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="596px" preserveAspectRatio="none" style="width:499px;height:596px;" version="1.1" viewBox="0 0 499 596" width="499px" zoomAndPan="magnify"><defs><filter height="300%" id="f1s3gz6elyl2re" 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="204" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="181" x="158" y="47.6611">urtCoreGetService()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="251.5" y="68.6143"/><path d="M157,72.8594 L157,168.5234 L487,168.5234 L487,82.8594 L477,72.8594 L157,72.8594 " fill="#FBFB77" filter="url(#f1s3gz6elyl2re)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M477,72.8594 L477,82.8594 L487,82.8594 L477,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="157" x2="258.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="262.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="14" x="262.5" y="89.4263">id</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="101" x="280.5" y="89.4263">: urt_serviceid_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="385.5" x2="487" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="219" x="163" y="105.0591">Identifier of the service to retrieve.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="157" x2="487" y1="113.125" y2="113.125"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="157" x2="487" y1="115.125" y2="115.125"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="157" x2="245" y1="125.6914" y2="125.6914"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="249" y="129.6919"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="249" y="129.6919">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="97" x="298" y="129.6919">: urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="399" x2="487" y1="125.6914" y2="125.6914"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="274" x="163" y="145.3247">Returns a pointer to the requested service.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="163" y="160.4575">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="216" y="160.4575">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="220" x="252" y="160.4575">if no service matches the given ID.</text><ellipse cx="322" cy="198.5234" fill="#000000" filter="url(#f1s3gz6elyl2re)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#f1s3gz6elyl2re)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="77" x="283.5" y="228.5234"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="57" x="293.5" y="249.6621">lock core</text><rect fill="#FEFECE" filter="url(#f1s3gz6elyl2re)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="140" x="252" y="282.4922"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="120" x="262" y="303.6309">access first service</text><rect fill="#FEFECE" filter="url(#f1s3gz6elyl2re)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="168" x="238" y="393.7808"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="248" y="414.9194">proceed to next service</text><polygon fill="#FEFECE" filter="url(#f1s3gz6elyl2re)" points="254,336.4609,390,336.4609,402,349.2656,390,362.0703,254,362.0703,242,349.2656,254,336.4609" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="326" y="372.2808">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="78" x="254" y="346.6714">Service is not</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="28" x="336" y="346.6714">NULL</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="254" y="359.4761">and service ID is lower?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="228" y="346.6714">no</text><rect fill="#FEFECE" filter="url(#f1s3gz6elyl2re)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="93" x="275.5" y="469.7495"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="73" x="285.5" y="490.8882">unlock core</text><polygon fill="#FEFECE" filter="url(#f1s3gz6elyl2re)" points="252,523.7183,392,523.7183,404,536.5229,392,549.3276,252,549.3276,240,536.5229,252,523.7183" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="78" x="252" y="533.9287">Service is not</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="28" x="334" y="533.9287">NULL</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="140" x="252" y="546.7334">and service ID matches?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="220" y="533.9287">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="404" y="533.9287">no</text><path d="M10,559.3276 L10,584.4604 A0,0 0 0 0 10,584.4604 L199,584.4604 A0,0 0 0 0 199,584.4604 L199,577.3276 L219,571.894 L199,569.3276 L199,569.3276 L189,559.3276 L10,559.3276 A0,0 0 0 0 10,559.3276 " fill="#FBFB77" filter="url(#f1s3gz6elyl2re)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M189,559.3276 L189,569.3276 L199,569.3276 L189,559.3276 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="168" x="16" y="576.3945">Returns pointer to service.</text><ellipse cx="230" cy="571.894" fill="#FFFFFF" filter="url(#f1s3gz6elyl2re)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="230" cy="571.894" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><path d="M273,559.3276 L273,584.4604 A0,0 0 0 0 273,584.4604 L383,584.4604 A0,0 0 0 0 383,584.4604 L383,577.3276 L403,571.894 L383,569.3276 L383,569.3276 L373,559.3276 L273,559.3276 A0,0 0 0 0 273,559.3276 " fill="#FBFB77" filter="url(#f1s3gz6elyl2re)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M373,559.3276 L373,569.3276 L383,569.3276 L373,559.3276 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="279" y="576.3945">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="332" y="576.3945">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="364" y="576.3945">.</text><ellipse cx="414" cy="571.894" fill="#FFFFFF" filter="url(#f1s3gz6elyl2re)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="414" cy="571.894" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="322" x2="322" y1="168.5234" y2="188.5234"/><polygon fill="#A80036" points="318,178.5234,322,188.5234,326,178.5234,322,182.5234" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="322" x2="322" y1="208.5234" y2="228.5234"/><polygon fill="#A80036" points="318,218.5234,322,228.5234,326,218.5234,322,222.5234" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="322" x2="322" y1="262.4922" y2="282.4922"/><polygon fill="#A80036" points="318,272.4922,322,282.4922,326,272.4922,322,276.4922" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="322" x2="322" y1="362.0703" y2="393.7808"/><polygon fill="#A80036" points="318,383.7808,322,393.7808,326,383.7808,322,387.7808" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="322" x2="322" y1="427.7495" y2="437.7495"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="322" x2="418" y1="437.7495" y2="437.7495"/><polygon fill="#A80036" points="414,401.9604,418,391.9604,422,401.9604,418,397.9604" style="stroke: #A80036; stroke-width: 1.5;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="418" x2="418" y1="349.2656" y2="437.7495"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="418" x2="402" y1="349.2656" y2="349.2656"/><polygon fill="#A80036" points="412,345.2656,402,349.2656,412,353.2656,408,349.2656" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="242" x2="226" y1="349.2656" y2="349.2656"/><polygon fill="#A80036" points="222,387.9604,226,397.9604,230,387.9604,226,391.9604" style="stroke: #A80036; stroke-width: 1.5;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="226" x2="226" y1="349.2656" y2="449.7495"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="226" x2="322" y1="449.7495" y2="449.7495"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="322" x2="322" y1="449.7495" y2="469.7495"/><polygon fill="#A80036" points="318,459.7495,322,469.7495,326,459.7495,322,463.7495" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="322" x2="322" y1="316.4609" y2="336.4609"/><polygon fill="#A80036" points="318,326.4609,322,336.4609,326,326.4609,322,330.4609" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="240" x2="230" y1="536.5229" y2="536.5229"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="230" x2="230" y1="536.5229" y2="560.894"/><polygon fill="#A80036" points="226,550.894,230,560.894,234,550.894,230,554.894" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="404" x2="414" y1="536.5229" y2="536.5229"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="414" x2="414" y1="536.5229" y2="560.894"/><polygon fill="#A80036" points="410,550.894,414,560.894,418,550.894,414,554.894" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="322" x2="322" y1="503.7183" y2="523.7183"/><polygon fill="#A80036" points="318,513.7183,322,523.7183,326,513.7183,322,517.7183" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6899f2fa87670f05e8a9a4ed04a03d09]

Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04

<?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="233px" preserveAspectRatio="none" style="width:351px;height:233px;" version="1.1" viewBox="0 0 351 233" width="351px" zoomAndPan="magnify"><defs><filter height="300%" id="flafrcxsdhrgr" 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="130" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="169" x="90" y="47.6611">urtCoreGetStatus()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="177.5" y="68.6143"/><path d="M171,72.8594 L171,138.2578 L339,138.2578 L339,82.8594 L329,72.8594 L171,72.8594 " fill="#FBFB77" filter="url(#flafrcxsdhrgr)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M329,72.8594 L329,82.8594 L339,82.8594 L329,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="171" x2="237.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="241.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="27" x="241.5" y="89.4263">void</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="272.5" y="89.4263"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="272.5" x2="339" y1="85.4258" y2="85.4258"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="171" x2="339" y1="97.9922" y2="97.9922"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="171" x2="339" y1="99.9922" y2="99.9922"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="171" x2="184" y1="110.5586" y2="110.5586"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="188" y="114.5591"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="188" y="114.5591">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="237" y="114.5591">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="326" x2="339" y1="110.5586" y2="110.5586"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="147" x="177" y="130.1919">Current system status.</text><ellipse cx="255" cy="168.2578" fill="#000000" filter="url(#flafrcxsdhrgr)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M10,196.6914 L10,221.8242 A0,0 0 0 0 10,221.8242 L224,221.8242 A0,0 0 0 0 224,221.8242 L224,214.6914 L244,209.2578 L224,206.6914 L224,206.6914 L214,196.6914 L10,196.6914 A0,0 0 0 0 10,196.6914 " fill="#FBFB77" filter="url(#flafrcxsdhrgr)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M214,196.6914 L214,206.6914 L224,206.6914 L214,196.6914 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="91" x="16" y="213.7583">Returns core's</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="56" x="111" y="213.7583">_status</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="38" x="171" y="213.7583">value.</text><ellipse cx="255" cy="209.2578" fill="#FFFFFF" filter="url(#flafrcxsdhrgr)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="255" cy="209.2578" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="255" x2="255" y1="138.2578" y2="158.2578"/><polygon fill="#A80036" points="251,148.2578,255,158.2578,259,148.2578,255,152.2578" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="255" x2="255" y1="178.2578" y2="198.2578"/><polygon fill="#A80036" points="251,188.2578,255,198.2578,259,188.2578,255,192.2578" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ef624b0eac628e8942612de10e16b26f]

Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04

<?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="596px" preserveAspectRatio="none" style="width:472px;height:596px;" version="1.1" viewBox="0 0 472 596" width="472px" zoomAndPan="magnify"><defs><filter height="300%" id="fsrkmh5myir7y" 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="190.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="163" x="153.5" y="47.6611">urtCoreGetTopic()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="238" y="68.6143"/><path d="M144,72.8594 L144,168.5234 L460,168.5234 L460,82.8594 L450,72.8594 L144,72.8594 " fill="#FBFB77" filter="url(#fsrkmh5myir7y)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M450,72.8594 L450,82.8594 L460,82.8594 L450,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="144" x2="245.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="249.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="14" x="249.5" y="89.4263">id</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="87" x="267.5" y="89.4263">: urt_topicid_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="358.5" x2="460" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="205" x="150" y="105.0591">Identifier of the topic to retrieve.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="144" x2="460" y1="113.125" y2="113.125"/><line style="stroke: #A80036; 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Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04

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stroke-width: 1.0;"/><!--MD5=[c6247e15d57e1adb56cb1d1d45383334]

Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04

<?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="572px" preserveAspectRatio="none" style="width:287px;height:572px;" version="1.1" viewBox="0 0 287 572" width="287px" zoomAndPan="magnify"><defs><filter height="300%" id="fxn4zf5n3gka3" 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="98" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="181" x="52" y="47.6611">urtCoreStartNodes()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="145.5" y="68.6143"/><path d="M87,72.8594 L87,123.125 L199,123.125 L199,82.8594 L189,72.8594 L87,72.8594 " fill="#FBFB77" filter="url(#fxn4zf5n3gka3)" style="stroke: #A80036; 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stroke-width: 1.0;" x1="188.5" x2="199" y1="110.5586" y2="110.5586"/><ellipse cx="143" cy="153.125" fill="#000000" filter="url(#fxn4zf5n3gka3)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#fxn4zf5n3gka3)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="77" x="104.5" y="183.125"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="57" x="114.5" y="204.2637">lock core</text><rect fill="#FEFECE" filter="url(#fxn4zf5n3gka3)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="266" x="10" y="237.0938"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="246" x="20" y="258.2324">access first node in core's list of nodes</text><rect fill="#FEFECE" filter="url(#fxn4zf5n3gka3)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="132" x="77" y="346.7729"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="87" y="367.9116">start node thread</text><rect fill="#FEFECE" filter="url(#fxn4zf5n3gka3)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="156" x="65" y="409.8394"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="75" y="430.978">proceed to next node</text><polygon fill="#FEFECE" filter="url(#fxn4zf5n3gka3)" points="68.5,291.0625,217.5,291.0625,229.5,303.0625,217.5,315.0625,68.5,315.0625,56.5,303.0625,68.5,291.0625" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="147" y="325.2729">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="111" x="68.5" y="306.8706">Current node is not</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="28" x="183.5" y="306.8706">NULL</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="6" x="211.5" y="306.8706">?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="42.5" y="300.4683">no</text><rect fill="#FEFECE" filter="url(#fxn4zf5n3gka3)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="56.5" x2="44.5" y1="303.0625" y2="303.0625"/><polygon fill="#A80036" points="40.5,375.8394,44.5,385.8394,48.5,375.8394,44.5,379.8394" style="stroke: #A80036; stroke-width: 1.5;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="44.5" x2="44.5" y1="303.0625" y2="465.8081"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="44.5" x2="143" y1="465.8081" y2="465.8081"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="143" x2="143" y1="465.8081" y2="485.8081"/><polygon fill="#A80036" points="139,475.8081,143,485.8081,147,475.8081,143,479.8081" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="143" x2="143" y1="271.0625" y2="291.0625"/><polygon fill="#A80036" points="139,281.0625,143,291.0625,147,281.0625,143,285.0625" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="143" x2="143" y1="519.7769" y2="539.7769"/><polygon fill="#A80036" points="139,529.7769,143,539.7769,147,529.7769,143,533.7769" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[fb2dc9ee63a5eafeada0484887d2ac3b]

Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04

<?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="1074px" preserveAspectRatio="none" style="width:814px;height:1074px;" version="1.1" viewBox="0 0 814 1074" width="814px" zoomAndPan="magnify"><defs><filter height="300%" id="f1n6ixpk89zlyl" 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="361.75" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="178" x="317.25" y="47.6611">urtCoreStopNodes()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="409.25" y="68.6143"/><path d="M179.5,72.8594 L179.5,183.6563 L800.5,183.6563 L800.5,82.8594 L790.5,72.8594 L179.5,72.8594 " fill="#FBFB77" filter="url(#f1n6ixpk89zlyl)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M790.5,72.8594 L790.5,82.8594 L800.5,82.8594 L790.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="179.5" x2="416.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="420.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="50" x="420.5" y="89.4263">reason</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="474.5" y="89.4263">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="563.5" x2="800.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="252" x="185.5" y="105.0591">The reason why the function was called.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="134" x="185.5" y="120.1919">For normal shutdown</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="323.5" y="120.1919">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="101" x="431.5" y="120.1919">should be used.</text><line style="stroke: #A80036; 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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="16" y="1054.8906">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="69" y="1054.8906">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="173" y="1054.8906">.</text><ellipse cx="223" cy="1050.3901" fill="#FFFFFF" filter="url(#f1n6ixpk89zlyl)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="223" cy="1050.3901" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#f1n6ixpk89zlyl)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="93" x="710.5" y="331.625"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="73" x="720.5" y="352.7637">unlock core</text><path d="M437,400.5938 L437,425.7266 A0,0 0 0 0 437,425.7266 L726,425.7266 A0,0 0 0 0 726,425.7266 L726,418.5938 L746,413.1602 L726,410.5938 L726,410.5938 L716,400.5938 L437,400.5938 A0,0 0 0 0 437,400.5938 " fill="#FBFB77" filter="url(#f1n6ixpk89zlyl)" style="stroke: #A80036; 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Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04

<?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="776px" preserveAspectRatio="none" style="width:1340px;height:776px;" version="1.1" viewBox="0 0 1340 776" width="1340px" zoomAndPan="magnify"><defs><filter height="300%" id="f1x4zz6pvjwbbn" 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="624.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="246" x="546" y="47.6611">urtCoreSynchronizeNodes()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="672" y="68.6143"/><path d="M351.5,72.8594 L351.5,213.9219 L983.5,213.9219 L983.5,82.8594 L973.5,72.8594 L351.5,72.8594 " fill="#FBFB77" filter="url(#f1x4zz6pvjwbbn)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M973.5,72.8594 L973.5,82.8594 L983.5,82.8594 L973.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="351.5" x2="601" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="605" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="37" x="605" y="89.4263">node</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="84" x="646" y="89.4263">: urt_node_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="734" x2="983.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="211" x="357.5" y="105.0591">Pointer to a node to synchronize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="357.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="437.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="469.5" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="351.5" x2="983.5" y1="128.2578" y2="128.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="351.5" x2="983.5" y1="130.2578" y2="130.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="351.5" x2="596.5" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="600.5" y="144.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="600.5" y="144.8247">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="649.5" y="144.8247">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="738.5" x2="983.5" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="357.5" y="160.4575">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="410.5" y="160.4575">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="269" x="518.5" y="160.4575">if all nodes are synchronized and proceed.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="357.5" y="175.5903">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="168" x="410.5" y="175.5903">URT_STATUS_SYNC_ERROR</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="345" x="582.5" y="175.5903">if an exception occurred (faulty stage value detected).</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="357.5" y="190.7231">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="184" x="410.5" y="190.7231">URT_STATUS_SYNC_PENDING</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="238" x="598.5" y="190.7231">if there are nodes left to synchronize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="611" x="357.5" y="205.856">In the latter case, the node thread must still wait for the control event (proceed) to synchronize.</text><ellipse cx="667.5" cy="243.9219" fill="#000000" filter="url(#f1x4zz6pvjwbbn)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="77" x="629" y="273.9219"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="57" x="639" y="295.0605">lock core</text><rect fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="231" x="552" y="327.8906"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="211" x="562" y="349.0293">increment the node's stage value</text><rect fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="251" x="542" y="381.8594"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="231" x="552" y="402.998">access first node core's list of nodes</text><rect fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="156" x="589.5" y="493.1479"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="599.5" y="514.2866">proceed to next node</text><polygon fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" points="528.5,435.8281,806.5,435.8281,818.5,448.6328,806.5,461.4375,528.5,461.4375,516.5,448.6328,528.5,435.8281" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="671.5" y="471.6479">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="111" x="528.5" y="446.0386">Current node is not</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="28" x="643.5" y="446.0386">NULL</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="278" x="528.5" y="458.8433">and stage of current node is equal to argument?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="502.5" y="446.0386">no</text><polygon fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" points="128,569.1167,318,569.1167,330,581.1167,318,593.1167,128,593.1167,116,581.1167,128,569.1167" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="227" y="603.3271">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="128" y="584.9248">All nodes are at the same stage?</text><rect fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="237" x="104.5" y="625.9214"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="217" x="114.5" y="647.0601">broadcast control event (proceed)</text><rect fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="93" x="176.5" y="683.2925"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="73" x="186.5" y="704.4312">unlock core</text><path d="M10,739.0972 L10,764.23 A0,0 0 0 0 10,764.23 L192,764.23 A0,0 0 0 0 192,764.23 L192,757.0972 L212,751.6636 L192,749.0972 L192,749.0972 L182,739.0972 L10,739.0972 A0,0 0 0 0 10,739.0972 " fill="#FBFB77" filter="url(#f1x4zz6pvjwbbn)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M182,739.0972 L182,749.0972 L192,749.0972 L182,739.0972 " 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="756.1641">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="69" y="756.1641">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="173" y="756.1641">.</text><ellipse cx="223" cy="751.6636" fill="#FFFFFF" filter="url(#f1x4zz6pvjwbbn)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="223" cy="751.6636" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" points="464,569.1167,861,569.1167,873,581.1167,861,593.1167,464,593.1167,452,581.1167,464,569.1167" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="666.5" y="603.3271">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="397" x="464" y="584.9248">The stage of the last checked node was one less than the argument?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="873" y="578.5225">no</text><rect fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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stroke-width: 1.0;"/><ellipse cx="662.5" cy="695.8589" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="318" x="1011" y="622.519"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="21" x="1021" y="643.6577">call</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="273" x="1046" y="643.6577">urtCoreStopNodes(URT_STATUS_SYNC_ERROR)</text><rect fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="93" x="1123.5" y="679.8901"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="73" x="1133.5" y="701.0288">unlock core</text><path d="M893,735.6948 L893,760.8276 A0,0 0 0 0 893,760.8276 L1139,760.8276 A0,0 0 0 0 1139,760.8276 L1139,753.6948 L1159,748.2612 L1139,745.6948 L1139,745.6948 L1129,735.6948 L893,735.6948 A0,0 0 0 0 893,735.6948 " fill="#FBFB77" filter="url(#f1x4zz6pvjwbbn)" style="stroke: #A80036; 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stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="667.5" x2="223" y1="554.1167" y2="554.1167"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="223" x2="223" y1="554.1167" y2="569.1167"/><polygon fill="#A80036" points="219,559.1167,223,569.1167,227,559.1167,223,563.1167" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="873" x2="1170" y1="581.1167" y2="581.1167"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1170" x2="1170" y1="581.1167" y2="622.519"/><polygon fill="#A80036" points="1166,612.519,1170,622.519,1174,612.519,1170,616.519" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[fd18d5b4f5c8efdcb2effd6930682092]

Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04

<?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="387px" preserveAspectRatio="none" style="width:536px;height:387px;" version="1.1" viewBox="0 0 536 387" width="536px" zoomAndPan="magnify"><defs><filter height="300%" id="f10ynr553pczer" 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="222.75" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="144" x="195.25" y="47.6611">urtMessageInit()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="270.25" y="68.6143"/><path d="M222.5,72.8594 L222.5,183.6563 L524.5,183.6563 L524.5,82.8594 L514.5,72.8594 L222.5,72.8594 " fill="#FBFB77" filter="url(#f10ynr553pczer)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M514.5,72.8594 L514.5,82.8594 L524.5,82.8594 L514.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="222.5" x2="278.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="282.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="67" x="282.5" y="89.4263">message</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="111" x="353.5" y="89.4263">: urt_message_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="468.5" x2="524.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="162" x="228.5" y="105.0591">The message to initialize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="228.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="308.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="340.5" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="222.5" x2="317.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="321.5" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="59" x="321.5" y="134.8247">payload</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="384.5" y="134.8247">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="429.5" x2="524.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="228.5" y="150.4575">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="278.5" y="150.4575">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="195" x="314.5" y="150.4575">for messages without payload.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="222.5" x2="524.5" y1="158.5234" y2="158.5234"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="222.5" x2="524.5" y1="160.5234" y2="160.5234"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="222.5" x2="328" y1="171.0898" y2="171.0898"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="332" y="175.0903"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="332" y="175.0903">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="34" x="381" y="175.0903">: void</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="419" x2="524.5" y1="171.0898" y2="171.0898"/><ellipse cx="373.5" cy="213.6563" fill="#000000" filter="url(#f10ynr553pczer)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M10,233.6563 L10,334.4531 A0,0 0 0 0 10,334.4531 L288,334.4531 A0,0 0 0 0 288,334.4531 L288,288.0547 L308,284.0547 L288,280.0547 L288,243.6563 L278,233.6563 L10,233.6563 A0,0 0 0 0 10,233.6563 " fill="#FBFB77" filter="url(#f10ynr553pczer)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M278,233.6563 L278,243.6563 L288,243.6563 L278,233.6563 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><ellipse cx="21.5" cy="246.2891" 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="27" y="250.7231">next</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="63" y="250.7231">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="78" y="250.7231">NULL</text><ellipse cx="21.5" cy="261.4219" 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="59" x="27" y="265.856">payload</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="65" x="90" y="265.856">← payload</text><ellipse cx="21.5" 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="77" x="27" y="280.9888">originTime</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="108" y="280.9888">← 0</text><ellipse cx="21.5" 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="176" x="27" y="296.1216">numHrtConsumbersLeft</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="207" y="296.1216">← 0</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="20.5" y1="306.7539" y2="306.7539"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="249" x="24.5" y="310.7544">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="277.5" x2="288" y1="306.7539" y2="306.7539"/><ellipse cx="21.5" 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" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="143" x="27" y="326.3872">numConsumersLeft</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="174" y="326.3872">← 0</text><rect fill="#FEFECE" filter="url(#f10ynr553pczer)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="131" x="308" y="267.0703"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="111" x="318" y="288.209">initialize members</text><ellipse cx="373.5" cy="365.4531" fill="#FFFFFF" filter="url(#f10ynr553pczer)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="373.5" cy="365.4531" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="373.5" x2="373.5" y1="183.6563" y2="203.6563"/><polygon fill="#A80036" points="369.5,193.6563,373.5,203.6563,377.5,193.6563,373.5,197.6563" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="373.5" x2="373.5" y1="223.6563" y2="267.0703"/><polygon fill="#A80036" points="369.5,257.0703,373.5,267.0703,377.5,257.0703,373.5,261.0703" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="373.5" x2="373.5" y1="301.0391" y2="354.4531"/><polygon fill="#A80036" points="369.5,344.4531,373.5,354.4531,377.5,344.4531,373.5,348.4531" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0652931db922067260e0feb38f2b0bd9]

Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04

<?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="1693px" preserveAspectRatio="none" style="width:828px;height:1693px;" version="1.1" viewBox="0 0 828 1693" width="828px" zoomAndPan="magnify"><defs><filter height="300%" id="f1p8hd1hubp91s" 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="368.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="66" x="380" y="47.6611">_main()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="416" y="68.6143"/><path d="M220.75,72.8594 L220.75,153.3906 L762.75,153.3906 L762.75,82.8594 L752.75,72.8594 L220.75,72.8594 " fill="#FBFB77" filter="url(#f1p8hd1hubp91s)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M752.75,72.8594 L752.75,82.8594 L762.75,82.8594 L752.75,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="220.75" x2="452.75" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="456.75" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="25" x="456.75" y="89.4263">arg</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="485.75" y="89.4263">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="530.75" x2="762.75" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="332" x="226.75" y="105.0591">Optional Argument to the thread main function (see</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="176" x="562.75" y="105.0591">urt_osThreadFunction_t</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="9" x="738.75" y="105.0591">).</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="134" x="226.75" y="120.1919">This function expects</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="364.75" y="120.1919">arg</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="81" x="392.75" y="120.1919">to be of type</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="88" x="477.75" y="120.1919">urt_node_t*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="565.75" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="220.75" x2="762.75" y1="128.2578" y2="128.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="220.75" x2="762.75" y1="130.2578" y2="130.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="220.75" x2="446.25" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="450.25" y="144.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="450.25" y="144.8247">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="34" x="499.25" y="144.8247">: void</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="537.25" x2="762.75" y1="140.8242" y2="140.8242"/><ellipse cx="491.75" cy="183.3906" fill="#000000" filter="url(#f1p8hd1hubp91s)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FFFFFF" filter="url(#f1p8hd1hubp91s)" height="600.9141" style="stroke: #000000; stroke-width: 2.0;" width="807" x="10" y="204.1924"/><path d="M60,205.1924 L60,213.4893 L50,223.4893 L10,223.4893 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="40" x="13" y="218.1875">setup</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="157" x="413.25" y="240.4893"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="137" x="423.25" y="261.6279">register to core event</text><polygon fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" points="403.75,294.458,579.75,294.458,591.75,306.458,579.75,318.458,403.75,318.458,391.75,306.458,403.75,294.458" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="39" x="403.75" y="310.2661">Node's</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="446.75" y="310.2661">setupcallback</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="38" x="541.75" y="310.2661">is set?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="371.75" y="303.8638">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="591.75" y="303.8638">no</text><path d="M30,332.876 L30,358.0088 A0,0 0 0 0 30,358.0088 L201,358.0088 A0,0 0 0 0 201,358.0088 L201,350.876 L221,345.4424 L201,342.876 L201,342.876 L191,332.876 L30,332.876 A0,0 0 0 0 30,332.876 " fill="#FBFB77" filter="url(#f1p8hd1hubp91s)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M191,332.876 L191,342.876 L201,342.876 L191,332.876 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="150" x="36" y="349.9429">Callback must not loop.</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="179" x="221" y="328.458"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="50" x="231" y="349.5967">execute</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="105" x="285" y="349.5967">setupcallback()</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="367" x="127" y="430.8291"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="21" x="137" y="451.9678">call</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="322" x="162" y="451.9678">urtCoreStopNodes(URT_STATUS_NODE_INVALEVTMASK)</text><polygon fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" points="124,382.4268,497,382.4268,509,394.4268,497,406.4268,124,406.4268,112,394.4268,124,382.4268" style="stroke: #A80036; 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stroke-width: 1.5;" width="264" x="541" y="328.458"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="50" x="551" y="349.5967">act as if</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="91" x="605" y="349.5967">setupcallback</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="95" x="700" y="349.5967">returned 0xF..F</text><polygon fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" points="491.75,514.7979,503.75,526.7979,491.75,538.7979,479.75,526.7979,491.75,514.7979" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="258" x="362.75" y="607.2002"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="238" x="372.75" y="628.3389">suspend all child threads (recursively)</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="341" x="321.25" y="661.1689"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="331.25" y="682.3076">synchronize by calling</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="182" x="470.25" y="682.3076">urtCoreSynchronizeNodes(1)</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="251" x="366.25" y="715.1377"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="231" x="376.25" y="736.2764">resume all child threads (recursively)</text><polygon fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" points="400.75,558.7979,582.75,558.7979,594.75,570.7979,582.75,582.7979,400.75,582.7979,388.75,570.7979,400.75,558.7979" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="495.75" y="593.0083">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="81" x="400.75" y="574.606">Core status is</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="485.75" y="574.606">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="6" x="576.75" y="574.606">?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="594.75" y="568.2036">no</text><polygon fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" points="491.75,769.1064,503.75,781.1064,491.75,793.1064,479.75,781.1064,491.75,769.1064" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#FFFFFF" filter="url(#f1p8hd1hubp91s)" height="531.2222" style="stroke: #000000; stroke-width: 2.0;" width="606" x="170.75" y="815.9082"/><path d="M210.75,816.9082 L210.75,825.2051 L200.75,835.2051 L170.75,835.2051 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="30" x="173.75" y="829.9033">loop</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="240" x="371.75" y="907.9155"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="220" x="381.75" y="929.0542">Wait for a specified or a core event</text><path d="M214.75,1014.7046 L214.75,1039.8374 A0,0 0 0 0 214.75,1039.8374 L385.75,1039.8374 A0,0 0 0 0 385.75,1039.8374 L385.75,1032.7046 L405.75,1027.271 L385.75,1024.7046 L385.75,1024.7046 L375.75,1014.7046 L214.75,1014.7046 A0,0 0 0 0 214.75,1014.7046 " fill="#FBFB77" filter="url(#f1p8hd1hubp91s)" style="stroke: #A80036; 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stroke-width: 2.0;" width="653" x="70.25" y="1357.9321"/><path d="M117.25,1358.9321 L117.25,1367.229 L107.25,1377.229 L70.25,1377.229 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="37" x="73.25" y="1371.9272">outro</text><path d="M90.25,1447.0493 L90.25,1472.1821 A0,0 0 0 0 90.25,1472.1821 L272.25,1472.1821 A0,0 0 0 0 272.25,1472.1821 L272.25,1465.0493 L292.25,1459.6157 L272.25,1457.0493 L272.25,1457.0493 L262.25,1447.0493 L90.25,1447.0493 A0,0 0 0 0 90.25,1447.0493 " fill="#FBFB77" filter="url(#f1p8hd1hubp91s)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M262.25,1447.0493 L262.25,1457.0493 L272.25,1457.0493 L262.25,1447.0493 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="161" x="96.25" y="1464.1162">Callback must terminate.</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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stroke-width: 1.5;"/><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="188" x="397.75" y="1540.6001"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="168" x="407.75" y="1561.7388">unregister from core event</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="305" x="339.25" y="1594.5688"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="285" x="349.25" y="1615.7075">terminate node thread (and all child threads)</text><ellipse cx="491.75" cy="1671.5376" fill="#FFFFFF" filter="url(#f1p8hd1hubp91s)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="491.75" cy="1671.5376" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="491.75" x2="491.75" y1="153.3906" y2="173.3906"/><polygon fill="#A80036" points="487.75,163.3906,491.75,173.3906,495.75,163.3906,491.75,167.3906" style="stroke: #A80036; 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Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04

