orte/include/orte/typedefs_defines_rtps.h

   1 /*
   2  *  $Id: typedefs_defines_rtps.h,v 0.0.0.1 2003/08/21
   3  *
   4  *  -------------------------------------------------------------------
   5  *                                ORTE
   6  *                      Open Real-Time Ethernet
   7  *
   8  *                      Copyright (C) 2001-2006
   9  *  Department of Control Engineering FEE CTU Prague, Czech Republic
  10  *                      http://dce.felk.cvut.cz
  11  *                      http://www.ocera.org
  12  *
  13  *  Author:              Petr Smolik    petr@smoliku.cz
  14  *  Advisor:             Pavel Pisa
  15  *  Project Responsible: Zdenek Hanzalek
  16  *  --------------------------------------------------------------------
  17  *
  18  *  This program is free software; you can redistribute it and/or modify
  19  *  it under the terms of the GNU General Public License as published by
  20  *  the Free Software Foundation; either version 2 of the License, or
  21  *  (at your option) any later version.
  22  *
  23  *  This program is distributed in the hope that it will be useful,
  24  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
  25  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  26  *  GNU General Public License for more details.
  27  *
  28  */
  29
  30 #ifndef _TYPEDEFS_DEFINES_RTPS_H
  31 #define _TYPEDEFS_DEFINES_RTPS_H
  32
  33 #ifdef __cplusplus
  34 extern "C" {
  35 #endif
  36
  37 #define RTPS_HEADER_LENGTH   16
  38
  39 #define MAX_PATHNAME         128
  40 #define MAX_TYPENAME         128
  41 #define ORTE_TRUE            1
  42 #define ORTE_FALSE           0
  43
  44 typedef int8_t                   Boolean;
  45
  46 typedef int8_t                   PathName[MAX_PATHNAME];
  47 typedef int8_t                   TypeName[MAX_TYPENAME];
  48
  49 typedef int32_t                  TypeChecksum;
  50
  51 /*****************************************************************/
  52 /*             Wire Protocol Specification (WPS)                 */
  53 /*****************************************************************/
  54
  55
  56 /*
  57   Host identifier.
  58
  59   for example: IP address working nodes
  60 */
  61 typedef uint32_t                 HostId;
  62 #define HID_UNKNOWN              0x00
  63
  64 /*
  65   Application identifier.
  66
  67   composed from: 3 bytes - instance Id
  68                  1 byte  - appKind (1 - ManagedApplication, 2 - Manager)
  69 */
  70 typedef uint32_t                 AppId;
  71 #define AID_UNKNOWN              0x00
  72 #define MANAGEDAPPLICATION       0x01
  73 #define MANAGER                  0x02
  74
  75 /*
  76   Object identifier.
  77
  78   composed from: 3 bytes - instance Id
  79                  1 byte  - objKind
  80 */
  81 typedef uint32_t                 ObjectId;
  82
  83 #define OID_UNKNOWN              0x00000000
  84 #define OID_APP                  0x000001C1
  85 #define OID_WRITE_APPSELF        0x000008C2
  86 #define OID_READ_APPSELF         0x000008C7
  87 #define OID_WRITE_APP            0x000001C2
  88 #define OID_READ_APP             0x000001C7
  89 #define OID_WRITE_MGR            0x000007C2
  90 #define OID_READ_MGR             0x000007C7
  91 #define OID_WRITE_PUBL           0x000003C2
  92 #define OID_READ_PUBL            0x000003C7
  93 #define OID_WRITE_SUBS           0x000004C2
  94 #define OID_READ_SUBS            0x000004C7
  95 //Kind
  96 #define OID_APPLICATION      0x01
  97 #define OID_CSTWRITER        0x02
  98 #define OID_PUBLICATION      0x03
  99 #define OID_SUBSCRIPTION     0x04
 100 #define OID_CSTREADER        0x07
 101 //
 102 #define OID_USEROBJ          0x00
 103 #define OID_RESUSEROBJ       0x40
 104 #define OID_METAOBJ          0x80
 105 #define OID_RESMETAOBJ       0xC0
 106
 107 typedef struct {
 108   HostId                hid;
 109   AppId                 aid;
 110   ObjectId              oid;
 111 } GUID_RTPS;
 112
 113 typedef struct {
 114   int8_t                major;
 115   int8_t                minor;
 116 } VendorId;
 117
 118 #define VENDOR_ID_UNKNOWN(id)    {id.major = 0; id.minor = 0; }
 119 #define VENDOR_ID_RTI(id)        {id.major = 1; id.minor = 1; }
 120 #define VENDOR_ID_OCERA(id)      {id.major = 0; id.minor = 0; }
 121
 122 typedef struct {
 123   int8_t                major;
 124   int8_t                minor;
 125 } ProtocolVersion;
 126
 127 #define PROTOCOL_VERSION_1_0(pv) {pv.major = 1; pv.minor = 0; }
 128
 129 typedef struct {
 130   int32_t               high;
 131   int32_t               low;
 132 } SequenceNumber;
 133
 134
 135 #define SEQUENCE_NUMBER_NONE(sn)    {sn.high = 0; sn.low = 0; }
 136 #define SEQUENCE_NUMBER_UNKNOWN(sn) {sn.high = 0x7fffffff; sn.low = 0xffffffff; }
 137
