
|
| 817 | 7d9678db | skenneweg | *
|
| 818 | 5c6cb22f | skenneweg | * @param[in] subscriber The FRT subscriber to be unsubscribed. Must not be NULL.
|
| 819 | 7d9678db | skenneweg | *
|
| 820 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on sucess.
|
| 821 | * Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
|
||
| 822 | 7d9678db | skenneweg | */
|
| 823 | 5b7188aa | skenneweg | urt_status_t urtFrtSubscriberUnsubscribe(urt_frtsubscriber_t* subscriber) |
| 824 | {
|
||
| 825 | urtDebugAssert(subscriber); |
||
| 826 | |||
| 827 | 982056f7 | Svenja | if (!subscriber->base.topic) {
|
| 828 | return URT_STATUS_UNSUBSCRIBE_NOTOPIC;
|
||
| 829 | } |
||
| 830 | |||
| 831 | #if (URT_CFG_PUBSUB_PROFILING == true) |
||
| 832 | fb72e91b | skenneweg | urtMutexLock(&topic->lock); |
| 833 | 982056f7 | Svenja | #endif /* URT_CFG_PUBSUB_PROFILING */ |
| 834 | |||
| 835 | fb72e91b | skenneweg | urtEventUnregister(&subscriber->base.topic->evtSource, &subscriber->base.evtListener); |
| 836 | 982056f7 | Svenja | |
| 837 | 5b7188aa | skenneweg | # if (URT_CFG_PUBSUB_PROFILING == true) |
| 838 | 982056f7 | Svenja | subscriber->base.topic->numSubscribers--; |
| 839 | 5b7188aa | skenneweg | # endif /* URT_CFG_PUBSUB_PROFILING */ |
| 840 | |||
| 841 | # if (URT_CFG_PUBSUB_PROFILING == true) |
||
| 842 | fb72e91b | skenneweg | urtMutexUnlock(&topic->lock); |
| 843 | 5b7188aa | skenneweg | # endif /* URT_CFG_PUBSUB_PROFILING */ |
| 844 | 982056f7 | Svenja | subscriber->base.topic = NULL;
|
| 845 | subscriber->base.lastMessage = NULL;
|
||
| 846 | subscriber->base.lastMessageTime = 0;
|
||
| 847 | return URT_STATUS_OK;
|
||
| 848 | 5b7188aa | skenneweg | } |
| 849 | 7d9678db | skenneweg | |
| 850 | |||
| 851 | /**
|
||
| 852 | 5198dfae | skenneweg | * @brief Initialize the HRT Subscriber.
|
| 853 | 7d9678db | skenneweg | *
|
| 854 | 5198dfae | skenneweg | * @param[in] subscriber The HRT subscriber to initialize. Must not be NULL.
|
| 855 | 7d9678db | skenneweg | */
|
| 856 | 5c6cb22f | skenneweg | void urtHrtSubscriberInit(urt_hrtsubscriber_t* subscriber)
|
| 857 | {
|
||
| 858 | a5e142de | skenneweg | urtDebugAssert(subscriber); |
| 859 | |||
| 860 | 5c6cb22f | skenneweg | subscriber->base.topic = NULL;
|
| 861 | urtEventListenerInit(subscriber->base.evtListener); |
||
| 862 | subscriber->base.lastMessage = NULL;
|
||
| 863 | subscriber->base.lastMessageTime = 0;
|
||
| 864 | |||
| 865 | a5e142de | skenneweg | # if (URT_CFG_PUBSUB_PROFILING)
|
| 866 | 5c6cb22f | skenneweg | subscriber->base.sumLatencies = 0;
|
| 867 | subscriber->base.numMessagesReceived = 0;
|
||
