Revision 7d9678db inc/urt_core.h
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#ifndef URTWARE_CORE_H |
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#define URTWARE_CORE_H |
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#include <urt_types.h> |
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#include <urtware.h> |
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/******************************************************************************/ |
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/* CONSTANTS */ |
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/******************************************************************************/ |
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/* DATA STRUCTURES AND TYPES */ |
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/******************************************************************************/ |
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/** |
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* @brief core |
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*/ |
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typedef struct urt_core |
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{
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urt_node_t* _nodes; |
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urt_osEventSource_t* _evtSource; |
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urt_osMutex_t _lock; |
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urt_status_t _status; |
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#if (URT_CFG_PUBSUB_ENABLED) |
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urt_topic_t* _topics; |
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#endif /* URT_CFG_PUBSUB_ENABLED */ |
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#if (URT_CFG_RPC_ENABLED) |
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urt_service_t* _services; |
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#endif /* URT_CFG_RPC_ENABLED */ |
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}urt_core_t; |
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/******************************************************************************/ |
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/* MACROS */ |
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/******************************************************************************/ |
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/* EXTERN DECLARATIONS */ |
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/******************************************************************************/ |
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#if defined(__cplusplus) |
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extern "C" {
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#endif /* defined(__cplusplus) */ |
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void urtCoreInit(void); |
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urt_status_t urtCoreGetStatus(void); |
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void urtCoreStartNodes(void); |
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urt_status_t urtCoreSynchronize(urt_node_t* node); |
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urt_status_t urtCoreStopNodes(urt_status_t reason); |
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#if (URT_CFG_PUBSUB_ENABLED) |
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urt_topic_t* urtCoreGetTopic(urt_topicid_t id); |
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#endif /* URT_CFG_PUBSUB_ENABLED */ |
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#if (URT_CFG_RPC_ENABLED) |
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urt_service_t urtCoreGetService(urt_serviceid_t id); |
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#endif /* URT_CFG_RPC_ENABLED */ |
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#if defined(__cplusplus) |
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} |
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#endif /* defined(__cplusplus) */ |
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/******************************************************************************/ |
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/* INLINE FUNCTIONS */ |
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/******************************************************************************/ |
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