GitLab

Structs declared here are only visible inside the c files and therefore shall not be static.

New: URT_CFG_PUBSUB_TOPICID_WIDTH and URT_CFG_RPC_SERVICEID_WIDTH can now be arbitrary values in range [1,64]

µRT API functions check for values, which might fit the data type (e.g. uint16_t) but violate the setting (e.g. 12 bit).

Declared urtHrtRequestcalculateDeadline in the request header

Fix: when initializing of a service with a duplicate identifyier, the service did not get invalidated.

Request: introduced new API to retrieve, whether a request was submitted with fire-and-forget intentions.

Before, implementation headers could not use types defined in osal.h
The API itself remains unchanged.

urtServiceDispatch() now takes a urt_service_dispatched_t pointer as return argument and returns a boolean validity indicator.

The information must be retrieved via the urtServiceDispatch() call.

Removed an API function of the core as it was not required but could cause issues if used incorrectly.

All code was updated accordinly.

PubSub: It is no longer possible to contribute messages to a topic via subcriber and publisher API. Use topic API instead.

- The OSAL function urtThreadGetSelf() is now omitted by µRT due to performance reasons.
- The two panic-methods have been mergen to a single one, which acts context sensitive.
- OSAL timer API now expects an absolute trigger time instead of an offset.
- SUbscriber logic simplified thanks to changes above.
- Request logic simplified thanks to changes above.

HRT subscriber fetch methods and HRT request retrieve method will now set the latency argument even in case of a violation.