/*
- * $Id: RTPSCSTReaderTimer.c,v 0.0.0.1 2003/11/03
+ * $Id: RTPSCSTReaderTimer.c,v 0.0.0.1 2003/11/03
*
* DEBUG: section 55 CSTReader timer functions
*
- * -------------------------------------------------------------------
- * 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.
- *
- */
+ *
+ */
#include "orte_all.h"
/*****************************************************************************/
-int
-CSTReaderResponceTimer(ORTEDomain *d,void *vcstRemoteWriter) {
- CSTRemoteWriter *cstRemoteWriter=(CSTRemoteWriter*)vcstRemoteWriter;
+int
+CSTReaderResponceTimer(ORTEDomain *d, void *vcstRemoteWriter)
+{
+ CSTRemoteWriter *cstRemoteWriter = (CSTRemoteWriter *)vcstRemoteWriter;
int len;
- char queue=1;
-
- if ((cstRemoteWriter->guid.oid & 0x07) == OID_PUBLICATION)
- queue=2;
- if (!d->taskSend.mb.containsInfoReply) {
- if (queue==1) {
- len=RTPSInfoREPLYCreate(
- &d->taskSend.mb.cdrCodec,
- IPADDRESS_INVALID,
- ((AppParams*)cstRemoteWriter->cstReader->objectEntryOID->attributes)->metatrafficUnicastPort);
+ char queue = 1;
+
+ if ((cstRemoteWriter->guid.oid & 0x07) == OID_PUBLICATION)
+ queue = 2;
+ if (!d->taskSend.mb.containsInfoReply) {
+ if (queue == 1) {
+ len = RTPSInfoREPLYCreate(
+ &d->taskSend.mb.cdrCodec,
+ IPADDRESS_INVALID,
+ ((AppParams *)cstRemoteWriter->cstReader->objectEntryOID->attributes)->metatrafficUnicastPort);
} else {
- len=RTPSInfoREPLYCreate(
- &d->taskSend.mb.cdrCodec,
- IPADDRESS_INVALID,
- ((AppParams*)cstRemoteWriter->cstReader->objectEntryOID->attributes)->userdataUnicastPort);
+ len = RTPSInfoREPLYCreate(
+ &d->taskSend.mb.cdrCodec,
+ IPADDRESS_INVALID,
+ ((AppParams *)cstRemoteWriter->cstReader->objectEntryOID->attributes)->userdataUnicastPort);
}
- if (len<0) {
- d->taskSend.mb.needSend=ORTE_TRUE;
+ if (len < 0) {
+ d->taskSend.mb.needSend = ORTE_TRUE;
return 1;
}
- d->taskSend.mb.containsInfoReply=ORTE_TRUE;
- debug(55,3) ("sent: RTPS_InfoREPLY(0x%x) to 0x%x-0x%x\n",
- cstRemoteWriter->cstReader->guid.oid,
- cstRemoteWriter->guid.hid,
- cstRemoteWriter->guid.aid);
+ d->taskSend.mb.containsInfoReply = ORTE_TRUE;
+ debug(55, 3) ("sent: RTPS_InfoREPLY(0x%x) to 0x%x-0x%x\n",
+ cstRemoteWriter->cstReader->guid.oid,
+ cstRemoteWriter->guid.hid,
+ cstRemoteWriter->guid.aid);
}
- len=RTPSAckCreate(
- &d->taskSend.mb.cdrCodec,
- &cstRemoteWriter->sn,
- cstRemoteWriter->cstReader->guid.oid,
- cstRemoteWriter->guid.oid,
- ORTE_TRUE);
- if (len<0) {
+ len = RTPSAckCreate(
+ &d->taskSend.mb.cdrCodec,
+ &cstRemoteWriter->sn,
+ cstRemoteWriter->cstReader->guid.oid,
+ cstRemoteWriter->guid.oid,
+ ORTE_TRUE);
+ if (len < 0) {
//not enought space in sending buffer
- d->taskSend.mb.needSend=ORTE_TRUE;
+ d->taskSend.mb.needSend = ORTE_TRUE;
return 1;
}
- debug(55,3) ("sent: RTPS_ACKF(0x%x) to 0x%x-0x%x\n",
- cstRemoteWriter->cstReader->guid.oid,
- cstRemoteWriter->guid.hid,
