*
* DEBUG: section 30 Domain functions
*
- * -------------------------------------------------------------------
- * ORTE
- * Open Real-Time Ethernet
- *
- * Copyright (C) 2001-2006
- * Department of Control Engineering FEE CTU Prague, Czech Republic
- * http://dce.felk.cvut.cz
- * http://www.ocera.org
- *
- * Author: Petr Smolik petr.smolik@wo.cz
- * Advisor: Pavel Pisa
- * Project Responsible: Zdenek Hanzalek
+ * -------------------------------------------------------------------
+ * ORTE
+ * Open Real-Time Ethernet
+ *
+ * Copyright (C) 2001-2006
+ * Department of Control Engineering FEE CTU Prague, Czech Republic
+ * http://dce.felk.cvut.cz
+ * http://www.ocera.org
+ *
+ * Author: Petr Smolik petr@smoliku.cz
+ * Advisor: Pavel Pisa
+ * Project Responsible: Zdenek Hanzalek
* --------------------------------------------------------------------
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
- *
+ *
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
- *
- */
+ *
+ */
#include "orte_all.h"
/*****************************************************************************/
void
-ORTEDomainRecvThreadStart(TaskProp *tp)
+ORTEDomainRecvThreadStart(TaskProp *tp)
{
if (tp->terminate) {
- tp->terminate=ORTE_FALSE;
+ tp->terminate = ORTE_FALSE;
pthread_create(&(tp->thread), NULL,
- (void*)&ORTEAppRecvThread, (void *)tp);
+ (void *)&ORTEAppRecvThread, (void *)tp);
}
}
/*****************************************************************************/
void
-ORTEDomainSendThreadStart(TaskProp *tp)
+ORTEDomainSendThreadStart(TaskProp *tp)
{
if (tp->terminate) {
- tp->terminate=ORTE_FALSE;
+ tp->terminate = ORTE_FALSE;
pthread_create(&(tp->thread), NULL,
- (void*)&ORTEAppSendThread, (void *)tp);
+ (void *)&ORTEAppSendThread, (void *)tp);
}
}
/*****************************************************************************/
void
-ORTEDomainRecvThreadStop(TaskProp *tp)
+ORTEDomainRecvThreadStop(TaskProp *tp)
{
- ORTEDomain *d=tp->d;
+ ORTEDomain *d = tp->d;
if (!tp->terminate) {
- tp->terminate=ORTE_TRUE;
+ tp->terminate = ORTE_TRUE;
ORTEDomainWakeUpReceivingThread(d,
- &d->taskSend.sock,tp->sock.port);
- pthread_join(tp->thread,NULL);
+ &d->taskSend.sock, tp->sock.port);
+ pthread_join(tp->thread, NULL);
}
}
/*****************************************************************************/
void
-ORTEDomainSendThreadStop(TaskProp *tp)
+ORTEDomainSendThreadStop(TaskProp *tp)
{
- ORTEDomain *d=tp->d;
+ ORTEDomain *d = tp->d;
if (!tp->terminate) {
- tp->terminate=ORTE_TRUE;
- ORTEDomainWakeUpSendingThread(&d->objectEntry);
- pthread_join(tp->thread,NULL);
+ tp->terminate = ORTE_TRUE;
+ ORTEDomainWakeUpSendingThread(&d->objectEntry);
+ pthread_join(tp->thread, NULL);
}
}
/*****************************************************************************/
void
ORTEDomainStart(ORTEDomain *d,
- Boolean recvUnicastMetatrafficThread,
- Boolean recvMulticastMetatrafficThread,
- Boolean recvUnicastUserdataThread,
- Boolean recvMulticastUserdataThread,
- Boolean sendThread) {
+ Boolean recvUnicastMetatrafficThread,
+ Boolean recvMulticastMetatrafficThread,
+ Boolean recvUnicastUserdataThread,
+ Boolean recvMulticastUserdataThread,
+ Boolean sendThread)
+{
- if(!d) return;
+ if (!d)
+ return;
- if (recvUnicastMetatrafficThread)
+ if (recvUnicastMetatrafficThread)
ORTEDomainRecvThreadStart(&d->taskRecvUnicastMetatraffic);
- if (recvMulticastMetatrafficThread)
+ if (recvMulticastMetatrafficThread)
ORTEDomainRecvThreadStart(&d->taskRecvMulticastMetatraffic);
- if (recvUnicastUserdataThread)
+ if (recvUnicastUserdataThread)
ORTEDomainRecvThreadStart(&d->taskRecvUnicastUserdata);
- if (recvMulticastUserdataThread)
+ if (recvMulticastUserdataThread)
ORTEDomainRecvThreadStart(&d->taskRecvMulticastUserdata);
- if (sendThread)
+ if (sendThread)
ORTEDomainSendThreadStart(&d->taskSend);
}
/*****************************************************************************/
Boolean
-ORTEDomainPropDefaultGet(ORTEDomainProp *prop) {
+ORTEDomainPropDefaultGet(ORTEDomainProp *prop)
+{
sock_t sock;
memset(prop, 0, sizeof(*prop));
- prop->multicast.enabled=ORTE_FALSE;
- prop->multicast.ttl=1;
- prop->multicast.loopBackEnabled=ORTE_TRUE;
+ prop->multicast.enabled = ORTE_FALSE;
+ prop->multicast.ttl = 1;
+ prop->multicast.loopBackEnabled = ORTE_TRUE;
//IFProp
sock_init_udp(&sock);
- if (sock_bind(&sock,0,INADDR_ANY) == -1) {
+ if (sock_bind(&sock, 0, INADDR_ANY) == -1) {
return ORTE_FALSE;
}
- sock_get_local_interfaces(&sock,prop->IFProp, (char *)&prop->IFCount);
- sock_cleanup(&sock);
-
- prop->mgrs=NULL; //only from localhost
- prop->appLocalManager=StringToIPAddress("127.0.0.1");
- prop->listen=INADDR_ANY;
- prop->keys=NULL; //are assign be orte
- sprintf(prop->version,ORTE_PACKAGE_STRING\
- ", compiled: "\
- __DATE__\
- " "\
- __TIME__);
-
- prop->recvBuffSize=0x4000;
- prop->sendBuffSize=0x4000;
- prop->wireProp.metaBytesPerPacket=1500;
- prop->wireProp.metaBytesPerFastPacket=1000; //not used
- prop->wireProp.metabitsPerACKBitmap=32; //not used
- prop->wireProp.userBytesPerPacket=0x3000;
-
+ sock_get_local_interfaces(&sock, prop->IFProp, (char *)&prop->IFCount);
+ sock_cleanup(&sock);
+
+ prop->mgrs = NULL; //only from localhost
+ prop->appLocalManager = StringToIPAddress("127.0.0.1");
+ prop->listen = INADDR_ANY;
+ prop->keys = NULL; //are assign be orte
+ sprintf(prop->version, ORTE_PACKAGE_STRING \
+ ", compiled: " \
+ __DATE__ \
+ " " \
+ __TIME__);
+
+ prop->recvBuffSize = 0x4000;
+ prop->sendBuffSize = 0x4000;
+ prop->wireProp.metaBytesPerPacket = 1500;
+ prop->wireProp.metaBytesPerFastPacket = 1000; //not used
+ prop->wireProp.metabitsPerACKBitmap = 32; //not used
+ prop->wireProp.userBytesPerPacket = 0x3000;
+
//domainBaseProp
- prop->baseProp.registrationMgrRetries=0;
- NTPTIME_BUILD(prop->baseProp.registrationMgrPeriod,0);//0s
- prop->baseProp.registrationAppRetries=3;
- NtpTimeAssembFromMs(prop->baseProp.registrationAppPeriod,0,500);//500ms
- NTPTIME_BUILD(prop->baseProp.expirationTime,180); //180s
- NTPTIME_BUILD(prop->baseProp.refreshPeriod,72); //72s - refresh self parameters
