urtware / src / urt_subscriber.c @ fb72e91b
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/*
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µRtWare is a lightweight publish/subscribe middleware for real-time
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applications. It was developed as part of the software habitat for the
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Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
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Copyright (C) 2018..2020 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <urtware.h> |
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#include <stdio.h> |
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/******************************************************************************/
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/* LOCAL DEFINITIONS */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL TYPES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL FUNCTIONS */
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/******************************************************************************/
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urt_message_t* urtFindOldestMessage(urt_message_t* oldestMessage) |
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{
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while (oldestMessage->next->originTime < oldestMessage->originTime) {
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oldestMessage = oldestMessage->next; |
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} |
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return oldestMessage;
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} |
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urt_message_t* urtFindLatestMessage(urt_message_t* latestMessage) |
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{
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urt_message_t* lastMessage = latestMessage; |
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while (lastMessage->next->originTime < lastMessage->originTime) {
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lastMessage = lastMessage->next; |
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#if (URT_CFG_PUBSUB_PROFILING == true) |
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subscriber->base.lastMessage->numConsumersLeft--; |
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subscriber->base->numMessagesReceived++; |
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#endif /* URT_CFG_PUBSUB_PROFILING */ |
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} |
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return latestMessage;
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} |
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void urtContributeMessages(urt_message_t* messages, urt_topic_t* topic)
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{
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urt_message_t* lastMessageContribute = messages; |
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while (lastMessageContribute->next) {
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lastMessageContribute = lastMessageContribute->next; |
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} |
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lastMessageContribute->next = topic->latestMessage->next; |
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topic->latestMessage->next = messages; |
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} |
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/******************************************************************************/
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/* EXPORTED FUNCTIONS */
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/******************************************************************************/
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/**
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* @brief Initialize the nrt Subscriber.
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*
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* @param[in] subscriber The NRT subscriber to initialize. Must not be NULL.
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*/
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void urtNrtSubscriberInit (urt_nrtsubscriber_t* subscriber)
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{
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urtDebugAssert(subscriber); |
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subscriber->base.topic = NULL;
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urtEventListenerInit(subscriber->base.evtListener); |
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subscriber->base.lastMessage = NULL;
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subscriber->base.lastMessageTime = 0;
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#if (URT_CFG_PUBSUB_PROFILING == true) |
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subscriber->minLatency = URT_DELAY_INFINITE; |
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subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
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#endif /* URT_CFG_PUBSUB_PROFILING */ |
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return;
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} |
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/**
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* @brief Subscribes the subscriber to a topic.
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*
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* @param[in] subscriber The NRT subscriber which shall subscribe to a topic. Must not be NULL.
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* @param[in] topic The topic to subscribe to. Must not be NULL.
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* @param[in] messages NULL terminated list of messages to contribute to the topic.
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* Messages must not be associated to another topic.
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* Once a message has been contributed, it cannot be removed later.
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* May be NULL(no messages to contribute).
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*
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* @return Returns URT_STATUS_OK on success.
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* Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
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*/
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urt_status_t urtNrtSubscriberSubscribe (urt_nrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages) |
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{
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urtDebugAssert(subscriber); |
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urtDebugAssert(topic); |
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if (!subscriber->base.topic) {
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return URT_STATUS_SUBSCRIBE_TOPICSET;
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} |
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subscriber->base.topic = topic; |
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urtMutexLock(&topic->lock); |
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if (messages) {
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urtContributeMessages(messages, topic); |
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} |
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subscriber->base.lastMessage = topic->latestMessage; |
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subscriber->base.lastMessageTime = topic->latestMessage->originTime; |
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urtEventRegister(&topic->evtSource, &subscriber->base.evtListener, subscriber->base.evtListener.events, subscriber->base.evtListener.flags); |
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#if (URT_CFG_PUBSUB_PROFILING == true) |
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topic->numHrtSubscribers--; |
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#endif /* URT_CFG_PUBSUB_PROFILING */ |
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urtMutexUnlock(&topic->lock); |
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return URT_STATUS_OK;
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} |
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/**
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* @brief Fetches the next message.
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*
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* @param[in] subscriber The NRT subscriber that shall fetch the message. Must not be NULL.
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* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
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* @param[in] bytes Payload size in bytes.
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* @param[in] latency The latency can be returned by reference. May be NULL.
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*
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* @return Returns URT_STATUS_OK on success.
