mirror of
https://github.com/eddyem/pusirobot.git
synced 2025-12-06 10:35:11 +03:00
76 lines
2.5 KiB
C
76 lines
2.5 KiB
C
/*
|
|
* This file is part of the CANserver project.
|
|
* Copyright 2020 Edward V. Emelianov <edward.emelianoff@gmail.com>.
|
|
*
|
|
* This program is free software: you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#pragma once
|
|
#ifndef THREADLIST_H__
|
|
#define THREADLIST_H__
|
|
|
|
#include <pthread.h>
|
|
|
|
// max length (in symbols) of thread name (any zero-terminated string)
|
|
#define THREADNAMEMAXLEN (31)
|
|
|
|
// messages FIFO
|
|
typedef struct msglist_{
|
|
char *data; // message itself
|
|
struct msglist_ *next, *last; // other elements of list
|
|
} msglist;
|
|
|
|
// for all threads MASTER is the thread itself, slaves are all others
|
|
typedef enum{
|
|
idxMOSI = 0, // master out, slave in
|
|
idxMISO = 1, // master in, slave out
|
|
idxNUM = 2 // amount of indexes
|
|
} msgidx;
|
|
|
|
// interthread messages; index 0 - MOSI, index 1 - MISO
|
|
typedef struct{
|
|
msglist *text[idxNUM]; // stringified text messages
|
|
pthread_mutex_t mutex[idxNUM]; // text changing mutex
|
|
} message;
|
|
|
|
// thread information
|
|
typedef struct{
|
|
char name[THREADNAMEMAXLEN+1]; // thread name
|
|
int ID; // numeric ID (canopen ID)
|
|
message mesg; // inter-thread messages
|
|
pthread_t thread; // thread descriptor
|
|
void *(*handler)(void *); // handler function
|
|
} threadinfo;
|
|
|
|
// list of threads member
|
|
typedef struct thread_list_{
|
|
threadinfo ti; // base thread information
|
|
struct thread_list_ *next; // next element
|
|
} threadlist;
|
|
|
|
// name - handler pair for threads registering functions
|
|
typedef struct{
|
|
const char *name; // handler name
|
|
void *(*handler)(void *); // handler function
|
|
} thread_handler;
|
|
|
|
threadinfo *findThreadByName(char *name);
|
|
threadinfo *findThreadByID(int ID);
|
|
threadinfo *registerThread(char *name, int ID, void *(*handler)(void *));
|
|
int killThreadByName(const char *name);
|
|
char *getmesg(msgidx idx, message *msg);
|
|
char *addmesg(msgidx idx, message *msg, char *txt);
|
|
|
|
#endif // THREADLIST_H__
|