/*
- * $Id: typedefs.h,v 0.0.0.1 2003/08/21
+ * $Id: typedefs.h,v 0.0.0.1 2003/08/21
*
- * -------------------------------------------------------------------
- * 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
+ * -------------------------------------------------------------------
+ * 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.
- *
+ *
*/
#ifndef _TYPEDEFS_H
#endif
typedef struct CSTWriter CSTWriter; //forward declarations
-typedef struct CSTRemoteReader CSTRemoteReader;
-typedef struct CSTReader CSTReader;
+typedef struct CSTRemoteReader CSTRemoteReader;
+typedef struct CSTReader CSTReader;
typedef struct ObjectEntryOID ObjectEntryOID;
typedef struct ObjectEntryHID ObjectEntryHID;
typedef struct ObjectEntryAID ObjectEntryAID;
-typedef struct ObjectEntry ObjectEntry;
+typedef struct ObjectEntry ObjectEntry;
/**
- * struct sock_t -
+ * struct sock_t -
*/
typedef struct sock_t {
int fd;
* struct - MessageBuffer
*/
typedef struct MessageBuffer {
- CDR_Codec cdrCodec;
+ CDR_Codec cdrCodec;
CDR_Codec *cdrCodecDirect;
Boolean needSend;
Boolean containsInfoReply;
} MessageBuffer;
/**
- * struct TaskProp -
+ * struct TaskProp -
*/
typedef struct TaskProp {
sock_t sock;
pthread_t thread;
Boolean terminate;
- MessageBuffer mb;
- ORTEDomain *d;
+ MessageBuffer mb;
+ ORTEDomain *d;
} TaskProp;
/**
- * struct typeEntry -
+ * struct typeEntry -
*/
typedef struct TypeEntry {
gavl_cust_root_field_t types; //Types
} TypeEntry;
/**
- * struct typeNode -
+ * struct typeNode -
*/
typedef struct TypeNode {
gavl_node_t node;
} TypeNode;
/**
- * struct PatternsNode -
+ * struct PatternsNode -
*/
typedef struct PatternNode {
ul_list_node_t node;
} PatternNode;
/**
- * struct PatternEntry -
+ * struct PatternEntry -
*/
typedef struct PatternEntry {
ul_list_head_t patterns;
void *param;
pthread_rwlock_t lock;
} PatternEntry;
-
+
/**
* struct AppParams - Manager & ManagedApplication
*/
unsigned char unicastIPAddressCount;
IPAddress metatrafficMulticastIPAddressList[MAX_INTERFACES];
unsigned char metatrafficMulticastIPAddressCount;
- IPAddress managerKeyList[MAX_INTERFACES];//useful only for manager
+ IPAddress managerKeyList[MAX_INTERFACES]; //useful only for manager
unsigned char managerKeyCount; //useful only for manager
Port metatrafficUnicastPort;
Port userdataUnicastPort;
SequenceNumber vargAppsSequenceNumber; //useful only for manager
} AppParams;
-typedef void EVH1(ORTEDomain *,ObjectEntryAID *,ul_htim_time_t *);
+typedef void EVH1(ORTEDomain *, ObjectEntryAID *, ul_htim_time_t *);
/**
- * struct HTimFncRootNode -
+ * struct HTimFncRootNode -
*/
typedef struct HTimFncRootNode {
ul_htim_node_t htim;
} HTimFncRootNode;
/**
- * struct HTimNode -
+ * struct HTimNode -
*/
typedef struct HTimNode {
- ul_htim_queue_t common; //timing queue for a timer function
+ ul_htim_queue_t common; //timing queue for a timer function
HTimFncRootNode commonNode; //root node
ul_htim_queue_t sendMetatraffic; //timing queue for sendMetatraffic
HTimFncRootNode sendMetatrafficNode; //root node
} HTimNode;
/**
- * struct HTimFncUserNode -
+ * struct HTimFncUserNode -
*/
-typedef int EVH2(ORTEDomain *,void *);
+typedef int EVH2(ORTEDomain *, void *);
typedef struct HTimFncUserNode {
ul_htim_node_t htim;
const char *name;
void *attributes; //atributes of object