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* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
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* Retruns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
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*/
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urt_status_t urtNrtSubscriberFetchNextMessage (urt_nrtsubscriber_t* subscriber, void* const payload, size_t bytes, urt_delay_t* latency) |
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{
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urtDebugAssert(subscriber); |
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if (!subscriber->base.topic) {
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return URT_STATUS_FETCH_NOTOPIC;
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} |
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urtMutexLock(&subscriber->base.topic->lock); |
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urt_message_t* oldestMessage = subscriber->base.lastMessage; |
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if(oldestMessage->originTime == subscriber->base.lastMessageTime) {
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if (subscriber->base.lastMessage->next->originTime > subscriber->base.lastMessageTime) {
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urtMutexUnlock(&subscriber->base.topic->lock); |
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return URT_STATUS_FETCH_NOMESSAGE;
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} |
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oldestMessage = oldestMessage->next; |
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} |
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else {
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oldestMessage = urtFindOldestMessage(oldestMessage->next); |
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} |
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subscriber->base.lastMessage = oldestMessage; |
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subscriber->base.lastMessageTime = oldestMessage->originTime; |
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memcpy(oldestMessage->payload, payload, bytes); |
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if (URT_CFG_PUBSUB_PROFILING == true || latency) { |
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uint64_t calculatedLatency = urtTimeNow() - oldestMessage->originTime; |
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#if(URT_CFG_PUBSUB_PROFILING == true) |
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subscriber->base.sumLatencies += calculatedLatency; |
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if (calculatedLatency < subscriber->minLatency) {
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subscriber->minLatency = calculatedLatency; |
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} |
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else if (calculatedLatency > subscriber->maxLatency) { |
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subscriber->maxLatency = calculatedLatency; |
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} |
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#endif /* URT_CFG_PUBSUB_PROFILING */ |
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if (latency) {
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*latency = calculatedLatency; |
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} |
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} |
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#if (URT_CFG_PUBSUB_PROFILING == true) |
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subscriber->base.lastMessage->numConsumersLeft--; |
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subscriber->base->numMessagesReceived++; |
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#endif /* URT_CFG_PUBSUB_PROFILING */ |
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urtMutexUnlock(&subscriber->base.topic->lock); |
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return URT_STATUS_OK;
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} |
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/**
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* @brief Fetches the latest message.
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*
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* @param[in] subscriber The NRT subscriber that shall fetch the message. Must not be NULL.
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* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
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* @param[in] bytes Payload size in bytes.
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* @param[in] latency The latency can be returned by reference. May be NULL.
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*
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* @return Returns URT_STATUS_OK on success.
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* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
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* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
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*/
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urt_status_t urtNrtSubscriberFetchLatestMessage (urt_nrtsubscriber_t* subscriber, void* const payload, size_t bytes, urt_delay_t* latency) { |
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urtDebugAssert(subscriber); |
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if (!subscriber->base.topic)
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return URT_STATUS_FETCH_NOTOPIC;
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urtMutexLock(&subscriber->base.topic->lock); |
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urt_message_t* lastMessage = urtFindLatestMessage(subscriber->base.lastMessage); |
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if (lastMessage->originTime == subscriber->base.lastMessageTime)
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{
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urtMutexUnlock(&subscriber->base.topic->lock); |
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return URT_STATUS_FETCH_NOMESSAGE;
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} |
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subscriber->base.lastMessage = lastMessage; |
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subscriber->base.lastMessageTime = lastMessage->originTime; |
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memcpy(lastMessage->payload, payload, bytes); |
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if (URT_CFG_PUBSUB_PROFILING == true || latency) { |
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uint64_t calculatedLatency = urtTimeNow() - lastMessage->originTime; |
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#if(URT_CFG_PUBSUB_PROFILING == true) |
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subscriber->base.sumLatencies += calculatedLatency; |
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if (calculatedLatency < subscriber->minLatency) {
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subscriber->minLatency = calculatedLatency; |
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} |
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else if (calculatedLatency > subscriber->maxLatency) { |
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subscriber->maxLatency = calculatedLatency; |
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} |
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#endif /* URT_CFG_PUBSUB_PROFILING */ |
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if (latency) {
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*latency = calculatedLatency; |
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} |
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} |
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urtMutexUnlock(&subscriber->base.topic->lock); |
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return URT_STATUS_OK;
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} |
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/**
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* @brief Unsubscribes from a subscriber.
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*
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* @param[in] subscriber The NRT subscriber to be unsubscribed. Must not be NULL.
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*
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* @return Returns URT_STATUS_OK on sucess.
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* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
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*/
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urt_status_t urtNrtSubscriberUnsubscribe (urt_nrtsubscriber_t* subscriber) |
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{
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if (subscriber->base.topic)
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{
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# if(URT_CFG_PUBSUB_PROFILING == true) |
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urtMutexLock(&topic->lock); |
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subscriber->base.topic->numSubscribers--; |
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# endif /* URT_CFG_PUBSUB_PROFILING */ |
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urtEventUnregister(&subscriber->base.topic->evtSource, &subscriber->base.evtListener); |
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# if(URT_CFG_PUBSUB_PROFILING == true) |
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urtMutexUnlock(&topic->lock); |
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subscriber->base.topic = NULL;
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subscriber->base.lastMessage = NULL;
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subscriber->base.lastMessageTime = 0;
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#endif /* URT_CFG_PUBSUB_PROFILING */ |
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return URT_STATUS_OK;
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} |
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return URT_STATUS_UNSUBSCRIBE_NOTOPIC;
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} |
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/**
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* @brief Initialize the srt Subscriber.
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*
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* @param[in] subscriber The SRT subscriber to initialize. Must not be NULL.
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*/
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void urtSrtSubscriberInit(urt_srtsubscriber_t* subscriber)
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{
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urtDebugAssert(subscriber); |
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subscriber->base.topic = NULL;
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urtEventListenerInit(subscriber->base.evtListener); |
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subscriber->base.lastMessage = NULL;
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subscriber->base.lastMessageTime = 0;
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#if (URT_CFG_PUBSUB_PROFILING)
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subscriber->base.sumLatencies = 0;
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subscriber->base.numMessagesReceived = 0;
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subscriber->usefulnesscb = NULL;
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subscriber->cbparams = NULL;
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subscriber->minLatency = URT_DELAY_INFINITE; |
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subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
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#endif /* URT_CFG_PUBSUB_PROFILING */ |
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return;
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} |
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/**
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* @brief Subscribes the subscriber to a topic.
