orte/include/typedefs.h

   1 /*
   2  *  $Id: typedefs.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.smolik@wo.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_H
  31 #define _TYPEDEFS_H
  32
  33 #ifdef __cplusplus
  34 extern "C" {
  35 #endif
  36
  37 typedef struct CSTWriter CSTWriter;               //forward declarations
  38 typedef struct CSTRemoteReader CSTRemoteReader;
  39 typedef struct CSTReader CSTReader;
  40 typedef struct ObjectEntryOID ObjectEntryOID;
  41 typedef struct ObjectEntryHID ObjectEntryHID;
  42 typedef struct ObjectEntryAID ObjectEntryAID;
  43 typedef struct ObjectEntry ObjectEntry;
  44
  45 /**
  46  * struct sock_t -
  47  */
  48 typedef struct sock_t {
  49   int         fd;
  50   uint16_t    port;
  51 } sock_t;
  52
  53 /**
  54  * struct  - MessageBuffer
  55  */
  56 typedef struct MessageBuffer {
  57   CDR_Codec              cdrCodec;
  58   CDR_Codec              *cdrCodecDirect;
  59   Boolean                needSend;
  60   Boolean                containsInfoReply;
  61 } MessageBuffer;
  62 /**
  63  * struct TaskProp -
  64  */
  65 typedef struct TaskProp {
  66   sock_t                 sock;
  67   pthread_t              thread;
  68   Boolean                terminate;
  69   MessageBuffer          mb;
  70   ORTEDomain             *d;
  71 } TaskProp;
  72
  73
  74 /**
  75  * struct typeEntry -
  76  */
  77 typedef struct TypeEntry {
  78   gavl_cust_root_field_t types;        //Types
  79   pthread_rwlock_t       lock;
  80 } TypeEntry;
  81
  82 /**
  83  * struct typeNode -
  84  */
  85 typedef struct TypeNode {
  86   gavl_node_t            node;
  87   ORTETypeRegister       typeRegister;
  88 } TypeNode;
  89
  90 /**
  91  * struct PatternsNode -
  92  */
  93 typedef struct PatternNode {
  94   ul_list_node_t         node;
  95   PathName               topic;
  96   TypeName               type;
  97   ORTESubscriptionPatternCallBack subscriptionCallBack;
  98   void                   *param;
  99 } PatternNode;
 100
 101 /**
 102  * struct PatternEntry -
 103  */
 104 typedef struct PatternEntry {
 105   ul_list_head_t         patterns;
 106   ORTEPatternCheck       check;
 107   ORTEPatternMatch       match;
 108   void                   *param;
 109   pthread_rwlock_t       lock;
 110 } PatternEntry;
 111
 112 /**
 113  * struct AppParams - Manager & ManagedApplication
 114  */
 115 typedef struct AppParams {
 116   HostId                 hostId;
 117   AppId                  appId;
 118   IPAddress              unicastIPAddressList[MAX_INTERFACES];
 119   unsigned char          unicastIPAddressCount;
 120   IPAddress              metatrafficMulticastIPAddressList[MAX_INTERFACES];
 121   unsigned char          metatrafficMulticastIPAddressCount;
 122   IPAddress              managerKeyList[MAX_INTERFACES];//useful only for manager
 123   unsigned char          managerKeyCount;           //useful only for manager
 124   Port                   metatrafficUnicastPort;
 125   Port                   userdataUnicastPort;
 126   VendorId               vendorId;
 127   ProtocolVersion        protocolVersion;
 128   NtpTime                expirationTime;
 129   SequenceNumber         vargAppsSequenceNumber;    //useful only for manager
 130 } AppParams;
 131
 132 typedef void EVH1(ORTEDomain *,ObjectEntryAID *,ul_htim_time_t *);
 133 /**
 134  * struct HTimFncRootNode -
 135  */
 136 typedef struct HTimFncRootNode {
 137   ul_htim_node_t        htim;
 138   const char            *name;
 139   EVH1                  *func;
 140   ObjectEntryAID        *objectEntryAID;
 141 } HTimFncRootNode;
 142
 143 /**
 144  * struct HTimNode -
 145  */
 146 typedef struct HTimNode {