- cstRemoteWriter->guid.aid);
- if (cstRemoteWriter->commStateACK==PULLING) {
+ debug(55, 3) ("sent: RTPS_ACKF(0x%x) to 0x%x-0x%x\n",
+ cstRemoteWriter->cstReader->guid.oid,
+ cstRemoteWriter->guid.hid,
+ cstRemoteWriter->guid.aid);
+ if (cstRemoteWriter->commStateACK == PULLING) {
eventDetach(d,
- cstRemoteWriter->spobject->objectEntryAID,
- &cstRemoteWriter->delayResponceTimer,
- queue);
- if (cstRemoteWriter->ACKRetriesCounter<
- cstRemoteWriter->cstReader->params.ACKMaxRetries) {
+ cstRemoteWriter->spobject->objectEntryAID,
+ &cstRemoteWriter->delayResponceTimer,
+ queue);
+ if (cstRemoteWriter->ACKRetriesCounter <
+ cstRemoteWriter->cstReader->params.ACKMaxRetries) {
cstRemoteWriter->ACKRetriesCounter++;
eventAdd(d,
- cstRemoteWriter->spobject->objectEntryAID,
- &cstRemoteWriter->delayResponceTimer,
- queue,
- "CSTReaderResponceTimer",
- CSTReaderResponceTimer,
- &cstRemoteWriter->cstReader->lock,
- cstRemoteWriter,
- &cstRemoteWriter->cstReader->params.delayResponceTimeMin);
+ cstRemoteWriter->spobject->objectEntryAID,
+ &cstRemoteWriter->delayResponceTimer,
+ queue,
+ "CSTReaderResponceTimer",
+ CSTReaderResponceTimer,
+ &cstRemoteWriter->cstReader->lock,
+ cstRemoteWriter,
+ &cstRemoteWriter->cstReader->params.delayResponceTimeMin);
} else {
- debug(55,3) ("sent: maxRetries ritch upper level (%d).\n",
- cstRemoteWriter->cstReader->params.ACKMaxRetries);
+ debug(55, 3) ("sent: maxRetries ritch upper level (%d).\n",
+ cstRemoteWriter->cstReader->params.ACKMaxRetries);
}
}
- if (cstRemoteWriter->commStateACK==ACKPENDING) {
- cstRemoteWriter->commStateACK=WAITING;
+ if (cstRemoteWriter->commStateACK == ACKPENDING) {
+ cstRemoteWriter->commStateACK = WAITING;
eventDetach(d,
- cstRemoteWriter->spobject->objectEntryAID,
- &cstRemoteWriter->repeatActiveQueryTimer,
- queue);
+ cstRemoteWriter->spobject->objectEntryAID,
+ &cstRemoteWriter->repeatActiveQueryTimer,
+ queue);
if (NtpTimeCmp(cstRemoteWriter->cstReader->
- params.repeatActiveQueryTime,iNtpTime)!=0) {
+ params.repeatActiveQueryTime, iNtpTime) != 0) {
eventAdd(d,
- cstRemoteWriter->spobject->objectEntryAID,
- &cstRemoteWriter->repeatActiveQueryTimer,
- queue,
- "CSTReaderQueryTimer",
- CSTReaderQueryTimer,
- &cstRemoteWriter->cstReader->lock,
- cstRemoteWriter,
- &cstRemoteWriter->cstReader->params.repeatActiveQueryTime);
+ cstRemoteWriter->spobject->objectEntryAID,
+ &cstRemoteWriter->repeatActiveQueryTimer,
+ queue,
+ "CSTReaderQueryTimer",
+ CSTReaderQueryTimer,
+ &cstRemoteWriter->cstReader->lock,
+ cstRemoteWriter,
+ &cstRemoteWriter->cstReader->params.repeatActiveQueryTime);
}
}
return 0;
/*****************************************************************************/
int
-CSTReaderQueryTimer(ORTEDomain *d,void *vcstRemoteWriter) {
- CSTRemoteWriter *cstRemoteWriter=(CSTRemoteWriter*)vcstRemoteWriter;
+CSTReaderQueryTimer(ORTEDomain *d, void *vcstRemoteWriter)
