urtware / src / urt_node.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 | /******************************************************************************/
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37 | /* LOCAL VARIABLES */
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38 | /******************************************************************************/
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39 | |||
40 | /******************************************************************************/
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41 | /* LOCAL FUNCTIONS */
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42 | /******************************************************************************/
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43 | |||
44 | 17d978fe | skenneweg | /**
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45 | * @brief Main function of a node.
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46 | *
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47 | * @param[in] arg Optional Argument to the thread main function.
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48 | */
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49 | void _main(void* arg) |
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50 | { |
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51 | 1bfc6b25 | skenneweg | urt_osEventMask_t mask; |
52 | cd0cba58 | skenneweg | urt_osEventFlags_t flag = 0;
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53 | 408b49ce | skenneweg | urtEventRegister(urtCoreGetEvtSource(), &(((urt_node_t*)arg)->listener), mask, flag); |
54 | if (((urt_node_t*)arg)->setupcallback != NULL) |
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55 | 1bfc6b25 | skenneweg | { |
56 | 408b49ce | skenneweg | mask = ((urt_node_t*)arg)->setupcallback(((urt_node_t*)arg), ((urt_node_t*)arg)->setupparams); |
57 | cd0cba58 | skenneweg | if (mask == urtCoreGetEventMask())
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58 | 17d978fe | skenneweg | { |
59 | 408b49ce | skenneweg | urtCoreStopNodes(URT_STATUS_NODE_INVALEVTMASK); |
60 | 17d978fe | skenneweg | } |
61 | 1bfc6b25 | skenneweg | } |
62 | else
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63 | { |
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64 | 408b49ce | skenneweg | mask = URT_EVENTMASK_ALL; |
65 | 1bfc6b25 | skenneweg | } |
66 | |||
67 | 408a606c | skenneweg | if (urtCoreGetStatus() == URT_STATUS_OK)
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68 | 1bfc6b25 | skenneweg | { |
69 | 408b49ce | skenneweg | urtCoreSynchronizeNodes(((urt_node_t*)arg)); |
70 | 1bfc6b25 | skenneweg | } |
71 | |||
72 | 33aa05c5 | Svenja | while (!urtThreadShouldTerminate())
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73 | 1bfc6b25 | skenneweg | { |
74 | urt_osEventMask_t temp = urtEventWait(mask, URT_EVENT_WAIT_ONE, URT_DELAY_INFINITE); |
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75 | cd0cba58 | skenneweg | if (temp == urtCoreGetEventMask())
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76 | 17d978fe | skenneweg | { |
77 | 408b49ce | skenneweg | ((urt_node_t*)arg)->loopcallback(((urt_node_t*)arg), mask, ((urt_node_t*)arg)->loopparams); |
78 | 1bfc6b25 | skenneweg | #if (URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING)
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79 | 408b49ce | skenneweg | ((urt_node_t*)arg)->loops++; |
80 | 1bfc6b25 | skenneweg | #endif /* URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING */ |
81 | cd0cba58 | skenneweg | if (mask == urtCoreGetEventMask())
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82 | 1bfc6b25 | skenneweg | { |
83 | urtCoreStopNodes(URT_STATUS_NODE_INVALEVTMASK); |
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84 | } |
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85 | 17d978fe | skenneweg | } |
86 | 1bfc6b25 | skenneweg | } |
87 | |||
88 | 408b49ce | skenneweg | if (((urt_node_t*)arg)->shutdowncallback != NULL) |
89 | 1bfc6b25 | skenneweg | { |
90 | 408b49ce | skenneweg | ((urt_node_t*)arg)->shutdowncallback(((urt_node_t*)arg), urtCoreGetStatus(), ((urt_node_t*)arg)->shutdownparams); |
91 | 1bfc6b25 | skenneweg | } |
92 | 408b49ce | skenneweg | urtEventUnregister(urtCoreGetEvtSource(), &((urt_node_t*)arg)->listener); |
93 | 37cd5dc2 | Svenja | |
94 | //Terminate all children and siblings
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95 | urt_osThread_t* threadToTerminate = urtThreadGetSelf()->children; |
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96 | while (threadToTerminate != urtThreadGetSelf() && threadToTerminate != NULL) |
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97 | 1bfc6b25 | skenneweg | { |
98 | 37cd5dc2 | Svenja | urtThreadTerminate(threadToTerminate, URT_THREAD_TERMINATE_REQUEST); |
99 | 792f6c74 | skenneweg | if (threadToTerminate->children != NULL) |
100 | 37cd5dc2 | Svenja | { |
101 | threadToTerminate = threadToTerminate->children; |
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102 | } |
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103 | else
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104 | { |
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105 | if (threadToTerminate->sibling != NULL) |
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106 | { |
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107 | threadToTerminate = threadToTerminate->sibling; |
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108 | } |
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109 | else
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110 | { |
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111 | threadToTerminate = threadToTerminate->parent; |
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112 | while (threadToTerminate->sibling == NULL && threadToTerminate != urtThreadGetSelf()) |
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113 | { |
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114 | threadToTerminate = threadToTerminate->parent; |
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115 | } |
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116 | if (threadToTerminate != urtThreadGetSelf())
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117 | { |
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118 | threadToTerminate = threadToTerminate->sibling; |
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119 | } |
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120 | } |
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121 | } |
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122 | 1bfc6b25 | skenneweg | } |
123 | 792f6c74 | skenneweg | |
124 | 37cd5dc2 | Svenja | urt_osThread_t* threadToJoin = urtThreadGetSelf()->children; |
125 | while (threadToJoin != urtThreadGetSelf() && threadToJoin != NULL) |
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126 | 22ccef0f | skenneweg | { |