<?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="1049px" preserveAspectRatio="none" style="width:999px;height:1049px;" version="1.1" viewBox="0 0 999 1049" width="999px" zoomAndPan="magnify"><defs><filter height="300%" id="fe99m1kw6ut90" 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="454.25" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="116" x="440.75" y="47.6611">urtNodeInit()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="501.75" y="68.6143"/><path d="M343,72.8594 L343,501.4453 L852,501.4453 L852,82.8594 L842,72.8594 L343,72.8594 " fill="#FBFB77" filter="url(#fe99m1kw6ut90)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M842,72.8594 L842,82.8594 L852,82.8594 L842,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="531" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="535" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="37" x="535" y="89.4263">node</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="84" x="576" y="89.4263">: urt_node_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="664" x2="852" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="135" x="349" y="105.0591">The node to initialize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="349" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="429" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="461" y="120.1919">.</text><line style="stroke: #A80036; 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stroke-width: 1.0;" x1="343" x2="452.5" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="456.5" y="180.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="103" x="456.5" y="180.2231">setupcallback</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="175" x="563.5" y="180.2231">: urt_nodeSetupCallback_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="742.5" x2="852" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="296" x="349" y="195.856">Callback function to be executed during setup.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="349" y="210.9888">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="399" y="210.9888">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="194" x="435" y="210.9888">if no custom setup is required.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="522" y1="221.6211" y2="221.6211"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="530" y="225.6216"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="98" x="530" y="225.6216">setupparams</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="632" y="225.6216">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="673" x2="852" y1="221.6211" y2="221.6211"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="275" x="349" y="241.2544">Parameters for the setup callback function.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="51" x="349" y="256.3872">Must be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="404" y="256.3872">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="200" x="440" y="256.3872">if no setup callback is specified.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="349" y="271.52">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="399" y="271.52">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="377" x="435" y="271.52">if the specified setup callback does not expect parameters.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="461" y1="282.1523" y2="282.1523"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="465" y="286.1528"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="93" x="465" y="286.1528">loopcallback</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="168" x="562" y="286.1528">: urt_nodeLoopCallback_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="734" x2="852" y1="282.1523" y2="282.1523"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="270" x="349" y="301.7856">Callback function to be executed in a loop.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="349" y="316.9185">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="429" y="316.9185">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="461" y="316.9185">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="527" y1="327.5508" y2="327.5508"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="531" y="331.5513"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="88" x="531" y="331.5513">loopparams</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="623" y="331.5513">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="668" x2="852" y1="327.5508" y2="327.5508"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="266" x="349" y="347.1841">Parameters for the loop callback function.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="349" y="362.3169">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="399" y="362.3169">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="368" x="435" y="362.3169">if the specified loop callback does not expect parameters.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="425" y1="372.9492" y2="372.9492"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="429" y="376.9497"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="133" x="429" y="376.9497">shutdowncallback</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="200" x="566" y="376.9497">: urt_nodeShutdownCallback_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="770" x2="852" y1="372.9492" y2="372.9492"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="321" x="349" y="392.5825">Callback function to be executed during shutdown.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="349" y="407.7153">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="399" y="407.7153">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="219" x="435" y="407.7153">if no custom shutdown is required.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="507" y1="418.3477" y2="418.3477"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="511" y="422.3481"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="128" x="511" y="422.3481">shutdownparams</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="643" y="422.3481">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="688" x2="852" y1="418.3477" y2="418.3477"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="266" x="349" y="437.981">Parameters for the loop callback function.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="51" x="349" y="453.1138">Must be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="404" y="453.1138">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="225" x="440" y="453.1138">if no shutdown callback is specified.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="349" y="468.2466">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="399" y="468.2466">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="402" x="435" y="468.2466">if the specified shutdown callback does not expect parameters.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="852" y1="476.3125" y2="476.3125"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="852" y1="478.3125" y2="478.3125"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="552" y1="488.8789" y2="488.8789"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="556" y="492.8794"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="556" y="492.8794">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="34" x="605" y="492.8794">: void</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="643" x2="852" y1="488.8789" y2="488.8789"/><ellipse cx="597.5" cy="531.4453" fill="#000000" filter="url(#fe99m1kw6ut90)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M10,551.4453 L10,743.0391 A0,0 0 0 0 10,743.0391 L512,743.0391 A0,0 0 0 0 512,743.0391 L512,651.2422 L532,647.2422 L512,643.2422 L512,561.4453 L502,551.4453 L10,551.4453 A0,0 0 0 0 10,551.4453 " fill="#FBFB77" filter="url(#fe99m1kw6ut90)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M502,551.4453 L502,561.4453 L512,561.4453 L502,551.4453 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><ellipse cx="21.5" cy="564.0781" 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="27" y="568.5122">next</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="63" y="568.5122">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="78" y="568.5122">NULL</text><ellipse cx="21.5" cy="579.2109" 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="49" x="27" y="583.645">thread</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="57" x="80" y="583.645">← thread</text><ellipse cx="21.5" cy="594.3438" 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="103" x="27" y="598.7778">setupcallback</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="102" x="134" y="598.7778">← setupcallback</text><ellipse cx="21.5" cy="609.4766" 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="98" x="27" y="613.9106">setupparams</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="100" x="129" y="613.9106">← setupparams</text><ellipse cx="21.5" cy="624.6094" 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="93" x="27" y="629.0435">loopcallback</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="93" x="124" y="629.0435">← loopcallback</text><ellipse cx="21.5" cy="639.7422" 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="88" x="27" y="644.1763">loopparams</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="91" x="119" y="644.1763">← loopparams</text><ellipse cx="21.5" cy="654.875" 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="133" x="27" y="659.3091">shutdowncallback</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="93" x="164" y="659.3091">← loopcallback</text><ellipse cx="21.5" cy="670.0078" 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="128" x="27" y="674.4419">shutdownparams</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="91" x="159" y="674.4419">← loopparams</text><ellipse cx="21.5" cy="685.1406" 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="42" x="27" y="689.5747">stage</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="73" y="689.5747">← 0</text><ellipse cx="21.5" cy="700.2734" 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="129" x="27" y="704.7075">urtEventListenerInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="55" x="156" y="704.7075">listener</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="211" y="704.7075">)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="20.5" y1="715.3398" y2="715.3398"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="473" x="24.5" y="719.3403">URT_CFG_PUBSUB_PROFILING == true || URT_CFG_RPC_PROFILING = true</text><line style="stroke: #A80036; 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Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04

<?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="793px" preserveAspectRatio="none" style="width:1214px;height:793px;" version="1.1" viewBox="0 0 1214 793" width="1214px" zoomAndPan="magnify"><defs><filter height="300%" id="f1cmn83qlc5kyj" 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="561.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="150" x="531" y="47.6611">urtPublisherInit()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="609" y="68.6143"/><path d="M369.5,72.8594 L369.5,274.4531 L820.5,274.4531 L820.5,82.8594 L810.5,72.8594 L369.5,72.8594 " fill="#FBFB77" filter="url(#f1cmn83qlc5kyj)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M810.5,72.8594 L810.5,82.8594 L820.5,82.8594 L810.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="369.5" x2="499.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="503.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="69" x="503.5" y="89.4263">publisher</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="110" x="576.5" y="89.4263">: urt_publisher_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="690.5" x2="820.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="161" x="375.5" y="105.0591">The publisher to initialize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="375.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="455.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="487.5" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="369.5" x2="529" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="533" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="37" x="533" y="134.8247">topic</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="83" x="574" y="134.8247">: urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="661" x2="820.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="259" x="375.5" y="150.4575">The topic, this publisher is associated to.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="375.5" y="165.5903">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="455.5" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="487.5" y="165.5903">.</text><line style="stroke: #A80036; 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stroke-width: 1.0;"/><path d="M499.5,324.4531 L499.5,334.4531 L509.5,334.4531 L499.5,324.4531 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><ellipse cx="243" 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="37" x="248.5" y="341.52">topic</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="289.5" y="341.52">← topic</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="231.5" x2="242" y1="352.1523" y2="352.1523"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="249" x="246" y="356.1528">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="499" x2="509.5" y1="352.1523" y2="352.1523"/><ellipse cx="243" cy="367.3516" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; 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Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04

