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/'
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µRtWare is a lightweight publish/subscribe middleware for real-time
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applications. It was developed as part of the software habitat for the
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Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
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Copyright (C) 2018..2020  Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program.  If not, see <http://www.gnu.org/licenses/>.
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'/
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/'### INTRO ##################################################################'/
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@startuml
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title **µRtWare**\nurtHrtRequestSubmit()\n
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/'### PARAMETERS & RETURN ####################################################'/
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note
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  -- **request** : urt_hrtrequest_t* --
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  The request to be used for this call.
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  Must not be ""NULL"".
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  Must have been acquired before.
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  -- **service** : urt_service_t* --
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  The service to be called.
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  Must not be ""NULL"".
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  -- **deadline** : urt_delay_t --
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  Deadline offset until when this request is valid.
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  ====
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  -- **return** : urt_status_t --
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  Always returns ""URT_STATUS_OK"".
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endnote
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/'### PROCEDURE ##############################################################'/
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start
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fork
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  :set QoS timer to deadline or maximum jitter;
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fork again
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  :set ""deadlineOffset"" to argument;
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endfork
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:lock service;
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fork
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  partition "enqueue request" {
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    if (Service already holds requests?) then (yes)
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      if (Service already holds HRT requests?) then (yes)
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        :access first queued HRT request;
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        while (Queued request is more or equally critical?) is (yes)
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          :proceed to next request;
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        endwhile (no)
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        fork
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          :set ""next"" pointer of this request to queued request;
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        fork again
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          :set ""prev"" pointer of this request to ""prev"" of queued request;
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        fork again
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          :set ""next"" pointer of previous request to this request;
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        fork again
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          :set ""prev"" pointer of queued request to this request;
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        fork again
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          if (This is the least critical HRT request?) then (yes)
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            :set the ""requestQueue_hrtBack"" pointer to this request;
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          else (no)
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          endif
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        endfork
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      else (no)
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        :access first queued request;
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        fork
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          :set ""next"" pointer of this request to queued request;
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        fork again
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          :set ""prev"" pointer of queued request to this request;
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        fork again
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          :set the ""requestQueue_hrtBack"" pointer to this request;
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        endfork
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      endif
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      fork
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        if (The request is at the front of the queue?) then (yes)
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          :set the ""requestQueue_front"" pointer to this request;
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        else (no)
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        endif
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      fork again
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        if (The request is at the back of the queue?) then (yes)
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          :set the ""requestQueue_back"" pointer to this request;
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        else (no)
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        endif
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      endfork
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    else (no)
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      fork
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        :set the ""requestQueue_front"" pointer to this request;
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      fork again
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        :set the ""requestQueue_back"" pointer to this request;
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      fork again
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        :set the ""requestQueue_hrtBack"" pointer to this request;
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      endfork
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    endif
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  }
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fork again
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  :set the service as request owner;
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endfork
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:unlock request;
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:fire event (@service);
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:unlock service;
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stop
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note
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  Returns ""URT_STATUS_OK"".
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endnote
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/'### OUTRO ##################################################################'/
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@enduml