urtware / src / urt_core.c @ 1f7ffcff
History | View | Annotate | Download (4.502 KB)
| 1 |
/*
|
|---|---|
| 2 |
µRtWare is a lightweight publish/subscribe middleware for real-time
|
| 3 |
applications. It was developed as part of the software habitat for the
|
| 4 |
Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
|
| 5 |
|
| 6 |
Copyright (C) 2018..2020 Thomas Schöpping et al.
|
| 7 |
|
| 8 |
This program is free software: you can redistribute it and/or modify
|
| 9 |
it under the terms of the GNU General Public License as published by
|
| 10 |
the Free Software Foundation, either version 3 of the License, or
|
| 11 |
(at your option) any later version.
|
| 12 |
|
| 13 |
This program is distributed in the hope that it will be useful,
|
| 14 |
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
| 15 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
| 16 |
GNU General Public License for more details.
|
| 17 |
|
| 18 |
You should have received a copy of the GNU General Public License
|
| 19 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
| 20 |
*/
|
| 21 |
|
| 22 |
#include <urtware.h> |
| 23 |
|
| 24 |
/******************************************************************************/
|
| 25 |
/* LOCAL DEFINITIONS */
|
| 26 |
/******************************************************************************/
|
| 27 |
|
| 28 |
/******************************************************************************/
|
| 29 |
/* EXPORTED VARIABLES */
|
| 30 |
/******************************************************************************/
|
| 31 |
|
| 32 |
/******************************************************************************/
|
| 33 |
/* LOCAL TYPES */
|
| 34 |
/******************************************************************************/
|
| 35 |
|
| 36 |
/******************************************************************************/
|
| 37 |
/* LOCAL VARIABLES */
|
| 38 |
/******************************************************************************/
|
| 39 |
|
| 40 |
/******************************************************************************/
|
| 41 |
/* LOCAL FUNCTIONS */
|
| 42 |
/******************************************************************************/
|
| 43 |
|
| 44 |
/******************************************************************************/
|
| 45 |
/* EXPORTED FUNCTIONS */
|
| 46 |
/******************************************************************************/
|
| 47 |
|
| 48 |
/**
|
| 49 |
* @brief Initialize the Core.
|
| 50 |
*/
|
| 51 |
void urtCoreInit(void) |
| 52 |
{
|
| 53 |
urt_core_t._nodes = NULL;
|
| 54 |
urt_core_t._status = URT_STATUS_OK; |
| 55 |
//add later: mutex and eventsource init
|
| 56 |
#if (URT_CFG_PUBSUB_ENABLED)
|
| 57 |
urt_core_t._topics = NULL;
|
| 58 |
#endif /* URT_CFG_PUBSUB_ENABLED */ |
| 59 |
#if (URT_CFG_RPC_ENABLED)
|
| 60 |
urt_core_t.urt_service_t = NULL;
|
| 61 |
#endif /* URT_CFG_RPC_ENABLED */ |
| 62 |
return;
|
| 63 |
} |
| 64 |
|
| 65 |
/**
|
| 66 |
* @brief Get Core status.
|
| 67 |
*
|
| 68 |
* @return Current system status.
|
| 69 |
*/
|
| 70 |
urt_status_t urtCoreGetStatus(void) {return URT_STATUS_OK;} |
| 71 |
|
| 72 |
/**
|
| 73 |
* @brief Start threads of all nodes of the Core.
|
| 74 |
*/
|
| 75 |
void urtCoreStartNodes(void) {return;} |
| 76 |
|
| 77 |
/**
|
| 78 |
* @brief Synchronize all nodes of the core.
|
| 79 |
*
|
| 80 |
* @param[in] node Pointer to a node to synchronize. Must not be NULL.
|
| 81 |
*
|
| 82 |
* @return Returns URT_STATUS_OK if all nodes are synchronized and proceed.
|
| 83 |
* Returns URT_STATUS_SYNC_ERROR if an exception occurred (faulty stage value detected).
|
| 84 |
* Returns URT_STATUS_SYNC_PENDING if there are nodes left to synchronize.
|
| 85 |
* In the latter case, the node thread must still wait for the control event (proceed) to synchronize.
|
| 86 |
*/
|
| 87 |
urt_status_t urtCoreSynchronize(urt_node_t* node) {return URT_STATUS_OK;}
|
| 88 |
|
| 89 |
/**
|
| 90 |
* @brief Stop threads of all nodes of the Core.
|
| 91 |
*
|
| 92 |
* @param[in] reason The reason why the function was called. For normal shutdown URT_STATUS_OK should be used.
|
| 93 |
*
|
| 94 |
* @return Returns URT_STATUS_OK if there was no call with another reason than URT_STATUS_OK before.
|
| 95 |
* If the function has been called before with a different reason, that reason is returned.
|
| 96 |
*/
|
| 97 |
urt_status_t urtCoreStopNodes(urt_status_t reason) {return URT_STATUS_OK;}
|
| 98 |
|
| 99 |
/**
|
| 100 |
* @brief Get the topic of the Core.
|
| 101 |
*
|
| 102 |
* @param[in] id Identifier of the topic to retrieve.
|
| 103 |
*
|
| 104 |
* @return Returns a pointer to the requested service. Returns NULL if no service matches the given ID.
|
| 105 |
*/
|
| 106 |
urt_topic_t* urtCoreGetTopic(urt_topicid_t id) {return urt_topic_t;}
|
| 107 |
|
| 108 |
/**
|
| 109 |
* @brief Get the service of the Core.
|
| 110 |
*
|
| 111 |
* @param[in] id Identifier of the service to retrieve.
|
| 112 |
*
|
| 113 |
* @return Returns a pointer to the requested service. Returns NULL if no service matches the given ID.
|
| 114 |
*/
|
| 115 |
urt_service_t urtCoreGetService(urt_serviceid_t id) {return urt_service_t;}
|
| 116 |
|