+{
+ CSTRemoteWriter *cstRemoteWriter = (CSTRemoteWriter *)vcstRemoteWriter;
int len;
- char queue=1;
-
- if ((cstRemoteWriter->guid.oid & 0x07) == OID_PUBLICATION)
- queue=2;
- if (!d->taskSend.mb.containsInfoReply) {
- if (queue==1) {
- len=RTPSInfoREPLYCreate(
- &d->taskSend.mb.cdrCodec,
- IPADDRESS_INVALID,
- ((AppParams*)cstRemoteWriter->cstReader->objectEntryOID->attributes)->metatrafficUnicastPort);
+ char queue = 1;
+
+ if ((cstRemoteWriter->guid.oid & 0x07) == OID_PUBLICATION)
+ queue = 2;
+ if (!d->taskSend.mb.containsInfoReply) {
+ if (queue == 1) {
+ len = RTPSInfoREPLYCreate(
+ &d->taskSend.mb.cdrCodec,
+ IPADDRESS_INVALID,
+ ((AppParams *)cstRemoteWriter->cstReader->objectEntryOID->attributes)->metatrafficUnicastPort);
} else {
- len=RTPSInfoREPLYCreate(
- &d->taskSend.mb.cdrCodec,
- IPADDRESS_INVALID,
- ((AppParams*)cstRemoteWriter->cstReader->objectEntryOID->attributes)->userdataUnicastPort);
+ len = RTPSInfoREPLYCreate(
+ &d->taskSend.mb.cdrCodec,
+ IPADDRESS_INVALID,
+ ((AppParams *)cstRemoteWriter->cstReader->objectEntryOID->attributes)->userdataUnicastPort);
}
- if (len<0) {
- d->taskSend.mb.needSend=ORTE_TRUE;
+ if (len < 0) {
+ d->taskSend.mb.needSend = ORTE_TRUE;
return 1;
}
- d->taskSend.mb.containsInfoReply=ORTE_TRUE;
- debug(55,3) ("sent: RTPS_InfoREPLY(0x%x) to 0x%x-0x%x\n",
- cstRemoteWriter->cstReader->guid.oid,
- cstRemoteWriter->guid.hid,
- cstRemoteWriter->guid.aid);
+ d->taskSend.mb.containsInfoReply = ORTE_TRUE;
+ debug(55, 3) ("sent: RTPS_InfoREPLY(0x%x) to 0x%x-0x%x\n",
+ cstRemoteWriter->cstReader->guid.oid,
+ cstRemoteWriter->guid.hid,
+ cstRemoteWriter->guid.aid);
}
- len=RTPSAckCreate(
- &d->taskSend.mb.cdrCodec,
- &cstRemoteWriter->sn,
- cstRemoteWriter->cstReader->guid.oid,
- cstRemoteWriter->guid.oid,
- ORTE_FALSE);
- if (len<0) {
- d->taskSend.mb.needSend=ORTE_TRUE;
+ len = RTPSAckCreate(
+ &d->taskSend.mb.cdrCodec,
+ &cstRemoteWriter->sn,
+ cstRemoteWriter->cstReader->guid.oid,
+ cstRemoteWriter->guid.oid,
+ ORTE_FALSE);
+ if (len < 0) {
+ d->taskSend.mb.needSend = ORTE_TRUE;
return 1;
}
- debug(55,3) ("sent: RTPS_ACKf(0x%x) to 0x%x-0x%x\n",
- cstRemoteWriter->cstReader->guid.oid,
- cstRemoteWriter->guid.hid,
- cstRemoteWriter->guid.aid);
+ debug(55, 3) ("sent: RTPS_ACKf(0x%x) to 0x%x-0x%x\n",
+ cstRemoteWriter->cstReader->guid.oid,
+ cstRemoteWriter->guid.hid,
+ cstRemoteWriter->guid.aid);
eventDetach(d,
- cstRemoteWriter->spobject->objectEntryAID,
- &cstRemoteWriter->repeatActiveQueryTimer,
- queue);
+ cstRemoteWriter->spobject->objectEntryAID,
+ &cstRemoteWriter->repeatActiveQueryTimer,
+ queue);
if (NtpTimeCmp(cstRemoteWriter->cstReader->
- params.repeatActiveQueryTime,iNtpTime)!=0) {
+ params.repeatActiveQueryTime, iNtpTime) != 0) {
eventAdd(d,
- cstRemoteWriter->spobject->objectEntryAID,
- &cstRemoteWriter->repeatActiveQueryTimer,
