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session.c
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session.c
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#include <uxr/client/core/session/session.h>
#include <uxr/client/util/time.h>
#include <uxr/client/core/communication/communication.h>
#include <uxr/client/core/type/xrce_types.h>
#include <uxr/client/config.h>
#include "submessage_internal.h"
#include "session_internal.h"
#include "session_info_internal.h"
#include "stream/stream_storage_internal.h"
#include "stream/common_reliable_stream_internal.h"
#include "stream/input_best_effort_stream_internal.h"
#include "stream/input_reliable_stream_internal.h"
#include "stream/output_best_effort_stream_internal.h"
#include "stream/output_reliable_stream_internal.h"
#include "stream/seq_num_internal.h"
#include "../log/log_internal.h"
#include "../../util/time_internal.h"
#define CREATE_SESSION_MAX_MSG_SIZE (MAX_HEADER_SIZE + SUBHEADER_SIZE + CREATE_CLIENT_PAYLOAD_SIZE)
#define DELETE_SESSION_MAX_MSG_SIZE (MAX_HEADER_SIZE + SUBHEADER_SIZE + DELETE_CLIENT_PAYLOAD_SIZE)
#define HEARTBEAT_MAX_MSG_SIZE (MAX_HEADER_SIZE + SUBHEADER_SIZE + HEARTBEAT_PAYLOAD_SIZE)
#define ACKNACK_MAX_MSG_SIZE (MAX_HEADER_SIZE + SUBHEADER_SIZE + ACKNACK_PAYLOAD_SIZE)
#define TIMESTAMP_PAYLOAD_SIZE 8
#define TIMESTAMP_MAX_MSG_SIZE (MAX_HEADER_SIZE + SUBHEADER_SIZE + TIMESTAMP_PAYLOAD_SIZE)
static bool listen_message(
uxrSession* session,
int poll_ms);
static bool listen_message_reliably(
uxrSession* session,
int poll_ms);
static bool wait_session_status(
uxrSession* session,
uint8_t* buffer,
size_t length,
size_t attempts);
static bool send_message(
const uxrSession* session,
uint8_t* buffer,
size_t length);
static bool recv_message(
const uxrSession* session,
uint8_t** buffer,
size_t* length,
int poll_ms);
static void write_submessage_heartbeat(
const uxrSession* session,
uxrStreamId stream);
static void write_submessage_acknack(
const uxrSession* session,
uxrStreamId stream);
static void read_message(
uxrSession* session,
ucdrBuffer* message);
static void read_stream(
uxrSession* session,
ucdrBuffer* message,
uxrStreamId id,
uxrSeqNum seq_num);
static void read_submessage_list(
uxrSession* session,
ucdrBuffer* submessages,
uxrStreamId stream_id);
static void read_submessage(
uxrSession* session,
ucdrBuffer* submessage,
uint8_t submessage_id,
uxrStreamId stream_id,
uint16_t length,
uint8_t flags);
static void read_submessage_status(
uxrSession* session,
ucdrBuffer* submessage);
static void read_submessage_data(
uxrSession* session,
ucdrBuffer* submessage,
uint16_t length,
uxrStreamId stream_id,
uint8_t format);
static void read_submessage_heartbeat(
uxrSession* session,
ucdrBuffer* submessage);
static void read_submessage_acknack(
uxrSession* session,
ucdrBuffer* submessage);
static void read_submessage_timestamp_reply(
uxrSession* session,
ucdrBuffer* submessage);
#ifdef PERFORMANCE_TESTING
static void read_submessage_performance(
uxrSession* session,
ucdrBuffer* submessage,
uint16_t length);
#endif /* ifdef PERFORMANCE_TESTING */
static void process_status(
uxrSession* session,
uxrObjectId object_id,
uint16_t request_id,
uint8_t status);
static void process_timestamp_reply(
uxrSession* session,
TIMESTAMP_REPLY_Payload* timestamp);
static FragmentationInfo on_get_fragmentation_info(
