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="1046px" preserveAspectRatio="none" style="width:1079px;height:1046px;" version="1.1" viewBox="0 0 1079 1046" width="1079px" zoomAndPan="magnify"><defs><filter height="300%" id="f3yh9yl8gxttz" 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="494.25" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="117" x="480.25" y="47.6611">urtTopicInit()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="541.75" y="68.6143"/><path d="M223.75,72.8594 L223.75,213.9219 L854.75,213.9219 L854.75,82.8594 L844.75,72.8594 L223.75,72.8594 " fill="#FBFB77" filter="url(#f3yh9yl8gxttz)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M844.75,72.8594 L844.75,82.8594 L854.75,82.8594 L844.75,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="223.75" x2="473.25" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="477.25" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="37" x="477.25" y="89.4263">topic</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="83" x="518.25" y="89.4263">: urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="605.25" x2="854.75" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="134" x="229.75" y="105.0591">The topic to initialize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="229.75" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="309.75" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="341.75" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="223.75" x2="482.75" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="486.75" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="14" x="486.75" y="134.8247">id</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="87" x="504.75" y="134.8247">: urt_topicid_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="595.75" x2="854.75" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="244" x="229.75" y="150.4575">Unique, numeric identifier of the topic.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="223.75" x2="854.75" y1="158.5234" y2="158.5234"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="223.75" x2="854.75" y1="160.5234" y2="160.5234"/><line style="stroke: #A80036; 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stroke-width: 1.0;"/><path d="M120.75,263.9219 L120.75,500.9141 A0,0 0 0 0 120.75,500.9141 L453.75,500.9141 A0,0 0 0 0 453.75,500.9141 L453.75,386.418 L473.75,382.418 L453.75,378.418 L453.75,273.9219 L443.75,263.9219 L120.75,263.9219 A0,0 0 0 0 120.75,263.9219 " fill="#FBFB77" filter="url(#f3yh9yl8gxttz)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M443.75,263.9219 L443.75,273.9219 L453.75,273.9219 L443.75,263.9219 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><ellipse cx="132.25" cy="276.5547" 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="32" x="137.75" y="280.9888">next</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="173.75" y="280.9888">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="188.75" y="280.9888">NULL</text><ellipse cx="132.25" cy="291.6875" 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="14" x="137.75" y="296.1216">id</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="26" x="155.75" y="296.1216">← id</text><ellipse cx="132.25" cy="306.8203" 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" lengthAdjust="spacingAndGlyphs" textLength="81" x="137.75" y="311.2544">urtMutexInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="30" x="218.75" y="311.2544">lock</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="248.75" y="311.2544">)</text><ellipse cx="132.25" cy="321.9531" 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" lengthAdjust="spacingAndGlyphs" textLength="123" x="137.75" y="326.3872">urtEventSourceInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="73" x="260.75" y="326.3872">evtSource</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="333.75" y="326.3872">)</text><ellipse cx="132.25" cy="337.0859" 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="134" x="137.75" y="341.52">numHrtSubscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="275.75" y="341.52">← 0</text><ellipse cx="132.25" cy="352.2188" 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" lengthAdjust="spacingAndGlyphs" textLength="95" x="137.75" y="356.6528">urtCondvarInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="232.75" y="356.6528">hrtReleased</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="321.75" y="356.6528">)</text><ellipse cx="132.25" cy="367.3516" 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" lengthAdjust="spacingAndGlyphs" textLength="99" x="137.75" y="371.7856">urtMessageInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="146" x="236.75" y="371.7856">mandatoryMessage</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="382.75" y="371.7856">)</text><ellipse cx="132.25" cy="382.4844" 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="108" x="137.75" y="386.9185">latestMessage</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="153" x="249.75" y="386.9185">← &amp;mandatoryMessage</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="120.75" x2="131.25" y1="397.5508" y2="397.5508"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="304" x="135.25" y="401.5513">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; 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stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="120.75" x2="158.75" y1="442.9492" y2="442.9492"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="249" x="162.75" y="446.9497">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="415.75" x2="453.75" y1="442.9492" y2="442.9492"/><ellipse cx="132.25" cy="458.1484" 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="179" x="137.75" y="462.5825">numMessagesPublished</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="320.75" y="462.5825">← 0</text><ellipse cx="132.25" cy="473.2813" 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="181" x="137.75" y="477.7153">numMessagesDiscarded</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="322.75" y="477.7153">← 0</text><ellipse cx="132.25" cy="488.4141" 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="119" x="137.75" y="492.8481">numSubscribers</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="260.75" y="492.8481">← 0</text><rect fill="#FEFECE" filter="url(#f3yh9yl8gxttz)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="131" x="473.75" y="365.4336"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="111" x="483.75" y="386.5723">initialize members</text><path d="M146.75,525.332 L146.75,550.4648 A0,0 0 0 0 146.75,550.4648 L416.75,550.4648 A0,0 0 0 0 416.75,550.4648 L416.75,543.332 L436.75,537.8984 L416.75,535.332 L416.75,535.332 L406.75,525.332 L146.75,525.332 A0,0 0 0 0 146.75,525.332 " fill="#FBFB77" filter="url(#f3yh9yl8gxttz)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M406.75,525.332 L406.75,535.332 L416.75,535.332 L406.75,525.332 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="93" x="152.75" y="542.3989">latestMessage</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="16" x="245.75" y="542.3989">-&gt;</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="140" x="261.75" y="542.3989">next ← latestMessage</text><rect fill="#FEFECE" filter="url(#f3yh9yl8gxttz)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="205" x="436.75" y="520.9141"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="185" x="446.75" y="542.0527">close circular message buffer</text><rect fill="#FEFECE" filter="url(#f3yh9yl8gxttz)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="77" x="500.75" y="574.8828"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="57" x="510.75" y="596.0215">lock core</text><rect fill="#FEFECE" filter="url(#f3yh9yl8gxttz)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="127" x="475.75" y="628.8516"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="107" x="485.75" y="649.9902">access first topic</text><rect fill="#FEFECE" filter="url(#f3yh9yl8gxttz)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="155" x="461.75" y="740.1401"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="471.75" y="761.2788">proceed to next topic</text><polygon fill="#FEFECE" filter="url(#f3yh9yl8gxttz)" points="478.25,682.8203,600.25,682.8203,612.25,695.625,600.25,708.4297,478.25,708.4297,466.25,695.625,478.25,682.8203" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="543.25" y="718.6401">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="66" x="478.25" y="693.0308">Topic is not</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="28" x="548.25" y="693.0308">NULL</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="122" x="478.25" y="705.8354">and topic ID is lower?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="452.25" y="693.0308">no</text><polygon fill="#FEFECE" filter="url(#f3yh9yl8gxttz)" points="160,816.1089,286,816.1089,298,828.1089,286,840.1089,160,840.1089,148,828.1089,160,816.1089" style="stroke: #A80036; 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stroke-width: 1.0;"/><!--MD5=[84d51a4713d83e6d5c49d95d5ddbe282]