- queue,
- "CSTReaderQueryTimer",
- CSTReaderQueryTimer,
- &cstRemoteWriter->cstReader->lock,
- cstRemoteWriter,
- &cstRemoteWriter->cstReader->params.repeatActiveQueryTime);
+ cstRemoteWriter->spobject->objectEntryAID,
+ &cstRemoteWriter->repeatActiveQueryTimer,
+ queue,
+ "CSTReaderQueryTimer",
+ CSTReaderQueryTimer,
+ &cstRemoteWriter->cstReader->lock,
+ cstRemoteWriter,
+ &cstRemoteWriter->cstReader->params.repeatActiveQueryTime);
}
- return 0;
+ return 0;
}
/*****************************************************************************/
int
-CSTReaderDeadlineTimer(ORTEDomain *d,void *vcstReader) {
- CSTReader *cstReader=(CSTReader*)vcstReader;
+CSTReaderDeadlineTimer(ORTEDomain *d, void *vcstReader)
+{
+ CSTReader *cstReader = (CSTReader *)vcstReader;
ORTESubsProp *sp;
- ORTERecvInfo info;
-
- sp=(ORTESubsProp*)cstReader->objectEntryOID->attributes;
- memset(&info,0,sizeof(info));
- info.status=DEADLINE;
- info.topic=(char*)sp->topic;
- info.type=(char*)sp->typeName;
+ ORTERecvInfo info;
+
+ sp = (ORTESubsProp *)cstReader->objectEntryOID->attributes;
+ memset(&info, 0, sizeof(info));
+ info.status = DEADLINE;
+ info.topic = (char *)sp->topic;
+ info.type = (char *)sp->typeName;
if (cstReader->objectEntryOID->recvCallBack) {
cstReader->objectEntryOID->recvCallBack(&info,
- cstReader->objectEntryOID->instance,
- cstReader->objectEntryOID->callBackParam);
+ cstReader->objectEntryOID->instance,
+ cstReader->objectEntryOID->callBackParam);
}
eventDetach(d,
- cstReader->objectEntryOID->objectEntryAID,
- &cstReader->deadlineTimer,
- 0);
+ cstReader->objectEntryOID->objectEntryAID,
+ &cstReader->deadlineTimer,
+ 0);
eventAdd(d,
- cstReader->objectEntryOID->objectEntryAID,
- &cstReader->deadlineTimer,
- 0, //common timer
- "CSTReaderDeadlineTimer",
- CSTReaderDeadlineTimer,
- &cstReader->lock,
- cstReader,
- &sp->deadline);
+ cstReader->objectEntryOID->objectEntryAID,
+ &cstReader->deadlineTimer,
+ 0, //common timer
+ "CSTReaderDeadlineTimer",
+ CSTReaderDeadlineTimer,
+ &cstReader->lock,
+ cstReader,
+ &sp->deadline);
return 0;
}
/*****************************************************************************/
int
-CSTReaderPersistenceTimer(ORTEDomain *d,void *vcstReader) {
- CSTReader *cstReader=(CSTReader*)vcstReader;
+CSTReaderPersistenceTimer(ORTEDomain *d, void *vcstReader)
+{
+ CSTReader *cstReader = (CSTReader *)vcstReader;
CSTRemoteWriter *cstRemoteWriter;
CSChangeFromWriter *csChangeFromWriter;
ORTESubsProp *sp;
ORTEPublProp *pp;
int32_t strength;
-
- if (cstReader->cstRemoteWriterSubscribed!=NULL) {
+
+ if (cstReader->cstRemoteWriterSubscribed != NULL) {
//keep only one csChange (last)
- while (cstReader->cstRemoteWriterSubscribed->csChangesCounter>1) {
- csChangeFromWriter=
- CSChangeFromWriter_first(cstReader->cstRemoteWriterSubscribed);
- if (csChangeFromWriter) {
- CSTReaderDestroyCSChangeFromWriter(