uint8_t* submessage_header);
static bool run_session_until_sync(
uxrSession* session,
int timeout);
//==================================================================
// PUBLIC
//==================================================================
void uxr_init_session(
uxrSession* session,
uxrCommunication* comm,
uint32_t key)
{
session->comm = comm;
session->request_list = NULL;
session->status_list = NULL;
session->request_status_list_size = 0;
session->on_status = NULL;
session->on_status_args = NULL;
session->on_topic = NULL;
session->on_topic_args = NULL;
session->on_time = NULL;
session->on_time_args = NULL;
session->time_offset = 0;
session->synchronized = false;
uxr_init_session_info(&session->info, 0x81, key);
uxr_init_stream_storage(&session->streams);
}
void uxr_set_status_callback(
uxrSession* session,
uxrOnStatusFunc on_status_func,
void* args)
{
session->on_status = on_status_func;
session->on_status_args = args;
}
void uxr_set_topic_callback(
uxrSession* session,
uxrOnTopicFunc on_topic_func,
void* args)
{
session->on_topic = on_topic_func;
session->on_topic_args = args;
}
void uxr_set_time_callback(
uxrSession* session,
uxrOnTimeFunc on_time_func,
void* args)
{
session->on_time = on_time_func;
session->on_time_args = args;
}
void uxr_set_request_callback(
uxrSession* session,
uxrOnRequestFunc on_request_func,
void* args)
{
session->on_request = on_request_func;
session->on_request_args = args;
}
void uxr_set_reply_callback(
uxrSession* session,
uxrOnReplyFunc on_reply_func,
void* args)
{
session->on_reply = on_reply_func;
session->on_reply_args = args;
}
#ifdef PERFORMANCE_TESTING
void uxr_set_performance_callback(
uxrSession* session,
uxrOnPerformanceFunc on_echo_func,
void* args)
{
session->on_performance = on_echo_func;
session->on_performance_args = args;
}
#endif /* ifdef PERFORMANCE_TESTING */
bool uxr_create_session_retries(
uxrSession* session,
size_t retries)
{
uxr_reset_stream_storage(&session->streams);
uint8_t create_session_buffer[CREATE_SESSION_MAX_MSG_SIZE];
ucdrBuffer ub;
ucdr_init_buffer_origin_offset(&ub, create_session_buffer, CREATE_SESSION_MAX_MSG_SIZE, 0u, uxr_session_header_offset(
&session->info));
uxr_buffer_create_session(&session->info, &ub, (uint16_t)(session->comm->mtu - INTERNAL_RELIABLE_BUFFER_OFFSET));
uxr_stamp_create_session_header(&session->info, ub.init);
bool received = wait_session_status(session, create_session_buffer, ucdr_buffer_length(&ub), (size_t) retries);
bool created = received && UXR_STATUS_OK == session->info.last_requested_status;
return created;
}
bool uxr_create_session(
uxrSession* session)
{
return uxr_create_session_retries(session, UXR_CONFIG_MAX_SESSION_CONNECTION_ATTEMPTS);
}
bool uxr_delete_session_retries(
uxrSession* session,
size_t retries)
{
uint8_t delete_session_buffer[DELETE_SESSION_MAX_MSG_SIZE];
ucdrBuffer ub;
ucdr_init_buffer_origin_offset(&ub, delete_session_buffer, DELETE_SESSION_MAX_MSG_SIZE, 0u, uxr_session_header_offset(
&session->info));
uxr_buffer_delete_session(&session->info, &ub);
uxr_stamp_session_header(&session->info, 0, 0, ub.init);
bool received = wait_session_status(session, delete_session_buffer, ucdr_buffer_length(&ub), retries);
return received && UXR_STATUS_OK == session->info.last_requested_status;
}
bool uxr_delete_session(
uxrSession* session)
{
