urtware / doc / activitydiagrams / subscriber / hrtsubscriber / urtHrtSubscriberFetchLatestMessage.svg @ 33aa05c5
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<?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="1900px" preserveAspectRatio="none" style="width:1792px;height:1900px;" version="1.1" viewBox="0 0 1792 1900" width="1792px" zoomAndPan="magnify"><defs><filter height="300%" id="f15mjsst8r4upa" 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="850.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="338" x="726" y="47.6611">urtHrtSubscriberFetchLatestMessage()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="898" y="68.6143"/><path d="M899.25,72.8594 L899.25,334.9844 L1588.25,334.9844 L1588.25,82.8594 L1578.25,72.8594 L899.25,72.8594 " fill="#FBFB77" filter="url(#f15mjsst8r4upa)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1578.25,72.8594 L1578.25,82.8594 L1588.25,82.8594 L1578.25,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="899.25" x2="1130.75" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1134.75" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="1134.75" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="136" x="1216.75" y="89.4263">: urt_hrtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1356.75" x2="1588.25" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="313" x="905.25" 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="905.25" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="985.25" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1017.25" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="899.25" x2="1187.75" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1191.75" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="59" x="1191.75" y="134.8247">payload</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="1254.75" y="134.8247">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1299.75" x2="1588.25" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="238" x="905.25" 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="905.25" y="165.5903">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="955.25" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="195" x="991.25" y="165.5903">for messages without payload.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="899.25" x2="1194.75" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1198.75" y="180.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="1198.75" y="180.2231">bytes</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="45" x="1243.75" y="180.2231">: size_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1292.75" x2="1588.25" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="137" x="905.25" y="195.856">Payload size in bytes.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="899.25" x2="1168.25" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1172.25" y="210.4888"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="53" x="1172.25" y="210.4888">latency</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="86" x="1229.25" y="210.4888">: urt_delay_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1319.25" x2="1588.25" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="267" x="905.25" 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="905.25" y="241.2544">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="955.25" y="241.2544">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="987.25" y="241.2544">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="899.25" x2="1588.25" y1="249.3203" y2="249.3203"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="899.25" x2="1588.25" y1="251.3203" y2="251.3203"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="899.25" x2="1172.75" y1="261.8867" y2="261.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1176.75" y="265.8872"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="1176.75" y="265.8872">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="1225.75" y="265.8872">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1314.75" x2="1588.25" y1="261.8867" y2="261.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="905.25" y="281.52">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="958.25" y="281.52">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="75" x="1066.25" y="281.52">on success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="905.25" y="296.6528">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="192" x="958.25" y="296.6528">URT_STATUS_FETCH_NOTOPIC</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="282" x="1154.25" 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="905.25" y="311.7856">Retruns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="958.25" y="311.7856">URT_STATUS_FETCH_NOMESSAGE</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="228" x="1170.25" 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="905.25" y="326.9185">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="958.25" y="326.9185">URT_STATUS_JITTERVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="403" x="1170.25" y="326.9185">if the message's latency violated the maximum expected jitter.