urtware / src / urt_node.c @ 408b49ce
History | View | Annotate | Download (6.96 KB)
1 |
/*
|
---|---|
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 |
#include <urtware.h> |
23 |
|
24 |
/******************************************************************************/
|
25 |
/* LOCAL DEFINITIONS */
|
26 |
/******************************************************************************/
|
27 |
|
28 |
/******************************************************************************/
|
29 |
/* EXPORTED VARIABLES */
|
30 |
/******************************************************************************/
|
31 |
|
32 |
/******************************************************************************/
|
33 |
/* LOCAL TYPES */
|
34 |
/******************************************************************************/
|
35 |
|
36 |
/******************************************************************************/
|
37 |
/* LOCAL VARIABLES */
|
38 |
/******************************************************************************/
|
39 |
|
40 |
/******************************************************************************/
|
41 |
/* LOCAL FUNCTIONS */
|
42 |
/******************************************************************************/
|
43 |
|
44 |
/**
|
45 |
* @brief Main function of a node.
|
46 |
*
|
47 |
* @param[in] arg Optional Argument to the thread main function.
|
48 |
*/
|
49 |
void _main(void* arg) |
50 |
{ |
51 |
urt_osEventMask_t mask; |
52 |
urt_osEventFlags_t flag = 0;
|
53 |
urtEventRegister(urtCoreGetEvtSource(), &(((urt_node_t*)arg)->listener), mask, flag); |
54 |
if (((urt_node_t*)arg)->setupcallback != NULL) |
55 |
{ |
56 |
mask = ((urt_node_t*)arg)->setupcallback(((urt_node_t*)arg), ((urt_node_t*)arg)->setupparams); |
57 |
if (mask == urtCoreGetEventMask())
|
58 |
{ |
59 |
urtCoreStopNodes(URT_STATUS_NODE_INVALEVTMASK); |
60 |
} |
61 |
} |
62 |
else
|
63 |
{ |
64 |
mask = URT_EVENTMASK_ALL; |
65 |
} |
66 |
|
67 |
if (urtCoreGetStatus() == URT_STATUS_OK)
|
68 |
{ |
69 |
urtCoreSynchronizeNodes(((urt_node_t*)arg)); |
70 |
} |
71 |
|
72 |
while (!urtThreadShouldTerminate())
|
73 |
{ |
74 |
urt_osEventMask_t temp = urtEventWait(mask, URT_EVENT_WAIT_ONE, URT_DELAY_INFINITE); |
75 |
if (temp == urtCoreGetEventMask())
|
76 |
{ |
77 |
((urt_node_t*)arg)->loopcallback(((urt_node_t*)arg), mask, ((urt_node_t*)arg)->loopparams); |
78 |
#if (URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING)
|
79 |
((urt_node_t*)arg)->loops++; |
80 |
#endif /* URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING */ |
81 |
if (mask == urtCoreGetEventMask())
|
82 |
{ |
83 |
urtCoreStopNodes(URT_STATUS_NODE_INVALEVTMASK); |
84 |
} |
85 |
} |
86 |
} |
87 |
|
88 |
if (((urt_node_t*)arg)->shutdowncallback != NULL) |
89 |
{ |
90 |
((urt_node_t*)arg)->shutdowncallback(((urt_node_t*)arg), urtCoreGetStatus(), ((urt_node_t*)arg)->shutdownparams); |
91 |
} |
92 |
urtEventUnregister(urtCoreGetEvtSource(), &((urt_node_t*)arg)->listener); |
93 |
|
94 |
urt_osThread_t* threadToTerminate = ((urt_node_t*)arg)->thread; |
95 |
while (threadToTerminate->children != NULL || threadToTerminate->sibling != NULL) |
96 |
{ |
97 |
if (threadToTerminate->children != NULL) |
98 |
urtThreadTerminate(threadToTerminate->children, URT_THREAD_TERMINATE_REQUEST); |
99 |
if(threadToTerminate->sibling != NULL) |
100 |
urtThreadTerminate(threadToTerminate->sibling, URT_THREAD_TERMINATE_REQUEST); |
101 |
} |
102 |
urtThreadTerminate(threadToTerminate, URT_THREAD_TERMINATE_REQUEST); |
103 |
|
104 |
urt_osThread_t* threadToJoin = ((urt_node_t*)arg)->thread; |
105 |
while (threadToJoin->children != NULL || threadToJoin->sibling != NULL) |
106 |
{ |
107 |
if (threadToJoin->children != NULL) |
108 |
urtThreadJoin(threadToJoin->children); |
109 |
if(threadToJoin->sibling != NULL) |
110 |
urtThreadJoin(threadToJoin->sibling); |
111 |
} |
112 |
urtThreadJoin(threadToJoin); |
113 |
|
114 |
return;
|
115 |
} |
116 |
|
117 |
/******************************************************************************/
|
118 |
/* EXPORTED FUNCTIONS */
|
119 |
/******************************************************************************/
|
120 |
|
121 |
/**
|
122 |
* @brief Initalize a node.
