torstenandCopilot
342ffd3e5c
- HandlerMinelayerData: BUILD_RTI Guards für RTI-Abhängigkeiten - svcTabCommon: Export-Header-Fix via Fallback-Target - TrainingAreaBase: Stub-Header für BUILD_RTI=OFF - ddsfts: Include-Pfad und Dependency-Fixes - BUILD_RTI=OFF Compilation vollständig unterstützt Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com> Entire-Checkpoint: 01M0JNZA586SACX1PRZ2DJAE5S
130 lines
5.2 KiB
C
130 lines
5.2 KiB
C
/*
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* Copyright (c) 2025 Real-Time Innovations, Inc. All rights reserved.
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* No duplications, whole or partial, manual or electronic, may be made
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* without express written permission. Any such copies, or revisions thereof,
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* must display this notice unaltered.
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* This code contains trade secrets of Real-Time Innovations, Inc.
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*/
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#ifndef commend_log_h
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#define commend_log_h
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#ifndef log_common_h
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#include "log/log_common.h"
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#endif
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#ifndef commend_dll_h
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#include "commend/commend_dll.h"
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#endif
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#ifdef __cplusplus
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extern "C" {
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#endif
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/*e \mainpage
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* COMMEND - COMMunication ENDpoint layer
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*
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* COMMEND provides a basic end to end communication model. Using
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* COMMEND services, the user creates readers & writers and
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* sets up communication channels among them, each with possibly
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* different types of QoS (in accordance with the RTPS protocol).
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*
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* The following two concepts form the core of the COMMEND layer:
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* \li Reader and writer services
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* \li Listeners
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*
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* COMMEND provides \e reader \e services to add readers to the network.
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* Reader services make it possible to create and delete readers, and
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* assert and remove remote writers for a given reader. By asserting
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* a remote writer for a given reader, the user specifies this reader
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* can expect to receive data from that particular writer and thereby
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* defines a communication channel.
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*
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* Similarly, COMMEND provides \e writer \e services to add writers
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* to the network. Each writer can have multiple remote readers to
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* send data to. When issuing a writer send command, the data passed
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* will be sent to all its readers.
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*
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* Different reader and writer services exist depending on the intended
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* QoS of the reader or writer the user wants to create. With a best effort
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* reader service, the user can add best effort readers to the network.
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* Strict reliable readers require a strict reliable reader service.
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* Multiple instances of either service can coexist in the same
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* application.
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*
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* Listeners handle the callbacks associated with both readers and writers.
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* Each reader or writer is associated with a reader or writer listener
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* respectively upon creation.
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* The listener contains the callback routines that will be executed for
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* the associated reader or writer when well defined events occur, such as
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* the arrival of data for a reader. The type of listener used, and therefore
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* the types of callbacks supported, depends upon the desired QoS of the
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* reader or writer.
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*
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* COMMEND implements the behavioral aspects of the RTPS protocol, i.e.
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* it knows the valid sequences to send and receive submessages and the
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* proper way to respond to submessages.
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* For example, a COMMEND reader understands how to respond to a
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* HEARTBEAT message.
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* Similarly, a strict reliable writer knows how to periodically
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* send a HEARTBEAT and that it needs to resend data when a NACK is
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* received in response to a HEARTBEAT.
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*
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* COMMEND does not store any data, however. That is, in order to resend
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* an issue, it must inquire and receive this data again from the
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* user of the API, typically the PRESENTATION layer. This is achieved
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* using the callback mechanism.
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* Similarly, upon receiving new data, a callback for that reader will
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* pass the data on to the PRESENTATION layer.
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*
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* COMMEND does not know the wire representation of the different RTPS
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* submessages. It merely knows the parameters required to define and
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* interpret each submessage. The MIG layer handles the actual wire
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* representation.
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*
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* @see COMMENDReaderServiceModule COMMENDWriterServiceModule
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*/
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/*e \defgroup COMMENDModule COMMEND
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\ingroup NDDS
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*/
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/*e \defgroup COMMENDLogModule COMMENDLog
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* \ingroup COMMENDModule
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* NOTE: When a new submodule is added to commend, it must be given
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* a number and entered here. Because of the use of this id
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* for logging, there are 16 submodule id's: 0x1000, 0x2000, ... , 0xF000.
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* It is suggested we put the modules here in an order that
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* respects their dependencies: modules with a lower number
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* cannot depend on modules with a higher number.
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*/
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#define SUBMODULE_COMMEND_FRAG_SAMPLE_TABLE (0x1000)
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#define SUBMODULE_COMMEND_FACADE (0x2000)
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#define SUBMODULE_COMMEND_PASSIVE_FACADE (0x3000)
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#define SUBMODULE_COMMEND_ACTIVE_FACADE (0x4000)
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#define SUBMODULE_COMMEND_BE_WRITER_SERVICE (0x5000)
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#define SUBMODULE_COMMEND_BE_READER_SERVICE (0x6000)
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#define SUBMODULE_COMMEND_SR_WRITER_SERVICE (0x7000)
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#define SUBMODULE_COMMEND_SR_READER_SERVICE (0x8000)
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#define SUBMODULE_COMMEND_ANON_WRITER_SERVICE (0x9000)
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#define SUBMODULE_COMMEND_ANON_READER_SERVICE (0xA000)
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#define COMMEND_SUBMODULE_MASK_FRAG_SAMPLE_TABLE (0x0001)
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#define COMMEND_SUBMODULE_MASK_FACADE (0x0002)
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#define COMMEND_SUBMODULE_MASK_PASSIVE_FACADE (0x0004)
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#define COMMEND_SUBMODULE_MASK_ACTIVE_FACADE (0x0008)
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#define COMMEND_SUBMODULE_MASK_BE_WRITER_SERVICE (0x0010)
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#define COMMEND_SUBMODULE_MASK_BE_READER_SERVICE (0x0020)
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#define COMMEND_SUBMODULE_MASK_SR_WRITER_SERVICE (0x0040)
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#define COMMEND_SUBMODULE_MASK_SR_READER_SERVICE (0x0080)
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#define COMMEND_SUBMODULE_MASK_ANON_WRITER_SERVICE (0x0100)
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#define COMMEND_SUBMODULE_MASK_ANON_READER_SERVICE (0x0200)
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#define COMMEND_SUBMODULE_MASK_ALL RTI_LOG_SUBMODULE_MASK_ALL
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#ifdef __cplusplus
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} /* extern "C" */
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#endif
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#endif /* commend_log_h */
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