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="1457px" preserveAspectRatio="none" style="width:3826px;height:1457px;" version="1.1" viewBox="0 0 3826 1457" width="3826px" zoomAndPan="magnify"><defs><filter height="300%" id="f11zlis2rhyaec" 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="1867.75" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="247" x="1788.75" y="47.6611">urtHrtSubscriberSubscribe()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="1915.25" y="68.6143"/><path d="M875.5,72.8594 L875.5,440.9141 L1575.5,440.9141 L1575.5,82.8594 L1565.5,72.8594 L875.5,72.8594 " fill="#FBFB77" filter="url(#f11zlis2rhyaec)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1565.5,72.8594 L1565.5,82.8594 L1575.5,82.8594 L1565.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="875.5" x2="1112.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1116.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="1116.5" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="136" x="1198.5" y="89.4263">: urt_hrtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1338.5" x2="1575.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="327" x="881.5" y="105.0591">The HRT subscriber which shall subscribe to a topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="881.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="961.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="993.5" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="875.5" x2="1159.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1163.5" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="37" x="1163.5" y="134.8247">topic</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="83" x="1204.5" y="134.8247">: urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1291.5" x2="1575.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="161" x="881.5" y="150.4575">The topic to subscribe to.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="881.5" y="165.5903">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="961.5" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="993.5" y="165.5903">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="875.5" x2="1126.5" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1130.5" y="180.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="75" x="1130.5" y="180.2231">messages</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="111" x="1209.5" y="180.2231">: urt_message_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1324.5" x2="1575.5" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="881.5" y="195.856">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="346" x="917.5" y="195.856">terminated list of messages to contribute to the topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="329" x="881.5" y="210.9888">Messages must not be associated to another topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="430" x="881.5" y="226.1216">Once a message has been contributed, it cannot be removed later.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="881.5" y="241.2544">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="931.5" y="241.2544">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="186" x="967.5" y="241.2544">(no messages to contribute).</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="875.5" x2="1148" y1="251.8867" y2="251.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1152" y="255.8872"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="64" x="1152" y="255.8872">deadline</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="79" x="1220" y="255.8872">: urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1303" x2="1575.5" y1="251.8867" y2="251.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="267" x="881.5" y="271.52">Maximum latency to consume messages.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="325" x="881.5" y="286.6528">A value of 0 indicates that latency is of no concern.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="875.5" x2="1162.5" y1="297.2852" y2="297.2852"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1166.5" y="301.2856"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="35" x="1166.5" y="301.2856">jitter</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="79" x="1205.5" y="301.2856">: urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1288.5" x2="1575.5" y1="297.2852" y2="297.2852"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="679" x="881.5" y="316.9185">Maximum allowed jitter (difference between maximum and minimum latency) when consuming messages.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="308" x="881.5" y="332.0513">A value of 0 indicates that jitter is of no concern.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="875.5" x2="1165" y1="342.6836" y2="342.6836"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1169" y="346.6841"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="30" x="1169" y="346.6841">rate</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="79" x="1203" y="346.6841">: urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1286" x2="1575.5" y1="342.6836" y2="342.6836"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="621" x="881.5" y="362.3169">Expected minimum rate of new messages (= mamximum time between consecutive messages).</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="309" x="881.5" y="377.4497">A value of 0 indicates, that rate is of no concern.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="875.5" x2="1575.5" y1="385.5156" y2="385.5156"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="875.5" x2="1575.5" y1="387.5156" y2="387.5156"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="875.5" x2="1154.5" y1="398.082" y2="398.082"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1158.5" y="402.0825"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="1158.5" y="402.0825">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="1207.5" y="402.0825">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1296.5" x2="1575.5" y1="398.082" y2="398.082"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="881.5" y="417.7153">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="934.5" y="417.7153">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="75" x="1042.5" y="417.7153">on success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="881.5" y="432.8481">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="232" x="934.5" y="432.8481">URT_STATUS_SUBSCRIBE_TOPICSET</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="308" x="1170.5" y="432.8481">if the subscriber is already associated to a topic.</text><ellipse cx="1225.5" cy="470.9141" fill="#000000" filter="url(#f11zlis2rhyaec)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#f11zlis2rhyaec)" points="1168,500.9141,1283,500.9141,1295,512.9141,1283,524.9141,1168,524.9141,1156,512.9141,1168,500.9141" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="115" x="1168" y="516.7222">Is topic already set?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1136" y="510.3198">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1295" y="510.3198">no</text><path d="M10,534.9141 L10,560.0469 A0,0 0 0 0 10,560.0469 L320,560.0469 A0,0 0 0 0 320,560.0469 L320,552.9141 L340,547.4805 L320,544.9141 L320,544.9141 L310,534.9141 L10,534.9141 A0,0 0 0 0 10,534.9141 " fill="#FBFB77" filter="url(#f11zlis2rhyaec)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M310,534.9141 L310,544.9141 L320,544.9141 L310,534.9141 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="16" y="551.981">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="232" x="69" y="551.981">URT_STATUS_SUBSCRIBE_TOPICSET</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="301" y="551.981">.</text><ellipse cx="351" cy="547.4805" fill="#FFFFFF" filter="url(#f11zlis2rhyaec)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="351" cy="547.4805" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><rect fill="#000000" filter="url(#f11zlis2rhyaec)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="884" x="1659.5" y="534.9141"/><rect fill="#FEFECE" filter="url(#f11zlis2rhyaec)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="75" x="1673.5" y="654.8594"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="55" x="1683.5" y="675.998">set topic</text><path d="M1776.5,560.9141 L1776.5,782.7734 A0,0 0 0 0 1776.5,782.7734 L2378.5,782.7734 A0,0 0 0 0 2378.5,782.7734 L2378.5,675.8438 L2398.5,671.8438 L2378.5,667.8438 L2378.5,570.9141 L2368.5,560.9141 L1776.5,560.9141 A0,0 0 0 0 1776.5,560.9141 " fill="#EEEEEE" filter="url(#f11zlis2rhyaec)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2368.5,560.9141 L2368.5,570.9141 L2378.5,570.9141 L2368.5,560.9141 " fill="#EEEEEE" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1776.5" x2="2006.5" y1="573.4805" y2="573.4805"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="134" x="2010.5" y="577.481">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="2148.5" x2="2378.5" y1="573.4805" y2="573.4805"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1776.5" x2="1949" y1="588.6133" y2="588.6133"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="249" x="1953" y="592.6138">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2206" x2="2378.5" y1="588.6133" y2="588.6133"/><ellipse cx="1788" cy="603.8125" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="101" x="1793.5" y="608.2466">sumLatencies</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="1898.5" y="608.2466">← 0</text><ellipse cx="1788" cy="618.9453" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="173" x="1793.5" y="623.3794">numMessagesReceived</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="1970.5" y="623.3794">← 0</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1776.5" x2="2013" y1="634.0117" y2="634.0117"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="121" x="2017" y="638.0122">urt_hrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="2142" x2="2378.5" y1="634.0117" y2="634.0117"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1776.5" x2="1905" y1="649.1445" y2="649.1445"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="337" x="1909" y="653.145">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2250" x2="2378.5" y1="649.1445" y2="649.1445"/><ellipse cx="1788" cy="664.3438" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="110" x="1793.5" y="668.7778">deadlineOffset</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="69" x="1907.5" y="668.7778">← deadline</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1776.5" x2="1919.5" y1="679.4102" y2="679.4102"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="308" x="1923.5" y="683.4106">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2235.5" x2="2378.5" y1="679.4102" y2="679.4102"/><ellipse cx="1788" cy="694.6094" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="66" x="1793.5" y="699.0435">maxJitter</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="44" x="1863.5" y="699.0435">← jitter</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1776.5" x2="1787" y1="709.6758" y2="709.6758"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="573" x="1791" y="713.6763">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2368" x2="2378.5" y1="709.6758" y2="709.6758"/><ellipse cx="1788" cy="724.875" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; 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@startuml