<?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="1776px" preserveAspectRatio="none" style="width:3008px;height:1776px;" version="1.1" viewBox="0 0 3008 1776" width="3008px" zoomAndPan="magnify"><defs><filter height="300%" id="fjrexx23r0l7p" 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="1458.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="183" x="1411.5" y="47.6611">urtPublisherPublish()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="1506" y="68.6143"/><path d="M1294.5,72.8594 L1294.5,319.8516 L1679.5,319.8516 L1679.5,82.8594 L1669.5,72.8594 L1294.5,72.8594 " fill="#FBFB77" filter="url(#fjrexx23r0l7p)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1669.5,72.8594 L1669.5,82.8594 L1679.5,82.8594 L1669.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1294.5" x2="1391.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1395.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="69" x="1395.5" y="89.4263">publisher</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="110" x="1468.5" y="89.4263">: urt_publisher_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1582.5" x2="1679.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="197" x="1300.5" y="105.0591">Pointer to the publisher to use.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="1300.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1380.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1412.5" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1294.5" x2="1431" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1435" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="59" x="1435" y="134.8247">payload</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="1498" y="134.8247">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1543" x2="1679.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="226" x="1300.5" y="150.4575">Pointer to the data to be published.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="1300.5" y="165.5903">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1350.5" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="195" x="1386.5" y="165.5903">for messages without payload.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1294.5" x2="1438" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1442" y="180.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="1442" y="180.2231">bytes</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="45" x="1487" y="180.2231">: size_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1536" x2="1679.5" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="180" x="1300.5" y="195.856">Size of the payload in bytes.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1294.5" x2="1432.5" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1436.5" y="210.4888"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="6" x="1436.5" y="210.4888">t</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="91" x="1446.5" y="210.4888">: urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1541.5" x2="1679.5" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="246" x="1300.5" y="226.1216">Timestamp to be set for the message.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1294.5" x2="1413" y1="236.7539" y2="236.7539"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1417" y="240.7544"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="1417" y="240.7544">timeout</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="79" x="1478" y="240.7544">: urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1561" x2="1679.5" y1="236.7539" y2="236.7539"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="364" x="1300.5" y="256.3872">Timeout delay in case the message cannot be published.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1294.5" x2="1679.5" y1="264.4531" y2="264.4531"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1294.5" x2="1679.5" y1="266.4531" y2="266.4531"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1294.5" x2="1416" y1="277.0195" y2="277.0195"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1420" y="281.02"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="1420" y="281.02">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="1469" y="281.02">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1558" x2="1679.5" y1="277.0195" y2="277.0195"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1300.5" y="296.6528">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="1353.5" y="296.6528">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="75" x="1461.5" y="296.6528">on success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1300.5" y="311.7856">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="1353.5" y="311.7856">URT_STATUS_PUBLISH_TIMEOUT</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="74" x="1565.5" y="311.7856">on timeout.</text><ellipse cx="1487" cy="349.8516" fill="#000000" filter="url(#fjrexx23r0l7p)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="1447" y="379.8516"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="1457" y="400.9902">lock topic</text><rect fill="#000000" filter="url(#fjrexx23r0l7p)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="519" x="1227.5" y="433.8203"/><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="201" x="1241.5" y="466.8047"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="181" x="1251.5" y="487.9434">access topic's next message</text><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="262" x="1470.5" y="459.8203"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1470.5" x2="1485.5" y1="476.8047" y2="476.8047"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="232" x="1485.5" y="480.459">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1717.5" x2="1732.5" y1="476.8047" y2="476.8047"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="242" x="1480.5" y="494.9277">increment counter of publish attempts</text><rect fill="#000000" filter="url(#fjrexx23r0l7p)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="519" x="1227.5" y="527.7578"/><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="524" x="1225" y="609.4683"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="504" x="1235" y="630.6069">wait for topic's condition variable (using topic's mutex) to be signaled or timeout</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1434,663.437,1540,663.437,1552,675.437,1540,687.437,1434,687.437,1422,675.437,1434,663.437" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="106" x="1434" y="679.2451">Timeout occurred?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1402" y="672.8428">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1552" y="672.8428">no</text><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="1205" y="697.437"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1205" x2="1215" y1="714.4214" y2="714.4214"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="232" x="1215" y="718.0757">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1447" x2="1457" y1="714.4214" y2="714.4214"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="210" x="1215" y="732.5444">increment counter of publish fails</text><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="96" x="1283" y="780.3745"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="76" x="1293" y="801.5132">unlock topic</text><path d="M1014,849.3433 L1014,874.4761 A0,0 0 0 0 1014,874.4761 L1300,874.4761 A0,0 0 0 0 1300,874.4761 L1300,867.3433 L1320,861.9097 L1300,859.3433 L1300,859.3433 L1290,849.3433 L1014,849.3433 A0,0 0 0 0 1014,849.3433 " fill="#FBFB77" filter="url(#fjrexx23r0l7p)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1290,849.3433 L1290,859.3433 L1300,859.3433 L1290,849.3433 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1020" y="866.4102">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="1073" y="866.4102">URT_STATUS_PUBLISH_TIMEOUT</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1281" y="866.4102">.</text><ellipse cx="1331" cy="861.9097" fill="#FFFFFF" filter="url(#fjrexx23r0l7p)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="1331" cy="861.9097" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="1552.5" y="817.8394"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="161" x="1562.5" y="838.978">proceed to next message</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1643,745.8394,1655,757.8394,1643,769.8394,1631,757.8394,1643,745.8394" style="stroke: #A80036; stroke-width: 1.5;"/><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1499,894.4761,1787,894.4761,1799,906.4761,1787,918.4761,1499,918.4761,1487,906.4761,1499,894.4761" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="288" x="1499" y="910.2842">Timestamp is younger than of previous message?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1799" y="903.8818">yes</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1542,697.437,1744,697.437,1756,709.437,1744,721.437,1542,721.437,1530,709.437,1542,697.437" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1647" y="731.6475">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="202" x="1542" y="713.2451">Message timestamp was modified?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1756" y="706.8428">no</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1643,942.375,1655,954.375,1643,966.375,1631,954.375,1643,942.375" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1649" y="939.7808">no</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1378.5,553.7578,1595.5,553.7578,1607.5,565.7578,1595.5,577.7578,1378.5,577.7578,1366.5,565.7578,1378.5,553.7578" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1491" y="587.9683">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="1378.5" y="569.5659">HRT consumers left for the message?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1352.5" y="563.1636">no</text><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="174.668" style="stroke: #000000; stroke-width: 2.0;" width="396" x="1295" y="999.1768"/><path d="M1576,1000.1768 L1576,1008.4736 L1566,1018.4736 L1295,1018.4736 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="271" x="1298" y="1013.1719">URT_CFG_PUBSUB_PROFILING == true</text><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="344" x="1315" y="1083.876"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="324" x="1325" y="1105.0146">increment counter of discarded messages (@topic)</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1389,1035.4736,1585,1035.4736,1597,1047.4736,1585,1059.4736,1389,1059.4736,1377,1047.4736,1389,1035.4736" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1491" y="1069.6841">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="1389" y="1051.2817">Consumers left for this message?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1597" y="1044.8794">no</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1487,1137.8447,1499,1149.8447,1487,1161.8447,1475,1149.8447,1487,1137.8447" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#000000" filter="url(#fjrexx23r0l7p)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="2987" x="10" y="1193.8447"/><rect fill="#FFFFFF" filter="url(#fjrexx23r0l7p)" height="156.2344" style="stroke: #000000; stroke-width: 2.0;" width="1268" x="22" y="1325.584"/><path d="M140,1326.584 L140,1334.8809 L130,1344.8809 L22,1344.8809 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="108" x="25" y="1339.5791">setup message</text><rect fill="#000000" filter="url(#fjrexx23r0l7p)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1248" x="32" y="1361.8809"/><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="261" x="46" y="1394.8652"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="241" x="56" y="1416.0039">iterate topic's pointer to this message</text><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="180" x="317" y="1394.8652"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="160" x="327" y="1416.0039">copy payload to message</text><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="187" x="507" y="1394.8652"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="167" x="517" y="1416.0039">set origin time of message</text><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="704" y="1394.8652"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="266" x="714" y="1416.0039">set number of HRT consumers (from topic)</text><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; 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Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04

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stroke-width: 1.0;" x1="189.5" x2="770.5" y1="128.2578" y2="128.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="189.5" x2="770.5" y1="130.2578" y2="130.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="189.5" x2="409" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="413" y="144.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="413" y="144.8247">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="462" y="144.8247">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="551" x2="770.5" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="195.5" y="160.4575">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="248.5" y="160.4575">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="120" x="356.5" y="160.4575">in case of success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="195.5" y="175.5903">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="216" x="248.5" y="175.5903">URT_STATUS_REQUEST_BADOWNER</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="287" x="468.5" y="175.5903">if the request is aloready owned by a service.</text><ellipse cx="480" cy="213.6563" fill="#000000" filter="url(#f1gbl90iinqcbe)" rx="10" ry="10" style="stroke: none; 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stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="390" y="313.4331">Request is owned by a service?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="358" y="307.0308">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="582" y="307.0308">no</text><rect fill="#FEFECE" filter="url(#f1gbl90iinqcbe)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="114" x="278" y="331.625"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="288" y="352.7637">unlock request</text><path d="M10,384.0273 L10,409.1602 A0,0 0 0 0 10,409.1602 L304,409.1602 A0,0 0 0 0 304,409.1602 L304,402.0273 L324,396.5938 L304,394.0273 L304,394.0273 L294,384.0273 L10,384.0273 A0,0 0 0 0 10,384.0273 " fill="#FBFB77" filter="url(#f1gbl90iinqcbe)" style="stroke: #A80036; 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stroke-width: 1.0;"/><path d="M584,331.625 L584,341.625 L594,341.625 L584,331.625 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="418" y="348.6919">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="471" y="348.6919">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="575" y="348.6919">.</text><ellipse cx="625" cy="344.1914" fill="#FFFFFF" filter="url(#f1gbl90iinqcbe)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="625" cy="344.1914" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="480" x2="480" y1="183.6563" y2="203.6563"/><polygon fill="#A80036" points="476,193.6563,480,203.6563,484,193.6563,480,197.6563" style="stroke: #A80036; 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stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="480" x2="480" y1="277.625" y2="297.625"/><polygon fill="#A80036" points="476,287.625,480,297.625,484,287.625,480,291.625" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d9a94f0468e46b67092d7b1e76c19955]

@startuml

title **µRtWare**\nurtFrtRequestAcquire()\n

note

  - - **request** : urt_frtrequest_t* - -

  The FRT request to be acquired.

  Must not be ""NULL"".

  ====

  - - **return** : urt_status_t - -

  Returns ""URT_STATUS_OK"" in case of success.

  Returns ""URT_STATUS_REQUEST_BADOWNER"" if the request is aloready owned by a service.

endnote

  start

  :lock request;

  note

    Execution is blocked until mutex is locked.

  endnote

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

    :unlock request;

    stop

    note

      Returns ""URT_STATUS_REQUEST_BADOWNER"".

    endnote

  else (no)

    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>

/'

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**\nurtFrtRequestAcquire()\n

!include ../functions.iuml

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

note

  -- **request** : urt_frtrequest_t* --

  The FRT request to be acquired.

  Must not be ""NULL"".

  ====

  -- **return** : urt_status_t --

  Returns ""URT_STATUS_OK"" in case of success.

