Revision fb72e91b src/urt_topic.c
| src/urt_topic.c | ||
|---|---|---|
| 60 | 60 |
urtDebugAssert(topic); |
| 61 | 61 |
urtDebugAssert(mandatoryMessage); |
| 62 | 62 |
|
| 63 |
urt_topic_t.next = NULL;
|
|
| 64 |
urt_topic_t.id = id;
|
|
| 65 |
urtMutexInit(topic->lock); |
|
| 66 |
urtEventSourceInit(topic->evtSource); |
|
| 67 |
urt_topic_t.numHrtSubscribers = 0;
|
|
| 68 |
urtCondvarInit(topic->hrtReleased); |
|
| 63 |
topic->next = NULL;
|
|
| 64 |
topic->id = id;
|
|
| 65 |
urtMutexInit(&topic->lock);
|
|
| 66 |
urtEventSourceInit(&topic->evtSource);
|
|
| 67 |
topic->numHrtSubscribers = 0;
|
|
| 68 |
urtCondvarInit(&topic->hrtReleased);
|
|
| 69 | 69 |
topic->mandatoryMessage = *mandatoryMessage; |
| 70 | 70 |
topic->latestMessage = &topic->mandatoryMessage; |
| 71 | 71 |
#if (URT_CFG_PUBSUB_QOS_RATECHECKS) |
| 72 |
urt_topic_t.hrtSubscribers = nullptr;
|
|
| 72 |
topic->hrtSubscribers = nullptr;
|
|
| 73 | 73 |
//add later: timer init; |
| 74 | 74 |
#endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
| 75 | 75 |
#if (URT_CFG_PUBSUB_PROFILING) |
| 76 |
urt_topic_t.numMessagesPublished = 0;
|
|
| 77 |
urt_topic_t.numMessagesDiscarded = 0;
|
|
| 78 |
urt_topic_t.numSubscribers = 0;
|
|
| 76 |
topic->numMessagesPublished = 0;
|
|
| 77 |
topic->numMessagesDiscarded = 0;
|
|
| 78 |
topic->numSubscribers = 0;
|
|
| 79 | 79 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
| 80 | 80 |
topic->latestMessage->next = topic->latestMessage; |
| 81 |
urtMutexLock(topic->lock); |
|
| 81 |
urtMutexLock(&topic->lock);
|
|
| 82 | 82 |
urt_topic_t* topicTemp = topic; |
| 83 | 83 |
while (topicTemp != NULL && topicTemp->id < id) |
| 84 | 84 |
topicTemp = topicTemp->next; |
| 85 | 85 |
|
| 86 | 86 |
if (topicTemp == NULL) |
| 87 | 87 |
{
|
| 88 |
//TODO: Append self to core's list of topic
|
|
| 89 |
urtMutexUnlock(topic->lock); |
|
| 88 |
urtCoreAddTopic(topic);
|
|
| 89 |
urtMutexUnlock(&topic->lock);
|
|
| 90 | 90 |
return URT_STATUS_OK; |
| 91 | 91 |
} |
| 92 | 92 |
else if (topicTemp->id > id) |
| 93 | 93 |
{
|
| 94 | 94 |
topicTemp->next = topic; |
| 95 |
urtMutexUnlock(topic->lock); |
|
| 95 |
urtMutexUnlock(&topic->lock);
|
|
| 96 | 96 |
return URT_STATUS_OK; |
| 97 | 97 |
} |
| 98 | 98 |
else |
| 99 | 99 |
{
|
| 100 |
urtMutexUnlock(topic->lock); |
|
| 100 |
urtMutexUnlock(&topic->lock);
|
|
| 101 | 101 |
return URT_STATUS_TOPIC_DUPLICATE; |
| 102 | 102 |
} |
| 103 | 103 |
} |
Also available in: Unified diff