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   union {
 226     u_char               asStr[MAX_PARAMETER_LOCAL_LENGTH];
 227     NtpTime              asNtpTime;
 228     CORBA_unsigned_long  asLong;
 229     VendorId             asVendorId;
 230     ProtocolVersion      asProtocolVersion;
 231     SequenceNumber       asSequenceNumber;
 232     CORBA_octet          asOctet;
 233     IPAddress            asIPAddress;
 234     Port                 asPort;
 235     uint32_t             asUInt32;
 236     TypeChecksum         asTypeChecksum;
 237   } parameterLocal;
 238   u_char                 *parameter;
 239 } ParameterSequence;
 240
 241 /**
 242  * struct CSChange -
 243  */
 244 typedef struct CSChange {
 245   ul_list_node_t         nodeList;
 246   gavl_node_t            nodeGAVL;
 247   SequenceNumber         sn;
 248   GUID_RTPS              guid;
 249   Boolean                alive;
 250   SequenceNumber         gapSN;  //>0 means sn is in GAP
 251                                  // 1 - sn is gap, 2 - sn,sn+1 are gaps, ...
 252   ul_list_head_t         attributes;
 253   CDR_Codec              cdrCodec; //for issue
 254   //how many times was a cstRemoteWriter acknowledged
 255   ul_list_head_t         writerParticipants;
 256   int                    remoteReaderCount;
 257   int                    remoteReaderBest;
 258   int                    remoteReaderStrict;
 259   //receiving informations
 260   NtpTime                remoteTimePublished;
 261   NtpTime                localTimeReceived;
 262 } CSChange;
 263
 264 /**
 265  * struct CSTWriterParams -
 266  */
 267 typedef struct CSTWriterParams {
 268   unsigned int           registrationRetries;
 269   NtpTime                registrationPeriod;
 270   NtpTime                waitWhileDataUnderwayTime;
 271   NtpTime                repeatAnnounceTime;
 272   NtpTime                delayResponceTime;
 273   NtpTime                refreshPeriod;
 274   unsigned int           HBMaxRetries;
 275   Boolean                fullAcknowledge;
 276 } CSTWriterParams;
 277
 278 /**
 279  * struct CSChangeForReader -
 280  */
 281 typedef struct CSChangeForReader {
 282   gavl_node_t            node;
 283   ul_list_node_t         participantNode;
 284   CSTRemoteReader        *cstRemoteReader;
 285   CSChange               *csChange;
 286   StateMachineChFReader  commStateChFReader;
 287   HTimFncUserNode        waitWhileDataUnderwayTimer;
 288 } CSChangeForReader;
 289
 290 /**
 291  * struct CSTRemoteReader -
 292  */
 293 struct CSTRemoteReader {
 294   gavl_node_t            node;
 295   CSTWriter              *cstWriter;
 296   ObjectEntryOID         *sobject; /* to send object */
 297   ObjectEntryOID         *pobject; /* physical object (for multicast is differnet than sobject) */
 298   GUID_RTPS              guid;
 299
 300   gavl_cust_root_field_t csChangeForReader;
 301   unsigned int           csChangesCounter;
 302
 303   //comm states
 304   StateMachineHB         commStateHB;
 305   StateMachineSend       commStateSend;
 306   unsigned int           commStateToSentCounter;
 307
 308   //timing properties
 309   HTimFncUserNode        delayResponceTimer;
 310   HTimFncUserNode        repeatAnnounceTimer;
 311
 312   unsigned int           HBRetriesCounter;
 313
 314   NtpTime                lastSentIssueTime;
 315
 316   //multicast
 317   ul_list_node_t         multicastNode; //connected into objectEntryOID
 318 };
 319
 320 typedef struct CSTPublications CSTPublications;
 321 /**
 322  * struct CSTWriter -
 323  */
 324 struct CSTWriter {
 325   ORTEDomain             *domain;
 326   gavl_node_t            node;
 327   GUID_RTPS              guid;
 328   ObjectEntryOID         *objectEntryOID;
 329
 330   SequenceNumber         firstSN;
 331   SequenceNumber         lastSN;
 332
 333   CSTWriterParams        params;
 334
 335   ul_list_head_t         csChanges;
 336   unsigned int           csChangesCounter;
 337   gavl_cust_root_field_t cstRemoteReader;
 338   unsigned int           cstRemoteReaderCounter;
 339   pthread_rwlock_t       lock;
 340
 341   HTimFncUserNode        refreshPeriodTimer;
 342
 343   unsigned int           registrationCounter;
 344   HTimFncUserNode        registrationTimer;
 345
 346   //ser./deser. function
 347   ORTETypeRegister       *typeRegister;
 348
 349   //only for CSTPublications
 350   unsigned int           strictReliableCounter;
 351   unsigned int           bestEffortsCounter;
 352   pthread_cond_t         condCSChangeDestroyed; //for wake up
 353   pthread_mutex_t        mutexCSChangeDestroyed;
 354   int                    condValueCSChangeDestroyed;
 355 };
 356
 357 /**
 358  * struct CSTReaderParams -
 359  */
 360 typedef struct CSTReaderParams {
 361   NtpTime                delayResponceTimeMin;
 362   NtpTime                delayResponceTimeMax;
 363   NtpTime                repeatActiveQueryTime;
 364   Boolean                fullAcknowledge;
 365   unsigned int           ACKMaxRetries;
