AMiRo-OS

/*

µRtWare is a lightweight publish/subscribe middleware for real-time

applications. It was developed as part of the software habitat for the

Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.

Copyright (C) 2018..2018  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

#ifndef _URTWARE_CONFCHECK_H_

#define _URTWARE_CONFCHECK_H_

#include <urtwareconf.h>

#if !defined(URT_CFG_DELAY_WIDTH)

  #error "URT_CFG_DELAY_WIDTH not defined in urtwareconf.h"

#else

  #if !(URT_CFG_DELAY_WIDTH == 32 || URT_CFG_DELAY_WIDTH == 64)

    #error "URT_CFG_DELAY_WIDTH set to illegal value in urtwareconf.h"

  #endif

#endif

#if !defined(URT_CFG_TOPICID_WIDTH)

  #error "URT_CFG_TOPICID_WIDTH not defined in urtwareconf.h"

#else

  #if !(URT_CFG_TOPICID_WIDTH == 8 || URT_CFG_TOPICID_WIDTH == 16 || URT_CFG_TOPICID_WIDTH == 32 || URT_CFG_TOPICID_WIDTH == 64)

    #error "URT_CFG_TOPICID_WIDTH set to illegal value in urtwareconf.h"

  #endif

#endif

#if !defined(URT_CFG_NODESTAGE_WIDTH)

  #error "URT_CFG_NODESTAGE_WIDTH not defined in urtwareconf.h"

#else

  #if !(URT_CFG_NODESTAGE_WIDTH == 8 || URT_CFG_NODESTAGE_WIDTH == 16 || URT_CFG_NODESTAGE_WIDTH == 32 || URT_CFG_NODESTAGE_WIDTH == 64)

    #error "URT_CFG_NODESTAGE_WIDTH set to illegal value in urtwareconf.h"

  #endif

#endif

#if !defined(URT_CFG_DEBUG)

  #error "URT_CFG_DEBUG not defined in urtwareconf.h"

#endif

#endif /* _URTWARE_CONFCHECK_H_ */

/*

µRtWare is a lightweight publish/subscribe middleware for real-time

applications. It was developed as part of the software habitat for the

Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.

Copyright (C) 2018..2018  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

#ifndef _URT_TYPES_H_

#define _URT_TYPES_H_

#include <urtwareconf.h>

#include <stdint.h>

/*============================================================================*/

/* PRIMTIVES                                                                  */

/*============================================================================*/

/**

 * @brief   Type for representing temporal delays in microseconds.

 */

#if (URT_CFG_DELAY_WIDTH == 32) || defined (__DOXYGEN__)

typedef uint32_t urt_delay_t;

#elif (URT_CFG_DELAY_WIDTH == 64)

typedef uint64_t urt_delay_t;

#else

#error "URT_CFG_DELAY_WIDTH set to invalid value"

#endif

/**

 * @brief   Type representing topic IDs.

 */

#if (URT_CFG_TOPICID_WIDTH == 8) || defined(__DOXYGEN__)

typedef uint8_t urt_topicid_t;

#elif (URT_CFG_TOPICID_WIDTH == 16)

typedef uint16_t urt_topicid_t;

#elif (URT_CFG_TOPICID_WIDTH == 32)

typedef uint32_t urt_topicid_t;

#elif (URT_CFG_TOPICID_WIDTH == 64)

typedef uint64_t urt_topicid_t;

#else

#error "URT_CFG_TOPICID_WIDTH set to invalid value"

#endif

/**

 * @brief   Type representing node execution stages.

 */

#if (URT_CFG_NODESTAGE_WIDTH == 8) || defined(__DOXYGEN__)

typedef uint8_t urt_nodestage_t;

#elif (URT_CFG_NODESTAGE_WIDTH == 16)

typedef uint16_t urt_nodestage_t;

#elif (URT_CFG_NODESTAGE_WIDTH == 32)

typedef uint32_t urt_nodestage_t;

#elif (URT_CFG_NODESTAGE_WIDTH == 64)

typedef uint64_t urt_nodestage_t;

#else

#error "URT_CFG_NODESTAGE_WIDTH set to invalid value"

#endif

/**

 * @brief   µRtWare error codes.

 */

typedef enum {

  URT_STATUS_OK       = 0,  /**< No error occurred. */

  URT_STATUS_WARNING  = 1,  /**< A warning occurred. */

  URT_STATUS_ERROR    = -1, /**< An error occurred. */

} urt_status_t;

/*============================================================================*/

/* URT-OSAL                                                                   */

/*============================================================================*/

/**

 * @brief   µRtWare OSAL timer callback function type.

