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urtware / src / urt_core.c @ 492608e6

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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			/******************************************************************************/
37			/* LOCAL VARIABLES */
38			/******************************************************************************/
39
40			/******************************************************************************/
41			/* LOCAL FUNCTIONS */
42			/******************************************************************************/
43
44			/******************************************************************************/
45			/* EXPORTED FUNCTIONS */
46			/******************************************************************************/
47	7d9678db	skenneweg
48			/**
49			* @brief Initialize the Core.
50			*/
51	1f7ffcff	skenneweg	void urtCoreInit(void)
52			{
53			urt_core_t._nodes = NULL;
54			urt_core_t._status = URT_STATUS_OK;
55	492608e6	skenneweg	urtEventSourceInit(urt_core_t._evtSource);
56			urtMutexInit(urt_core_t._lock);
57	1f7ffcff	skenneweg	#if (URT_CFG_PUBSUB_ENABLED)
58			urt_core_t._topics = NULL;
59			#endif /* URT_CFG_PUBSUB_ENABLED */
60			#if (URT_CFG_RPC_ENABLED)
61			urt_core_t.urt_service_t = NULL;
62			#endif /* URT_CFG_RPC_ENABLED */
63			return;
64			}
65	7d9678db	skenneweg
66			/**
67			* @brief Get Core status.
68			*
69	5198dfae	skenneweg	* @return Current system status.
70	7d9678db	skenneweg	*/
71			urt_status_t urtCoreGetStatus(void) {return URT_STATUS_OK;}
72
73			/**
74	5198dfae	skenneweg	* @brief Start threads of all nodes of the Core.
75	7d9678db	skenneweg	*/
76			void urtCoreStartNodes(void) {return;}
77
78			/**
79	5198dfae	skenneweg	* @brief Synchronize all nodes of the core.
80	7d9678db	skenneweg	*
81	5198dfae	skenneweg	* @param[in] node Pointer to a node to synchronize. Must not be NULL.
82	7d9678db	skenneweg	*
83	5198dfae	skenneweg	* @return Returns URT_STATUS_OK if all nodes are synchronized and proceed.
84			* Returns URT_STATUS_SYNC_ERROR if an exception occurred (faulty stage value detected).
85			* Returns URT_STATUS_SYNC_PENDING if there are nodes left to synchronize.
86			* In the latter case, the node thread must still wait for the control event (proceed) to synchronize.
87	7d9678db	skenneweg	*/
88			urt_status_t urtCoreSynchronize(urt_node_t* node) {return URT_STATUS_OK;}
89
90			/**
91	5198dfae	skenneweg	* @brief Stop threads of all nodes of the Core.
92	7d9678db	skenneweg	*
93	5198dfae	skenneweg	* @param[in] reason The reason why the function was called. For normal shutdown URT_STATUS_OK should be used.
94	7d9678db	skenneweg	*
95	5198dfae	skenneweg	* @return Returns URT_STATUS_OK if there was no call with another reason than URT_STATUS_OK before.
96			* If the function has been called before with a different reason, that reason is returned.
97	7d9678db	skenneweg	*/
98			urt_status_t urtCoreStopNodes(urt_status_t reason) {return URT_STATUS_OK;}
99
100			/**
101			* @brief Get the topic of the Core.
102			*
103	5198dfae	skenneweg	* @param[in] id Identifier of the topic to retrieve.
104	7d9678db	skenneweg	*
105	5198dfae	skenneweg	* @return Returns a pointer to the requested service. Returns NULL if no service matches the given ID.
106	7d9678db	skenneweg	*/
107			urt_topic_t* urtCoreGetTopic(urt_topicid_t id) {return urt_topic_t;}
108
109			/**
110			* @brief Get the service of the Core.
111			*
112	5198dfae	skenneweg	* @param[in] id Identifier of the service to retrieve.
113	7d9678db	skenneweg	*
114	5198dfae	skenneweg	* @return Returns a pointer to the requested service. Returns NULL if no service matches the given ID.
115	7d9678db	skenneweg	*/
116			urt_service_t urtCoreGetService(urt_serviceid_t id) {return urt_service_t;}