- NTPTIME_BUILD(prop->baseProp.purgeTime,60); //60s - purge time of parameters
- NTPTIME_BUILD(prop->baseProp.repeatAnnounceTime,72);//72s - announcement by HB
- NTPTIME_BUILD(prop->baseProp.repeatActiveQueryTime,72);//72s - announcement by ACK
- NtpTimeAssembFromMs(prop->baseProp.delayResponceTimeACKMin,0,10);//10ms - delay before send ACK
- NtpTimeAssembFromMs(prop->baseProp.delayResponceTimeACKMax,1,0);//1s
- NtpTimeAssembFromMs(prop->baseProp.maxBlockTime,20,0);//20s
- prop->baseProp.ACKMaxRetries=10;
- prop->baseProp.HBMaxRetries=10;
-
+ prop->baseProp.registrationMgrRetries = 0;
+ NTPTIME_BUILD(prop->baseProp.registrationMgrPeriod, 0); //0s
+ prop->baseProp.registrationAppRetries = 3;
+ NtpTimeAssembFromMs(prop->baseProp.registrationAppPeriod, 0, 500); //500ms
+ NTPTIME_BUILD(prop->baseProp.expirationTime, 180); //180s
+ NTPTIME_BUILD(prop->baseProp.refreshPeriod, 72); //72s - refresh self parameters
+ NTPTIME_BUILD(prop->baseProp.purgeTime, 60); //60s - purge time of parameters
+ NTPTIME_BUILD(prop->baseProp.repeatAnnounceTime, 72); //72s - announcement by HB
+ NTPTIME_BUILD(prop->baseProp.repeatActiveQueryTime, 72); //72s - announcement by ACK
+ NtpTimeAssembFromMs(prop->baseProp.delayResponceTimeACKMin, 0, 10); //10ms - delay before send ACK
+ NtpTimeAssembFromMs(prop->baseProp.delayResponceTimeACKMax, 1, 0); //1s
+ NtpTimeAssembFromMs(prop->baseProp.maxBlockTime, 20, 0); //20s
+ prop->baseProp.ACKMaxRetries = 10;
+ prop->baseProp.HBMaxRetries = 10;
+
PublParamsInit(&prop->publPropDefault);
SubsParamsInit(&prop->subsPropDefault);
-
+
return ORTE_TRUE;
}
/*****************************************************************************/
Boolean
-ORTEDomainInitEvents(ORTEDomainAppEvents *events) {
- memset(events,0,sizeof(ORTEDomainAppEvents));
+ORTEDomainInitEvents(ORTEDomainAppEvents *events)
+{
+ memset(events, 0, sizeof(ORTEDomainAppEvents));
return ORTE_TRUE;
}
/*****************************************************************************/
-ORTEDomain *
+ORTEDomain *
ORTEDomainCreate(int domain, ORTEDomainProp *prop,
- ORTEDomainAppEvents *events,Boolean manager) {
+ ORTEDomainAppEvents *events, Boolean manager)
+{
ORTEDomain *d;
ObjectEntryOID *objectEntryOID;
AppParams *appParams;
char sIPAddress[MAX_STRING_IPADDRESS_LENGTH];
char sbuff[128];
int i;
- uint16_t port=0;
- int errno_save = 0;
+ uint16_t port = 0;
+ int errno_save = 0;
- debug(30,2) ("ORTEDomainCreate: %s compiled: %s,%s\n",
- ORTE_PACKAGE_STRING,__DATE__,__TIME__);
+ debug(30, 2) ("ORTEDomainCreate: %s compiled: %s,%s\n",
+ ORTE_PACKAGE_STRING, __DATE__, __TIME__);
- debug(30,10) ("ORTEDomainCreate: start\n");
+ debug(30, 10) ("ORTEDomainCreate: start\n");
//Create domainApplication
- d=MALLOC(sizeof(ORTEDomain));
- if (!d) return NULL; //no memory
+ d = MALLOC(sizeof(ORTEDomain));
+ if (!d)
+ return NULL; //no memory
//initialization local values
- d->domain=domain;
- d->taskRecvUnicastMetatraffic.d=d;
- d->taskRecvUnicastMetatraffic.terminate=ORTE_TRUE;
- d->taskRecvMulticastMetatraffic.d=d;
- d->taskRecvMulticastMetatraffic.terminate=ORTE_TRUE;
- d->taskRecvUnicastUserdata.d=d;
- d->taskRecvUnicastUserdata.terminate=ORTE_TRUE;
- d->taskRecvMulticastUserdata.d=d;
- d->taskRecvMulticastUserdata.terminate=ORTE_TRUE;
- d->taskSend.d=d;
- d->taskSend.terminate=ORTE_TRUE;
- d->taskRecvUnicastMetatraffic.sock.port=0;
- d->taskRecvMulticastMetatraffic.sock.port=0;
- d->taskRecvUnicastUserdata.sock.port=0;
- d->taskRecvMulticastUserdata.sock.port=0;
- d->taskSend.sock.port=0;
+ d->domain = domain;
+ d->taskRecvUnicastMetatraffic.d = d;
+ d->taskRecvUnicastMetatraffic.terminate = ORTE_TRUE;
+ d->taskRecvMulticastMetatraffic.d = d;
+ d->taskRecvMulticastMetatraffic.terminate = ORTE_TRUE;
+ d->taskRecvUnicastUserdata.d = d;
+ d->taskRecvUnicastUserdata.terminate = ORTE_TRUE;
+ d->taskRecvMulticastUserdata.d = d;
+ d->taskRecvMulticastUserdata.terminate = ORTE_TRUE;
+ d->taskSend.d = d;
+ d->taskSend.terminate = ORTE_TRUE;
+ d->taskRecvUnicastMetatraffic.sock.port = 0;
+ d->taskRecvMulticastMetatraffic.sock.port = 0;
+ d->taskRecvUnicastUserdata.sock.port = 0;
+ d->taskRecvMulticastUserdata.sock.port = 0;
+ d->taskSend.sock.port = 0;
//init structure objectEntry
ObjectEntryHID_init_root_field(&d->objectEntry);
- pthread_rwlock_init(&d->objectEntry.objRootLock,NULL);
+ pthread_rwlock_init(&d->objectEntry.objRootLock, NULL);
htimerRoot_init_queue(&d->objectEntry);
- pthread_rwlock_init(&d->objectEntry.htimRootLock,NULL);
- pthread_cond_init(&d->objectEntry.htimSendCond,NULL);
- pthread_mutex_init(&d->objectEntry.htimSendMutex,NULL);
- d->objectEntry.htimSendCondValue=0;
- d->objectEntry.htimNeedWakeUp=ORTE_TRUE;
+ pthread_rwlock_init(&d->objectEntry.htimRootLock, NULL);
+ pthread_cond_init(&d->objectEntry.htimSendCond, NULL);
+ pthread_mutex_init(&d->objectEntry.htimSendMutex, NULL);
+ d->objectEntry.htimSendCondValue = 0;
+ d->objectEntry.htimNeedWakeUp = ORTE_TRUE;
//publication,subscriptions
- d->publications.counter=d->subscriptions.counter=0;
+ d->publications.counter = d->subscriptions.counter = 0;
CSTWriter_init_root_field(&d->publications);
CSTReader_init_root_field(&d->subscriptions);
- pthread_rwlock_init(&d->publications.lock,NULL);
- pthread_rwlock_init(&d->subscriptions.lock,NULL);
+ pthread_rwlock_init(&d->publications.lock, NULL);
+ pthread_rwlock_init(&d->subscriptions.lock, NULL);
//publication,subscriptions lists
PublicationList_init_root_field(&d->psEntry);
- pthread_rwlock_init(&d->psEntry.publicationsLock,NULL);
+ pthread_rwlock_init(&d->psEntry.publicationsLock, NULL);
SubscriptionList_init_root_field(&d->psEntry);
- pthread_rwlock_init(&d->psEntry.subscriptionsLock,NULL);
-
+ pthread_rwlock_init(&d->psEntry.subscriptionsLock, NULL);
+
//pattern
- pthread_rwlock_init(&d->patternEntry.lock,NULL);
- ORTEPatternRegister(d,ORTEPatternCheckDefault,ORTEPatternMatchDefault,NULL);
+ pthread_rwlock_init(&d->patternEntry.lock, NULL);
+ ORTEPatternRegister(d, ORTEPatternCheckDefault, ORTEPatternMatchDefault, NULL);
Pattern_init_head(&d->patternEntry);
-