 366 } CSTReaderParams;
 367
 368 /**
 369  * struct CSChangeFromWriter -
 370  */
 371 typedef struct CSChangeFromWriter {
 372   gavl_node_t            node;
 373   CSChange               *csChange;
 374   StateMachineChFWriter  commStateChFWriter;
 375 } CSChangeFromWriter;
 376
 377 /**
 378  * struct CSTRemoteWriter -
 379  */
 380 typedef struct CSTRemoteWriter {
 381   gavl_node_t            node;
 382   CSTReader              *cstReader;
 383   ObjectEntryOID         *spobject;   /* sender, physical object */
 384   GUID_RTPS              guid;
 385
 386   gavl_cust_root_field_t csChangeFromWriter;
 387   unsigned int           csChangesCounter;
 388
 389   SequenceNumber         sn;
 390   SequenceNumber         firstSN;
 391   SequenceNumber         lastSN;
 392
 393   //comm states
 394   StateMachineACK        commStateACK;
 395
 396   //timing properties
 397   HTimFncUserNode        delayResponceTimer;
 398   HTimFncUserNode        repeatActiveQueryTimer;
 399
 400   unsigned int           ACKRetriesCounter;
 401 } CSTRemoteWriter;
 402
 403 typedef struct CSTSubscriptions CSTSubscriptions;
 404 /**
 405  * struct CSTReader -
 406  */
 407 struct CSTReader {
 408   ORTEDomain             *domain;
 409   gavl_node_t            node;
 410   GUID_RTPS              guid;
 411   ObjectEntryOID         *objectEntryOID;
 412
 413   CSTReaderParams        params;
 414
 415   ul_list_head_t         csChanges;
 416   gavl_cust_root_field_t cstRemoteWriter;
 417   unsigned int           cstRemoteWriterCounter;
 418   pthread_rwlock_t       lock;
 419
 420   //ser./deser. function
 421   ORTETypeRegister       *typeRegister;
 422
 423   //only for CSTSubcriptions
 424   CSTRemoteWriter       *cstRemoteWriterSubscribed;
 425   HTimFncUserNode        deadlineTimer;
 426   HTimFncUserNode        persistenceTimer;
 427
 428   unsigned int           strictReliableCounter;
 429   unsigned int           bestEffortsCounter;
 430
 431   Boolean                createdByPattern;
 432 };
 433
 434 /**
 435  * struct CSTPublications -
 436  */
 437 struct CSTPublications {
 438   gavl_cust_root_field_t cstWriter;
 439   pthread_rwlock_t       lock;
 440   uint32_t               counter;
 441 };
 442
 443 /**
 444  * struct CSTSubscriptions -
 445  */
 446 struct CSTSubscriptions {
 447   gavl_cust_root_field_t cstReader;
 448   pthread_rwlock_t       lock;
 449   uint32_t               counter;
 450 };
 451
 452 /**
 453  * struct PSEntry -
 454  */
 455 typedef struct PSEntry {
 456   gavl_cust_root_field_t publications;
 457   pthread_rwlock_t       publicationsLock;
 458   gavl_cust_root_field_t subscriptions;
 459   pthread_rwlock_t       subscriptionsLock;
 460 } PSEntry ;
 461
 462 /**
 463  * struct ORTEDomain -
 464  */
 465 struct ORTEDomain {
 466   uint32_t               domain;      //domain value
 467   GUID_RTPS              guid;        //guid of self application
 468   AppParams              *appParams;  //self parameters (share from objectEntry)
 469   ObjectEntryOID         *objectEntryOID;//entry point for self OID
 470
 471   ////////////////////////////////////////////////////
 472   //variables for tasks
 473   TaskProp               taskRecvUnicastMetatraffic;
 474   TaskProp               taskRecvMulticastMetatraffic;
 475   TaskProp               taskRecvUnicastUserdata;
 476   TaskProp               taskRecvMulticastUserdata;
 477   TaskProp               taskSend;
 478
 479   ////////////////////////////////////////////////////
 480   //databases
 481   TypeEntry              typeEntry;    //db of types
 482   ObjectEntry            objectEntry;  //Objects Tree
 483   PSEntry                psEntry;      //lists of publ/subs
 484   PatternEntry           patternEntry;
 485
 486   ORTEDomainProp         domainProp;
 487   ORTEDomainAppEvents    domainEvents;
 488
 489   ////////////////////////////////////////////////////
 490   //information used by event system
 491   ORTEAppInfo            appInfo;
 492   ORTEPubInfo            pubInfo;
 493   ORTESubInfo            subInfo;
 494
 495   ////////////////////////////////////////////////////
 496   //communication objects
 497   CSTWriter              writerApplicationSelf;  //Manager,App
 498   CSTReader              readerManagers;         //Manager,App
 499   CSTReader              readerApplications;     //Manager,App
 500   CSTWriter              writerManagers;         //Manager
 501   CSTWriter              writerApplications;     //Manager
 502   CSTWriter              writerPublications;     //App
 503   CSTReader              readerPublications;     //App
 504   CSTWriter              writerSubscriptions;    //App
 505   CSTReader              readerSubscriptions;    //App
 506
 507   CSTPublications        publications;           //App
 508   CSTSubscriptions       subscriptions;          //App
 509 };
 510
 511 #ifdef __cplusplus
 512 } /* extern "C"*/
 513 #endif
 514
 515 #endif  /* _TYPEDEFS_H */
 516