|
123 |
*
|
124 |
* @param[in] node The node to initialize. Must not be NULL.
|
125 |
* @param[in] thread The thread to intialize.
|
126 |
* @param[in] setupcallback Callback function to be executed during setup.
|
127 |
* May be NULL if no custom setup is required.
|
128 |
* @param[in] setupparams Parameters for the setup callback function.
|
129 |
* Must be NULL if no setup callback is specified.
|
130 |
* May be NULL if the specified setup callback does not expect parameters.
|
131 |
* @param[in] loopcallback Callback function to be executed in a loop.
|
132 |
* @param[in] loopparams Parameters for the loop callback function.
|
133 |
* May be NULL if the specified loop callback does not expect parameters.
|
134 |
* @param[in] shutdowncallback Callback function to be executed during shutdown.
|
135 |
* May be NULL if no custom shutdown is required.
|
136 |
* @param[in] shutdownparams Parameters for the loop callback function.
|
137 |
* Must be NULL if no shutdown callback is specified.
|
138 |
* May be NULL if the specified shutdown callback does not expect parameters.
|
139 |
*/
|
140 |
void urtNodeInit(urt_node_t* node, urt_osThread_t* thread, urt_osThreadPrio_t prio, urt_nodeSetupCallback_t setupcallback,
|
141 |
void* setupparams, urt_nodeLoopCallback_t loopcallback, void* loopparams, |
142 |
urt_nodeShutdownCallback_t shutdowncallback, void* shutdownparams)
|
143 |
{ |
144 |
urtDebugAssert(node != NULL);
|
145 |
if (setupcallback == NULL) |
146 |
urtDebugAssert(setupparams == NULL);
|
147 |
|
148 |
node->next = NULL;
|
149 |
node->thread = urtThreadInit((void*)thread, sizeof(thread), prio, (urt_osThreadFunction_t) _main, (void*)node); |
150 |
node->setupcallback = setupcallback; |
151 |
node->setupparams = setupparams; |
152 |
node->loopcallback = loopcallback; |
153 |
node->loopparams = loopparams; |
154 |
node->shutdowncallback = shutdowncallback; |
155 |
node->shutdownparams = shutdownparams; |
156 |
node->stage = 0;
|
157 |
urtEventListenerInit(node->listener); |
158 |
#if (URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING)
|
159 |
node->loops = 0;
|
160 |
#endif /* URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING */ |
161 |
urt_osMutex_t* mutexTemp = urtCoreGetMutex(); |
162 |
urtMutexLock(mutexTemp); |
163 |
node->next = urtCoreGetNodes(); |
164 |
urt_node_t* nodeCore = urtCoreGetNodes(); |
165 |
nodeCore->next = node; |
166 |
urtMutexUnlock(mutexTemp); |
167 |
return;
|
168 |
} |