</text><ellipse cx="1243.75" cy="364.9844" fill="#000000" filter="url(#f15mjsst8r4upa)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#f15mjsst8r4upa)" points="1181.25,394.9844,1306.25,394.9844,1318.25,406.9844,1306.25,418.9844,1181.25,418.9844,1169.25,406.9844,1181.25,394.9844" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="125" x="1181.25" y="410.7925">Associated to a topic?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1149.25" y="404.3901">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1318.25" y="404.3901">no</text><rect fill="#FEFECE" filter="url(#f15mjsst8r4upa)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="683.5" y="428.9844"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="693.5" y="450.123">lock topic</text><rect fill="#FFFFFF" filter="url(#f15mjsst8r4upa)" height="540.7378" style="stroke: #000000; stroke-width: 2.0;" width="1432" x="11" y="472.9531"/><path d="M156,473.9531 L156,482.25 L146,492.25 L11,492.25 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="135" x="14" y="486.9482">find latest message</text><rect fill="#FEFECE" filter="url(#f15mjsst8r4upa)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="145" x="651" y="509.25"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="44" x="661" y="530.3887">access</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="77" x="709" y="530.3887">lastMessage</text><rect fill="#000000" filter="url(#f15mjsst8r4upa)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1373" x="39" y="618.9292"/><rect fill="#FEFECE" filter="url(#f15mjsst8r4upa)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="480.5" y="644.9292"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="161" x="490.5" y="666.0679">proceed to next message</text><rect fill="#000000" filter="url(#f15mjsst8r4upa)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1042" x="51" y="707.3823"/><rect fill="#FEFECE" filter="url(#f15mjsst8r4upa)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="329" x="63" y="740.3667"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="309" x="73" y="761.5054">decrement message's counter of HRT consumers</text><rect fill="#EEEEEE" filter="url(#f15mjsst8r4upa)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="301" x="420" y="733.3823"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="420" x2="454.5" y1="750.3667" y2="750.3667"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="232" x="454.5" y="754.021">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="686.5" x2="721" y1="750.3667" y2="750.3667"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="281" x="430" y="768.4897">decrement message's counter of consumers</text><rect fill="#EEEEEE" filter="url(#f15mjsst8r4upa)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="330" x="749" y="733.3823"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="749" x2="759" y1="750.3667" y2="750.3667"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="310" x="759" y="754.021">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1069" x2="1079" y1="750.3667" y2="750.3667"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="759" y="768.4897">reset QoS deadline timer</text><rect fill="#000000" filter="url(#f15mjsst8r4upa)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1042" x="51" y="801.3198"/><rect fill="#EEEEEE" filter="url(#f15mjsst8r4upa)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="277" x="1121" y="698.8979"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1121" x2="1144.5" y1="715.8823" y2="715.8823"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="230" x="1144.5" y="719.5366">URT_CFG:PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1374.5" x2="1398" y1="715.8823" y2="715.8823"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="257" x="1131" y="734.0054">increment counter of received messages</text><rect fill="#000000" filter="url(#f15mjsst8r4upa)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1373" x="39" y="827.3198"/><rect fill="#FEFECE" filter="url(#f15mjsst8r4upa)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="217" x="615" y="901.7222"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="197" x="625" y="922.8608">signal topic's condition variable</text><polygon fill="#FEFECE" filter="url(#f15mjsst8r4upa)" points="614.5,853.3198,832.5,853.3198,844.5,865.3198,832.5,877.3198,614.5,877.3198,602.5,865.3198,614.5,853.3198" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="727.5" y="887.5303">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="218" x="614.5" y="869.1279">HRT counter of a message became 0?