  Returns ""URT_STATUS_REQUEST_BADOWNER"" if the request is aloready owned by a service.

endnote

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

$acquire_request()

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

@enduml

<?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="316px" preserveAspectRatio="none" style="width:531px;height:316px;" version="1.1" viewBox="0 0 531 316" width="531px" zoomAndPan="magnify"><defs><filter height="300%" id="ff5stu5orz9yi" 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="220" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="284" x="122.5" y="47.6611">urtFrtRequestCalculateValidity()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="267.5" y="68.6143"/><path d="M25,72.8594 L25,183.6563 L519,183.6563 L519,82.8594 L509,72.8594 L25,72.8594 " fill="#FBFB77" filter="url(#ff5stu5orz9yi)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M509,72.8594 L509,82.8594 L519,82.8594 L509,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="25" x2="180" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="184" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="184" y="89.4263">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="115" x="245" y="89.4263">: urt_frtrequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="364" x2="519" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="227" x="31" y="105.0591">The request to calculate validity for.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="31" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="111" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="143" y="120.1919">.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="210" x="31" y="135.3247">Must have been acquired before.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="25" x2="519" y1="143.3906" y2="143.3906"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="25" x2="519" y1="145.3906" y2="145.3906"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="25" x2="226" y1="155.957" y2="155.957"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="230" y="159.9575"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="230" y="159.9575">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="35" x="279" y="159.9575">: bool</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="318" x2="519" y1="155.957" y2="155.957"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="473" x="31" y="175.5903">Flag, indicating whether or not the request is valid wrt. it's set parameters.</text><ellipse cx="272" cy="213.6563" fill="#000000" filter="url(#ff5stu5orz9yi)" rx="10" ry="10" style="stroke: none; 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@startuml

title **µRtWare**\nurtFrtRequestCalculateValidity()\n

note

  - - **request** : urt_frtrequest_t* - -

  The request to calculate validity for.

  Must not be ""NULL"".

  Must have been acquired before.

  ====

  - - **return** : bool - -

  Flag, indicating whether or not the request is valid wrt. it's set parameters.

endnote

start

if (Latency is lower than deadline and\nis within allowed jitter range?) then (yes)

  stop

  note

    Returns ""true"".

  endnote

else (no)

  stop

  note

    Returns ""false"".

  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>

/'

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**\nurtFrtRequestCalculateValidity()\n

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

note

  -- **request** : urt_frtrequest_t* --

  The request to calculate validity for.

  Must not be ""NULL"".

  Must have been acquired before.

  ====

  -- **return** : bool --

  Flag, indicating whether or not the request is valid wrt. it's set parameters.

endnote

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

start

if (Latency is lower than deadline and\nis within allowed jitter range?) then (yes)

  stop

  note

    Returns ""true"".

  endnote

else (no)

  stop

  note

    Returns ""false"".

  endnote

endif

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

@enduml

<?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="264px" preserveAspectRatio="none" style="width:469px;height:264px;" version="1.1" viewBox="0 0 469 264" width="469px" zoomAndPan="magnify"><defs><filter height="300%" id="f1b5jv7tpnazcw" 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="189" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="254" x="106.5" y="47.6611">urtHrtRequestGetMaxJitter()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="236.5" y="68.6143"/><path d="M215,72.8594 L215,168.5234 L457,168.5234 L457,82.8594 L447,72.8594 L215,72.8594 " fill="#FBFB77" filter="url(#f1b5jv7tpnazcw)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M447,72.8594 L447,82.8594 L457,82.8594 L447,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="215" x2="242" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="246" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="246" y="89.4263">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="119" x="307" y="89.4263">: urt_hrtrequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="430" x2="457" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="152" x="221" y="105.0591">The request to initialize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="221" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="301" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="333" y="120.1919">.</text><line style="stroke: #A80036; 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@startuml

title **µRtWare**\nurtHrtRequestGetMaxJitter()\n

note

  - - **request** : urt_hrtrequest_t* - -

  The request to initialize.

  Must not be ""NULL"".

  ====

  - - **return** : urt_delay_t* const - -

  Pointer to the ""maxJitter"" variable.

endnote

start

stop

note

  Returns pointer to the ""maxJitter"" variable.

endnote

@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>

/'

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**\nurtHrtRequestGetMaxJitter()\n

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

note

  -- **request** : urt_hrtrequest_t* --

  The request to initialize.

  Must not be ""NULL"".

  ====

  -- **return** : urt_delay_t* const --

  Pointer to the ""maxJitter"" variable.

endnote

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

start

stop

note

  Returns pointer to the ""maxJitter"" variable.

endnote

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

@enduml

<?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="584px" preserveAspectRatio="none" style="width:752px;height:584px;" version="1.1" viewBox="0 0 752 584" width="752px" zoomAndPan="magnify"><defs><filter height="300%" id="f1arq1m9rul0t0" 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="330.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="166" x="292" y="47.6611">urtFrtRequestInit()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="378" y="68.6143"/><path d="M535,72.8594 L535,153.3906 L740,153.3906 L740,82.8594 L730,72.8594 L535,72.8594 " fill="#FBFB77" filter="url(#f1arq1m9rul0t0)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M730,72.8594 L730,82.8594 L740,82.8594 L730,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="535" x2="545.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="549.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="549.5" y="89.4263">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="115" x="610.5" y="89.4263">: urt_frtrequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="729.5" x2="740" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="178" x="541" y="105.0591">The FRT request to initialize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="541" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="621" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="653" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="535" x2="740" y1="128.2578" y2="128.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="535" x2="740" y1="130.2578" y2="130.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="535" x2="592" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="596" y="144.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="596" y="144.8247">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="34" x="645" y="144.8247">: void</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="683" x2="740" y1="140.8242" y2="140.8242"/><ellipse cx="637.5" cy="183.3906" fill="#000000" filter="url(#f1arq1m9rul0t0)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M10,203.3906 L10,531.1797 A0,0 0 0 0 10,531.1797 L552,531.1797 A0,0 0 0 0 552,531.1797 L552,371.2852 L572,367.2852 L552,363.2852 L552,213.3906 L542,203.3906 L10,203.3906 A0,0 0 0 0 10,203.3906 " fill="#FBFB77" filter="url(#f1arq1m9rul0t0)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M542,203.3906 L542,213.3906 L552,213.3906 L542,203.3906 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="218.5" y1="215.957" y2="215.957"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="117" x="222.5" y="219.9575">urt_baserequest_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343.5" x2="552" y1="215.957" y2="215.957"/><ellipse cx="21.5" cy="231.1563" 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="33" x="27" y="235.5903">prev</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="64" y="235.5903">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="79" y="235.5903">NULL</text><ellipse cx="21.5" cy="246.2891" 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="27" y="250.7231">next</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="63" y="250.7231">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="78" y="250.7231">NULL</text><ellipse cx="21.5" cy="261.4219" 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="27" y="265.856">urtMutexInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="30" x="108" y="265.856">lock</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="138" y="265.856">)</text><ellipse cx="21.5" 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="45" x="27" y="280.9888">owner</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="76" y="280.9888">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="91" y="280.9888">NULL</text><ellipse cx="21.5" 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="118" x="27" y="296.1216">submissionTime</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="149" y="296.1216">← 0</text><ellipse cx="21.5" 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" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="59" x="27" y="311.2544">payload</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="90" y="311.2544">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="105" y="311.2544">NULL</text><ellipse cx="21.5" 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="27" y="326.3872">urtEventSourceInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="73" x="150" y="326.3872">evtSource</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="223" y="326.3872">)</text><ellipse cx="21.5" 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" lengthAdjust="spacingAndGlyphs" textLength="129" x="27" y="341.52">urtEventListenerInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="82" x="156" y="341.52">evtListener</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="238" y="341.52">)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="167.5" y1="352.1523" y2="352.1523"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="219" x="171.5" y="356.1528">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="394.5" x2="552" y1="352.1523" y2="352.1523"/><ellipse cx="21.5" 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" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="101" x="27" y="371.7856">sumLatencies</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="132" y="371.7856">← 0</text><ellipse cx="21.5" 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="67" x="27" y="386.9185">numCalls</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="98" y="386.9185">← 0</text><ellipse cx="21.5" cy="397.6172" 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="27" y="402.0513">numFails</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="97" y="402.0513">← 0</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="227" y1="412.6836" y2="412.6836"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="100" x="231" y="416.6841">urt_frtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="335" x2="552" y1="412.6836" y2="412.6836"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="123.5" y1="427.8164" y2="427.8164"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="307" x="127.5" y="431.8169">URT_CFG_RPC_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="438.5" x2="552" y1="427.8164" y2="427.8164"/><ellipse cx="21.5" cy="443.0156" 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="27" y="447.4497">deadlineOffset</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="141" y="447.4497">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="152" x="156" y="447.4497">URT_DELAY_IMMEDIATE</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="138" y1="458.082" y2="458.082"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="278" x="142" y="462.0825">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="424" x2="552" y1="458.082" y2="458.082"/><ellipse cx="21.5" 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="66" x="27" y="477.7153">maxJitter</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="97" y="477.7153">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="152" x="112" y="477.7153">URT_DELAY_IMMEDIATE</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="20.5" y1="488.3477" y2="488.3477"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="513" x="24.5" y="492.3481">URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="541.5" x2="552" y1="488.3477" y2="488.3477"/><ellipse cx="21.5" cy="503.5469" 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="84" x="27" y="507.981">minLatency</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="115" y="507.981">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="144" x="130" y="507.981">URT_DELAY_INFINITE</text><ellipse cx="21.5" cy="518.6797" 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="88" x="27" y="523.1138">maxLatency</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="119" y="523.1138">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="152" x="134" y="523.1138">URT_DELAY_IMMEDIATE</text><rect fill="#FEFECE" filter="url(#f1arq1m9rul0t0)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="131" x="572" y="350.3008"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="111" x="582" y="371.4395">initialize members</text><ellipse cx="637.5" cy="562.1797" fill="#FFFFFF" filter="url(#f1arq1m9rul0t0)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="637.5" cy="562.1797" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="637.5" x2="637.5" y1="153.3906" y2="173.3906"/><polygon fill="#A80036" points="633.5,163.3906,637.5,173.3906,641.5,163.3906,637.5,167.3906" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="637.5" x2="637.5" y1="193.3906" y2="350.3008"/><polygon fill="#A80036" points="633.5,340.3008,637.5,350.3008,641.5,340.3008,637.5,344.3008" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="637.5" x2="637.5" y1="384.2695" y2="551.1797"/><polygon fill="#A80036" points="633.5,541.1797,637.5,551.1797,641.5,541.1797,637.5,545.1797" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[84908617999551b7fe7ee59edb21f5f1]

@startuml

title **µRtWare**\nurtFrtRequestInit()\n

note

  - - **request** : urt_frtrequest_t* - -

  The FRT request to initialize.

  Must not be ""NULL"".

  ====

  - - **return** : void - -

endnote

start

:initialize members;

note

  - - urt_baserequest_t - -

  * **prev** ← ""NULL""

  * **next** ← ""NULL""

  * urtMutexInit(**lock**)

  * **owner** ← ""NULL""

  * **submissionTime** ← 0

  * **payload** ← ""NULL""

  * urtEventSourceInit(**evtSource**)

  * urtEventListenerInit(**evtListener**)

  .. URT_CFG_RPC_PROFILING == true ..