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*
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* @param[in] subscriber The SRT subscriber which shall subscribe to a topic. Must not be NULL.
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* @param[in] topic The topic to subscribe to. Must not be NULL.
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* @param[in] message NULL terminated list of messages to contribute to the topic.
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* Messages must not be associated to another topic.
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* Once a message has been contributed, it cannot be removed later.
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* May be NULL (no messages to contribute)
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* @param[in] usefulnesscb Pointer to a function to calculate usefulness of a message. Must not be NULL.
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* @param[in] cbparams Optional parameters for the usefulness callback.
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* May be NULL if the callback expects no parameters.
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*
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* @return Returns URT_STATUS_OK on success.
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* Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
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*/
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urt_status_t urtSrtSubscriberSubscribe(urt_srtsubscriber_t* subscriber, urt_topic_t* topic, |
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urt_message_t* messages, urt_usefulness_f* usefulnesscb,void* cbparams)
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{
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urtDebugAssert(subscriber); |
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urtDebugAssert(topic); |
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if (subscriber->base.topic) {
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return URT_STATUS_SUBSCRIBE_TOPICSET;
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} |
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subscriber->base.topic = topic; |
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subscriber->usefulnesscb = usefulnesscb; |
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subscriber->cbparams = cbparams; |
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#if (URT_CFG_PUBSUB_PROFILING == true) |
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subscriber->base.sumLatencies = 0;
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subscriber->base.numMessagesReceived = 0;
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subscriber->minLatency = URT_DELAY_INFINITE; |
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subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
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#endif /* URT_CFG_PUBSUB_PROFILING */ |
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urtMutexLock(&topic->lock); |
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if (messages) {
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urtContributeMessages(messages, topic); |
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} |
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subscriber->base.lastMessage = topic->latestMessage; |
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subscriber->base.lastMessageTime = topic->latestMessage->originTime; |
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urtEventRegister(&topic->evtSource, &subscriber->base.evtListener, subscriber->base.evtListener.events, subscriber->base.evtListener.flags); |
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# if (URT_CFG_PUBSUB_PROFILING == true) |
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topic->numHrtSubscribers--; |
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# endif /* URT_CFG_PUBSUB_PROFILING */ |
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urtMutexUnlock(&topic->lock); |
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return URT_STATUS_OK;
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} |
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/**
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* @brief Fetches the next message.
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*
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* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
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* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
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* @param[in] bytes Payload size in bytes.
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* @param[in] latency The latency can be returned by reference. May be NULL.
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*
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* @return Returns URT_STATUS_OK on success.
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* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
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* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
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*/
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urt_status_t urtSrtSubscriberFetchNextMessage(urt_srtsubscriber_t* subscriber, void* const payload, |
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size_t bytes, urt_delay_t* latency) |
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{
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urtDebugAssert(subscriber); |
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if (!subscriber->base.topic){
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return URT_STATUS_FETCH_NOTOPIC;
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} |
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urtMutexLock(&subscriber->base.topic->lock); |
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urt_message_t* oldestMessage = subscriber->base.lastMessage; |
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if(oldestMessage->originTime == subscriber->base.lastMessageTime){
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if (subscriber->base.lastMessage->next->originTime > subscriber->base.lastMessageTime){
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urtMutexUnlock(&subscriber->base.topic->lock); |
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return URT_STATUS_FETCH_NOMESSAGE;
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} |
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oldestMessage = oldestMessage->next; |
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} |
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else{
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oldestMessage = urtFindOldestMessage(oldestMessage->next); |
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} |
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subscriber->base.lastMessage = oldestMessage; |
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subscriber->base.lastMessageTime = oldestMessage->originTime; |
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memcpy(oldestMessage->payload, payload, bytes); |
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if (URT_CFG_PUBSUB_PROFILING == true || latency) { |
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uint64_t calculatedLatency = urtTimeNow() - oldestMessage->originTime; |
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#if(URT_CFG_PUBSUB_PROFILING == true) |
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subscriber->base.sumLatencies += calculatedLatency; |
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if (calculatedLatency < subscriber->minLatency) {
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subscriber->minLatency = calculatedLatency; |
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} |
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else if (calculatedLatency > subscriber->maxLatency) { |
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subscriber->maxLatency = calculatedLatency; |
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} |
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#endif /* URT_CFG_PUBSUB_PROFILING */ |
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if (latency) {
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*latency = calculatedLatency; |
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} |
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} |
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#if (URT_CFG_PUBSUB_PROFILING == true) |
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subscriber->base.lastMessage->numConsumersLeft--; |
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subscriber->base->numMessagesReceived++; |
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#endif /* URT_CFG_PUBSUB_PROFILING */ |
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|
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urtMutexUnlock(&subscriber->base.topic->lock); |
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return URT_STATUS_OK;
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} |
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|
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/**
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* @brief Fetches the latest message.
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*
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* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
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* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
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* @param[in] bytes Payload size in bytes.
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* @param[in] latency The latency can be returned by reference. May be NULL.
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*
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* @return Returns URT_STATUS_OK on success.