- //create domainProp
- if (prop!=NULL) {
- memcpy(&d->domainProp,prop,sizeof(ORTEDomainProp));
+
+ //create domainProp
+ if (prop != NULL) {
+ memcpy(&d->domainProp, prop, sizeof(ORTEDomainProp));
} else {
if (!ORTEDomainPropDefaultGet(&d->domainProp)) {
goto err_domainProp;
}
}
-
+
//print local IP addresses
- iflocal[0]=0;
+ iflocal[0] = 0;
if (d->domainProp.IFCount) {
- for(i=0;i<d->domainProp.IFCount;i++)
- strcat(iflocal,IPAddressToString(d->domainProp.IFProp[i].ipAddress,sIPAddress));
- debug(30,2) ("ORTEDomainCreate: localIPAddres(es) %s\n",iflocal);
- } else{
- debug(30,2) ("ORTEDomainCreate: no active interface card\n");
+ for (i = 0; i < d->domainProp.IFCount; i++)
+ strcat(iflocal, IPAddressToString(d->domainProp.IFProp[i].ipAddress, sIPAddress));
+ debug(30, 2) ("ORTEDomainCreate: localIPAddres(es) %s\n", iflocal);
+ } else {
+ debug(30, 2) ("ORTEDomainCreate: no active interface card\n");
if (d->domainProp.multicast.enabled) {
- debug(30,0) ("ORTEDomainCreate: for multicast have to be active an interface\n");
- goto err_domainProp;
+ debug(30, 0) ("ORTEDomainCreate: for multicast have to be active an interface\n");
+ goto err_domainProp;
}
}
//DomainEvents
- if (events!=NULL) {
- memcpy(&d->domainEvents,events,sizeof(ORTEDomainAppEvents));
+ if (events != NULL) {
+ memcpy(&d->domainEvents, events, sizeof(ORTEDomainAppEvents));
} else {
- memset(&d->domainEvents,0,sizeof(ORTEDomainAppEvents));
+ memset(&d->domainEvents, 0, sizeof(ORTEDomainAppEvents));
}
//local buffers
d->domainProp.recvBuffSize);
CDR_buffer_init(&d->taskSend.mb.cdrCodec,
d->domainProp.sendBuffSize);
- d->taskSend.mb.cdrCodec.wptr_max=d->domainProp.wireProp.metaBytesPerPacket;
+ d->taskSend.mb.cdrCodec.wptr_max = d->domainProp.wireProp.metaBytesPerPacket;
if (!manager) {
CDR_buffer_init(&d->taskRecvUnicastUserdata.mb.cdrCodec,
- d->domainProp.recvBuffSize);
+ d->domainProp.recvBuffSize);
if (d->domainProp.multicast.enabled) {
CDR_buffer_init(&d->taskRecvMulticastMetatraffic.mb.cdrCodec,
- d->domainProp.recvBuffSize);
+ d->domainProp.recvBuffSize);
CDR_buffer_init(&d->taskRecvMulticastUserdata.mb.cdrCodec,
- d->domainProp.recvBuffSize);
+ d->domainProp.recvBuffSize);
}
}
d->taskSend.mb.cdrCodec.data_endian = FLAG_ENDIANNESS;
//TypeRegister
ORTEType_init_root_field(&d->typeEntry);
- pthread_rwlock_init(&d->typeEntry.lock,NULL);
+ pthread_rwlock_init(&d->typeEntry.lock, NULL);
//Sockets
sock_init_udp(&d->taskRecvUnicastMetatraffic.sock);
/************************************************************************/
/* UnicastMetatraffic */
- Domain2Port(d->domain,port);
+ Domain2Port(d->domain, port);
if (manager) {
if (d->domainProp.multicast.enabled) {
char sIPAddress[MAX_STRING_IPADDRESS_LENGTH];
struct ip_mreq mreq;
- int reuse=1,loop=0;
-
+ int reuse = 1, loop = 0;
+
//reuseaddr
- sock_setsockopt(&d->taskRecvUnicastMetatraffic.sock, SOL_SOCKET,
- SO_REUSEADDR, (const char *)&reuse, sizeof(reuse));
- debug(30,2) ("ORTEDomainCreate: set value SO_REUSEADDR: %u\n",
- reuse);
+ sock_setsockopt(&d->taskRecvUnicastMetatraffic.sock, SOL_SOCKET,
+ SO_REUSEADDR, (const char *)&reuse, sizeof(reuse));
+ debug(30, 2) ("ORTEDomainCreate: set value SO_REUSEADDR: %u\n",
+ reuse);
//multicast loop
- sock_setsockopt(&d->taskRecvUnicastMetatraffic.sock, IPPROTO_IP,
- IP_MULTICAST_LOOP, (const char *)&loop,
- sizeof(loop));
- debug(30,2) ("ORTEDomainCreate: set value IP_MULTICAST_LOOP: %u\n",
- loop);
-
+ sock_setsockopt(&d->taskRecvUnicastMetatraffic.sock, IPPROTO_IP,
+ IP_MULTICAST_LOOP, (const char *)&loop,
+ sizeof(loop));
+ debug(30, 2) ("ORTEDomainCreate: set value IP_MULTICAST_LOOP: %u\n",
+ loop);
+
//joint to multicast group
- mreq.imr_multiaddr.s_addr=htonl(d->domainProp.multicast.ipAddress);
- mreq.imr_interface.s_addr=htonl(INADDR_ANY);
- if(sock_setsockopt(&d->taskRecvUnicastMetatraffic.sock,IPPROTO_IP,
- IP_ADD_MEMBERSHIP, (const char *)&mreq, sizeof(mreq))>=0) {
- debug(30,2) ("ORTEDomainCreate: joint to mgroup %s\n",
- IPAddressToString(d->domainProp.multicast.ipAddress,sIPAddress));
+ memset(&mreq, 0, sizeof(mreq));
+ mreq.imr_multiaddr.s_addr = htonl(d->domainProp.multicast.ipAddress);
+ mreq.imr_interface.s_addr = htonl(INADDR_ANY);
+ if (sock_setsockopt(&d->taskRecvUnicastMetatraffic.sock, IPPROTO_IP,
+ IP_ADD_MEMBERSHIP, (const char *)&mreq, sizeof(mreq)) >= 0) {
+ debug(30, 2) ("ORTEDomainCreate: joint to mgroup %s\n",
+ IPAddressToString(d->domainProp.multicast.ipAddress, sIPAddress));
} else
- goto err_sock;
+ goto err_sock;
}
- if (sock_bind(&d->taskRecvUnicastMetatraffic.sock,port,d->domainProp.listen) == -1) {
+ if (sock_bind(&d->taskRecvUnicastMetatraffic.sock, port, d->domainProp.listen) == -1) {
goto err_sock;
}
} else {
/* give me receiving port (metatraffic) */
- if (sock_bind(&d->taskRecvUnicastMetatraffic.sock,0,d->domainProp.listen) == -1) {
+ if (sock_bind(&d->taskRecvUnicastMetatraffic.sock, 0, d->domainProp.listen) == -1) {
goto err_sock;
}
}
- debug(30,2) ("ORTEDomainCreate: bind on port(RecvUnicastMetatraffic): %u\n",
- d->taskRecvUnicastMetatraffic.sock.port);
+ debug(30, 2) ("ORTEDomainCreate: bind on port(RecvUnicastMetatraffic): %u\n",
+ d->taskRecvUnicastMetatraffic.sock.port);
/************************************************************************/
/* MulticastMetatraffic */
char sIPAddress[MAX_STRING_IPADDRESS_LENGTH];
struct ip_mreq mreq;
Port mport;
- int reuse=1;
-
+ int reuse = 1;
+
//reuseaddr
- sock_setsockopt(&d->taskRecvMulticastMetatraffic.sock, SOL_SOCKET,
+ sock_setsockopt(&d->taskRecvMulticastMetatraffic.sock, SOL_SOCKET,
SO_REUSEADDR, (const char *)&reuse, sizeof(reuse));
- debug(30,2) ("ORTEDomainCreate: set value SO_REUSEADDR: %u\n",
+ debug(30, 2) ("ORTEDomainCreate: set value SO_REUSEADDR: %u\n",
reuse);
//multicast loop
- sock_setsockopt(&d->taskRecvMulticastMetatraffic.sock, IPPROTO_IP,
- IP_MULTICAST_LOOP, (const char *)&d->domainProp.multicast.loopBackEnabled,
+ sock_setsockopt(&d->taskRecvMulticastMetatraffic.sock, IPPROTO_IP,
+ IP_MULTICAST_LOOP, (const char *)&d->domainProp.multicast.loopBackEnabled,