Boolean appMOM;
Boolean privateCreated; //object created by me self app
- HTimFncUserNode expirationPurgeTimer;
+ HTimFncUserNode expirationPurgeTimer;
//only for private CSTPublication,CSTSubscription
void *instance; //data Codec
ORTERecvCallBack recvCallBack;
gavl_node_t psNode;
//multicast
ul_list_head_t multicastRemoteReaders;
- int multicastPort;
+ int multicastPort;
};
struct ObjectEntryAID {
gavl_node_t aidNode;
pthread_rwlock_t objRootLock;
ul_htim_queue_t htimRoot; //root of tree htimers
pthread_rwlock_t htimRootLock;
- pthread_cond_t htimSendCond; //for wake up
- pthread_mutex_t htimSendMutex;
- int htimSendCondValue;
+ pthread_cond_t htimSendCond; //for wake up
+ pthread_mutex_t htimSendMutex;
+ int htimSendCondValue;
Boolean htimNeedWakeUp;
};
/**
- * struct ParameterSequence -
+ * struct ParameterSequence -
*/
typedef struct ParameterSequence {
ul_list_node_t node;
ParameterLength parameterLength;
union {
u_char asStr[MAX_PARAMETER_LOCAL_LENGTH];
- NtpTime asNtpTime;
+ NtpTime asNtpTime;
CORBA_unsigned_long asLong;
- VendorId asVendorId;
- ProtocolVersion asProtocolVersion;
- SequenceNumber asSequenceNumber;
- CORBA_octet asOctet;
- IPAddress asIPAddress;
- Port asPort;
- uint32_t asUInt32;
- TypeChecksum asTypeChecksum;
+ VendorId asVendorId;
+ ProtocolVersion asProtocolVersion;
+ SequenceNumber asSequenceNumber;
+ CORBA_octet asOctet;
+ IPAddress asIPAddress;
+ Port asPort;
+ uint32_t asUInt32;
+ TypeChecksum asTypeChecksum;
} parameterLocal;
u_char *parameter;
-} ParameterSequence;
+} ParameterSequence;
/**
- * struct CSChange -
+ * struct CSChange -
*/
typedef struct CSChange {
ul_list_node_t nodeList;
//receiving informations
NtpTime remoteTimePublished;
NtpTime localTimeReceived;
-} CSChange;
+} CSChange;
/**
- * struct CSTWriterParams -
+ * struct CSTWriterParams -
*/
typedef struct CSTWriterParams {
- unsigned int registrationRetries;
- NtpTime registrationPeriod;
+ unsigned int registrationRetries;
+ NtpTime registrationPeriod;
NtpTime waitWhileDataUnderwayTime;
NtpTime repeatAnnounceTime;
NtpTime delayResponceTime;
} CSTWriterParams;
/**
- * struct CSChangeForReader -
+ * struct CSChangeForReader -
*/
typedef struct CSChangeForReader {
gavl_node_t node;
} CSChangeForReader;
/**
- * struct CSTRemoteReader -
+ * struct CSTRemoteReader -
*/
struct CSTRemoteReader {
gavl_node_t node;
ObjectEntryOID *sobject; /* to send object */
ObjectEntryOID *pobject; /* physical object (for multicast is differnet than sobject) */
GUID_RTPS guid;
-
+
gavl_cust_root_field_t csChangeForReader;
unsigned int csChangesCounter;
//comm states
StateMachineHB commStateHB;
StateMachineSend commStateSend;
- unsigned int commStateToSentCounter;
+ unsigned int commStateToSentCounter;
//timing properties
HTimFncUserNode delayResponceTimer;
HTimFncUserNode repeatAnnounceTimer;
unsigned int HBRetriesCounter;
-
+
NtpTime lastSentIssueTime;
-
+
//multicast
ul_list_node_t multicastNode; //connected into objectEntryOID
};
typedef struct CSTPublications CSTPublications;
/**
- * struct CSTWriter -
+ * struct CSTWriter -
*/
struct CSTWriter {
ORTEDomain *domain;
HTimFncUserNode refreshPeriodTimer;
- unsigned int registrationCounter;
+ unsigned int registrationCounter;
HTimFncUserNode registrationTimer;
-
+
//ser./deser. function