return uxr_delete_session_retries(session, UXR_CONFIG_MAX_SESSION_CONNECTION_ATTEMPTS);
}
uxrStreamId uxr_create_output_best_effort_stream(
uxrSession* session,
uint8_t* buffer,
size_t size)
{
uint8_t header_offset = uxr_session_header_offset(&session->info);
return uxr_add_output_best_effort_buffer(&session->streams, buffer, size, header_offset);
}
uxrStreamId uxr_create_output_reliable_stream(
uxrSession* session,
uint8_t* buffer,
size_t size,
uint16_t history)
{
uint8_t header_offset = uxr_session_header_offset(&session->info);
return uxr_add_output_reliable_buffer(&session->streams, buffer, size, history, header_offset);
}
uxrStreamId uxr_create_input_best_effort_stream(
uxrSession* session)
{
return uxr_add_input_best_effort_buffer(&session->streams);
}
uxrStreamId uxr_create_input_reliable_stream(
uxrSession* session,
uint8_t* buffer,
size_t size,
uint16_t history)
{
return uxr_add_input_reliable_buffer(&session->streams, buffer, size, history, on_get_fragmentation_info);
}
bool uxr_run_session_time(
uxrSession* session,
int timeout_ms)
{
uxr_flash_output_streams(session);
bool timeout = false;
while (!timeout)
{
timeout = !listen_message_reliably(session, timeout_ms);
}
return uxr_output_streams_confirmed(&session->streams);
}
bool uxr_run_session_timeout(
uxrSession* session,
int timeout_ms)
{
int64_t start_timestamp = uxr_millis();
int remaining_time = timeout_ms;
uxr_flash_output_streams(session);
while (remaining_time > 0)
{
listen_message_reliably(session, remaining_time);
remaining_time = timeout_ms - (int)(uxr_millis() - start_timestamp);
}
return uxr_output_streams_confirmed(&session->streams);
}
bool uxr_run_session_until_data(
uxrSession* session,
int timeout_ms)
{
int64_t start_timestamp = uxr_millis();
int remaining_time = timeout_ms;
uxr_flash_output_streams(session);
session->on_data_flag = false;
while (remaining_time > 0)
{
listen_message_reliably(session, remaining_time);
if (session->on_data_flag)
{
break;
}
remaining_time = timeout_ms - (int)(uxr_millis() - start_timestamp);
}
return session->on_data_flag;
}
bool uxr_run_session_until_timeout(
uxrSession* session,
int timeout_ms)
{
uxr_flash_output_streams(session);
return listen_message_reliably(session, timeout_ms);
}
bool uxr_run_session_until_confirm_delivery(
uxrSession* session,
int timeout_ms)
{
uxr_flash_output_streams(session);
bool timeout = false;
while (!uxr_output_streams_confirmed(&session->streams) && !timeout)
{
timeout = !listen_message_reliably(session, timeout_ms);
}
return uxr_output_streams_confirmed(&session->streams);
}
bool uxr_run_session_until_all_status(
uxrSession* session,
int timeout_ms,
const uint16_t* request_list,
uint8_t* status_list,
size_t list_size)
{
uxr_flash_output_streams(session);
for (unsigned i = 0; i < list_size; ++i)
{
status_list[i] = UXR_STATUS_NONE;
}
session->request_list = request_list;
session->status_list = status_list;
session->request_status_list_size = list_size;
bool timeout = false;
bool status_confirmed = false;
while (!timeout && !status_confirmed)
{
timeout = !listen_message_reliably(session, timeout_ms);
status_confirmed = true;
for (unsigned i = 0; i < list_size && status_confirmed; ++i)
{
status_confirmed = status_list[i] != UXR_STATUS_NONE
|| request_list[i] == UXR_INVALID_REQUEST_ID; //CHECK: better give an error? an assert?