@startuml

title **µRtWare**\nurtTopicInit()\n

note

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

  The topic to initialize.

  Must not be ""NULL"".

  - - **id** : urt_topicid_t - -

  Unique, numeric identifier of the topic.

  ====

  - - **return** : urt_status_t - -

  Returns ""URT_STATUS_OK"" on success.

  Returns ""URT_STATUS_TOPIC_DUPLICATE"" if another topic with the same identifier already exists.

endnote

start

:initialize members;

note

  * **next** ← ""NULL""

  * **id** ← id

  * urtMutexInit(**lock**)

  * urtEventSourceInit(**evtSource**)

  * **numHrtSubscriber** ← 0

  * urtCondvarInit(**hrtReleased**)

  * urtMessageInit(**mandatoryMessage**)

  * **latestMessage** ← &mandatoryMessage

  .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..

  * **hrtSubscribers** ← ""NULL""

  * urtTimerInit(**qosRateTimer**)

  .. URT_CFG_PUBSUB_PROFILING == true ..

  * **numMessagesPublished** ← 0

  * **numMessagesDiscarded** ← 0

  * **numSubscribers** ← 0

endnote

:close circular message buffer;

note

  latestMessage""->""next ← latestMessage

endnote

:lock core;

:access first topic;

while (Topic is not ""NULL""\nand topic ID is lower?) is (yes)

  :proceed to next topic;

endwhile (no)

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

  :append self to core's list of topic;

  :unlock core;

  stop

  note

    Returns ""URT_STATUS_OK"".

  endnote

elseif (Current topic ID is greater?) then (yes)

  :insert self in front of current topic;

  :unlock core;

  stop

  note

    Returns ""URT_STATUS_OK"".

  endnote

else (no)

  :unlock core;

  stop

  note

    Returns ""URT_STATUS_TOPIC_DUPLICATE"".

  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>