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* 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 |
*/
|
| 449 |
urt_status_t urtSrtSubscriberFetchLatestMessage(urt_srtsubscriber_t* subscriber, void* const payload, |
| 450 |
size_t bytes, urt_delay_t* latency) |
| 451 |
{
|
| 452 |
urtDebugAssert(subscriber); |
| 453 |
|
| 454 |
if (!subscriber->base.topic) {
|
| 455 |
return URT_STATUS_FETCH_NOTOPIC;
|
| 456 |
} |
| 457 |
|
| 458 |
urtMutexLock(&subscriber->base.topic->lock); |
| 459 |
urt_message_t* lastMessage = urtFindLatestMessage(subscriber->base.lastMessage); |
| 460 |
|
| 461 |
if (lastMessage->originTime == subscriber->base.lastMessageTime)
|
| 462 |
{
|
| 463 |
urtMutexUnlock(&subscriber->base.topic->lock); |
| 464 |
return URT_STATUS_FETCH_NOMESSAGE;
|
| 465 |
} |
| 466 |
|
| 467 |
subscriber->base.lastMessage = lastMessage; |
| 468 |
subscriber->base.lastMessageTime = lastMessage->originTime; |
| 469 |
memcpy(lastMessage->payload, payload, bytes); |
| 470 |
|
| 471 |
if (URT_CFG_PUBSUB_PROFILING == true || latency) { |
| 472 |
uint64_t calculatedLatency = urtTimeNow() - lastMessage->originTime; |
| 473 |
|
| 474 |
#if(URT_CFG_PUBSUB_PROFILING == true) |
| 475 |
subscriber->base.sumLatencies += calculatedLatency; |
| 476 |
|
| 477 |
if (calculatedLatency < subscriber->minLatency) {
|
| 478 |
subscriber->minLatency = calculatedLatency; |
| 479 |
} |
| 480 |
else if (calculatedLatency > subscriber->maxLatency) { |
| 481 |
subscriber->maxLatency = calculatedLatency; |
| 482 |
} |
| 483 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
| 484 |
|
| 485 |
if (latency != NULL) { |
| 486 |
*latency = calculatedLatency; |
| 487 |
} |
| 488 |
} |
| 489 |
|
| 490 |
urtMutexUnlock(&subscriber->base.topic->lock); |
| 491 |
return URT_STATUS_OK;
|
| 492 |
} |
| 493 |
|
| 494 |
/**
|
| 495 |
* @brief Calculates the usefulness of the subscriber.
|
| 496 |
*
|
| 497 |
* @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 |
*
|
| 500 |
* @return Returns the usefulness as a value within [0,1].
|
| 501 |
*/
|
| 502 |
float urtSrtSubscriberCalculateUsefulness(urt_srtsubscriber_t* subscriber, urt_delay_t latency)
|
| 503 |
{
|
| 504 |
urtDebugAssert(subscriber); |
| 505 |
|
| 506 |
return (*subscriber->usefulnesscb)(latency, subscriber->cbparams);
|
| 507 |
} |
| 508 |
|
| 509 |
/**
|
| 510 |
* @brief Unsubscribes from a subscriber.
|
| 511 |
*
|
| 512 |
* @param[in] subscriber The NRT subscriber to be unsubscribed. Must not be NULL.
|
| 513 |
*
|
| 514 |
* @return Returns URT_STATUS_OK on sucess.
|
| 515 |
* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
|
| 516 |
*/
|
| 517 |
urt_status_t urtSrtSubscriberUnsubscribe(urt_srtsubscriber_t* subscriber) |
| 518 |
{
|
| 519 |
urtDebugAssert(subscriber); |
| 520 |
|
| 521 |
if (subscriber->base.topic)
|
| 522 |
{
|
| 523 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
| 524 |
urtMutexLock(&topic->lock); |
| 525 |
subscriber->base.topic->numSubscribers--; |
| 526 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
| 527 |
urtEventUnregister(&subscriber->base.topic->evtSource, &subscriber->base.evtListener); |
| 528 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
| 529 |
urtMutexUnlock(&topic->lock); |
| 530 |
# 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 |
|
| 540 |
|
| 541 |
/**
|
| 542 |
* @brief Initialize the FRT Subscriber.
|
| 543 |
*
|
| 544 |
* @param[in] subscriber The SRT subscriber to initialize. Must not be NULL.
