Porting mros2 as an Mbed library.
Dependents: mbed-os-example-mros2 example-mbed-mros2-sub-pose example-mbed-mros2-pub-twist example-mbed-mros2-mturtle-teleop
embeddedRTPS/include/rtps/entities/StatelessWriter.h@7:c80f65422d99, 2022-03-19 (annotated)
- Committer:
- smoritaemb
- Date:
- Sat Mar 19 09:23:37 2022 +0900
- Revision:
- 7:c80f65422d99
- Parent:
- 0:580aba13d1a1
Merge test_assortment_of_msgs branch.
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| smoritaemb | 0:580aba13d1a1 | 1 | /* |
| smoritaemb | 0:580aba13d1a1 | 2 | The MIT License |
| smoritaemb | 0:580aba13d1a1 | 3 | Copyright (c) 2019 Lehrstuhl Informatik 11 - RWTH Aachen University |
| smoritaemb | 0:580aba13d1a1 | 4 | Permission is hereby granted, free of charge, to any person obtaining a copy |
| smoritaemb | 0:580aba13d1a1 | 5 | of this software and associated documentation files (the "Software"), to deal |
| smoritaemb | 0:580aba13d1a1 | 6 | in the Software without restriction, including without limitation the rights |
| smoritaemb | 0:580aba13d1a1 | 7 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
| smoritaemb | 0:580aba13d1a1 | 8 | copies of the Software, and to permit persons to whom the Software is |
| smoritaemb | 0:580aba13d1a1 | 9 | furnished to do so, subject to the following conditions: |
| smoritaemb | 0:580aba13d1a1 | 10 | The above copyright notice and this permission notice shall be included in |
| smoritaemb | 0:580aba13d1a1 | 11 | all copies or substantial portions of the Software. |
| smoritaemb | 0:580aba13d1a1 | 12 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| smoritaemb | 0:580aba13d1a1 | 13 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
| smoritaemb | 0:580aba13d1a1 | 14 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
| smoritaemb | 0:580aba13d1a1 | 15 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
| smoritaemb | 0:580aba13d1a1 | 16 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| smoritaemb | 0:580aba13d1a1 | 17 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
| smoritaemb | 0:580aba13d1a1 | 18 | THE SOFTWARE |
| smoritaemb | 0:580aba13d1a1 | 19 | |
| smoritaemb | 0:580aba13d1a1 | 20 | This file is part of embeddedRTPS. |
| smoritaemb | 0:580aba13d1a1 | 21 | |
| smoritaemb | 0:580aba13d1a1 | 22 | Author: i11 - Embedded Software, RWTH Aachen University |
| smoritaemb | 0:580aba13d1a1 | 23 | */ |
| smoritaemb | 0:580aba13d1a1 | 24 | |
| smoritaemb | 0:580aba13d1a1 | 25 | #ifndef RTPS_RTPSWRITER_H |
| smoritaemb | 0:580aba13d1a1 | 26 | #define RTPS_RTPSWRITER_H |
| smoritaemb | 0:580aba13d1a1 | 27 | |
| smoritaemb | 0:580aba13d1a1 | 28 | #include "lwip/sys.h" |
| smoritaemb | 0:580aba13d1a1 | 29 | #include "rtps/common/types.h" |
| smoritaemb | 0:580aba13d1a1 | 30 | #include "rtps/config.h" |
| smoritaemb | 0:580aba13d1a1 | 31 | #include "rtps/entities/Writer.h" |
| smoritaemb | 0:580aba13d1a1 | 32 | #include "rtps/storages/MemoryPool.h" |
