/*
- * $Id: typedefs_defines_rtps.h,v 0.0.0.1 2003/08/21
+ * $Id: typedefs_defines_rtps.h,v 0.0.0.1 2003/08/21
*
- * -------------------------------------------------------------------
- * ORTE
- * Open Real-Time Ethernet
- *
- * Copyright (C) 2001-2006
- * Department of Control Engineering FEE CTU Prague, Czech Republic
- * http://dce.felk.cvut.cz
- * http://www.ocera.org
- *
- * Author: Petr Smolik petr@smoliku.cz
- * Advisor: Pavel Pisa
- * Project Responsible: Zdenek Hanzalek
+ * -------------------------------------------------------------------
+ * ORTE
+ * Open Real-Time Ethernet
+ *
+ * Copyright (C) 2001-2006
+ * Department of Control Engineering FEE CTU Prague, Czech Republic
+ * http://dce.felk.cvut.cz
+ * http://www.ocera.org
+ *
+ * Author: Petr Smolik petr@smoliku.cz
+ * Advisor: Pavel Pisa
+ * Project Responsible: Zdenek Hanzalek
* --------------------------------------------------------------------
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
- *
+ *
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
- *
+ *
*/
-
+
#ifndef _TYPEDEFS_DEFINES_RTPS_H
#define _TYPEDEFS_DEFINES_RTPS_H
/* Wire Protocol Specification (WPS) */
/*****************************************************************/
-
+
/*
Host identifier.
-
+
for example: IP address working nodes
*/
typedef uint32_t HostId;
/*
Application identifier.
-
+
composed from: 3 bytes - instance Id
- 1 byte - appKind (1 - ManagedApplication, 2 - Manager)
+ 1 byte - appKind (1 - ManagedApplication, 2 - Manager)
*/
typedef uint32_t AppId;
#define AID_UNKNOWN 0x00
/*
Object identifier.
-
+
composed from: 3 bytes - instance Id
- 1 byte - objKind
+ 1 byte - objKind
*/
typedef uint32_t ObjectId;
#define OID_RESMETAOBJ 0xC0
typedef struct {
- HostId hid;
- AppId aid;
- ObjectId oid;
- } GUID_RTPS;
+ HostId hid;
+ AppId aid;
+ ObjectId oid;
+} GUID_RTPS;
typedef struct {
- int8_t major;
- int8_t minor;
- } VendorId;
+ int8_t major;
+ int8_t minor;
+} VendorId;
-#define VENDOR_ID_UNKNOWN(id) {id.major=0;id.minor=0;}
-#define VENDOR_ID_RTI(id) {id.major=1;id.minor=1;}
-#define VENDOR_ID_OCERA(id) {id.major=0;id.minor=0;}
+#define VENDOR_ID_UNKNOWN(id) {id.major = 0; id.minor = 0; }
+#define VENDOR_ID_RTI(id) {id.major = 1; id.minor = 1; }
+#define VENDOR_ID_OCERA(id) {id.major = 0; id.minor = 0; }
typedef struct {
- int8_t major;
- int8_t minor;
- } ProtocolVersion;
+ int8_t major;
+ int8_t minor;
+} ProtocolVersion;
-#define PROTOCOL_VERSION_1_0(pv) {pv.major=1;pv.minor=0;}
+#define PROTOCOL_VERSION_1_0(pv) {pv.major = 1; pv.minor = 0; }
typedef struct {
- int32_t high;
- int32_t low;
- } SequenceNumber;
+ int32_t high;
+ int32_t low;
+} SequenceNumber;
-#define SEQUENCE_NUMBER_NONE(sn) {sn.high=0;sn.low=0;}
-#define SEQUENCE_NUMBER_UNKNOWN(sn) {sn.high=0x7fffffff;sn.low=0xffffffff;}
+#define SEQUENCE_NUMBER_NONE(sn) {sn.high = 0; sn.low = 0; }
+#define SEQUENCE_NUMBER_UNKNOWN(sn) {sn.high = 0x7fffffff; sn.low = 0xffffffff; }
typedef struct {
- int32_t seconds; /* time in seconds */