| 868 | a5e142de | skenneweg | # endif /* URT_CFG_PUBSUB_PROFILING */ |
| 869 | 5c6cb22f | skenneweg | |
| 870 | subscriber->next = NULL;
|
||
| 871 | |||
| 872 | a5e142de | skenneweg | # if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS)
|
| 873 | 5c6cb22f | skenneweg | subscriber->deadlineOffset = 0;
|
| 874 | urtTimerInit(subscriber->qodDeadlineTimer); |
||
| 875 | a5e142de | skenneweg | # endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
| 876 | 5c6cb22f | skenneweg | |
| 877 | a5e142de | skenneweg | # if (URT_CFG_PUBSUB_QOS_RATECHECKS)
|
| 878 | 5c6cb22f | skenneweg | subscriber->expectedRate = 0;
|
| 879 | a5e142de | skenneweg | # endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
| 880 | 5c6cb22f | skenneweg | |
| 881 | a5e142de | skenneweg | # if (URT_CFG_PUBSUB_QOS_JITTERCHECKS)
|
| 882 | 5c6cb22f | skenneweg | subscriber->maxJitter = 0;
|
| 883 | a5e142de | skenneweg | # endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
| 884 | 5c6cb22f | skenneweg | |
| 885 | a5e142de | skenneweg | # if (URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING)
|
| 886 | 5c6cb22f | skenneweg | subscriber->minLatency = URT_DELAY_INFINITE; |
| 887 | subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
||
| 888 | a5e142de | skenneweg | # endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
| 889 | 5c6cb22f | skenneweg | return;
|
| 890 | } |
||
| 891 | |||
| 892 | 7d9678db | skenneweg | |
| 893 | /**
|
||
| 894 | 5198dfae | skenneweg | * @brief Subscribes the subscriber to a topic.
|
| 895 | *
|
||
| 896 | 5c6cb22f | skenneweg | * @param[in] subscriber The HRT subscriber which shall subscribe to a topic. Must not be NULL.
|
| 897 | 5198dfae | skenneweg | * @param[in] topic The topic to subscribe to. Must not be NULL.
|
| 898 | * @param[in] messages NULL terminated list of messages to contribute to the topic.
|
||
| 899 | * Messages must not be associated to another topic.
|
||
| 900 | * Once a message has been contributed, it cannot be removed later.
|
||
| 901 | * May be NULL(no messages to contribute).
|
||
| 902 | * @param[in] deadline Maximum latency to consume messages. A value of 0 indicates that latency is of no concern.
|
||
| 903 | * @param[in] rate Expected minimum rate of new messages (= maximum time between consecutive messages).
|
||
| 904 | * A value of 0 indicates, that rate is of no concern.
|
||
| 905 | * @param[in] jitter Maximum allowed jitter (difference between maximum and minimum latency) when consuming messages.
|
||
| 906 | * A value of 0 indicates that jitter is of no concern.
|
||
| 907 | *
|
||
| 908 | * @return Returns URT_STATUS_OK on success.
