urtware / src / urt_core.c @ 33aa05c5
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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 | 408a606c | skenneweg | /**
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37 | * @brief core
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38 | */
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39 | typedef struct urt_core |
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40 | { |
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41 | urt_node_t* _nodes; |
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42 | 792f6c74 | skenneweg | urt_osEventSource_t _evtSource; |
43 | 408a606c | skenneweg | urt_osMutex_t _lock; |
44 | urt_status_t _status; |
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45 | #if (URT_CFG_PUBSUB_ENABLED)
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46 | urt_topic_t* _topics; |
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47 | #endif /* URT_CFG_PUBSUB_ENABLED */ |
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48 | #if (URT_CFG_RPC_ENABLED)
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49 | urt_service_t* _services; |
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50 | #endif /* URT_CFG_RPC_ENABLED */ |
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51 | }urt_core_t; |
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52 | |||
53 | static urt_core_t core;
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54 | |||
55 | 1fb06240 | skenneweg | /******************************************************************************/
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56 | /* LOCAL VARIABLES */
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57 | /******************************************************************************/
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58 | |||
59 | /******************************************************************************/
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60 | /* LOCAL FUNCTIONS */
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61 | /******************************************************************************/
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62 | |||
63 | /******************************************************************************/
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64 | /* EXPORTED FUNCTIONS */
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65 | /******************************************************************************/
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66 | 7d9678db | skenneweg | |
67 | /**
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68 | * @brief Initialize the Core.
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69 | */
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70 | 1f7ffcff | skenneweg | void urtCoreInit(void) |
71 | { |
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72 | 64fde4ba | skenneweg | core._nodes = NULL;
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73 | core._status = URT_STATUS_OK; |
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74 | 792f6c74 | skenneweg | urtEventSourceInit(&core._evtSource); |
75 | 64fde4ba | skenneweg | urtMutexInit(&core._lock); |
76 | 37cd5dc2 | Svenja | # if (URT_CFG_PUBSUB_ENABLED)
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77 | 64fde4ba | skenneweg | core._topics = NULL;
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78 | 37cd5dc2 | Svenja | # endif /* URT_CFG_PUBSUB_ENABLED */ |
79 | # if (URT_CFG_RPC_ENABLED)
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80 | 64fde4ba | skenneweg | core.urt_service_t = NULL;
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81 | 37cd5dc2 | Svenja | # endif /* URT_CFG_RPC_ENABLED */ |
82 | 1f7ffcff | skenneweg | return;
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83 | } |
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84 | 7d9678db | skenneweg | |
85 | /**
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86 | * @brief Get Core status.
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87 | *
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88 | 5198dfae | skenneweg | * @return Current system status.
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89 | 7d9678db | skenneweg | */
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90 | 64fde4ba | skenneweg | urt_status_t urtCoreGetStatus(void)
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91 | { |
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92 | return core._status;
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93 | } |
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94 | 7d9678db | skenneweg | |
95 | cd0cba58 | skenneweg | urt_osEventMask_t urtCoreGetEventMask(void)
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96 | { |
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97 | 792f6c74 | skenneweg | return URT_EVENTMASK_MAXPRIO;
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98 | cd0cba58 | skenneweg | } |
99 | |||
100 | 7d9678db | skenneweg | /**
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101 | 408a606c | skenneweg | * @brief Get Core mutex.
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102 | *
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103 | * @return Current system mutex.
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104 | */
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105 | 792f6c74 | skenneweg | urt_osMutex_t* urtCoreGetMutex(void)
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106 | 408a606c | skenneweg | { |
107 | 792f6c74 | skenneweg | return &core._lock;
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108 | 408a606c | skenneweg | } |
109 | |||
110 | /**
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111 | * @brief Get Core event source.
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112 | *
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113 | * @return Current system event source.
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114 | */
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115 | urt_osEventSource_t* urtCoreGetEvtSource(void)
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116 | { |
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117 | 792f6c74 | skenneweg | return &core._evtSource;
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118 | 408a606c | skenneweg | } |
119 | |||
120 | /**
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121 | 5198dfae | skenneweg | * @brief Start threads of all nodes of the Core.
