AMiRo-OS

/'

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 <http://www.gnu.org/licenses/>.

'/

/'### INTRO ##################################################################'/

@startuml

title **µRtWare**\nConfiguration

!include ./functions.iuml

/'### ENTITIES ###############################################################'/

!startsub ENTITIES

/' Not a type but a set of configuration macros. '/

$configuration("urt_config") {

  .. general ..

    'Selector to specify the width of urt_delay_t type (32 or 64).

  URT_CFG_DELAY_WIDTH : int

    'Selector to specify the width of the urt_nodestage_t type (8, 16, 32 or 64).

  URT_CFG_NODESTAGE_WIDTH : int

  .. publish-subscribe ..

    'Flag to en-/disable publush-subscribe functionality.

  URT_CFG_PUBSUB_ENABLED : bool

    'Selector to specify the width of the urt_topicid_t type (8, 16, 32 or 64).

  URT_CFG_PUBSUB_TOPICID_WIDTH : int

    'Flag to en-/disable profiling for publish-subscribe.

  URT_CFG_PUBSUB_PROFILING : bool

    'Flag to en-/disable QoS deadline checks (e.g. timers) for publish-subscribe.

  URT_CFG_PUBSUB_QOS_DEADLINECHECKS : bool

    'Flag to en-/disable QoS rate checks (e.g. timers) for publish-subscribe.

  URT_CFG_PUBSUB_QOS_RATECHECKS : bool

    'Flag to en-/disable QoS jitter checks for publish-subscribe.

  URT_CFG_PUBSUB_QOS_JITTERCHECKS : bool

  .. remote procedure calls ..

    'Flag to en-/disable RPC functionality.

  URT_CFG_RPC_ENABLED : bool

    'Selector to specify the width of the urt_serviceid_t type (8, 16, 32 or 64).

  URT_CFG_RPC_SERVICEID_WIDTH : int

    'Flag to en-/disable profiling of RPCs.

  URT_CFG_RPC_PROFILING : bool

    'Flag to en-/disable QoS deadline checks (e.g. timers) for RPCs.

  URT_CFG_RPC_QOS_DEADLINECHECKS : bool

    'Flag to en-/disable QoS jitter checks for RPCs.

  URT_CFG_RPC_QOS_JITTERCHECKS : bool

  .. debug ..

    'Selection to en-/disable debug checks.

  URT_CFG_DEBUG_ENABLED : bool

  .. OSAL ..

    'OSAL header to be included by µRtWare.

  URT_CFG_OSAL_HEADER : string

    'Flag whether condition variables support timeout feature.

  URT_CFG_OSAL_CONDVAR_TIMEOUT : bool

}

!endsub

/'### DEPENDENCIES & LAYOUT ##################################################'/

!startsub DEPENDENCIES

!endsub

/'### OUTRO ##################################################################'/

@enduml