sizeof(d->domainProp.multicast.loopBackEnabled));
- debug(30,2) ("ORTEDomainCreate: set value IP_MULTICAST_LOOP: %u\n",
+ debug(30, 2) ("ORTEDomainCreate: set value IP_MULTICAST_LOOP: %u\n",
d->domainProp.multicast.loopBackEnabled);
-
+
//joint to multicast group
- mreq.imr_multiaddr.s_addr=htonl(d->domainProp.multicast.ipAddress);
- mreq.imr_interface.s_addr=htonl(INADDR_ANY);
- if(sock_setsockopt(&d->taskRecvMulticastMetatraffic.sock,IPPROTO_IP,
- IP_ADD_MEMBERSHIP, (const char *)&mreq, sizeof(mreq))>=0) {
- debug(30,2) ("ORTEDomainCreate: joint to mgroup %s\n",
- IPAddressToString(d->domainProp.multicast.ipAddress,sIPAddress));
+ mreq.imr_multiaddr.s_addr = htonl(d->domainProp.multicast.ipAddress);
+ mreq.imr_interface.s_addr = htonl(INADDR_ANY);
+ if (sock_setsockopt(&d->taskRecvMulticastMetatraffic.sock, IPPROTO_IP,
+ IP_ADD_MEMBERSHIP, (const char *)&mreq, sizeof(mreq)) >= 0) {
+ debug(30, 2) ("ORTEDomainCreate: joint to mgroup %s\n",
+ IPAddressToString(d->domainProp.multicast.ipAddress, sIPAddress));
}
-
+
/* receiving multicast port (metatraffic) */
- Domain2PortMulticastMetatraffic(d->domain,mport);
- if (sock_bind(&d->taskRecvMulticastMetatraffic.sock,(uint16_t)mport,d->domainProp.listen) == -1) {
+ Domain2PortMulticastMetatraffic(d->domain, mport);
+ if (sock_bind(&d->taskRecvMulticastMetatraffic.sock, (uint16_t)mport, d->domainProp.listen) == -1) {
goto err_sock;
}
- debug(30,2) ("ORTEDomainCreate: bind on port(RecvMulticastMetatraffic): %u\n",
- d->taskRecvMulticastMetatraffic.sock.port);
+ debug(30, 2) ("ORTEDomainCreate: bind on port(RecvMulticastMetatraffic): %u\n",
+ d->taskRecvMulticastMetatraffic.sock.port);
}
/************************************************************************/
/* UserData */
if (!manager) {
/* give me receiving port (userdata) */
- if (sock_bind(&d->taskRecvUnicastUserdata.sock,0,d->domainProp.listen) == -1) {
+ if (sock_bind(&d->taskRecvUnicastUserdata.sock, 0, d->domainProp.listen) == -1) {
goto err_sock;
}
- debug(30,2) ("ORTEDomainCreate: bind on port(RecvUnicatUserdata): %u\n",
- d->taskRecvUnicastUserdata.sock.port);
+ debug(30, 2) ("ORTEDomainCreate: bind on port(RecvUnicatUserdata): %u\n",
+ d->taskRecvUnicastUserdata.sock.port);
if (d->domainProp.multicast.enabled) {
Port mport;
- int reuse=1;
-
+ int reuse = 1;
+
//reuseaddr
- sock_setsockopt(&d->taskRecvMulticastUserdata.sock, SOL_SOCKET,
- SO_REUSEADDR, (const char *)&reuse, sizeof(reuse));
- debug(30,2) ("ORTEDomainCreate: set value SO_REUSEADDR: %u\n",
- reuse);
+ sock_setsockopt(&d->taskRecvMulticastUserdata.sock, SOL_SOCKET,
+ SO_REUSEADDR, (const char *)&reuse, sizeof(reuse));
+ debug(30, 2) ("ORTEDomainCreate: set value SO_REUSEADDR: %u\n",
+ reuse);
//multicast loop
- sock_setsockopt(&d->taskRecvMulticastUserdata.sock, IPPROTO_IP,
- IP_MULTICAST_LOOP, (const char *)&d->domainProp.multicast.loopBackEnabled,
+ sock_setsockopt(&d->taskRecvMulticastUserdata.sock, IPPROTO_IP,
+ IP_MULTICAST_LOOP, (const char *)&d->domainProp.multicast.loopBackEnabled,
sizeof(d->domainProp.multicast.loopBackEnabled));
- debug(30,2) ("ORTEDomainCreate: set value IP_MULTICAST_LOOP: %u\n",
+ debug(30, 2) ("ORTEDomainCreate: set value IP_MULTICAST_LOOP: %u\n",
d->domainProp.multicast.loopBackEnabled);
-
+
/* receiving multicast port (userdata) */
- Domain2PortMulticastUserdata(d->domain,mport);
- if (sock_bind(&d->taskRecvMulticastUserdata.sock,(uint16_t)mport,d->domainProp.listen) == -1) {
+ Domain2PortMulticastUserdata(d->domain, mport);
+ if (sock_bind(&d->taskRecvMulticastUserdata.sock, (uint16_t)mport, d->domainProp.listen) == -1) {
goto err_sock;
}
- debug(30,2) ("ORTEDomainCreate: bind on port(RecvMulticastUserdata): %u\n",
- d->taskRecvMulticastUserdata.sock.port);
+ debug(30, 2) ("ORTEDomainCreate: bind on port(RecvMulticastUserdata): %u\n",
+ d->taskRecvMulticastUserdata.sock.port);
}
}
/************************************************************************/
/* Send */
/* give me sending port */
- if (sock_bind(&d->taskSend.sock,0,d->domainProp.listen) == -1) {
+ if (sock_bind(&d->taskSend.sock, 0, d->domainProp.listen) == -1) {
goto err_sock;
}
- debug(30,2) ("ORTEDomainCreate: bind on port(Send): %u\n",
- d->taskSend.sock.port);
+ debug(30, 2) ("ORTEDomainCreate: bind on port(Send): %u\n",
+ d->taskSend.sock.port);
if (d->domainProp.multicast.enabled) {
//ttl
- if(sock_setsockopt(&d->taskSend.sock,IPPROTO_IP,IP_MULTICAST_TTL, (const char *)&d->domainProp.multicast.ttl,sizeof(d->domainProp.multicast.ttl))>=0) {
- debug(30,2) ("ORTEDomainCreate: ttl set on: %u\n",
- d->domainProp.multicast.ttl);
- }
+ if (sock_setsockopt(&d->taskSend.sock, IPPROTO_IP, IP_MULTICAST_TTL, (const char *)&d->domainProp.multicast.ttl, sizeof(d->domainProp.multicast.ttl)) >= 0) {
+ debug(30, 2) ("ORTEDomainCreate: ttl set on: %u\n",
+ d->domainProp.multicast.ttl);
+ }
}
/************************************************************************/
/* tests for valid resources */
- if ((d->taskRecvUnicastMetatraffic.sock.fd<0) ||
- (d->taskSend.sock.fd<0) ||
+ if ((d->taskRecvUnicastMetatraffic.sock.fd < 0) ||
+ (d->taskSend.sock.fd < 0) ||
+ (d->domainProp.multicast.enabled &&
+ (d->taskRecvUnicastUserdata.sock.fd < 0)) ||
(d->domainProp.multicast.enabled &&
- (d->taskRecvUnicastUserdata.sock.fd<0)) ||
+ (d->taskRecvMulticastUserdata.sock.fd < 0)) ||
(d->domainProp.multicast.enabled &&
- (d->taskRecvMulticastUserdata.sock.fd<0)) ||
- (d->domainProp.multicast.enabled &&
- (d->taskRecvMulticastMetatraffic.sock.fd<0))) {
- debug(30,0) ("ORTEDomainCreate: Error creating socket(s).\n");
+ (d->taskRecvMulticastMetatraffic.sock.fd < 0))) {
+ debug(30, 0) ("ORTEDomainCreate: Error creating socket(s).\n");
goto err_sock;
}
- if ((!d->taskRecvUnicastMetatraffic.mb.cdrCodec.buffer) ||
+ if ((!d->taskRecvUnicastMetatraffic.mb.cdrCodec.buffer) ||
(!d->taskSend.mb.cdrCodec.buffer) ||
(d->domainProp.multicast.enabled && !manager &&
- !d->taskRecvUnicastUserdata.mb.cdrCodec.buffer) ||
+ !d->taskRecvUnicastUserdata.mb.cdrCodec.buffer) ||
(d->domainProp.multicast.enabled && !manager &&
