orte/include/typedefs.h

   1 /*
   2  *  $Id: typedefs.h,v 0.0.0.1           2003/08/21
   3  *
   4  *  AUTHOR: Petr Smolik                 petr.smolik@wo.cz
   5  *
   6  *  ORTE - OCERA Real-Time Ethernet     http://www.ocera.org/
   7  *  --------------------------------------------------------------------
   8  *
   9  *  This program is free software; you can redistribute it and/or modify
  10  *  it under the terms of the GNU General Public License as published by
  11  *  the Free Software Foundation; either version 2 of the License, or
  12  *  (at your option) any later version.
  13  *
  14  *  This program is distributed in the hope that it will be useful,
  15  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
  16  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  17  *  GNU General Public License for more details.
  18  *
  19  */
  20
  21 #ifndef _TYPEDEFS_H
  22 #define _TYPEDEFS_H
  23
  24 #ifdef __cplusplus
  25 extern "C" {
  26 #endif
  27
  28 typedef struct CSTWriter CSTWriter;               //forward declarations
  29 typedef struct CSTReader CSTReader;
  30 typedef struct ObjectEntryOID ObjectEntryOID;
  31 typedef struct ObjectEntryHID ObjectEntryHID;
  32 typedef struct ObjectEntryAID ObjectEntryAID;
  33 typedef struct ObjectEntry ObjectEntry;
  34
  35 /**
  36  * struct sock_t -
  37  */
  38 typedef struct sock_t {
  39   int         fd;
  40   uint16_t    port;
  41 } sock_t;
  42
  43 /**
  44  * struct  - MessageBuffer
  45  */
  46 typedef struct MessageBuffer {
  47   ORTECDRStream          cdrStream;
  48   ORTECDRStream          *cdrStreamDirect;
  49   Boolean                needSend;
  50   Boolean                containsInfoReply;
  51 } MessageBuffer;
  52 /**
  53  * struct TaskProp -
  54  */
  55 typedef struct TaskProp {
  56   sock_t                 sock;
  57   pthread_t              thread;
  58   Boolean                terminate;
  59 } TaskProp;
  60
  61
  62 /**
  63  * struct typeEntry -
  64  */
  65 typedef struct TypeEntry {
  66   gavl_cust_root_field_t types;        //Types
  67   pthread_rwlock_t       lock;
  68 } TypeEntry;
  69
  70 /**
  71  * struct typeNode -
  72  */
  73 typedef struct TypeNode {
  74   gavl_node_t            node;
  75   ORTETypeRegister       typeRegister;
  76 } TypeNode;
  77
  78 /**
  79  * struct PatternsNode -
  80  */
  81 typedef struct PatternNode {
  82   ul_list_node_t         node;
  83   PathName               topic;
  84   TypeName               type;
  85   ORTESubscriptionPatternCallBack subscriptionCallBack;
  86   void                   *param;
  87 } PatternNode;
  88
  89 /**
  90  * struct PatternEntry -
  91  */
  92 typedef struct PatternEntry {
  93   ul_list_head_t         patterns;
  94   ORTEPatternCheck       check;
  95   ORTEPatternMatch       match;
  96   void                   *param;
  97   pthread_rwlock_t       lock;
  98 } PatternEntry;
  99
 100 /**
 101  * struct AppParams - Manager & ManagedApplication
 102  */
 103 typedef struct AppParams {
 104   HostId                 hostId;
 105   AppId                  appId;
 106   IPAddress              unicastIPAddressList[MAX_INTERFACES];
 107   unsigned char          unicastIPAddressCount;
 108   IPAddress              metatrafficMulticastIPAddressList[MAX_INTERFACES];
 109   unsigned char          metatrafficMulticastIPAddressCount;
 110   IPAddress              managerKeyList[MAX_INTERFACES];//useful only for manager
 111   unsigned char          managerKeyCount;           //useful only for manager
 112   Port                   metatrafficUnicastPort;
 113   Port                   userdataUnicastPort;
 114   VendorId               vendorId;
 115   ProtocolVersion        protocolVersion;
 116   NtpTime                expirationTime;
 117   SequenceNumber         vargAppsSequenceNumber;    //useful only for manager
 118 } AppParams;
 119