 147   ul_htim_queue_t        common;              //timing queue for a timer function
 148   HTimFncRootNode        commonNode;          //root node
 149   ul_htim_queue_t        sendMetatraffic;     //timing queue for sendMetatraffic
 150   HTimFncRootNode        sendMetatrafficNode; //root node
 151   ul_htim_queue_t        sendUserData;        //timing queue for sendUserData
 152   HTimFncRootNode        sendUserDataNode;    //root node
 153 } HTimNode;
 154
 155 /**
 156  * struct HTimFncUserNode -
 157  */
 158 typedef int EVH2(ORTEDomain *,void *);
 159 typedef struct HTimFncUserNode {
 160   ul_htim_node_t        htim;
 161   const char            *name;
 162   pthread_rwlock_t      *lock; //when a func share params, lock is called before call the func
 163   EVH2                  *func;
 164   void                  *arg1;
 165 } HTimFncUserNode;
 166
 167 /**
 168  * struct ObjectEntry - Tree of objects
 169  */
 170 struct ObjectEntryOID{
 171   gavl_node_t            oidNode;
 172   ObjectId               oid;
 173   GUID_RTPS              guid;         //for easy access to guid
 174   //Object
 175   ObjectEntryAID         *objectEntryAID;
 176   ObjectEntryHID         *objectEntryHID;
 177   void                   *attributes;  //atributes of object
 178   Boolean                appMOM;
 179   Boolean                privateCreated;  //object created by me self app
 180   HTimFncUserNode        expirationPurgeTimer;
 181   //only for private CSTPublication,CSTSubscription
 182   void                   *instance;    //data Codec
 183   ORTERecvCallBack       recvCallBack;
 184   ORTESendCallBack       sendCallBack;
 185   void                   *callBackParam;
 186   NtpTime                sendCallBackDelay;
 187   HTimFncUserNode        sendCallBackDelayTimer;
 188   //only for list of publishers or subscribers
 189   gavl_node_t            psNode;
 190   //multicast
 191   ul_list_head_t         multicastRemoteReaders;
 192   int                    multicastPort;
 193 };
 194 struct ObjectEntryAID {
 195   gavl_node_t            aidNode;
 196   AppId                  aid;
 197   HTimNode               htimUnicast;  //parameters for Unicast
 198   gavl_cust_root_field_t oidRoot;
 199   //just one application 1c1 can be connected to AID
 200   ObjectEntryOID         *aobject;     //application
 201 };
 202 struct ObjectEntryHID{
 203   gavl_node_t            hidNode;
 204   HostId                 hid;
 205   gavl_cust_root_field_t aidRoot;
 206 };
 207 struct ObjectEntry{
 208   gavl_cust_root_field_t objRoot;      //root of tree objects
 209   pthread_rwlock_t       objRootLock;
 210   ul_htim_queue_t        htimRoot;     //root of tree htimers
 211   pthread_rwlock_t       htimRootLock;
 212   pthread_cond_t         htimSendCond; //for wake up
 213   pthread_mutex_t        htimSendMutex;
 214   int                    htimSendCondValue;
 215   Boolean                htimNeedWakeUp;
 216 };
 217
 218 /**
 219  * struct ParameterSequence -
 220  */
 221 typedef struct ParameterSequence {
 222   ul_list_node_t         node;
 223   ParameterId            parameterID;
 224   ParameterLength        parameterLength;
 225   u_char                 parameterLocal[MAX_PARAMETER_LOCAL_LENGTH];
 226   u_char                 *parameter;
 227 } ParameterSequence;
 228
 229 /**
 230  * struct CSChange -
 231  */
 232 typedef struct CSChange {
 233   ul_list_node_t         nodeList;
 234   gavl_node_t            nodeGAVL;
 235   SequenceNumber         sn;
 236   GUID_RTPS              guid;
 237   Boolean                alive;
 238   SequenceNumber         gapSN;  //>0 means sn is in GAP
 239                                  // 1 - sn is gap, 2 - sn,sn+1 are gaps, ...