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122 | 7d9678db | skenneweg | */
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123 | 64fde4ba | skenneweg | void urtCoreStartNodes(void) |
124 | { |
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125 | e566c39e | skenneweg | urtMutexLock(&core._lock); |
126 | 64fde4ba | skenneweg | urt_node_t* node = core._nodes; |
127 | while (node)
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128 | { |
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129 | urtThreadStart(node->thread); |
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130 | node = node->next; |
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131 | } |
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132 | e566c39e | skenneweg | urtMutexUnlock(&core._lock); |
133 | 64fde4ba | skenneweg | return;
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134 | } |
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135 | 7d9678db | skenneweg | |
136 | /**
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137 | 5198dfae | skenneweg | * @brief Synchronize all nodes of the core.
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138 | 7d9678db | skenneweg | *
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139 | 5198dfae | skenneweg | * @param[in] node Pointer to a node to synchronize. Must not be NULL.
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140 | 7d9678db | skenneweg | *
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141 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK if all nodes are synchronized and proceed.
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142 | * Returns URT_STATUS_SYNC_ERROR if an exception occurred (faulty stage value detected).
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143 | * Returns URT_STATUS_SYNC_PENDING if there are nodes left to synchronize.
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144 | * In the latter case, the node thread must still wait for the control event (proceed) to synchronize.
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145 | 7d9678db | skenneweg | */
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146 | e566c39e | skenneweg | urt_status_t urtCoreSynchronizeNodes(urt_node_t* node) |
147 | 64fde4ba | skenneweg | { |
148 | 17d978fe | skenneweg | urtDebugAssert(node != NULL);
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149 | |||
150 | e566c39e | skenneweg | urtMutexLock(&core._lock); |
151 | e360ce71 | skenneweg | node->stage++; |
152 | 64fde4ba | skenneweg | urt_node_t* nodeFromCore = core._nodes; |
153 | e566c39e | skenneweg | while (nodeFromCore && nodeFromCore->stage == node->stage)
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154 | 64fde4ba | skenneweg | { |
155 | nodeFromCore = nodeFromCore->next; |
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156 | } |
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157 | e360ce71 | skenneweg | |
158 | if (!nodeFromCore)
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159 | 64fde4ba | skenneweg | { |
160 | 03ed5026 | skenneweg | urt_osEventFlags_t flag = URT_EVENTFLAG_PROCEED; |
161 | 792f6c74 | skenneweg | urtEventSourceBroadcast(&core._evtSource, flag); |
162 | e566c39e | skenneweg | urtMutexUnlock(&core._lock); |
163 | 64fde4ba | skenneweg | return URT_STATUS_OK;
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164 | } |
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165 | e566c39e | skenneweg | else if (nodeFromCore->stage == (node->stage - 1)) |
166 | 64fde4ba | skenneweg | { |
167 | e566c39e | skenneweg | urtMutexUnlock(&core._lock); |
168 | 64fde4ba | skenneweg | return URT_STATUS_SYNC_PENDING;
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169 | } |
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170 | else
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171 | { |
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172 | urtCoreStopNodes(URT_STATUS_SYNC_ERROR); |
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173 | e566c39e | skenneweg | urtMutexUnlock(&core._lock); |
174 | 64fde4ba | skenneweg | return URT_STATUS_SYNC_ERROR;
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175 | } |
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176 | } |
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177 | 7d9678db | skenneweg | |
178 | /**
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179 | 5198dfae | skenneweg | * @brief Stop threads of all nodes of the Core.
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180 | 7d9678db | skenneweg | *
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181 | 5198dfae | skenneweg | * @param[in] reason The reason why the function was called. For normal shutdown URT_STATUS_OK should be used.
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182 | 7d9678db | skenneweg | *
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183 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK if there was no call with another reason than URT_STATUS_OK before.
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184 | * If the function has been called before with a different reason, that reason is returned.
