Revision 4ea18a07 src/urt_node.c
| 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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} |
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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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} |
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