|
||
| 909 | * Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
|
||
| 910 | 7d9678db | skenneweg | */
|
| 911 | urt_status_t urtHrtSubscriberSubscribe(urt_hrtsubscriber_t* subscriber, urt_topic_t* topic, |
||
| 912 | 5b7188aa | skenneweg | urt_message_t* messages, urt_delay_t deadline, urt_delay_t rate, urt_delay_t jitter) |
| 913 | {
|
||
| 914 | urtDebugAssert(subscriber); |
||
| 915 | urtDebugAssert(topic); |
||
| 916 | |||
| 917 | if (subscriber->base.topic)
|
||
| 918 | {
|
||
| 919 | return URT_STATUS_SUBSCRIBE_TOPICSET;
|
||
| 920 | } |
||
| 921 | |||
| 922 | subscriber->base.topic = topic; |
||
| 923 | # if (URT_CFG_PUBSUB_PROFILING == true) |
||
| 924 | subscriber->base.sumLatencies = 0;
|
||
| 925 | subscriber->base.numMessagesReceived = 0;
|
||
| 926 | # endif /* URT_CFG_PUBSUB_PROFILING */ |
||
| 927 | # if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true) |
||
| 928 | subscriber->deadlineOffset = deadline; |
||
| 929 | # endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
||
| 930 | # if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) |
||
| 931 | subscriber->maxJitter =jitter; |
||
| 932 | # endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
||
| 933 | # if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true) |
||
| 934 | subscriber->minLatency = URT_DELAY_INFINITE; |
||
| 935 | subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
||
| 936 | # endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
||
| 937 | # if (URT_CFG_PUBSUB_QOS_RATECHECKS == true) |
||
| 938 | subscriber->expectedRate = rate; |
||
| 939 | # endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
||
| 940 | |||
| 941 | fb72e91b | skenneweg | urtMutexLock(&topic->lock); |
| 942 | 5b7188aa | skenneweg | if (messages)
|
| 943 | {
|
||
| 944 | fb72e91b | skenneweg | urtContributeMessages(messages, topic); |
| 945 | 5b7188aa | skenneweg | } |
| 946 | |||
| 947 | subscriber->base.lastMessage = topic->latestMessage; |
||
| 948 | subscriber->base.lastMessageTime = topic->latestMessage->originTime; |
||
| 949 | |||
| 950 | fb72e91b | skenneweg | urtEventRegister(&topic->evtSource, &subscriber->base.evtListener, subscriber->base.evtListener.events, subscriber->base.evtListener.flags); |
| 951 | 5b7188aa | skenneweg | |
| 952 | # if(URT_CFG_PUBSUB_QOS_RATECHECKS == true) |
||
| 953 | 8378a78b | Svenja | //TODO: Implement
|
| 954 | 5b7188aa | skenneweg | # endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
| 955 | |||
| 956 | topic->numHrtSubscribers--; |
||
| 957 | # if (URT_CFG_PUBSUB_PROFILING == true) |
||
| 958 | topic->numSubscribers--; |
||
| 959 | # endif /* URT_CFG_PUBSUB_PROFILING */ |
||
| 960 | |||
| 961 | fb72e91b | skenneweg | urtMutexUnlock(&topic->lock); |
| 962 | 5b7188aa | skenneweg | return URT_STATUS_OK;
|
| 963 | } |
||
| 964 | 7d9678db | skenneweg | |
| 965 | |||
| 966 | /**
|
||
| 967 | 5198dfae | skenneweg | * @brief Fetches the next message.
|
| 968 | 7d9678db | skenneweg | *
|
| 969 | 5198dfae | skenneweg | * @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
| 970 | * @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
||
| 971 | * @param[in] bytes Payload size in bytes.
|
||
| 972 | * @param[in] latency The latency can be returned by reference. May be NULL.
|
||
| 973 | 7d9678db | skenneweg | *
|
| 974 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on success.
|
| 975 | * Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
||
| 976 | * Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
||