 240   ul_list_head_t         attributes;
 241   CDR_Codec              cdrCodec; //for issue
 242   //how many times was a cstRemoteWriter acknowledged
 243   ul_list_head_t         writerParticipants;
 244   int                    remoteReaderCount;
 245   int                    remoteReaderBest;
 246   int                    remoteReaderStrict;
 247   //receiving informations
 248   NtpTime                remoteTimePublished;
 249   NtpTime                localTimeReceived;
 250 } CSChange;
 251
 252 /**
 253  * struct CSTWriterParams -
 254  */
 255 typedef struct CSTWriterParams {
 256   unsigned int           registrationRetries;
 257   NtpTime                registrationPeriod;
 258   NtpTime                waitWhileDataUnderwayTime;
 259   NtpTime                repeatAnnounceTime;
 260   NtpTime                delayResponceTime;
 261   NtpTime                refreshPeriod;
 262   unsigned int           HBMaxRetries;
 263   Boolean                fullAcknowledge;
 264 } CSTWriterParams;
 265
 266 /**
 267  * struct CSChangeForReader -
 268  */
 269 typedef struct CSChangeForReader {
 270   gavl_node_t            node;
 271   ul_list_node_t         participantNode;
 272   CSTRemoteReader        *cstRemoteReader;
 273   CSChange               *csChange;
 274   StateMachineChFReader  commStateChFReader;
 275   HTimFncUserNode        waitWhileDataUnderwayTimer;
 276 } CSChangeForReader;
 277
 278 /**
 279  * struct CSTRemoteReader -
 280  */
 281 struct CSTRemoteReader {
 282   gavl_node_t            node;
 283   CSTWriter              *cstWriter;
 284   ObjectEntryOID         *sobject; /* to send object */
 285   ObjectEntryOID         *pobject; /* physical object (for multicast is differnet than sobject) */
 286   GUID_RTPS              guid;
 287
 288   gavl_cust_root_field_t csChangeForReader;
 289   unsigned int           csChangesCounter;
 290
 291   //comm states
 292   StateMachineHB         commStateHB;
 293   StateMachineSend       commStateSend;
 294   unsigned int           commStateToSentCounter;
 295
 296   //timing properties
 297   HTimFncUserNode        delayResponceTimer;
 298   HTimFncUserNode        repeatAnnounceTimer;
 299
 300   unsigned int           HBRetriesCounter;
 301
 302   NtpTime                lastSentIssueTime;
 303
 304   //multicast
 305   ul_list_node_t         multicastNode; //connected into objectEntryOID
 306 };
 307
 308 typedef struct CSTPublications CSTPublications;
 309 /**
 310  * struct CSTWriter -
 311  */
 312 struct CSTWriter {
 313   ORTEDomain             *domain;
 314   gavl_node_t            node;
 315   GUID_RTPS              guid;
 316   ObjectEntryOID         *objectEntryOID;
 317
 318   SequenceNumber         firstSN;
 319   SequenceNumber         lastSN;
 320
 321   CSTWriterParams        params;
 322
 323   ul_list_head_t         csChanges;
 324   unsigned int           csChangesCounter;
 325   gavl_cust_root_field_t cstRemoteReader;
 326   unsigned int           cstRemoteReaderCounter;
 327   pthread_rwlock_t       lock;
 328
 329   HTimFncUserNode        refreshPeriodTimer;
 330
 331   unsigned int           registrationCounter;
 332   HTimFncUserNode        registrationTimer;
 333
 334   //ser./deser. function
 335   ORTETypeRegister       *typeRegister;
 336
 337   //only for CSTPublications
 338   unsigned int           strictReliableCounter;
 339   unsigned int           bestEffortsCounter;
 340   pthread_cond_t         condCSChangeDestroyed; //for wake up
 341   pthread_mutex_t        mutexCSChangeDestroyed;
 342   int                    condValueCSChangeDestroyed;
 343 };
 344
 345 /**
 346  * struct CSTReaderParams -
 347  */
 348 typedef struct CSTReaderParams {
 349   NtpTime                delayResponceTimeMin;
 350   NtpTime                delayResponceTimeMax;
 351   NtpTime                repeatActiveQueryTime;
 352   Boolean                fullAcknowledge;
 353   unsigned int           ACKMaxRetries;
 354 } CSTReaderParams;
 355
 356 /**
 357  * struct CSChangeFromWriter -
 358  */
 359 typedef struct CSChangeFromWriter {
 360   gavl_node_t            node;
 361   CSChange               *csChange;
 362   StateMachineChFWriter  commStateChFWriter;
 363 } CSChangeFromWriter;
 364
 365 /**
 366  * struct CSTRemoteWriter -
 367  */
 368 typedef struct CSTRemoteWriter {
 369   gavl_node_t            node;
 370   CSTReader              *cstReader;
 371   ObjectEntryOID         *spobject;   /* sender, physical object */