- !d->taskRecvMulticastUserdata.mb.cdrCodec.buffer) ||
+ !d->taskRecvMulticastUserdata.mb.cdrCodec.buffer) ||
(d->domainProp.multicast.enabled && !manager &&
!d->taskRecvMulticastMetatraffic.mb.cdrCodec.buffer)) { //no a memory
- debug(30,0) ("ORTEDomainCreate: Error creating buffer(s).\n");
+ debug(30, 0) ("ORTEDomainCreate: Error creating buffer(s).\n");
goto err_sock;
- }
+ }
/************************************************************************/
//Generates local GUID
- if (d->domainProp.IFCount>0)
- d->guid.hid=d->domainProp.IFProp[0].ipAddress;
+ if (d->domainProp.IFCount > 0)
+ d->guid.hid = d->domainProp.IFProp[0].ipAddress;
else
- d->guid.hid=StringToIPAddress("127.0.0.1");
+ d->guid.hid = StringToIPAddress("127.0.0.1");
if (manager) {
- d->guid.aid=(d->taskSend.sock.port<<8)+MANAGER;
+ d->guid.aid = (d->taskSend.sock.port<<8)+MANAGER;
} else {
- d->guid.aid=(d->taskSend.sock.port<<8)+MANAGEDAPPLICATION;
+ d->guid.aid = (d->taskSend.sock.port<<8)+MANAGEDAPPLICATION;
}
- d->guid.oid=OID_APP;
- debug(30,2) ("ORTEDomainCreate: GUID: %#10.8x,%#10.8x,%#10.8x\n",
- GUID_PRINTF(d->guid));
+ d->guid.oid = OID_APP;
+ debug(30, 2) ("ORTEDomainCreate: GUID: %#10.8x,%#10.8x,%#10.8x\n",
+ GUID_PRINTF(d->guid));
//create HEADER of message for sending task
- RTPSHeaderCreate(&d->taskSend.mb.cdrCodec,d->guid.hid,d->guid.aid);
- d->taskSend.mb.needSend=ORTE_FALSE;
- d->taskSend.mb.containsInfoReply=ORTE_FALSE;
- d->taskSend.mb.cdrCodecDirect=NULL;
-
+ RTPSHeaderCreate(&d->taskSend.mb.cdrCodec, d->guid.hid, d->guid.aid);
+ d->taskSend.mb.needSend = ORTE_FALSE;
+ d->taskSend.mb.containsInfoReply = ORTE_FALSE;
+ d->taskSend.mb.cdrCodecDirect = NULL;
+
//Self object data & fellow managers object data
- appParams=(AppParams*)MALLOC(sizeof(AppParams));
+ appParams = (AppParams *)MALLOC(sizeof(AppParams));
if (!appParams) {
goto err_sock;
}
AppParamsInit(appParams);
- appParams->expirationTime=d->domainProp.baseProp.expirationTime;
+ appParams->expirationTime = d->domainProp.baseProp.expirationTime;
VENDOR_ID_OCERA(appParams->vendorId);
- appParams->hostId=d->guid.hid;
- appParams->appId=d->guid.aid;
- appParams->metatrafficUnicastPort=d->taskRecvUnicastMetatraffic.sock.port;
- appParams->userdataUnicastPort=d->taskRecvUnicastUserdata.sock.port;
+ appParams->hostId = d->guid.hid;
+ appParams->appId = d->guid.aid;
+ appParams->metatrafficUnicastPort = d->taskRecvUnicastMetatraffic.sock.port;
+ appParams->userdataUnicastPort = d->taskRecvUnicastUserdata.sock.port;
//fill unicast/multicast ip addresses
if (d->domainProp.IFCount) {
- for(i=0;i<d->domainProp.IFCount;i++)
- appParams->unicastIPAddressList[i]=d->domainProp.IFProp[i].ipAddress;
- appParams->unicastIPAddressCount=d->domainProp.IFCount;
+ for (i = 0; i < d->domainProp.IFCount; i++)
+ appParams->unicastIPAddressList[i] = d->domainProp.IFProp[i].ipAddress;
+ appParams->unicastIPAddressCount = d->domainProp.IFCount;
}
if (d->domainProp.multicast.enabled &&
IN_MULTICAST(d->domainProp.multicast.ipAddress)) {
- appParams->metatrafficMulticastIPAddressList[appParams->metatrafficMulticastIPAddressCount]=
- d->domainProp.multicast.ipAddress;
+ appParams->metatrafficMulticastIPAddressList[appParams->metatrafficMulticastIPAddressCount] =
+ d->domainProp.multicast.ipAddress;
appParams->metatrafficMulticastIPAddressCount++;
} else {
if (!d->domainProp.IFCount) {
- appParams->unicastIPAddressList[appParams->unicastIPAddressCount]=
- StringToIPAddress("127.0.0.1");
+ appParams->unicastIPAddressList[appParams->unicastIPAddressCount] =
+ StringToIPAddress("127.0.0.1");
appParams->unicastIPAddressCount++;
}
}
//KeyList
if (!d->domainProp.keys) {
- appParams->managerKeyList[0]=StringToIPAddress("127.0.0.1");
- for(i=0;i<d->domainProp.IFCount;i++)
- appParams->managerKeyList[i+1]=d->domainProp.IFProp[i].ipAddress;
+ appParams->managerKeyList[0] = StringToIPAddress("127.0.0.1");
+ for (i = 0; i < d->domainProp.IFCount; i++)
+ appParams->managerKeyList[i+1] = d->domainProp.IFProp[i].ipAddress;
if (d->domainProp.multicast.enabled &&
- IN_MULTICAST(d->domainProp.multicast.ipAddress)) {
- appParams->managerKeyList[i+1]=d->domainProp.multicast.ipAddress;
+ IN_MULTICAST(d->domainProp.multicast.ipAddress)) {
+ appParams->managerKeyList[i+1] = d->domainProp.multicast.ipAddress;
i++;
}
- appParams->managerKeyCount=i+1;
+ appParams->managerKeyCount = i+1;
} else {
- appParams->managerKeyCount=i=0;
- while (getStringPart(d->domainProp.keys,':',&i,sbuff)) {
- appParams->managerKeyList[appParams->managerKeyCount++]=
- StringToIPAddress(sbuff);
- }
+ appParams->managerKeyCount = i = 0;
+ while (getStringPart(d->domainProp.keys, ':', &i, sbuff))
+ appParams->managerKeyList[appParams->managerKeyCount++] =
+ StringToIPAddress(sbuff);
}
- d->appParams=appParams;
+ d->appParams = appParams;
//insert object, doesn't need to be locked
- d->objectEntryOID=objectEntryAdd(d,&d->guid,(void*)appParams);
- d->objectEntryOID->privateCreated=ORTE_TRUE;
+ d->objectEntryOID = objectEntryAdd(d, &d->guid, (void *)appParams);
+ d->objectEntryOID->privateCreated = ORTE_TRUE;
+
-
/************************************************************************/
//CST objects
// writerApplicationSelf (WAS)
NTPTIME_ZERO(cstWriterParams.waitWhileDataUnderwayTime);
- cstWriterParams.refreshPeriod=d->domainProp.baseProp.refreshPeriod;
- cstWriterParams.repeatAnnounceTime=d->domainProp.baseProp.repeatAnnounceTime;
+ cstWriterParams.refreshPeriod = d->domainProp.baseProp.refreshPeriod;
+ cstWriterParams.repeatAnnounceTime = d->domainProp.baseProp.repeatAnnounceTime;
NTPTIME_ZERO(cstWriterParams.delayResponceTime);
- cstWriterParams.HBMaxRetries=d->domainProp.baseProp.HBMaxRetries;
+ cstWriterParams.HBMaxRetries = d->domainProp.baseProp.HBMaxRetries;
if (manager) {
- cstWriterParams.registrationRetries=d->domainProp.baseProp.registrationMgrRetries;
- cstWriterParams.registrationPeriod=d->domainProp.baseProp.registrationMgrPeriod;
- cstWriterParams.fullAcknowledge=ORTE_FALSE;
+ cstWriterParams.registrationRetries = d->domainProp.baseProp.registrationMgrRetries;
