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urtware / src / urt_topic.c @ 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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#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   Initialize the topic.
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 *
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 * @param[in] topic  The topic to initialize. Must not be NULL.
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 * @param[in] id  Unique, numeric identifier of the topic.
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 * @param[in] mandatoryMessage Starting message of the topic. 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_TOPIC_DUPLICATE if another topic with the same identifier already exists.
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 */
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urt_status_t urtTopicInit(urt_topic_t* topic, urt_topicid_t id, urt_message_t* mandatoryMessage)
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{
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  urtDebugAssert(topic);
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  urtDebugAssert(mandatoryMessage);
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  topic->next = NULL;
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  topic->id = id;
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  urtMutexInit(&topic->lock);
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  urtEventSourceInit(&topic->evtSource);
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  topic->numHrtSubscribers = 0;
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  urtCondvarInit(&topic->hrtReleased);
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  topic->mandatoryMessage = *mandatoryMessage;
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  topic->latestMessage = &topic->mandatoryMessage;
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  #if (URT_CFG_PUBSUB_QOS_RATECHECKS)
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    topic->hrtSubscribers = nullptr;
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    //add later: timer init;
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  #endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */
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  #if (URT_CFG_PUBSUB_PROFILING)
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    topic->numMessagesPublished = 0;
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    topic->numMessagesDiscarded = 0;
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    topic->numSubscribers = 0;
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  #endif /* URT_CFG_PUBSUB_PROFILING */
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  topic->latestMessage->next = topic->latestMessage;
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  urtMutexLock(&topic->lock);
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  urt_topic_t* topicTemp = topic;
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  while (topicTemp != NULL && topicTemp->id < id)
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      topicTemp = topicTemp->next;
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  if (topicTemp == NULL)
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  {
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    urtCoreAddTopic(topic);
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    urtMutexUnlock(&topic->lock);
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    return URT_STATUS_OK;
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  }
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  else if (topicTemp->id > id)
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  {
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    topicTemp->next = topic;
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    urtMutexUnlock(&topic->lock);
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    return URT_STATUS_OK;
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  }
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  else
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  {
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    urtMutexUnlock(&topic->lock);
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    return URT_STATUS_TOPIC_DUPLICATE;
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  }
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}