packet-rtps.h

   1 /*
   2  *  $Id: packet-rtps.h,v 1.3 2004/04/22 20:29:46 jmayer Exp $
   3  *
   4  *  AUTHOR: Petr Smolik                 petr.smolik@wo.cz
   5  *
   6  *  ORTE - OCERA Real-Time Ethernet     http://www.ocera.org/
   7  *  --------------------------------------------------------------------
   8  *
   9  *  This program is free software; you can redistribute it and/or modify
  10  *  it under the terms of the GNU General Public License as published by
  11  *  the Free Software Foundation; either version 2 of the License, or
  12  *  (at your option) any later version.
  13  *
  14  *  This program is distributed in the hope that it will be useful,
  15  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
  16  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  17  *  GNU General Public License for more details.
  18  *
  19  */
  20
  21 #ifndef _TYPEDEFS_DEFINES_RTPS_H
  22 #define _TYPEDEFS_DEFINES_RTPS_H
  23
  24 #ifdef __cplusplus
  25 extern "C" {
  26 #endif
  27
  28 #define RTPS_HEADER_LENGTH   16
  29
  30 #define MAX_PATHNAME         128
  31 #define MAX_TYPENAME         128
  32 #define ORTE_TRUE            1
  33 #define ORTE_FALSE           0
  34
  35 typedef gint8                    Boolean;
  36
  37 typedef gint8                    PathName[MAX_PATHNAME];
  38 typedef gint8                    TypeName[MAX_TYPENAME];
  39
  40 typedef gint32                   TypeChecksum;
  41
  42 /*****************************************************************/
  43 /*             Wire Protocol Specification (WPS)                 */
  44 /*****************************************************************/
  45
  46
  47 /**
  48   Host identifier.
  49
  50   for example: IP address working nodes
  51 */
  52 typedef gint32                   HostId;
  53 #define HID_UNKNOWN              0x00
  54
  55 /**
  56   Application identifier.
  57
  58   composed from: 3 bytes - instance Id
  59                  1 byte  - appKind (1 - ManagedApplication, 2 - Manager)
  60 */
  61 typedef gint32                   AppId;
  62 #define AID_UNKNOWN              0x00
  63 #define MANAGEDAPPLICATION       0x01
  64 #define MANAGER                  0x02
  65
  66 /**
  67   Object identifier.
  68
  69   composed from: 3 bytes - instance Id
  70                  1 byte  - objKind
  71 */
  72 typedef gint32                   ObjectId;
  73
  74 #define OID_UNKNOWN              0x00000000
  75 #define OID_APP                  0x000001C1
  76 #define OID_WRITE_APPSELF        0x000008C2
  77 #define OID_READ_APPSELF         0x000008C7
  78 #define OID_WRITE_APP            0x000001C2
  79 #define OID_READ_APP             0x000001C7
  80 #define OID_WRITE_MGR            0x000007C2
  81 #define OID_READ_MGR             0x000007C7
  82 #define OID_WRITE_PUBL           0x000003C2
  83 #define OID_READ_PUBL            0x000003C7
  84 #define OID_WRITE_SUBS           0x000004C2
  85 #define OID_READ_SUBS            0x000004C7
  86 /* Kind */
  87 #define OID_APPLICATION      0x01
  88 #define OID_CSTWRITER        0x02
  89 #define OID_PUBLICATION      0x03
  90 #define OID_SUBSCRIPTION     0x04
  91 #define OID_CSTREADER        0x07
  92
  93 #define OID_USEROBJ          0x00
  94 #define OID_RESUSEROBJ       0x40
  95 #define OID_METAOBJ          0x80
  96 #define OID_RESMETAOBJ       0xC0
  97
  98 typedef struct {
  99        HostId                hid;
 100        AppId                 aid;
 101        ObjectId              oid;
 102      } GUID_RTPS;
 103
 104 typedef struct {
 105        gint8                 major;
 106        gint8                 minor;
 107      } VendorId;
 108
 109 #define VENDOR_ID_UNKNOWN(id)    {id.major=0;id.minor=0;}
 110 #define VENDOR_ID_RTI(id)        {id.major=1;id.minor=1;}
 111 #define VENDOR_ID_OCERA(id)      {id.major=0;id.minor=0;}
 112
 113 typedef struct {
 114        gint8                 major;
 115        gint8                 minor;
 116      } ProtocolVersion;
 117
 118 #define PROTOCOL_VERSION_1_0(pv) {pv.major=1;pv.minor=0;}
 119
 120 typedef struct {
 121        gint32                high;
 122        gint32                low;
 123      } SequenceNumber;
 124
 125
 126 #define SEQUENCE_NUMBER_NONE(sn)    {sn.high=0;sn.low=0;}
 127 #define SEQUENCE_NUMBER_UNKNOWN(sn) {sn.high=0x7fffffff;sn.low=0xffffffff;}
 128
 129
 130 typedef struct {
 131        gint32                seconds;    /* time in seconds */
 132        guint32               fraction;   /* time in seconds / 2^32 */
 133      } NtpTime;
 134
 135 #define NTPTIME_ZERO(t)          {t.seconds=0;t.fraction=0;}
 136 #define NTPTIME_BUILD(t,s)       {t.seconds=s;t.fraction=0;}
