AMiRo-OS

<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="1080px" preserveAspectRatio="none" style="width:2541px;height:1080px;" version="1.1" viewBox="0 0 2541 1080" width="2541px" zoomAndPan="magnify"><defs><filter height="300%" id="f124mp41ppij04" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="1225" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="269" x="1135" y="47.6611">urtHrtSubscriberUnsubscribe()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="1272.5" y="68.6143"/><path d="M1498.25,72.8594 L1498.25,183.6563 L2098.25,183.6563 L2098.25,82.8594 L2088.25,72.8594 L1498.25,72.8594 " fill="#FBFB77" filter="url(#f124mp41ppij04)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2088.25,72.8594 L2088.25,82.8594 L2098.25,82.8594 L2088.25,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1498.25" x2="1685.25" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1689.25" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="1689.25" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="136" x="1771.25" y="89.4263">: urt_hrtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1911.25" x2="2098.25" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="252" x="1504.25" y="105.0591">The HRT subscriber to be unsubscribed.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="1504.25" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1584.25" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1616.25" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1498.25" x2="2098.25" y1="128.2578" y2="128.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1498.25" x2="2098.25" y1="130.2578" y2="130.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1498.25" x2="1727.25" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1731.25" y="144.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="1731.25" y="144.8247">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="1780.25" y="144.8247">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1869.25" x2="2098.25" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1504.25" y="160.4575">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="1557.25" y="160.4575">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="68" x="1665.25" y="160.4575">on sucess.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1504.25" y="175.5903">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="240" x="1557.25" y="175.5903">URT_STATUS_UNSUBSCRIBE_NOTOPIC</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="282" x="1801.25" y="175.5903">if the subscriber is not associated to a topic.</text><ellipse cx="1798.25" cy="213.6563" fill="#000000" filter="url(#f124mp41ppij04)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#f124mp41ppij04)" points="1735.75,243.6563,1860.75,243.6563,1872.75,255.6563,1860.75,267.6563,1735.75,267.6563,1723.75,255.6563,1735.75,243.6563" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="125" x="1735.75" y="259.4644">Associated to a topic?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1703.75" y="253.062">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1872.75" y="253.062">no</text><rect fill="#FEFECE" filter="url(#f124mp41ppij04)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="1030.5" y="277.6563"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="1040.5" y="298.7949">lock topic</text><rect fill="#000000" filter="url(#f124mp41ppij04)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="2146" x="10" y="331.625"/><path d="M22,592.8174 L22,617.9502 A0,0 0 0 0 22,617.9502 L323,617.9502 A0,0 0 0 0 323,617.9502 L323,610.8174 L343,605.3838 L323,602.8174 L323,602.8174 L313,592.8174 L22,592.8174 A0,0 0 0 0 22,592.8174 " fill="#FBFB77" filter="url(#f124mp41ppij04)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M313,592.8174 L313,602.8174 L323,602.8174 L313,592.8174 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="280" x="28" y="609.8843">Must be within lock because of HRT counter.</text><rect fill="#FEFECE" filter="url(#f124mp41ppij04)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="124" x="343" y="588.3994"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="104" x="353" y="609.5381">unregister event</text><rect fill="#FEFECE" filter="url(#f124mp41ppij04)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="214" x="477" y="588.3994"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="194" x="487" y="609.5381">decrement topic's HRT counter</text><rect fill="#EEEEEE" filter="url(#f124mp41ppij04)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="292" x="701" y="581.415"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="701" x2="731" y1="598.3994" y2="598.3994"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="232" x="731" y="602.0537">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="963" x2="993" y1="598.3994" y2="598.3994"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="272" x="711" y="616.5225">decrement counter of subscribers (@topic)</text><rect fill="#EEEEEE" filter="url(#f124mp41ppij04)" height="254.2031" style="stroke: #000000; stroke-width: 2.0;" width="469" x="1021" y="477.7822"/><path d="M1361,478.7822 L1361,487.0791 L1351,497.0791 L1021,497.0791 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="330" x="1024" y="491.7773">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><rect fill="#EEEEEE" filter="url(#f124mp41ppij04)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="312" x="1096.5" y="514.0791"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="292" x="1106.5" y="535.2178">remove self from topic's list of HRT subscribers</text><rect fill="#EEEEEE" filter="url(#f124mp41ppij04)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="423" x="1041" y="631.0322"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="403" x="1051" y="652.1709">update QoS rate timer (@topic) wrt. most critical HRT subscriber</text><polygon fill="#FEFECE" filter="url(#f124mp41ppij04)" points="1157.5,582.6299,1347.5,582.6299,1359.5,594.6299,1347.5,606.6299,1157.5,606.6299,1145.5,594.6299,1157.5,582.6299" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1256.5" y="616.8403">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="1157.5" y="598.438">Was the most critical subscriber?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1359.5" y="592.0356">no</text><polygon fill="#FEFECE" filter="url(#f124mp41ppij04)" points="1252.5,687.9854,1264.5,699.9854,1252.5,711.9854,1240.5,699.9854,1252.5,687.9854" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#FFFFFF" filter="url(#f124mp41ppij04)" height="515.5117" style="stroke: #000000; stroke-width: 2.0;" width="626" x="1518" y="348.4268"/><path d="M1700,349.4268 L1700,357.7236 L1690,367.7236 L1518,367.7236 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="172" x="1521" y="362.4219">fetch pending messages</text><rect fill="#FEFECE" filter="url(#f124mp41ppij04)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="185" x="1742.5" y="384.7236"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="165" x="1752.5" y="405.8623">access last read message</text><rect fill="#FEFECE" filter="url(#f124mp41ppij04)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="1744.5" y="499.4971"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="161" x="1754.5" y="520.6357">proceed to next message</text><rect fill="#000000" filter="url(#f124mp41ppij04)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="564" x="1552" y="568.0479"/><rect fill="#FEFECE" filter="url(#f124mp41ppij04)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="240" x="1566" y="601.0322"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="220" x="1576" y="622.1709">decrement message's HRT counter</text><rect fill="#EEEEEE" filter="url(#f124mp41ppij04)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="1834" y="594.0479"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1834" x2="1853" y1="611.0322" y2="611.0322"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="232" x="1853" y="614.6865">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2085" x2="2104" y1="611.0322" y2="611.0322"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="250" x="1844" y="629.1553">decremnt message's consumer counter</text><rect fill="#000000" filter="url(#f124mp41ppij04)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="564" x="1552" y="661.9854"/><polygon fill="#FEFECE" filter="url(#f124mp41ppij04)" points="1718,438.6924,1952,438.6924,1964,450.6924,1952,462.6924,1718,462.6924,1706,450.6924,1718,438.6924" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1839" y="472.9028">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="234" x="1718" y="454.5005">Timestamp of next message is younger?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1692" y="448.0981">no</text><rect fill="#FEFECE" filter="url(#f124mp41ppij04)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="217" x="1726.5" y="773.9697"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="197" x="1736.5" y="795.1084">signal topic's condition variable</text><polygon fill="#FEFECE" filter="url(#f124mp41ppij04)" points="1707,725.5674,1963,725.5674,1975,737.5674,1963,749.5674,1707,749.5674,1695,737.5674,1707,725.5674" style="stroke: #A80036; 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stroke-width: 1.0;"/><path d="M983,953.9072 L983,963.9072 L993,963.9072 L983,953.9072 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="806" x2="828.5" y1="966.4736" y2="966.4736"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="134" x="832.5" y="970.4741">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="970.5" x2="993" y1="966.4736" y2="966.4736"/><ellipse cx="817.5" cy="981.6729" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="37" x="823" y="986.1069">topic</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="864" y="986.1069">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="879" y="986.1069">NULL</text><ellipse cx="817.5" cy="996.8057" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; 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@startuml

