urtware / doc / classdiagrams / urtware.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** |
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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 | /' uRtWare core structure. '/ |
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35 | $structure("urt_core_t") { |
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36 | 'List of nodes ordered by their (initial) priority. |
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37 | - {field} {static} _nodes : urt_node_t* |
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38 | 'Event source for control events. |
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39 | - {field} {static} _evtSource : urt_osEventSource_t |
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40 | 'Mutex used for synchronization. |
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41 | - {field} {static} _lock : urt_osMutex_t |
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42 | .. URT_CFG_PUBSUB_ENABLED == true .. |
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43 | 056e40d2 | Thomas Schöpping | 'List of topics ordered by their identifiers. |
44 | - {field} {static} _topics : urt_topic_t* |
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45 | 4d55cea4 | Thomas Schöpping | .. URT_CFG_RPC_ENABLED == true .. |
46 | 056e40d2 | Thomas Schöpping | 'List of services ordered by their identifiers. |
47 | - {field} {static} _services : urt_service_t* |
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48 | 4d55cea4 | Thomas Schöpping | __ |
49 | 'Initializes the urt_core_t object. |
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50 | + {method} urtCoreInit (void) : urt_status_t |
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51 | 'Starts all node threads (nodes will block before the loop). |
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52 | + {method} urtCoreStartNodes (void) : urt_status_t |
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53 | 'Nodes can use this function to synchronize globally. |
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54 | + {method} urtCoreSynchronizeNodes (node : urt_node_t*, stage : urt_nodestage_t) : urt_status_t |
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55 | 'Stops all nodes. |
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56 | + {method} urtCoreStopNodes (void) : urt_status_t |
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57 | 056e40d2 | Thomas Schöpping | .. URT_CFG_PUBSUB_ENABLED == true .. |
58 | 'Retrieves a topic given an identifier. |
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59 | + {method} urtCoreRetrieveTopic (id : urt_topicid_t) : urt_topic_t* |
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60 | .. URT_CFG_RPC_ENABLED == true .. |
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61 | 'Retrieves a service given an identifier. |
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62 | + {method} urtCoreRetrieveService (id : urt_serviceid_t) : urt_service_t* |
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63 | 4d55cea4 | Thomas Schöpping | } |
64 | |||
65 | $group("node") { |
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66 | /' Function type to be called during setup phase of node threads. '/ |
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67 | $type("urt_nodeSetupCallback_t") { |
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68 | 'Takes the node and optional parameters as arguments and returns a event mask for the next iteration. |
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69 | urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t |
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70 | } |
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71 | |||
72 | /' Function type to be called during loop phase of node threads. '/ |
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73 | $type("urt_nodeLoopCallback_t") { |
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74 | 'Takes the node, a mask of occurred events and optional parameters as arguments and returns a event mask for the next iteration. |
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75 | urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t |
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76 | } |
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77 | |||
78 | /' Node structure. '/ |
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79 | $structure("urt_node_t") { |
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80 | 'Pointer to the next node in a list. |
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81 | + {field} next : urt_node_t* |
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82 | 'Pointer to the nore thread. |
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83 | + {field} thread : urt_osThread_t* |
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84 | 'Callback function to be called during the setup phase. |
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85 | + {field} setupcallback : urt_nodeSetupCallback_t* |
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86 | 'Optional parameters for the setup callback function. |
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87 | + {field} setupparams : void* |
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88 | 'Callback function to be called in each loop iteration. |
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89 | + {field} loopcallback : urt_nodeLoopCallback_t* |
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90 | 'Optional parameters for the loop callback function. |
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91 | + {field} loopparams : void* |
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92 | 'Execution stage of the node. |
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93 | + {field} stage : urt_nodestage_t |
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94 | 'Event listener for middleware-wide control events. |
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95 | + {field} listener : urt_osEventListener_t |
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96 | __ |
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97 | 'The main() function of the node thread. |
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98 | - {method} {static} _main : urt_osThreadFunction_t |
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99 | 'Initializes an urt_node_t object. |
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100 | + {method} urtNodeInit (node : urt_node_t*, stacksize : size_t, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*) : urt_status_t |
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101 | } |
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102 | } /'node'/ |
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103 | |||
104 | $module("Publish-Subscribe System") { |
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105 | !includesub pubsub.uml!ENTITIES |
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106 | } |
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107 | |||
108 | $module("Remote Procedure Call System") { |
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109 | !includesub rpc.uml!ENTITIES |
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110 | } |
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111 | |||
112 | !endsub |
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113 | |||
114 | /'### DEPENDENCIES & LAYOUT ##################################################'/ |
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115 | |||
116 | !startsub DEPENDENCIES |
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117 | |||
118 | urt_node_t "1" o-- "0..1" urt_node_t |
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119 | urt_node_t "1" o-- "1" urt_nodeSetupCallback_t |
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120 | urt_node_t <.. urt_nodeSetupCallback_t |
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121 | urt_node_t "1" o-- "1" urt_nodeLoopCallback_t |
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122 | urt_node_t <.. urt_nodeLoopCallback_t |
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123 | |||
124 | !includesub pubsub.uml!DEPENDENCIES |
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125 | |||
126 | !includesub rpc.uml!DEPENDENCIES |
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127 | |||
128 | urt_core_t "1" o-- "0..1" urt_node_t |
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129 | 056e40d2 | Thomas Schöpping | urt_core_t "1" *-- "0..1" urt_topic_t |
130 | urt_core_t "1" *-- "0..1" urt_service_t |
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131 | 4d55cea4 | Thomas Schöpping | |
132 | !endsub |
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133 | |||
134 | /'### OUTRO ##################################################################'/ |
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135 | |||
136 | @enduml |