| 977 | 7d9678db | skenneweg | */
|
| 978 | 982056f7 | Svenja | urt_status_t urtHrtSubscriberFetchNextMessage(urt_hrtsubscriber_t* subscriber, void* const payload, |
| 979 | 65dc89cb | skenneweg | size_t bytes, urt_delay_t* latency) |
| 980 | {
|
||
| 981 | urtDebugAssert(subscriber); |
||
| 982 | |||
| 983 | 982056f7 | Svenja | if (!subscriber->base.topic) {
|
| 984 | return URT_STATUS_FETCH_NOTOPIC;
|
||
| 985 | } |
||
| 986 | 65dc89cb | skenneweg | |
| 987 | fb72e91b | skenneweg | urtMutexLock(&subscriber->base.topic->lock); |
| 988 | urt_message_t* lastMessage = subscriber->base.lastMessage; |
||
| 989 | if (lastMessage->next->originTime > lastMessage->originTime)
|
||
| 990 | 65dc89cb | skenneweg | {
|
| 991 | fb72e91b | skenneweg | urtMutexUnlock(&subscriber->base.topic->lock); |
| 992 | 65dc89cb | skenneweg | return URT_STATUS_FETCH_NOMESSAGE;
|
| 993 | } |
||
| 994 | fb72e91b | skenneweg | lastMessage = lastMessage->next; |
| 995 | 65dc89cb | skenneweg | |
| 996 | fb72e91b | skenneweg | uint64_t calculatedLatency; |
| 997 | if (URT_CFG_PUBSUB_PROFILING == true || latency || URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) { |
||
| 998 | calculatedLatency = urtTimeNow() - lastMessage->originTime; |
||
| 999 | } |
||
| 1000 | 982056f7 | Svenja | |
| 1001 | #if(URT_CFG_PUBSUB_PROFILING == true) |
||
| 1002 | 65dc89cb | skenneweg | subscriber->base.sumLatencies += calculatedLatency; |
| 1003 | 982056f7 | Svenja | |
| 1004 | if (calculatedLatency < subscriber->minLatency) {
|
||
| 1005 | subscriber->minLatency = calculatedLatency; |
||
| 1006 | } |
||
| 1007 | else if (calculatedLatency > subscriber->maxLatency) { |
||
| 1008 | subscriber->maxLatency = calculatedLatency; |
||
| 1009 | } |
||
| 1010 | 65dc89cb | skenneweg | #endif /* URT_CFG_PUBSUB_PROFILING */ |
| 1011 | 982056f7 | Svenja | |
| 1012 | fb72e91b | skenneweg | if (latency) {
|
| 1013 | *latency = calculatedLatency; |
||
| 1014 | 65dc89cb | skenneweg | } |
| 1015 | |||
| 1016 | subscriber->base.lastMessage->numHrtConsumersLeft--; |
||
| 1017 | if (subscriber->base.lastMessage->numHrtConsumersLeft != 0) |
||
| 1018 | {
|
||
| 1019 | fb72e91b | skenneweg | urtCondvarSignal(&subscriber->base.topic->hrtReleased); |
| 1020 | 65dc89cb | skenneweg | } |
| 1021 | |||
| 1022 | #if (URT_CFG_PUBSUB_PROFILING == true) |
||
| 1023 | subscriber->base.lastMessage->numConsumersLeft--; |
||
| 1024 | subscriber->base->numMessagesReceived++; |
||
| 1025 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
||
| 1026 | |||
| 1027 | #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) |
||
| 1028 | 982056f7 | Svenja | if (calculatedLatency < subscriber->minLatency && calculatedLatency > subscriber->minLatency - subscriber->maxJitter) {
|
| 1029 | subscriber->minLatency = calculatedLatency; |
||
| 1030 | } |
||
| 1031 | else if (calculatedLatency > subscriber->maxLatency && calculatedLatency < subscriber->maxLatency + subscriber->maxJitter) { |
||
| 1032 | subscriber->maxLatency = calculatedLatency; |
||
| 1033 | } |
||
| 1034 | else if (calculatedLatency > subscriber->maxLatency || calculatedLatency < subscriber->minLatency) { |
||
| 1035 | fb72e91b | skenneweg | urtMutexUnlock(&subscriber->base.topic->lock); |
| 1036 | 65dc89cb | skenneweg | urtCoreStopNodes(URT_STATUS_JITTERVIOLATION); |
| 1037 | return URT_STATUS_JITTERVIOLATION;
|
||
| 1038 | 982056f7 | Svenja | } |
| 1039 | 65dc89cb | skenneweg | #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
| 1040 | 982056f7 | Svenja | |
