Statistics
| Branch: | Revision:

urtware / src / urt_node.c @ 2c811df1

History | View | Annotate | Download (4.485 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  Initalize the node.
50
 *
51
 * @param[in] node  The node to initialize. Must not be NULL.
52
 * @param[in] thread  The already initialized, exclusive thread for the node. Must not be NULL.
53
 * @param[in] setupcallback  Callback function to be executed during setup.
54
 *                           May be NULL if no custom setup is required.
55
 * @param[in] setupparams  Parameters for the setup callback function.
56
 *                         Must be NULL if no setup callback is specified.
57
 *                         May be NULL if the specified setup callback does not expect parameters.
58
 * @param[in] loopcallback  Callback function to be executed in a loop.
59
 *                          Must not be NULL.
60
 * @param[in] loopparams  Parameters for the loop callback function.
61
 *                        May be NULL if the specified loop callback does not expect parameters.
62
 * @param[in] shutdowncallback  Callback function to be executed during shutdown.
63
 *                              May be NULL if no custom shutdown is required.
64
 * @param[in] shutdownparams  Parameters for the loop callback function.
65
 *                            Must be NULL if no shutdown callback is specified.
66
 *                            May be NULL if the specified shutdown callback does not expect parameters.
67
 */
68
void urtNodeInit(urt_node_t* node, urt_osThread_t* thread, urt_nodeSetupCallback_t* setupcallback,
69
                 void* setupparams, urt_nodeLoopCallback_t* loopcallback, void* loopparams,
70
                 urt_nodeShutdownCallback_t* shutdowncallback, void* shutdownparams)
71
{
72
  node->next = NULL;
73
  node->thread = thread;
74
  node->setupcallback = setupcallback;
75
  node->setupparams = setupparams;
76
  node->loopcallback = loopcallback;
77
  node->loopparams = loopparams;
78
  node->shutdowncallback = shutdowncallback;
79
  node->shutdownparams = shutdownparams;
80
  node->stage = 0;
81
  urtEventListenerInit(node->listener);
82
  #if (URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING)
83
    node->loops = 0;
84
  #endif /* URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING */
85
  urt_core_t temp; //TODO: Correct?
86
  urtMutexLock(&temp._lock);
87
    node->next = temp._nodes;
88
    temp._nodes = node;
89
  urtMutexUnlock(&temp._lock);
90
  return;
91
}