Revision 408b49ce

View differences:

src/urt_node.c
48 48 
 */
49 49 
void _main(void* arg)
50 50 
{
51 
  urt_node_t* localNode = (urt_node_t*)arg;
52 51 
  urt_osEventMask_t mask;
53 52 
  urt_osEventFlags_t flag = 0;
54 
  urtEventRegister(urtCoreGetEvtSource(), &(localNode->listener), mask, flag);
55 
  if (localNode->setupcallback != NULL)
53 
  urtEventRegister(urtCoreGetEvtSource(), &(((urt_node_t*)arg)->listener), mask, flag);
54 
  if (((urt_node_t*)arg)->setupcallback != NULL)
56 55 
  {
57 
    mask = localNode->setupcallback(localNode, localNode->setupparams);
56 
    mask = ((urt_node_t*)arg)->setupcallback(((urt_node_t*)arg), ((urt_node_t*)arg)->setupparams);
58 57 
    if (mask == urtCoreGetEventMask())
59 58 
    {
60 
        urtCoreStopNodes(URT_STATUS_NODE_INVALEVTMASK);
59 
      urtCoreStopNodes(URT_STATUS_NODE_INVALEVTMASK);
61 60 
    }
62 61 
  }
63 62 
  else
64 63 
  {
65 
     mask = URT_EVENTMASK_ALL;
64 
    mask = URT_EVENTMASK_ALL;
66 65 
  }
67 66 

  		




  68
  67
  
    
  if (urtCoreGetStatus() == URT_STATUS_OK)


  		




  69
  68
  
    
  {


  		




  70
  
  
    
    urtCoreSynchronizeNodes(localNode);


  		




  
  69
  
    
    urtCoreSynchronizeNodes(((urt_node_t*)arg));


  		




  71
  70
  
    
  }


  		




  72
  71
  
    

  		




  73
  
  
    
  if (!urtThreadShouldTerminate())


  		




  
  72
  
    
  while (!urtThreadShouldTerminate())


  		




  74
  73
  
    
  {


  		




  75
  74
  
    
    urt_osEventMask_t temp = urtEventWait(mask, URT_EVENT_WAIT_ONE, URT_DELAY_INFINITE);


  		




  76
  75
  
    
    if (temp == urtCoreGetEventMask())


  		




  77
  76
  
    
    {


  		




  78
  
  
    
      localNode->loopcallback(localNode, mask, localNode->loopparams);


  		




  
  77
  
    
      ((urt_node_t*)arg)->loopcallback(((urt_node_t*)arg), mask, ((urt_node_t*)arg)->loopparams);


  		




  79
  78
  
    
      #if (URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING)


  		




  80
  
  
    
        localNode->loops++;


  		




  
  79
  
    
        ((urt_node_t*)arg)->loops++;


  		




  81
  80
  
    
      #endif /* URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING */


  		




  82
  81
  
    
      if (mask == urtCoreGetEventMask())


  		




  83
  82
  
    
      {


  		




  ......




  86
  85
  
    
    }


  		




  87
  86
  
    
  }


  		




  88
  87
  
    

  		




  89
  
  
    
  if (localNode->shutdowncallback)


  		




  
  88
  
    
  if (((urt_node_t*)arg)->shutdowncallback != NULL)


  		




  90
  89
  
    
  {


  		




  91
  
  
    
    localNode->shutdowncallback(localNode, urtCoreGetStatus(), localNode->shutdownparams);


  		




  
  90
  
    
    ((urt_node_t*)arg)->shutdowncallback(((urt_node_t*)arg), urtCoreGetStatus(), ((urt_node_t*)arg)->shutdownparams);


  		




  92
  91
  
    
  }


  		




  93
  
  
    
  urtEventUnregister(urtCoreGetEvtSource(), &localNode->listener);


  		




  
  92
  
    
  urtEventUnregister(urtCoreGetEvtSource(), &((urt_node_t*)arg)->listener);


  		




  94
  93
  
    

  		




  95
  
  
    
  urt_osThread_t* threadToTerminate = localNode->thread;


  		




  
  94
  
    
  urt_osThread_t* threadToTerminate = ((urt_node_t*)arg)->thread;


  		




  96
  95
  
    
  while (threadToTerminate->children != NULL || threadToTerminate->sibling != NULL)


  		




  97
  96
  
    
  {


  		




  98
  97
  
    
    if (threadToTerminate->children != NULL)


  		




  ......




  102
  101
  
    
  }


  		




  103
  102
  
    
  urtThreadTerminate(threadToTerminate, URT_THREAD_TERMINATE_REQUEST);


  		




  104
  103
  
    

  		




  105
  
  
    
  urt_osThread_t* threadToJoin = localNode->thread;


  		




  
  104
  
    
  urt_osThread_t* threadToJoin = ((urt_node_t*)arg)->thread;


  		




  106
  105
  
    
  while (threadToJoin->children != NULL || threadToJoin->sibling != NULL)


  		




  107
  106
  
    
  {


  		




  108
  107
  
    
    if (threadToJoin->children != NULL)


  		




  ......




  123
  122
  
    
 * @brief  Initalize a node.


  		




  124
  123
  
    
 *


  		




  125
  124
  
    
 * @param[in] node  The node to initialize. Must not be NULL.


  		




  126
  
  
    
 * @param[in] thread  The thread to intialize. Must be NULL.


  		




  
  125
  
    
 * @param[in] thread  The thread to intialize.


  		




  127
  126
  
    
 * @param[in] setupcallback  Callback function to be executed during setup.


  		




  128
  127
  
    
 *                           May be NULL if no custom setup is required.


  		




  129
  128
  
    
 * @param[in] setupparams  Parameters for the setup callback function.


  		




  ......




  143
  142
  
    
                 urt_nodeShutdownCallback_t shutdowncallback, void* shutdownparams)


  		




  144
  143
  
    
{


  		




  145
  144
  
    
  urtDebugAssert(node != NULL);


  		




  146
  
  
    
  urtDebugAssert(thread == NULL);


  		




  147
  145
  
    
  if (setupcallback == NULL)


  		




  148
  146
  
    
    urtDebugAssert(setupparams == NULL);


  		




  149
  147
  
    

  		




  150
  148
  
    
  node->next = NULL;


  		




  151
  
  
    
  node->thread = urtThreadInit(thread, sizeof(thread), prio, _main, node);


  		




  
  149
  
    
  node->thread = urtThreadInit((void*)thread, sizeof(thread), prio, (urt_osThreadFunction_t) _main, (void*)node);


  		




  152
  150
  
    
  node->setupcallback = setupcallback;


  		




  153
  151
  
    
  node->setupparams = setupparams;


  		




  154
  152
  
    
  node->loopcallback = loopcallback;


  		












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