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185 | 7d9678db | skenneweg | */
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186 | 64fde4ba | skenneweg | urt_status_t urtCoreStopNodes(urt_status_t reason) |
187 | { |
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188 | e566c39e | skenneweg | urtMutexLock(&core._lock); |
189 | bool priorityBoosted = false; |
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190 | urt_osThreadPrio_t oldPrio; |
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191 | |||
192 | 64fde4ba | skenneweg | if (core._status == URT_STATUS_OK)
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193 | { |
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194 | if (core._nodes->thread->prio < URT_THREAD_PRIO_HIGH_MAX)
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195 | { |
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196 | e566c39e | skenneweg | oldPrio = core._nodes->thread->prio; |
197 | priorityBoosted = true;
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198 | 64fde4ba | skenneweg | core._nodes->thread->prio = URT_THREAD_PRIO_HIGH_MAX; |
199 | } |
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200 | e566c39e | skenneweg | core._status = reason; |
201 | urt_node_t* node = core._nodes; |
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202 | while (node)
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203 | 64fde4ba | skenneweg | { |
204 | e566c39e | skenneweg | urtThreadTerminate(node->thread, URT_THREAD_TERMINATE_REQUEST); |
205 | node = node->next; |
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206 | 64fde4ba | skenneweg | } |
207 | 03ed5026 | skenneweg | urt_osEventFlags_t flag = URT_EVENTFLAG_TERMINATE; |
208 | 792f6c74 | skenneweg | urtEventSourceBroadcast(&core._evtSource, flag); |
209 | e566c39e | skenneweg | urtMutexUnlock(&core._lock); |
210 | 33aa05c5 | Svenja | if (priorityBoosted) {
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211 | e566c39e | skenneweg | core._nodes->thread->prio = oldPrio; |
212 | 33aa05c5 | Svenja | } |
213 | e566c39e | skenneweg | return URT_STATUS_OK;
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214 | 64fde4ba | skenneweg | } |
215 | else
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216 | { |
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217 | e566c39e | skenneweg | urtMutexUnlock(&core._lock); |
218 | return core._status;
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219 | 64fde4ba | skenneweg | } |
220 | } |
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221 | 7d9678db | skenneweg | |
222 | /**
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223 | 37cd5dc2 | Svenja | * @brief Get Core nodes.
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224 | *
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225 | * @return Nodes registered to the core.
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226 | */
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227 | urt_node_t* urtCoreGetNodes(void)
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228 | { |
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229 | return core._nodes;
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230 | } |
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231 | |||
232 | |||
233 | /**
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234 | * @brief Prepend node to core's list of nodes.
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235 | *
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236 | * @param[in] node The node to prepend. Must not be NULL.
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237 | e7056e1b | skenneweg | *
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238 | * @return URT_STATUS_OK on success.
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239 | 37cd5dc2 | Svenja | */
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240 | e7056e1b | skenneweg | urt_status_t urtCoreAddNode(urt_node_t* node) |
241 | 37cd5dc2 | Svenja | { |
242 | urtDebugAssert(node); |
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243 | |||
244 | e7056e1b | skenneweg | urtMutexLock(&core._lock); |
245 | 37cd5dc2 | Svenja | node->next = core._nodes; |
246 | core._nodes = node; |
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247 | e7056e1b | skenneweg | urtMutexUnlock(&core._lock); |
248 | return URT_STATUS_OK;
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249 | 37cd5dc2 | Svenja | } |
250 | |||
251 | |||
252 | /**
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253 | 7d9678db | skenneweg | * @brief Get the topic of the Core.
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254 | *
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255 | 5198dfae | skenneweg | * @param[in] id Identifier of the topic to retrieve.
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256 | 7d9678db | skenneweg | *
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257 | 5198dfae | skenneweg | * @return Returns a pointer to the requested service. Returns NULL if no service matches the given ID.
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258 | 7d9678db | skenneweg | */
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259 | 33aa05c5 | Svenja | #if (URT_CFG_PUBSUB_ENABLED == true) |
260 | 37cd5dc2 | Svenja | |
261 | /**
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262 | * @brief Append topic to core's list of topics.