ORTETypeRegister *typeRegister;
-
+
//only for CSTPublications
unsigned int strictReliableCounter;
unsigned int bestEffortsCounter;
- pthread_cond_t condCSChangeDestroyed; //for wake up
- pthread_mutex_t mutexCSChangeDestroyed;
- int condValueCSChangeDestroyed;
+ pthread_cond_t condCSChangeDestroyed; //for wake up
+ pthread_mutex_t mutexCSChangeDestroyed;
+ int condValueCSChangeDestroyed;
};
/**
- * struct CSTReaderParams -
+ * struct CSTReaderParams -
*/
typedef struct CSTReaderParams {
NtpTime delayResponceTimeMin;
} CSTReaderParams;
/**
- * struct CSChangeFromWriter -
+ * struct CSChangeFromWriter -
*/
typedef struct CSChangeFromWriter {
gavl_node_t node;
} CSChangeFromWriter;
/**
- * struct CSTRemoteWriter -
+ * struct CSTRemoteWriter -
*/
typedef struct CSTRemoteWriter {
gavl_node_t node;
CSTReader *cstReader;
ObjectEntryOID *spobject; /* sender, physical object */
GUID_RTPS guid;
-
+
gavl_cust_root_field_t csChangeFromWriter;
unsigned int csChangesCounter;
-
+
SequenceNumber sn;
SequenceNumber firstSN;
SequenceNumber lastSN;
typedef struct CSTSubscriptions CSTSubscriptions;
/**
- * struct CSTReader -
+ * struct CSTReader -
*/
struct CSTReader {
ORTEDomain *domain;
gavl_cust_root_field_t cstRemoteWriter;
unsigned int cstRemoteWriterCounter;
pthread_rwlock_t lock;
-
+
//ser./deser. function
ORTETypeRegister *typeRegister;
-
+
//only for CSTSubcriptions
CSTRemoteWriter *cstRemoteWriterSubscribed;
HTimFncUserNode deadlineTimer;
unsigned int strictReliableCounter;
unsigned int bestEffortsCounter;
-
+
Boolean createdByPattern;
};
/**
- * struct CSTPublications -
+ * struct CSTPublications -
*/
struct CSTPublications {
gavl_cust_root_field_t cstWriter;
- pthread_rwlock_t lock;
- uint32_t counter;
+ pthread_rwlock_t lock;
+ uint32_t counter;
};
-
+
/**
- * struct CSTSubscriptions -
+ * struct CSTSubscriptions -
*/
struct CSTSubscriptions {
gavl_cust_root_field_t cstReader;
- pthread_rwlock_t lock;
- uint32_t counter;
+ pthread_rwlock_t lock;
+ uint32_t counter;
};
/**
- * struct PSEntry -
+ * struct PSEntry -
*/
typedef struct PSEntry {
gavl_cust_root_field_t publications;
- pthread_rwlock_t publicationsLock;
+ pthread_rwlock_t publicationsLock;
gavl_cust_root_field_t subscriptions;
- pthread_rwlock_t subscriptionsLock;
-} PSEntry ;
-
+ pthread_rwlock_t subscriptionsLock;
+} PSEntry;
+
/**
- * struct ORTEDomain -
+ * struct ORTEDomain -
*/
struct ORTEDomain {
uint32_t domain; //domain value
GUID_RTPS guid; //guid of self application
AppParams *appParams; //self parameters (share from objectEntry)
- ObjectEntryOID *objectEntryOID;//entry point for self OID
-
+ ObjectEntryOID *objectEntryOID; //entry point for self OID
+
////////////////////////////////////////////////////
//variables for tasks
TaskProp taskRecvUnicastMetatraffic;
ORTEDomainProp domainProp;
ORTEDomainAppEvents domainEvents;
-
+
////////////////////////////////////////////////////
//information used by event system
ORTEAppInfo appInfo;
ORTEPubInfo pubInfo;
ORTESubInfo subInfo;
-
+
////////////////////////////////////////////////////
- //communication objects
+ //communication objects
CSTWriter writerApplicationSelf; //Manager,App
CSTReader readerManagers; //Manager,App
CSTReader readerApplications; //Manager,App
#endif
#endif /* _TYPEDEFS_H */
-
projects / orte.git / blobdiff