AMiRo-OS

    + {field} numMessagesReceived : uint64_t

  }

  /' NRT subscriber type. '/

  $structure("urt_nrtsubscriber_t") {

    .. URT_CFG_PUBSUB_PROFILING == true ..

  /' SRT subscriber type. '/

  $structure("urt_srtsubscriber_t") {

      'Callback to calculate usefulness of a message

      'Optional parameters for the usefulness callback function.

    + {field} cbparams : void*

    .. URT_CFG_PUBSUB_PROFILING == true ..

      'Initializes a urt_srtsubscriber_t object.

    + {method} urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void

      'Tries to subscribe to a topic, sets all parameters and optionally contributes a list of messages to the topic.

      'Fetches the next message in the buffer, optionally copies the payload and optionally returns the latency.

    + {method} urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t

      'Fetches the latest message, optionally copies the payload and optionally returns the latency.

!startsub DEPENDENCIES

urt_nrtsubscriber_t --|> urt_basesubscriber_t

urt_srtsubscriber_t --|> urt_basesubscriber_t

urt_frtsubscriber_t --|> urt_basesubscriber_t

urt_hrtsubscriber_t --|> urt_basesubscriber_t

urt_publisher_t "1" o- "1" urt_topic_t

urt_publisher_t ..> urt_message_t

urt_topic_t "1" *-- "1" urt_message_t

!endsub