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="1899px" preserveAspectRatio="none" style="width:1735px;height:1899px;" version="1.1" viewBox="0 0 1735 1899" width="1735px" zoomAndPan="magnify"><defs><filter height="300%" id="fw8r9eje3asw" 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="822" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="338" x="697.5" y="47.6611">urtHrtSubscriberFetchLatestMessage()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="869.5" y="68.6143"/><path d="M876.25,72.8594 L876.25,334.9844 L1565.25,334.9844 L1565.25,82.8594 L1555.25,72.8594 L876.25,72.8594 " fill="#FBFB77" filter="url(#fw8r9eje3asw)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1555.25,72.8594 L1555.25,82.8594 L1565.25,82.8594 L1555.25,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="876.25" x2="1107.75" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1111.75" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="1111.75" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="136" x="1193.75" y="89.4263">: urt_hrtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1333.75" x2="1565.25" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="313" x="882.25" y="105.0591">The HRT subscriber that shall fetch the message.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="882.25" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="962.25" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="994.25" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="876.25" x2="1164.75" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1168.75" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="59" x="1168.75" y="134.8247">payload</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="1231.75" y="134.8247">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1276.75" x2="1565.25" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="238" x="882.25" y="150.4575">Pointer where to copy the payload to.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="882.25" y="165.5903">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="932.25" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="195" x="968.25" y="165.5903">for messages without payload.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="876.25" x2="1171.75" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1175.75" y="180.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="1175.75" y="180.2231">bytes</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="45" x="1220.75" y="180.2231">: size_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1269.75" x2="1565.25" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="137" x="882.25" y="195.856">Payload size in bytes.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="876.25" x2="1145.25" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1149.25" y="210.4888"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="53" x="1149.25" y="210.4888">latency</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="86" x="1206.25" y="210.4888">: urt_delay_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1296.25" x2="1565.25" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="267" x="882.25" y="226.1216">The latency can be returned by reference.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="882.25" y="241.2544">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="932.25" y="241.2544">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="964.25" y="241.2544">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="876.25" x2="1565.25" y1="249.3203" y2="249.3203"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="876.25" x2="1565.25" y1="251.3203" y2="251.3203"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="876.25" x2="1149.75" y1="261.8867" y2="261.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1153.75" y="265.8872"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="1153.75" y="265.8872">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="1202.75" y="265.8872">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1291.75" x2="1565.25" y1="261.8867" y2="261.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="882.25" y="281.52">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="935.25" y="281.52">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="75" x="1043.25" y="281.52">on success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="882.25" y="296.6528">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="192" x="935.25" y="296.6528">URT_STATUS_FETCH_NOTOPIC</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="282" x="1131.25" y="296.6528">if the subscriber is not associated to a topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="882.25" y="311.7856">Retruns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="935.25" y="311.7856">URT_STATUS_FETCH_NOMESSAGE</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="228" x="1147.25" y="311.7856">if there is no new message to fetch.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="882.25" y="326.9185">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="935.25" y="326.9185">URT_STATUS_JITTERVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="403" x="1147.25" y="326.9185">if the message's latency violated the maximum expected jitter.</text><ellipse cx="1220.75" cy="364.9844" fill="#000000" filter="url(#fw8r9eje3asw)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#fw8r9eje3asw)" points="1158.25,394.9844,1283.25,394.9844,1295.25,406.9844,1283.25,418.9844,1158.25,418.9844,1146.25,406.9844,1158.25,394.9844" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="125" x="1158.25" y="410.7925">Associated to a topic?