urtware / src / urt_topic.c @ 982056f7
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| 1 | 1fb06240 | skenneweg | /*
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| 2 | µRtWare is a lightweight publish/subscribe middleware for real-time
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| 3 | applications. It was developed as part of the software habitat for the
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| 4 | Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
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| 5 | |||
| 6 | Copyright (C) 2018..2020 Thomas Schöpping et al.
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| 7 | |||
| 8 | This program is free software: you can redistribute it and/or modify
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| 9 | it under the terms of the GNU General Public License as published by
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| 10 | the Free Software Foundation, either version 3 of the License, or
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| 11 | (at your option) any later version.
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| 12 | |||
| 13 | This program is distributed in the hope that it will be useful,
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| 14 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 15 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 16 | GNU General Public License for more details.
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| 17 | |||
| 18 | You should have received a copy of the GNU General Public License
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| 19 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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| 20 | */
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| 21 | |||
| 22 | 7d9678db | skenneweg | #include <urtware.h> |
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| 24 | 1fb06240 | skenneweg | /******************************************************************************/
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| 25 | /* LOCAL DEFINITIONS */
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| 26 | /******************************************************************************/
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| 27 | |||
| 28 | /******************************************************************************/
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| 29 | /* EXPORTED VARIABLES */
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| 30 | /******************************************************************************/
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| 31 | |||
| 32 | /******************************************************************************/
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| 33 | /* LOCAL TYPES */
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| 34 | /******************************************************************************/
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| 35 | |||
| 36 | /******************************************************************************/
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| 37 | /* LOCAL VARIABLES */
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| 38 | /******************************************************************************/
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| 39 | |||
| 40 | /******************************************************************************/
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| 41 | /* LOCAL FUNCTIONS */
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| 42 | /******************************************************************************/
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| 43 | |||
| 44 | /******************************************************************************/
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| 45 | /* EXPORTED FUNCTIONS */
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| 46 | /******************************************************************************/
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| 47 | 7d9678db | skenneweg | |
| 48 | /**
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| 49 | * @brief Initialize the topic.
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| 50 | *
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| 51 | 5198dfae | skenneweg | * @param[in] topic The topic to initialize. Must not be NULL.
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| 52 | * @param[in] id Unique, numeric identifier of the topic.
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| 53 | 37cd5dc2 | Svenja | * @param[in] mandatoryMessage Starting message of the topic. Must not be NULL.
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| 54 | 7d9678db | skenneweg | *
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| 55 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on success.
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| 56 | * Returns URT_STATUS_TOPIC_DUPLICATE if another topic with the same identifier already exists.
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| 57 | 7d9678db | skenneweg | */
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| 58 | 37cd5dc2 | Svenja | urt_status_t urtTopicInit(urt_topic_t* topic, urt_topicid_t id, urt_message_t* mandatoryMessage) |
| 59 | 1f7ffcff | skenneweg | {
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| 60 | 37cd5dc2 | Svenja | urtDebugAssert(topic); |
| 61 | urtDebugAssert(mandatoryMessage); |
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| 62 | |||
| 63 | 1f7ffcff | skenneweg | urt_topic_t.next = NULL;
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| 64 | urt_topic_t.id = id; |
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| 65 | 5c6cb22f | skenneweg | urtMutexInit(topic->lock); |
| 66 | urtEventSourceInit(topic->evtSource); |
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| 67 | 1f7ffcff | skenneweg | urt_topic_t.numHrtSubscribers = 0;
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| 68 | 5c6cb22f | skenneweg | urtCondvarInit(topic->hrtReleased); |
| 69 | 37cd5dc2 | Svenja | topic->mandatoryMessage = *mandatoryMessage; |
| 70 | 5c6cb22f | skenneweg | topic->latestMessage = &topic->mandatoryMessage; |
| 71 | 1f7ffcff | skenneweg | #if (URT_CFG_PUBSUB_QOS_RATECHECKS)
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| 72 | urt_topic_t.hrtSubscribers = nullptr; |
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| 73 | //add later: timer init;
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| 74 | #endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
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| 75 | #if (URT_CFG_PUBSUB_PROFILING)
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| 76 | urt_topic_t.numMessagesPublished = 0;
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| 77 | urt_topic_t.numMessagesDiscarded = 0;
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| 78 | urt_topic_t.numSubscribers = 0;
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| 79 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
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| 80 | 5c6cb22f | skenneweg | topic->latestMessage->next = topic->latestMessage; |
| 81 | urtMutexLock(topic->lock); |
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| 82 | urt_topic_t* topicTemp = topic; |
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| 83 | while (topicTemp != NULL && topicTemp->id < id) |
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| 84 | topicTemp = topicTemp->next; |
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| 85 | |||
| 86 | if (topicTemp == NULL) |
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| 87 | {
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| 88 | //TODO: Append self to core's list of topic
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| 89 | urtMutexUnlock(topic->lock); |
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| 90 | return URT_STATUS_OK;
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| 91 | } |
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| 92 | else if (topicTemp->id > id) |
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| 93 | {
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| 94 | topicTemp->next = topic; |
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| 95 | urtMutexUnlock(topic->lock); |
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| 96 | return URT_STATUS_OK;
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| 97 | } |
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| 98 | else
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| 99 | {
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| 100 | urtMutexUnlock(topic->lock); |
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| 101 | return URT_STATUS_TOPIC_DUPLICATE;
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| 102 | } |
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| 103 | 1f7ffcff | skenneweg | } |