StatefulWriter.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_STATEFULWRITER_H
00026 #define RTPS_STATEFULWRITER_H
00027 
00028 #include "rtps/entities/ReaderProxy.h"
00029 #include "rtps/entities/Writer.h"
00030 #include "rtps/storages/MemoryPool.h"
00031 #include "rtps/storages/SimpleHistoryCache.h"
00032 
00033 
00034 
00035 namespace rtps {
00036 
00037 template <class NetworkDriver> class StatefulWriterT final : public Writer {
00038 public:
00039   ~StatefulWriterT() override;
00040   bool init(TopicData attributes, TopicKind_t topicKind, ThreadPool *threadPool,
00041             NetworkDriver &driver);
00042 
00043   bool addNewMatchedReader(const ReaderProxy &newProxy) override;
00044   void removeReader(const Guid &guid) override;
00045   //! Executes required steps like sending packets. Intended to be called by
00046   //! worker threads
00047   void progress() override;
00048   const CacheChange *newChange(ChangeKind_t kind, const uint8_t *data,
00049                                DataSize_t size) override;
00050   void setAllChangesToUnsent() override;
00051   void onNewAckNack(const SubmessageAckNack &msg,
00052                     const GuidPrefix_t &sourceGuidPrefix) override;
00053 
00054 private:
00055   sys_mutex_t m_mutex;
00056   ThreadPool *mp_threadPool = nullptr;
00057 
00058   PacketInfo m_packetInfo;
00059   NetworkDriver *m_transport;
00060 
00061   TopicKind_t m_topicKind = TopicKind_t::NO_KEY;
00062   SequenceNumber_t m_nextSequenceNumberToSend = {0, 1};
00063   SimpleHistoryCache m_history;
00064   sys_thread_t m_heartbeatThread;
00065   Count_t m_hbCount{1};
00066 
00067   bool m_running = true;
00068 
00069   MemoryPool<ReaderProxy, Config::NUM_READER_PROXIES_PER_WRITER> m_proxies;
00070 
00071   bool sendData(const ReaderProxy &reader, const SequenceNumber_t &sn);
00072   void sendHeartBeatLoop();
00073   void sendHeartBeat();
00074   bool isIrrelevant(ChangeKind_t kind) const;
00075   static void hbFunctionJumppad(void *thisPointer);
00076 };
00077 
00078 using StatefulWriter = StatefulWriterT<UdpDriver>;
00079 } // namespace rtps
00080 extern void *networkSubDriverPtr;
00081 extern void *networkPubDriverPtr;
00082 extern void (*hbPubFuncPtr)(void *);
00083 extern void (*hbSubFuncPtr)(void *);
00084 extern "C" void callHbPubFunc(void *arg);
00085 extern "C" void callHbSubFunc(void *arg);
00086 #include "StatefulWriter.tpp"
00087 
00088 #endif // RTPS_STATEFULWRITER_H