+ cstWriterParams.registrationPeriod = d->domainProp.baseProp.registrationMgrPeriod;
+ cstWriterParams.fullAcknowledge = ORTE_FALSE;
} else {
- cstWriterParams.registrationRetries=d->domainProp.baseProp.registrationAppRetries;
- cstWriterParams.registrationPeriod=d->domainProp.baseProp.registrationAppPeriod;
- cstWriterParams.fullAcknowledge=ORTE_TRUE;
+ cstWriterParams.registrationRetries = d->domainProp.baseProp.registrationAppRetries;
+ cstWriterParams.registrationPeriod = d->domainProp.baseProp.registrationAppPeriod;
+ cstWriterParams.fullAcknowledge = ORTE_TRUE;
}
- CSTWriterInit(d,&d->writerApplicationSelf,d->objectEntryOID,
- OID_WRITE_APPSELF,&cstWriterParams,NULL);
+ CSTWriterInit(d, &d->writerApplicationSelf, d->objectEntryOID,
+ OID_WRITE_APPSELF, &cstWriterParams, NULL);
if (manager) {
- i=0;
- while (getStringPart(d->domainProp.mgrs,':',&i,sbuff)>0) {
+ i = 0;
+ while (getStringPart(d->domainProp.mgrs, ':', &i, sbuff) > 0) {
GUID_RTPS guid;
- IPAddress ipAddress=StringToIPAddress(sbuff);
- guid.hid=ipAddress;
- guid.aid=AID_UNKNOWN;
- guid.oid=OID_APP;
- if (!objectEntryFind(d,&guid)) {
- CSTRemoteReader *cstRemoteReader;
- appParams=(AppParams*)MALLOC(sizeof(AppParams));
- AppParamsInit(appParams);
- appParams->hostId=guid.hid;
- appParams->appId=guid.aid;
- appParams->metatrafficUnicastPort=d->appParams->metatrafficUnicastPort;
- objectEntryOID=objectEntryAdd(d,&guid,(void*)appParams);
- if (d->domainProp.multicast.enabled && IN_MULTICAST(ipAddress)) {
- appParams->metatrafficMulticastIPAddressList[0]=ipAddress;
- appParams->metatrafficMulticastIPAddressCount=1;
- objectEntryOID->multicastPort=port;
- } else {
- appParams->unicastIPAddressList[0]=ipAddress;
- appParams->unicastIPAddressCount=1;
- objectEntryOID->multicastPort=0;
- }
- appParams->userdataUnicastPort=0; //Manager support only metatraffic
- cstRemoteReader=CSTWriterAddRemoteReader(d,
- &d->writerApplicationSelf,
- objectEntryOID,
- OID_READ_MGR,
- objectEntryOID);
- debug(29,2) ("ORTEDomainCreate: add fellow manager (%s)\n",
- IPAddressToString(ipAddress,sIPAddress));
+ IPAddress ipAddress = StringToIPAddress(sbuff);
+ guid.hid = ipAddress;
+ guid.aid = AID_UNKNOWN;
+ guid.oid = OID_APP;
+ if (!objectEntryFind(d, &guid)) {
+ CSTRemoteReader *cstRemoteReader;
+ appParams = (AppParams *)MALLOC(sizeof(AppParams));
+ AppParamsInit(appParams);
+ appParams->hostId = guid.hid;
+ appParams->appId = guid.aid;
+ appParams->metatrafficUnicastPort = d->appParams->metatrafficUnicastPort;
+ objectEntryOID = objectEntryAdd(d, &guid, (void *)appParams);
+ if (d->domainProp.multicast.enabled && IN_MULTICAST(ipAddress)) {
+ appParams->metatrafficMulticastIPAddressList[0] = ipAddress;
+ appParams->metatrafficMulticastIPAddressCount = 1;
+ objectEntryOID->multicastPort = port;
+ } else {
+ appParams->unicastIPAddressList[0] = ipAddress;
+ appParams->unicastIPAddressCount = 1;
+ objectEntryOID->multicastPort = 0;
+ }
+ appParams->userdataUnicastPort = 0; //Manager support only metatraffic
+ cstRemoteReader = CSTWriterAddRemoteReader(d,
+ &d->writerApplicationSelf,
+ objectEntryOID,
+ OID_READ_MGR,
+ objectEntryOID);
+ debug(29, 2) ("ORTEDomainCreate: add fellow manager (%s)\n",
+ IPAddressToString(ipAddress, sIPAddress));
}
}
} else {
// add to WAS remote writer(s)
if (d->domainProp.appLocalManager) {
GUID_RTPS guid;
- guid.hid=d->domainProp.appLocalManager;
- guid.aid=AID_UNKNOWN;
- guid.oid=OID_APP;
- if (!objectEntryFind(d,&guid)) {
- appParams=(AppParams*)MALLOC(sizeof(AppParams));
- AppParamsInit(appParams);
- appParams->hostId=guid.hid;
- appParams->appId=guid.aid;
- appParams->metatrafficUnicastPort=port;
- appParams->userdataUnicastPort=0; //Manager support only metatraffic
- appParams->unicastIPAddressList[0]=d->domainProp.appLocalManager;
- appParams->unicastIPAddressCount=1;
- objectEntryOID=objectEntryAdd(d,&guid,(void*)appParams);
- CSTWriterAddRemoteReader(d,
- &d->writerApplicationSelf,
- objectEntryOID,
- OID_READ_MGR,
- objectEntryOID);
- debug(30,2) ("ORTEDomainCreate: add manager (%s)\n",
- IPAddressToString(d->domainProp.appLocalManager,sIPAddress));
+ guid.hid = d->domainProp.appLocalManager;
+ guid.aid = AID_UNKNOWN;
+ guid.oid = OID_APP;
+ if (!objectEntryFind(d, &guid)) {
+ appParams = (AppParams *)MALLOC(sizeof(AppParams));
+ AppParamsInit(appParams);
+ appParams->hostId = guid.hid;
+ appParams->appId = guid.aid;
+ appParams->metatrafficUnicastPort = port;
+ appParams->userdataUnicastPort = 0; //Manager support only metatraffic
+ appParams->unicastIPAddressList[0] = d->domainProp.appLocalManager;
+ appParams->unicastIPAddressCount = 1;
+ objectEntryOID = objectEntryAdd(d, &guid, (void *)appParams);
+ CSTWriterAddRemoteReader(d,
+ &d->writerApplicationSelf,
+ objectEntryOID,
+ OID_READ_MGR,
+ objectEntryOID);
+ debug(30, 2) ("ORTEDomainCreate: add manager (%s)\n",
+ IPAddressToString(d->domainProp.appLocalManager, sIPAddress));
}
}
}
// readerManagers
- cstReaderParams.delayResponceTimeMin=d->domainProp.baseProp.delayResponceTimeACKMin;
- cstReaderParams.delayResponceTimeMax=d->domainProp.baseProp.delayResponceTimeACKMax;
- cstReaderParams.ACKMaxRetries=d->domainProp.baseProp.ACKMaxRetries;
+ cstReaderParams.delayResponceTimeMin = d->domainProp.baseProp.delayResponceTimeACKMin;
+ cstReaderParams.delayResponceTimeMax = d->domainProp.baseProp.delayResponceTimeACKMax;
+ cstReaderParams.ACKMaxRetries = d->domainProp.baseProp.ACKMaxRetries;
if (manager) {
- cstReaderParams.ACKMaxRetries=d->domainProp.baseProp.ACKMaxRetries;
- cstReaderParams.repeatActiveQueryTime=iNtpTime; //RM cann't repeatly send ACKf
+ cstReaderParams.ACKMaxRetries = d->domainProp.baseProp.ACKMaxRetries;
+ cstReaderParams.repeatActiveQueryTime = iNtpTime; //RM cann't repeatly send ACKf
} else {
- cstReaderParams.repeatActiveQueryTime=d->domainProp.baseProp.repeatActiveQueryTime;
- cstReaderParams.fullAcknowledge=ORTE_TRUE;
+ cstReaderParams.repeatActiveQueryTime = d->domainProp.baseProp.repeatActiveQueryTime;
+ cstReaderParams.fullAcknowledge = ORTE_TRUE;
}
- CSTReaderInit(d,&d->readerManagers,d->objectEntryOID,
