| 37 |
37 |
/* LOCAL VARIABLES */
|
| 38 |
38 |
/******************************************************************************/
|
| 39 |
39 |
|
| 40 |
|
urt_node_t localNode; //TODO:Correct?
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|
40 |
urt_node_t localNode; //TODO
|
| 41 |
41 |
|
| 42 |
42 |
/******************************************************************************/
|
| 43 |
43 |
/* LOCAL FUNCTIONS */
|
| ... | ... | |
| 50 |
50 |
*/
|
| 51 |
51 |
void _main(void* arg)
|
| 52 |
52 |
{
|
| 53 |
|
//TODO: Register to core event
|
| 54 |
|
if (localNode.setupcallback != NULL)
|
|
53 |
urt_osEventMask_t mask;
|
|
54 |
urt_osEventFlags_t flag; //TODO: flag from core here
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|
55 |
urtEventRegister(core._evtSource, &localNode.listener, mask, flag);
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|
56 |
if (localNode.setupcallback != NULL)
|
|
57 |
{
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|
58 |
mask = localNode.setupcallback(&localNode, arg);
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|
59 |
if (mask /*TODO: check single bits from mask to find out if bit for core is 1 */)
|
| 55 |
60 |
{
|
| 56 |
|
// urt_osEventMask_t mask = localNode.setupcallback(localNode, arg);
|
| 57 |
|
// TODOs
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|
61 |
urtCoreStopNodes(URT_STATUS_NODE_INVALEVTMASK);
|
| 58 |
62 |
}
|
| 59 |
|
else
|
| 60 |
|
{
|
| 61 |
|
//TODO: act as if setupcallback returned 0xF..F
|
| 62 |
|
}
|
| 63 |
|
if (core._status == URT_STATUS_OK)
|
|
63 |
}
|
|
64 |
else
|
|
65 |
{
|
|
66 |
mask = 0xFFFFFFFF;
|
|
67 |
}
|
|
68 |
|
|
69 |
if (core._status == URT_STATUS_OK)
|
|
70 |
{
|
|
71 |
urtCoreSynchronizeNodes(&localNode);
|
|
72 |
}
|
|
73 |
|
|
74 |
bool terminated = false;
|
|
75 |
if (terminated /*TODO: replace with function*/)
|
|
76 |
{
|
|
77 |
urt_osEventMask_t temp = urtEventWait(mask, URT_EVENT_WAIT_ONE, URT_DELAY_INFINITE);
|
|
78 |
if (temp /*TODO: check single bits from mask to find out if bit for core is 1 */)
|
| 64 |
79 |
{
|
| 65 |
|
//TODO: Suspend all child threads
|
| 66 |
|
urtCoreSynchronizeNodes(&localNode);
|
| 67 |
|
//TODO: Resume all child threads
|
|
80 |
localNode.loopcallback(&localNode, mask, arg);
|
|
81 |
#if (URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING)
|
|
82 |
localNode.loops++;
|
|
83 |
#endif /* URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING */
|
|
84 |
if (mask /*TODO: check single bits from mask to find out if bit for core is 1 */)
|
|
85 |
{
|
|
86 |
urtCoreStopNodes(URT_STATUS_NODE_INVALEVTMASK);
|
|
87 |
}
|
| 68 |
88 |
}
|
| 69 |
|
//TODOs
|
| 70 |
|
return;
|
|
89 |
}
|
|
90 |
|
|
91 |
if (localNode.shutdowncallback)
|
|
92 |
{
|
|
93 |
localNode.shutdowncallback(&localNode, urtCoreGetStatus(), arg);
|
|
94 |
}
|
|
95 |
urtEventUnregister(core._evtSource, &localNode.listener);
|
|
96 |
urt_osThread_t* threadToTerminate = localNode.thread;
|
|
97 |
urt_osThread_t* threadToTerminateChild;
|
|
98 |
while (threadToTerminate != NULL)
|
|
99 |
{
|
|
100 |
threadToTerminateChild = threadToTerminate->children;
|
|
101 |
urtThreadTerminate(&threadToTerminate, URT_THREAD_TERMINATE_REQUEST);
|
|
102 |
threadToTerminate = threadToTerminateChild;
|
|
103 |
}
|
|
104 |
urtThreadExit();
|
|
105 |
return;
|
| 71 |
106 |
}
|
| 72 |
107 |
|
| 73 |
108 |
/******************************************************************************/
|
| ... | ... | |
| 85 |
120 |
* Must be NULL if no setup callback is specified.
|
| 86 |
121 |
* May be NULL if the specified setup callback does not expect parameters.
|
| 87 |
122 |
* @param[in] loopcallback Callback function to be executed in a loop.
|
| 88 |
|
* Must not be NULL.
|
| 89 |
123 |
* @param[in] loopparams Parameters for the loop callback function.
|
| 90 |
124 |
* May be NULL if the specified loop callback does not expect parameters.
|
| 91 |
125 |
* @param[in] shutdowncallback Callback function to be executed during shutdown.
|
| ... | ... | |
| 100 |
134 |
{
|
| 101 |
135 |
urtDebugAssert(node != NULL);
|
| 102 |
136 |
urtDebugAssert(thread != NULL);
|
| 103 |
|
//TODO: Setupcallback
|
| 104 |
137 |
if (setupcallback == NULL)
|
| 105 |
138 |
urtDebugAssert(setupparams == NULL);
|
| 106 |
|
urtDebugAssert(loopcallback != NULL);
|
| 107 |
|
//urtDebugAssert(/*loopparams*/);
|
| 108 |
|
//urtDebugAssert(shutdowncallback);
|
| 109 |
|
//urtDebugAssert(shutdownparams);
|
| 110 |
139 |
|
| 111 |
140 |
node->next = NULL;
|
| 112 |
141 |
node->thread = thread;
|