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format code by astyle -n --style=1tbs -s2 -r *.c *.h *.cpp *.hpp #17

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10 changes: 6 additions & 4 deletions include/rtps/ThreadPool.h
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Original file line number Diff line number Diff line change
Expand Up @@ -34,11 +34,13 @@ Author: i11 - Embedded Software, RWTH Aachen University

#include <array>

namespace rtps {
namespace rtps
{

class Writer;

class ThreadPool {
class ThreadPool
{
public:
using receiveJumppad_fp = void (*)(void *callee, const PacketInfo &packet);

Expand Down Expand Up @@ -67,10 +69,10 @@ class ThreadPool {
sys_sem_t m_writerNotificationSem;

ThreadSafeCircularBuffer<Writer *, Config::THREAD_POOL_WORKLOAD_QUEUE_LENGTH>
m_queueOutgoing;
m_queueOutgoing;
ThreadSafeCircularBuffer<PacketInfo,
Config::THREAD_POOL_WORKLOAD_QUEUE_LENGTH>
m_queueIncoming;
m_queueIncoming;

static void writerThreadFunction(void *arg);
static void readerThreadFunction(void *arg);
Expand Down
101 changes: 67 additions & 34 deletions include/rtps/common/Locator.h
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Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,8 @@ Author: i11 - Embedded Software, RWTH Aachen University

#include <array>

namespace rtps {
namespace rtps
{
enum class LocatorKind_t : int32_t {
LOCATOR_KIND_INVALID = -1,
LOCATOR_KIND_RESERVED = 0,
Expand All @@ -41,7 +42,8 @@ enum class LocatorKind_t : int32_t {

const uint32_t LOCATOR_PORT_INVALID = 0;
const std::array<uint8_t, 16> LOCATOR_ADDRESS_INVALID = {
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
};

/*
* This representation corresponds to the RTPS wire format
Expand All @@ -50,23 +52,31 @@ struct FullLengthLocator {
LocatorKind_t kind = LocatorKind_t::LOCATOR_KIND_INVALID;
uint32_t port = LOCATOR_PORT_INVALID;
std::array<uint8_t, 16> address =
LOCATOR_ADDRESS_INVALID; // TODO make private such that kind and address
// always match?
LOCATOR_ADDRESS_INVALID; // TODO make private such that kind and address
// always match?

static FullLengthLocator createUDPv4Locator(uint8_t a, uint8_t b, uint8_t c,
uint8_t d, uint32_t port) {
uint8_t d, uint32_t port)
{
FullLengthLocator locator;
locator.kind = LocatorKind_t::LOCATOR_KIND_UDPv4;
locator.address = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, a, b, c, d};
locator.port = port;
return locator;
}

void setInvalid() { kind = LocatorKind_t::LOCATOR_KIND_INVALID; }
void setInvalid()
{
kind = LocatorKind_t::LOCATOR_KIND_INVALID;
}

bool isValid() const { return kind != LocatorKind_t::LOCATOR_KIND_INVALID; }
bool isValid() const
{
return kind != LocatorKind_t::LOCATOR_KIND_INVALID;
}

bool readFromUcdrBuffer(ucdrBuffer &buffer) {
bool readFromUcdrBuffer(ucdrBuffer &buffer)
{
if (ucdr_buffer_remaining(&buffer) < sizeof(FullLengthLocator)) {
return false;
} else {
Expand All @@ -76,7 +86,8 @@ struct FullLengthLocator {
}
}

bool serializeIntoUdcrBuffer(ucdrBuffer &buffer) {
bool serializeIntoUdcrBuffer(ucdrBuffer &buffer)
{
if (ucdr_buffer_remaining(&buffer) < sizeof(FullLengthLocator)) {
return false;
} else {
Expand All @@ -85,57 +96,69 @@ struct FullLengthLocator {
}
}

ip4_addr_t getIp4Address() const {
ip4_addr_t getIp4Address() const
{
return transformIP4ToU32(address[12], address[13], address[14],
address[15]);
}

bool isSameAddress(ip4_addr_t *address) {
bool isSameAddress(ip4_addr_t *address)
{
ip4_addr_t ownaddress = getIp4Address();
return ip4_addr_cmp(&ownaddress, address);
}

inline bool isSameSubnet() const {
inline bool isSameSubnet() const
{
return UdpDriver::isSameSubnet(getIp4Address());
}

inline bool isMulticastAddress() const {
inline bool isMulticastAddress() const
{
return UdpDriver::isMulticastAddress(getIp4Address());
}

inline uint32_t getLocatorPort() { return static_cast<Ip4Port_t>(port); }
inline uint32_t getLocatorPort()
{
return static_cast<Ip4Port_t>(port);
}

