urtware / inc / urt_core.h @ cd21e832
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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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#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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/******************************************************************************/
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/* SETTINGS */
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/******************************************************************************/
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/******************************************************************************/
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/* CHECKS */
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/******************************************************************************/
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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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/******************************************************************************/
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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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#endif /* URTWARE_CORE_H */ |