}
}
session->request_status_list_size = 0;
bool status_ok = true;
for (unsigned i = 0; i < list_size && status_ok; ++i)
{
status_ok = status_list[i] == UXR_STATUS_OK || status_list[i] == UXR_STATUS_OK_MATCHED;
}
return status_ok;
}
bool uxr_run_session_until_one_status(
uxrSession* session,
int timeout_ms,
const uint16_t* request_list,
uint8_t* status_list,
size_t list_size)
{
uxr_flash_output_streams(session);
for (unsigned i = 0; i < list_size; ++i)
{
status_list[i] = UXR_STATUS_NONE;
}
session->request_list = request_list;
session->status_list = status_list;
session->request_status_list_size = list_size;
bool timeout = false;
bool status_confirmed = false;
while (!timeout && !status_confirmed)
{
timeout = !listen_message_reliably(session, timeout_ms);
for (unsigned i = 0; i < list_size && !status_confirmed; ++i)
{
status_confirmed = status_list[i] != UXR_STATUS_NONE
|| request_list[i] == UXR_INVALID_REQUEST_ID; //CHECK: better give an error? an assert?
}
}
session->request_status_list_size = 0;
return status_confirmed;
}
bool uxr_sync_session(
uxrSession* session,
int time)
{
uint8_t timestamp_buffer[TIMESTAMP_MAX_MSG_SIZE];
ucdrBuffer ub;
ucdr_init_buffer_origin_offset(&ub, timestamp_buffer, sizeof(timestamp_buffer), 0u,
uxr_session_header_offset(&session->info));
uxr_buffer_submessage_header(&ub, SUBMESSAGE_ID_TIMESTAMP, TIMESTAMP_PAYLOAD_SIZE, 0);
TIMESTAMP_Payload timestamp;
int64_t nanos = uxr_nanos();
timestamp.transmit_timestamp.seconds = (int32_t)(nanos / 1000000000);
timestamp.transmit_timestamp.nanoseconds = (uint32_t)(nanos % 1000000000);
(void) uxr_serialize_TIMESTAMP_Payload(&ub, ×tamp);
uxr_stamp_session_header(&session->info, 0, 0, ub.init);
send_message(session, timestamp_buffer, ucdr_buffer_length(&ub));
return run_session_until_sync(session, time);
}
int64_t uxr_epoch_millis(
uxrSession* session)
{
return uxr_epoch_nanos(session) / 1000000;
}
int64_t uxr_epoch_nanos(
uxrSession* session)
{
return uxr_nanos() - session->time_offset;
}
#ifdef PERFORMANCE_TESTING
bool uxr_buffer_performance(
uxrSession* session,
uxrStreamId stream_id,
uint64_t epoch_time,
uint8_t* buf,
uint16_t len,
bool echo)
{
bool rv = false;
PERFORMANCE_Payload payload;
payload.epoch_time_lsb = (uint32_t)(epoch_time & UINT32_MAX);
payload.epoch_time_msb = (uint32_t)(epoch_time >> 32);
payload.buf = buf;
payload.len = len;
ucdrBuffer mb;
const uint16_t payload_length = (uint16_t)(sizeof(payload.epoch_time_lsb) +
sizeof(payload.epoch_time_msb) +
len);
uint8_t flags = (echo) ? UXR_ECHO : 0;
if (uxr_prepare_stream_to_write_submessage(session, stream_id, payload_length, &mb, SUBMESSAGE_ID_PERFORMANCE,
flags))
{
(void) uxr_serialize_PERFORMANCE_Payload(&mb, &payload);
rv = true;
}
return rv;
}
#endif /* ifdef PERFORMANCE_TESTING */
void uxr_flash_output_streams(
uxrSession* session)
{
for (uint8_t i = 0; i < session->streams.output_best_effort_size; ++i)
{
uxrOutputBestEffortStream* stream = &session->streams.output_best_effort[i];
uxrStreamId id = uxr_stream_id(i, UXR_BEST_EFFORT_STREAM, UXR_OUTPUT_STREAM);
uint8_t* buffer; size_t length; uxrSeqNum seq_num;
if (uxr_prepare_best_effort_buffer_to_send(stream, &buffer, &length, &seq_num))
{
