urtware / src / urt_node.c @ 408a606c
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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 | 1bfc6b25 | skenneweg | urt_node_t localNode; //TODO
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41 | 17d978fe | skenneweg | |
42 | 1fb06240 | skenneweg | /******************************************************************************/
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43 | /* LOCAL FUNCTIONS */
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44 | /******************************************************************************/
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45 | |||
46 | 17d978fe | skenneweg | /**
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47 | * @brief Main function of a node.
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48 | *
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49 | * @param[in] arg Optional Argument to the thread main function.
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50 | */
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51 | void _main(void* arg) |
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52 | { |
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53 | 1bfc6b25 | skenneweg | urt_osEventMask_t mask; |
54 | urt_osEventFlags_t flag; //TODO: flag from core here
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55 | 408a606c | skenneweg | urtEventRegister(urtCoreGetEvtSource(), &localNode.listener, mask, flag); |
56 | 1bfc6b25 | skenneweg | if (localNode.setupcallback != NULL) |
57 | { |
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58 | mask = localNode.setupcallback(&localNode, arg); |
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59 | if (mask /*TODO: check single bits from mask to find out if bit for core is 1 */) |
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60 | 17d978fe | skenneweg | { |
61 | 1bfc6b25 | skenneweg | urtCoreStopNodes(URT_STATUS_NODE_INVALEVTMASK); |
62 | 17d978fe | skenneweg | } |
63 | 1bfc6b25 | skenneweg | } |
64 | else
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65 | { |
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66 | mask = 0xFFFFFFFF;
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67 | } |
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68 | |||
69 | 408a606c | skenneweg | if (urtCoreGetStatus() == URT_STATUS_OK)
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70 | 1bfc6b25 | skenneweg | { |
71 | urtCoreSynchronizeNodes(&localNode); |
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72 | } |
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73 | |||
74 | bool terminated = false; |
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75 | if (terminated /*TODO: replace with function*/) |
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76 | { |
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77 | urt_osEventMask_t temp = urtEventWait(mask, URT_EVENT_WAIT_ONE, URT_DELAY_INFINITE); |
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78 | if (temp /*TODO: check single bits from mask to find out if bit for core is 1 */) |
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79 | 17d978fe | skenneweg | { |
80 | 1bfc6b25 | skenneweg | localNode.loopcallback(&localNode, mask, arg); |
81 | #if (URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING)
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82 | localNode.loops++; |
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83 | #endif /* URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING */ |
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84 | if (mask /*TODO: check single bits from mask to find out if bit for core is 1 */) |
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85 | { |
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86 | urtCoreStopNodes(URT_STATUS_NODE_INVALEVTMASK); |
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87 | } |
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88 | 17d978fe | skenneweg | } |
89 | 1bfc6b25 | skenneweg | } |
90 | |||
91 | if (localNode.shutdowncallback)
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92 | { |
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93 | localNode.shutdowncallback(&localNode, urtCoreGetStatus(), arg); |
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94 | } |
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95 | 408a606c | skenneweg | urtEventUnregister(urtCoreGetEvtSource(), &localNode.listener); |
96 | 1bfc6b25 | skenneweg | urt_osThread_t* threadToTerminate = localNode.thread; |
97 | urt_osThread_t* threadToTerminateChild; |
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98 | while (threadToTerminate != NULL) |
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99 | { |
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100 | threadToTerminateChild = threadToTerminate->children; |
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101 | urtThreadTerminate(&threadToTerminate, URT_THREAD_TERMINATE_REQUEST); |
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102 | threadToTerminate = threadToTerminateChild; |
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103 | } |
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104 | urtThreadExit(); |
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105 | return;
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106 | 17d978fe | skenneweg | } |
107 | |||
108 | 1fb06240 | skenneweg | /******************************************************************************/
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109 | /* EXPORTED FUNCTIONS */
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110 | /******************************************************************************/
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111 | 7d9678db | skenneweg | |
112 | /**
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113 | 17d978fe | skenneweg | * @brief Initalize a node.
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114 | 7d9678db | skenneweg | *
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115 | 5198dfae | skenneweg | * @param[in] node The node to initialize. Must not be NULL.
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116 | * @param[in] thread The already initialized, exclusive thread for the node. Must not be NULL.
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117 | * @param[in] setupcallback Callback function to be executed during setup.
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118 | * May be NULL if no custom setup is required.
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119 | * @param[in] setupparams Parameters for the setup callback function.
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120 | 1f7ffcff | skenneweg | * Must be NULL if no setup callback is specified.
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121 | * May be NULL if the specified setup callback does not expect parameters.
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122 | 5198dfae | skenneweg | * @param[in] loopcallback Callback function to be executed in a loop.
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123 | * @param[in] loopparams Parameters for the loop callback function.
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124 | * May be NULL if the specified loop callback does not expect parameters.
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125 | * @param[in] shutdowncallback Callback function to be executed during shutdown.
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126 | * May be NULL if no custom shutdown is required.
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127 | * @param[in] shutdownparams Parameters for the loop callback function.
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128 | * Must be NULL if no shutdown callback is specified.
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129 | * May be NULL if the specified shutdown callback does not expect parameters.
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130 | 7d9678db | skenneweg | */
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131 | void urtNodeInit(urt_node_t* node, urt_osThread_t* thread, urt_nodeSetupCallback_t* setupcallback,
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132 | void* setupparams, urt_nodeLoopCallback_t* loopcallback, void* loopparams, |
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133 | 1f7ffcff | skenneweg | urt_nodeShutdownCallback_t* shutdowncallback, void* shutdownparams)
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134 | { |
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135 | 17d978fe | skenneweg | urtDebugAssert(node != NULL);
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136 | urtDebugAssert(thread != NULL);
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137 | if (setupcallback == NULL) |
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138 | urtDebugAssert(setupparams == NULL);
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139 | |||
140 | 64fde4ba | skenneweg | node->next = NULL;
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141 | node->thread = thread; |
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142 | node->setupcallback = setupcallback; |
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143 | node->setupparams = setupparams; |
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144 | 2c811df1 | skenneweg | node->loopcallback = loopcallback; |
145 | 64fde4ba | skenneweg | node->loopparams = loopparams; |
146 | 2c811df1 | skenneweg | node->shutdowncallback = shutdowncallback; |
147 | node->shutdownparams = shutdownparams; |
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148 | 64fde4ba | skenneweg | node->stage = 0;
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149 | 2c811df1 | skenneweg | urtEventListenerInit(node->listener); |
150 | 1f7ffcff | skenneweg | #if (URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING)
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151 | 64fde4ba | skenneweg | node->loops = 0;
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152 | 1f7ffcff | skenneweg | #endif /* URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING */ |
153 | 408a606c | skenneweg | urt_osMutex_t mutexTemp = urtCoreGetMutex(); |
154 | urtMutexLock(&mutexTemp); |
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155 | node->next = urtCoreGetNodes(); |
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156 | urt_node_t* nodeCore = urtCoreGetNodes(); |
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157 | nodeCore = node; |
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158 | urtMutexUnlock(&mutexTemp); |
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159 | 17d978fe | skenneweg | localNode = *node; |
160 | 1f7ffcff | skenneweg | return;
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161 | } |