urtware / src / urt_core.c @ 64fde4ba
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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 | 64fde4ba | skenneweg | urt_core_t core; |
37 | |||
38 | 1fb06240 | skenneweg | /******************************************************************************/
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39 | /* LOCAL VARIABLES */
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40 | /******************************************************************************/
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41 | |||
42 | /******************************************************************************/
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43 | /* LOCAL FUNCTIONS */
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44 | /******************************************************************************/
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45 | |||
46 | /******************************************************************************/
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47 | /* EXPORTED FUNCTIONS */
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48 | /******************************************************************************/
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49 | 7d9678db | skenneweg | |
50 | /**
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51 | * @brief Initialize the Core.
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52 | */
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53 | 1f7ffcff | skenneweg | void urtCoreInit(void) |
54 | { |
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55 | 64fde4ba | skenneweg | core._nodes = NULL;
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56 | core._status = URT_STATUS_OK; |
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57 | urtEventSourceInit(core._evtSource); |
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58 | urtMutexInit(&core._lock); |
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59 | 1f7ffcff | skenneweg | #if (URT_CFG_PUBSUB_ENABLED)
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60 | 64fde4ba | skenneweg | core._topics = NULL;
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61 | 1f7ffcff | skenneweg | #endif /* URT_CFG_PUBSUB_ENABLED */ |
62 | #if (URT_CFG_RPC_ENABLED)
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63 | 64fde4ba | skenneweg | core.urt_service_t = NULL;
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64 | 1f7ffcff | skenneweg | #endif /* URT_CFG_RPC_ENABLED */ |
65 | return;
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66 | } |
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67 | 7d9678db | skenneweg | |
68 | /**
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69 | * @brief Get Core status.
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70 | *
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71 | 5198dfae | skenneweg | * @return Current system status.
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72 | 7d9678db | skenneweg | */
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73 | 64fde4ba | skenneweg | urt_status_t urtCoreGetStatus(void)
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74 | { |
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75 | return core._status;
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76 | } |
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77 | 7d9678db | skenneweg | |
78 | /**
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79 | 5198dfae | skenneweg | * @brief Start threads of all nodes of the Core.
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80 | 7d9678db | skenneweg | */
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81 | 64fde4ba | skenneweg | void urtCoreStartNodes(void) |
82 | { |
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83 | //TODO: Lock core
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84 | urt_node_t* node = core._nodes; |
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85 | while (node)
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86 | { |
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87 | urtThreadStart(node->thread); |
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88 | node = node->next; |
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89 | } |
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90 | //TODO: Unlock core
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91 | return;
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92 | } |
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93 | 7d9678db | skenneweg | |
94 | /**
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95 | 5198dfae | skenneweg | * @brief Synchronize all nodes of the core.
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96 | 7d9678db | skenneweg | *
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97 | 5198dfae | skenneweg | * @param[in] node Pointer to a node to synchronize. Must not be NULL.
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98 | 7d9678db | skenneweg | *
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99 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK if all nodes are synchronized and proceed.
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100 | * Returns URT_STATUS_SYNC_ERROR if an exception occurred (faulty stage value detected).
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101 | * Returns URT_STATUS_SYNC_PENDING if there are nodes left to synchronize.
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102 | * In the latter case, the node thread must still wait for the control event (proceed) to synchronize.
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103 | 7d9678db | skenneweg | */
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104 | 64fde4ba | skenneweg | urt_status_t urtCoreSynchronize(urt_node_t* node) |
105 | { |
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106 | //TODO: Lock core
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107 | //TODO: Increment node's stage value
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108 | urt_node_t* nodeFromCore = core._nodes; |
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109 | while (nodeFromCore /*stage equals stage*/) |
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110 | { |
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111 | nodeFromCore = nodeFromCore->next; |
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112 | } |
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113 | bool temp = false; |
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114 | if (temp/*all nodes are the same stage*/) |
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115 | { |
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116 | //TODO: Unlock core
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117 | return URT_STATUS_OK;
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118 | } |
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119 | else if (temp/*stage of the last checked node was one less than the argument*/) |
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120 | { |
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121 | //TODO: Unlock core
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122 | return URT_STATUS_SYNC_PENDING;
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123 | } |
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124 | else
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125 | { |
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126 | urtCoreStopNodes(URT_STATUS_SYNC_ERROR); |
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127 | return URT_STATUS_SYNC_ERROR;
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128 | } |
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129 | } |
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130 | 7d9678db | skenneweg | |
131 | /**
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132 | 5198dfae | skenneweg | * @brief Stop threads of all nodes of the Core.
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133 | 7d9678db | skenneweg | *
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134 | 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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135 | 7d9678db | skenneweg | *
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136 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK if there was no call with another reason than URT_STATUS_OK before.
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137 | * If the function has been called before with a different reason, that reason is returned.
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138 | 7d9678db | skenneweg | */
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139 | 64fde4ba | skenneweg | urt_status_t urtCoreStopNodes(urt_status_t reason) |
140 | { |
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141 | //TODO: Lock core
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142 | if (core._status == URT_STATUS_OK)
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143 | { |
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144 | if (core._nodes->thread->prio < URT_THREAD_PRIO_HIGH_MAX)
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145 | { |
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146 | core._nodes->thread->prio = URT_THREAD_PRIO_HIGH_MAX; |
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147 | } |
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148 | else
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149 | { |
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150 | core._status = reason; |
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151 | urt_node_t* node = core._nodes; |
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152 | while (node)
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153 | { |
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154 | urt_node_t* tempNode = node; |
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155 | tempNode = NULL;
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156 | node = node->next; |
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157 | } |
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158 | //TODO: broadcast control event (terminate)
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159 | //TODO:Unlock core
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160 | //TODO: Thread boosted its priority?
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161 | } |
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162 | } |
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163 | else
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164 | { |
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165 | //TODO:Unlock core
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166 | return core._status;
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167 | } |
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168 | return URT_STATUS_OK;
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169 | } |
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170 | 7d9678db | skenneweg | |
171 | /**
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172 | * @brief Get the topic of the Core.
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173 | *
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174 | 5198dfae | skenneweg | * @param[in] id Identifier of the topic to retrieve.
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175 | 7d9678db | skenneweg | *
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176 | 5198dfae | skenneweg | * @return Returns a pointer to the requested service. Returns NULL if no service matches the given ID.
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177 | 7d9678db | skenneweg | */
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178 | 64fde4ba | skenneweg | #if (URT_CFG_PUBSUB_ENABLED)
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179 | urt_topic_t* urtCoreGetTopic(urt_topicid_t id) {return urt_topic_t;}
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180 | #endif /* URT_CFG_PUBSUB_ENABLED */ |
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182 | 7d9678db | skenneweg | |
183 | /**
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184 | * @brief Get the service of the Core.
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185 | *
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186 | 5198dfae | skenneweg | * @param[in] id Identifier of the service to retrieve.
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187 | 7d9678db | skenneweg | *
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188 | 5198dfae | skenneweg | * @return Returns a pointer to the requested service. Returns NULL if no service matches the given ID.
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189 | 64fde4ba | skenneweg | */
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190 | #if (URT_CFG_RPC_ENABLED)
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191 | urt_service_t urtCoreGetService(urt_serviceid_t id) {return urt_service_t;}
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192 | #endif /* URT_CFG_RPC_ENABLED */ |
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193 |