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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