| 1041 | #if (URT_CFG_PUBSUB_PROFILING == true && URT_CFG_PUBSUB_QOS_JITTERCHECKS == false) |
||
| 1042 | if (calculatedLatency < subscriber->minLatency) {
|
||
| 1043 | subscriber->minLatency = calculatedLatency; |
||
| 1044 | 65dc89cb | skenneweg | } |
| 1045 | 982056f7 | Svenja | else if (calculatedLatency > subscriber->maxLatency) { |
| 1046 | subscriber->maxLatency = calculatedLatency; |
||
| 1047 | } |
||
| 1048 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
||
| 1049 | 65dc89cb | skenneweg | |
| 1050 | fb72e91b | skenneweg | subscriber->base.lastMessage = lastMessage; |
| 1051 | subscriber->base.lastMessageTime = lastMessage->originTime; |
||
| 1052 | memcpy(lastMessage->payload, payload, bytes); |
||
| 1053 | 65dc89cb | skenneweg | |
| 1054 | #if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true) |
||
| 1055 | fb72e91b | skenneweg | if (lastMessage->next->originTime < lastMessage->originTime)
|
| 1056 | 65dc89cb | skenneweg | {
|
| 1057 | 982056f7 | Svenja | //TODO: first reset?! (when ... set)
|
| 1058 | urtTimerSet(subscriber->qosDeadlineTimer, subscriber->deadlineOffset, urtCoreCallbackDefault, NULL);
|
||
| 1059 | 65dc89cb | skenneweg | } |
| 1060 | else
|
||
| 1061 | {
|
||
| 1062 | 982056f7 | Svenja | urtTimerReset(subscriber->qosDeadlineTimer); |
| 1063 | 65dc89cb | skenneweg | } |
| 1064 | #endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
||
| 1065 | |||
| 1066 | fb72e91b | skenneweg | urtMutexUnlock(&subscriber->base.topic->lock); |
| 1067 | 65dc89cb | skenneweg | return URT_STATUS_OK;
|
| 1068 | } |
||
| 1069 | 7d9678db | skenneweg | |
| 1070 | |||
| 1071 | /**
|
||
| 1072 | 5198dfae | skenneweg | * @brief Fetches the latest message.
|
| 1073 | 7d9678db | skenneweg | *
|
| 1074 | 5198dfae | skenneweg | * @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
| 1075 | * @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
||
| 1076 | * @param[in] bytes Payload size in bytes.
|
||
| 1077 | * @param[in] latency The latency can be returned by reference. May be NULL.
|
||
| 1078 | 7d9678db | skenneweg | *
|
| 1079 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on success.
|
| 1080 | * Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
||
| 1081 | * Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
||
| 1082 | 7d9678db | skenneweg | */
|
| 1083 | 982056f7 | Svenja | urt_status_t urtHrtSubscriberFetchLatestMessage(urt_hrtsubscriber_t* subscriber, void* const payload, |
| 1084 | size_t bytes, urt_delay_t* latency) |
||
| 1085 | {
|
||
| 1086 | if (!subscriber->base.topic) {
|
||
| 1087 | return URT_STATUS_FETCH_NOTOPIC;
|
||
| 1088 | } |
||
| 1089 | |||
| 1090 | fb72e91b | skenneweg | urtMutexLock(&subscriber->base.topic->lock); |
| 1091 | 982056f7 | Svenja | urt_message_t* lastMessage = subscriber->base.lastMessage; |
| 1092 | bool hrtZero = false; |
||
| 1093 | while (lastMessage->next->originTime < lastMessage->originTime) {
|
||
| 1094 | lastMessage = lastMessage->next; |
||
| 1095 | lastMessage->numHrtConsumersLeft--; |
||
| 1096 | if (lastMessage->numHrtConsumersLeft == 0) { |
||
| 1097 | fb72e91b | skenneweg | hrtZero = true;
|
| 1098 | 982056f7 | Svenja | } |
| 1099 | #if (URT_CFG_PUBSUB_PROFILING == true) |
||
| 1100 | lastMessage->numConsumersLeft--; |
||
| 1101 | subscriber->base.numMessagesReceived++; |
||
| 1102 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
||
| 1103 | #if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true) |
||
| 1104 | urtTimerReset(subscriber->qosDeadlineTimer); |
||
