urtware / src / urt_core.c @ 408a606c
History | View | Annotate | Download (6.995 KB)
1 | 1fb06240 | skenneweg | /*
|
---|---|---|---|
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 | 7d9678db | skenneweg | #include <urtware.h> |
23 | |||
24 | 1fb06240 | skenneweg | /******************************************************************************/
|
25 | /* LOCAL DEFINITIONS */
|
||
26 | /******************************************************************************/
|
||
27 | |||
28 | /******************************************************************************/
|
||
29 | /* EXPORTED VARIABLES */
|
||
30 | /******************************************************************************/
|
||
31 | |||
32 | /******************************************************************************/
|
||
33 | /* LOCAL TYPES */
|
||
34 | /******************************************************************************/
|
||
35 | |||
36 | 408a606c | skenneweg | /**
|
37 | * @brief core
|
||
38 | */
|
||
39 | typedef struct urt_core |
||
40 | { |
||
41 | urt_node_t* _nodes; |
||
42 | urt_osEventSource_t* _evtSource; |
||
43 | urt_osMutex_t _lock; |
||
44 | urt_status_t _status; |
||
45 | #if (URT_CFG_PUBSUB_ENABLED)
|
||
46 | urt_topic_t* _topics; |
||
47 | #endif /* URT_CFG_PUBSUB_ENABLED */ |
||
48 | #if (URT_CFG_RPC_ENABLED)
|
||
49 | urt_service_t* _services; |
||
50 | #endif /* URT_CFG_RPC_ENABLED */ |
||
51 | }urt_core_t; |
||
52 | |||
53 | static urt_core_t core;
|
||
54 | |||
55 | 1fb06240 | skenneweg | /******************************************************************************/
|
56 | /* LOCAL VARIABLES */
|
||
57 | /******************************************************************************/
|
||
58 | |||
59 | /******************************************************************************/
|
||
60 | /* LOCAL FUNCTIONS */
|
||
61 | /******************************************************************************/
|
||
62 | |||
63 | /******************************************************************************/
|
||
64 | /* EXPORTED FUNCTIONS */
|
||
65 | /******************************************************************************/
|
||
66 | 7d9678db | skenneweg | |
67 | /**
|
||
68 | * @brief Initialize the Core.
|
||
69 | */
|
||
70 | 1f7ffcff | skenneweg | void urtCoreInit(void) |
71 | { |
||
72 | 64fde4ba | skenneweg | core._nodes = NULL;
|
73 | core._status = URT_STATUS_OK; |
||
74 | urtEventSourceInit(core._evtSource); |
||
75 | urtMutexInit(&core._lock); |
||
76 | 1f7ffcff | skenneweg | #if (URT_CFG_PUBSUB_ENABLED)
|
77 | 64fde4ba | skenneweg | core._topics = NULL;
|
78 | 1f7ffcff | skenneweg | #endif /* URT_CFG_PUBSUB_ENABLED */ |
79 | #if (URT_CFG_RPC_ENABLED)
|
||
80 | 64fde4ba | skenneweg | core.urt_service_t = NULL;
|
81 | 1f7ffcff | skenneweg | #endif /* URT_CFG_RPC_ENABLED */ |
82 | return;
|
||
83 | } |
||
84 | 7d9678db | skenneweg | |
85 | /**
|
||
86 | * @brief Get Core status.
|
||
87 | *
|
||
88 | 5198dfae | skenneweg | * @return Current system status.
|
89 | 7d9678db | skenneweg | */
|
90 | 64fde4ba | skenneweg | urt_status_t urtCoreGetStatus(void)
|
91 | { |
||
92 | return core._status;
|
||
93 | } |
||
94 | 7d9678db | skenneweg | |
95 | /**
|
||
96 | 408a606c | skenneweg | * @brief Get Core mutex.
|
97 | *
|
||
98 | * @return Current system mutex.
|
||
99 | */
|
||
100 | urt_osMutex_t urtCoreGetMutex(void)
|
||
101 | { |
||
102 | return core._lock;
|
||
103 | } |
||
104 | |||
105 | /**
|
||
106 | * @brief Get Core event source.
