urtware / src / urt_node.c @ 37cd5dc2
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/*
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µRtWare is a lightweight publish/subscribe middleware for real-time
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applications. It was developed as part of the software habitat for the
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Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
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Copyright (C) 2018..2020 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <urtware.h> |
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/******************************************************************************/
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/* LOCAL DEFINITIONS */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL TYPES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL FUNCTIONS */
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/******************************************************************************/
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/**
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* @brief Main function of a node.
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*
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* @param[in] arg Optional Argument to the thread main function.
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*/
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void _main(void* arg) |
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{ |
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urt_osEventMask_t mask; |
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urt_osEventFlags_t flag = 0;
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urtEventRegister(urtCoreGetEvtSource(), &(((urt_node_t*)arg)->listener), mask, flag); |
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if (((urt_node_t*)arg)->setupcallback != NULL) |
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{ |
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mask = ((urt_node_t*)arg)->setupcallback(((urt_node_t*)arg), ((urt_node_t*)arg)->setupparams); |
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if (mask == urtCoreGetEventMask())
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{ |
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urtCoreStopNodes(URT_STATUS_NODE_INVALEVTMASK); |
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} |
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} |
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else
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{ |
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mask = URT_EVENTMASK_ALL; |
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} |
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if (urtCoreGetStatus() == URT_STATUS_OK)
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{ |
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urtCoreSynchronizeNodes(((urt_node_t*)arg)); |
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} |
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while (urtThreadShouldTerminate())
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{ |
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urt_osEventMask_t temp = urtEventWait(mask, URT_EVENT_WAIT_ONE, URT_DELAY_INFINITE); |
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if (temp == urtCoreGetEventMask())
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{ |
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((urt_node_t*)arg)->loopcallback(((urt_node_t*)arg), mask, ((urt_node_t*)arg)->loopparams); |
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#if (URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING)
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((urt_node_t*)arg)->loops++; |
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#endif /* URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING */ |
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if (mask == urtCoreGetEventMask())
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{ |
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urtCoreStopNodes(URT_STATUS_NODE_INVALEVTMASK); |
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} |
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} |
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} |
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if (((urt_node_t*)arg)->shutdowncallback != NULL) |
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{ |
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((urt_node_t*)arg)->shutdowncallback(((urt_node_t*)arg), urtCoreGetStatus(), ((urt_node_t*)arg)->shutdownparams); |
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} |
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urtEventUnregister(urtCoreGetEvtSource(), &((urt_node_t*)arg)->listener); |
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//Terminate all children and siblings
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urt_osThread_t* threadToTerminate = urtThreadGetSelf()->children; |
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while (threadToTerminate != urtThreadGetSelf() && threadToTerminate != NULL) |
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{ |
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urtThreadTerminate(threadToTerminate, URT_THREAD_TERMINATE_REQUEST); |
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if (threadToTerminate->children != NULL) |
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{ |
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threadToTerminate = threadToTerminate->children; |
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} |
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else
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{ |
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if (threadToTerminate->sibling != NULL) |
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{ |
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threadToTerminate = threadToTerminate->sibling; |
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} |
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else
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{ |
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threadToTerminate = threadToTerminate->parent; |
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while (threadToTerminate->sibling == NULL && threadToTerminate != urtThreadGetSelf()) |
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{ |
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threadToTerminate = threadToTerminate->parent; |
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} |
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if (threadToTerminate != urtThreadGetSelf())
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{ |
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threadToTerminate = threadToTerminate->sibling; |
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} |
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} |
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} |
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} |
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urt_osThread_t* threadToJoin = urtThreadGetSelf()->children; |
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while (threadToJoin != urtThreadGetSelf() && threadToJoin != NULL) |
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{ |
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urtThreadJoin(threadToJoin); |
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if (threadToJoin->children != NULL) |
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{ |
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threadToJoin = threadToJoin->children; |
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} |
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else
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{ |
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if (threadToJoin->sibling != NULL) |
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{ |
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threadToJoin = threadToJoin->sibling; |
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} |
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else
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{ |
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threadToJoin = threadToJoin->parent; |
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while (threadToJoin->sibling == NULL && threadToJoin != urtThreadGetSelf()) |
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{ |
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threadToJoin = threadToJoin->parent; |
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} |
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if (threadToJoin != urtThreadGetSelf())
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{ |
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threadToJoin = threadToJoin->sibling; |
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} |
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} |
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} |
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} |
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urtThreadExit(); |
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return;
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} |
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/******************************************************************************/
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/* EXPORTED FUNCTIONS */
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/******************************************************************************/
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/**
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* @brief Initalize a node.
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*
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* @param[in] node The node to initialize. Must not be NULL.
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* @param[in] thread The thread to intialize.
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* @param[in] setupcallback Callback function to be executed during setup.
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* May be NULL if no custom setup is required.
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* @param[in] setupparams Parameters for the setup callback function.
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* Must be NULL if no setup callback is specified.
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* May be NULL if the specified setup callback does not expect parameters.
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* @param[in] loopcallback Callback function to be executed in a loop.
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* @param[in] loopparams Parameters for the loop callback function.
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* May be NULL if the specified loop callback does not expect parameters.
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* @param[in] shutdowncallback Callback function to be executed during shutdown.
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* May be NULL if no custom shutdown is required.
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* @param[in] shutdownparams Parameters for the loop callback function.
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* Must be NULL if no shutdown callback is specified.
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* May be NULL if the specified shutdown callback does not expect parameters.
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*/
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void urtNodeInit(urt_node_t* node, urt_osThread_t* thread, urt_osThreadPrio_t prio, urt_nodeSetupCallback_t setupcallback,
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void* setupparams, urt_nodeLoopCallback_t loopcallback, void* loopparams, |
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urt_nodeShutdownCallback_t shutdowncallback, void* shutdownparams)
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{ |
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urtDebugAssert(node != NULL);
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if (setupcallback == NULL) |
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urtDebugAssert(setupparams == NULL);
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node->next = NULL;
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node->thread = urtThreadInit((void*)thread, sizeof(thread), prio, (urt_osThreadFunction_t) _main, (void*)node); |
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node->setupcallback = setupcallback; |
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node->setupparams = setupparams; |
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node->loopcallback = loopcallback; |
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node->loopparams = loopparams; |
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node->shutdowncallback = shutdowncallback; |
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node->shutdownparams = shutdownparams; |
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node->stage = 0;
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urtEventListenerInit(node->listener); |
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#if (URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING)
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node->loops = 0;
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#endif /* URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING */ |
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urt_osMutex_t* mutexTemp = urtCoreGetMutex(); |
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urtMutexLock(mutexTemp); |
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node->next = urtCoreGetNodes(); |
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urtCoreAddNode(node); |
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urtMutexUnlock(mutexTemp); |
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return;
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} |