urtware / src / urt_node.c @ 22ccef0f
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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 | 7d9678db | skenneweg | #include <urtware.h> |
23 | |||
24 | 1fb06240 | skenneweg | /******************************************************************************/
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25 | /* LOCAL DEFINITIONS */
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26 | /******************************************************************************/
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27 | |||
28 | /******************************************************************************/
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29 | /* EXPORTED VARIABLES */
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30 | /******************************************************************************/
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31 | |||
32 | /******************************************************************************/
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33 | /* LOCAL TYPES */
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34 | /******************************************************************************/
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35 | |||
36 | /******************************************************************************/
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37 | /* LOCAL VARIABLES */
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38 | /******************************************************************************/
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39 | |||
40 | 792f6c74 | skenneweg | urt_node_t localNode; |
41 | 22ccef0f | skenneweg | static URT_THREAD_MEMORY(_node_thread, AMIROOS_CFG_SHELL_STACKSIZE); //TODO: not here |
42 | 17d978fe | skenneweg | |
43 | 1fb06240 | skenneweg | /******************************************************************************/
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44 | /* LOCAL FUNCTIONS */
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45 | /******************************************************************************/
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46 | |||
47 | 17d978fe | skenneweg | /**
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48 | * @brief Main function of a node.
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49 | *
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50 | * @param[in] arg Optional Argument to the thread main function.
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51 | */
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52 | void _main(void* arg) |
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53 | { |
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54 | 1bfc6b25 | skenneweg | urt_osEventMask_t mask; |
55 | cd0cba58 | skenneweg | urt_osEventFlags_t flag = 0;
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56 | 408a606c | skenneweg | urtEventRegister(urtCoreGetEvtSource(), &localNode.listener, mask, flag); |
57 | 1bfc6b25 | skenneweg | if (localNode.setupcallback != NULL) |
58 | { |
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59 | mask = localNode.setupcallback(&localNode, arg); |
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60 | cd0cba58 | skenneweg | if (mask == urtCoreGetEventMask())
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61 | 17d978fe | skenneweg | { |
62 | 1bfc6b25 | skenneweg | urtCoreStopNodes(URT_STATUS_NODE_INVALEVTMASK); |
63 | 17d978fe | skenneweg | } |
64 | 1bfc6b25 | skenneweg | } |
65 | else
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66 | { |
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67 | 792f6c74 | skenneweg | mask = ALL_EVENTS; |
68 | 1bfc6b25 | skenneweg | } |
69 | |||
70 | 408a606c | skenneweg | if (urtCoreGetStatus() == URT_STATUS_OK)
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71 | 1bfc6b25 | skenneweg | { |
72 | urtCoreSynchronizeNodes(&localNode); |
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73 | } |
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74 | |||
75 | 792f6c74 | skenneweg | if (!urtThreadShouldTerminate())
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76 | 1bfc6b25 | skenneweg | { |
77 | urt_osEventMask_t temp = urtEventWait(mask, URT_EVENT_WAIT_ONE, URT_DELAY_INFINITE); |
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78 | cd0cba58 | skenneweg | if (temp == urtCoreGetEventMask())
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79 | 17d978fe | skenneweg | { |
80 | 1bfc6b25 | skenneweg | localNode.loopcallback(&localNode, mask, arg); |
81 | #if (URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING)
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82 | localNode.loops++; |
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83 | #endif /* URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING */ |
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84 | cd0cba58 | skenneweg | if (mask == urtCoreGetEventMask())
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85 | 1bfc6b25 | skenneweg | { |
86 | urtCoreStopNodes(URT_STATUS_NODE_INVALEVTMASK); |
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87 | } |
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88 | 17d978fe | skenneweg | } |
89 | 1bfc6b25 | skenneweg | } |
90 | |||
91 | if (localNode.shutdowncallback)
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92 | { |
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93 | localNode.shutdowncallback(&localNode, urtCoreGetStatus(), arg); |
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94 | } |
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95 | 408a606c | skenneweg | urtEventUnregister(urtCoreGetEvtSource(), &localNode.listener); |
96 | 792f6c74 | skenneweg | |
97 | 1bfc6b25 | skenneweg | urt_osThread_t* threadToTerminate = localNode.thread; |
98 | 792f6c74 | skenneweg | while (threadToTerminate->children != NULL || threadToTerminate->sibling != NULL) |
99 | 1bfc6b25 | skenneweg | { |
100 | 792f6c74 | skenneweg | if (threadToTerminate->children != NULL) |
101 | urtThreadTerminate(threadToTerminate->children, URT_THREAD_TERMINATE_REQUEST); |
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102 | if(threadToTerminate->sibling != NULL) |
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103 | urtThreadTerminate(threadToTerminate->sibling, URT_THREAD_TERMINATE_REQUEST); |
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104 | 1bfc6b25 | skenneweg | } |
105 | 792f6c74 | skenneweg | urtThreadTerminate(&threadToTerminate, URT_THREAD_TERMINATE_REQUEST); |
106 | |||
107 | 22ccef0f | skenneweg | urt_osThread_t* threadToJoin = localNode.thread; |
108 | while (threadToJoin->children != NULL || threadToJoin->sibling != NULL) |
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109 | { |
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110 | if (threadToJoin->children != NULL) |
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111 | urtThreadJoin(threadToJoin->children); |
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112 | if(threadToJoin->sibling != NULL) |
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113 | urtThreadJoin(threadToJoin->sibling); |
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114 | } |
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115 | urtThreadJoin(&threadToJoin); |
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116 | |||
117 | 1bfc6b25 | skenneweg | return;
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118 | 17d978fe | skenneweg | } |
119 | |||
120 | 1fb06240 | skenneweg | /******************************************************************************/
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121 | /* EXPORTED FUNCTIONS */
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122 | /******************************************************************************/
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123 | 7d9678db | skenneweg | |
124 | /**
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125 | 17d978fe | skenneweg | * @brief Initalize a node.
