/' 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 . '/ /'### INTRO ##################################################################'/ @startuml title **µRtWare**\nurtNrtSubscriberSubscribe()\n !include ../../functions.iuml /'### PARAMETERS & RETURN ####################################################'/ note -- **subscriber** : urt_nrtsubscriber_t* -- The NRT subscriber which shall subscribe to a topic. Must not be ""NULL"". -- **topic** : urt_topic_t* -- The topic to subscribe to. Must not be ""NULL"". -- **messages** : urt_message_t* -- ""NULL"" terminated list of messages to contribute to the topic. Messages must not be associated to another topic. Once a message has been contributed, it cannot be removed later. May be ""NULL"" (no messages to contribute). ==== -- **return** : urt_status_t -- Returns ""URT_STATUS_OK"" on success. Returns ""URT_STATUS_SUBSCRIBE_TOPICSET"" if the subscriber is already associated to a topic. endnote /'### PROCEDURE ##############################################################'/ start if (Is topic already set?) then (yes) stop note Returns ""URT_STATUS_SUBSCRIBE_TOPICSET"". endnote else (no) fork :set topic; fork again #EEEEEE:initialize members; note #EEEEEE -- urt_basesubscriber_t -- .. URT_CFG_PUBSUB_PROFILING == true .. * **sumLatencies** ← 0 * **numMessagesReceived** ← 0 -- urt_nrtsubscriber_t -- .. URT_CFG_PUBSUB_PROFILING == true .. * **minLatency** ← ""URT_DELAY_INFINITE"" * **maxLatency** ← ""URT_DELAY_IMMEDIATE"" endnote endfork :lock topic; fork if (Messages to contribute?) then (yes) $contribute_messages() else (no) endif fork again fork :set message pointer to topic's latest message; fork again :copy timestamp from topic's latest message; endfork fork again :register to topic's event source; fork again #EEEEEE:..//URT_CFG_PUBSUB_PROFILING == true//..\nincrement counter of subscribers (@topic); endfork :unlock topic; stop note Returns ""URT_STATUS_OK"". endnote endif /'### OUTRO ##################################################################'/ @enduml