urtware / inc / urt_node.h @ 1f7ffcff
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| 1 | 1fb06240 | skenneweg | /*
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| 2 | µRtWare is a lightweight publish/subscribe middleware for real-time
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| 3 | applications. It was developed as part of the software habitat for the
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| 4 | Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
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| 5 | |||
| 6 | Copyright (C) 2018..2020 Thomas Schöpping et al.
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| 7 | |||
| 8 | This program is free software: you can redistribute it and/or modify
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| 9 | it under the terms of the GNU General Public License as published by
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| 10 | the Free Software Foundation, either version 3 of the License, or
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| 11 | (at your option) any later version.
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| 12 | |||
| 13 | This program is distributed in the hope that it will be useful,
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| 14 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 15 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 16 | GNU General Public License for more details.
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| 17 | |||
| 18 | You should have received a copy of the GNU General Public License
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| 19 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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| 20 | */
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| 21 | |||
| 22 | #ifndef URTWARE_NODE_H
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| 23 | #define URTWARE_NODE_H
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| 24 | |||
| 25 | 7d9678db | skenneweg | #include <urt_types.h> |
| 26 | #include <urtware.h> |
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| 27 | |||
| 28 | 1fb06240 | skenneweg | /******************************************************************************/
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| 29 | /* CONSTANTS */
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| 30 | /******************************************************************************/
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| 31 | |||
| 32 | /******************************************************************************/
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| 33 | /* SETTINGS */
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| 34 | /******************************************************************************/
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| 35 | |||
| 36 | /******************************************************************************/
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| 37 | /* CHECKS */
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| 38 | /******************************************************************************/
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| 39 | |||
| 40 | /******************************************************************************/
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| 41 | /* DATA STRUCTURES AND TYPES */
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| 42 | /******************************************************************************/
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| 43 | |||
| 44 | 7d9678db | skenneweg | /**
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| 45 | * @brief node
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| 46 | */
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| 47 | typedef struct urt_node |
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| 48 | {
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| 49 | cd21e832 | skenneweg | urt_node_t* next; |
| 50 | urt_osThread_t* thread; |
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| 51 | urt_nodeSetupCallback_t* setupcallback; |
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| 52 | void* setupparams;
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| 53 | urt_nodeLoopCallback_t* loopcallback; |
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| 54 | void* loopparams;
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| 55 | urt_nodeShutdownCallback_t* shutdowncallback; |
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| 56 | void* shutdownparams;
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| 57 | urt_nodestage_t stage; |
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| 58 | urt_osEventListener_t listener; |
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| 59 | #if (URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING)
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| 60 | uint64_t loops; |
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| 61 | #endif /* URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING */ |
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| 62 | 7d9678db | skenneweg | }urt_node_t; |
| 63 | |||
| 64 | 017b2ac7 | skenneweg | |
| 65 | /**
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| 66 | * @brief
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| 67 | *
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| 68 | * @param[in] node .
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| 69 | * @param[in] cause .
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| 70 | * @param[in] arg .
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| 71 | *
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| 72 | * @return .
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| 73 | *
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| 74 | */
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| 75 | typedef void (*urt_nodeShutdownCallback_t)(urt_node_t* node, urt_status_t cause, void* arg); |
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| 76 | |||
| 77 | |||
| 78 | /**
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| 79 | * @brief
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| 80 | *
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| 81 | * @param[in] node .
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| 82 | * @param[in] arg .
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| 83 | *
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| 84 | * @return .
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| 85 | *
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| 86 | */
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| 87 | typedef urt_osEventMask_t (*urt_nodeSetupCallback_t)(urt_node_t* node, void* arg); |
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| 88 | |||
| 89 | |||
| 90 | /**
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| 91 | * @brief
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| 92 | *
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| 93 | * @param[in] node .
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| 94 | * @param[in] events .
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| 95 | * @param[in] arg .
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| 96 | *
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| 97 | * @return .
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| 98 | */
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| 99 | typedef urt_osEventMask_t (*urt_nodeLoopCallback_t)(urt_node_t* node, urt_osEventMask_t events, void* arg); |
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| 100 | |||
| 101 | 1fb06240 | skenneweg | /******************************************************************************/
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| 102 | /* MACROS */
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| 103 | /******************************************************************************/
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| 104 | |||
| 105 | /******************************************************************************/
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| 106 | /* EXTERN DECLARATIONS */
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| 107 | /******************************************************************************/
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| 108 | |||
| 109 | 7d9678db | skenneweg | #if defined(__cplusplus)
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| 110 | extern "C" { |
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| 111 | #endif /* defined(__cplusplus) */ |
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| 112 | |||
| 113 | cd21e832 | skenneweg | void urtNodeInit(urt_node_t* node, urt_osThread_t* thread, urt_nodeSetupCallback_t* setupcallback, void* setupparams, urt_nodeLoopCallback_t* loopcallback, void* loopparams, urt_nodeShutdownCallback_t* shutdowncallback, void* shutodwnparams); |
| 114 | 7d9678db | skenneweg | #if defined(__cplusplus)
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| 115 | } |
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| 116 | #endif /* defined(__cplusplus) */ |
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| 117 | |||
| 118 | 1fb06240 | skenneweg | /******************************************************************************/
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| 119 | /* INLINE FUNCTIONS */
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| 120 | /******************************************************************************/
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| 121 | |||
| 122 | #endif /* URTWARE_NODE_H */ |