|
| 545 |
*/
|
| 546 |
void urtFrtSubscriberInit(urt_frtsubscriber_t* subscriber)
|
| 547 |
{
|
| 548 |
urtDebugAssert(subscriber); |
| 549 |
|
| 550 |
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 |
|
| 576 |
/**
|
| 577 |
* @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 |
*/
|
| 592 |
urt_status_t urtFrtSubscriberSubscribe(urt_frtsubscriber_t* subscriber, urt_topic_t* topic, |
| 593 |
urt_message_t* messages, urt_delay_t deadline, urt_delay_t jitter) |
| 594 |
{
|
| 595 |
urtDebugAssert(subscriber); |
| 596 |
urtDebugAssert(topic); |
| 597 |
|
| 598 |
if (subscriber->base.topic)
|
| 599 |
{
|
| 600 |
return URT_STATUS_SUBSCRIBE_TOPICSET;
|
| 601 |
} |
| 602 |
|
| 603 |
subscriber->base.topic = topic; |
| 604 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
| 605 |
subscriber->base.sumLatencies = 0;
|
| 606 |
subscriber->base.numMessagesReceived = 0;
|
| 607 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
| 608 |
# if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true) |
| 609 |
subscriber->deadlineOffset = deadline; |
| 610 |
# endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
| 611 |
# if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) |
| 612 |
subscriber->maxJitter =jitter; |
| 613 |
# endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
| 614 |
# if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true) |
| 615 |
subscriber->minLatency = URT_DELAY_INFINITE; |
| 616 |
subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
| 617 |
# endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
| 618 |
|
| 619 |
urtMutexLock(&topic->lock); |
| 620 |
if (messages)
|
| 621 |
{
|
| 622 |
urtContributeMessages(messages, topic); |
| 623 |
} |
| 624 |
|
| 625 |
subscriber->base.lastMessage = topic->latestMessage; |
| 626 |
subscriber->base.lastMessageTime = topic->latestMessage->originTime; |
| 627 |
|
| 628 |
urtEventRegister(&topic->evtSource, &subscriber->base.evtListener, subscriber->base.evtListener.events, subscriber->base.evtListener.flags); |
| 629 |
|
| 630 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
| 631 |
topic->numHrtSubscribers--; |
| 632 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
| 633 |
|
| 634 |
urtMutexUnlock(&topic->lock); |
| 635 |
return URT_STATUS_OK;
|
| 636 |
} |
| 637 |
|
| 638 |
/**
|
| 639 |
* @brief Fetches the next message.
|
| 640 |
*
|
| 641 |
* @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 |
*
|
| 646 |
* @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 |
*/
|
| 650 |
urt_status_t urtFrtSubscriberFetchNextMessage(urt_frtsubscriber_t* subscriber, void* const payload, |
| 651 |
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 |
urtMutexLock(&subscriber->base.topic->lock); |
| 659 |
|
| 660 |
urt_message_t* oldestMessage = subscriber->base.lastMessage; |
| 661 |
if(oldestMessage->originTime == subscriber->base.lastMessageTime)
|
| 662 |
{
|
| 663 |
if (subscriber->base.lastMessage->next->originTime > subscriber->base.lastMessageTime)
|
| 664 |
{
|
| 665 |
urtMutexUnlock(&subscriber->base.topic->lock); |
| 666 |
return URT_STATUS_FETCH_NOMESSAGE;
|
| 667 |
} |
| 668 |
oldestMessage = oldestMessage->next; |
| 669 |
} |
| 670 |
else
|
| 671 |
{
|
| 672 |
oldestMessage = urtFindOldestMessage(oldestMessage->next); |
| 673 |
} |
| 674 |
|
| 675 |
subscriber->base.lastMessage = oldestMessage; |
| 676 |
subscriber->base.lastMessageTime = oldestMessage->originTime; |
| 677 |
memcpy(oldestMessage->payload, payload, bytes); |
| 678 |
|
| 679 |
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 |
subscriber->base.sumLatencies += calculatedLatency; |
| 684 |
|
| 685 |
if (calculatedLatency < subscriber->minLatency) {
|
| 686 |
subscriber->minLatency = calculatedLatency; |
| 687 |
} |
| 688 |
else if (calculatedLatency > subscriber->maxLatency) { |
| 689 |
subscriber->maxLatency = calculatedLatency; |
| 690 |
} |
| 691 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
| 692 |
|
| 693 |
#if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) |
| 694 |
if (calculatedLatency < subscriber->minLatency && calculatedLatency > subscriber->minLatency - subscriber->maxJitter) {
|
| 695 |
subscriber->minLatency = calculatedLatency; |
| 696 |
} |
| 697 |
else if (calculatedLatency > subscriber->maxLatency && calculatedLatency < subscriber->maxLatency + subscriber->maxJitter) { |
| 698 |
subscriber->maxLatency = calculatedLatency; |
| 699 |
} |
| 700 |
else if (calculatedLatency > subscriber->maxLatency || calculatedLatency < subscriber->minLatency) { |
| 701 |
urtMutexUnlock(&subscriber->base.topic->lock); |
| 702 |
return URT_STATUS_JITTERVIOLATION;
|
| 703 |
} |
| 704 |
#endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
| 705 |
|
| 706 |
if (latency) {
|
| 707 |
*latency = calculatedLatency; |
| 708 |
} |
| 709 |
} |
| 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 |
urtMutexUnlock(&subscriber->base.topic->lock); |
| 717 |
return URT_STATUS_OK;
|
| 718 |
} |
| 719 |
|
| 720 |
/**
|
| 721 |
* @brief Fetches the latest message.