 120 typedef void EVH1(ORTEDomain *,ObjectEntryAID *,ul_htim_time_t *);
 121 /**
 122  * struct HTimFncRootNode -
 123  */
 124 typedef struct HTimFncRootNode {
 125   ul_htim_node_t        htim;
 126   const char            *name;
 127   EVH1                  *func;
 128   ObjectEntryAID        *objectEntryAID;
 129 } HTimFncRootNode;
 130
 131 /**
 132  * struct HTimNode -
 133  */
 134 typedef struct HTimNode {
 135   ul_htim_queue_t        common;              //timing queue for a timer function
 136   HTimFncRootNode        commonNode;          //root node
 137   ul_htim_queue_t        sendMetatraffic;     //timing queue for sendMetatraffic
 138   HTimFncRootNode        sendMetatrafficNode; //root node
 139   ul_htim_queue_t        sendUserData;        //timing queue for sendUserData
 140   HTimFncRootNode        sendUserDataNode;    //root node
 141 } HTimNode;
 142
 143 /**
 144  * struct HTimFncUserNode -
 145  */
 146 typedef int EVH2(ORTEDomain *,void *);
 147 typedef struct HTimFncUserNode {
 148   ul_htim_node_t        htim;
 149   const char            *name;
 150   pthread_rwlock_t      *lock; //when func share params, lock is called before call the func
 151   EVH2                  *func;
 152   void                  *arg1;
 153 } HTimFncUserNode;
 154
 155 /**
 156  * struct ObjectEntry - Tree of objects
 157  */
 158 struct ObjectEntryOID{
 159   gavl_node_t            oidNode;
 160   ObjectId               oid;
 161   GUID_RTPS              guid;         //for easy access to guid
 162   //Object
 163   ObjectEntryAID         *objectEntryAID;
 164   ObjectEntryHID         *objectEntryHID;
 165   void                   *attributes;  //atributes of object
 166   Boolean                appMOM;
 167   Boolean                privateCreated;  //object created by me self app
 168   HTimFncUserNode              expirationPurgeTimer;
 169   //only for private CSTPublication,CSTSubscription
 170   void                   *instance;    //data stream
 171   ORTERecvCallBack       recvCallBack;
 172   ORTESendCallBack       sendCallBack;
 173   void                   *callBackParam;
 174   NtpTime                sendCallBackDelay;
 175   HTimFncUserNode              sendCallBackDelayTimer;
 176   //only for list of publishers or subscribers
 177   gavl_node_t            psNode;
 178 };
 179 struct ObjectEntryAID {
 180   gavl_node_t            aidNode;
 181   AppId                  aid;
 182   HTimNode               htimUnicast;  //parameters for Unicast
 183   gavl_cust_root_field_t oidRoot;
 184 };
 185 struct ObjectEntryHID{
 186   gavl_node_t            hidNode;
 187   HostId                 hid;
 188   gavl_cust_root_field_t aidRoot;
 189 };
 190 struct ObjectEntry{
 191   gavl_cust_root_field_t objRoot;      //root of tree objects
 192   pthread_rwlock_t       objRootLock;
 193   ul_htim_queue_t        htimRoot;     //root of tree htimers
 194   pthread_rwlock_t       htimRootLock;
 195   pthread_cond_t         htimSendCond; //for wake up
 196   pthread_mutex_t        htimSendMutex;
 197   int                    htimSendCondValue;
 198   Boolean                htimNeedWakeUp;
 199 };
 200
 201 /**
 202  * struct ParameterSequence -
 203  */
 204 typedef struct ParameterSequence {
 205   ul_list_node_t         node;
 206   ParameterId            parameterID;
 207   ParameterLength        parameterLength;
 208   u_char                 parameterLocal[MAX_PARAMETER_LOCAL_LENGTH];
 209   u_char                 *parameter;
 210 } ParameterSequence;
 211
 212 /**
 213  * struct CSChange -
 214  */
 215 typedef struct CSChange {
 216   ul_list_node_t         nodeList;
 217   gavl_node_t            nodeGAVL;
 218   SequenceNumber         sn;
 219   GUID_RTPS              guid;
 220   Boolean                alive;
 221   SequenceNumber         gapSN;  //>0 means sn is in GAP
 222                                  // 1 - sn is gap, 2 - sn,sn+1 are gaps, ...
