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**\nurtNrtRequestRetrieve()\n

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

note

  -- **request** : urt_nrtrequest_t* --

  The request to retrieve.

  Must not be ""NULL"".

  ====

  -- **return** : urt_status_t --

  Typcially returns ""URT_STATUS_OK"".

  Returns ""URT_STATUS_REQUEST_BADOWNER"" if the request had to be removed from a service.

endnote

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

start

:lock request;

if (Request is owned by a service?) then (yes)

  fork

    partition "unqueue request" {

      :lock service;

      fork

        if (This was the first request in the queue?) then (yes)

          :set ""requestQueue_front"" to ""next"";

        else (no)

          :set ""prev"" of preceeding request to ""prev"" of this reuqest;

        endif

      fork again

        if (This was the final request in the queue?) then (yes)

          :set ""requestQueue_back"" to ""prev"";

        else (no)

          :set ""next"" of preceeding request to ""next"" of this reuqest;

        endif

      endfork

      :unlock service;

    }

  fork again

    :set ""owner"" to ""NULL"";

  endfork

  stop

  note

    Returns ""URT_STATUS_REQUEST_BADOWNER"".

  endnote

else (no)

  stop

  note

    Returns ""URT_STATUS_OK"".

  endnote

endif

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

@enduml