uxr_stamp_session_header(&session->info, id.raw, seq_num, buffer);
send_message(session, buffer, length);
}
}
for (uint8_t i = 0; i < session->streams.output_reliable_size; ++i)
{
uxrOutputReliableStream* stream = &session->streams.output_reliable[i];
uxrStreamId id = uxr_stream_id(i, UXR_RELIABLE_STREAM, UXR_OUTPUT_STREAM);
uint8_t* buffer; size_t length; uxrSeqNum seq_num;
while (uxr_prepare_next_reliable_buffer_to_send(stream, &buffer, &length, &seq_num))
{
uxr_stamp_session_header(&session->info, id.raw, seq_num, buffer);
send_message(session, buffer, length);
}
}
}
//==================================================================
// PRIVATE
//==================================================================
bool listen_message(
uxrSession* session,
int poll_ms)
{
uint8_t* data; size_t length;
bool must_be_read = recv_message(session, &data, &length, poll_ms);
if (must_be_read)
{
ucdrBuffer ub;
ucdr_init_buffer(&ub, data, (uint32_t)length);
read_message(session, &ub);
}
return must_be_read;
}
bool listen_message_reliably(
uxrSession* session,
int poll_ms)
{
bool received = false;
int32_t poll = (poll_ms >= 0) ? poll_ms : INT32_MAX;
do
{
int64_t next_heartbeat_timestamp = INT64_MAX;
int64_t timestamp = uxr_millis();
for (uint8_t i = 0; i < session->streams.output_reliable_size; ++i)
{
uxrOutputReliableStream* stream = &session->streams.output_reliable[i];
uxrStreamId id = uxr_stream_id(i, UXR_RELIABLE_STREAM, UXR_OUTPUT_STREAM);
if (uxr_update_output_stream_heartbeat_timestamp(stream, timestamp))
{
write_submessage_heartbeat(session, id);
}
if (stream->next_heartbeat_timestamp < next_heartbeat_timestamp)
{
next_heartbeat_timestamp = stream->next_heartbeat_timestamp;
}
}
int32_t poll_to_next_heartbeat =
(next_heartbeat_timestamp != INT64_MAX) ? (int32_t)(next_heartbeat_timestamp - timestamp) : poll;
if (0 == poll_to_next_heartbeat)
{
poll_to_next_heartbeat = 1;
}
int poll_chosen = (poll_to_next_heartbeat < poll) ? poll_to_next_heartbeat : poll;
received = listen_message(session, poll_chosen);
if (!received)
{
poll -= poll_chosen;
}
}
while (!received && poll > 0);
return received;
}
bool wait_session_status(
uxrSession* session,
uint8_t* buffer,
size_t length,
size_t attempts)
{
session->info.last_requested_status = UXR_STATUS_NONE;
for (size_t i = 0; i < attempts && session->info.last_requested_status == UXR_STATUS_NONE; ++i)
{
send_message(session, buffer, length);
listen_message(session, UXR_CONFIG_MIN_SESSION_CONNECTION_INTERVAL);
}
return session->info.last_requested_status != UXR_STATUS_NONE;
}
inline bool send_message(
const uxrSession* session,
uint8_t* buffer,
size_t length)
{
bool sent = session->comm->send_msg(session->comm->instance, buffer, length);
UXR_DEBUG_PRINT_MESSAGE((sent) ? UXR_SEND : UXR_ERROR_SEND, buffer, length, session->info.key);
return sent;
}
inline bool recv_message(
const uxrSession* session,
uint8_t** buffer,
size_t* length,
int poll_ms)
{
bool received = session->comm->recv_msg(session->comm->instance, buffer, length, poll_ms);
if (received)
{
UXR_DEBUG_PRINT_MESSAGE(UXR_RECV, *buffer, *length, session->info.key);
}
return received;
}
void write_submessage_heartbeat(
const uxrSession* session,
uxrStreamId id)