 137 #define NTPTIME_INFINITE(t)      {t.seconds=0xffffffff;t.fraction=0;}
 138
 139 typedef gint32                   IPAddress;
 140
 141 #define IPADDRESS_INVALID        0
 142
 143 typedef gint32                   Port;
 144
 145 #define PORT_INVALID             0
 146
 147 typedef enum {
 148        PAD                       = 0x01,
 149        VAR                       = 0x02,
 150        ISSUE                     = 0x03,
 151        ACK                       = 0x06,
 152        HEARTBEAT                 = 0x07,
 153        GAP                       = 0x08,
 154        INFO_TS                   = 0x09,
 155        INFO_SRC                  = 0x0c,
 156        INFO_REPLY                = 0x0d,
 157        INFO_DST                  = 0x0e,
 158        APP_QUIT                  = 0x90
 159      } SubmessageId;
 160
 161 typedef struct {
 162        ProtocolVersion           sourceVersion;
 163        VendorId                  sourceVendorId;
 164        HostId                    sourceHostId;
 165        AppId                     sourceAppId;
 166        HostId                    destHostId;
 167        AppId                     destAppId;
 168        IPAddress                 unicastReplyIPAddress;
 169        Port                      unicastReplyPort;
 170        IPAddress                 multicastReplyIPAddress;
 171        Port                      multicastReplyPort;
 172        Boolean                   haveTimestamp;
 173        NtpTime                   timestamp;
 174      } MessageInterpret;
 175
 176
 177 #define PID_PAD                             0x00
 178 #define PID_SENTINEL                        0x01
 179 #define PID_EXPIRATION_TIME                 0x02
 180 #define PID_PERSISTENCE                     0x03
 181 #define PID_MINIMUM_SEPARATION              0x04
 182 #define PID_TOPIC                           0x05
 183 #define PID_STRENGTH                        0x06
 184 #define PID_TYPE_NAME                       0x07
 185 #define PID_TYPE_CHECKSUM                   0x08
 186 #define RTPS_PID_TYPE2_NAME                 0x09
 187 #define RTPS_PID_TYPE2_CHECKSUM             0x0a
 188 #define PID_METATRAFFIC_MULTICAST_IPADDRESS 0x0b  /*tady byla chyba MATA_TRAFF....*/
 189 #define PID_APP_IPADDRESS                   0x0c
 190 #define PID_METATRAFFIC_UNICAST_PORT        0x0d
 191 #define PID_USERDATA_UNICAST_PORT           0x0e
 192 #define PID_IS_RELIABLE                     0x0f
 193 #define PID_EXPECTS_ACK                     0x10
 194 #define PID_USERDATA_MULTICAST_IPADDRESS    0x11
 195 #define PID_MANAGER_KEY                     0x12
 196 #define PID_SEND_QUEUE_SIZE                 0x13
 197 #define PID_RELIABILITY_ENABLED             0x14
 198 #define PID_PROTOCOL_VERSION                0x15
 199 #define PID_VENDOR_ID                       0x16
 200 #define PID_VARGAPPS_SEQUENCE_NUMBER_LAST   0x17
 201 #define PID_RECV_QUEUE_SIZE                 0x18
 202 #define PID_RELIABILITY_OFFERED             0x19
 203 #define PID_RELIABILITY_REQUESTED           0x1a
 204
 205 /* possible values for PID_RELIABILITY_REQUEST */
 206 #define PID_VALUE_RELIABILITY_BEST_EFFORTS  0x01
 207 #define PID_VALUE_RELIABILITY_STRICT        0x02
 208
 209 typedef guint16   ParameterId;
 210 typedef guint16   ParameterLength;
 211
 212 /* State Machines */
 213 typedef enum {
 214         MAYSENDHB                           = 0x01,
 215         MUSTSENDHB                          = 0x02,
 216         SENDHB                              = 0x03
 217       } StateMachineHB;
 218
 219 typedef enum {
 220         NOTHNIGTOSEND                       = 0x01,
 221         MUSTSENDDATA                        = 0x02
 222       } StateMachineSend;
 223
 224 typedef enum {
 225         NEW                                 = 0x01,
 226         TOSEND                              = 0x02,
 227         UNDERWAY                            = 0x03,
 228         UNACKNOWLEDGED                      = 0x04,
 229         ANNOUCED                            = 0x05,
 230         ACKNOWLEDGED                        = 0x06
 231       } StateMachineChFReader;
 232
 233 typedef enum {
 234         WAITING                             = 0x01,
 235         PULLING                             = 0x02,
 236         ACKPENDING                          = 0x03
 237       } StateMachineACK;
 238
 239 typedef enum {
 240         FUTURE                              = 0x01,
 241         REQUESTED                           = 0x02,
 242         MISSING                             = 0x03,
 243         RECEIVED                            = 0x04
 244       } StateMachineChFWriter;
 245
 246 #ifdef __cplusplus
 247 } /* extern "C"*/
 248 #endif
 249
 250 #endif /* _TYPEDEFS_DEFINES_RTPS_H */