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1126.25" y="404.3901">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1295.25" y="404.3901">no</text><rect fill="#FEFECE" filter="url(#fw8r9eje3asw)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="692.5" y="428.9844"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="702.5" y="450.123">lock topic</text><rect fill="#FFFFFF" filter="url(#fw8r9eje3asw)" height="540.7378" style="stroke: #000000; stroke-width: 2.0;" width="1442" x="10" y="473.7549"/><path d="M155,474.7549 L155,483.0518 L145,493.0518 L10,493.0518 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="135" x="13" y="487.75">find latest message</text><rect fill="#FEFECE" filter="url(#fw8r9eje3asw)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="145" x="660" y="510.0518"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="44" x="670" y="531.1904">access</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="77" x="718" y="531.1904">lastMessage</text><rect fill="#000000" filter="url(#fw8r9eje3asw)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1377" x="44" y="619.731"/><rect fill="#FEFECE" filter="url(#fw8r9eje3asw)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="489.5" y="645.731"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="161" x="499.5" y="666.8696">proceed to next message</text><rect fill="#000000" filter="url(#fw8r9eje3asw)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1044" x="58" y="708.1841"/><rect fill="#FEFECE" filter="url(#fw8r9eje3asw)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="329" x="72" y="741.1685"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="309" x="82" y="762.3071">decrement message's counter of HRT consumers</text><rect fill="#EEEEEE" filter="url(#fw8r9eje3asw)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="301" x="429" y="734.1841"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="429" x2="463.5" y1="751.1685" y2="751.1685"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="232" x="463.5" y="754.8228">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="695.5" x2="730" y1="751.1685" y2="751.1685"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="281" x="439" y="769.2915">decrement message's counter of consumers</text><rect fill="#EEEEEE" filter="url(#fw8r9eje3asw)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="330" x="758" y="734.1841"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="758" x2="768" y1="751.1685" y2="751.1685"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="310" x="768" y="754.8228">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1078" x2="1088" y1="751.1685" y2="751.1685"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="768" y="769.2915">reset QoS deadline timer</text><rect fill="#000000" filter="url(#fw8r9eje3asw)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1044" x="58" y="802.1216"/><rect fill="#EEEEEE" filter="url(#fw8r9eje3asw)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="277" x="1130" y="699.6997"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1130" x2="1153.5" y1="716.6841" y2="716.6841"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="230" x="1153.5" y="720.3384">URT_CFG:PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1383.5" x2="1407" y1="716.6841" y2="716.6841"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="257" x="1140" y="734.8071">increment counter of received messages</text><rect fill="#000000" filter="url(#fw8r9eje3asw)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1377" x="44" y="828.1216"/><rect fill="#FEFECE" filter="url(#fw8r9eje3asw)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="217" x="624" y="902.5239"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="197" x="634" y="923.6626">signal topic's condition variable</text><polygon fill="#FEFECE" filter="url(#fw8r9eje3asw)" points="623.5,854.1216,841.5,854.1216,853.5,866.1216,841.5,878.1216,623.5,878.1216,611.5,866.1216,623.5,854.1216" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="736.5" y="888.332">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="218" x="623.5" y="869.9297">HRT counter of a message became 0?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="853.5" y="863.5273">no</text><polygon fill="#FEFECE" filter="url(#fw8r9eje3asw)" points="732.5,956.4927,744.5,968.4927,732.5,980.4927,720.5,968.4927,732.5,956.4927" style="stroke: #A80036; stroke-width: 1.5;"/><polygon fill="#FEFECE" filter="url(#fw8r9eje3asw)" points="615.5,564.0205,849.5,564.0205,861.5,576.0205,849.5,588.0205,615.5,588.0205,603.5,576.0205,615.5,564.0205" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="736.5" y="598.231">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="234" x="615.5" y="579.8286">Timestamp of next message is younger?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="589.5" y="573.4263">no</text><polygon fill="#FEFECE" filter="url(#fw8r9eje3asw)" points="646.5,1034.4927,818.5,1034.4927,830.5,1046.4927,818.5,1058.4927,646.5,1058.4927,634.5,1046.4927,646.5,1034.4927" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="646.5" y="1050.3008">Timestamp equals local copy?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="614.5" y="1043.8984">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="830.5" y="1043.8984">no</text><rect fill="#FEFECE" filter="url(#fw8r9eje3asw)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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