{
uint8_t heartbeat_buffer[HEARTBEAT_MAX_MSG_SIZE];
ucdrBuffer ub;
ucdr_init_buffer_origin_offset(&ub, heartbeat_buffer, HEARTBEAT_MAX_MSG_SIZE, 0u,
uxr_session_header_offset(&session->info));
const uxrOutputReliableStream* stream = &session->streams.output_reliable[id.index];
/* Buffer submessage header. */
uxr_buffer_submessage_header(&ub, SUBMESSAGE_ID_HEARTBEAT, HEARTBEAT_PAYLOAD_SIZE, 0);
/* Buffer HEARTBEAT. */
HEARTBEAT_Payload payload;
payload.first_unacked_seq_nr = uxr_seq_num_add(stream->last_acknown, 1);
payload.last_unacked_seq_nr = stream->last_sent;
payload.stream_id = id.raw;
(void) uxr_serialize_HEARTBEAT_Payload(&ub, &payload);
/* Stamp message header. */
uxr_stamp_session_header(&session->info, 0, 0, ub.init);
send_message(session, heartbeat_buffer, ucdr_buffer_length(&ub));
}
void write_submessage_acknack(
const uxrSession* session,
uxrStreamId id)
{
uint8_t acknack_buffer[ACKNACK_MAX_MSG_SIZE];
ucdrBuffer ub;
ucdr_init_buffer_origin_offset(&ub, acknack_buffer, ACKNACK_MAX_MSG_SIZE, 0u,
uxr_session_header_offset(&session->info));
const uxrInputReliableStream* stream = &session->streams.input_reliable[id.index];
/* Buffer submessage header. */
uxr_buffer_submessage_header(&ub, SUBMESSAGE_ID_ACKNACK, ACKNACK_PAYLOAD_SIZE, 0);
/* Buffer ACKNACK. */
ACKNACK_Payload payload;
uint16_t nack_bitmap = uxr_compute_acknack(stream, &payload.first_unacked_seq_num);
payload.nack_bitmap[0] = (uint8_t)(nack_bitmap >> 8);
payload.nack_bitmap[1] = (uint8_t)((nack_bitmap << 8) >> 8);
payload.stream_id = id.raw;
(void) uxr_serialize_ACKNACK_Payload(&ub, &payload);
/* Stamp message header. */
uxr_stamp_session_header(&session->info, 0, 0, ub.init);
send_message(session, acknack_buffer, ucdr_buffer_length(&ub));
}
void read_message(
uxrSession* session,
ucdrBuffer* ub)
{
uint8_t stream_id_raw; uxrSeqNum seq_num;
if (uxr_read_session_header(&session->info, ub, &stream_id_raw, &seq_num))
{
uxrStreamId id = uxr_stream_id_from_raw(stream_id_raw, UXR_INPUT_STREAM);
read_stream(session, ub, id, seq_num);
}
}
void read_stream(
uxrSession* session,
ucdrBuffer* ub,
uxrStreamId stream_id,
uxrSeqNum seq_num)
{
switch (stream_id.type)
{
case UXR_NONE_STREAM:
{
stream_id = uxr_stream_id_from_raw(0x00, UXR_INPUT_STREAM);
read_submessage_list(session, ub, stream_id);
break;
}
case UXR_BEST_EFFORT_STREAM:
{
uxrInputBestEffortStream* stream = uxr_get_input_best_effort_stream(&session->streams, stream_id.index);
if (stream && uxr_receive_best_effort_message(stream, seq_num))
{
read_submessage_list(session, ub, stream_id);
}
break;
}
case UXR_RELIABLE_STREAM:
{
uxrInputReliableStream* stream = uxr_get_input_reliable_stream(&session->streams, stream_id.index);
bool input_buffer_used;
if (stream &&
uxr_receive_reliable_message(stream, seq_num, ub->iterator, ucdr_buffer_remaining(
ub), &input_buffer_used))
{
if (!input_buffer_used)
{
read_submessage_list(session, ub, stream_id);
}
ucdrBuffer next_mb;
while (uxr_next_input_reliable_buffer_available(stream, &next_mb, SUBHEADER_SIZE))
{
read_submessage_list(session, &next_mb, stream_id);
}
}
write_submessage_acknack(session, stream_id);
break;
}
default:
break;
}
}
void read_submessage_list(
uxrSession* session,
