S Morita / mbed-mros2

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/WriterProxy.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?

UserRevisionLine numberNew 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_WRITERPROXY_H
smoritaemb 0:580aba13d1a1 26 #define RTPS_WRITERPROXY_H
smoritaemb 0:580aba13d1a1 27
smoritaemb 0:580aba13d1a1 28 #include "rtps/common/Locator.h"
smoritaemb 0:580aba13d1a1 29 #include "rtps/common/types.h"
smoritaemb 0:580aba13d1a1 30
smoritaemb 0:580aba13d1a1 31 namespace rtps {
smoritaemb 0:580aba13d1a1 32 struct WriterProxy {
smoritaemb 0:580aba13d1a1 33 Guid remoteWriterGuid;
smoritaemb 0:580aba13d1a1 34 SequenceNumber_t expectedSN;
smoritaemb 0:580aba13d1a1 35 Count_t ackNackCount;
smoritaemb 0:580aba13d1a1 36 Count_t hbCount;
smoritaemb 0:580aba13d1a1 37 Locator remoteLocator;
smoritaemb 0:580aba13d1a1 38
smoritaemb 0:580aba13d1a1 39 WriterProxy() = default;
smoritaemb 0:580aba13d1a1 40
smoritaemb 0:580aba13d1a1 41 WriterProxy(const Guid &guid, const Locator &loc)
smoritaemb 0:580aba13d1a1 42 : remoteWriterGuid(guid),
smoritaemb 0:580aba13d1a1 43 expectedSN(SequenceNumber_t{0, 1}), ackNackCount{1}, hbCount{0},
smoritaemb 0:580aba13d1a1 44 remoteLocator(loc) {}
smoritaemb 0:580aba13d1a1 45
smoritaemb 0:580aba13d1a1 46 // For now, we don't store any packets, so we just request all starting from
smoritaemb 0:580aba13d1a1 47 // the next expected
smoritaemb 0:580aba13d1a1 48 SequenceNumberSet getMissing(const SequenceNumber_t & /*firstAvail*/,
smoritaemb 0:580aba13d1a1 49 const SequenceNumber_t &lastAvail) {
smoritaemb 0:580aba13d1a1 50 SequenceNumberSet set;
smoritaemb 0:580aba13d1a1 51 if (lastAvail < expectedSN) {
smoritaemb 0:580aba13d1a1 52 set.base = expectedSN;
smoritaemb 0:580aba13d1a1 53 set.numBits = 0;
smoritaemb 0:580aba13d1a1 54 } else {
smoritaemb 0:580aba13d1a1 55 set.numBits = 1;
smoritaemb 0:580aba13d1a1 56 set.base = expectedSN;
smoritaemb 0:580aba13d1a1 57 set.bitMap[0] = uint32_t{1} << 31;
smoritaemb 0:580aba13d1a1 58 }
smoritaemb 0:580aba13d1a1 59
smoritaemb 0:580aba13d1a1 60 return set;
smoritaemb 0:580aba13d1a1 61 }
smoritaemb 0:580aba13d1a1 62
smoritaemb 0:580aba13d1a1 63 Count_t getNextAckNackCount() {
smoritaemb 0:580aba13d1a1 64 const Count_t tmp = ackNackCount;
smoritaemb 0:580aba13d1a1 65 ++ackNackCount.value;
smoritaemb 0:580aba13d1a1 66 return tmp;
smoritaemb 0:580aba13d1a1 67 }
smoritaemb 0:580aba13d1a1 68 };
smoritaemb 0:580aba13d1a1 69 } // namespace rtps
smoritaemb 0:580aba13d1a1 70
smoritaemb 0:580aba13d1a1 71 #endif // RTPS_WRITERPROXY_H