Revision 64fde4ba src/urt_core.c
| src/urt_core.c | ||
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/* LOCAL TYPES */ |
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/******************************************************************************/ |
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urt_core_t core; |
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/******************************************************************************/ |
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/* LOCAL VARIABLES */ |
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/******************************************************************************/ |
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*/ |
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void urtCoreInit(void) |
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{
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urt_core_t._nodes = NULL;
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urt_core_t._status = URT_STATUS_OK;
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urtEventSourceInit(urt_core_t._evtSource);
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urtMutexInit(urt_core_t._lock);
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core._nodes = NULL;
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core._status = URT_STATUS_OK;
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urtEventSourceInit(core._evtSource);
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urtMutexInit(&core._lock);
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#if (URT_CFG_PUBSUB_ENABLED) |
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urt_core_t._topics = NULL;
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core._topics = NULL;
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#endif /* URT_CFG_PUBSUB_ENABLED */ |
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#if (URT_CFG_RPC_ENABLED) |
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urt_core_t.urt_service_t = NULL;
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core.urt_service_t = NULL;
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#endif /* URT_CFG_RPC_ENABLED */ |
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return; |
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} |
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* |
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* @return Current system status. |
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*/ |
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urt_status_t urtCoreGetStatus(void) {return URT_STATUS_OK;}
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urt_status_t urtCoreGetStatus(void) |
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{
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return core._status; |
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} |
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/** |
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* @brief Start threads of all nodes of the Core. |
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*/ |
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void urtCoreStartNodes(void) {return;}
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void urtCoreStartNodes(void) |
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{
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//TODO: Lock core |
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urt_node_t* node = core._nodes; |
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while (node) |
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{
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urtThreadStart(node->thread); |
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node = node->next; |
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} |
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//TODO: Unlock core |
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return; |
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} |
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/** |
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* @brief Synchronize all nodes of the core. |
| ... | ... | |
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* Returns URT_STATUS_SYNC_PENDING if there are nodes left to synchronize. |
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* In the latter case, the node thread must still wait for the control event (proceed) to synchronize. |
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*/ |
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urt_status_t urtCoreSynchronize(urt_node_t* node) {return URT_STATUS_OK;}
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urt_status_t urtCoreSynchronize(urt_node_t* node) |
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{
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//TODO: Lock core |
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//TODO: Increment node's stage value |
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urt_node_t* nodeFromCore = core._nodes; |
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while (nodeFromCore /*stage equals stage*/) |
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{
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nodeFromCore = nodeFromCore->next; |
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} |
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bool temp = false; |
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if (temp/*all nodes are the same stage*/) |
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{
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//TODO: Unlock core |
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return URT_STATUS_OK; |
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} |
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else if (temp/*stage of the last checked node was one less than the argument*/) |
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{
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//TODO: Unlock core |
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return URT_STATUS_SYNC_PENDING; |
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} |
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else |
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{
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urtCoreStopNodes(URT_STATUS_SYNC_ERROR); |
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return URT_STATUS_SYNC_ERROR; |
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} |
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} |
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/** |
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* @brief Stop threads of all nodes of the Core. |
| ... | ... | |
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* @return Returns URT_STATUS_OK if there was no call with another reason than URT_STATUS_OK before. |
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* If the function has been called before with a different reason, that reason is returned. |
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*/ |
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urt_status_t urtCoreStopNodes(urt_status_t reason) {return URT_STATUS_OK;}
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urt_status_t urtCoreStopNodes(urt_status_t reason) |
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{
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//TODO: Lock core |
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if (core._status == URT_STATUS_OK) |
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{
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if (core._nodes->thread->prio < URT_THREAD_PRIO_HIGH_MAX) |
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{
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core._nodes->thread->prio = URT_THREAD_PRIO_HIGH_MAX; |
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} |
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else |
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{
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core._status = reason; |
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urt_node_t* node = core._nodes; |
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while (node) |
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{
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urt_node_t* tempNode = node; |
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tempNode = NULL; |
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node = node->next; |
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} |
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//TODO: broadcast control event (terminate) |
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//TODO:Unlock core |
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//TODO: Thread boosted its priority? |
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} |
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} |
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else |
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{
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//TODO:Unlock core |
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return core._status; |
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} |
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return URT_STATUS_OK; |
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} |
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/** |
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* @brief Get the topic of the Core. |
| ... | ... | |
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* |
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* @return Returns a pointer to the requested service. Returns NULL if no service matches the given ID. |
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*/ |
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urt_topic_t* urtCoreGetTopic(urt_topicid_t id) {return urt_topic_t;}
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#if (URT_CFG_PUBSUB_ENABLED) |
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urt_topic_t* urtCoreGetTopic(urt_topicid_t id) {return urt_topic_t;}
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#endif /* URT_CFG_PUBSUB_ENABLED */ |
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/** |
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* @brief Get the service of the Core. |
| ... | ... | |
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* @param[in] id Identifier of the service to retrieve. |
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* |
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* @return Returns a pointer to the requested service. Returns NULL if no service matches the given ID. |
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*/ |
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urt_service_t urtCoreGetService(urt_serviceid_t id) {return urt_service_t;}
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*/ |
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#if (URT_CFG_RPC_ENABLED) |
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urt_service_t urtCoreGetService(urt_serviceid_t id) {return urt_service_t;}
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#endif /* URT_CFG_RPC_ENABLED */ |
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