AMiRo-OS

/'

µRtWare is a lightweight publish/subscribe middleware for real-time

applications. It was developed as part of the software habitat for the

Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.

Copyright (C) 2018..2020  Thomas Schöpping et al.

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/>.

'/

/'### INTRO ##################################################################'/

@startuml

title **µRtWare**\nurtServiceCall()\n

/'### PARAMETERS & RETURN ####################################################'/

note

  -- **service** : urt_service_t* --

  The service to call.

  Must not be ""NULL"".

  -- **arg** : void* --

  Optional argument for the service call.

  May be ""NULL"" if the service expects no arguments.

  -- **ret** : void* --

  Pointer to an optional output value.

  May be ""NULL"".

  -- **timeout** : urt_delay_t --

  Timeout delay to be propagated to the callback function.

  Whether timeout is considered depends on the callback function.

  ====

  -- **return** : urt_status_t --

  Returns the exact output status of the service call.

endnote

/'### PROCEDURE ##############################################################'/

start

#EEEEEE:..//URT_CFG_RPC_PROFILING == true//..\nincrement call counter;

:execute the service ""callback"" function;

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

  fork

    #EEEEEE:accumulate sum of durations;

  fork again

    if (Calback returned ""URT_STATUS_SERVICE_TIMEOUT""?) then (yes)

      #EEEEEE:increment timeout counter;

    else (no)

    endif

  fork again

    if (Duration was shorter than ""minDuration""?) then (yes)

      #EEEEEE:update ""minDuration"" value;

    elseif (Duration was longer than ""maxDuration""?) then (yes)

      #EEEEEE:update ""maxDuration"" value;

    else (no)

    endif

  endfork

}

stop

note

  Returns the return value of the callback.

endnote

/'### OUTRO ##################################################################'/

@enduml