SPDPAgent.h

00001 /*
00002 The MIT License
00003 Copyright (c) 2019 Lehrstuhl Informatik 11 - RWTH Aachen University
00004 Permission is hereby granted, free of charge, to any person obtaining a copy
00005 of this software and associated documentation files (the "Software"), to deal
00006 in the Software without restriction, including without limitation the rights
00007 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00008 copies of the Software, and to permit persons to whom the Software is
00009 furnished to do so, subject to the following conditions:
00010 The above copyright notice and this permission notice shall be included in
00011 all copies or substantial portions of the Software.
00012 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00013 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00014 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00015 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00016 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00017 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00018 THE SOFTWARE
00019 
00020 This file is part of embeddedRTPS.
00021 
00022 Author: i11 - Embedded Software, RWTH Aachen University
00023 */
00024 
00025 #ifndef RTPS_SPDP_H
00026 #define RTPS_SPDP_H
00027 
00028 #include "lwip/sys.h"
00029 #include "rtps/common/types.h"
00030 #include "rtps/config.h"
00031 #include "rtps/discovery/BuiltInEndpoints.h"
00032 #include "rtps/discovery/ParticipantProxyData.h"
00033 #include "ucdr/microcdr.h"
00034 
00035 namespace rtps {
00036 class Participant;
00037 class Writer;
00038 class Reader;
00039 class ReaderCacheChange;
00040 
00041 class SPDPAgent {
00042 public:
00043   ~SPDPAgent();
00044   void init(Participant &participant, BuiltInEndpoints &endpoints);
00045   void start();
00046   void stop();
00047   static void runBroadcast(void *args);
00048 
00049 private:
00050   Participant *mp_participant = nullptr;
00051   BuiltInEndpoints m_buildInEndpoints;
00052   bool m_running = false;
00053   std::array<uint8_t, 400> m_outputBuffer{}; // TODO check required size
00054   std::array<uint8_t, 400> m_inputBuffer{};
00055   ParticipantProxyData m_proxyDataBuffer{};
00056   ucdrBuffer m_microbuffer{};
00057 
00058   sys_mutex_t m_mutex;
00059   bool initialized = false;
00060   static void receiveCallback(void *callee,
00061                               const ReaderCacheChange &cacheChange);
00062   void handleSPDPPackage(const ReaderCacheChange &cacheChange);
00063   void configureEndianessAndOptions(ucdrBuffer &buffer);
00064   void processProxyData();
00065   bool addProxiesForBuiltInEndpoints();
00066 
00067   void addInlineQos();
00068   void addParticipantParameters();
00069   void endCurrentList();
00070 };
00071 } // namespace rtps
00072 #ifdef __cplusplus
00073 extern "C" {
00074 #endif
00075 void callRunBroadcast(void *args);
00076 #ifdef __cplusplus
00077 }
00078 #endif
00079 #endif // RTPS_SPDP_H