urtware / src / urt_topic.c @ fb72e91b
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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> |
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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 | /******************************************************************************/
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37 | /* LOCAL VARIABLES */
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38 | /******************************************************************************/
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39 | |||
40 | /******************************************************************************/
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41 | /* LOCAL FUNCTIONS */
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42 | /******************************************************************************/
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43 | |||
44 | /******************************************************************************/
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45 | /* EXPORTED FUNCTIONS */
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46 | /******************************************************************************/
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47 | 7d9678db | skenneweg | |
48 | /**
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49 | * @brief Initialize the topic.
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50 | *
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51 | 5198dfae | skenneweg | * @param[in] topic The topic to initialize. Must not be NULL.
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52 | * @param[in] id Unique, numeric identifier of the topic.
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53 | 37cd5dc2 | Svenja | * @param[in] mandatoryMessage Starting message of the topic. Must not be NULL.
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54 | 7d9678db | skenneweg | *
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55 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on success.
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56 | * Returns URT_STATUS_TOPIC_DUPLICATE if another topic with the same identifier already exists.
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57 | 7d9678db | skenneweg | */
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58 | 37cd5dc2 | Svenja | urt_status_t urtTopicInit(urt_topic_t* topic, urt_topicid_t id, urt_message_t* mandatoryMessage) |
59 | 1f7ffcff | skenneweg | { |
60 | 37cd5dc2 | Svenja | urtDebugAssert(topic); |
61 | urtDebugAssert(mandatoryMessage); |
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62 | |||
63 | fb72e91b | skenneweg | topic->next = NULL;
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64 | topic->id = id; |
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65 | urtMutexInit(&topic->lock); |
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66 | urtEventSourceInit(&topic->evtSource); |
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67 | topic->numHrtSubscribers = 0;
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68 | urtCondvarInit(&topic->hrtReleased); |
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69 | 37cd5dc2 | Svenja | topic->mandatoryMessage = *mandatoryMessage; |
70 | 5c6cb22f | skenneweg | topic->latestMessage = &topic->mandatoryMessage; |
71 | 1f7ffcff | skenneweg | #if (URT_CFG_PUBSUB_QOS_RATECHECKS)
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72 | fb72e91b | skenneweg | topic->hrtSubscribers = nullptr; |
73 | 1f7ffcff | skenneweg | //add later: timer init;
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74 | #endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
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75 | #if (URT_CFG_PUBSUB_PROFILING)
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76 | fb72e91b | skenneweg | topic->numMessagesPublished = 0;
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77 | topic->numMessagesDiscarded = 0;
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78 | topic->numSubscribers = 0;
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79 | 1f7ffcff | skenneweg | #endif /* URT_CFG_PUBSUB_PROFILING */ |
80 | 5c6cb22f | skenneweg | topic->latestMessage->next = topic->latestMessage; |
81 | fb72e91b | skenneweg | urtMutexLock(&topic->lock); |
82 | 5c6cb22f | skenneweg | urt_topic_t* topicTemp = topic; |
83 | while (topicTemp != NULL && topicTemp->id < id) |
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84 | topicTemp = topicTemp->next; |
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85 | |||
86 | if (topicTemp == NULL) |
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87 | { |
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88 | fb72e91b | skenneweg | urtCoreAddTopic(topic); |
89 | urtMutexUnlock(&topic->lock); |
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90 | 5c6cb22f | skenneweg | return URT_STATUS_OK;
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91 | } |
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92 | else if (topicTemp->id > id) |
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93 | { |
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94 | topicTemp->next = topic; |
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95 | fb72e91b | skenneweg | urtMutexUnlock(&topic->lock); |
96 | 5c6cb22f | skenneweg | return URT_STATUS_OK;
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97 | } |
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98 | else
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99 | { |
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100 | fb72e91b | skenneweg | urtMutexUnlock(&topic->lock); |
101 | 5c6cb22f | skenneweg | return URT_STATUS_TOPIC_DUPLICATE;
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102 | } |
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103 | 1f7ffcff | skenneweg | } |