- uint32_t fraction; /* time in seconds / 2^32 */
- } NtpTime;
+ int32_t seconds; /* time in seconds */
+ uint32_t fraction; /* time in seconds / 2^32 */
+} NtpTime;
-#define NTPTIME_ZERO(t) {t.seconds=0;t.fraction=0;}
-#define NTPTIME_BUILD(t,s) {t.seconds=s;t.fraction=0;}
-#define NTPTIME_INFINITE(t) {t.seconds=0xffffffff;t.fraction=0;}
+#define NTPTIME_ZERO(t) {t.seconds = 0; t.fraction = 0; }
+#define NTPTIME_BUILD(t, s) {t.seconds = s; t.fraction = 0; }
+#define NTPTIME_INFINITE(t) {t.seconds = 0xffffffff; t.fraction = 0; }
typedef uint32_t IPAddress;
#define PORT_INVALID 0
typedef enum {
- PAD = 0x01,
- VAR = 0x02,
- ISSUE = 0x03,
- ACK = 0x06,
- HEARTBEAT = 0x07,
- GAP = 0x08,
- INFO_TS = 0x09,
- INFO_SRC = 0x0c,
- INFO_REPLY = 0x0d,
- INFO_DST = 0x0e,
- APP_QUIT = 0x90
- } SubmessageId;
+ PAD = 0x01,
+ VAR = 0x02,
+ ISSUE = 0x03,
+ ACK = 0x06,
+ HEARTBEAT = 0x07,
+ GAP = 0x08,
+ INFO_TS = 0x09,
+ INFO_SRC = 0x0c,
+ INFO_REPLY = 0x0d,
+ INFO_DST = 0x0e,
+ APP_QUIT = 0x90
+} SubmessageId;
typedef struct {
- ProtocolVersion sourceVersion;
- VendorId sourceVendorId;
- HostId sourceHostId;
- AppId sourceAppId;
- HostId destHostId;
- AppId destAppId;
- IPAddress unicastReplyIPAddress;
- Port unicastReplyPort;
- IPAddress multicastReplyIPAddress;
- Port multicastReplyPort;
- Boolean haveTimestamp;
- NtpTime timestamp;
- } MessageInterpret;
+ ProtocolVersion sourceVersion;
+ VendorId sourceVendorId;
+ HostId sourceHostId;
+ AppId sourceAppId;
+ HostId destHostId;
+ AppId destAppId;
+ IPAddress unicastReplyIPAddress;
+ Port unicastReplyPort;
+ IPAddress multicastReplyIPAddress;
+ Port multicastReplyPort;
+ Boolean haveTimestamp;
+ NtpTime timestamp;
+} MessageInterpret;
#define PID_PAD 0x00
#define PID_SENTINEL 0x01
-#define PID_EXPIRATION_TIME 0x02
+#define PID_EXPIRATION_TIME 0x02
#define PID_PERSISTENCE 0x03
#define PID_MINIMUM_SEPARATION 0x04
#define PID_TOPIC 0x05
/* State Machines */
typedef enum {
- MAYSENDHB = 0x01,
- MUSTSENDHB = 0x02,
- SENDHB = 0x03
- } StateMachineHB;
+ MAYSENDHB = 0x01,
+ MUSTSENDHB = 0x02,
+ SENDHB = 0x03
+} StateMachineHB;
typedef enum {
- NOTHNIGTOSEND = 0x01,
- MUSTSENDDATA = 0x02
- } StateMachineSend;
+ NOTHNIGTOSEND = 0x01,
+ MUSTSENDDATA = 0x02
+} StateMachineSend;
typedef enum {
- NEW = 0x01,
- TOSEND = 0x02,
- UNDERWAY = 0x03,
- UNACKNOWLEDGED = 0x04,
- ANNOUCED = 0x05,
- ACKNOWLEDGED = 0x06
- } StateMachineChFReader;
+ NEW = 0x01,
+ TOSEND = 0x02,
+ UNDERWAY = 0x03,
+ UNACKNOWLEDGED = 0x04,
+ ANNOUCED = 0x05,
+ ACKNOWLEDGED = 0x06
+} StateMachineChFReader;
typedef enum {
- WAITING = 0x01,
- PULLING = 0x02,
- ACKPENDING = 0x03
- } StateMachineACK;
+ WAITING = 0x01,
+ PULLING = 0x02,
+ ACKPENDING = 0x03
+} StateMachineACK;
typedef enum {
- FUTURE = 0x01,
- REQUESTED = 0x02,
- MISSING = 0x03,
- RECEIVED = 0x04
- } StateMachineChFWriter;
+ FUTURE = 0x01,
+ REQUESTED = 0x02,
+ MISSING = 0x03,
+ RECEIVED = 0x04
+} StateMachineChFWriter;
#ifdef __cplusplus
} /* extern "C"*/
#endif
-
+
#endif /* _TYPEDEFS_DEFINES_RTPS_H */
projects / orte.git / blobdiff