/* * $Id: packet-rtps.h,v 1.2 2004/04/20 09:01:41 smolik Exp $ * * 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 */