urtware / src / urt_core.c @ 492608e6
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/*
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µRtWare is a lightweight publish/subscribe middleware for real-time
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applications. It was developed as part of the software habitat for the
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Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
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Copyright (C) 2018..2020 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <urtware.h> |
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/******************************************************************************/
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/* LOCAL DEFINITIONS */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL TYPES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL FUNCTIONS */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED FUNCTIONS */
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/******************************************************************************/
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/**
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* @brief Initialize the Core.
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*/
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void urtCoreInit(void) |
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{
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urt_core_t._nodes = NULL;
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urt_core_t._status = URT_STATUS_OK; |
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urtEventSourceInit(urt_core_t._evtSource); |
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urtMutexInit(urt_core_t._lock); |
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#if (URT_CFG_PUBSUB_ENABLED)
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urt_core_t._topics = NULL;
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#endif /* URT_CFG_PUBSUB_ENABLED */ |
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#if (URT_CFG_RPC_ENABLED)
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urt_core_t.urt_service_t = NULL;
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#endif /* URT_CFG_RPC_ENABLED */ |
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return;
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} |
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/**
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* @brief Get Core status.
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*
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* @return Current system status.
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*/
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urt_status_t urtCoreGetStatus(void) {return URT_STATUS_OK;} |
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/**
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* @brief Start threads of all nodes of the Core.
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*/
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void urtCoreStartNodes(void) {return;} |
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/**
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* @brief Synchronize all nodes of the core.
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*
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* @param[in] node Pointer to a node to synchronize. Must not be NULL.
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*
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* @return Returns URT_STATUS_OK if all nodes are synchronized and proceed.
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* Returns URT_STATUS_SYNC_ERROR if an exception occurred (faulty stage value detected).
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* Returns URT_STATUS_SYNC_PENDING if there are nodes left to synchronize.
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* In the latter case, the node thread must still wait for the control event (proceed) to synchronize.
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*/
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urt_status_t urtCoreSynchronize(urt_node_t* node) {return URT_STATUS_OK;}
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/**
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* @brief Stop threads of all nodes of the Core.
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*
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* @param[in] reason The reason why the function was called. For normal shutdown URT_STATUS_OK should be used.
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*
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* @return Returns URT_STATUS_OK if there was no call with another reason than URT_STATUS_OK before.
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* If the function has been called before with a different reason, that reason is returned.
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*/
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urt_status_t urtCoreStopNodes(urt_status_t reason) {return URT_STATUS_OK;}
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/**
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* @brief Get the topic of the Core.
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*
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* @param[in] id Identifier of the topic to retrieve.
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*
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* @return Returns a pointer to the requested service. Returns NULL if no service matches the given ID.
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*/
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urt_topic_t* urtCoreGetTopic(urt_topicid_t id) {return urt_topic_t;}
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/**
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* @brief Get the service of the Core.
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*
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* @param[in] id Identifier of the service to retrieve.
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*
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* @return Returns a pointer to the requested service. Returns NULL if no service matches the given ID.
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*/
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urt_service_t urtCoreGetService(urt_serviceid_t id) {return urt_service_t;}
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