urtware / src / urt_node.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 | /******************************************************************************/
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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 | 1f7ffcff | skenneweg | * @brief Initalize the node.
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| 50 | 7d9678db | skenneweg | *
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| 51 | 5198dfae | skenneweg | * @param[in] node The node to initialize. Must not be NULL.
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| 52 | * @param[in] thread The already initialized, exclusive thread for the node. Must not be NULL.
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| 53 | * @param[in] setupcallback Callback function to be executed during setup.
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| 54 | * May be NULL if no custom setup is required.
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| 55 | * @param[in] setupparams Parameters for the setup callback function.
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| 56 | 1f7ffcff | skenneweg | * Must be NULL if no setup callback is specified.
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| 57 | * May be NULL if the specified setup callback does not expect parameters.
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| 58 | 5198dfae | skenneweg | * @param[in] loopcallback Callback function to be executed in a loop.
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| 59 | * Must not be NULL.
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| 60 | * @param[in] loopparams Parameters for the loop callback function.
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| 61 | * May be NULL if the specified loop callback does not expect parameters.
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| 62 | * @param[in] shutdowncallback Callback function to be executed during shutdown.
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| 63 | * May be NULL if no custom shutdown is required.
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| 64 | * @param[in] shutdownparams Parameters for the loop callback function.
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| 65 | * Must be NULL if no shutdown callback is specified.
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| 66 | * May be NULL if the specified shutdown callback does not expect parameters.
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| 67 | 7d9678db | skenneweg | */
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| 68 | void urtNodeInit(urt_node_t* node, urt_osThread_t* thread, urt_nodeSetupCallback_t* setupcallback,
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| 69 | void* setupparams, urt_nodeLoopCallback_t* loopcallback, void* loopparams, |
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| 70 | 1f7ffcff | skenneweg | urt_nodeShutdownCallback_t* shutdowncallback, void* shutdownparams)
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| 71 | {
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| 72 | 64fde4ba | skenneweg | node->next = NULL;
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| 73 | node->thread = thread; |
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| 74 | node->setupcallback = setupcallback; |
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| 75 | node->setupparams = setupparams; |
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| 76 | node->loopparams = loopparams; |
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| 77 | node->shutdowncallback = loopcallback; |
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| 78 | node->shutdownparams = loopparams; |
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| 79 | node->stage = 0;
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| 80 | 1f7ffcff | skenneweg | // add later: urteventlistenerinit
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| 81 | #if (URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING)
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| 82 | 64fde4ba | skenneweg | node->loops = 0;
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| 83 | 1f7ffcff | skenneweg | #endif /* URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING */ |
| 84 | // add later: lock core,..
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| 85 | return;
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| 86 | } |