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urtware / inc / urt_node.h @ fb72e91b

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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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#ifndef URTWARE_NODE_H
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#define URTWARE_NODE_H
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#include <urtware.h>
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/******************************************************************************/
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/* CONSTANTS                                                                  */
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/******************************************************************************/
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/******************************************************************************/
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/* SETTINGS                                                                   */
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/******************************************************************************/
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/******************************************************************************/
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/* CHECKS                                                                     */
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/******************************************************************************/
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/******************************************************************************/
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/* DATA STRUCTURES AND TYPES                                                  */
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/******************************************************************************/
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/*
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 * forward declaration
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 */
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typedef struct urt_node urt_node_t;
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/**
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 * @brief
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 *
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 */
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typedef void (*urt_nodeShutdownCallback_t)(urt_node_t* node, urt_status_t cause, void* arg);
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/**
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 * @brief
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 *
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 */
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typedef urt_osEventMask_t (*urt_nodeSetupCallback_t)(urt_node_t* node, void* arg);
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/**
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 * @brief
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 */
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typedef urt_osEventMask_t (*urt_nodeLoopCallback_t)(urt_node_t* node, urt_osEventMask_t events, void* arg);
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/**
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 * @brief  node
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 */
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struct urt_node
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{
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  struct urt_node* next;
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  urt_osThread_t* thread;
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  urt_nodeSetupCallback_t setupcallback;
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  void* setupparams;
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  urt_nodeLoopCallback_t loopcallback;
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  void* loopparams;
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  urt_nodeShutdownCallback_t shutdowncallback;
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  void* shutdownparams;
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  urt_nodestage_t stage;
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  urt_osEventListener_t listener;
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  #if (URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING)
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    uint64_t loops;
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  #endif /* URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING */
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};
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/******************************************************************************/
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/* MACROS                                                                     */
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/******************************************************************************/
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/******************************************************************************/
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/* EXTERN DECLARATIONS                                                        */
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/******************************************************************************/
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#if defined(__cplusplus)
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extern "C" {
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#endif /* defined(__cplusplus) */
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  void urtNodeInit(urt_node_t* node, urt_osThread_t* thread, urt_osThreadPrio_t prio, urt_nodeSetupCallback_t setupcallback,
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                   void* setupparams, urt_nodeLoopCallback_t loopcallback, void* loopparams,
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                   urt_nodeShutdownCallback_t shutdowncallback, void* shutdownparams);
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#if defined(__cplusplus)
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}
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#endif /* defined(__cplusplus) */
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/******************************************************************************/
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/* INLINE FUNCTIONS                                                           */
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/******************************************************************************/
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#endif /* URTWARE_NODE_H */