1 /**************************************************************************/
2 /* ---------------------------------------------------------------------- */
3 /* Copyright (C) 2006 - 2008 FRESCOR consortium partners: */
5 /* Universidad de Cantabria, SPAIN */
6 /* University of York, UK */
7 /* Scuola Superiore Sant'Anna, ITALY */
8 /* Kaiserslautern University, GERMANY */
9 /* Univ. Politécnica Valencia, SPAIN */
10 /* Czech Technical University in Prague, CZECH REPUBLIC */
12 /* Thales Communication S.A. FRANCE */
13 /* Visual Tools S.A. SPAIN */
14 /* Rapita Systems Ltd UK */
17 /* See http://www.frescor.org for a link to partners' websites */
19 /* FRESCOR project (FP6/2005/IST/5-034026) is funded */
20 /* in part by the European Union Sixth Framework Programme */
21 /* The European Union is not liable of any use that may be */
22 /* made of this code. */
25 /* This file is part of FORB (Frescor Object Request Broker) */
27 /* FORB is free software; you can redistribute it and/or modify it */
28 /* under terms of the GNU General Public License as published by the */
29 /* Free Software Foundation; either version 2, or (at your option) any */
30 /* later version. FORB is distributed in the hope that it will be */
31 /* useful, but WITHOUT ANY WARRANTY; without even the implied warranty */
32 /* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU */
33 /* General Public License for more details. You should have received a */
34 /* copy of the GNU General Public License along with FORB; see file */
35 /* COPYING. If not, write to the Free Software Foundation, 675 Mass Ave, */
36 /* Cambridge, MA 02139, USA. */
38 /* As a special exception, including FORB header files in a file, */
39 /* instantiating FORB generics or templates, or linking other files */
40 /* with FORB objects to produce an executable application, does not */
41 /* by itself cause the resulting executable application to be covered */
42 /* by the GNU General Public License. This exception does not */
43 /* however invalidate any other reasons why the executable file might be */
44 /* covered by the GNU Public License. */
45 /**************************************************************************/
49 * @author Michal Sojka <sojkam1@fel.cvut.cz>
50 * @date Sun Oct 12 16:18:04 2008
52 * @brief Implementation of executors.
61 extern UL_LOG_CUST(ulogd_forb_executor);
63 int forb_executor_key = -1;
66 * Initializes executor.
70 * @return Zero on success, FOSA error code on error.
72 int forb_executor_init(forb_executor_t *executor)
75 ret = fosa_mutex_init(&executor->mutex, 0);
78 ret = fosa_cond_init(&executor->new_request_in_empty_list);
81 forb_exec_req_nolock_init_head(executor);
85 void forb_executor_destroy(forb_executor_t *executor)
91 * Setup the object @a obj so that requests to it are executed within
92 * the thread of the @a executor.
97 * @return Zero on success, non-zero on error.
99 int forb_executor_register_object(forb_executor_t *executor, forb_object obj)
101 if (!obj || obj->executor)
104 obj->executor = executor;
109 * Unregisteres the object @a obj from @a executor.
114 void forb_executor_unregister_object(forb_executor_t *executor, forb_object obj)
117 obj->executor = NULL;
122 * Executor's main loop which executes object implementation methods
125 * The requests are represented by ::forb_exec_req_t and are enqueued
126 * to the executor's request queue by receiver threads of individual
127 * ports (forb_iop_receiver_thread()).
131 * @return Zero on normal termination, non-zero error codes will be
134 int forb_executor_run(forb_executor_t *executor)
138 // initializing thread specific data (FIXME: maybe should be somewhere else)
139 if (forb_executor_key == -1) {
140 if (ret = fosa_key_create(forb_executor_key))
143 // setting pointer to executor as thread specific data
144 if (ret = fosa_thread_set_specific_data(forb_executor_key,
145 fosa_thread_self(), (void *) executor))
148 fosa_mutex_lock(&executor->mutex);
150 fosa_cond_wait(&executor->new_request_in_empty_list,
152 while (!forb_exec_req_nolock_is_empty(executor)) {
153 forb_exec_req_t *exec_req;
154 exec_req = forb_exec_req_nolock_cut_first(executor);
155 fosa_mutex_unlock(&executor->mutex);
157 forb_exec_req_process(exec_req);
159 fosa_mutex_lock(&executor->mutex);
162 fosa_mutex_unlock(&executor->mutex);
168 * Convenience function for executing only one object in one executor.
170 * @param obj The object to execute.
172 * @return Zero in case of success, error code on error.
174 int forb_execute_object(forb_object obj)
176 forb_executor_t executor;
179 ret = forb_executor_init(&executor);
181 ret = forb_executor_register_object(&executor, obj);
182 if (ret) goto destroy_and_error;
184 ret = forb_executor_run(&executor);
187 forb_executor_destroy(&executor);
194 * Determines the executor we are currently in.
196 * @param executor Current executor.
198 * @return Zero in case of success.
200 int forb_get_current_executor(forb_executor_t *executor)
203 ret = fosa_thread_get_specific_data(forb_executor_key,
204 fosa_thread_self(), &executor);