urtware / src / urt_service.c @ e360ce71
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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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#include <urtware.h> |
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/******************************************************************************/
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/* LOCAL DEFINITIONS */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL TYPES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL FUNCTIONS */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED FUNCTIONS */
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/******************************************************************************/
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/**
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* @brief Initalize the service.
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*
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* @param[in] service The service to initialize. Must not be NULL.
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* @param[in] id Unique, numeric identifier of the service.
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* @param[in] callback Callback function to be executed by this service. Must not be NULL.
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*
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* @return Returns URT_STATUS_OK on success.
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* Returns URT_STATUS_SERVICE_DUPLICATE if another service with the same identifier already exists.
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*/
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urt_status_t urtServiceInit(urt_service_t* service, urt_serviceid_t id, urt_servicefunc_t* callback) |
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{
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urt_service_t.next = NULL;
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urt_service_t.id = id; |
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//add later: urtmutex init
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urt_service_t.callback = callback; |
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#if (URT_CFG_RPC_PROFILING)
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urt_service_t.sumDurations = 0;
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urt_service_t.numCalls = 0;
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urt_service_t.numTimeouts = 0;
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urt_service_t.minDuration = 0;
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urt_service_t.maxDuration 0;
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#endif /* URT_CFG_RPC_PROFILING */ |
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//add later: lock core,...
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return URT_STATUS_OK;
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} |
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/**
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* @brief Calls a service.
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*
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* @param[in] service The service to call. Must not be NULL.
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* @param[in] arg Optional argument for the service call. May be NULL if the service expects no arguments.
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* @param[in] ret Pointer to an optional output value. May be NULL.
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* @param[in] timeout Timeout delay to be propagated to the callback function.
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* Whether timeout is considered depends on the callback function.
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*
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* @return Returns the exact output status of the service call.
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*/
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urt_status_t urtServiceCall(urt_service_t* service, void* arg, void* ret, urt_delay_t timeout) {return URT_STATUS_OK;} |