|
||
107 | *
|
||
108 | * @return Current system event source.
|
||
109 | */
|
||
110 | urt_osEventSource_t* urtCoreGetEvtSource(void)
|
||
111 | { |
||
112 | return core._evtSource;
|
||
113 | } |
||
114 | |||
115 | urt_node_t* urtCoreGetNodes(void)
|
||
116 | { |
||
117 | return core._nodes;
|
||
118 | } |
||
119 | |||
120 | /**
|
||
121 | 5198dfae | skenneweg | * @brief Start threads of all nodes of the Core.
|
122 | 7d9678db | skenneweg | */
|
123 | 64fde4ba | skenneweg | void urtCoreStartNodes(void) |
124 | { |
||
125 | e566c39e | skenneweg | urtMutexLock(&core._lock); |
126 | 64fde4ba | skenneweg | urt_node_t* node = core._nodes; |
127 | while (node)
|
||
128 | { |
||
129 | urtThreadStart(node->thread); |
||
130 | node = node->next; |
||
131 | } |
||
132 | e566c39e | skenneweg | urtMutexUnlock(&core._lock); |
133 | 64fde4ba | skenneweg | return;
|
134 | } |
||
135 | 7d9678db | skenneweg | |
136 | /**
|
||
137 | 5198dfae | skenneweg | * @brief Synchronize all nodes of the core.
|
138 | 7d9678db | skenneweg | *
|
139 | 5198dfae | skenneweg | * @param[in] node Pointer to a node to synchronize. Must not be NULL.
|
140 | 7d9678db | skenneweg | *
|
141 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK if all nodes are synchronized and proceed.
|
142 | * Returns URT_STATUS_SYNC_ERROR if an exception occurred (faulty stage value detected).
|
||
143 | * Returns URT_STATUS_SYNC_PENDING if there are nodes left to synchronize.
|
||
144 | * In the latter case, the node thread must still wait for the control event (proceed) to synchronize.
|
||
145 | 7d9678db | skenneweg | */
|
146 | e566c39e | skenneweg | urt_status_t urtCoreSynchronizeNodes(urt_node_t* node) |
147 | 64fde4ba | skenneweg | { |
148 | 17d978fe | skenneweg | urtDebugAssert(node != NULL);
|
149 | |||
150 | e566c39e | skenneweg | urtMutexLock(&core._lock); |
151 | node->stage -= 1;
|
||
152 | 64fde4ba | skenneweg | urt_node_t* nodeFromCore = core._nodes; |
153 | e566c39e | skenneweg | while (nodeFromCore && nodeFromCore->stage == node->stage)
|
154 | 64fde4ba | skenneweg | { |
155 | nodeFromCore = nodeFromCore->next; |
||
156 | } |
||
157 | e566c39e | skenneweg | if (nodeFromCore)
|
158 | 64fde4ba | skenneweg | { |
159 | 03ed5026 | skenneweg | urt_osEventFlags_t flag = URT_EVENTFLAG_PROCEED; |
160 | e566c39e | skenneweg | urtEventSourceBroadcast(core._evtSource, flag); |
161 | urtMutexUnlock(&core._lock); |
||
162 | 64fde4ba | skenneweg | return URT_STATUS_OK;
|
163 | } |
||
164 | e566c39e | skenneweg | else if (nodeFromCore->stage == (node->stage - 1)) |
165 | 64fde4ba | skenneweg | { |
166 | e566c39e | skenneweg | urtMutexUnlock(&core._lock); |
167 | 64fde4ba | skenneweg | return URT_STATUS_SYNC_PENDING;
|
168 | } |
||
169 | else
|
||
170 | { |
||
171 | urtCoreStopNodes(URT_STATUS_SYNC_ERROR); |
||
172 | e566c39e | skenneweg | urtMutexUnlock(&core._lock); |
173 | 64fde4ba | skenneweg | return URT_STATUS_SYNC_ERROR;
|
174 | } |
||
175 | } |
||
176 | 7d9678db | skenneweg | |
177 | /**
|
||
178 | 5198dfae | skenneweg | * @brief Stop threads of all nodes of the Core.