 372   GUID_RTPS              guid;
 373
 374   gavl_cust_root_field_t csChangeFromWriter;
 375   unsigned int           csChangesCounter;
 376
 377   SequenceNumber         sn;
 378   SequenceNumber         firstSN;
 379   SequenceNumber         lastSN;
 380
 381   //comm states
 382   StateMachineACK        commStateACK;
 383
 384   //timing properties
 385   HTimFncUserNode        delayResponceTimer;
 386   HTimFncUserNode        repeatActiveQueryTimer;
 387
 388   unsigned int           ACKRetriesCounter;
 389 } CSTRemoteWriter;
 390
 391 typedef struct CSTSubscriptions CSTSubscriptions;
 392 /**
 393  * struct CSTReader -
 394  */
 395 struct CSTReader {
 396   ORTEDomain             *domain;
 397   gavl_node_t            node;
 398   GUID_RTPS              guid;
 399   ObjectEntryOID         *objectEntryOID;
 400
 401   CSTReaderParams        params;
 402
 403   ul_list_head_t         csChanges;
 404   gavl_cust_root_field_t cstRemoteWriter;
 405   unsigned int           cstRemoteWriterCounter;
 406   pthread_rwlock_t       lock;
 407
 408   //ser./deser. function
 409   ORTETypeRegister       *typeRegister;
 410
 411   //only for CSTSubcriptions
 412   CSTRemoteWriter       *cstRemoteWriterSubscribed;
 413   HTimFncUserNode        deadlineTimer;
 414   HTimFncUserNode        persistenceTimer;
 415
 416   unsigned int           strictReliableCounter;
 417   unsigned int           bestEffortsCounter;
 418
 419   Boolean                createdByPattern;
 420 };
 421
 422 /**
 423  * struct CSTPublications -
 424  */
 425 struct CSTPublications {
 426   gavl_cust_root_field_t cstWriter;
 427   pthread_rwlock_t       lock;
 428   uint32_t               counter;
 429 };
 430
 431 /**
 432  * struct CSTSubscriptions -
 433  */
 434 struct CSTSubscriptions {
 435   gavl_cust_root_field_t cstReader;
 436   pthread_rwlock_t       lock;
 437   uint32_t               counter;
 438 };
 439
 440 /**
 441  * struct PSEntry -
 442  */
 443 typedef struct PSEntry {
 444   gavl_cust_root_field_t publications;
 445   pthread_rwlock_t       publicationsLock;
 446   gavl_cust_root_field_t subscriptions;
 447   pthread_rwlock_t       subscriptionsLock;
 448 } PSEntry ;
 449
 450 /**
 451  * struct ORTEDomain -
 452  */
 453 struct ORTEDomain {
 454   uint32_t               domain;      //domain value
 455   GUID_RTPS              guid;        //guid of self application
 456   AppParams              *appParams;  //self parameters (share from objectEntry)
 457   ObjectEntryOID         *objectEntryOID;//entry point for self OID
 458
 459   ////////////////////////////////////////////////////
 460   //variables for tasks
 461   TaskProp               taskRecvUnicastMetatraffic;
 462   TaskProp               taskRecvMulticastMetatraffic;
 463   TaskProp               taskRecvUnicastUserdata;
 464   TaskProp               taskRecvMulticastUserdata;
 465   TaskProp               taskSend;
 466
 467   ////////////////////////////////////////////////////
 468   //databases
 469   TypeEntry              typeEntry;    //db of types
 470   ObjectEntry            objectEntry;  //Objects Tree
 471   PSEntry                psEntry;      //lists of publ/subs
 472   PatternEntry           patternEntry;
 473
 474   ORTEDomainProp         domainProp;
 475   ORTEDomainAppEvents    domainEvents;
 476
 477   ////////////////////////////////////////////////////
 478   //information used by event system
 479   ORTEAppInfo            appInfo;
 480   ORTEPubInfo            pubInfo;
 481   ORTESubInfo            subInfo;
 482
 483   ////////////////////////////////////////////////////
 484   //communication objects
 485   CSTWriter              writerApplicationSelf;  //Manager,App
 486   CSTReader              readerManagers;         //Manager,App
 487   CSTReader              readerApplications;     //Manager,App
 488   CSTWriter              writerManagers;         //Manager
 489   CSTWriter              writerApplications;     //Manager
 490   CSTWriter              writerPublications;     //App
 491   CSTReader              readerPublications;     //App
 492   CSTWriter              writerSubscriptions;    //App
 493   CSTReader              readerSubscriptions;    //App
 494
 495   CSTPublications        publications;           //App
 496   CSTSubscriptions       subscriptions;          //App
 497 };
 498
 499 #ifdef __cplusplus
 500 } /* extern "C"*/
 501 #endif
 502
 503 #endif  /* _TYPEDEFS_H */
 504