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="1530px" preserveAspectRatio="none" style="width:1961px;height:1530px;" version="1.1" viewBox="0 0 1961 1530" width="1961px" zoomAndPan="magnify"><defs><filter height="300%" id="f1r23ceqqutp94" 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="935.25" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="328" x="815.75" y="47.6611">urtHrtSubscriberFetchNextMessage()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="982.75" y="68.6143"/><path d="M1028.375,72.8594 L1028.375,334.9844 L1717.375,334.9844 L1717.375,82.8594 L1707.375,72.8594 L1028.375,72.8594 " fill="#FBFB77" filter="url(#f1r23ceqqutp94)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1707.375,72.8594 L1707.375,82.8594 L1717.375,82.8594 L1707.375,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1028.375" x2="1259.875" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1263.875" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="1263.875" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="136" x="1345.875" y="89.4263">: urt_hrtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1485.875" x2="1717.375" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="313" x="1034.375" y="105.0591">The HRT subscriber that shall fetch the message.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="1034.375" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1114.375" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1146.375" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1028.375" x2="1316.875" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1320.875" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="59" x="1320.875" y="134.8247">payload</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="1383.875" y="134.8247">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1428.875" x2="1717.375" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="238" x="1034.375" y="150.4575">Pointer where to copy the payload to.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="1034.375" y="165.5903">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1084.375" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="195" x="1120.375" y="165.5903">for messages without payload.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1028.375" x2="1323.875" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1327.875" y="180.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="1327.875" y="180.2231">bytes</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="45" x="1372.875" y="180.2231">: size_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1421.875" x2="1717.375" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="137" x="1034.375" y="195.856">Payload size in bytes.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1028.375" x2="1297.375" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1301.375" y="210.4888"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="53" x="1301.375" y="210.4888">latency</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="86" x="1358.375" y="210.4888">: urt_delay_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1448.375" x2="1717.375" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="267" x="1034.375" y="226.1216">The latency can be returned by reference.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="1034.375" y="241.2544">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1084.375" y="241.2544">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1116.375" y="241.2544">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1028.375" x2="1717.375" y1="249.3203" y2="249.3203"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1028.375" x2="1717.375" y1="251.3203" y2="251.3203"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1028.375" x2="1301.875" y1="261.8867" y2="261.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1305.875" y="265.8872"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="1305.875" y="265.8872">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="1354.875" y="265.8872">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1443.875" x2="1717.375" y1="261.8867" y2="261.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1034.375" y="281.52">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="1087.375" y="281.52">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="75" x="1195.375" y="281.52">on success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1034.375" y="296.6528">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="192" x="1087.375" y="296.6528">URT_STATUS_FETCH_NOTOPIC</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="282" x="1283.375" y="296.6528">if the subscriber is not associated to a topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1034.375" y="311.7856">Retruns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="1087.375" y="311.7856">URT_STATUS_FETCH_NOMESSAGE</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="228" x="1299.375" y="311.7856">if there is no new message to fetch.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1034.375" y="326.9185">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="1087.375" y="326.9185">URT_STATUS_JITTERVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="403" x="1299.375" y="326.9185">if the message's latency violated the maximum expected jitter.</text><ellipse cx="1372.875" cy="364.9844" fill="#000000" filter="url(#f1r23ceqqutp94)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#f1r23ceqqutp94)" points="1310.375,394.9844,1435.375,394.9844,1447.375,406.9844,1435.375,418.9844,1310.375,418.9844,1298.375,406.9844,1310.375,394.9844" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="125" x="1310.375" y="410.7925">Associated to a topic?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1278.375" y="404.3901">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1447.375" y="404.3901">no</text><rect fill="#FEFECE" filter="url(#f1r23ceqqutp94)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="770.25" y="428.9844"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="780.25" y="450.123">lock topic</text><polygon fill="#FEFECE" filter="url(#f1r23ceqqutp94)" points="734.25,482.9531,886.25,482.9531,898.25,494.9531,886.25,506.9531,734.25,506.9531,722.25,494.9531,734.25,482.9531" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="152" x="734.25" y="498.7612">Next message is younger?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="702.25" y="492.3589">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="898.25" y="492.3589">no</text><rect fill="#FEFECE" filter="url(#f1r23ceqqutp94)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="506" y="516.9531"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="161" x="516" y="538.0918">proceed to next message</text><rect fill="#FEFECE" filter="url(#f1r23ceqqutp94)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="96" x="976" y="516.9531"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="76" x="986" y="538.0918">unlock topic</text><path d="M707,569.3555 L707,594.4883 A0,0 0 0 0 707,594.4883 L993,594.4883 A0,0 0 0 0 993,594.4883 L993,587.3555 L1013,581.9219 L993,579.3555 L993,579.3555 L983,569.3555 L707,569.3555 A0,0 0 0 0 707,569.3555 " fill="#FBFB77" filter="url(#f1r23ceqqutp94)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M983,569.3555 L983,579.3555 L993,579.3555 L983,569.3555 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="713" y="586.4224">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="766" y="586.4224">URT_STATUS_FETCH_NOMESSAGE</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="974" y="586.4224">.</text><ellipse cx="1024" cy="581.9219" fill="#FFFFFF" filter="url(#f1r23ceqqutp94)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="1024" cy="581.9219" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><rect fill="#000000" filter="url(#f1r23ceqqutp94)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1604.5" x="10" y="614.4883"/><rect fill="#FEFECE" filter="url(#f1r23ceqqutp94)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="187" x="218" y="640.4883"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="167" x="228" y="661.627">calculate message latency</text><rect fill="#000000" filter="url(#f1r23ceqqutp94)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="581" x="22" y="709.457"/><rect fill="#EEEEEE" filter="url(#f1r23ceqqutp94)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="34" y="776.875"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="34" x2="44" y1="793.8594" y2="793.8594"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="232" x="44" y="797.5137">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="276" x2="286" y1="793.8594" y2="793.8594"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="73" x="44" y="811.9824">accumulate</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="121" y="811.9824">sumLatencies</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="33" x="209" y="811.9824">value</text><rect fill="#FEFECE" filter="url(#f1r23ceqqutp94)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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stroke-width: 1.5;"/><rect fill="#000000" filter="url(#f1r23ceqqutp94)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="581" x="22" y="886.2305"/><rect fill="#FEFECE" filter="url(#f1r23ceqqutp94)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="240" x="631" y="666.4883"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="220" x="641" y="687.627">decrement message's HRT counter</text><rect fill="#FEFECE" filter="url(#f1r23ceqqutp94)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="217" x="642.5" y="783.8594"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="197" x="652.5" y="804.998">signal topic's condition variable</text><polygon fill="#FEFECE" filter="url(#f1r23ceqqutp94)" points="683.5,735.457,818.5,735.457,830.5,747.457,818.5,759.457,683.5,759.457,671.5,747.457,683.5,735.457" style="stroke: #A80036; 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@startuml

