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urtware / src / urt_core.c @ 6ba201f8

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1	1fb06240	skenneweg	/*
2			µRtWare is a lightweight publish/subscribe middleware for real-time
3			applications. It was developed as part of the software habitat for the
4			Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
5
6			Copyright (C) 2018..2020 Thomas Schöpping et al.
7
8			This program is free software: you can redistribute it and/or modify
9			it under the terms of the GNU General Public License as published by
10			the Free Software Foundation, either version 3 of the License, or
11			(at your option) any later version.
12
13			This program is distributed in the hope that it will be useful,
14			but WITHOUT ANY WARRANTY; without even the implied warranty of
15			MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
16			GNU General Public License for more details.
17
18			You should have received a copy of the GNU General Public License
19			along with this program. If not, see <http://www.gnu.org/licenses/>.
20			*/
21
22	7d9678db	skenneweg	#include <urtware.h>
23
24	1fb06240	skenneweg	/******************************************************************************/
25			/* LOCAL DEFINITIONS */
26			/******************************************************************************/
27
28			/******************************************************************************/
29			/* EXPORTED VARIABLES */
30			/******************************************************************************/
31
32			/******************************************************************************/
33			/* LOCAL TYPES */
34			/******************************************************************************/
35
36			/******************************************************************************/
37			/* LOCAL VARIABLES */
38			/******************************************************************************/
39
40			/******************************************************************************/
41			/* LOCAL FUNCTIONS */
42			/******************************************************************************/
43
44			/******************************************************************************/
45			/* EXPORTED FUNCTIONS */
46			/******************************************************************************/
47	7d9678db	skenneweg
48			/**
49			* @brief Initialize the Core.
50			*/
51	1f7ffcff	skenneweg	void urtCoreInit(void)
52			{
53			urt_core_t._nodes = NULL;
54			urt_core_t._status = URT_STATUS_OK;
55			//add later: mutex and eventsource init
56			#if (URT_CFG_PUBSUB_ENABLED)
57			urt_core_t._topics = NULL;
58			#endif /* URT_CFG_PUBSUB_ENABLED */
59			#if (URT_CFG_RPC_ENABLED)
60			urt_core_t.urt_service_t = NULL;
61			#endif /* URT_CFG_RPC_ENABLED */
62			return;
63			}
64	7d9678db	skenneweg
65			/**
66			* @brief Get Core status.
67			*
68	5198dfae	skenneweg	* @return Current system status.
69	7d9678db	skenneweg	*/
70			urt_status_t urtCoreGetStatus(void) {return URT_STATUS_OK;}
71
72			/**
73	5198dfae	skenneweg	* @brief Start threads of all nodes of the Core.
74	7d9678db	skenneweg	*/
75			void urtCoreStartNodes(void) {return;}
76
77			/**
78	5198dfae	skenneweg	* @brief Synchronize all nodes of the core.
79	7d9678db	skenneweg	*
80	5198dfae	skenneweg	* @param[in] node Pointer to a node to synchronize. Must not be NULL.
81	7d9678db	skenneweg	*
82	5198dfae	skenneweg	* @return Returns URT_STATUS_OK if all nodes are synchronized and proceed.
83			* Returns URT_STATUS_SYNC_ERROR if an exception occurred (faulty stage value detected).
84			* Returns URT_STATUS_SYNC_PENDING if there are nodes left to synchronize.
85			* In the latter case, the node thread must still wait for the control event (proceed) to synchronize.
86	7d9678db	skenneweg	*/
87			urt_status_t urtCoreSynchronize(urt_node_t* node) {return URT_STATUS_OK;}
88
89			/**
90	5198dfae	skenneweg	* @brief Stop threads of all nodes of the Core.
91	7d9678db	skenneweg	*
92	5198dfae	skenneweg	* @param[in] reason The reason why the function was called. For normal shutdown URT_STATUS_OK should be used.
93	7d9678db	skenneweg	*
94	5198dfae	skenneweg	* @return Returns URT_STATUS_OK if there was no call with another reason than URT_STATUS_OK before.
95			* If the function has been called before with a different reason, that reason is returned.
96	7d9678db	skenneweg	*/
97			urt_status_t urtCoreStopNodes(urt_status_t reason) {return URT_STATUS_OK;}
98
99			/**
100			* @brief Get the topic of the Core.
101			*
102	5198dfae	skenneweg	* @param[in] id Identifier of the topic to retrieve.
103	7d9678db	skenneweg	*
104	5198dfae	skenneweg	* @return Returns a pointer to the requested service. Returns NULL if no service matches the given ID.
105	7d9678db	skenneweg	*/
106			urt_topic_t* urtCoreGetTopic(urt_topicid_t id) {return urt_topic_t;}
107
108			/**
109			* @brief Get the service of the Core.
110			*
111	5198dfae	skenneweg	* @param[in] id Identifier of the service to retrieve.
112	7d9678db	skenneweg	*
113	5198dfae	skenneweg	* @return Returns a pointer to the requested service. Returns NULL if no service matches the given ID.
114	7d9678db	skenneweg	*/
115			urt_service_t urtCoreGetService(urt_serviceid_t id) {return urt_service_t;}