urtware / inc / urt_core.h @ 5198dfae
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1 | 1fb06240 | skenneweg | /*
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2 | µRtWare is a lightweight publish/subscribe middleware for real-time
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3 | applications. It was developed as part of the software habitat for the
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4 | Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
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5 | |||
6 | Copyright (C) 2018..2020 Thomas Schöpping et al.
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7 | |||
8 | This program is free software: you can redistribute it and/or modify
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9 | it under the terms of the GNU General Public License as published by
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10 | the Free Software Foundation, either version 3 of the License, or
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11 | (at your option) any later version.
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12 | |||
13 | This program is distributed in the hope that it will be useful,
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14 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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15 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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16 | GNU General Public License for more details.
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17 | |||
18 | You should have received a copy of the GNU General Public License
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19 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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20 | */
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21 | |||
22 | #ifndef URTWARE_CORE_H
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23 | #define URTWARE_CORE_H
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24 | |||
25 | 7d9678db | skenneweg | #include <urt_types.h> |
26 | #include <urtware.h> |
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27 | |||
28 | 1fb06240 | skenneweg | /******************************************************************************/
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29 | /* CONSTANTS */
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30 | /******************************************************************************/
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31 | |||
32 | /******************************************************************************/
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33 | /* SETTINGS */
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34 | /******************************************************************************/
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35 | |||
36 | /******************************************************************************/
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37 | /* CHECKS */
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38 | /******************************************************************************/
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39 | |||
40 | /******************************************************************************/
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41 | /* DATA STRUCTURES AND TYPES */
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42 | /******************************************************************************/
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43 | |||
44 | 7d9678db | skenneweg | /**
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45 | * @brief core
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46 | */
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47 | typedef struct urt_core |
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48 | { |
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49 | cd21e832 | skenneweg | urt_node_t* _nodes; |
50 | urt_osEventSource_t* _evtSource; |
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51 | urt_osMutex_t _lock; |
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52 | urt_status_t _status; |
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53 | #if (URT_CFG_PUBSUB_ENABLED)
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54 | urt_topic_t* _topics; |
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55 | #endif /* URT_CFG_PUBSUB_ENABLED */ |
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56 | #if (URT_CFG_RPC_ENABLED)
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57 | urt_service_t* _services; |
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58 | #endif /* URT_CFG_RPC_ENABLED */ |
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59 | 7d9678db | skenneweg | }urt_core_t; |
60 | |||
61 | 1fb06240 | skenneweg | /******************************************************************************/
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62 | /* MACROS */
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63 | /******************************************************************************/
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64 | |||
65 | /******************************************************************************/
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66 | /* EXTERN DECLARATIONS */
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67 | /******************************************************************************/
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68 | |||
69 | 7d9678db | skenneweg | #if defined(__cplusplus)
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70 | extern "C" { |
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71 | #endif /* defined(__cplusplus) */ |
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72 | |||
73 | cd21e832 | skenneweg | void urtCoreInit(void); |
74 | urt_status_t urtCoreGetStatus(void);
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75 | void urtCoreStartNodes(void); |
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76 | urt_status_t urtCoreSynchronize(urt_node_t* node); |
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77 | urt_status_t urtCoreStopNodes(urt_status_t reason); |
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78 | 7d9678db | skenneweg | |
79 | #if (URT_CFG_PUBSUB_ENABLED)
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80 | cd21e832 | skenneweg | urt_topic_t* urtCoreGetTopic(urt_topicid_t id); |
81 | 7d9678db | skenneweg | #endif /* URT_CFG_PUBSUB_ENABLED */ |
82 | |||
83 | #if (URT_CFG_RPC_ENABLED)
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84 | cd21e832 | skenneweg | urt_service_t urtCoreGetService(urt_serviceid_t id); |
85 | 7d9678db | skenneweg | #endif /* URT_CFG_RPC_ENABLED */ |
86 | |||
87 | #if defined(__cplusplus)
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88 | } |
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89 | #endif /* defined(__cplusplus) */ |
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90 | |||
91 | 1fb06240 | skenneweg | /******************************************************************************/
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92 | /* INLINE FUNCTIONS */
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93 | /******************************************************************************/
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94 | |||
95 | #endif /* URTWARE_CORE_H */ |