| smoritaemb | 0:580aba13d1a1 | 33 | #include "rtps/storages/SimpleHistoryCache.h" |
| smoritaemb | 0:580aba13d1a1 | 34 | |
| smoritaemb | 0:580aba13d1a1 | 35 | namespace rtps { |
| smoritaemb | 0:580aba13d1a1 | 36 | |
| smoritaemb | 0:580aba13d1a1 | 37 | struct PBufWrapper; |
| smoritaemb | 0:580aba13d1a1 | 38 | |
| smoritaemb | 0:580aba13d1a1 | 39 | template <typename NetworkDriver> class StatelessWriterT : public Writer { |
| smoritaemb | 0:580aba13d1a1 | 40 | public: |
| smoritaemb | 0:580aba13d1a1 | 41 | ~StatelessWriterT() override; |
| smoritaemb | 0:580aba13d1a1 | 42 | bool init(TopicData attributes, TopicKind_t topicKind, ThreadPool *threadPool, |
| smoritaemb | 0:580aba13d1a1 | 43 | NetworkDriver &driver); |
| smoritaemb | 0:580aba13d1a1 | 44 | |
| smoritaemb | 0:580aba13d1a1 | 45 | bool addNewMatchedReader(const ReaderProxy &newProxy) override; |
| smoritaemb | 0:580aba13d1a1 | 46 | void removeReader(const Guid &guid) override; |
| smoritaemb | 0:580aba13d1a1 | 47 | void progress() override; |
| smoritaemb | 0:580aba13d1a1 | 48 | const CacheChange *newChange(ChangeKind_t kind, const uint8_t *data, |
| smoritaemb | 0:580aba13d1a1 | 49 | DataSize_t size) override; |
| smoritaemb | 0:580aba13d1a1 | 50 | void setAllChangesToUnsent() override; |
| smoritaemb | 0:580aba13d1a1 | 51 | void onNewAckNack(const SubmessageAckNack &msg, |
| smoritaemb | 0:580aba13d1a1 | 52 | const GuidPrefix_t &sourceGuidPrefix) override; |
| smoritaemb | 0:580aba13d1a1 | 53 | |
| smoritaemb | 0:580aba13d1a1 | 54 | private: |
| smoritaemb | 0:580aba13d1a1 | 55 | sys_mutex_t m_mutex; |
| smoritaemb | 0:580aba13d1a1 | 56 | ThreadPool *mp_threadPool = nullptr; |
| smoritaemb | 0:580aba13d1a1 | 57 | |
| smoritaemb | 0:580aba13d1a1 | 58 | PacketInfo m_packetInfo; |
| smoritaemb | 0:580aba13d1a1 | 59 | NetworkDriver *m_transport; |
| smoritaemb | 0:580aba13d1a1 | 60 | |
| smoritaemb | 0:580aba13d1a1 | 61 | TopicKind_t m_topicKind = TopicKind_t::NO_KEY; |
| smoritaemb | 0:580aba13d1a1 | 62 | SequenceNumber_t m_nextSequenceNumberToSend = {0, 1}; |
| smoritaemb | 0:580aba13d1a1 | 63 | SimpleHistoryCache m_history; |
| smoritaemb | 0:580aba13d1a1 | 64 | |
| smoritaemb | 0:580aba13d1a1 | 65 | MemoryPool<ReaderProxy, Config::NUM_READER_PROXIES_PER_WRITER> m_proxies; |
| smoritaemb | 0:580aba13d1a1 | 66 | |
| smoritaemb | 0:580aba13d1a1 | 67 | bool isIrrelevant(ChangeKind_t kind) const; |
| smoritaemb | 0:580aba13d1a1 | 68 | }; |
| smoritaemb | 0:580aba13d1a1 | 69 | |
| smoritaemb | 0:580aba13d1a1 | 70 | using StatelessWriter = StatelessWriterT<UdpDriver>; |
| smoritaemb | 0:580aba13d1a1 | 71 | |
| smoritaemb | 0:580aba13d1a1 | 72 | } // namespace rtps |
| smoritaemb | 0:580aba13d1a1 | 73 | |
| smoritaemb | 0:580aba13d1a1 | 74 | #include "StatelessWriter.tpp" |
| smoritaemb | 0:580aba13d1a1 | 75 | |
| smoritaemb | 0:580aba13d1a1 | 76 | #endif // RTPS_RTPSWRITER_H |