|
| 722 |
*
|
| 723 |
* @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 |
*
|
| 728 |
* @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 |
*/
|
| 732 |
urt_status_t urtFrtSubscriberFetchLatestMessage(urt_frtsubscriber_t* subscriber, void* const payload, |
| 733 |
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 |
urtMutexLock(&subscriber->base.topic->lock); |
| 741 |
urt_message_t* lastMessage = urtFindLatestMessage(subscriber->base.lastMessage); |
| 742 |
|
| 743 |
if (lastMessage->originTime == subscriber->base.lastMessageTime)
|
| 744 |
{
|
| 745 |
urtMutexUnlock(&subscriber->base.topic->lock); |
| 746 |
return URT_STATUS_FETCH_NOMESSAGE;
|
| 747 |
} |
| 748 |
|
| 749 |
subscriber->base.lastMessage = lastMessage; |
| 750 |
subscriber->base.lastMessageTime = lastMessage->originTime; |
| 751 |
memcpy(lastMessage->payload, payload, bytes); |
| 752 |
|
| 753 |
if (URT_CFG_PUBSUB_PROFILING == true || URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || latency) { |
| 754 |
uint64_t calculatedLatency = urtTimeNow() - lastMessage->originTime; |
| 755 |
|
| 756 |
#if(URT_CFG_PUBSUB_PROFILING == true && URT_CFG_PUBSUB_QOS_JITTERCHECKS == false) |
| 757 |
subscriber->base.sumLatencies += calculatedLatency; |
| 758 |
|
| 759 |
if (calculatedLatency < subscriber->minLatency) {
|
| 760 |
subscriber->minLatency = calculatedLatency; |
| 761 |
} |
| 762 |
else if (calculatedLatency > subscriber->maxLatency) { |
| 763 |
subscriber->maxLatency = calculatedLatency; |
| 764 |
} |
| 765 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
| 766 |
|
| 767 |
#if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) |
| 768 |
if (calculatedLatency < subscriber->minLatency && calculatedLatency > subscriber->minLatency - subscriber->maxJitter) {
|
| 769 |
subscriber->minLatency = calculatedLatency; |
| 770 |
} |
| 771 |
else if (calculatedLatency > subscriber->maxLatency && calculatedLatency < subscriber->maxLatency + subscriber->maxJitter) { |
| 772 |
subscriber->maxLatency = calculatedLatency; |
| 773 |
} |
| 774 |
else if (calculatedLatency > subscriber->maxLatency || calculatedLatency < subscriber->minLatency) { |
| 775 |
urtMutexUnlock(&subscriber->base.topic->lock); |
| 776 |
return URT_STATUS_JITTERVIOLATION;
|
| 777 |
} |
| 778 |
#endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
| 779 |
|
| 780 |
if (latency) {
|
| 781 |
*latency = calculatedLatency; |
| 782 |
} |
| 783 |
} |
| 784 |
|
| 785 |
urtMutexUnlock(&subscriber->base.topic->lock); |
| 786 |
return URT_STATUS_OK;
|
| 787 |
} |
| 788 |
|
| 789 |
/**
|
| 790 |
* @brief Calculates the validity from the subscriber.
|
| 791 |
*
|
| 792 |
* @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 |
*
|
| 795 |
* @return Returns a boolean indicator whether the latency is fine.
|
| 796 |
*/
|
| 797 |
bool urtFrtSubscriberCalculateValidity(urt_frtsubscriber_t* subscriber, urt_delay_t latency)
|
| 798 |
{
|
| 799 |
#if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true) |
| 800 |
if (latency > subscriber->minLatency && latency < subscriber->maxLatency)
|
| 801 |
return true; |
| 802 |
#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 |
# endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS && URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
| 811 |
|
| 812 |
return false; |
| 813 |
} |
| 814 |
|
| 815 |
/**
|
| 816 |
* @brief Unsubscribes from a subscriber.
|
| 817 |
*
|
| 818 |
* @param[in] subscriber The FRT subscriber to be unsubscribed. Must not be NULL.
|
| 819 |
*
|
| 820 |
* @return Returns URT_STATUS_OK on sucess.
|
| 821 |
* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
|
| 822 |
*/
|
| 823 |
urt_status_t urtFrtSubscriberUnsubscribe(urt_frtsubscriber_t* subscriber) |
| 824 |
{
|
| 825 |
urtDebugAssert(subscriber); |
| 826 |
|
| 827 |
if (!subscriber->base.topic) {
|
| 828 |
return URT_STATUS_UNSUBSCRIBE_NOTOPIC;
|
| 829 |
} |
| 830 |
|
| 831 |
#if (URT_CFG_PUBSUB_PROFILING == true) |
| 832 |
urtMutexLock(&topic->lock); |
| 833 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
| 834 |
|
| 835 |
urtEventUnregister(&subscriber->base.topic->evtSource, &subscriber->base.evtListener); |
| 836 |
|
| 837 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
| 838 |
subscriber->base.topic->numSubscribers--; |
| 839 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
| 840 |
|
| 841 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
| 842 |
urtMutexUnlock(&topic->lock); |
| 843 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
| 844 |
subscriber->base.topic = NULL;
|
| 845 |
subscriber->base.lastMessage = NULL;
|
| 846 |
subscriber->base.lastMessageTime = 0;
|
| 847 |
return URT_STATUS_OK;
|
| 848 |
} |
| 849 |
|
| 850 |
|
| 851 |
/**
|
| 852 |
* @brief Initialize the HRT Subscriber.
|
| 853 |
*
|
| 854 |
* @param[in] subscriber The HRT subscriber to initialize. Must not be NULL.
