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