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126 | 7d9678db | skenneweg | *
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127 | 5198dfae | skenneweg | * @param[in] node The node to initialize. Must not be NULL.
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128 | 67844205 | skenneweg | * @param[in] thread The thread to intialize. Must be NULL.
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129 | 5198dfae | skenneweg | * @param[in] setupcallback Callback function to be executed during setup.
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130 | * May be NULL if no custom setup is required.
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131 | * @param[in] setupparams Parameters for the setup callback function.
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132 | 1f7ffcff | skenneweg | * Must be NULL if no setup callback is specified.
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133 | * May be NULL if the specified setup callback does not expect parameters.
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134 | 5198dfae | skenneweg | * @param[in] loopcallback Callback function to be executed in a loop.
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135 | * @param[in] loopparams Parameters for the loop callback function.
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136 | * May be NULL if the specified loop callback does not expect parameters.
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137 | * @param[in] shutdowncallback Callback function to be executed during shutdown.
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138 | * May be NULL if no custom shutdown is required.
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139 | * @param[in] shutdownparams Parameters for the loop callback function.
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140 | * Must be NULL if no shutdown callback is specified.
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141 | * May be NULL if the specified shutdown callback does not expect parameters.
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142 | 7d9678db | skenneweg | */
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143 | 22ccef0f | skenneweg | void urtNodeInit(urt_node_t* node, urt_osThread_t* thread, urt_osThreadPrio_t prio, urt_nodeSetupCallback_t* setupcallback,
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144 | 7d9678db | skenneweg | void* setupparams, urt_nodeLoopCallback_t* loopcallback, void* loopparams, |
145 | 1f7ffcff | skenneweg | urt_nodeShutdownCallback_t* shutdowncallback, void* shutdownparams)
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146 | { |
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147 | 17d978fe | skenneweg | urtDebugAssert(node != NULL);
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148 | 67844205 | skenneweg | urtDebugAssert(thread == NULL);
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149 | 17d978fe | skenneweg | if (setupcallback == NULL) |
150 | urtDebugAssert(setupparams == NULL);
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151 | |||
152 | 64fde4ba | skenneweg | node->next = NULL;
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153 | 22ccef0f | skenneweg | node->thread = urtThreadInit(_node_thread, sizeof(_node_thread), prio, _main, setupparams);
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154 | 64fde4ba | skenneweg | node->setupcallback = setupcallback; |
155 | node->setupparams = setupparams; |
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156 | 2c811df1 | skenneweg | node->loopcallback = loopcallback; |
157 | 64fde4ba | skenneweg | node->loopparams = loopparams; |
158 | 2c811df1 | skenneweg | node->shutdowncallback = shutdowncallback; |
159 | node->shutdownparams = shutdownparams; |
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160 | 64fde4ba | skenneweg | node->stage = 0;
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161 | 2c811df1 | skenneweg | urtEventListenerInit(node->listener); |
162 | 1f7ffcff | skenneweg | #if (URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING)
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163 | 64fde4ba | skenneweg | node->loops = 0;
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164 | 1f7ffcff | skenneweg | #endif /* URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING */ |
165 | 792f6c74 | skenneweg | urt_osMutex_t* mutexTemp = urtCoreGetMutex(); |
166 | urtMutexLock(mutexTemp); |
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167 | 408a606c | skenneweg | node->next = urtCoreGetNodes(); |
168 | urt_node_t* nodeCore = urtCoreGetNodes(); |
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169 | nodeCore = node; |
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170 | 792f6c74 | skenneweg | urtMutexUnlock(mutexTemp); |
171 | 17d978fe | skenneweg | localNode = *node; |
172 | 1f7ffcff | skenneweg | return;
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173 | } |