ucdrBuffer* submessages,
uxrStreamId stream_id)
{
uint8_t id; uint16_t length; uint8_t flags;
while (uxr_read_submessage_header(submessages, &id, &length, &flags))
{
read_submessage(session, submessages, id, stream_id, length, flags);
}
}
void read_submessage(
uxrSession* session,
ucdrBuffer* submessage,
uint8_t submessage_id,
uxrStreamId stream_id,
uint16_t length,
uint8_t flags)
{
switch (submessage_id)
{
case SUBMESSAGE_ID_STATUS_AGENT:
if (stream_id.type == UXR_NONE_STREAM)
{
uxr_read_create_session_status(&session->info, submessage);
}
break;
case SUBMESSAGE_ID_STATUS:
if (stream_id.type == UXR_NONE_STREAM)
{
uxr_read_delete_session_status(&session->info, submessage);
}
else
{
read_submessage_status(session, submessage);
}
break;
case SUBMESSAGE_ID_DATA:
read_submessage_data(session, submessage, length, stream_id, flags & FORMAT_MASK);
break;
case SUBMESSAGE_ID_HEARTBEAT:
read_submessage_heartbeat(session, submessage);
break;
case SUBMESSAGE_ID_ACKNACK:
read_submessage_acknack(session, submessage);
break;
case SUBMESSAGE_ID_TIMESTAMP_REPLY:
read_submessage_timestamp_reply(session, submessage);
break;
#ifdef PERFORMANCE_TESTING
case SUBMESSAGE_ID_PERFORMANCE:
read_submessage_performance(session, submessage, length);
break;
#endif /* ifdef PERFORMANCE_TESTING */
default:
break;
}
}
void read_submessage_status(
uxrSession* session,
ucdrBuffer* submessage)
{
STATUS_Payload payload;
uxr_deserialize_STATUS_Payload(submessage, &payload);
uxrObjectId object_id; uint16_t request_id;
uxr_parse_base_object_request(&payload.base.related_request, &object_id, &request_id);
uint8_t status = payload.base.result.status;
process_status(session, object_id, request_id, status);
}
extern void read_submessage_format(
uxrSession* session,
ucdrBuffer* data,
uint16_t length,
uint8_t format,
uxrStreamId stream_id,
uxrObjectId object_id,
uint16_t request_id);
void read_submessage_data(
uxrSession* session,
ucdrBuffer* submessage,
uint16_t length,
uxrStreamId stream_id,
uint8_t format)
{
BaseObjectRequest base;
uxr_deserialize_BaseObjectRequest(submessage, &base);
length = (uint16_t)(length - 4); //CHANGE: by a future size_of_BaseObjectRequest
uxrObjectId object_id;
uint16_t request_id;
uxr_parse_base_object_request(&base, &object_id, &request_id);
process_status(session, object_id, request_id, UXR_STATUS_OK);
read_submessage_format(session, submessage, length, format, stream_id, object_id, request_id);
}
void read_submessage_heartbeat(
uxrSession* session,
ucdrBuffer* submessage)
{
HEARTBEAT_Payload heartbeat;
uxr_deserialize_HEARTBEAT_Payload(submessage, &heartbeat);
uxrStreamId id = uxr_stream_id_from_raw(heartbeat.stream_id, UXR_INPUT_STREAM);
uxrInputReliableStream* stream = uxr_get_input_reliable_stream(&session->streams, id.index);
if (stream)
{
uxr_process_heartbeat(stream, heartbeat.first_unacked_seq_nr, heartbeat.last_unacked_seq_nr);
write_submessage_acknack(session, id);
}
}
void read_submessage_acknack(
uxrSession* session,
ucdrBuffer* submessage)
{
ACKNACK_Payload acknack;
uxr_deserialize_ACKNACK_Payload(submessage, &acknack);
uxrStreamId id = uxr_stream_id_from_raw(acknack.stream_id, UXR_INPUT_STREAM);
