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/*
* $Id$
*
* AUTHOR: Petr Smolik petr.smolik@wo.cz
*
* ORTE - OCERA Real-Time Ethernet http://www.ocera.org/
* --------------------------------------------------------------------
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
*/
#ifndef _TYPEDEFS_DEFINES_RTPS_H
#define _TYPEDEFS_DEFINES_RTPS_H
#ifdef __cplusplus
extern "C" {
#endif
#define RTPS_HEADER_LENGTH 16
#define MAX_PATHNAME 128
#define MAX_TYPENAME 128
#define ORTE_TRUE 1
#define ORTE_FALSE 0
typedef gint8 Boolean;
typedef gint8 PathName[MAX_PATHNAME];
typedef gint8 TypeName[MAX_TYPENAME];
typedef gint32 TypeChecksum;
/*****************************************************************/
/* Wire Protocol Specification (WPS) */
/*****************************************************************/
/**
Host identifier.
for example: IP address working nodes
*/
typedef gint32 HostId;
#define HID_UNKNOWN 0x00
/**
Application identifier.
composed from: 3 bytes - instance Id
1 byte - appKind (1 - ManagedApplication, 2 - Manager)
*/
typedef gint32 AppId;
#define AID_UNKNOWN 0x00
#define MANAGEDAPPLICATION 0x01
#define MANAGER 0x02
/**
Object identifier.
composed from: 3 bytes - instance Id
1 byte - objKind
*/
typedef gint32 ObjectId;
#define OID_UNKNOWN 0x00000000
#define OID_APP 0x000001C1
#define OID_WRITE_APPSELF 0x000008C2
#define OID_READ_APPSELF 0x000008C7
#define OID_WRITE_APP 0x000001C2
#define OID_READ_APP 0x000001C7
#define OID_WRITE_MGR 0x000007C2
#define OID_READ_MGR 0x000007C7
#define OID_WRITE_PUBL 0x000003C2
#define OID_READ_PUBL 0x000003C7
#define OID_WRITE_SUBS 0x000004C2
#define OID_READ_SUBS 0x000004C7
/* Kind */
#define OID_APPLICATION 0x01
#define OID_CSTWRITER 0x02
#define OID_PUBLICATION 0x03
#define OID_SUBSCRIPTION 0x04
#define OID_CSTREADER 0x07
#define OID_USEROBJ 0x00
#define OID_RESUSEROBJ 0x40
#define OID_METAOBJ 0x80
#define OID_RESMETAOBJ 0xC0
typedef struct {
HostId hid;
AppId aid;
ObjectId oid;
} GUID_RTPS;
typedef struct {
gint8 major;
gint8 minor;
} VendorId;
#define VENDOR_ID_UNKNOWN(id) {id.major=0;id.minor=0;}
#define VENDOR_ID_RTI(id) {id.major=1;id.minor=1;}
#define VENDOR_ID_OCERA(id) {id.major=0;id.minor=0;}
typedef struct {
gint8 major;
gint8 minor;
} ProtocolVersion;
#define PROTOCOL_VERSION_1_0(pv) {pv.major=1;pv.minor=0;}
typedef struct {
gint32 high;
gint32 low;
} SequenceNumber;
#define SEQUENCE_NUMBER_NONE(sn) {sn.high=0;sn.low=0;}
#define SEQUENCE_NUMBER_UNKNOWN(sn) {sn.high=0x7fffffff;sn.low=0xffffffff;}
typedef struct {
gint32 seconds; /* time in seconds */
guint32 fraction; /* time in seconds / 2^32 */
} NtpTime;
#define NTPTIME_ZERO(t) {t.seconds=0;t.fraction=0;}
#define NTPTIME_BUILD(t,s) {t.seconds=s;t.fraction=0;}
#define NTPTIME_INFINITE(t) {t.seconds=0xffffffff;t.fraction=0;}
typedef gint32 IPAddress;
#define IPADDRESS_INVALID 0
typedef gint32 Port;
#define PORT_INVALID 0
typedef enum {
PAD = 0x01,
VAR = 0x02,
ISSUE = 0x03,
ACK = 0x06,
HEARTBEAT = 0x07,
GAP = 0x08,
INFO_TS = 0x09,
INFO_SRC = 0x0c,
INFO_REPLY = 0x0d,
INFO_DST = 0x0e,
APP_QUIT = 0x90
} SubmessageId;
typedef struct {
ProtocolVersion sourceVersion;
VendorId sourceVendorId;
HostId sourceHostId;
AppId sourceAppId;
HostId destHostId;
AppId destAppId;
IPAddress unicastReplyIPAddress;
Port unicastReplyPort;
IPAddress multicastReplyIPAddress;
Port multicastReplyPort;
Boolean haveTimestamp;
NtpTime timestamp;
} MessageInterpret;
#define PID_PAD 0x00
#define PID_SENTINEL 0x01
#define PID_EXPIRATION_TIME 0x02
#define PID_PERSISTENCE 0x03
#define PID_MINIMUM_SEPARATION 0x04
#define PID_TOPIC 0x05
#define PID_STRENGTH 0x06
#define PID_TYPE_NAME 0x07
#define PID_TYPE_CHECKSUM 0x08
#define RTPS_PID_TYPE2_NAME 0x09
#define RTPS_PID_TYPE2_CHECKSUM 0x0a
#define PID_METATRAFFIC_MULTICAST_IPADDRESS 0x0b /*tady byla chyba MATA_TRAFF....*/
#define PID_APP_IPADDRESS 0x0c
#define PID_METATRAFFIC_UNICAST_PORT 0x0d
#define PID_USERDATA_UNICAST_PORT 0x0e
#define PID_IS_RELIABLE 0x0f
#define PID_EXPECTS_ACK 0x10
#define PID_USERDATA_MULTICAST_IPADDRESS 0x11
#define PID_MANAGER_KEY 0x12
#define PID_SEND_QUEUE_SIZE 0x13
#define PID_RELIABILITY_ENABLED 0x14
#define PID_PROTOCOL_VERSION 0x15
#define PID_VENDOR_ID 0x16
#define PID_VARGAPPS_SEQUENCE_NUMBER_LAST 0x17
#define PID_RECV_QUEUE_SIZE 0x18
#define PID_RELIABILITY_OFFERED 0x19
#define PID_RELIABILITY_REQUESTED 0x1a
/* possible values for PID_RELIABILITY_REQUEST */
#define PID_VALUE_RELIABILITY_BEST_EFFORTS 0x01
#define PID_VALUE_RELIABILITY_STRICT 0x02
typedef guint16 ParameterId;
typedef guint16 ParameterLength;
/* State Machines */
typedef enum {
MAYSENDHB = 0x01,
MUSTSENDHB = 0x02,
SENDHB = 0x03
} StateMachineHB;
typedef enum {
NOTHNIGTOSEND = 0x01,
MUSTSENDDATA = 0x02
} StateMachineSend;
typedef enum {
NEW = 0x01,
TOSEND = 0x02,
UNDERWAY = 0x03,
UNACKNOWLEDGED = 0x04,
ANNOUCED = 0x05,
ACKNOWLEDGED = 0x06
} StateMachineChFReader;
typedef enum {
WAITING = 0x01,
PULLING = 0x02,
ACKPENDING = 0x03
} StateMachineACK;
typedef enum {
FUTURE = 0x01,
REQUESTED = 0x02,
MISSING = 0x03,
RECEIVED = 0x04
} StateMachineChFWriter;
#ifdef __cplusplus
} /* extern "C"*/
#endif
#endif /* _TYPEDEFS_DEFINES_RTPS_H */
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