} __attribute__((packed));

inline FullLengthLocator
getBuiltInUnicastLocator(ParticipantId_t participantId) {
getBuiltInUnicastLocator(ParticipantId_t participantId)
{
return FullLengthLocator::createUDPv4Locator(
Config::IP_ADDRESS[0], Config::IP_ADDRESS[1], Config::IP_ADDRESS[2],
Config::IP_ADDRESS[3], getBuiltInUnicastPort(participantId));
Config::IP_ADDRESS[0], Config::IP_ADDRESS[1], Config::IP_ADDRESS[2],
Config::IP_ADDRESS[3], getBuiltInUnicastPort(participantId));
}

inline FullLengthLocator getBuiltInMulticastLocator() {
inline FullLengthLocator getBuiltInMulticastLocator()
{
return FullLengthLocator::createUDPv4Locator(239, 255, 0, 1,
getBuiltInMulticastPort());
getBuiltInMulticastPort());
}

inline FullLengthLocator getUserUnicastLocator(ParticipantId_t participantId) {
inline FullLengthLocator getUserUnicastLocator(ParticipantId_t participantId)
{
return FullLengthLocator::createUDPv4Locator(
Config::IP_ADDRESS[0], Config::IP_ADDRESS[1], Config::IP_ADDRESS[2],
Config::IP_ADDRESS[3], getUserUnicastPort(participantId));
Config::IP_ADDRESS[0], Config::IP_ADDRESS[1], Config::IP_ADDRESS[2],
Config::IP_ADDRESS[3], getUserUnicastPort(participantId));
}

inline FullLengthLocator
getUserMulticastLocator() { // this would be a unicastaddress, as
// defined in config
getUserMulticastLocator() // this would be a unicastaddress, as
{
// defined in config
return FullLengthLocator::createUDPv4Locator(
Config::IP_ADDRESS[0], Config::IP_ADDRESS[1], Config::IP_ADDRESS[2],
Config::IP_ADDRESS[3], getUserMulticastPort());
Config::IP_ADDRESS[0], Config::IP_ADDRESS[1], Config::IP_ADDRESS[2],
Config::IP_ADDRESS[3], getUserMulticastPort());
}

inline FullLengthLocator getDefaultSendMulticastLocator() {
inline FullLengthLocator getDefaultSendMulticastLocator()
{
return FullLengthLocator::createUDPv4Locator(239, 255, 0, 1,
getBuiltInMulticastPort());
getBuiltInMulticastPort());
}

/*
Expand All @@ -147,7 +170,8 @@ struct LocatorIPv4 {
uint32_t port = LOCATOR_PORT_INVALID;

LocatorIPv4() = default;
LocatorIPv4(const FullLengthLocator &locator) {
LocatorIPv4(const FullLengthLocator &locator)
{
address[0] = locator.address[12];
address[1] = locator.address[13];
address[2] = locator.address[14];
Expand All @@ -156,19 +180,28 @@ struct LocatorIPv4 {
kind = locator.kind;
}

ip4_addr_t getIp4Address() const {
ip4_addr_t getIp4Address() const
{
return transformIP4ToU32(address[0], address[1], address[2], address[3]);
}

void setInvalid() { kind = LocatorKind_t::LOCATOR_KIND_INVALID; }
void setInvalid()
{
kind = LocatorKind_t::LOCATOR_KIND_INVALID;
}

bool isValid() const { return kind != LocatorKind_t::LOCATOR_KIND_INVALID; }
bool isValid() const
{
return kind != LocatorKind_t::LOCATOR_KIND_INVALID;
}

inline bool isSameSubnet() const {
inline bool isSameSubnet() const
{
return UdpDriver::isSameSubnet(getIp4Address());
}

inline bool isMulticastAddress() const {
inline bool isMulticastAddress() const
{
return UdpDriver::isMulticastAddress(getIp4Address());
}
};
Expand Down
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