Revision 1f7ffcff
| src/urt_core.c | ||
|---|---|---|
| 48 | 48 |
/** |
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* @brief Initialize the Core. |
| 50 | 50 |
*/ |
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void urtCoreInit(void) {return;}
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void urtCoreInit(void) |
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{
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urt_core_t._nodes = NULL; |
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urt_core_t._status = URT_STATUS_OK; |
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//add later: mutex and eventsource init |
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#if (URT_CFG_PUBSUB_ENABLED) |
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urt_core_t._topics = NULL; |
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#endif /* URT_CFG_PUBSUB_ENABLED */ |
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#if (URT_CFG_RPC_ENABLED) |
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urt_core_t.urt_service_t = NULL; |
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#endif /* URT_CFG_RPC_ENABLED */ |
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return; |
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} |
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| 52 | 64 |
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| 53 | 65 |
/** |
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* @brief Get Core status. |
| src/urt_message.c | ||
|---|---|---|
| 51 | 51 |
* @param[in] message Message to initalize. Must not be NULL. |
| 52 | 52 |
* @param[in] payload May be NULL for messages without payload. |
| 53 | 53 |
*/ |
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void urtMessageInit(urt_message_t* message, void* payload) {return;}
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void urtMessageInit(urt_message_t* message, void* payload) |
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{
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urt_message_t.next = NULL; |
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urt_message_t.payload = payload; |
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urt_message_t.originTime = 0; |
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urt_message_t.numHrtConsumersLeft = 0; |
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#if (URT_CFG_PUBSUB_PROFILING) |
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urt_message_t.numConsumersLeft = 0; |
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#endif /* URT_CFG_PUBSUB_PROFILING */ |
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return; |
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} |
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| src/urt_node.c | ||
|---|---|---|
| 46 | 46 |
/******************************************************************************/ |
| 47 | 47 |
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/** |
| 49 |
* @brief Initalize the node.
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* @brief Initalize the node. |
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* |
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* @param[in] node The node to initialize. Must not be NULL. |
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* @param[in] thread The already initialized, exclusive thread for the node. Must not be NULL. |
| 53 | 53 |
* @param[in] setupcallback Callback function to be executed during setup. |
| 54 | 54 |
* May be NULL if no custom setup is required. |
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* @param[in] setupparams Parameters for the setup callback function. |
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* Must be NULLif no setup callback is specified. |
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* May be NULLif the specified setup callback does not expect parameters. |
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* Must be NULL if no setup callback is specified.
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* May be NULL if the specified setup callback does not expect parameters.
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| 58 | 58 |
* @param[in] loopcallback Callback function to be executed in a loop. |
| 59 | 59 |
* Must not be NULL. |
| 60 | 60 |
* @param[in] loopparams Parameters for the loop callback function. |
| ... | ... | |
| 67 | 67 |
*/ |
| 68 | 68 |
void urtNodeInit(urt_node_t* node, urt_osThread_t* thread, urt_nodeSetupCallback_t* setupcallback, |
| 69 | 69 |
void* setupparams, urt_nodeLoopCallback_t* loopcallback, void* loopparams, |
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urt_nodeShutdownCallback_t* shutdowncallback, void* shutdownparams) {return;}
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urt_nodeShutdownCallback_t* shutdowncallback, void* shutdownparams) |
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{
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urt_node_t.next = NULL; |
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urt_node_t.thread = thread; |
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urt_node_t.setupcallback = setupcallback; |
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urt_node_t.setupparams = setupparams; |
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urt_node_t.loopparams = loopparams; |
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urt_node_t.shutdowncallback = loopcallback; |
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urt_node_t.shutdownparams = loopparams; |
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urt_node_t.stage = 0; |
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// add later: urteventlistenerinit |
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#if (URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING) |
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urt_node_t.loops = 0; |
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#endif /* URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING */ |
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// add later: lock core,.. |
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return; |
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} |
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| src/urt_publisher.c | ||
|---|---|---|
| 55 | 55 |
* Once a message has been contributed, it cannot be removed later. |
| 56 | 56 |
* May be NULL (no messages to contribute). |
| 57 | 57 |
*/ |
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void urtPublisherInit(urt_publisher_t* publisher, urt_topic_t* topic, urt_message_t* message) {return;}
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void urtPublisherInit(urt_publisher_t* publisher, urt_topic_t* topic, urt_message_t* message) |
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{
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urt_publisher_t.topic = topic; |
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#if (URT_CFG_PUBSUB_PROFILING) |
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urt_publisher_t.publishAttempts = 0; |
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urt_publisher_t.publishFails = 0; |
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endif /* URT_CFG_PUBSUB_PROFILING */ |
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//add later: messages to contribute,... |
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return; |
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} |
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| 59 | 68 |
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| 60 | 69 |
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| 61 | 70 |
/** |
| src/urt_service.c | ||
|---|---|---|
| 55 | 55 |
* @return Returns URT_STATUS_OK on success. |
| 56 | 56 |
* Returns URT_STATUS_SERVICE_DUPLICATE if another service with the same identifier already exists. |
| 57 | 57 |
*/ |
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urt_status_t urtServiceInit(urt_service_t* service, urt_serviceid_t id, urt_servicefunc_t* callback) {return URT_STATUS_OK;}
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urt_status_t urtServiceInit(urt_service_t* service, urt_serviceid_t id, urt_servicefunc_t* callback) |
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{
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urt_service_t.next = NULL; |
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urt_service_t.id = id; |
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//add later: urtmutex init |
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urt_service_t.callback = callback; |
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#if (URT_CFG_RPC_PROFILING) |
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urt_service_t.sumDurations = 0; |
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urt_service_t.numCalls = 0; |
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urt_service_t.numTimeouts = 0; |
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urt_service_t.minDuration = 0; |
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urt_service_t.maxDuration 0; |
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#endif /* URT_CFG_RPC_PROFILING */ |
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//add later: lock core,... |
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return URT_STATUS_OK; |
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} |
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| 59 | 74 |
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/** |
| 61 | 76 |
* @brief Calls a service. |
| src/urt_topic.c | ||
|---|---|---|
| 54 | 54 |
* @return Returns URT_STATUS_OK on success. |
| 55 | 55 |
* Returns URT_STATUS_TOPIC_DUPLICATE if another topic with the same identifier already exists. |
| 56 | 56 |
*/ |
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urt_status_t urtTopicInit(urt_topic_t* topic, urt_topicid_t id) {return URT_STATUS_OK;}
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urt_status_t urtTopicInit(urt_topic_t* topic, urt_topicid_t id) |
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{
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urt_topic_t.next = NULL; |
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urt_topic_t.id = id; |
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//add later: urtmutexinit, urteventsourceinit |
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urt_topic_t.numHrtSubscribers = 0; |
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//add later: condvar, message init, latest message |
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#if (URT_CFG_PUBSUB_QOS_RATECHECKS) |
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urt_topic_t.hrtSubscribers = nullptr; |
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//add later: timer init; |
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#endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
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#if (URT_CFG_PUBSUB_PROFILING) |
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urt_topic_t.numMessagesPublished = 0; |
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urt_topic_t.numMessagesDiscarded = 0; |
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urt_topic_t.numSubscribers = 0; |
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#endif /* URT_CFG_PUBSUB_PROFILING */ |
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//add later: close circular message buffer,... |
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return URT_STATUS_OK; |
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} |
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