| 1105 | #endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
||
| 1106 | } |
||
| 1107 | |||
| 1108 | if (hrtZero) {
|
||
| 1109 | fb72e91b | skenneweg | urtCondvarSignal(&subscriber->base.topic->hrtReleased); |
| 1110 | 982056f7 | Svenja | } |
| 1111 | |||
| 1112 | if (lastMessage->originTime == subscriber->base.lastMessageTime) {
|
||
| 1113 | fb72e91b | skenneweg | urtMutexUnlock(&subscriber->base.topic->lock); |
| 1114 | 982056f7 | Svenja | return URT_STATUS_FETCH_NOMESSAGE;
|
| 1115 | } |
||
| 1116 | |||
| 1117 | fb72e91b | skenneweg | uint64_t calculatedLatency; |
| 1118 | if (URT_CFG_PUBSUB_PROFILING == true || latency || URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) { |
||
| 1119 | calculatedLatency = urtTimeNow() - lastMessage->originTime; |
||
| 1120 | } |
||
| 1121 | 982056f7 | Svenja | |
| 1122 | #if(URT_CFG_PUBSUB_PROFILING == true) |
||
| 1123 | subscriber->base.sumLatencies += calculatedLatency; |
||
| 1124 | |||
| 1125 | if (calculatedLatency < subscriber->minLatency) {
|
||
| 1126 | subscriber->minLatency = calculatedLatency; |
||
| 1127 | } |
||
| 1128 | else if (calculatedLatency > subscriber->maxLatency) { |
||
| 1129 | subscriber->maxLatency = calculatedLatency; |
||
| 1130 | } |
||
| 1131 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
||
| 1132 | |||
| 1133 | fb72e91b | skenneweg | if (latency) {
|
| 1134 | *latency = calculatedLatency; |
||
| 1135 | 982056f7 | Svenja | } |
| 1136 | |||
| 1137 | #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) |
||
| 1138 | if (calculatedLatency < subscriber->minLatency && calculatedLatency > subscriber->minLatency - subscriber->maxJitter) {
|
||
| 1139 | subscriber->minLatency = calculatedLatency; |
||
| 1140 | } |
||
| 1141 | else if (calculatedLatency > subscriber->maxLatency && calculatedLatency < subscriber->maxLatency + subscriber->maxJitter) { |
||
| 1142 | subscriber->maxLatency = calculatedLatency; |
||
| 1143 | } |
||
| 1144 | else if (calculatedLatency > subscriber->maxLatency || calculatedLatency < subscriber->minLatency) { |
||
| 1145 | fb72e91b | skenneweg | urtMutexUnlock(&subscriber->base.topic->lock); |
| 1146 | 982056f7 | Svenja | urtCoreStopNodes(URT_STATUS_JITTERVIOLATION); |
| 1147 | return URT_STATUS_JITTERVIOLATION;
|
||
| 1148 | } |
||
| 1149 | #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
||
| 1150 | |||
| 1151 | #if (URT_CFG_PUBSUB_PROFILING == true && URT_CFG_PUBSUB_QOS_JITTERCHECKS == false) |
||
| 1152 | if (calculatedLatency < subscriber->minLatency) {
|
||
| 1153 | subscriber->minLatency = calculatedLatency; |
||
| 1154 | } |
||
| 1155 | else if (calculatedLatency > subscriber->maxLatency) { |
||
| 1156 | subscriber->maxLatency = calculatedLatency; |
||
| 1157 | } |
||
| 1158 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
||
| 1159 | |||
| 1160 | fb72e91b | skenneweg | subscriber->base.lastMessage = lastMessage; |
| 1161 | subscriber->base.lastMessageTime = lastMessage->originTime; |
||
| 1162 | memcpy(lastMessage->payload, payload, bytes); |
||
| 1163 | 982056f7 | Svenja | |
| 1164 | #if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true) |
||
| 1165 | urtTimerReset(subscriber->qosDeadlineTimer); |
||
| 1166 | #endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
||
| 1167 | fb72e91b | skenneweg | |
| 1168 | urtMutexUnlock(&subscriber->base.topic->lock); |
||
| 1169 | return URT_STATUS_OK;
|
||
| 1170 | 982056f7 | Svenja | } |
| 1171 | 7d9678db | skenneweg | |
| 1172 | /**
|
||
| 1173 | 5198dfae | skenneweg | * @brief Unsubscribes from a subscriber.