 223   ul_list_head_t         attributes;
 224   ORTECDRStream          cdrStream; //for issue
 225   //how many times was a cstRemoteWriter acknowledged
 226   int                    remoteReaderCount;
 227   int                    remoteReaderBest;
 228   int                    remoteReaderStrict;
 229   //receiving informations
 230   NtpTime                remoteTimePublished;
 231   NtpTime                localTimeReceived;
 232 } CSChange;
 233
 234 /**
 235  * struct CSTWriterParams -
 236  */
 237 typedef struct CSTWriterParams {
 238   NtpTime                waitWhileDataUnderwayTime;
 239   NtpTime                repeatAnnounceTime;
 240   NtpTime                delayResponceTime;
 241   NtpTime                refreshPeriod;
 242   unsigned int           HBMaxRetries;
 243   Boolean                fullAcknowledge;
 244 } CSTWriterParams;
 245
 246 /**
 247  * struct CSChangeForReader -
 248  */
 249 typedef struct CSChangeForReader {
 250   gavl_node_t            node;
 251   CSChange               *csChange;
 252   StateMachineChFReader  commStateChFReader;
 253   HTimFncUserNode        waitWhileDataUnderwayTimer;
 254 } CSChangeForReader;
 255
 256 /**
 257  * struct CSTRemoteReader -
 258  */
 259 typedef struct CSTRemoteReader {
 260   gavl_node_t            node;
 261   CSTWriter              *cstWriter;
 262   ObjectEntryOID         *objectEntryOID;
 263   GUID_RTPS              guid;
 264
 265   gavl_cust_root_field_t csChangeForReader;
 266   unsigned int           csChangesCounter;
 267
 268   //comm states
 269   StateMachineHB         commStateHB;
 270   StateMachineSend       commStateSend;
 271
 272   //timing properties
 273   HTimFncUserNode        delayResponceTimer;
 274   HTimFncUserNode        repeatAnnounceTimer;
 275
 276   unsigned int           HBRetriesCounter;
 277
 278   NtpTime                lastSentIssueTime;
 279 } CSTRemoteReader;
 280
 281 typedef struct CSTPublications CSTPublications;
 282 /**
 283  * struct CSTWriter -
 284  */
 285 struct CSTWriter {
 286   ORTEDomain             *domain;
 287   gavl_node_t            node;
 288   GUID_RTPS              guid;
 289   ObjectEntryOID         *objectEntryOID;
 290
 291   SequenceNumber         firstSN;
 292   SequenceNumber         lastSN;
 293
 294   CSTWriterParams        params;
 295
 296   ul_list_head_t         csChanges;
 297   unsigned int           csChangesCounter;
 298   gavl_cust_root_field_t cstRemoteReader;
 299   unsigned int           cstRemoteReaderCounter;
 300   pthread_rwlock_t       lock;
 301
 302   HTimFncUserNode        refreshPeriodTimer;
 303
 304   //ser./deser. function
 305   ORTETypeRegister       *typeRegister;
 306
 307   //only for CSTPublications
 308   unsigned int           strictReliableCounter;
 309   unsigned int           bestEffortsCounter;
 310   pthread_cond_t         condCSChangeDestroyed; //for wake up
 311   pthread_mutex_t        mutexCSChangeDestroyed;
 312   int                    condValueCSChangeDestroyed;
 313 };
 314
 315 /**
 316  * struct CSTReaderParams -
 317  */
 318 typedef struct CSTReaderParams {
 319   NtpTime                delayResponceTimeMin;
 320   NtpTime                delayResponceTimeMax;
 321   NtpTime                repeatActiveQueryTime;
 322   Boolean                fullAcknowledge;
 323   unsigned int           ACKMaxRetries;
 324 } CSTReaderParams;
 325
 326 /**
 327  * struct CSChangeFromWriter -
 328  */
 329 typedef struct CSChangeFromWriter {
 330   gavl_node_t            node;
 331   CSChange               *csChange;
 332   StateMachineChFWriter  commStateChFWriter;
 333 } CSChangeFromWriter;
 334
 335 /**
 336  * struct CSTRemoteWriter -
 337  */
 338 typedef struct CSTRemoteWriter {
 339   gavl_node_t            node;
 340   CSTReader              *cstReader;
 341   ObjectEntryOID         *objectEntryOID;
 342   GUID_RTPS              guid;
 343
 344   gavl_cust_root_field_t csChangeFromWriter;
 345   unsigned int           csChangesCounter;
 346
 347   SequenceNumber         sn;
 348   SequenceNumber         firstSN;
 349   SequenceNumber         lastSN;
 350
 351   //comm states
