Revision 5c6cb22f src/urt_topic.c

View differences:

src/urt_topic.c
58 58 
{
59 59 
  urt_topic_t.next = NULL;
60 60 
  urt_topic_t.id = id;
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  //add later: urtmutexinit, urteventsourceinit
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  urtMutexInit(topic->lock);
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  urtEventSourceInit(topic->evtSource);
62 63 
  urt_topic_t.numHrtSubscribers = 0;
63 
  //add later: condvar, message init, latest message
64 
  urtCondvarInit(topic->hrtReleased);
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  void* payload = NULL; //TODO: Replace
66 
  urtMessageInit(topic->mandatoryMessage, payload);
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  topic->latestMessage = &topic->mandatoryMessage;
64 68 
  #if (URT_CFG_PUBSUB_QOS_RATECHECKS)
65 69 
    urt_topic_t.hrtSubscribers = nullptr;
66 70 
    //add later: timer init;
......
70 74 
    urt_topic_t.numMessagesDiscarded = 0;
71 75 
    urt_topic_t.numSubscribers = 0;
72 76 
  #endif /* URT_CFG_PUBSUB_PROFILING */
73 
  //add later: close circular message buffer,...
74 
  return URT_STATUS_OK;
77 
  topic->latestMessage->next = topic->latestMessage;
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  urtMutexLock(topic->lock);
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  urt_topic_t* topicTemp = topic;
80 
  while (topicTemp != NULL && topicTemp->id < id)
81 
      topicTemp = topicTemp->next;
82 

  		




  
  83
  
    
  if (topicTemp == NULL)


  		




  
  84
  
    
  {


  		




  
  85
  
    
    //TODO: Append self to core's list of topic


  		




  
  86
  
    
    urtMutexUnlock(topic->lock);


  		




  
  87
  
    
    return URT_STATUS_OK;


  		




  
  88
  
    
  }


  		




  
  89
  
    
  else if (topicTemp->id > id)


  		




  
  90
  
    
  {


  		




  
  91
  
    
    topicTemp->next = topic;


  		




  
  92
  
    
    urtMutexUnlock(topic->lock);


  		




  
  93
  
    
    return URT_STATUS_OK;


  		




  
  94
  
    
  }


  		




  
  95
  
    
  else


  		




  
  96
  
    
  {


  		




  
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    urtMutexUnlock(topic->lock);


  		




  
  98
  
    
    return URT_STATUS_TOPIC_DUPLICATE;


  		




  
  99
  
    
  }


  		




  75
  100
  
    
}


  		












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