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   u_int16_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                private;      //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_mutex_t        htimSendMutex; //for wake up
 196   Boolean                htimNeedWakeUp;
 197 };
 198
 199 /**
 200  * struct ParameterSequence -
 201  */
 202 typedef struct ParameterSequence {
 203   ul_list_node_t         node;
 204   ParameterId            parameterID;
 205   ParameterLength        parameterLength;
 206   u_char                 parameterLocal[MAX_PARAMETER_LOCAL_LENGTH];
 207   u_char                 *parameter;
 208 } ParameterSequence;
 209
 210 /**
 211  * struct CSChange -
 212  */
 213 typedef struct CSChange {
 214   ul_list_node_t         nodeList;
 215   gavl_node_t            nodeGAVL;
 216   SequenceNumber         sn;
 217   GUID_RTPS              guid;
 218   Boolean                alive;
 219   SequenceNumber         gapSN;  //>0 means sn is in GAP
 220                                  // 1 - sn is gap, 2 - sn,sn+1 are gaps, ...
 221   ul_list_head_t         attributes;
 222   ORTECDRStream          cdrStream; //for issue
 223   //how many times was a cstRemoteWriter acknowledged
 224   int                    remoteReaderCount;
 225   int                    remoteReaderProcBest;
 226   int                    remoteReaderProcStrict;
 227   //receiving informations
 228   NtpTime                remoteTimePublished;
 229   NtpTime                localTimeReceived;
 230 } CSChange;
 231
 232 /**
 233  * struct CSTWriterParams -
 234  */
 235 typedef struct CSTWriterParams {
 236   NtpTime                waitWhileDataUnderwayTime;
 237   NtpTime                repeatAnnounceTime;
 238   NtpTime                delayResponceTime;
 239   NtpTime                refreshPeriod;
 240   unsigned int           HBMaxRetries;
 241   Boolean                fullAcknowledge;
 242 } CSTWriterParams;
 243
 244 /**
 245  * struct CSChangeForReader -
 246  */
 247 typedef struct CSChangeForReader {
 248   gavl_node_t            node;
 249   CSChange               *csChange;
 250   StateMachineChFReader  commStateChFReader;
 251   HTimFncUserNode        waitWhileDataUnderwayTimer;
 252 } CSChangeForReader;
 253
 254 /**
 255  * struct CSTRemoteReader -
 256  */
 257 typedef struct CSTRemoteReader {
 258   gavl_node_t            node;
 259   CSTWriter              *cstWriter;
 260   ObjectEntryOID         *objectEntryOID;
 261   GUID_RTPS              guid;
 262
 263   gavl_cust_root_field_t csChangeForReader;
 264   int                    csChangesCounter;
 265
 266   //comm states
 267   StateMachineHB         commStateHB;
 268   StateMachineSend       commStateSend;
 269
 270   //timing properties
 271   HTimFncUserNode        delayResponceTimer;
 272   HTimFncUserNode        repeatAnnounceTimer;
 273
 274   unsigned int           HBRetriesCounter;
 275
 276   NtpTime                lastSentIssueTime;
 277 } CSTRemoteReader;
 278
 279 typedef struct CSTPublications CSTPublications;
 280 /**
 281  * struct CSTWriter -
 282  */
 283 struct CSTWriter {
 284   ORTEDomain             *domain;
 285   gavl_node_t            node;
 286   GUID_RTPS              guid;
 287   ObjectEntryOID         *objectEntryOID;
 288
 289   SequenceNumber         firstSN;
 290   SequenceNumber         lastSN;
 291
 292   CSTWriterParams        params;
 293
 294   ul_list_head_t         csChanges;
 295   int                    csChangesCounter;
 296   gavl_cust_root_field_t cstRemoteReader;
 297   int                    cstRemoteReaderCounter;
 298   pthread_rwlock_t       lock;
 299
 300   HTimFncUserNode        refreshPeriodTimer;
 301
 302   //ser./deser. function
 303   ORTETypeRegister       *typeRegister;
 304
 305   //only for CSTPublications
 306   unsigned int           strictReliableCounter;
 307   unsigned int           bestEffortsCounter;
 308   pthread_mutex_t        mutexCSChangeDestroyed;
 309 };
 310
 311 /**
 312  * struct CSTReaderParams -
 313  */
 314 typedef struct CSTReaderParams {
 315   NtpTime                delayResponceTimeMin;
 316   NtpTime                delayResponceTimeMax;
 317   NtpTime                repeatActiveQueryTime;
 318   Boolean                fullAcknowledge;
 319   unsigned int           ACKMaxRetries;
 320 } CSTReaderParams;
 321
 322 /**
 323  * struct CSChangeFromWriter -
 324  */
 325 typedef struct CSChangeFromWriter {
 326   gavl_node_t            node;
 327   CSChange               *csChange;
 328   StateMachineChFWriter  commStateChFWriter;
 329 } CSChangeFromWriter;
 330
 331 /**
 332  * struct CSTRemoteWriter -
 333  */
 334 typedef struct CSTRemoteWriter {
 335   gavl_node_t            node;