  * **sumLatencies** ← 0

  * **numCalls** ← 0

  * **numFails** ← 0

  - - urt_frtrequest_t - -

  .. URT_CFG_RPC_QOS_DEADLINECHECKS == true ..

  * **deadlineOffset** ← ""URT_DELAY_IMMEDIATE""

  .. URT_CFG_RPC_QOS_JITTERCHECKS == true ..

  * **maxJitter** ← ""URT_DELAY_IMMEDIATE""

  .. URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true ..

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

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

endnote

stop

@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>

/'

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**\nurtFrtRequestInit()\n

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

note

  -- **request** : urt_frtrequest_t* --

  The FRT request to initialize.

  Must not be ""NULL"".

  ====

  -- **return** : void --

endnote

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

start

:initialize members;

note

  -- urt_baserequest_t --

  * **prev** ← ""NULL""

  * **next** ← ""NULL""

  * urtMutexInit(**lock**)

  * **owner** ← ""NULL""

  * **submissionTime** ← 0

  * **payload** ← ""NULL""

  * urtEventSourceInit(**evtSource**)

  * urtEventListenerInit(**evtListener**)

  .. URT_CFG_RPC_PROFILING == true ..

  * **sumLatencies** ← 0

  * **numCalls** ← 0

  * **numFails** ← 0

  -- urt_frtrequest_t --

  .. URT_CFG_RPC_QOS_DEADLINECHECKS == true ..

  * **deadlineOffset** ← ""URT_DELAY_IMMEDIATE""

  .. URT_CFG_RPC_QOS_JITTERCHECKS == true ..

  * **maxJitter** ← ""URT_DELAY_IMMEDIATE""

  .. URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true ..

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

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

endnote

stop

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

@enduml

<?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="333px" preserveAspectRatio="none" style="width:373px;height:333px;" version="1.1" viewBox="0 0 373 333" width="373px" zoomAndPan="magnify"><defs><filter height="300%" id="f1kpdy9lmjcfeu" 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="141" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="206" x="82.5" y="47.6611">urtFrtRequestRelease()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="188.5" y="68.6143"/><path d="M85,72.8594 L85,183.6563 L361,183.6563 L361,82.8594 L351,72.8594 L85,72.8594 " fill="#FBFB77" filter="url(#f1kpdy9lmjcfeu)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M351,72.8594 L351,82.8594 L361,82.8594 L351,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="85" x2="131" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="135" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="135" y="89.4263">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="115" x="196" y="89.4263">: urt_frtrequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="315" x2="361" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="219" x="91" y="105.0591">The FRT request to release/unlock.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="91" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="171" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="203" y="120.1919">.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="255" x="91" y="135.3247">Must have been acquired/locked before.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="85" x2="361" y1="143.3906" y2="143.3906"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="85" x2="361" y1="145.3906" y2="145.3906"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="85" x2="152" y1="155.957" y2="155.957"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="156" y="159.9575"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="156" y="159.9575">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="205" y="159.9575">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="294" x2="361" y1="155.957" y2="155.957"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="93" x="91" y="175.5903">Always returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="188" y="175.5903">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="292" y="175.5903">.</text><ellipse cx="223" cy="213.6563" fill="#000000" filter="url(#f1kpdy9lmjcfeu)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#f1kpdy9lmjcfeu)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="114" x="166" y="243.6563"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="176" y="264.7949">unlock request</text><path d="M10,296.0586 L10,321.1914 A0,0 0 0 0 10,321.1914 L192,321.1914 A0,0 0 0 0 192,321.1914 L192,314.0586 L212,308.625 L192,306.0586 L192,306.0586 L182,296.0586 L10,296.0586 A0,0 0 0 0 10,296.0586 " fill="#FBFB77" filter="url(#f1kpdy9lmjcfeu)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M182,296.0586 L182,306.0586 L192,306.0586 L182,296.0586 " 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="313.1255">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="69" y="313.1255">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="173" y="313.1255">.</text><ellipse cx="223" cy="308.625" fill="#FFFFFF" filter="url(#f1kpdy9lmjcfeu)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="223" cy="308.625" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="223" x2="223" y1="183.6563" y2="203.6563"/><polygon fill="#A80036" points="219,193.6563,223,203.6563,227,193.6563,223,197.6563" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="223" x2="223" y1="223.6563" y2="243.6563"/><polygon fill="#A80036" points="219,233.6563,223,243.6563,227,233.6563,223,237.6563" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="223" x2="223" y1="277.625" y2="297.625"/><polygon fill="#A80036" points="219,287.625,223,297.625,227,287.625,223,291.625" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e5a2ec499f63643709488273b91be405]

@startuml

title **µRtWare**\nurtFrtRequestRelease()\n

note

  - - **request** : urt_frtrequest_t* - -

  The FRT request to release/unlock.

  Must not be ""NULL"".

  Must have been acquired/locked before.

  ====

  - - **return** : urt_status_t - -

  Always returns ""URT_STATUS_OK"".

endnote

  start

  :unlock request;

  stop

  note

    Returns ""URT_STATUS_OK"".

  endnote

@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>

/'

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**\nurtFrtRequestRelease()\n

!include ../functions.iuml

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

note

  -- **request** : urt_frtrequest_t* --

  The FRT request to release/unlock.

  Must not be ""NULL"".

  Must have been acquired/locked before.

  ====

  -- **return** : urt_status_t --

  Always returns ""URT_STATUS_OK"".

endnote

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

$release_request()

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

@enduml

<?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="837px" preserveAspectRatio="none" style="width:2306px;height:837px;" version="1.1" viewBox="0 0 2306 837" width="2306px" zoomAndPan="magnify"><defs><filter height="300%" id="f1l3acprou667y" 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="1107.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="214" x="1045" y="47.6611">urtFrtRequestRetrieve()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="1155" y="68.6143"/><path d="M1339.25,72.8594 L1339.25,183.6563 L1943.25,183.6563 L1943.25,82.8594 L1933.25,72.8594 L1339.25,72.8594 " fill="#FBFB77" filter="url(#f1l3acprou667y)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1933.25,72.8594 L1933.25,82.8594 L1943.25,82.8594 L1933.25,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1339.25" x2="1549.25" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1553.25" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="1553.25" y="89.4263">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="115" x="1614.25" y="89.4263">: urt_frtrequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1733.25" x2="1943.25" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="150" x="1345.25" y="105.0591">The request to retrieve.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="1345.25" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1425.25" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1457.25" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1339.25" x2="1943.25" y1="128.2578" y2="128.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1339.25" x2="1943.25" y1="130.2578" y2="130.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1339.25" x2="1570.25" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1574.25" y="144.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="1574.25" y="144.8247">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="1623.25" y="144.8247">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1712.25" x2="1943.25" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="103" x="1345.25" y="160.4575">Typcially returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="1452.25" y="160.4575">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1556.25" y="160.4575">.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1345.25" y="175.5903">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="216" x="1398.25" y="175.5903">URT_STATUS_REQUEST_BADOWNER</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="310" x="1618.25" y="175.5903">if the request had to be removed from a service.</text><ellipse cx="1641.25" cy="213.6563" fill="#000000" filter="url(#f1l3acprou667y)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#f1l3acprou667y)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="98" x="1592.25" y="243.6563"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="78" x="1602.25" y="264.7949">lock request</text><polygon fill="#FEFECE" filter="url(#f1l3acprou667y)" points="1551.25,297.625,1731.25,297.625,1743.25,309.625,1731.25,321.625,1551.25,321.625,1539.25,309.625,1551.25,297.625" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="1551.25" y="313.4331">Request is owned by a service?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1519.25" y="307.0308">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1743.25" y="307.0308">no</text><rect fill="#000000" filter="url(#f1l3acprou667y)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; 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stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="229" x="206" y="538.1011">This was the first request in the queue?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="174" y="531.6987">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="447" y="531.6987">no</text><rect fill="#FEFECE" filter="url(#f1l3acprou667y)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="219" x="56" y="556.293"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="20" x="66" y="577.4316">set</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="126" x="90" y="577.4316">requestQueue_front</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="13" x="220" y="577.4316">to</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="28" x="237" y="577.4316">next</text><rect fill="#FEFECE" filter="url(#f1l3acprou667y)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="280" x="1411" y="538.1011">There are FRT or SRT requests left in the queue?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1379" y="531.6987">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1703" y="531.6987">no</text><rect fill="#FEFECE" filter="url(#f1l3acprou667y)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="240" x="1269" y="556.293"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="20" x="1279" y="577.4316">set</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="147" x="1303" y="577.4316">requestQueue_fsrtBack</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="13" x="1454" y="577.4316">to</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="28" x="1471" y="577.4316">prev</text><rect fill="#FEFECE" filter="url(#f1l3acprou667y)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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@startuml

title **µRtWare**\nurtFrtRequestRetrieve()\n

note

  - - **request** : urt_frtrequest_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

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

      fork again

        if (This was the final FRT/SRT request?) then (yes)

          if (There are FRT or SRT requests left in the queue?) then (yes)

            :set ""requestQueue_fsrtBack"" to ""prev"";

          else (no)

            :set ""requestQueue_fsrtBack"" to ""NULL"";

          endif

        else (no)

        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

@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>

/'

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**\nurtFrtRequestRetrieve()\n

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

note

  -- **request** : urt_frtrequest_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

      fork again

        if (This was the final FRT/SRT request?) then (yes)

          if (There are FRT or SRT requests left in the queue?) then (yes)

            :set ""requestQueue_fsrtBack"" to ""prev"";

          else (no)

            :set ""requestQueue_fsrtBack"" to ""NULL"";

          endif

        else (no)

        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

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@startuml

title **µRtWare**\nurtFrtRequestSubmit()\n

note

  - - **request** : urt_frtrequest_t* - -

  The request to be used for this call.

  Must not be ""NULL"".

  Must have been acquired before.

  - - **service** : urt_service_t* - -

  The service to be called.

  Must not be ""NULL"".

  - - **deadline** : urt_delay_t - -

  Deadline offset until when this request is valid.