- OID_READ_MGR,&cstReaderParams,NULL);
+ CSTReaderInit(d, &d->readerManagers, d->objectEntryOID,
+ OID_READ_MGR, &cstReaderParams, NULL);
// readerApplications
- cstReaderParams.delayResponceTimeMin=d->domainProp.baseProp.delayResponceTimeACKMin;
- cstReaderParams.delayResponceTimeMax=d->domainProp.baseProp.delayResponceTimeACKMax;
- cstReaderParams.ACKMaxRetries=d->domainProp.baseProp.ACKMaxRetries;
- cstReaderParams.repeatActiveQueryTime=d->domainProp.baseProp.repeatActiveQueryTime;
- cstReaderParams.fullAcknowledge=ORTE_TRUE;
- CSTReaderInit(d,&d->readerApplications,d->objectEntryOID,
- OID_READ_APP,&cstReaderParams,NULL);
+ cstReaderParams.delayResponceTimeMin = d->domainProp.baseProp.delayResponceTimeACKMin;
+ cstReaderParams.delayResponceTimeMax = d->domainProp.baseProp.delayResponceTimeACKMax;
+ cstReaderParams.ACKMaxRetries = d->domainProp.baseProp.ACKMaxRetries;
+ cstReaderParams.repeatActiveQueryTime = d->domainProp.baseProp.repeatActiveQueryTime;
+ cstReaderParams.fullAcknowledge = ORTE_TRUE;
+ CSTReaderInit(d, &d->readerApplications, d->objectEntryOID,
+ OID_READ_APP, &cstReaderParams, NULL);
if (manager) {
// writerApplications
- cstWriterParams.registrationRetries=0;
- NTPTIME_ZERO(cstWriterParams.registrationPeriod);
+ cstWriterParams.registrationRetries = 0;
+ NTPTIME_ZERO(cstWriterParams.registrationPeriod);
NTPTIME_ZERO(cstWriterParams.waitWhileDataUnderwayTime);
- cstWriterParams.refreshPeriod=iNtpTime; //only WAS,WM can refresh csChange(s)
- cstWriterParams.repeatAnnounceTime=d->domainProp.baseProp.repeatAnnounceTime;
- NtpTimeAssembFromMs(cstWriterParams.delayResponceTime,0,20);
- cstWriterParams.HBMaxRetries=d->domainProp.baseProp.HBMaxRetries;
- cstWriterParams.fullAcknowledge=ORTE_FALSE;
- CSTWriterInit(d,&d->writerApplications,d->objectEntryOID,
- OID_WRITE_APP,&cstWriterParams,NULL);
+ cstWriterParams.refreshPeriod = iNtpTime; //only WAS,WM can refresh csChange(s)
+ cstWriterParams.repeatAnnounceTime = d->domainProp.baseProp.repeatAnnounceTime;
+ NtpTimeAssembFromMs(cstWriterParams.delayResponceTime, 0, 20);
+ cstWriterParams.HBMaxRetries = d->domainProp.baseProp.HBMaxRetries;
+ cstWriterParams.fullAcknowledge = ORTE_FALSE;
+ CSTWriterInit(d, &d->writerApplications, d->objectEntryOID,
+ OID_WRITE_APP, &cstWriterParams, NULL);
// writerManagers
- cstWriterParams.registrationRetries=0;
- NTPTIME_ZERO(cstWriterParams.registrationPeriod);
+ cstWriterParams.registrationRetries = 0;
+ NTPTIME_ZERO(cstWriterParams.registrationPeriod);
NTPTIME_ZERO(cstWriterParams.waitWhileDataUnderwayTime);
- cstWriterParams.refreshPeriod=d->domainProp.baseProp.refreshPeriod;
- cstWriterParams.repeatAnnounceTime=d->domainProp.baseProp.repeatAnnounceTime;
- NtpTimeAssembFromMs(cstWriterParams.delayResponceTime,0,20);
- cstWriterParams.HBMaxRetries=d->domainProp.baseProp.HBMaxRetries;
- cstWriterParams.fullAcknowledge=ORTE_TRUE;
- CSTWriterInit(d,&d->writerManagers,d->objectEntryOID,
- OID_WRITE_MGR,&cstWriterParams,NULL);
+ cstWriterParams.refreshPeriod = d->domainProp.baseProp.refreshPeriod;
+ cstWriterParams.repeatAnnounceTime = d->domainProp.baseProp.repeatAnnounceTime;
+ NtpTimeAssembFromMs(cstWriterParams.delayResponceTime, 0, 20);
+ cstWriterParams.HBMaxRetries = d->domainProp.baseProp.HBMaxRetries;
+ cstWriterParams.fullAcknowledge = ORTE_TRUE;
+ CSTWriterInit(d, &d->writerManagers, d->objectEntryOID,
+ OID_WRITE_MGR, &cstWriterParams, NULL);
}
if (!manager) {
// writerPublications
- cstWriterParams.registrationRetries=0;
- NTPTIME_ZERO(cstWriterParams.registrationPeriod);
+ cstWriterParams.registrationRetries = 0;
+ NTPTIME_ZERO(cstWriterParams.registrationPeriod);
NTPTIME_ZERO(cstWriterParams.waitWhileDataUnderwayTime);
- cstWriterParams.refreshPeriod=d->domainProp.baseProp.refreshPeriod;
- cstWriterParams.repeatAnnounceTime=d->domainProp.baseProp.repeatAnnounceTime;
- NtpTimeAssembFromMs(cstWriterParams.delayResponceTime,0,20);
- cstWriterParams.HBMaxRetries=d->domainProp.baseProp.HBMaxRetries;
- cstWriterParams.fullAcknowledge=ORTE_TRUE;
- CSTWriterInit(d,&d->writerPublications,d->objectEntryOID,
- OID_WRITE_PUBL,&cstWriterParams,NULL);
+ cstWriterParams.refreshPeriod = d->domainProp.baseProp.refreshPeriod;
+ cstWriterParams.repeatAnnounceTime = d->domainProp.baseProp.repeatAnnounceTime;
+ NtpTimeAssembFromMs(cstWriterParams.delayResponceTime, 0, 20);
+ cstWriterParams.HBMaxRetries = d->domainProp.baseProp.HBMaxRetries;
+ cstWriterParams.fullAcknowledge = ORTE_TRUE;
+ CSTWriterInit(d, &d->writerPublications, d->objectEntryOID,
+ OID_WRITE_PUBL, &cstWriterParams, NULL);
// writerSubscriptions
- cstWriterParams.registrationRetries=0;
- NTPTIME_ZERO(cstWriterParams.registrationPeriod);
+ cstWriterParams.registrationRetries = 0;
+ NTPTIME_ZERO(cstWriterParams.registrationPeriod);
NTPTIME_ZERO(cstWriterParams.waitWhileDataUnderwayTime);
- cstWriterParams.refreshPeriod=d->domainProp.baseProp.refreshPeriod;
- cstWriterParams.repeatAnnounceTime=d->domainProp.baseProp.repeatAnnounceTime;
- NtpTimeAssembFromMs(cstWriterParams.delayResponceTime,0,20);
- cstWriterParams.HBMaxRetries=d->domainProp.baseProp.HBMaxRetries;
- cstWriterParams.fullAcknowledge=ORTE_TRUE;
- CSTWriterInit(d,&d->writerSubscriptions,d->objectEntryOID,
- OID_WRITE_SUBS,&cstWriterParams,NULL);
+ cstWriterParams.refreshPeriod = d->domainProp.baseProp.refreshPeriod;
+ cstWriterParams.repeatAnnounceTime = d->domainProp.baseProp.repeatAnnounceTime;
+ NtpTimeAssembFromMs(cstWriterParams.delayResponceTime, 0, 20);
+ cstWriterParams.HBMaxRetries = d->domainProp.baseProp.HBMaxRetries;
+ cstWriterParams.fullAcknowledge = ORTE_TRUE;
+ CSTWriterInit(d, &d->writerSubscriptions, d->objectEntryOID,
+ OID_WRITE_SUBS, &cstWriterParams, NULL);
// readerPublications
- cstReaderParams.delayResponceTimeMin=d->domainProp.baseProp.delayResponceTimeACKMin;
- cstReaderParams.delayResponceTimeMax=d->domainProp.baseProp.delayResponceTimeACKMax;
- cstReaderParams.ACKMaxRetries=d->domainProp.baseProp.ACKMaxRetries;
- cstReaderParams.repeatActiveQueryTime=d->domainProp.baseProp.repeatActiveQueryTime;
