urtware / src / urt_service.c @ 6ba201f8
History | View | Annotate | Download (3.858 KB)
| 1 |
/*
|
|---|---|
| 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 |
#include <urtware.h> |
| 23 |
|
| 24 |
/******************************************************************************/
|
| 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 |
|
| 48 |
/**
|
| 49 |
* @brief Initalize the service.
|
| 50 |
*
|
| 51 |
* @param[in] service The service to initialize. Must not be NULL.
|
| 52 |
* @param[in] id Unique, numeric identifier of the service.
|
| 53 |
* @param[in] callback Callback function to be executed by this service. Must not be NULL.
|
| 54 |
*
|
| 55 |
* @return Returns URT_STATUS_OK on success.
|
| 56 |
* Returns URT_STATUS_SERVICE_DUPLICATE if another service with the same identifier already exists.
|
| 57 |
*/
|
| 58 |
urt_status_t urtServiceInit(urt_service_t* service, urt_serviceid_t id, urt_servicefunc_t* callback) |
| 59 |
{
|
| 60 |
urt_service_t.next = NULL;
|
| 61 |
urt_service_t.id = id; |
| 62 |
//add later: urtmutex init
|
| 63 |
urt_service_t.callback = callback; |
| 64 |
#if (URT_CFG_RPC_PROFILING)
|
| 65 |
urt_service_t.sumDurations = 0;
|
| 66 |
urt_service_t.numCalls = 0;
|
| 67 |
urt_service_t.numTimeouts = 0;
|
| 68 |
urt_service_t.minDuration = 0;
|
| 69 |
urt_service_t.maxDuration 0;
|
| 70 |
#endif /* URT_CFG_RPC_PROFILING */ |
| 71 |
//add later: lock core,...
|
| 72 |
return URT_STATUS_OK;
|
| 73 |
} |
| 74 |
|
| 75 |
/**
|
| 76 |
* @brief Calls a service.
|
| 77 |
*
|
| 78 |
* @param[in] service The service to call. Must not be NULL.
|
| 79 |
* @param[in] arg Optional argument for the service call. May be NULL if the service expects no arguments.
|
| 80 |
* @param[in] ret Pointer to an optional output value. May be NULL.
|
| 81 |
* @param[in] timeout Timeout delay to be propagated to the callback function.
|
| 82 |
* Whether timeout is considered depends on the callback function.
|
| 83 |
*
|
| 84 |
* @return Returns the exact output status of the service call.
|
| 85 |
*/
|
| 86 |
urt_status_t urtServiceCall(urt_service_t* service, void* arg, void* ret, urt_delay_t timeout) {return URT_STATUS_OK;} |