127 | 37cd5dc2 | Svenja | urtThreadJoin(threadToJoin); |
128 | 22ccef0f | skenneweg | if (threadToJoin->children != NULL) |
129 | 37cd5dc2 | Svenja | { |
130 | threadToJoin = threadToJoin->children; |
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131 | } |
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132 | else
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133 | { |
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134 | if (threadToJoin->sibling != NULL) |
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135 | { |
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136 | threadToJoin = threadToJoin->sibling; |
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137 | } |
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138 | else
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139 | { |
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140 | threadToJoin = threadToJoin->parent; |
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141 | while (threadToJoin->sibling == NULL && threadToJoin != urtThreadGetSelf()) |
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142 | { |
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143 | threadToJoin = threadToJoin->parent; |
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144 | } |
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145 | if (threadToJoin != urtThreadGetSelf())
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146 | { |
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147 | threadToJoin = threadToJoin->sibling; |
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148 | } |
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149 | } |
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150 | } |
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151 | 22ccef0f | skenneweg | } |
152 | |||
153 | 8378a78b | Svenja | urtThreadExit(); |
154 | 1bfc6b25 | skenneweg | return;
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155 | 17d978fe | skenneweg | } |
156 | |||
157 | 1fb06240 | skenneweg | /******************************************************************************/
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158 | /* EXPORTED FUNCTIONS */
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159 | /******************************************************************************/
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160 | 7d9678db | skenneweg | |
161 | /**
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162 | 17d978fe | skenneweg | * @brief Initalize a node.
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163 | 7d9678db | skenneweg | *
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164 | 5198dfae | skenneweg | * @param[in] node The node to initialize. Must not be NULL.
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165 | 408b49ce | skenneweg | * @param[in] thread The thread to intialize.
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166 | 5198dfae | skenneweg | * @param[in] setupcallback Callback function to be executed during setup.
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167 | * May be NULL if no custom setup is required.
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168 | * @param[in] setupparams Parameters for the setup callback function.
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169 | 1f7ffcff | skenneweg | * Must be NULL if no setup callback is specified.
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170 | * May be NULL if the specified setup callback does not expect parameters.
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171 | 5198dfae | skenneweg | * @param[in] loopcallback Callback function to be executed in a loop.
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172 | * @param[in] loopparams Parameters for the loop callback function.
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173 | * May be NULL if the specified loop callback does not expect parameters.
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174 | * @param[in] shutdowncallback Callback function to be executed during shutdown.
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175 | * May be NULL if no custom shutdown is required.
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176 | * @param[in] shutdownparams Parameters for the loop callback function.
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177 | * Must be NULL if no shutdown callback is specified.
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178 | * May be NULL if the specified shutdown callback does not expect parameters.
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179 | 7d9678db | skenneweg | */
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180 | 4ea18a07 | Svenja | void urtNodeInit(urt_node_t* node, urt_osThread_t* thread, urt_osThreadPrio_t prio, urt_nodeSetupCallback_t setupcallback,
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181 | void* setupparams, urt_nodeLoopCallback_t loopcallback, void* loopparams, |
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182 | urt_nodeShutdownCallback_t shutdowncallback, void* shutdownparams)
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183 | 1f7ffcff | skenneweg | { |
184 | 17d978fe | skenneweg | urtDebugAssert(node != NULL);
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185 | if (setupcallback == NULL) |
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186 | urtDebugAssert(setupparams == NULL);
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187 | |||
188 | 64fde4ba | skenneweg | node->next = NULL;
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189 | 408b49ce | skenneweg | node->thread = urtThreadInit((void*)thread, sizeof(thread), prio, (urt_osThreadFunction_t) _main, (void*)node); |
190 | 64fde4ba | skenneweg | node->setupcallback = setupcallback; |
191 | node->setupparams = setupparams; |
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192 | 2c811df1 | skenneweg | node->loopcallback = loopcallback; |
193 | 64fde4ba | skenneweg | node->loopparams = loopparams; |
194 | 2c811df1 | skenneweg | node->shutdowncallback = shutdowncallback; |
195 | node->shutdownparams = shutdownparams; |
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196 | 64fde4ba | skenneweg | node->stage = 0;
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197 | 2c811df1 | skenneweg | urtEventListenerInit(node->listener); |
198 | 1f7ffcff | skenneweg | #if (URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING)
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199 | 64fde4ba | skenneweg | node->loops = 0;
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200 | 1f7ffcff | skenneweg | #endif /* URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING */ |
201 | 33aa05c5 | Svenja | node->next = urtCoreGetNodes(); |
202 | urtCoreAddNode(node); |
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203 | 1f7ffcff | skenneweg | return;
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204 | } |