|
| 1174 | 7d9678db | skenneweg | *
|
| 1175 | 5198dfae | skenneweg | * @param[in] subscriber The HRT subscriber to be unsubscribed. Must not be NULL.
|
| 1176 | 7d9678db | skenneweg | *
|
| 1177 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on sucess.
|
| 1178 | * Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
|
||
| 1179 | 7d9678db | skenneweg | */
|
| 1180 | 5b7188aa | skenneweg | urt_status_t urtHrtSubscriberUnsubscribe(urt_hrtsubscriber_t* subscriber) |
| 1181 | {
|
||
| 1182 | urtDebugAssert(subscriber); |
||
| 1183 | |||
| 1184 | fb72e91b | skenneweg | if(!subscriber->base.topic) {
|
| 1185 | return URT_STATUS_UNSUBSCRIBE_NOTOPIC;
|
||
| 1186 | } |
||
| 1187 | |||
| 1188 | urtMutexLock(&subscriber->base.topic->lock); |
||
| 1189 | urtEventUnregister(&subscriber->base.topic->evtSource, &subscriber->base.evtListener); |
||
| 1190 | subscriber->base.topic->numHrtSubscribers--; |
||
| 1191 | 5b7188aa | skenneweg | # if (URT_CFG_PUBSUB_PROFILING == true) |
| 1192 | fb72e91b | skenneweg | subscriber->base.topic->numSubscribers--; |
| 1193 | 5b7188aa | skenneweg | # endif /* URT_CFG_PUBSUB_PROFILING */ |
| 1194 | # if (URT_CFG_PUBSUB_QOS_RATECHECKS == true) |
||
| 1195 | fb72e91b | skenneweg | //TODO: remove self from topics list of HRT subscribers, ...
|
| 1196 | 5b7188aa | skenneweg | # endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
| 1197 | |||
| 1198 | fb72e91b | skenneweg | urt_message_t* messageTemp = subscriber->base.lastMessage; |
| 1199 | bool hrtZero = false; |
||
| 1200 | while (messageTemp->next->originTime < messageTemp->originTime){
|
||
| 1201 | messageTemp = messageTemp->next; |
||
| 1202 | messageTemp->numHrtConsumersLeft--; |
||
| 1203 | if (messageTemp->numHrtConsumersLeft == 0) { |
||
| 1204 | hrtZero = true;
|
||
| 1205 | } |
||
| 1206 | 5b7188aa | skenneweg | # if(URT_CFG_PUBSUB_PROFILING == true) |
| 1207 | fb72e91b | skenneweg | messageTemp->numConsumersLeft--; |
| 1208 | 5b7188aa | skenneweg | # endif /* URT_CFG_PUBSUB_PROFILING */ |
| 1209 | fb72e91b | skenneweg | } |
| 1210 | if (hrtZero){
|
||
| 1211 | urtCondvarSignal(&subscriber->base.topic->hrtReleased); |
||
| 1212 | 5b7188aa | skenneweg | } |
| 1213 | |||
| 1214 | fb72e91b | skenneweg | urtMutexUnlock(&subscriber->base.topic->lock); |
| 1215 | subscriber->base.topic = NULL;
|
||
| 1216 | subscriber->base.lastMessage = NULL;
|
||
| 1217 | subscriber->base.lastMessageTime = 0;
|
||
| 1218 | return URT_STATUS_OK;
|
||
| 1219 | 5b7188aa | skenneweg | } |
| 1220 | |||
| 1221 |