urtware / urt_types.h @ dd31cb03
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1 | 42470f0a | Thomas Schöpping | /*
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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 | 509d44c4 | Thomas Schöpping | Copyright (C) 2018..2019 Thomas Schöpping et al.
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7 | 42470f0a | Thomas Schöpping | |
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 | #ifndef _URT_TYPES_H_
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23 | #define _URT_TYPES_H_
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24 | |||
25 | #include <urtwareconf.h> |
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26 | #include <stdint.h> |
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27 | |||
28 | /*============================================================================*/
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29 | /* PRIMTIVES */
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30 | /*============================================================================*/
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31 | |||
32 | /**
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33 | * @brief Type for representing temporal delays in microseconds.
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34 | */
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35 | #if (URT_CFG_DELAY_WIDTH == 32) || defined (__DOXYGEN__) |
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36 | typedef uint32_t urt_delay_t;
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37 | #elif (URT_CFG_DELAY_WIDTH == 64) |
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38 | typedef uint64_t urt_delay_t;
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39 | #else
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40 | #error "URT_CFG_DELAY_WIDTH set to invalid value" |
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41 | #endif
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42 | |||
43 | /**
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44 | * @brief Type representing topic IDs.
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45 | */
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46 | #if (URT_CFG_TOPICID_WIDTH == 8) || defined(__DOXYGEN__) |
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47 | typedef uint8_t urt_topicid_t;
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48 | #elif (URT_CFG_TOPICID_WIDTH == 16) |
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49 | typedef uint16_t urt_topicid_t;
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50 | #elif (URT_CFG_TOPICID_WIDTH == 32) |
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51 | typedef uint32_t urt_topicid_t;
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52 | #elif (URT_CFG_TOPICID_WIDTH == 64) |
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53 | typedef uint64_t urt_topicid_t;
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54 | #else
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55 | #error "URT_CFG_TOPICID_WIDTH set to invalid value" |
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56 | #endif
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57 | |||
58 | /**
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59 | * @brief Type representing node execution stages.
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60 | */
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61 | #if (URT_CFG_NODESTAGE_WIDTH == 8) || defined(__DOXYGEN__) |
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62 | typedef uint8_t urt_nodestage_t;
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63 | #elif (URT_CFG_NODESTAGE_WIDTH == 16) |
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64 | typedef uint16_t urt_nodestage_t;
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65 | #elif (URT_CFG_NODESTAGE_WIDTH == 32) |
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66 | typedef uint32_t urt_nodestage_t;
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67 | #elif (URT_CFG_NODESTAGE_WIDTH == 64) |
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68 | typedef uint64_t urt_nodestage_t;
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69 | #else
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70 | #error "URT_CFG_NODESTAGE_WIDTH set to invalid value" |
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71 | #endif
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72 | |||
73 | /**
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74 | * @brief µRtWare error codes.
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75 | */
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76 | typedef enum { |
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77 | URT_STATUS_OK = 0, /**< No error occurred. */ |
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78 | URT_STATUS_WARNING = 1, /**< A warning occurred. */ |
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79 | URT_STATUS_ERROR = -1, /**< An error occurred. */ |
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80 | } urt_status_t; |
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81 | |||
82 | /*============================================================================*/
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83 | /* URT-OSAL */
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84 | /*============================================================================*/
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85 | |||
86 | /**
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87 | * @brief µRtWare OSAL timer callback function type.
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88 | */
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89 | typedef void (*urt_osTimerCallback)(void* parameter); |
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90 | |||
91 | /**
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92 | * @brief Condition variable status.
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93 | */
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94 | typedef enum { |
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95 | URT_CONDVAR_STATUS_SIGNAL = 0, /**< The condition variable has been signaled individually. */ |
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96 | URT_CONDVAR_STATUS_BROADCAST = 1, /**< The condition variable has been signaled via broadcast. */ |
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97 | URT_CONDVAR_STATUS_TIMEOUT = 2, /**< The condition variable timed out. */ |
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98 | } urt_condvarStatus_t; |
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99 | |||
100 | /**
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101 | * @brief µRtWare OSAL thread function type.
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102 | */
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103 | typedef void (*urt_osThreadFunction_t)(void* arg); |
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104 | |||
105 | /**
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106 | * @brief Thread execution state.
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107 | */
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108 | typedef enum { |
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109 | URT_THREAD_STATE_RUNNING = 0, /**< Thread is currently running. */ |
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110 | URT_THREAD_STATE_READY = 1, /**< Thread is ready and wating to be scheduled. */ |
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111 | URT_THREAD_STATE_SLEEPING = 2, /**< Thread is currently sleeping. */ |
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112 | URT_THREAD_STATE_SUSPENDED = 3, /**< Thread is suspended. */ |
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113 | URT_THREAD_STATE_WAITING = 4, /**< Thread is waiting for event. */ |
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114 | URT_THREAD_STATE_TERMINATED = 5, /**< Thread has been terminated. */ |
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115 | } urt_osThreadState_t; |
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116 | |||
117 | /**
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118 | * @brief Thread terminate request flags.
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119 | */
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120 | typedef enum { |
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121 | URT_THREAD_TERMINATE_REQEUST = 15, /**< Request thread to terminate. */ |
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122 | URT_THREAD_TERMINATE_KILL = 9, /**< Kill thread immediately. */ |
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123 | } urt_osThreadTerminateSignal_t; |
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124 | |||
125 | /**
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126 | * @brief Specifier for waiting for events.
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127 | */
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128 | typedef enum { |
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129 | URT_EVENT_WAIT_ONE = 0, /**< Wait for exactly one event to occur. */ |
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130 | URT_EVENT_WAIT_ANY = 1, /**< Wait for any combination of events to occur. */ |
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131 | URT_EVENT_WAIT_ALL = 2, /**< Wait for all specified events to have occurred. */ |
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132 | } urt_osEventWaitType_t; |
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133 | |||
134 | #endif /* _URT_TYPES_H_ */ |