urtware / doc / classdiagrams / primitives.uml @ 056e40d2
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1 | 4d55cea4 | Thomas Schöpping | /' |
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2 | µRtWare is a lightweight publish/subscribe middleware for real-time |
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3 | applications. It was developed as part of the software habitat for the |
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4 | Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well. |
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5 | |||
6 | Copyright (C) 2018..2020 Thomas Schöpping et al. |
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7 | |||
8 | This program is free software: you can redistribute it and/or modify |
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9 | it under the terms of the GNU General Public License as published by |
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10 | the Free Software Foundation, either version 3 of the License, or |
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11 | (at your option) any later version. |
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12 | |||
13 | This program is distributed in the hope that it will be useful, |
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14 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
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15 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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16 | GNU General Public License for more details. |
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17 | |||
18 | You should have received a copy of the GNU General Public License |
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19 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
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20 | '/ |
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21 | |||
22 | /'### INTRO ##################################################################'/ |
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23 | |||
24 | @startuml |
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25 | |||
26 | title **µRtWare**\nPrimitives |
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27 | |||
28 | !include ../functions.iuml |
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29 | |||
30 | /'### ENTITIES ###############################################################'/ |
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31 | |||
32 | !startsub ENTITIES |
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33 | |||
34 | /' Node synchronization type. '/ |
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35 | $type("urt_nodestage_t") { |
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36 | .. URT_CFG_NODESTAGE_WIDTH == 8 .. |
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37 | uin8_t |
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38 | .. URT_CFG_NODESTAGE_WIDTH == 16 .. |
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39 | uint16_t |
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40 | .. URT_CFG_NODESTAGE_WIDTH == 32 .. |
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41 | uint32_t |
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42 | .. URT_CFG_NODESTAGE_WIDTH == 64 .. |
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43 | uint64_t |
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44 | } |
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45 | |||
46 | /' Topic ID type. '/ |
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47 | $type("urt_topicid_t") { |
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48 | .. URT_CFG_TOPICID_WIDTH == 8 .. |
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49 | uin8_t |
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50 | .. URT_CFG_TOPICID_WIDTH == 16 .. |
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51 | uint16_t |
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52 | .. URT_CFG_TOPICID_WIDTH == 32 .. |
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53 | uint32_t |
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54 | .. URT_CFG_TOPICID_WIDTH == 64 .. |
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55 | uint64_t |
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56 | } |
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57 | |||
58 | /' Service ID type. '/ |
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59 | $type("urt_serviceid_t") { |
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60 | .. URT_CFG_SERVICEID_WIDTH == 8 .. |
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61 | uin8_t |
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62 | .. URT_CFG_SERVICEID_WIDTH == 16 .. |
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63 | uint16_t |
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64 | .. URT_CFG_SERVICEID_WIDTH == 32 .. |
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65 | uint32_t |
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66 | .. URT_CFG_SERVICEID_WIDTH == 64 .. |
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67 | uint64_t |
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68 | } |
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69 | |||
70 | /' Well defined error codes. '/ |
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71 | $type("urt_status_t") { |
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72 | 056e40d2 | Thomas Schöpping | 'No bit set indicates success. |
73 | 4d55cea4 | Thomas Schöpping | URT_STATUS_OK = 0x0..0 |
74 | 056e40d2 | Thomas Schöpping | 'MSB set indicates an error. |
75 | 4d55cea4 | Thomas Schöpping | URT_STATUS_ERROR = 0x8..0 |
76 | } |
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77 | |||
78 | /' Temporal delay in microseconds. '/ |
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79 | $type("urt_delay_t") { |
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80 | .. URT_CFG_DELAY_WIDTH == 32 .. |
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81 | uint32_t |
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82 | .. URT_CFG_DELAY_WIDTH == 64 .. |
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83 | uint64_t |
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84 | } |
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85 | |||
86 | /' Just a function for debugging. '/ |
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87 | $function("urt_debug") { |
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88 | 'Checks the condition in debug mode. |
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89 | + {method} urtDebugAssert(condition : bool) : void |
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90 | } |
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91 | |||
92 | !endsub |
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93 | |||
94 | /'### DEPENDENCIES & LAYOUT ##################################################'/ |
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95 | |||
96 | !startsub DEPENDENCIES |
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97 | !endsub |
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98 | |||
99 | /'### OUTRO ##################################################################'/ |
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100 | |||
101 | @enduml |