 */

typedef void (*urt_osTimerCallback)(void* parameter);

/**

 * @brief   Condition variable status.

 */

typedef enum {

  URT_CONDVAR_STATUS_SIGNAL     = 0,  /**< The condition variable has been signaled individually. */

  URT_CONDVAR_STATUS_BROADCAST  = 1,  /**< The condition variable has been signaled via broadcast. */

  URT_CONDVAR_STATUS_TIMEOUT    = 2,  /**< The condition variable timed out. */

} urt_condvarStatus_t;

/**

 * @brief   µRtWare OSAL thread function type.

 */

typedef void (*urt_osThreadFunction_t)(void* arg);

/**

 * @brief   Thread execution state.

 */

typedef enum {

  URT_THREAD_STATE_RUNNING    = 0,  /**< Thread is currently running. */

  URT_THREAD_STATE_READY      = 1,  /**< Thread is ready and wating to be scheduled. */

  URT_THREAD_STATE_SLEEPING   = 2,  /**< Thread is currently sleeping. */

  URT_THREAD_STATE_SUSPENDED  = 3,  /**< Thread is suspended. */

  URT_THREAD_STATE_WAITING    = 4,  /**< Thread is waiting for event. */

  URT_THREAD_STATE_TERMINATED = 5,  /**< Thread has been terminated. */

} urt_osThreadState_t;

/**

 * @brief   Thread terminate request flags.

 */

typedef enum {

  URT_THREAD_TERMINATE_REQEUST  = 15, /**< Request thread to terminate. */

  URT_THREAD_TERMINATE_KILL     = 9,  /**< Kill thread immediately. */

} urt_osThreadTerminateSignal_t;

/**

 * @brief   Specifier for waiting for events.

 */

typedef enum {

  URT_EVENT_WAIT_ONE  = 0,  /**< Wait for exactly one event to occur. */

  URT_EVENT_WAIT_ANY  = 1,  /**< Wait for any combination of events to occur. */

  URT_EVENT_WAIT_ALL  = 2,  /**< Wait for all specified events to have occurred. */

} urt_osEventWaitType_t;

#endif /* _URT_TYPES_H_ */

/*

µRtWare is a lightweight publish/subscribe middleware for real-time

applications. It was developed as part of the software habitat for the

Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.

Copyright (C) 2018..2018  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

#ifndef _URTWARE_H_

#define _URTWARE_H_

/**

 * @brief   µRtWare identification macro.

 */

#define _uRtWare_

/**

 * @name    µRtWare version and release information.

 * @{

 */

/**

 * @brief   Release type of this version.

 * @note    Possible values are "pre-alpha", "alpha", "beta", "release candidate", and "release".

 */

#define URTWARE_RELEASE_TYPE      "pre-alpha"

/**

 * @brief   The µRtWare major version.

 * @note    Changes of the major version imply incompatibilities.

 */

#define URTWARE_VERSION_MAJOR     0

/**

 * @brief   The µRtWare minor version.

 * @note    A higher minor version implies new functionalities, but all old interfaces are still available.

 */

#define URTWARE_VERSION_MINOR     1

/**

 * @brief   The µRtWare patch level.

 */

#define URTWARE_VERSION_PATCH     0

/**

 * @brief   The µRtWare operating system abstraction layer interface required major version.

 * @note    Any other major version is assumed to be incompatible.

 */

#define URT_OSAL_REQUIRED_MAJOR   0

/**

 * @brief   The µRtWare operating system abstraction layer interface required minor version.

 * @note    Higher minor version values are assumed to be compatible, too.

 */

#define URT_OSAL_REQUIRED_MINOR   1

/** @} */

#include <urtwareconf.h>

#if !defined(_URTWARE_CFG_)

#error "invalid µRtWare configuration file"

#endif

#if (URTWARE_CFG_VERSION_MAJOR != URTWARE_VERSION_MAJOR) || (URTWARE_CFG_VERSION_MINOR < URTWARE_VERSION_MINOR)

#error "incompatible µRtWare configuration file"

#endif

#include <urt_confcheck.h>

#include <urt_osal.h>

#if !defined(URT_OSAL_VERSION_MAJOR) || !defined(URT_OSAL_VERSION_MINOR)

#error "invalid µRt-OSAL implementation"

#endif

#if (URT_OSAL_VERSION_MAJOR != URT_OSAL_REQUIRED_MAJOR) || (URT_OSAL_VERSION_MINOR < URT_OSAL_REQUIRED_MINOR)

#error "incompatible µRt-OSAL implementation"

#endif

#endif /* _URTWARE_H_ */