urtware / src / urt_core.c @ e360ce71
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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> |
23 | |||
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 | 408a606c | skenneweg | /**
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37 | * @brief core
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38 | */
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39 | typedef struct urt_core |
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40 | { |
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41 | urt_node_t* _nodes; |
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42 | 792f6c74 | skenneweg | urt_osEventSource_t _evtSource; |
43 | 408a606c | skenneweg | urt_osMutex_t _lock; |
44 | urt_status_t _status; |
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45 | #if (URT_CFG_PUBSUB_ENABLED)
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46 | urt_topic_t* _topics; |
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47 | #endif /* URT_CFG_PUBSUB_ENABLED */ |
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48 | #if (URT_CFG_RPC_ENABLED)
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49 | urt_service_t* _services; |
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50 | #endif /* URT_CFG_RPC_ENABLED */ |
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51 | }urt_core_t; |
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52 | |||
53 | static urt_core_t core;
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54 | |||
55 | 1fb06240 | skenneweg | /******************************************************************************/
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56 | /* LOCAL VARIABLES */
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57 | /******************************************************************************/
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58 | |||
59 | /******************************************************************************/
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60 | /* LOCAL FUNCTIONS */
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61 | /******************************************************************************/
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62 | |||
63 | /******************************************************************************/
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64 | /* EXPORTED FUNCTIONS */
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65 | /******************************************************************************/
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66 | 7d9678db | skenneweg | |
67 | /**
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68 | * @brief Initialize the Core.
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69 | */
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70 | 1f7ffcff | skenneweg | void urtCoreInit(void) |
71 | { |
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72 | 64fde4ba | skenneweg | core._nodes = NULL;
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73 | core._status = URT_STATUS_OK; |
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74 | 792f6c74 | skenneweg | urtEventSourceInit(&core._evtSource); |
75 | 64fde4ba | skenneweg | urtMutexInit(&core._lock); |
76 | 1f7ffcff | skenneweg | #if (URT_CFG_PUBSUB_ENABLED)
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77 | 64fde4ba | skenneweg | core._topics = NULL;
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78 | 1f7ffcff | skenneweg | #endif /* URT_CFG_PUBSUB_ENABLED */ |
79 | #if (URT_CFG_RPC_ENABLED)
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80 | 64fde4ba | skenneweg | core.urt_service_t = NULL;
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81 | 1f7ffcff | skenneweg | #endif /* URT_CFG_RPC_ENABLED */ |
82 | return;
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83 | } |
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84 | 7d9678db | skenneweg | |
85 | /**
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86 | * @brief Get Core status.
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87 | *
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88 | 5198dfae | skenneweg | * @return Current system status.
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89 | 7d9678db | skenneweg | */
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90 | 64fde4ba | skenneweg | urt_status_t urtCoreGetStatus(void)
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91 | { |
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92 | return core._status;
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93 | } |
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94 | 7d9678db | skenneweg | |
95 | cd0cba58 | skenneweg | urt_osEventMask_t urtCoreGetEventMask(void)
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96 | { |
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97 | 792f6c74 | skenneweg | return URT_EVENTMASK_MAXPRIO;
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98 | cd0cba58 | skenneweg | } |
99 | |||
100 | 7d9678db | skenneweg | /**
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101 | 408a606c | skenneweg | * @brief Get Core mutex.
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102 | *
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103 | * @return Current system mutex.
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104 | */
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105 | 792f6c74 | skenneweg | urt_osMutex_t* urtCoreGetMutex(void)
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106 | 408a606c | skenneweg | { |
107 | 792f6c74 | skenneweg | return &core._lock;
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108 | 408a606c | skenneweg | } |
109 | |||
110 | /**
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111 | * @brief Get Core event source.
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112 | *
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113 | * @return Current system event source.
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114 | */
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115 | urt_osEventSource_t* urtCoreGetEvtSource(void)
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116 | { |
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117 | 792f6c74 | skenneweg | return &core._evtSource;
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118 | 408a606c | skenneweg | } |
119 | |||
120 | e360ce71 | skenneweg | |
121 | /**
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122 | * @brief Get Core nodes.