- cstReader->cstRemoteWriterSubscribed,
- csChangeFromWriter,
- ORTE_FALSE);
+ while (cstReader->cstRemoteWriterSubscribed->csChangesCounter > 1) {
+ csChangeFromWriter =
+ CSChangeFromWriter_first(cstReader->cstRemoteWriterSubscribed);
+ if (csChangeFromWriter) {
+ CSTReaderDestroyCSChangeFromWriter(
+ cstReader->cstRemoteWriterSubscribed,
+ csChangeFromWriter,
+ ORTE_FALSE);
}
}
}
- cstReader->cstRemoteWriterSubscribed=NULL;
- sp=(ORTESubsProp*)cstReader->objectEntryOID->attributes;
- strength=0;
- gavl_cust_for_each(CSTRemoteWriter,cstReader,cstRemoteWriter) {
- pp=(ORTEPublProp*)cstRemoteWriter->spobject->attributes;
- csChangeFromWriter=CSChangeFromWriter_last(cstRemoteWriter);
- if ((pp->strength>strength) && (csChangeFromWriter!=NULL)){
- NtpTime persistence,persistenceExpired,actTime;
- actTime=getActualNtpTime();
+ cstReader->cstRemoteWriterSubscribed = NULL;
+ sp = (ORTESubsProp *)cstReader->objectEntryOID->attributes;
+ strength = 0;
+ gavl_cust_for_each(CSTRemoteWriter, cstReader, cstRemoteWriter) {
+ pp = (ORTEPublProp *)cstRemoteWriter->spobject->attributes;
+ csChangeFromWriter = CSChangeFromWriter_last(cstRemoteWriter);
+ if ((pp->strength > strength) && (csChangeFromWriter != NULL)) {
+ NtpTime persistence, persistenceExpired, actTime;
+ actTime = getActualNtpTime();
NtpTimeAdd(persistenceExpired,
- csChangeFromWriter->csChange->localTimeReceived,
- pp->persistence);
- if (NtpTimeCmp(persistenceExpired,actTime)>0) {
- NtpTimeSub(persistence,
- persistenceExpired,
- actTime);
- eventDetach(d,
- cstReader->objectEntryOID->objectEntryAID,
- &cstReader->persistenceTimer,
- 0); //common timer
- eventAdd(d,
- cstReader->objectEntryOID->objectEntryAID,
- &cstReader->persistenceTimer,
- 0, //common timer
- "CSTReaderPersistenceTimer",
- CSTReaderPersistenceTimer,
- &cstReader->lock,
- cstReader,
- &persistence);
- cstReader->cstRemoteWriterSubscribed=cstRemoteWriter;
+ csChangeFromWriter->csChange->localTimeReceived,
+ pp->persistence);
+ if (NtpTimeCmp(persistenceExpired, actTime) > 0) {
+ NtpTimeSub(persistence,
+ persistenceExpired,
+ actTime);
+ eventDetach(d,
+ cstReader->objectEntryOID->objectEntryAID,
+ &cstReader->persistenceTimer,
+ 0); //common timer
+ eventAdd(d,
+ cstReader->objectEntryOID->objectEntryAID,
+ &cstReader->persistenceTimer,
+ 0, //common timer
+ "CSTReaderPersistenceTimer",
+ CSTReaderPersistenceTimer,
+ &cstReader->lock,
+ cstReader,
+ &persistence);
+ cstReader->cstRemoteWriterSubscribed = cstRemoteWriter;
}
}
}
- if ((cstReader->cstRemoteWriterSubscribed!=NULL) &&
- (sp->mode==IMMEDIATE)) {
+ if ((cstReader->cstRemoteWriterSubscribed != NULL) &&
+ (sp->mode == IMMEDIATE)) {
CSTReaderProcCSChangesIssue(
- cstReader->cstRemoteWriterSubscribed,ORTE_FALSE);
+ cstReader->cstRemoteWriterSubscribed, ORTE_FALSE);
}
return 0;
}
projects / orte.git / blobdiff