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="844.5" y="862.7256">no</text><polygon fill="#FEFECE" filter="url(#f15mjsst8r4upa)" points="723.5,955.6909,735.5,967.6909,723.5,979.6909,711.5,967.6909,723.5,955.6909" style="stroke: #A80036; stroke-width: 1.5;"/><polygon fill="#FEFECE" filter="url(#f15mjsst8r4upa)" points="606.5,563.2188,840.5,563.2188,852.5,575.2188,840.5,587.2188,606.5,587.2188,594.5,575.2188,606.5,563.2188" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="727.5" y="597.4292">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="234" x="606.5" y="579.0269">Timestamp of next message is younger?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="580.5" y="572.6245">no</text><polygon fill="#FEFECE" filter="url(#f15mjsst8r4upa)" points="637.5,1033.6909,809.5,1033.6909,821.5,1045.6909,809.5,1057.6909,637.5,1057.6909,625.5,1045.6909,637.5,1033.6909" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="637.5" y="1049.499">Timestamp equals local copy?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="605.5" y="1043.0967">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="821.5" y="1043.0967">no</text><rect fill="#FEFECE" filter="url(#f15mjsst8r4upa)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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|---|---|
| 2 |
@startuml |
| 3 |
|
| 4 |
title **µRtWare**\nurtHrtSubscriberFetchLatestMessage()\n |
| 5 |
|
| 6 |
!include ../functions.iuml |
| 7 |
|
| 8 |
/'### PARAMETERS & RETURN ####################################################'/ |
| 9 |
|
| 10 |
note |
| 11 |
- - **subscriber** : urt_hrtsubscriber_t* - - |
| 12 |
The HRT subscriber that shall fetch the message. |
| 13 |
Must not be ""NULL"". |
| 14 |
- - **payload** : void* - - |
| 15 |
Pointer where to copy the payload to. |
| 16 |
May be ""NULL"" for messages without payload. |
| 17 |
- - **bytes** : size_t - - |
| 18 |
Payload size in bytes. |
| 19 |
- - **latency** : urt_delay_t* - - |
| 20 |
The latency can be returned by reference. |
| 21 |
May be ""NULL"". |
| 22 |
==== |
| 23 |
- - **return** : urt_status_t - - |
| 24 |
Returns ""URT_STATUS_OK"" on success. |
| 25 |
Returns ""URT_STATUS_FETCH_NOTOPIC"" if the subscriber is not associated to a topic. |
| 26 |
Retruns ""URT_STATUS_FETCH_NOMESSAGE"" if there is no new message to fetch. |
| 27 |
Returns ""URT_STATUS_JITTERVIOLATION"" if the message's latency violated the maximum expected jitter. |
| 28 |
endnote |
| 29 |
|
| 30 |
/'### PROCEDURE ##############################################################'/ |
| 31 |
|
| 32 |
start |
| 33 |
if (Associated to a topic?) then (yes) |
| 34 |
:lock topic; |
| 35 |
partition "find latest message" {
|
| 36 |
:access ""lastMessage""; |
| 37 |
while (Timestamp of next message is younger?) is (yes) |
| 38 |
fork |
| 39 |
:proceed to next message; |
| 40 |
fork |
| 41 |
:decrement message's counter of HRT consumers; |
| 42 |
fork again |
| 43 |
#EEEEEE:..//URT_CFG_PUBSUB_PROFILING == true//..\ndecrement message's counter of consumers; |
| 44 |
fork again |
| 45 |
#EEEEEE:..//URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true//..\nreset QoS deadline timer; |
| 46 |
endfork |
| 47 |
fork again |
| 48 |
#EEEEEE:..//URT_CFG:PUBSUB_PROFILING == true//..\nincrement counter of received messages; |
| 49 |
endfork |
| 50 |
if (HRT counter of a message became 0?) then (yes) |
| 51 |
:signal topic's condition variable; |
| 52 |
else (no) |
| 53 |
endif |
| 54 |
endwhile (no) |
| 55 |
} |
| 56 |
if (Timestamp equals local copy?) then (yes) |
| 57 |
:unlock topic; |
| 58 |
stop |
| 59 |
note |
| 60 |
Returns ""URT_STATUS_FETCH_NOMESSAGE"". |
| 61 |
endnote |
| 62 |
else (no) |
| 63 |
:calculate message latency; |
| 64 |
fork |
| 65 |
#EEEEEE:..//URT:CFG_PUBSUB_PROFILING == true//..\naccumulate ""sumLatencies"" value; |
| 66 |
fork again |
| 67 |
if (Optional ""latency"" output argument given?) then (yes) |
| 68 |
:set ""latency"" value; |
| 69 |
else (no) |
| 70 |
endif |
| 71 |
endfork |
| 72 |
endif |
| 73 |
partition "//URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true//" #EEEEEE {
|
| 74 |
if (Latency is within allowed jitter range?) then (yes) |
| 75 |
if (Latency is lower than ""minlatency""?) then (yes) |
| 76 |
#EEEEEE:update ""minLatency"" value; |
| 77 |
elseif (Latency is greater than ""maxLatency"" value?) then (yes) |
| 78 |
#EEEEEE:update ""maxLatency"" value; |
| 79 |
else (no) |
| 80 |
endif |
| 81 |
else (no) |
| 82 |
partition "//URT_CFG_PUBSUB_QOS_JITTERCHECKS == true//" #EEEEEE {
|
| 83 |
#EEEEEE:unlock topic; |
| 84 |
#EEEEEE:call ""urtCoreStopNodes(URT_STATUS_JITTERVIOLATION)""; |
| 85 |
stop |
| 86 |
note |
| 87 |
Returns ""URT_STATUS_JITTERVIOLATION"". |
| 88 |
endnote |
| 89 |
} |
| 90 |
endif |
| 91 |
} |
| 92 |
fork |
| 93 |
$fetch_message() |
| 94 |