  ====

  - - **return** : urt_status_t - -

  Always returns ""URT_STATUS_OK"".

endnote

start

:set ""deadlineOffset"" to argument;

:lock service;

fork

  partition "enqueue request" {

    fork

      if (Service already holds requests?) then (yes)

        if (Service already holds FRT or SRT requests?) then (yes)

          partition "append to FRT/SRT requests" {

            :access last queued FRT/SRT request;

            fork

              :set ""next"" pointer of this request to ""next"" of queued request;

            fork again

              :set ""prev"" pointer of this request to of queued request;

            fork again

              :set ""next"" pointer of queued request to this request;

            fork again

              :set ""prev"" pointer of next request to this request;

            endfork

          }

        elseif (Service already holds HRT requests?) then (yes)

          partition "enqueue after last HRT request" {

            :access last queued HRT request;

            fork

              :set ""next"" pointer of this request to ""next"" of queued request;

            fork again

              :set ""prev"" pointer of this request to of queued request;

            fork again

              :set ""next"" pointer of queued request to this request;

            fork again

              :set ""prev"" pointer of next request to this request;

            endfork

          }

        else (no)

          partition "enqueue in fron of NRT requests" {

            :access first queued request;

            fork

              :set ""next"" pointer of this request to queued request;

            fork again

              :set ""prev"" pointer of queued request to this request;

            fork again

              :set the ""requestQueue_front"" pointer to this request;

            endfork

          }

        endif

      else (no)

        fork

          :set the ""requestQueue_front"" pointer to this request;

        fork again

          :set the ""requestQueue_back"" pointer to this request;

        endfork

      endif

    fork again

      :set the ""requestQueue_fsrtBack"" pointer to this request;

    endfork

  }

fork again

  :set the service as request owner;

endfork

:unlock request;

:fire event (@service);

:unlock service;

stop

note

  Returns ""URT_STATUS_OK"".

endnote

@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>

/'

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**\nurtFrtRequestSubmit()\n

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

note

  -- **request** : urt_frtrequest_t* --

  The request to be used for this call.

  Must not be ""NULL"".

  Must have been acquired before.

  -- **service** : urt_service_t* --

  The service to be called.

  Must not be ""NULL"".

  -- **deadline** : urt_delay_t --

  Deadline offset until when this request is valid.

  ====

  -- **return** : urt_status_t --

  Always returns ""URT_STATUS_OK"".

endnote

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

start

:set ""deadlineOffset"" to argument;

:lock service;

fork

  partition "enqueue request" {

    fork

      if (Service already holds requests?) then (yes)

        if (Service already holds FRT or SRT requests?) then (yes)

          partition "append to FRT/SRT requests" {

            :access last queued FRT/SRT request;

            fork

              :set ""next"" pointer of this request to ""next"" of queued request;

            fork again

              :set ""prev"" pointer of this request to of queued request;

            fork again

              :set ""next"" pointer of queued request to this request;

            fork again

              :set ""prev"" pointer of next request to this request;

            endfork

          }

        elseif (Service already holds HRT requests?) then (yes)

          partition "enqueue after last HRT request" {

            :access last queued HRT request;

            fork

              :set ""next"" pointer of this request to ""next"" of queued request;

            fork again

              :set ""prev"" pointer of this request to of queued request;

            fork again

              :set ""next"" pointer of queued request to this request;

            fork again

              :set ""prev"" pointer of next request to this request;

            endfork

          }

        else (no)

          partition "enqueue in fron of NRT requests" {

            :access first queued request;

            fork

              :set ""next"" pointer of this request to queued request;

            fork again

              :set ""prev"" pointer of queued request to this request;

            fork again

              :set the ""requestQueue_front"" pointer to this request;

            endfork

          }

        endif

      else (no)

        fork

          :set the ""requestQueue_front"" pointer to this request;

        fork again

          :set the ""requestQueue_back"" pointer to this request;

        endfork

      endif

    fork again

      :set the ""requestQueue_fsrtBack"" pointer to this request;

    endfork

  }

fork again

  :set the service as request owner;

endfork

:unlock request;

:fire event (@service);

:unlock service;

stop

note

  Returns ""URT_STATUS_OK"".

endnote

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

@enduml

<?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="470px" preserveAspectRatio="none" style="width:1030px;height:470px;" version="1.1" viewBox="0 0 1030 470" width="1030px" zoomAndPan="magnify"><defs><filter height="300%" id="f4frahx4klt7e" 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="469.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="235" x="396.5" y="47.6611">urtFrtRequestTryAcquire()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="517" y="68.6143"/><path d="M437,72.8594 L437,198.7891 L1018,198.7891 L1018,82.8594 L1008,72.8594 L437,72.8594 " fill="#FBFB77" filter="url(#f4frahx4klt7e)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1008,72.8594 L1008,82.8594 L1018,82.8594 L1008,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="437" x2="635.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="639.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="639.5" y="89.4263">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="115" x="700.5" y="89.4263">: urt_frtrequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="819.5" x2="1018" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="202" x="443" y="105.0591">The FRT request to be acquired.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="443" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="523" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="555" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="437" x2="1018" y1="128.2578" y2="128.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="437" x2="1018" y1="130.2578" y2="130.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="437" x2="656.5" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="660.5" y="144.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="660.5" y="144.8247">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="709.5" y="144.8247">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="798.5" x2="1018" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="443" y="160.4575">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="496" y="160.4575">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="120" x="604" y="160.4575">in case of success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="443" y="175.5903">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="216" x="496" y="175.5903">URT_STATUS_REQUEST_BADOWNER</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="287" x="716" y="175.5903">if the request is aloready owned by a service.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="443" y="190.7231">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="200" x="496" y="190.7231">URT_STATUS_REQUEST_LOCKED</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="254" x="700" y="190.7231">if the request's mutex is already locked.</text><ellipse cx="727.5" cy="228.7891" fill="#000000" filter="url(#f4frahx4klt7e)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M538.5,263.207 L538.5,288.3398 A0,0 0 0 0 538.5,288.3398 L658.5,288.3398 A0,0 0 0 0 658.5,288.3398 L658.5,281.207 L678.5,275.7734 L658.5,273.207 L658.5,273.207 L648.5,263.207 L538.5,263.207 A0,0 0 0 0 538.5,263.207 " fill="#FBFB77" filter="url(#f4frahx4klt7e)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M648.5,263.207 L648.5,273.207 L658.5,273.207 L648.5,263.207 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="99" x="544.5" y="280.2739">Does not block.</text><rect fill="#FEFECE" filter="url(#f4frahx4klt7e)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="98" x="678.5" y="258.7891"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="78" x="688.5" y="279.9277">lock request</text><polygon fill="#FEFECE" filter="url(#f4frahx4klt7e)" points="655.5,312.7578,799.5,312.7578,811.5,324.7578,799.5,336.7578,655.5,336.7578,643.5,324.7578,655.5,312.7578" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="144" x="655.5" y="328.5659">Request could be locked?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="623.5" y="322.1636">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="811.5" y="322.1636">no</text><polygon fill="#FEFECE" filter="url(#f4frahx4klt7e)" points="390,346.7578,570,346.7578,582,358.7578,570,370.7578,390,370.7578,378,358.7578,390,346.7578" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="390" y="362.5659">Request is owned by a service?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="358" y="356.1636">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="582" y="356.1636">no</text><rect fill="#FEFECE" filter="url(#f4frahx4klt7e)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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@startuml

title **µRtWare**\nurtFrtRequestTryAcquire()\n

note

  - - **request** : urt_frtrequest_t* - -

  The FRT request to be acquired.

  Must not be ""NULL"".

  ====

  - - **return** : urt_status_t - -

  Returns ""URT_STATUS_OK"" in case of success.

  Returns ""URT_STATUS_REQUEST_BADOWNER"" if the request is aloready owned by a service.

  Returns ""URT_STATUS_REQUEST_LOCKED"" if the request's mutex is already locked.

endnote

  start

  :lock request;

  note

    Does not block.

  endnote

  if (Request could be locked?) then (yes)

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

      :unlock request;

      stop

      note

        Returns ""URT_STATUS_REQUEST_BADOWNER"".

      endnote

    else (no)

      stop

      note

        Returns ""URT_STATUS_OK"".

      endnote

    endif

  else (no)

    stop

    note

      Returns ""URT_STATUS_REQUEST_LOCKED"".

    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>

/'

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**\nurtFrtRequestTryAcquire()\n

!include ../functions.iuml

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

note

  -- **request** : urt_frtrequest_t* --

  The FRT request to be acquired.

  Must not be ""NULL"".

  ====

  -- **return** : urt_status_t --

  Returns ""URT_STATUS_OK"" in case of success.

  Returns ""URT_STATUS_REQUEST_BADOWNER"" if the request is aloready owned by a service.

  Returns ""URT_STATUS_REQUEST_LOCKED"" if the request's mutex is already locked.

endnote

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

$try_acquire_request()

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

@enduml

/'

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/>.

'/

/' Acquire a request (blocking). '/

!function $acquire_request()

  start

  :lock request;

  note

    Execution is blocked until mutex is locked.

  endnote

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

    :unlock request;

    stop

    note

      Returns ""URT_STATUS_REQUEST_BADOWNER"".

    endnote

  else (no)

    stop

    note

      Returns ""URT_STATUS_OK"".

    endnote

  endif

!endfunction

/' Try to acquire a request (non blocking). '/

!function $try_acquire_request()

  start

  :lock request;

  note

    Does not block.

  endnote

  if (Request could be locked?) then (yes)

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

      :unlock request;

      stop

      note

        Returns ""URT_STATUS_REQUEST_BADOWNER"".

      endnote

    else (no)

      stop

      note

        Returns ""URT_STATUS_OK"".

      endnote

    endif

  else (no)

    stop

    note

      Returns ""URT_STATUS_REQUEST_LOCKED"".

    endnote

  endif

!endfunction

/' Release a previously acquired request. '/

!function $release_request()

  start

  :unlock request;

  stop

  note

    Returns ""URT_STATUS_OK"".

  endnote

!endfunction

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@startuml

title **µRtWare**\nurtHrtRequestAcquire()\n

note

  - - **request** : urt_hrtrequest_t* - -

  The HRT request to be acquired.

  Must not be ""NULL"".

  ====

  - - **return** : urt_status_t - -

  Returns ""URT_STATUS_OK"" in case of success.

  Returns ""URT_STATUS_REQUEST_BADOWNER"" if the request is aloready owned by a service.

endnote

  start

  :lock request;

  note

    Execution is blocked until mutex is locked.

  endnote

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

    :unlock request;

    stop

    note

      Returns ""URT_STATUS_REQUEST_BADOWNER"".

    endnote

  else (no)

    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>

/'

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