 352   StateMachineACK        commStateACK;
 353
 354   //timing properties
 355   HTimFncUserNode        delayResponceTimer;
 356   HTimFncUserNode        repeatActiveQueryTimer;
 357
 358   unsigned int           ACKRetriesCounter;
 359 } CSTRemoteWriter;
 360
 361 typedef struct CSTSubscriptions CSTSubscriptions;
 362 /**
 363  * struct CSTReader -
 364  */
 365 struct CSTReader {
 366   ORTEDomain             *domain;
 367   gavl_node_t            node;
 368   GUID_RTPS              guid;
 369   ObjectEntryOID         *objectEntryOID;
 370
 371   CSTReaderParams        params;
 372
 373   ul_list_head_t         csChanges;
 374   gavl_cust_root_field_t cstRemoteWriter;
 375   unsigned int           cstRemoteWriterCounter;
 376   pthread_rwlock_t       lock;
 377
 378   //ser./deser. function
 379   ORTETypeRegister       *typeRegister;
 380
 381   //only for CSTSubcriptions
 382   CSTRemoteWriter       *cstRemoteWriterSubscribed;
 383   HTimFncUserNode        deadlineTimer;
 384   HTimFncUserNode        persistenceTimer;
 385
 386   unsigned int           strictReliableCounter;
 387   unsigned int           bestEffortsCounter;
 388
 389   Boolean                createdByPattern;
 390 };
 391
 392 /**
 393  * struct CSTPublications -
 394  */
 395 struct CSTPublications {
 396   gavl_cust_root_field_t cstWriter;
 397   pthread_rwlock_t       lock;
 398   uint32_t               counter;
 399 };
 400
 401 /**
 402  * struct CSTSubscriptions -
 403  */
 404 struct CSTSubscriptions {
 405   gavl_cust_root_field_t cstReader;
 406   pthread_rwlock_t       lock;
 407   uint32_t               counter;
 408 };
 409
 410 /**
 411  * struct PSEntry -
 412  */
 413 typedef struct PSEntry {
 414   gavl_cust_root_field_t publications;
 415   pthread_rwlock_t       publicationsLock;
 416   gavl_cust_root_field_t subscriptions;
 417   pthread_rwlock_t       subscriptionsLock;
 418 } PSEntry ;
 419
 420 /**
 421  * struct ORTEDomain -
 422  */
 423 struct ORTEDomain {
 424   uint32_t               domain;      //domain value
 425   GUID_RTPS              guid;        //guid of self application
 426   AppParams              *appParams;  //self parameters (share from objectEntry)
 427   ObjectEntryOID         *objectEntryOID;//entry point for self OID
 428
 429   ////////////////////////////////////////////////////
 430   //variables for tasks
 431   TaskProp               taskRecvMetatraffic;
 432   MessageBuffer          mbRecvMetatraffic;
 433   TaskProp               taskSend;
 434   MessageBuffer          mbSend;
 435   TaskProp               taskRecvUserdata;
 436   MessageBuffer          mbRecvUserdata;
 437
 438   ////////////////////////////////////////////////////
 439   //databases
 440   TypeEntry              typeEntry;    //db of types
 441   ObjectEntry            objectEntry;  //Objects Tree
 442   PSEntry                psEntry;      //lists of publ/subs
 443   PatternEntry           patternEntry;
 444
 445   ORTEDomainProp         domainProp;
 446   ORTEDomainAppEvents    domainEvents;
 447
 448   ////////////////////////////////////////////////////
 449   //information used by event system
 450   ORTEAppInfo            appInfo;
 451   ORTEPubInfo            pubInfo;
 452   ORTESubInfo            subInfo;
 453
 454   ////////////////////////////////////////////////////
 455   //communication objects
 456   CSTWriter              writerApplicationSelf;  //Manager,App
 457   CSTReader              readerManagers;         //Manager,App
 458   CSTReader              readerApplications;     //Manager,App
 459   CSTWriter              writerManagers;         //Manager
 460   CSTWriter              writerApplications;     //Manager
 461   CSTWriter              writerPublications;     //App
 462   CSTReader              readerPublications;     //App
 463   CSTWriter              writerSubscriptions;    //App
 464   CSTReader              readerSubscriptions;    //App
 465
 466   CSTPublications        publications;           //App
 467   CSTSubscriptions       subscriptions;          //App
 468 };
 469
 470 #ifdef __cplusplus
 471 } /* extern "C"*/
 472 #endif
 473
 474 #endif  /* _TYPEDEFS_H */
 475