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123 | *
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124 | * @return Nodes registered to the core.
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125 | */
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126 | 408a606c | skenneweg | urt_node_t* urtCoreGetNodes(void)
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127 | { |
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128 | f86427e8 | skenneweg | return core._nodes;
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129 | 408a606c | skenneweg | } |
130 | |||
131 | e360ce71 | skenneweg | void urtCoreSetNodes(urt_node_t* node)
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132 | { |
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133 | core._nodes = node; |
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134 | return;
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135 | } |
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136 | |||
137 | 408a606c | skenneweg | /**
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138 | 5198dfae | skenneweg | * @brief Start threads of all nodes of the Core.
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139 | 7d9678db | skenneweg | */
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140 | 64fde4ba | skenneweg | void urtCoreStartNodes(void) |
141 | { |
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142 | e566c39e | skenneweg | urtMutexLock(&core._lock); |
143 | 64fde4ba | skenneweg | urt_node_t* node = core._nodes; |
144 | while (node)
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145 | { |
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146 | urtThreadStart(node->thread); |
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147 | node = node->next; |
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148 | e360ce71 | skenneweg | urtThreadMSleep(100); //TODO: delete |
149 | 64fde4ba | skenneweg | } |
150 | e566c39e | skenneweg | urtMutexUnlock(&core._lock); |
151 | 64fde4ba | skenneweg | return;
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152 | } |
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153 | 7d9678db | skenneweg | |
154 | /**
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155 | 5198dfae | skenneweg | * @brief Synchronize all nodes of the core.
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156 | 7d9678db | skenneweg | *
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157 | 5198dfae | skenneweg | * @param[in] node Pointer to a node to synchronize. Must not be NULL.
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158 | 7d9678db | skenneweg | *
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159 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK if all nodes are synchronized and proceed.
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160 | * Returns URT_STATUS_SYNC_ERROR if an exception occurred (faulty stage value detected).
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161 | * Returns URT_STATUS_SYNC_PENDING if there are nodes left to synchronize.
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162 | * In the latter case, the node thread must still wait for the control event (proceed) to synchronize.
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163 | 7d9678db | skenneweg | */
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164 | e566c39e | skenneweg | urt_status_t urtCoreSynchronizeNodes(urt_node_t* node) |
165 | 64fde4ba | skenneweg | { |
166 | 17d978fe | skenneweg | urtDebugAssert(node != NULL);
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167 | |||
168 | e566c39e | skenneweg | urtMutexLock(&core._lock); |
169 | e360ce71 | skenneweg | node->stage++; |
170 | 64fde4ba | skenneweg | urt_node_t* nodeFromCore = core._nodes; |
171 | e566c39e | skenneweg | while (nodeFromCore && nodeFromCore->stage == node->stage)
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172 | 64fde4ba | skenneweg | { |
173 | nodeFromCore = nodeFromCore->next; |
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174 | } |
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175 | e360ce71 | skenneweg | |
176 | if (!nodeFromCore)
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177 | 64fde4ba | skenneweg | { |
178 | 03ed5026 | skenneweg | urt_osEventFlags_t flag = URT_EVENTFLAG_PROCEED; |
179 | 792f6c74 | skenneweg | urtEventSourceBroadcast(&core._evtSource, flag); |
180 | e566c39e | skenneweg | urtMutexUnlock(&core._lock); |
181 | 64fde4ba | skenneweg | return URT_STATUS_OK;
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182 | } |
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183 | e566c39e | skenneweg | else if (nodeFromCore->stage == (node->stage - 1)) |
184 | 64fde4ba | skenneweg | { |
185 | e566c39e | skenneweg | urtMutexUnlock(&core._lock); |
186 | 64fde4ba | skenneweg | return URT_STATUS_SYNC_PENDING;
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187 | } |
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188 | else
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189 | { |
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190 | urtCoreStopNodes(URT_STATUS_SYNC_ERROR); |
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191 | e566c39e | skenneweg | urtMutexUnlock(&core._lock); |
192 | 64fde4ba | skenneweg | return URT_STATUS_SYNC_ERROR;
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193 | } |
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194 | } |
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195 | 7d9678db | skenneweg | |
196 | /**
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197 | 5198dfae | skenneweg | * @brief Stop threads of all nodes of the Core.