 336   CSTReader              *cstReader;
 337   ObjectEntryOID         *objectEntryOID;
 338   GUID_RTPS              guid;
 339
 340   gavl_cust_root_field_t csChangeFromWriter;
 341   int                    csChangesCounter;
 342
 343   SequenceNumber         sn;
 344   SequenceNumber         firstSN;
 345   SequenceNumber         lastSN;
 346
 347   //comm states
 348   StateMachineACK        commStateACK;
 349
 350   //timing properties
 351   HTimFncUserNode        delayResponceTimer;
 352   HTimFncUserNode        repeatActiveQueryTimer;
 353
 354   int                    ACKRetriesCounter;
 355 } CSTRemoteWriter;
 356
 357 typedef struct CSTSubscriptions CSTSubscriptions;
 358 /**
 359  * struct CSTReader -
 360  */
 361 struct CSTReader {
 362   ORTEDomain             *domain;
 363   gavl_node_t            node;
 364   GUID_RTPS              guid;
 365   ObjectEntryOID         *objectEntryOID;
 366
 367   CSTReaderParams        params;
 368
 369   ul_list_head_t         csChanges;
 370   gavl_cust_root_field_t cstRemoteWriter;
 371   int                    cstRemoteWriterCounter;
 372   pthread_rwlock_t       lock;
 373
 374   //ser./deser. function
 375   ORTETypeRegister       *typeRegister;
 376
 377   //only for CSTSubcriptions
 378   CSTRemoteWriter       *cstRemoteWriterSubscribed;
 379   HTimFncUserNode        deadlineTimer;
 380   HTimFncUserNode        persistenceTimer;
 381
 382   unsigned int           strictReliableCounter;
 383   unsigned int           bestEffortsCounter;
 384
 385   Boolean                createdByPattern;
 386 };
 387
 388 /**
 389  * struct CSTPublications -
 390  */
 391 struct CSTPublications {
 392   gavl_cust_root_field_t cstWriter;
 393   pthread_rwlock_t       lock;
 394   u_int32_t              counter;
 395 };
 396
 397 /**
 398  * struct CSTSubscriptions -
 399  */
 400 struct CSTSubscriptions {
 401   gavl_cust_root_field_t cstReader;
 402   pthread_rwlock_t       lock;
 403   u_int32_t              counter;
 404 };
 405
 406 /**
 407  * struct PSEntry -
 408  */
 409 typedef struct PSEntry {
 410   gavl_cust_root_field_t publications;
 411   pthread_rwlock_t       publicationsLock;
 412   gavl_cust_root_field_t subscriptions;
 413   pthread_rwlock_t       subscriptionsLock;
 414 } PSEntry ;
 415
 416 /**
 417  * struct ORTEDomain -
 418  */
 419 struct ORTEDomain {
 420   u_int32_t              domain;      //domain value
 421   GUID_RTPS              guid;        //guid of self application
 422   AppParams              *appParams;  //self parameters (share from objectEntry)
 423   ObjectEntryOID         *objectEntryOID;//entry point for self OID
 424
 425   ////////////////////////////////////////////////////
 426   //variables for tasks
 427   TaskProp               taskRecvMetatraffic;
 428   MessageBuffer          mbRecvMetatraffic;
 429   TaskProp               taskSend;
 430   MessageBuffer          mbSend;
 431   TaskProp               taskRecvUserdata;
 432   MessageBuffer          mbRecvUserdata;
 433
 434   ////////////////////////////////////////////////////
 435   //databases
 436   TypeEntry              typeEntry;    //db of types
 437   ObjectEntry            objectEntry;  //Objects Tree
 438   PSEntry                psEntry;      //lists of publ/subs
 439   PatternEntry           patternEntry;
 440
 441   ORTEDomainProp         domainProp;
 442   ORTEDomainAppEvents    domainEvents;
 443
 444   ////////////////////////////////////////////////////
 445   //information used by event system
 446   ORTEAppInfo            appInfo;
 447   ORTEPubInfo            pubInfo;
 448   ORTESubInfo            subInfo;
 449
 450   ////////////////////////////////////////////////////
 451   //default properties for a Publication and Subscription
 452   ORTEPublProp           publPropDefault;
 453   ORTESubsProp           subsPropDefault;
 454
 455   ////////////////////////////////////////////////////
 456   //communication objects
 457   CSTWriter              writerApplicationSelf;  //Manager,App
 458   CSTReader              readerManagers;         //Manager,App
 459   CSTReader              readerApplications;     //Manager,App
 460   CSTWriter              writerManagers;         //Manager
 461   CSTWriter              writerApplications;     //Manager
 462   CSTWriter              writerPublications;     //App
 463   CSTReader              readerPublications;     //App
 464   CSTWriter              writerSubscriptions;    //App
 465   CSTReader              readerSubscriptions;    //App
 466
 467   CSTPublications        publications;           //App
 468   CSTSubscriptions       subscriptions;          //App
 469 };
 470
 471 #ifdef __cplusplus
 472 } /* extern "C"*/
 473 #endif
 474
 475 #endif  /* _TYPEDEFS_H */
 476