|
| 855 |
*/
|
| 856 |
void urtHrtSubscriberInit(urt_hrtsubscriber_t* subscriber)
|
| 857 |
{
|
| 858 |
urtDebugAssert(subscriber); |
| 859 |
|
| 860 |
subscriber->base.topic = NULL;
|
| 861 |
urtEventListenerInit(subscriber->base.evtListener); |
| 862 |
subscriber->base.lastMessage = NULL;
|
| 863 |
subscriber->base.lastMessageTime = 0;
|
| 864 |
|
| 865 |
# if (URT_CFG_PUBSUB_PROFILING)
|
| 866 |
subscriber->base.sumLatencies = 0;
|
| 867 |
subscriber->base.numMessagesReceived = 0;
|
| 868 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
| 869 |
|
| 870 |
subscriber->next = NULL;
|
| 871 |
|
| 872 |
# if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS)
|
| 873 |
subscriber->deadlineOffset = 0;
|
| 874 |
urtTimerInit(subscriber->qodDeadlineTimer); |
| 875 |
# endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
| 876 |
|
| 877 |
# if (URT_CFG_PUBSUB_QOS_RATECHECKS)
|
| 878 |
subscriber->expectedRate = 0;
|
| 879 |
# endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
| 880 |
|
| 881 |
# if (URT_CFG_PUBSUB_QOS_JITTERCHECKS)
|
| 882 |
subscriber->maxJitter = 0;
|
| 883 |
# endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
| 884 |
|
| 885 |
# if (URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING)
|
| 886 |
subscriber->minLatency = URT_DELAY_INFINITE; |
| 887 |
subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
| 888 |
# endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
| 889 |
return;
|
| 890 |
} |
| 891 |
|
| 892 |
|
| 893 |
/**
|
| 894 |
* @brief Subscribes the subscriber to a topic.
|
| 895 |
*
|
| 896 |
* @param[in] subscriber The HRT subscriber which shall subscribe to a topic. Must not be NULL.
|
| 897 |
* @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 |
*/
|
| 911 |
urt_status_t urtHrtSubscriberSubscribe(urt_hrtsubscriber_t* subscriber, urt_topic_t* topic, |
| 912 |
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 |
urtMutexLock(&topic->lock); |
| 942 |
if (messages)
|
| 943 |
{
|
| 944 |
urtContributeMessages(messages, topic); |
| 945 |
} |
| 946 |
|
| 947 |
subscriber->base.lastMessage = topic->latestMessage; |
| 948 |
subscriber->base.lastMessageTime = topic->latestMessage->originTime; |
| 949 |
|
| 950 |
urtEventRegister(&topic->evtSource, &subscriber->base.evtListener, subscriber->base.evtListener.events, subscriber->base.evtListener.flags); |
| 951 |
|
| 952 |
# if(URT_CFG_PUBSUB_QOS_RATECHECKS == true) |
| 953 |
//TODO: Implement
|
| 954 |
# 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 |
urtMutexUnlock(&topic->lock); |
| 962 |
return URT_STATUS_OK;
|
| 963 |
} |
| 964 |
|
| 965 |
|
| 966 |
/**
|
| 967 |
* @brief Fetches the next message.
|
| 968 |
*
|
| 969 |
* @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 |
*
|
| 974 |
* @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 |
*/
|
| 978 |
urt_status_t urtHrtSubscriberFetchNextMessage(urt_hrtsubscriber_t* subscriber, void* const payload, |
| 979 |
size_t bytes, urt_delay_t* latency) |
| 980 |
{
|
| 981 |
urtDebugAssert(subscriber); |
| 982 |
|
| 983 |
if (!subscriber->base.topic) {
|
| 984 |
return URT_STATUS_FETCH_NOTOPIC;
|
| 985 |
} |
| 986 |
|
| 987 |
urtMutexLock(&subscriber->base.topic->lock); |
| 988 |
urt_message_t* lastMessage = subscriber->base.lastMessage; |
| 989 |
if (lastMessage->next->originTime > lastMessage->originTime)
|
| 990 |
{
|
| 991 |
urtMutexUnlock(&subscriber->base.topic->lock); |
| 992 |
return URT_STATUS_FETCH_NOMESSAGE;
|
| 993 |
} |
| 994 |
lastMessage = lastMessage->next; |
| 995 |
|
| 996 |
uint64_t calculatedLatency; |
| 997 |
if (URT_CFG_PUBSUB_PROFILING == true || latency || URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) { |
| 998 |
calculatedLatency = urtTimeNow() - lastMessage->originTime; |
| 999 |
} |
| 1000 |
|
| 1001 |
#if(URT_CFG_PUBSUB_PROFILING == true) |
| 1002 |
subscriber->base.sumLatencies += calculatedLatency; |
| 1003 |
|
| 1004 |
if (calculatedLatency < subscriber->minLatency) {
|
| 1005 |
subscriber->minLatency = calculatedLatency; |
| 1006 |
} |
| 1007 |
else if (calculatedLatency > subscriber->maxLatency) { |
| 1008 |
subscriber->maxLatency = calculatedLatency; |
| 1009 |
} |
| 1010 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
| 1011 |
|
| 1012 |
if (latency) {
|
| 1013 |
*latency = calculatedLatency; |
| 1014 |
} |
| 1015 |
|
| 1016 |
subscriber->base.lastMessage->numHrtConsumersLeft--; |
| 1017 |
if (subscriber->base.lastMessage->numHrtConsumersLeft != 0) |
| 1018 |
{
|
| 1019 |
urtCondvarSignal(&subscriber->base.topic->hrtReleased); |
| 1020 |
} |
| 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 |
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 |
