StatelessWriter.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_RTPSWRITER_H
00026 #define RTPS_RTPSWRITER_H
00027 
00028 #include "lwip/sys.h"
00029 #include "rtps/common/types.h"
00030 #include "rtps/config.h"
00031 #include "rtps/entities/Writer.h"
00032 #include "rtps/storages/MemoryPool.h"
00033 #include "rtps/storages/SimpleHistoryCache.h"
00034 
00035 namespace rtps {
00036 
00037 struct PBufWrapper;
00038 
00039 template <typename NetworkDriver> class StatelessWriterT : public Writer {
00040 public:
00041   ~StatelessWriterT() override;
00042   bool init(TopicData attributes, TopicKind_t topicKind, ThreadPool *threadPool,
00043             NetworkDriver &driver);
00044 
00045   bool addNewMatchedReader(const ReaderProxy &newProxy) override;
00046   void removeReader(const Guid &guid) override;
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 
00065   MemoryPool<ReaderProxy, Config::NUM_READER_PROXIES_PER_WRITER> m_proxies;
00066 
00067   bool isIrrelevant(ChangeKind_t kind) const;
00068 };
00069 
00070 using StatelessWriter = StatelessWriterT<UdpDriver>;
00071 
00072 } // namespace rtps
00073 
00074 #include "StatelessWriter.tpp"
00075 
00076 #endif // RTPS_RTPSWRITER_H