- cstReaderParams.fullAcknowledge=ORTE_TRUE;
- CSTReaderInit(d,&d->readerPublications,d->objectEntryOID,
- OID_READ_PUBL,&cstReaderParams,NULL);
+ cstReaderParams.delayResponceTimeMin = d->domainProp.baseProp.delayResponceTimeACKMin;
+ cstReaderParams.delayResponceTimeMax = d->domainProp.baseProp.delayResponceTimeACKMax;
+ cstReaderParams.ACKMaxRetries = d->domainProp.baseProp.ACKMaxRetries;
+ cstReaderParams.repeatActiveQueryTime = d->domainProp.baseProp.repeatActiveQueryTime;
+ cstReaderParams.fullAcknowledge = ORTE_TRUE;
+ CSTReaderInit(d, &d->readerPublications, d->objectEntryOID,
+ OID_READ_PUBL, &cstReaderParams, NULL);
// readerSubscriptions
- cstReaderParams.delayResponceTimeMin=d->domainProp.baseProp.delayResponceTimeACKMin;
- cstReaderParams.delayResponceTimeMax=d->domainProp.baseProp.delayResponceTimeACKMax;
- cstReaderParams.ACKMaxRetries=d->domainProp.baseProp.ACKMaxRetries;
- cstReaderParams.repeatActiveQueryTime=d->domainProp.baseProp.repeatActiveQueryTime;
- cstReaderParams.fullAcknowledge=ORTE_TRUE;
- CSTReaderInit(d,&d->readerSubscriptions,d->objectEntryOID,
- OID_READ_SUBS,&cstReaderParams,NULL);
+ cstReaderParams.delayResponceTimeMin = d->domainProp.baseProp.delayResponceTimeACKMin;
+ cstReaderParams.delayResponceTimeMax = d->domainProp.baseProp.delayResponceTimeACKMax;
+ cstReaderParams.ACKMaxRetries = d->domainProp.baseProp.ACKMaxRetries;
+ cstReaderParams.repeatActiveQueryTime = d->domainProp.baseProp.repeatActiveQueryTime;
+ cstReaderParams.fullAcknowledge = ORTE_TRUE;
+ CSTReaderInit(d, &d->readerSubscriptions, d->objectEntryOID,
+ OID_READ_SUBS, &cstReaderParams, NULL);
}
//add csChange for WAS
- appSelfParamChanged(d,ORTE_FALSE,ORTE_FALSE,ORTE_FALSE,ORTE_TRUE);
+ appSelfParamChanged(d, ORTE_FALSE, ORTE_FALSE, ORTE_FALSE, ORTE_TRUE);
- debug(30,10) ("ORTEDomainCreate: finished\n");
+ debug(30, 10) ("ORTEDomainCreate: finished\n");
return d;
-err:
- if (!errno_save) errno_save = errno;
+//err:
+ if (!errno_save)
+ errno_save = errno;
/* TODO */
FREE(appParams);
err_sock:
- if (!errno_save) errno_save = errno;
+ if (!errno_save)
+ errno_save = errno;
sock_cleanup(&d->taskRecvUnicastMetatraffic.sock);
sock_cleanup(&d->taskRecvMulticastMetatraffic.sock);
sock_cleanup(&d->taskRecvUnicastUserdata.sock);
}
CDR_codec_release_buffer(&d->taskRecvUnicastMetatraffic.mb.cdrCodec);
err_domainProp:
- if (!errno_save) errno_save = errno;
- pthread_rwlock_init(&d->patternEntry.lock,NULL);
- pthread_rwlock_init(&d->psEntry.subscriptionsLock,NULL);
+ if (!errno_save)
+ errno_save = errno;
+ pthread_rwlock_destroy(&d->patternEntry.lock);
+ pthread_rwlock_destroy(&d->psEntry.subscriptionsLock);
pthread_rwlock_destroy(&d->psEntry.publicationsLock);
pthread_rwlock_destroy(&d->subscriptions.lock);
pthread_rwlock_destroy(&d->publications.lock);
/*****************************************************************************/
Boolean
-ORTEDomainDestroy(ORTEDomain *d,Boolean manager) {
+ORTEDomainDestroy(ORTEDomain *d, Boolean manager)
+{
CSTWriter *cstWriter;
CSTReader *cstReader;
- debug(30,10) ("ORTEDomainDestroy: start\n");
- if (!d) return ORTE_FALSE;
+ debug(30, 10) ("ORTEDomainDestroy: start\n");
+ if (!d)
+ return ORTE_FALSE;
pthread_rwlock_wrlock(&d->objectEntry.objRootLock);
pthread_rwlock_wrlock(&d->objectEntry.htimRootLock);
- appSelfParamChanged(d,ORTE_TRUE,ORTE_TRUE,ORTE_FALSE,ORTE_FALSE);
+ appSelfParamChanged(d, ORTE_TRUE, ORTE_TRUE, ORTE_FALSE, ORTE_FALSE);
pthread_rwlock_unlock(&d->objectEntry.htimRootLock);
pthread_rwlock_unlock(&d->objectEntry.objRootLock);
ORTEDomainRecvThreadStop(&d->taskRecvUnicastUserdata);
ORTEDomainRecvThreadStop(&d->taskRecvMulticastUserdata);
ORTEDomainSendThreadStop(&d->taskSend);
- debug(30,3) ("ORTEDomainDestroy: threads stoped\n");
-
+ debug(30, 3) ("ORTEDomainDestroy: threads stoped\n");
+
//CSTReaders and CSTWriters
- CSTWriterDelete(d,&d->writerApplicationSelf);
- CSTReaderDelete(d,&d->readerManagers);
- CSTReaderDelete(d,&d->readerApplications);
+ CSTWriterDelete(d, &d->writerApplicationSelf);
+ CSTReaderDelete(d, &d->readerManagers);
+ CSTReaderDelete(d, &d->readerApplications);
if (manager) {
- CSTWriterDelete(d,&d->writerManagers);
- CSTWriterDelete(d,&d->writerApplications);
- } else {
- CSTWriterDelete(d,&d->writerPublications);
- CSTWriterDelete(d,&d->writerSubscriptions);
- CSTReaderDelete(d,&d->readerPublications);
- CSTReaderDelete(d,&d->readerSubscriptions);
+ CSTWriterDelete(d, &d->writerManagers);
+ CSTWriterDelete(d, &d->writerApplications);
+ } else {
+ CSTWriterDelete(d, &d->writerPublications);
+ CSTWriterDelete(d, &d->writerSubscriptions);
+ CSTReaderDelete(d, &d->readerPublications);
+ CSTReaderDelete(d, &d->readerSubscriptions);
while ((cstWriter = CSTWriter_cut_first(&d->publications))) {
- CSTWriterDelete(d,cstWriter);
+ CSTWriterDelete(d, cstWriter);
FREE(cstWriter);
- }
+ }
while ((cstReader = CSTReader_cut_first(&d->subscriptions))) {
- CSTReaderDelete(d,cstReader);
+ CSTReaderDelete(d, cstReader);
FREE(cstReader);
}
- }
-
+ }
+
//objects in objectsEntry
- objectEntryDeleteAll(d,&d->objectEntry);
- debug(30,3) ("ORTEDomainDestroy: deleted all objects\n");
+ objectEntryDeleteAll(d, &d->objectEntry);
+ debug(30, 3) ("ORTEDomainDestroy: deleted all objects\n");
//Sockets
sock_cleanup(&d->taskRecvUnicastMetatraffic.sock);
//TypeRegister
ORTETypeRegisterDestroyAll(d);
-
+
//Pattern
ORTEDomainAppSubscriptionPatternDestroy(d);
pthread_rwlock_destroy(&d->patternEntry.lock);
-
- //Release buffers
+
+ //Release buffers
CDR_codec_release_buffer(&d->taskRecvUnicastMetatraffic.mb.cdrCodec);
CDR_codec_release_buffer(&d->taskRecvMulticastMetatraffic.mb.cdrCodec);
CDR_codec_release_buffer(&d->taskRecvUnicastUserdata.mb.cdrCodec);
CDR_codec_release_buffer(&d->taskRecvMulticastUserdata.mb.cdrCodec);
CDR_codec_release_buffer(&d->taskSend.mb.cdrCodec);
-
+
//Free domain instance
FREE(d);
-
- debug(30,10) ("ORTEDomainDestroy: finished\n");
-
+
+ debug(30, 10) ("ORTEDomainDestroy: finished\n");
+
return ORTE_TRUE;
}
projects / orte.git / blobdiff