|
179 | 7d9678db | skenneweg | *
|
180 | 5198dfae | skenneweg | * @param[in] reason The reason why the function was called. For normal shutdown URT_STATUS_OK should be used.
|
181 | 7d9678db | skenneweg | *
|
182 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK if there was no call with another reason than URT_STATUS_OK before.
|
183 | * If the function has been called before with a different reason, that reason is returned.
|
||
184 | 7d9678db | skenneweg | */
|
185 | 64fde4ba | skenneweg | urt_status_t urtCoreStopNodes(urt_status_t reason) |
186 | { |
||
187 | e566c39e | skenneweg | urtMutexLock(&core._lock); |
188 | bool priorityBoosted = false; |
||
189 | urt_osThreadPrio_t oldPrio; |
||
190 | |||
191 | 64fde4ba | skenneweg | if (core._status == URT_STATUS_OK)
|
192 | { |
||
193 | if (core._nodes->thread->prio < URT_THREAD_PRIO_HIGH_MAX)
|
||
194 | { |
||
195 | e566c39e | skenneweg | oldPrio = core._nodes->thread->prio; |
196 | priorityBoosted = true;
|
||
197 | 64fde4ba | skenneweg | core._nodes->thread->prio = URT_THREAD_PRIO_HIGH_MAX; |
198 | } |
||
199 | e566c39e | skenneweg | core._status = reason; |
200 | urt_node_t* node = core._nodes; |
||
201 | while (node)
|
||
202 | 64fde4ba | skenneweg | { |
203 | e566c39e | skenneweg | urtThreadTerminate(node->thread, URT_THREAD_TERMINATE_REQUEST); |
204 | node = node->next; |
||
205 | 64fde4ba | skenneweg | } |
206 | 03ed5026 | skenneweg | urt_osEventFlags_t flag = URT_EVENTFLAG_TERMINATE; |
207 | e566c39e | skenneweg | urtEventSourceBroadcast(core._evtSource, flag); |
208 | urtMutexUnlock(&core._lock); |
||
209 | if (priorityBoosted)
|
||
210 | core._nodes->thread->prio = oldPrio; |
||
211 | return URT_STATUS_OK;
|
||
212 | 64fde4ba | skenneweg | } |
213 | else
|
||
214 | { |
||
215 | e566c39e | skenneweg | urtMutexUnlock(&core._lock); |
216 | return core._status;
|
||
217 | 64fde4ba | skenneweg | } |
218 | } |
||
219 | 7d9678db | skenneweg | |
220 | /**
|
||
221 | * @brief Get the topic of the Core.
|
||
222 | *
|
||
223 | 5198dfae | skenneweg | * @param[in] id Identifier of the topic to retrieve.
|
224 | 7d9678db | skenneweg | *
|
225 | 5198dfae | skenneweg | * @return Returns a pointer to the requested service. Returns NULL if no service matches the given ID.
|
226 | 7d9678db | skenneweg | */
|
227 | 64fde4ba | skenneweg | #if (URT_CFG_PUBSUB_ENABLED)
|
228 | urt_topic_t* urtCoreGetTopic(urt_topicid_t id) {return urt_topic_t;}
|
||
229 | #endif /* URT_CFG_PUBSUB_ENABLED */ |
||
230 | |||
231 | 7d9678db | skenneweg | |
232 | /**
|
||
233 | * @brief Get the service of the Core.
|
||
234 | *
|
||
235 | 5198dfae | skenneweg | * @param[in] id Identifier of the service to retrieve.
|
236 | 7d9678db | skenneweg | *
|
237 | 5198dfae | skenneweg | * @return Returns a pointer to the requested service. Returns NULL if no service matches the given ID.
|
238 | 64fde4ba | skenneweg | */
|
239 | #if (URT_CFG_RPC_ENABLED)
|
||
240 | urt_service_t urtCoreGetService(urt_serviceid_t id) {return urt_service_t;}
|
||
241 | #endif /* URT_CFG_RPC_ENABLED */ |
||
242 |