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263 | *
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264 | e7056e1b | skenneweg | * @param[in] node The topic to append. Must not be NULL.
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265 | 37cd5dc2 | Svenja | */
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266 | e7056e1b | skenneweg | urt_status_t urtCoreAddTopic(urt_topic_t* topic) |
267 | 37cd5dc2 | Svenja | { |
268 | e7056e1b | skenneweg | urtDebugAssert(topic); |
269 | |||
270 | urtMutexLock(&core._lock); |
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271 | 37cd5dc2 | Svenja | urt_topic_t* lastTopic = core._topics; |
272 | while (lastTopic->next != NULL) |
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273 | 5c6cb22f | skenneweg | { |
274 | 37cd5dc2 | Svenja | lastTopic = lastTopic->next; |
275 | 5c6cb22f | skenneweg | } |
276 | 37cd5dc2 | Svenja | lastTopic->next = topic; |
277 | e7056e1b | skenneweg | urtMutexUnlock(&core._lock); |
278 | return URT_STATUS_OK;
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279 | 37cd5dc2 | Svenja | } |
280 | |||
281 | /**
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282 | * @brief Get core's list of topics.
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283 | *
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284 | * @return The first topic of the core.
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285 | */
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286 | urt_topic_t* urtCoreGetTopic(urt_topicid_t id) |
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287 | { |
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288 | urtMutexLock(&core._lock); |
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289 | urt_topic_t* topic = core._topics; |
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290 | while (topic != NULL && topic->id < id) |
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291 | topic = topic->next; |
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292 | urtMutexUnlock(&core._lock); |
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293 | if (topic != NULL && topic->id == id) |
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294 | return topic;
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295 | else
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296 | return NULL; |
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297 | } |
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298 | 33aa05c5 | Svenja | #endif /* URT_CFG_PUBSUB_ENABLED */ |
299 | 64fde4ba | skenneweg | |
300 | 7d9678db | skenneweg | |
301 | 37cd5dc2 | Svenja | # if (URT_CFG_RPC_ENABLED)
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302 | 7d9678db | skenneweg | /**
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303 | e7056e1b | skenneweg | * @brief Prepend service to core's list of services.
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304 | *
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305 | * @param[in] service The service to prepend. Must not be NULL.
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306 | *
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307 | * @return URT_STATUS_OK on success.
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308 | */
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309 | urt_status_t urtCoreAddService(urt_service_t* service) |
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310 | { |
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311 | urtDebugAssert(service); |
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312 | |||
313 | urtMutexLock(&core._lock); |
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314 | service->next = core._services; |
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315 | core._services = service; |
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316 | urtMutexUnlock(&core._lock); |
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317 | return URT_STATUS_OK;
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318 | } |
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319 | |||
320 | /**
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321 | 7d9678db | skenneweg | * @brief Get the service of the Core.
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322 | *
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323 | 5198dfae | skenneweg | * @param[in] id Identifier of the service to retrieve.
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324 | 7d9678db | skenneweg | *
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325 | 5198dfae | skenneweg | * @return Returns a pointer to the requested service. Returns NULL if no service matches the given ID.
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326 | 37cd5dc2 | Svenja | */
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327 | e7056e1b | skenneweg | urt_service_t* urtCoreGetService(urt_serviceid_t id) {return urt_service_t;}
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328 | 37cd5dc2 | Svenja | # endif /* URT_CFG_RPC_ENABLED */ |
329 | 64fde4ba | skenneweg | |
330 | 33aa05c5 | Svenja | #if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true) |
331 | e7056e1b | skenneweg | urt_osTimerCallback_t urtCoreCallbackDefault(void* params)
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332 | { |
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333 | urtMutexLock(&core._lock); |
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334 | while (params) {
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335 | urtPrintf("Danger");
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336 | urtThreadSleep(1);
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337 | } |
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338 | urtMutexUnlock(&core._lock); |
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339 | return
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340 | } |
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341 | #endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
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342 |