urtware / src / urt_node.c @ 64fde4ba
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/*
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µRtWare is a lightweight publish/subscribe middleware for real-time
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applications. It was developed as part of the software habitat for the
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Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
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Copyright (C) 2018..2020 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <urtware.h> |
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/******************************************************************************/
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/* LOCAL DEFINITIONS */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL TYPES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL FUNCTIONS */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED FUNCTIONS */
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/******************************************************************************/
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/**
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* @brief Initalize the node.
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*
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* @param[in] node The node to initialize. Must not be NULL.
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* @param[in] thread The already initialized, exclusive thread for the node. Must not be NULL.
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* @param[in] setupcallback Callback function to be executed during setup.
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* May be NULL if no custom setup is required.
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* @param[in] setupparams Parameters for the setup callback function.
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* Must be NULL if no setup callback is specified.
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* May be NULL if the specified setup callback does not expect parameters.
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* @param[in] loopcallback Callback function to be executed in a loop.
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* Must not be NULL.
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* @param[in] loopparams Parameters for the loop callback function.
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* May be NULL if the specified loop callback does not expect parameters.
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* @param[in] shutdowncallback Callback function to be executed during shutdown.
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* May be NULL if no custom shutdown is required.
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* @param[in] shutdownparams Parameters for the loop callback function.
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* Must be NULL if no shutdown callback is specified.
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* May be NULL if the specified shutdown callback does not expect parameters.
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*/
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void urtNodeInit(urt_node_t* node, urt_osThread_t* thread, urt_nodeSetupCallback_t* setupcallback,
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void* setupparams, urt_nodeLoopCallback_t* loopcallback, void* loopparams, |
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urt_nodeShutdownCallback_t* shutdowncallback, void* shutdownparams)
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{
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node->next = NULL;
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node->thread = thread; |
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node->setupcallback = setupcallback; |
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node->setupparams = setupparams; |
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node->loopparams = loopparams; |
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node->shutdowncallback = loopcallback; |
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node->shutdownparams = loopparams; |
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node->stage = 0;
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// add later: urteventlistenerinit
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#if (URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING)
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node->loops = 0;
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#endif /* URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING */ |
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// add later: lock core,..
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return;
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} |