 138
 139 typedef struct {
 140   int32_t               seconds;         /* time in seconds */
 141   uint32_t              fraction;        /* time in seconds / 2^32 */
 142 } NtpTime;
 143
 144 #define NTPTIME_ZERO(t)          {t.seconds = 0; t.fraction = 0; }
 145 #define NTPTIME_BUILD(t, s)       {t.seconds = s; t.fraction = 0; }
 146 #define NTPTIME_INFINITE(t)      {t.seconds = 0xffffffff; t.fraction = 0; }
 147
 148 typedef uint32_t                 IPAddress;
 149
 150 #define IPADDRESS_INVALID        0
 151
 152 typedef uint32_t                 Port;
 153
 154 #define PORT_INVALID             0
 155
 156 typedef enum {
 157   PAD                       = 0x01,
 158   VAR                       = 0x02,
 159   ISSUE                     = 0x03,
 160   ACK                       = 0x06,
 161   HEARTBEAT                 = 0x07,
 162   GAP                       = 0x08,
 163   INFO_TS                   = 0x09,
 164   INFO_SRC                  = 0x0c,
 165   INFO_REPLY                = 0x0d,
 166   INFO_DST                  = 0x0e,
 167   APP_QUIT                  = 0x90
 168 } SubmessageId;
 169
 170 typedef struct {
 171   ProtocolVersion           sourceVersion;
 172   VendorId                  sourceVendorId;
 173   HostId                    sourceHostId;
 174   AppId                     sourceAppId;
 175   HostId                    destHostId;
 176   AppId                     destAppId;
 177   IPAddress                 unicastReplyIPAddress;
 178   Port                      unicastReplyPort;
 179   IPAddress                 multicastReplyIPAddress;
 180   Port                      multicastReplyPort;
 181   Boolean                   haveTimestamp;
 182   NtpTime                   timestamp;
 183 } MessageInterpret;
 184
 185
 186 #define PID_PAD                             0x00
 187 #define PID_SENTINEL                        0x01
 188 #define PID_EXPIRATION_TIME                 0x02
 189 #define PID_PERSISTENCE                     0x03
 190 #define PID_MINIMUM_SEPARATION              0x04
 191 #define PID_TOPIC                           0x05
 192 #define PID_STRENGTH                        0x06
 193 #define PID_TYPE_NAME                       0x07
 194 #define PID_TYPE_CHECKSUM                   0x08
 195 #define RTPS_PID_TYPE2_NAME                 0x09
 196 #define RTPS_PID_TYPE2_CHECKSUM             0x0a
 197 #define PID_MATATRAFFIC_MULTICAST_IPADDRESS 0x0b
 198 #define PID_APP_IPADDRESS                   0x0c
 199 #define PID_METATRAFFIC_UNICAST_PORT        0x0d
 200 #define PID_USERDATA_UNICAST_PORT           0x0e
 201 #define PID_IS_RELIABLE                     0x0f
 202 #define PID_EXPECTS_ACK                     0x10
 203 #define PID_USERDATA_MULTICAST_IPADDRESS    0x11
 204 #define PID_MANAGER_KEY                     0x12
 205 #define PID_SEND_QUEUE_SIZE                 0x13
 206 #define PID_RELIABILITY_ENABLED             0x14
 207 #define PID_PROTOCOL_VERSION                0x15
 208 #define PID_VENDOR_ID                       0x16
 209 #define PID_VARGAPPS_SEQUENCE_NUMBER_LAST   0x17
 210 #define PID_RECV_QUEUE_SIZE                 0x18
 211 #define PID_RELIABILITY_OFFERED             0x19
 212 #define PID_RELIABILITY_REQUESTED           0x1a
 213
 214 /* possible values for PID_RELIABILITY_REQUEST */
 215 #define PID_VALUE_RELIABILITY_BEST_EFFORTS  0x01
 216 #define PID_VALUE_RELIABILITY_STRICT        0x02
 217
 218 typedef uint16_t ParameterId;
 219 typedef uint16_t ParameterLength;
 220
 221 /* State Machines */
 222 typedef enum {
 223   MAYSENDHB                           = 0x01,
 224   MUSTSENDHB                          = 0x02,
 225   SENDHB                              = 0x03
 226 } StateMachineHB;
 227
 228 typedef enum {
 229   NOTHNIGTOSEND                       = 0x01,
 230   MUSTSENDDATA                        = 0x02
 231 } StateMachineSend;
 232
 233 typedef enum {
 234   NEW                                 = 0x01,
 235   TOSEND                              = 0x02,
 236   UNDERWAY                            = 0x03,
 237   UNACKNOWLEDGED                      = 0x04,
 238   ANNOUCED                            = 0x05,
 239   ACKNOWLEDGED                        = 0x06
 240 } StateMachineChFReader;
 241
 242 typedef enum {
 243   WAITING                             = 0x01,
 244   PULLING                             = 0x02,
 245   ACKPENDING                          = 0x03
 246 } StateMachineACK;
 247
 248 typedef enum {
 249   FUTURE                              = 0x01,
 250   REQUESTED                           = 0x02,
 251   MISSING                             = 0x03,
 252   RECEIVED                            = 0x04
 253 } StateMachineChFWriter;
 254
 255 #ifdef __cplusplus
 256 } /* extern "C"*/
 257 #endif
 258
 259 #endif /* _TYPEDEFS_DEFINES_RTPS_H */