urtware / src / urt_core.c @ 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 | 7d9678db | skenneweg | #include <urtware.h> |
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24 | 1fb06240 | skenneweg | /******************************************************************************/
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25 | /* LOCAL DEFINITIONS */
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26 | /******************************************************************************/
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27 | |||
28 | /******************************************************************************/
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29 | /* EXPORTED VARIABLES */
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30 | /******************************************************************************/
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31 | |||
32 | /******************************************************************************/
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33 | /* LOCAL TYPES */
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34 | /******************************************************************************/
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35 | |||
36 | /******************************************************************************/
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37 | /* LOCAL VARIABLES */
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38 | /******************************************************************************/
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39 | |||
40 | /******************************************************************************/
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41 | /* LOCAL FUNCTIONS */
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42 | /******************************************************************************/
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43 | |||
44 | /******************************************************************************/
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45 | /* EXPORTED FUNCTIONS */
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46 | /******************************************************************************/
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47 | 7d9678db | skenneweg | |
48 | /**
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49 | * @brief Initialize the Core.
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50 | */
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51 | void urtCoreInit(void) {return;} |
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52 | |||
53 | /**
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54 | * @brief Get Core status.
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55 | *
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56 | 5198dfae | skenneweg | * @return Current system status.
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57 | 7d9678db | skenneweg | */
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58 | urt_status_t urtCoreGetStatus(void) {return URT_STATUS_OK;} |
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59 | |||
60 | /**
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61 | 5198dfae | skenneweg | * @brief Start threads of all nodes of the Core.
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62 | 7d9678db | skenneweg | */
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63 | void urtCoreStartNodes(void) {return;} |
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64 | |||
65 | /**
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66 | 5198dfae | skenneweg | * @brief Synchronize all nodes of the core.
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67 | 7d9678db | skenneweg | *
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68 | 5198dfae | skenneweg | * @param[in] node Pointer to a node to synchronize. Must not be NULL.
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69 | 7d9678db | skenneweg | *
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70 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK if all nodes are synchronized and proceed.
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71 | * Returns URT_STATUS_SYNC_ERROR if an exception occurred (faulty stage value detected).
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72 | * Returns URT_STATUS_SYNC_PENDING if there are nodes left to synchronize.
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73 | * In the latter case, the node thread must still wait for the control event (proceed) to synchronize.
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74 | 7d9678db | skenneweg | */
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75 | urt_status_t urtCoreSynchronize(urt_node_t* node) {return URT_STATUS_OK;}
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76 | |||
77 | /**
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78 | 5198dfae | skenneweg | * @brief Stop threads of all nodes of the Core.
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79 | 7d9678db | skenneweg | *
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80 | 5198dfae | skenneweg | * @param[in] reason The reason why the function was called. For normal shutdown URT_STATUS_OK should be used.
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81 | 7d9678db | skenneweg | *
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82 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK if there was no call with another reason than URT_STATUS_OK before.
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83 | * If the function has been called before with a different reason, that reason is returned.
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84 | 7d9678db | skenneweg | */
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85 | urt_status_t urtCoreStopNodes(urt_status_t reason) {return URT_STATUS_OK;}
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86 | |||
87 | /**
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88 | * @brief Get the topic of the Core.
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89 | *
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90 | 5198dfae | skenneweg | * @param[in] id Identifier of the topic to retrieve.
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91 | 7d9678db | skenneweg | *
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92 | 5198dfae | skenneweg | * @return Returns a pointer to the requested service. Returns NULL if no service matches the given ID.
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93 | 7d9678db | skenneweg | */
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94 | urt_topic_t* urtCoreGetTopic(urt_topicid_t id) {return urt_topic_t;}
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95 | |||
96 | /**
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97 | * @brief Get the service of the Core.
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98 | *
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99 | 5198dfae | skenneweg | * @param[in] id Identifier of the service to retrieve.
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100 | 7d9678db | skenneweg | *
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101 | 5198dfae | skenneweg | * @return Returns a pointer to the requested service. Returns NULL if no service matches the given ID.
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102 | 7d9678db | skenneweg | */
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103 | urt_service_t urtCoreGetService(urt_serviceid_t id) {return urt_service_t;}
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