urtware / urt_types.h @ dd31cb03
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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..2019 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 _URT_TYPES_H_
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#define _URT_TYPES_H_
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#include <urtwareconf.h> |
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#include <stdint.h> |
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/*============================================================================*/
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/* PRIMTIVES */
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/*============================================================================*/
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/**
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* @brief Type for representing temporal delays in microseconds.
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*/
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#if (URT_CFG_DELAY_WIDTH == 32) || defined (__DOXYGEN__) |
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typedef uint32_t urt_delay_t;
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#elif (URT_CFG_DELAY_WIDTH == 64) |
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typedef uint64_t urt_delay_t;
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#else
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#error "URT_CFG_DELAY_WIDTH set to invalid value" |
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#endif
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/**
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* @brief Type representing topic IDs.
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*/
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#if (URT_CFG_TOPICID_WIDTH == 8) || defined(__DOXYGEN__) |
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typedef uint8_t urt_topicid_t;
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#elif (URT_CFG_TOPICID_WIDTH == 16) |
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typedef uint16_t urt_topicid_t;
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#elif (URT_CFG_TOPICID_WIDTH == 32) |
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typedef uint32_t urt_topicid_t;
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#elif (URT_CFG_TOPICID_WIDTH == 64) |
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typedef uint64_t urt_topicid_t;
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#else
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#error "URT_CFG_TOPICID_WIDTH set to invalid value" |
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#endif
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/**
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* @brief Type representing node execution stages.
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*/
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#if (URT_CFG_NODESTAGE_WIDTH == 8) || defined(__DOXYGEN__) |
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typedef uint8_t urt_nodestage_t;
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#elif (URT_CFG_NODESTAGE_WIDTH == 16) |
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typedef uint16_t urt_nodestage_t;
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#elif (URT_CFG_NODESTAGE_WIDTH == 32) |
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typedef uint32_t urt_nodestage_t;
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#elif (URT_CFG_NODESTAGE_WIDTH == 64) |
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typedef uint64_t urt_nodestage_t;
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#else
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#error "URT_CFG_NODESTAGE_WIDTH set to invalid value" |
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#endif
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/**
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* @brief µRtWare error codes.
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*/
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typedef enum { |
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URT_STATUS_OK = 0, /**< No error occurred. */ |
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URT_STATUS_WARNING = 1, /**< A warning occurred. */ |
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URT_STATUS_ERROR = -1, /**< An error occurred. */ |
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} urt_status_t; |
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/*============================================================================*/
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/* URT-OSAL */
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/*============================================================================*/
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/**
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* @brief µRtWare OSAL timer callback function type.
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*/
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typedef void (*urt_osTimerCallback)(void* parameter); |
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/**
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* @brief Condition variable status.
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*/
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typedef enum { |
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URT_CONDVAR_STATUS_SIGNAL = 0, /**< The condition variable has been signaled individually. */ |
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URT_CONDVAR_STATUS_BROADCAST = 1, /**< The condition variable has been signaled via broadcast. */ |
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URT_CONDVAR_STATUS_TIMEOUT = 2, /**< The condition variable timed out. */ |
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} urt_condvarStatus_t; |
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/**
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* @brief µRtWare OSAL thread function type.
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*/
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typedef void (*urt_osThreadFunction_t)(void* arg); |
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/**
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* @brief Thread execution state.
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*/
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typedef enum { |
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URT_THREAD_STATE_RUNNING = 0, /**< Thread is currently running. */ |
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URT_THREAD_STATE_READY = 1, /**< Thread is ready and wating to be scheduled. */ |
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URT_THREAD_STATE_SLEEPING = 2, /**< Thread is currently sleeping. */ |
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URT_THREAD_STATE_SUSPENDED = 3, /**< Thread is suspended. */ |
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URT_THREAD_STATE_WAITING = 4, /**< Thread is waiting for event. */ |
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URT_THREAD_STATE_TERMINATED = 5, /**< Thread has been terminated. */ |
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} urt_osThreadState_t; |
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/**
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* @brief Thread terminate request flags.
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*/
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typedef enum { |
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URT_THREAD_TERMINATE_REQEUST = 15, /**< Request thread to terminate. */ |
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URT_THREAD_TERMINATE_KILL = 9, /**< Kill thread immediately. */ |
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} urt_osThreadTerminateSignal_t; |
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/**
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* @brief Specifier for waiting for events.
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*/
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typedef enum { |
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URT_EVENT_WAIT_ONE = 0, /**< Wait for exactly one event to occur. */ |
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URT_EVENT_WAIT_ANY = 1, /**< Wait for any combination of events to occur. */ |
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URT_EVENT_WAIT_ALL = 2, /**< Wait for all specified events to have occurred. */ |
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} urt_osEventWaitType_t; |
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#endif /* _URT_TYPES_H_ */ |