uxrOutputReliableStream* stream = uxr_get_output_reliable_stream(&session->streams, id.index);
if (stream)
{
uint16_t nack_bitmap = (uint16_t)(((uint16_t)acknack.nack_bitmap[0] << 8) + acknack.nack_bitmap[1]);
uxr_process_acknack(stream, nack_bitmap, acknack.first_unacked_seq_num);
uint8_t* buffer; size_t length;
uxrSeqNum seq_num_it = uxr_begin_output_nack_buffer_it(stream);
while (uxr_next_reliable_nack_buffer_to_send(stream, &buffer, &length, &seq_num_it))
{
send_message(session, buffer, length);
}
}
}
void read_submessage_timestamp_reply(
uxrSession* session,
ucdrBuffer* submessage)
{
TIMESTAMP_REPLY_Payload timestamp_reply;
uxr_deserialize_TIMESTAMP_REPLY_Payload(submessage, ×tamp_reply);
process_timestamp_reply(session, ×tamp_reply);
}
#ifdef PERFORMANCE_TESTING
void read_submessage_performance(
uxrSession* session,
ucdrBuffer* submessage,
uint16_t length)
{
ucdrBuffer mb_performance;
ucdr_init_buffer(&mb_performance, submessage->iterator, length);
session->on_performance(session, &mb_performance, session->on_performance_args);
}
#endif /* ifdef PERFORMANCE_TESTING */
void process_status(
uxrSession* session,
uxrObjectId object_id,
uint16_t request_id,
uint8_t status)
{
if (session->on_status != NULL)
{
session->on_status(session, object_id, request_id, status, session->on_status_args);
}
for (unsigned i = 0; i < session->request_status_list_size; ++i)
{
if (request_id == session->request_list[i])
{
session->status_list[i] = status;
break;
}
}
}
void process_timestamp_reply(
uxrSession* session,
TIMESTAMP_REPLY_Payload* timestamp)
{
if (session->on_time != NULL)
{
session->on_time(session,
uxr_nanos(),
uxr_convert_to_nanos(timestamp->receive_timestamp.seconds, timestamp->receive_timestamp.nanoseconds),
uxr_convert_to_nanos(timestamp->transmit_timestamp.seconds, timestamp->transmit_timestamp.nanoseconds),
uxr_convert_to_nanos(timestamp->originate_timestamp.seconds,
timestamp->originate_timestamp.nanoseconds),
session->on_time_args);
}
else
{
int64_t t3 = uxr_nanos();
int64_t t0 = uxr_convert_to_nanos(timestamp->originate_timestamp.seconds,
timestamp->originate_timestamp.nanoseconds);
int64_t t1 = uxr_convert_to_nanos(timestamp->receive_timestamp.seconds,
timestamp->receive_timestamp.nanoseconds);
int64_t t2 = uxr_convert_to_nanos(timestamp->transmit_timestamp.seconds,
timestamp->transmit_timestamp.nanoseconds);
session->time_offset = ((t0 + t3) - (t1 + t2)) / 2;
}
session->synchronized = true;
}
bool uxr_prepare_stream_to_write_submessage(
uxrSession* session,
uxrStreamId stream_id,
size_t payload_size,
ucdrBuffer* ub,
uint8_t submessage_id,
uint8_t mode)
{
bool available = false;
size_t submessage_size = SUBHEADER_SIZE + payload_size + uxr_submessage_padding(payload_size);
switch (stream_id.type)
{
case UXR_BEST_EFFORT_STREAM:
{
uxrOutputBestEffortStream* stream = uxr_get_output_best_effort_stream(&session->streams, stream_id.index);
available = stream && uxr_prepare_best_effort_buffer_to_write(stream, submessage_size, ub);
break;
}
case UXR_RELIABLE_STREAM:
{
uxrOutputReliableStream* stream = uxr_get_output_reliable_stream(&session->streams, stream_id.index);
available = stream && uxr_prepare_reliable_buffer_to_write(stream, submessage_size, ub);
break;
}
default: