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**\nurtHrtRequestSubmit()\n

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

note

  -- **request** : urt_hrtrequest_t* --

  The request to be used for this call.

  Must not be ""NULL"".

  Must have been acquired before.

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

  The service to be called.

  Must not be ""NULL"".

  -- **deadline** : urt_delay_t --

  Deadline offset until when this request is valid.

  ====

  -- **return** : urt_status_t --

  Always returns ""URT_STATUS_OK"".

endnote

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

start

fork

  :set QoS timer to deadline or maximum jitter;

fork again

  :set ""deadlineOffset"" to argument;

endfork

:lock service;

fork

  partition "enqueue request" {

    if (Service already holds requests?) then (yes)

      if (Service already holds HRT requests?) then (yes)

        :access first queued HRT request;

        while (Queued request is more or equally critical?) is (yes)

          :proceed to next request;

        endwhile (no)

        fork

          :set ""next"" pointer of this request to queued request;

        fork again

          :set ""prev"" pointer of this request to ""prev"" of queued request;

        fork again

          :set ""next"" pointer of previous request to this request;

        fork again

          :set ""prev"" pointer of queued request to this request;

        fork again

          if (This is the least critical HRT request?) then (yes)

            :set the ""requestQueue_hrtBack"" pointer to this request;

          else (no)

          endif

        endfork

      else (no)

        :access first queued request;

        fork

          :set ""next"" pointer of this request to queued request;

        fork again

          :set ""prev"" pointer of queued request to this request;

        fork again

          :set the ""requestQueue_hrtBack"" pointer to this request;

        endfork

      endif

      fork

        if (The request is at the front of the queue?) then (yes)

          :set the ""requestQueue_front"" pointer to this request;

        else (no)

        endif

      fork again

        if (The request is at the back of the queue?) then (yes)

          :set the ""requestQueue_back"" pointer to this request;

        else (no)

        endif

      endfork

    else (no)

      fork

        :set the ""requestQueue_front"" pointer to this request;

      fork again

        :set the ""requestQueue_back"" pointer to this request;

      fork again

        :set the ""requestQueue_hrtBack"" pointer to this request;

      endfork

    endif

  }

fork again

  :set the service as request owner;

endfork

:unlock request;

:fire event (@service);

:unlock service;

stop

note

  Returns ""URT_STATUS_OK"".

endnote

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

@enduml