title **µRtWare**\nurtHrtSubscriberSubscribe()\n

note

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

  The HRT subscriber which shall subscribe to a topic.

  Must not be ""NULL"".

  - - **topic** : urt_topic_t* - -

  The topic to subscribe to.

  Must not be ""NULL"".

  - - **messages** : urt_message_t* - -

  ""NULL"" terminated list of messages to contribute to the topic.

  Messages must not be associated to another topic.

  Once a message has been contributed, it cannot be removed later.

  May be ""NULL"" (no messages to contribute).

  - - **deadline** : urt_delay_t - -

  Maximum latency to consume messages.

  A value of 0 indicates that latency is of no concern.

  - - **jitter** : urt_delay_t - -

  Maximum allowed jitter (difference between maximum and minimum latency) when consuming messages.

  A value of 0 indicates that jitter is of no concern.

  - - **rate** : urt_delay_t - -

  Expected minimum rate of new messages (= mamximum time between consecutive messages).

  A value of 0 indicates, that rate is of no concern.

  ====

  - - **return** : urt_status_t - -

  Returns ""URT_STATUS_OK"" on success.

  Returns ""URT_STATUS_SUBSCRIBE_TOPICSET"" if the subscriber is already associated to a topic.

endnote

start

if (Is topic already set?) then (yes)

  stop

  note

    Returns ""URT_STATUS_SUBSCRIBE_TOPICSET"".

  endnote

else (no)

  fork

    :set topic;

  fork again

    #EEEEEE:initialize members;

    note #EEEEEE

      - - urt_basesubscriber_t - -

      .. URT_CFG_PUBSUB_PROFILING == true ..

      * **sumLatencies** ← 0

      * **numMessagesReceived** ← 0

      - - urt_hrtsubscriber_t - -

      .. URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true ..

      * **deadlineOffset** ← deadline

      .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ..

      * **maxJitter** ← jitter

      .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true ..

      * **minLatency** ← ""URT_DELAY_INFINITE""

      * **maxLatency** ← ""URT_DELAY_IMMEDIATE""

      .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..

      * **expectedRate** ← rate

    endnote

  endfork

  :lock topic;

  fork

    if (Messages to contribute?) then (yes)

        partition "contribute messages" {

    fork

      :set ""next"" pointer of last message to contribute to the message after the topic's latest message;

    fork again

      :set ""next"" pointer of topic's latest message to first message to contribute;

    endfork

  }

    else (no)

    endif

  fork again

    fork

      :set message pointer to topic's latest message;

    fork again

      :copy timestamp from topic's latest message;

    endfork

  fork again

    :register to topic's event source;

  fork again

    fork

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

        #EEEEEE:access first element of topic's list of HRT subscribers;

        while (Subscriber is not ""NULL""\nand its ""expectedRate"" is lower?) is (yes)

          #EEEEEE:proceed to next subscriber;

        endwhile (no)

        if (Current subscriber is ""NULL""?) then (yes)

          #EEEEEE:append self to topic's list of HRT subscribers;

        else (no)

          #EEEEEE:insert self in front of current HRT subscriber;

        endif

      }

    fork again

      :increment topic's counter of HRT subscribers;

    endfork

  fork again

    #EEEEEE:..//URT_CFG_PUBSUB_PROFILING == true//..\nincrement counter of subscribers (@topic);

  endfork

  :unlock topic;

  stop

  note

    Returns ""URT_STATUS_OK"".

  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>