title **µRtWare**\nurtHrtSubscriberUnsubscribe()\n

note

  - - **subscriber** : urt_hrtsubscriber_t* - -

  The HRT subscriber to be unsubscribed.

  Must not be ""NULL"".

  ====

  - - **return** : urt_status_t - -

  Returns ""URT_STATUS_OK"" on sucess.

  Returns ""URT_STATUS_UNSUBSCRIBE_NOTOPIC"" if the subscriber is not associated to a topic.

endnote

start

if (Associated to a topic?) then (yes)

  :lock topic;

  fork

    :unregister event;

    note

      Must be within lock because of HRT counter.

    endnote

  fork again

    :decrement topic's HRT counter;

  fork again

    #EEEEEE:..//URT_CFG_PUBSUB_PROFILING == true//..\ndecrement counter of subscribers (@topic);

  fork again

    partition "//URT_CFG_PUBSUB_QOS_RATECHECKS == true//" #EEEEEE {

      #EEEEEE:remove self from topic's list of HRT subscribers;

      if (Was the most critical subscriber?) then (yes)

        #EEEEEE:update QoS rate timer (@topic) wrt. most critical HRT subscriber;

      else (no)

      endif

    }

  fork again

    partition "fetch pending messages" {

      :access last read message;

      while (Timestamp of next message is younger?) is (yes)

        :proceed to next message;

        fork

          :decrement message's HRT counter;

        fork again

          #EEEEEE:..//URT_CFG_PUBSUB_PROFILING == true//..\ndecremnt message's consumer counter;

        endfork

      endwhile (no)

      if (The HRT counter of any message became 0?) then (yes)

        :signal topic's condition variable;

      else (no)

      endif

    }

  endfork

  :unlock topic;

  :reset members;

  note

    - - urt_basesubscriber_t - -

    * **topic** ← ""NULL""

    * **lastMessage** ← ""NULL""

    * **lastMessageTime** ← 0

  endnote

  stop

  note

    Returns ""URT_STATUS_OK"".

  endnote

else (no)

  stop

  note

    Returns ""URT_STATUS_UNSUBSCRIBE_NOTOPIC"".

  endnote

endif

@enduml

PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)

(GPL source distribution)

Java Runtime: OpenJDK Runtime Environment

JVM: OpenJDK 64-Bit Server VM

Java Version: 11.0.6+10-post-Ubuntu-1ubuntu118.04.1

Operating System: Linux

Default Encoding: UTF-8

Language: en

Country: US

--></g></svg>