urtware / inc / urt_service.h @ f86427e8
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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 | #ifndef URTWARE_SERVICE_H
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| 23 | #define URTWARE_SERVICE_H
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| 24 | |||
| 25 | 7d9678db | skenneweg | #include <urt_types.h> |
| 26 | #include <urtware.h> |
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| 27 | |||
| 28 | 1fb06240 | skenneweg | /******************************************************************************/
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| 29 | /* CONSTANTS */
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| 30 | /******************************************************************************/
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| 31 | |||
| 32 | /******************************************************************************/
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| 33 | /* SETTINGS */
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| 34 | /******************************************************************************/
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| 35 | |||
| 36 | /******************************************************************************/
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| 37 | /* CHECKS */
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| 38 | /******************************************************************************/
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| 39 | |||
| 40 | /******************************************************************************/
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| 41 | /* DATA STRUCTURES AND TYPES */
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| 42 | /******************************************************************************/
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| 43 | |||
| 44 | 7d9678db | skenneweg | /**
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| 45 | * @brief service
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| 46 | */
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| 47 | typedef struct urt_service |
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| 48 | {
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| 49 | cd21e832 | skenneweg | urt_service_t* next; |
| 50 | urt_serviceid_t id; |
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| 51 | urt_osMutex_t lock; |
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| 52 | urt_servicefunc_t* callback; |
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| 53 | #if (URT_CFG_RPC_PROFILING)
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| 54 | uint64_t sumDurations; |
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| 55 | uint64_t numCalls; |
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| 56 | uint64_t numTimeouts; |
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| 57 | urt_delay_t minDuration; |
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| 58 | urt_delay_t maxDuration; |
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| 59 | #endif /* URT_CFG_RPC_PROFILING */ |
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| 60 | 7d9678db | skenneweg | }urt_service_t; |
| 61 | |||
| 62 | 1fb06240 | skenneweg | /******************************************************************************/
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| 63 | /* MACROS */
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| 64 | /******************************************************************************/
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| 65 | |||
| 66 | /******************************************************************************/
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| 67 | /* EXTERN DECLARATIONS */
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| 68 | /******************************************************************************/
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| 69 | |||
| 70 | 7d9678db | skenneweg | #if defined(__cplusplus)
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| 71 | extern "C" { |
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| 72 | #endif /* defined(__cplusplus) */ |
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| 73 | |||
| 74 | cd21e832 | skenneweg | urt_status_t urtServiceInit(urt_service_t* service, urt_serviceid_t id, urt_servicefunc_t* callback); |
| 75 | urt_status_t urtServiceCall(urt_service_t* service, void* arg, void* ret, urt_delay_t timeout); |
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| 76 | 017b2ac7 | skenneweg | |
| 77 | urt_status_t urt_servicefunc_t(void* arg, void* ret, urt_delay_t timeout); |
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| 78 | 7d9678db | skenneweg | #if defined(__cplusplus)
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| 79 | } |
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| 80 | #endif /* defined(__cplusplus) */ |
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| 81 | |||
| 82 | 1fb06240 | skenneweg | /******************************************************************************/
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| 83 | /* INLINE FUNCTIONS */
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| 84 | /******************************************************************************/
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| 85 | |||
| 86 | #endif /* URTWARE_SERVICE_H */ |