Revision 4ea18a07
| inc/urt_node.h | ||
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/* DATA STRUCTURES AND TYPES */ |
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/******************************************************************************/ |
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/* |
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* forward declarations |
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*/ |
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typedef struct urt_node urt_node_t; |
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/** |
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* @brief |
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* |
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* @return . |
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* |
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*/ |
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typedef void (*urt_nodeShutdownCallback_t)(struct urt_node* node, urt_status_t cause, void* arg);
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typedef void (*urt_nodeShutdownCallback_t)(urt_node_t* node, urt_status_t cause, void* arg);
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/** |
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* @return . |
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* |
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*/ |
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typedef urt_osEventMask_t (*urt_nodeSetupCallback_t)(struct urt_node* node, void* arg);
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typedef urt_osEventMask_t (*urt_nodeSetupCallback_t)(urt_node_t* node, void* arg);
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/** |
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* |
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* @return . |
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*/ |
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typedef urt_osEventMask_t (*urt_nodeLoopCallback_t)(struct urt_node* node, urt_osEventMask_t events, void* arg);
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typedef urt_osEventMask_t (*urt_nodeLoopCallback_t)(urt_node_t* node, urt_osEventMask_t events, void* arg);
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/** |
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* @brief node |
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*/ |
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typedef struct urt_node
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struct urt_node |
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{
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struct urt_node* next; |
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urt_osThread_t* thread; |
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#if (URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING) |
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uint64_t loops; |
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#endif /* URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING */ |
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}urt_node_t;
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}; |
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/******************************************************************************/ |
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extern "C" {
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#endif /* defined(__cplusplus) */ |
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void urtNodeInit(urt_node_t* node, urt_osThread_t* thread, urt_osThreadPrio_t prio, urt_nodeSetupCallback_t* setupcallback,
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void* setupparams, urt_nodeLoopCallback_t* loopcallback, void* loopparams,
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urt_nodeShutdownCallback_t* shutdowncallback, void* shutdownparams);
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void urtNodeInit(urt_node_t* node, urt_osThread_t* thread, urt_osThreadPrio_t prio, urt_nodeSetupCallback_t setupcallback, |
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void* setupparams, urt_nodeLoopCallback_t loopcallback, void* loopparams, |
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urt_nodeShutdownCallback_t shutdowncallback, void* shutdownparams); |
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#if defined(__cplusplus) |
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} |
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#endif /* defined(__cplusplus) */ |
| src/urt_node.c | ||
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/* LOCAL VARIABLES */ |
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/******************************************************************************/ |
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urt_node_t localNode; |
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static URT_THREAD_MEMORY(_node_thread, AMIROOS_CFG_SHELL_STACKSIZE); //TODO: not here |
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/******************************************************************************/ |
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/* LOCAL FUNCTIONS */ |
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/******************************************************************************/ |
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*/ |
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void _main(void* arg) |
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{
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urt_node_t* localNode = (urt_node_t*)arg; |
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urt_osEventMask_t mask; |
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urt_osEventFlags_t flag = 0; |
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urtEventRegister(urtCoreGetEvtSource(), &localNode.listener, mask, flag);
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if (localNode.setupcallback != NULL)
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urtEventRegister(urtCoreGetEvtSource(), &(localNode->listener), mask, flag);
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if (localNode->setupcallback != NULL)
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{
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mask = localNode.setupcallback(&localNode, arg);
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mask = localNode->setupcallback(localNode, localNode->setupparams);
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if (mask == urtCoreGetEventMask()) |
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{
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urtCoreStopNodes(URT_STATUS_NODE_INVALEVTMASK); |
| ... | ... | |
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} |
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else |
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{
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mask = ALL_EVENTS;
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mask = URT_EVENTMASK_ALL;
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} |
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if (urtCoreGetStatus() == URT_STATUS_OK) |
| ... | ... | |
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urt_osEventMask_t temp = urtEventWait(mask, URT_EVENT_WAIT_ONE, URT_DELAY_INFINITE); |
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if (temp == urtCoreGetEventMask()) |
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{
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localNode.loopcallback(&localNode, mask, arg);
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localNode->loopcallback(localNode, mask, localNode->loopparams);
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#if (URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING) |
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localNode.loops++;
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localNode->loops++;
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#endif /* URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING */ |
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if (mask == urtCoreGetEventMask()) |
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{
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} |
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} |
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if (localNode.shutdowncallback)
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if (localNode->shutdowncallback)
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{
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localNode.shutdowncallback(&localNode, urtCoreGetStatus(), arg);
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localNode->shutdowncallback(localNode, urtCoreGetStatus(), localNode->shutdownparams);
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} |
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urtEventUnregister(urtCoreGetEvtSource(), &localNode.listener);
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urtEventUnregister(urtCoreGetEvtSource(), &localNode->listener);
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urt_osThread_t* threadToTerminate = localNode.thread;
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urt_osThread_t* threadToTerminate = localNode->thread;
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while (threadToTerminate->children != NULL || threadToTerminate->sibling != NULL) |
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{
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if (threadToTerminate->children != NULL) |
| ... | ... | |
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} |
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urtThreadTerminate(&threadToTerminate, URT_THREAD_TERMINATE_REQUEST); |
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urt_osThread_t* threadToJoin = localNode.thread;
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urt_osThread_t* threadToJoin = localNode->thread;
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while (threadToJoin->children != NULL || threadToJoin->sibling != NULL) |
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{
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if (threadToJoin->children != NULL) |
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* Must be NULL if no shutdown callback is specified. |
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* May be NULL if the specified shutdown callback does not expect parameters. |
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*/ |
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void urtNodeInit(urt_node_t* node, urt_osThread_t* thread, urt_osThreadPrio_t prio, urt_nodeSetupCallback_t* setupcallback,
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void* setupparams, urt_nodeLoopCallback_t* loopcallback, void* loopparams,
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urt_nodeShutdownCallback_t* shutdowncallback, void* shutdownparams)
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void urtNodeInit(urt_node_t* node, urt_osThread_t* thread, urt_osThreadPrio_t prio, urt_nodeSetupCallback_t setupcallback, |
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void* setupparams, urt_nodeLoopCallback_t loopcallback, void* loopparams, |
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urt_nodeShutdownCallback_t shutdowncallback, void* shutdownparams) |
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{
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urtDebugAssert(node != NULL); |
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urtDebugAssert(thread == NULL); |
| ... | ... | |
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urtDebugAssert(setupparams == NULL); |
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node->next = NULL; |
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node->thread = urtThreadInit(_node_thread, sizeof(_node_thread), prio, _main, setupparams);
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node->thread = urtThreadInit(thread, sizeof(thread), prio, _main, node);
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node->setupcallback = setupcallback; |
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node->setupparams = setupparams; |
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node->loopcallback = loopcallback; |
| ... | ... | |
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urt_node_t* nodeCore = urtCoreGetNodes(); |
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nodeCore = node; |
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urtMutexUnlock(mutexTemp); |
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localNode = *node; |
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return; |
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} |
| urt_osal.h | ||
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* This constant is typically either 0x0..1 (low values have high priority) |
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* or 0x8..0 (high values have high priority). |
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* A value of 0 indicates that priorities are not supported. |
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* |
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* URT_EVENTMASK_ALL |
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* Constant of type urt_osEventMask_t to filter no events at all. |
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* Typically is 0xF..F. |
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*/ |
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/** |
Also available in: Unified diff