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="1370px" preserveAspectRatio="none" style="width:2922px;height:1370px;" version="1.1" viewBox="0 0 2922 1370" width="2922px" zoomAndPan="magnify"><defs><filter height="300%" id="f12n62kzuquswy" 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="1415.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="334" x="1293" y="47.6611">urtFrtSubscriberFetchLatestMessage()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="1463" y="68.6143"/><path d="M1570.75,72.8594 L1570.75,334.9844 L2259.75,334.9844 L2259.75,82.8594 L2249.75,72.8594 L1570.75,72.8594 " fill="#FBFB77" filter="url(#f12n62kzuquswy)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2249.75,72.8594 L2249.75,82.8594 L2259.75,82.8594 L2249.75,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1570.75" x2="1804.25" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1808.25" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="1808.25" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="132" x="1890.25" y="89.4263">: urt_frtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="2026.25" x2="2259.75" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="350" x="1576.75" y="105.0591">The FRT subscriber that shall fetch the latest message.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="1576.75" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1656.75" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1688.75" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1570.75" x2="1859.25" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1863.25" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="59" x="1863.25" y="134.8247">payload</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="1926.25" y="134.8247">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1971.25" x2="2259.75" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="238" x="1576.75" 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="1576.75" y="165.5903">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1626.75" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="195" x="1662.75" y="165.5903">for messages without payload.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1570.75" x2="1866.25" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1870.25" y="180.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="1870.25" y="180.2231">bytes</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="45" x="1915.25" y="180.2231">: size_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1964.25" x2="2259.75" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="137" x="1576.75" y="195.856">Payload size in bytes.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1570.75" x2="1839.75" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1843.75" y="210.4888"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="53" x="1843.75" y="210.4888">latency</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="86" x="1900.75" y="210.4888">: urt_delay_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1990.75" x2="2259.75" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="267" x="1576.75" 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="1576.75" y="241.2544">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1626.75" y="241.2544">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1658.75" y="241.2544">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1570.75" x2="2259.75" y1="249.3203" y2="249.3203"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1570.75" x2="2259.75" y1="251.3203" y2="251.3203"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1570.75" x2="1844.25" y1="261.8867" y2="261.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1848.25" y="265.8872"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="1848.25" y="265.8872">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="1897.25" y="265.8872">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1986.25" x2="2259.75" y1="261.8867" y2="261.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1576.75" y="281.52">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="1629.75" y="281.52">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="75" x="1737.75" y="281.52">on success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1576.75" y="296.6528">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="192" x="1629.75" y="296.6528">URT_STATUS_FETCH_NOTOPIC</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="282" x="1825.75" 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="1576.75" y="311.7856">Retruns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="1629.75" y="311.7856">URT_STATUS_FETCH_NOMESSAGE</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="228" x="1841.75" 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="1576.75" y="326.9185">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="1629.75" y="326.9185">URT_STATUS_JITTERVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="403" x="1841.75" y="326.9185">if the message's latency violated the maximum expected jitter.</text><ellipse cx="1915.25" cy="364.9844" fill="#000000" filter="url(#f12n62kzuquswy)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#f12n62kzuquswy)" points="1852.75,394.9844,1977.75,394.9844,1989.75,406.9844,1977.75,418.9844,1852.75,418.9844,1840.75,406.9844,1852.75,394.9844" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="125" x="1852.75" y="410.7925">Associated to a topic?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1820.75" y="404.3901">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1989.75" y="404.3901">no</text><rect fill="#FEFECE" filter="url(#f12n62kzuquswy)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="862.5" y="428.9844"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="872.5" y="450.123">lock topic</text><rect fill="#FFFFFF" filter="url(#f12n62kzuquswy)" height="348.8823" style="stroke: #000000; stroke-width: 2.0;" width="736" x="533" y="473.7549"/><path d="M678,474.7549 L678,483.0518 L668,493.0518 L533,493.0518 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="135" x="536" y="487.75">find latest message</text><rect fill="#FEFECE" filter="url(#f12n62kzuquswy)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="145" x="830" y="510.0518"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="44" x="840" y="531.1904">access</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="77" x="888" y="531.1904">lastMessage</text><rect fill="#000000" filter="url(#f12n62kzuquswy)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="671" x="567" y="619.731"/><rect fill="#FEFECE" filter="url(#f12n62kzuquswy)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="659.5" y="645.731"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="161" x="669.5" y="666.8696">proceed to next message</text><rect fill="#EEEEEE" filter="url(#f12n62kzuquswy)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="338" x="581" y="714.6997"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="581" x2="634" y1="731.6841" y2="731.6841"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="232" x="634" y="735.3384">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="866" x2="919" y1="731.6841" y2="731.6841"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="318" x="591" y="749.8071">decrement counter of consumers left (@message)</text><rect fill="#EEEEEE" filter="url(#f12n62kzuquswy)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="277" x="947" y="680.2153"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="947" x2="969.5" y1="697.1997" y2="697.1997"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="232" x="969.5" y="700.854">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1201.5" x2="1224" y1="697.1997" y2="697.1997"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="257" x="957" y="715.3228">increment counter of received messages</text><rect fill="#000000" filter="url(#f12n62kzuquswy)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="671" x="567" y="782.6372"/><polygon fill="#FEFECE" filter="url(#f12n62kzuquswy)" points="785.5,564.0205,1019.5,564.0205,1031.5,576.0205,1019.5,588.0205,785.5,588.0205,773.5,576.0205,785.5,564.0205" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="906.5" y="598.231">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="234" x="785.5" y="579.8286">Timestamp of next message is younger?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="759.5" y="573.4263">no</text><polygon fill="#FEFECE" filter="url(#f12n62kzuquswy)" points="816.5,842.6372,988.5,842.6372,1000.5,854.6372,988.5,866.6372,816.5,866.6372,804.5,854.6372,816.5,842.6372" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="816.5" y="858.4453">Timestamp equals local copy?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="784.5" y="852.043">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1000.5" y="852.043">no</text><rect fill="#FEFECE" filter="url(#f12n62kzuquswy)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="96" x="279" y="876.6372"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="76" x="289" y="897.7759">unlock topic</text><path d="M10,945.606 L10,970.7388 A0,0 0 0 0 10,970.7388 L296,970.7388 A0,0 0 0 0 296,970.7388 L296,963.606 L316,958.1724 L296,955.606 L296,955.606 L286,945.606 L10,945.606 A0,0 0 0 0 10,945.606 " fill="#FBFB77" filter="url(#f12n62kzuquswy)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M286,945.606 L286,955.606 L296,955.606 L286,945.606 " 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="962.6729">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="69" y="962.6729">URT_STATUS_FETCH_NOMESSAGE</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="277" y="962.6729">.</text><ellipse cx="327" cy="958.1724" fill="#FFFFFF" filter="url(#f12n62kzuquswy)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="327" cy="958.1724" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><rect fill="#000000" filter="url(#f12n62kzuquswy)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="2200" x="385" y="876.6372"/><rect fill="#FFFFFF" filter="url(#f12n62kzuquswy)" height="142.2656" style="stroke: #000000; stroke-width: 2.0;" width="622" x="397" y="1006.3257"/><path d="M510,1007.3257 L510,1015.6226 L500,1025.6226 L397,1025.6226 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="103" x="400" y="1020.3208">fetch message</text><rect fill="#000000" filter="url(#f12n62kzuquswy)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="602" x="407" y="1042.6226"/><rect fill="#FEFECE" filter="url(#f12n62kzuquswy)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="175" x="421" y="1068.6226"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="155" x="431" y="1089.7612">update message pointer</text><rect fill="#FEFECE" filter="url(#f12n62kzuquswy)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="180" x="624" y="1068.6226"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="160" x="634" y="1089.7612">copy message origin time</text><rect fill="#FEFECE" filter="url(#f12n62kzuquswy)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="163" x="832" y="1068.6226"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="143" x="842" y="1089.7612">copy message payload</text><rect fill="#000000" filter="url(#f12n62kzuquswy)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="602" x="407" y="1122.5913"/><path d="M1381.5,907.0552 L1381.5,932.188 A0,0 0 0 0 1381.5,932.188 L1701.5,932.188 A0,0 0 0 0 1701.5,932.188 L1701.5,925.0552 L1721.5,919.6216 L1701.5,917.0552 L1701.5,917.0552 L1691.5,907.0552 L1381.5,907.0552 A0,0 0 0 0 1381.5,907.0552 " fill="#FBFB77" filter="url(#f12n62kzuquswy)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1691.5,907.0552 L1691.5,917.0552 L1701.5,917.0552 L1691.5,907.0552 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="299" x="1387.5" y="924.1221">Can be optimized in case all flags are disabled.</text><rect fill="#FEFECE" filter="url(#f12n62kzuquswy)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="187" x="1721.5" y="902.6372"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="167" x="1731.5" y="923.7759">calculate message latency</text><rect fill="#000000" filter="url(#f12n62kzuquswy)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1526" x="1047" y="971.606"/><rect fill="#EEEEEE" filter="url(#f12n62kzuquswy)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="1061" y="1087.9741"/><line style="stroke: #A80036; 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@startuml

