AMiRo-OS

/*

µRtWare is a lightweight publish/subscribe middleware for real-time

applications. It was developed as part of the software habitat for the

Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.

Copyright (C) 2018..2020  Thomas Schöpping et al.

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 3 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.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

#ifndef URTWARE_CORE_H

#define URTWARE_CORE_H

#include <urt_types.h>

#include <urtware.h>

/******************************************************************************/

/* CONSTANTS                                                                  */

/******************************************************************************/

/******************************************************************************/

/* SETTINGS                                                                   */

/******************************************************************************/

/******************************************************************************/

/* CHECKS                                                                     */

/******************************************************************************/

/******************************************************************************/

/* DATA STRUCTURES AND TYPES                                                  */

/******************************************************************************/

/**

 * @brief  core

 */

typedef struct urt_core

{

  urt_node_t* _nodes;

  urt_osEventSource_t* _evtSource;

  urt_osMutex_t _lock;

  urt_status_t _status;

  #if (URT_CFG_PUBSUB_ENABLED)

    urt_topic_t* _topics;

  #endif /* URT_CFG_PUBSUB_ENABLED */

  #if (URT_CFG_RPC_ENABLED)

    urt_service_t* _services;

  #endif /* URT_CFG_RPC_ENABLED */

}urt_core_t;

/******************************************************************************/

/* MACROS                                                                     */

/******************************************************************************/

/******************************************************************************/

/* EXTERN DECLARATIONS                                                        */

/******************************************************************************/

#if defined(__cplusplus)

extern "C" {

#endif /* defined(__cplusplus) */

  void urtCoreInit(void);

  urt_status_t urtCoreGetStatus(void);

  void urtCoreStartNodes(void);

  urt_status_t urtCoreSynchronize(urt_node_t* node);

  urt_status_t urtCoreStopNodes(urt_status_t reason);

#if (URT_CFG_PUBSUB_ENABLED)

  urt_topic_t* urtCoreGetTopic(urt_topicid_t id);

#endif /* URT_CFG_PUBSUB_ENABLED */

#if (URT_CFG_RPC_ENABLED)

  urt_service_t urtCoreGetService(urt_serviceid_t id);

#endif /* URT_CFG_RPC_ENABLED */

#if defined(__cplusplus)

}

#endif /* defined(__cplusplus) */

/******************************************************************************/

/* INLINE FUNCTIONS                                                           */

/******************************************************************************/

#endif /* URTWARE_CORE_H */