title **µRtWare**\nurtHrtSubscriberFetchNextMessage()\n

note

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

  The HRT subscriber that shall fetch the message.

  Must not be ""NULL"".

  - - **payload** : void* - -

  Pointer where to copy the payload to.

  May be ""NULL"" for messages without payload.

  - - **bytes** : size_t - -

  Payload size in bytes.

  - - **latency** : urt_delay_t* - -

  The latency can be returned by reference.

  May be ""NULL"".

  ====

  - - **return** : urt_status_t - -

  Returns ""URT_STATUS_OK"" on success.

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

  Retruns ""URT_STATUS_FETCH_NOMESSAGE"" if there is no new message to fetch.

  Returns ""URT_STATUS_JITTERVIOLATION"" if the message's latency violated the maximum expected jitter.

endnote

start

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

  :lock topic;

  if (Next message is younger?) then (yes)

    :proceed to next message;

  else (no)

    :unlock topic;

    stop

    note

      Returns ""URT_STATUS_FETCH_NOMESSAGE"".

    endnote

  endif

  fork

    :calculate message latency;

    fork

      #EEEEEE:..//URT_CFG_PUBSUB_PROFILING == true//..\naccumulate ""sumLatencies"" value;

    fork again

      if (Optional ""latency"" output argument given?) then (yes)

        :set ""latency"" value;

      else (no)

      endif

    endfork

  fork again

    :decrement message's HRT counter;

    if (HRT counter became 0?) then (yes)

    else (no)

      :signal topic's condition variable;

    endif

  fork again

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

      fork

        #EEEEEE:decrement counter of consumers left (@message);

      fork again

        #EEEEEE:increment counter of received messages;

      endfork

    }

  endfork

  partition "//URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true//" #EEEEEE {

    if (Latency is within allowed jitter range?) then (yes)

      if (Latency is lower than ""minLatency""?) then (yes)

        #EEEEEE:update ""minLatency"" value;

      elseif (Latency is greater than ""maxLatency""?) then (yes)

        #EEEEEE:update ""maxLatency"" value;

      else (no)

      endif

    else (no)

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

        #EEEEEE:unlock topic;

        #EEEEEE:call ""urtCoreStopNodes(URT_STATUS_JITTERVIOLATION)"";

        stop

        note

          Returns ""URT_STATUS_JITTERVIOLATION"".

        endnote

      }

    endif

  }

  fork

      partition "fetch message" {

    fork

      :update message pointer;

    fork again

      :copy message origin time;

    fork again

      :copy message payload;

    endfork

  }

  fork again

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

      if (Timestamp of next message is younger?) then (yes)

        #EEEEEE:update QoS deadline timer wrt. next message;

      else (no)

        #EEEEEE:reset QoS deadline timer;

      endif

    }

  endfork

  :unlock topic;

  stop

  note

    Returns ""URT_STATUS_OK"".

  endnote

else (no)

  stop

  note

    Returns ""URT_STATUS_FETCH_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: 11.0.7+10-post-Ubuntu-2ubuntu218.04

Operating System: Linux

Default Encoding: UTF-8

Language: en

Country: US

--></g></svg>