title **µRtWare**\nurtFrtSubscriberFetchLatestMessage()\n

note

  - - **subscriber** : urt_frtsubscriber_t* - -

  The FRT subscriber that shall fetch the latest 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;

    partition "find latest message" {

    :access ""lastMessage"";

    while (Timestamp of next message is younger?) is (yes)

      fork

        :proceed to next message;

        #EEEEEE:..//URT_CFG_PUBSUB_PROFILING == true//..\ndecrement counter of consumers left (@message);

      fork again

        #EEEEEE:..//URT_CFG_PUBSUB_PROFILING == true//..\nincrement counter of received messages;

      endfork

    endwhile (no)

  }

  if (Timestamp equals local copy?) then (yes)

    :unlock topic;

    stop

    note

      Returns ""URT_STATUS_FETCH_NOMESSAGE"".

    endnote

  else (no)

    fork

        partition "fetch message" {

    fork

      :update message pointer;

    fork again

      :copy message origin time;

    fork again

      :copy message payload;

    endfork

  }

    fork again

      :calculate message latency;

      note

        Can be optimized in case all flags are disabled.

      endnote

      fork

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

      fork again

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

          if (Latency is lower than ""minLatency"" but within allowed jitter range?) then (yes)

            #EEEEEE:update ""minLatency"" value;

          elseif (Latency is greater than ""maxLatency"" but within allowed jitter range?) then (yes)

            #EEEEEE:update ""maxLatency"" value;

          else (no)

          endif

        }

      fork again

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

          :set ""latency"" value;

        else (no)

        endif

      fork again

      endfork

    endfork

    :unlock topic;

    stop

    note

      Returns ""URT_STATUS_OK"" or ""URT_STATUS_JITTERVIOLATION"".

    endnote

  endif

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>