urtMutexUnlock(&subscriber->base.topic->lock); |
| 1036 |
urtCoreStopNodes(URT_STATUS_JITTERVIOLATION); |
| 1037 |
return URT_STATUS_JITTERVIOLATION;
|
| 1038 |
} |
| 1039 |
#endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
| 1040 |
|
| 1041 |
#if (URT_CFG_PUBSUB_PROFILING == true && URT_CFG_PUBSUB_QOS_JITTERCHECKS == false) |
| 1042 |
if (calculatedLatency < subscriber->minLatency) {
|
| 1043 |
subscriber->minLatency = calculatedLatency; |
| 1044 |
} |
| 1045 |
else if (calculatedLatency > subscriber->maxLatency) { |
| 1046 |
subscriber->maxLatency = calculatedLatency; |
| 1047 |
} |
| 1048 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
| 1049 |
|
| 1050 |
subscriber->base.lastMessage = lastMessage; |
| 1051 |
subscriber->base.lastMessageTime = lastMessage->originTime; |
| 1052 |
memcpy(lastMessage->payload, payload, bytes); |
| 1053 |
|
| 1054 |
#if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true) |
| 1055 |
if (lastMessage->next->originTime < lastMessage->originTime)
|
| 1056 |
{
|
| 1057 |
//TODO: first reset?! (when ... set)
|
| 1058 |
urtTimerSet(subscriber->qosDeadlineTimer, subscriber->deadlineOffset, urtCoreCallbackDefault, NULL);
|
| 1059 |
} |
| 1060 |
else
|
| 1061 |
{
|
| 1062 |
urtTimerReset(subscriber->qosDeadlineTimer); |
| 1063 |
} |
| 1064 |
#endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
| 1065 |
|
| 1066 |
urtMutexUnlock(&subscriber->base.topic->lock); |
| 1067 |
return URT_STATUS_OK;
|
| 1068 |
} |
| 1069 |
|
| 1070 |
|
| 1071 |
/**
|
| 1072 |
* @brief Fetches the latest message.
|
| 1073 |
*
|
| 1074 |
* @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 |
*
|
| 1079 |
* @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 |
*/
|
| 1083 |
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 |
urtMutexLock(&subscriber->base.topic->lock); |
| 1091 |
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 |
hrtZero = true;
|
| 1098 |
} |
| 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 |
urtCondvarSignal(&subscriber->base.topic->hrtReleased); |
| 1110 |
} |
| 1111 |
|
| 1112 |
if (lastMessage->originTime == subscriber->base.lastMessageTime) {
|
| 1113 |
urtMutexUnlock(&subscriber->base.topic->lock); |
| 1114 |
return URT_STATUS_FETCH_NOMESSAGE;
|
| 1115 |
} |
| 1116 |
|
| 1117 |
uint64_t calculatedLatency; |
| 1118 |
if (URT_CFG_PUBSUB_PROFILING == true || latency || URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) { |
| 1119 |
calculatedLatency = urtTimeNow() - lastMessage->originTime; |
| 1120 |
} |
| 1121 |
|
| 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 |
if (latency) {
|
| 1134 |
*latency = calculatedLatency; |
| 1135 |
} |
| 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 |
urtMutexUnlock(&subscriber->base.topic->lock); |
| 1146 |
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 |
subscriber->base.lastMessage = lastMessage; |
| 1161 |
subscriber->base.lastMessageTime = lastMessage->originTime; |
| 1162 |
memcpy(lastMessage->payload, payload, bytes); |
| 1163 |
|
| 1164 |
#if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true) |
| 1165 |
urtTimerReset(subscriber->qosDeadlineTimer); |
| 1166 |
#endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
| 1167 |
|
| 1168 |
urtMutexUnlock(&subscriber->base.topic->lock); |
| 1169 |
return URT_STATUS_OK;
|
| 1170 |
} |
| 1171 |
|
| 1172 |
/**
|
| 1173 |
* @brief Unsubscribes from a subscriber.
|
| 1174 |
*
|
| 1175 |
* @param[in] subscriber The HRT subscriber to be unsubscribed. Must not be NULL.
|
| 1176 |
*
|
| 1177 |
* @return Returns URT_STATUS_OK on sucess.
|
| 1178 |
* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
|
| 1179 |
*/
|
| 1180 |
urt_status_t urtHrtSubscriberUnsubscribe(urt_hrtsubscriber_t* subscriber) |
| 1181 |
{
|
| 1182 |
urtDebugAssert(subscriber); |
| 1183 |
|
| 1184 |
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 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
| 1192 |
subscriber->base.topic->numSubscribers--; |
| 1193 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
| 1194 |
# if (URT_CFG_PUBSUB_QOS_RATECHECKS == true) |
| 1195 |
//TODO: remove self from topics list of HRT subscribers, ...
|
| 1196 |
# endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
| 1197 |
|
| 1198 |
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 |
# if(URT_CFG_PUBSUB_PROFILING == true) |
| 1207 |
messageTemp->numConsumersLeft--; |
| 1208 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
| 1209 |
} |
| 1210 |
if (hrtZero){
|
| 1211 |
urtCondvarSignal(&subscriber->base.topic->hrtReleased); |
| 1212 |
} |
| 1213 |
|
| 1214 |
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 |
} |
| 1220 |
|
| 1221 |
|
| 1222 |
|