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198 | 7d9678db | skenneweg | *
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199 | 5198dfae | skenneweg | * @param[in] reason The reason why the function was called. For normal shutdown URT_STATUS_OK should be used.
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200 | 7d9678db | skenneweg | *
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201 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK if there was no call with another reason than URT_STATUS_OK before.
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202 | * If the function has been called before with a different reason, that reason is returned.
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203 | 7d9678db | skenneweg | */
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204 | 64fde4ba | skenneweg | urt_status_t urtCoreStopNodes(urt_status_t reason) |
205 | { |
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206 | e566c39e | skenneweg | urtMutexLock(&core._lock); |
207 | bool priorityBoosted = false; |
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208 | urt_osThreadPrio_t oldPrio; |
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209 | |||
210 | 64fde4ba | skenneweg | if (core._status == URT_STATUS_OK)
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211 | { |
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212 | if (core._nodes->thread->prio < URT_THREAD_PRIO_HIGH_MAX)
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213 | { |
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214 | e566c39e | skenneweg | oldPrio = core._nodes->thread->prio; |
215 | priorityBoosted = true;
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216 | 64fde4ba | skenneweg | core._nodes->thread->prio = URT_THREAD_PRIO_HIGH_MAX; |
217 | } |
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218 | e566c39e | skenneweg | core._status = reason; |
219 | urt_node_t* node = core._nodes; |
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220 | while (node)
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221 | 64fde4ba | skenneweg | { |
222 | e566c39e | skenneweg | urtThreadTerminate(node->thread, URT_THREAD_TERMINATE_REQUEST); |
223 | node = node->next; |
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224 | 64fde4ba | skenneweg | } |
225 | 03ed5026 | skenneweg | urt_osEventFlags_t flag = URT_EVENTFLAG_TERMINATE; |
226 | 792f6c74 | skenneweg | urtEventSourceBroadcast(&core._evtSource, flag); |
227 | e566c39e | skenneweg | urtMutexUnlock(&core._lock); |
228 | if (priorityBoosted)
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229 | core._nodes->thread->prio = oldPrio; |
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230 | return URT_STATUS_OK;
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231 | 64fde4ba | skenneweg | } |
232 | else
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233 | { |
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234 | e566c39e | skenneweg | urtMutexUnlock(&core._lock); |
235 | return core._status;
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236 | 64fde4ba | skenneweg | } |
237 | } |
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238 | 7d9678db | skenneweg | |
239 | /**
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240 | * @brief Get the topic of the Core.
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241 | *
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242 | 5198dfae | skenneweg | * @param[in] id Identifier of the topic to retrieve.
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243 | 7d9678db | skenneweg | *
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244 | 5198dfae | skenneweg | * @return Returns a pointer to the requested service. Returns NULL if no service matches the given ID.
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245 | 7d9678db | skenneweg | */
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246 | 64fde4ba | skenneweg | #if (URT_CFG_PUBSUB_ENABLED)
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247 | urt_topic_t* urtCoreGetTopic(urt_topicid_t id) {return urt_topic_t;}
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248 | #endif /* URT_CFG_PUBSUB_ENABLED */ |
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249 | |||
250 | 7d9678db | skenneweg | |
251 | /**
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252 | * @brief Get the service of the Core.
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253 | *
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254 | 5198dfae | skenneweg | * @param[in] id Identifier of the service to retrieve.
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255 | 7d9678db | skenneweg | *
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256 | 5198dfae | skenneweg | * @return Returns a pointer to the requested service. Returns NULL if no service matches the given ID.
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257 | 64fde4ba | skenneweg | */
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258 | #if (URT_CFG_RPC_ENABLED)
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259 | urt_service_t urtCoreGetService(urt_serviceid_t id) {return urt_service_t;}
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260 | #endif /* URT_CFG_RPC_ENABLED */ |
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261 |