fork again |
| 95 |
#EEEEEE:..//URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true//..\nreset QoS deadline timer; |
| 96 |
endfork |
| 97 |
:unlock topic; |
| 98 |
stop |
| 99 |
note |
| 100 |
Returns ""URT_STATUS_OK"". |
| 101 |
endnote |
| 102 |
else (no) |
| 103 |
stop |
| 104 |
note |
| 105 |
Returns ""URT_STATUS_FETCH_NOTOPIC"". |
| 106 |
endnote |
| 107 |
endif |
| 108 |
|
| 109 |
/'### OUTRO ##################################################################'/ |
| 110 |
|
| 111 |
@enduml |
| 112 |
|
| 113 |
@startuml |
| 114 |
|
| 115 |
title **µRtWare**\nurtHrtSubscriberFetchLatestMessage()\n |
| 116 |
|
| 117 |
|
| 118 |
|
| 119 |
|
| 120 |
|
| 121 |
|
| 122 |
note |
| 123 |
- - **subscriber** : urt_hrtsubscriber_t* - - |
| 124 |
The HRT subscriber that shall fetch the message. |
| 125 |
Must not be ""NULL"". |
| 126 |
- - **payload** : void* - - |
| 127 |
Pointer where to copy the payload to. |
| 128 |
May be ""NULL"" for messages without payload. |
| 129 |
- - **bytes** : size_t - - |
| 130 |
Payload size in bytes. |
| 131 |
- - **latency** : urt_delay_t* - - |
| 132 |
The latency can be returned by reference. |
| 133 |
May be ""NULL"". |
| 134 |
==== |
| 135 |
- - **return** : urt_status_t - - |
| 136 |
Returns ""URT_STATUS_OK"" on success. |
| 137 |
Returns ""URT_STATUS_FETCH_NOTOPIC"" if the subscriber is not associated to a topic. |
| 138 |
Retruns ""URT_STATUS_FETCH_NOMESSAGE"" if there is no new message to fetch. |
| 139 |
Returns ""URT_STATUS_JITTERVIOLATION"" if the message's latency violated the maximum expected jitter. |
| 140 |
endnote |
| 141 |
|
| 142 |
|
| 143 |
start |
| 144 |
if (Associated to a topic?) then (yes) |
| 145 |
:lock topic; |
| 146 |
partition "find latest message" {
|
| 147 |
:access ""lastMessage""; |
| 148 |
while (Timestamp of next message is younger?) is (yes) |
| 149 |
fork |
| 150 |
:proceed to next message; |
| 151 |
fork |
| 152 |
:decrement message's counter of HRT consumers; |
| 153 |
fork again |
| 154 |
#EEEEEE:..//URT_CFG_PUBSUB_PROFILING == true//..\ndecrement message's counter of consumers; |
| 155 |
fork again |
| 156 |
#EEEEEE:..//URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true//..\nreset QoS deadline timer; |
| 157 |
endfork |
| 158 |
fork again |
| 159 |
#EEEEEE:..//URT_CFG:PUBSUB_PROFILING == true//..\nincrement counter of received messages; |
| 160 |
endfork |
| 161 |
if (HRT counter of a message became 0?) then (yes) |
| 162 |
:signal topic's condition variable; |
| 163 |
else (no) |
| 164 |
endif |
| 165 |
endwhile (no) |
| 166 |
} |
| 167 |
if (Timestamp equals local copy?) then (yes) |
| 168 |
:unlock topic; |
| 169 |
stop |
| 170 |
note |
| 171 |
Returns ""URT_STATUS_FETCH_NOMESSAGE"". |
| 172 |
endnote |
| 173 |
else (no) |
| 174 |
:calculate message latency; |
| 175 |
fork |
| 176 |
#EEEEEE:..//URT:CFG_PUBSUB_PROFILING == true//..\naccumulate ""sumLatencies"" value; |
| 177 |
fork again |
| 178 |
if (Optional ""latency"" output argument given?) then (yes) |
| 179 |
:set ""latency"" value; |
| 180 |
else (no) |
| 181 |
endif |
| 182 |
endfork |
| 183 |
endif |
| 184 |
partition "//URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true//" #EEEEEE {
|
| 185 |
if (Latency is within allowed jitter range?) then (yes) |
| 186 |
if (Latency is lower than ""minlatency""?) then (yes) |
| 187 |
#EEEEEE:update ""minLatency"" value; |
| 188 |
elseif (Latency is greater than ""maxLatency"" value?) then (yes) |
| 189 |
#EEEEEE:update ""maxLatency"" value; |
| 190 |
else (no) |
| 191 |
endif |
| 192 |
else (no) |
| 193 |
partition "//URT_CFG_PUBSUB_QOS_JITTERCHECKS == true//" #EEEEEE {
|
| 194 |
#EEEEEE:unlock topic; |
| 195 |
#EEEEEE:call ""urtCoreStopNodes(URT_STATUS_JITTERVIOLATION)""; |
| 196 |
stop |
| 197 |
note |
| 198 |
Returns ""URT_STATUS_JITTERVIOLATION"". |
| 199 |
endnote |
| 200 |
} |
| 201 |
endif |
| 202 |
} |
| 203 |
fork |
| 204 |
partition "fetch message" {
|
| 205 |
fork |
| 206 |
:update message pointer; |
| 207 |
fork again |
| 208 |
:copy message origin time; |
| 209 |
fork again |
| 210 |
:copy message payload; |
| 211 |
endfork |
| 212 |
} |
| 213 |
fork again |
| 214 |
#EEEEEE:..//URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true//..\nreset QoS deadline timer; |
| 215 |
endfork |
| 216 |
:unlock topic; |
| 217 |
stop |
| 218 |
note |
| 219 |
Returns ""URT_STATUS_OK"". |
| 220 |
endnote |
| 221 |
else (no) |
| 222 |
stop |
| 223 |
note |
| 224 |
Returns ""URT_STATUS_FETCH_NOTOPIC"". |
| 225 |
endnote |
| 226 |
endif |
| 227 |
|
| 228 |
|
| 229 |
@enduml |
| 230 |
|
| 231 |
PlantUML version 1.2020.15(Sun Jun 28 13:39:45 CEST 2020) |
| 232 |
(GPL source distribution) |
| 233 |
Java Runtime: OpenJDK Runtime Environment |
| 234 |
JVM: OpenJDK 64-Bit Server VM |
| 235 |
Default Encoding: UTF-8 |
| 236 |
Language: de |
| 237 |
Country: DE |
| 238 |
--></g></svg> |