urtware / doc / classdiagrams / rpc.uml @ 37cd5dc2
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1 | 4d55cea4 | Thomas Schöpping | /' |
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2 | µRtWare is a lightweight publish/subscribe middleware for real-time |
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3 | applications. It was developed as part of the software habitat for the |
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4 | Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well. |
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5 | |||
6 | Copyright (C) 2018..2020 Thomas Schöpping et al. |
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7 | |||
8 | This program is free software: you can redistribute it and/or modify |
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9 | it under the terms of the GNU General Public License as published by |
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10 | the Free Software Foundation, either version 3 of the License, or |
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11 | (at your option) any later version. |
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12 | |||
13 | This program is distributed in the hope that it will be useful, |
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14 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
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15 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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16 | GNU General Public License for more details. |
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17 | |||
18 | You should have received a copy of the GNU General Public License |
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19 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
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20 | '/ |
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21 | |||
22 | /'### INTRO ##################################################################'/ |
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23 | |||
24 | @startuml |
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25 | |||
26 | title **µRtWare**\nRemote Procedure Call System |
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27 | |||
28 | dd31cb03 | Thomas Schöpping | !include ./functions.iuml |
29 | 4d55cea4 | Thomas Schöpping | |
30 | /'### ENTITIES ###############################################################'/ |
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31 | |||
32 | !startsub ENTITIES |
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33 | |||
34 | 2d315870 | Thomas Schöpping | $group("request") { |
35 | /' Base request structure type. '/ |
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36 | $structure("urt_baserequest_t") { |
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37 | 'Pointer to the previous request in a queue. |
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38 | + {field} prev : urt_baserequest_t* |
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39 | 'Pointer to the next request in a queue. |
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40 | + {field} next : urt_baserequest_t* |
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41 | 'Lock for exclusive access. |
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42 | + {field} lock : urt_osMutex_t |
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43 | 'Pointer to the owning service. |
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44 | + {field} owner : urt_service_t* |
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45 | 'Time when the request was submitted. |
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46 | + {field} submissionTime : urt_osTime_t |
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47 | 'Pointer to an optional payload of the service request. |
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48 | + {field} payload : void* |
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49 | 'Source for service events. |
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50 | + {field} evtSource : urt_osEventSource_t |
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51 | 'Listener to service events. |
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52 | + {field} evtListener : urt_osEventListener_t |
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53 | .. URT_CFG_RPC_PROFILING == true .. |
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54 | 'Sum of all latencies. |
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55 | + {field} sumLatencies : uint64_t |
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56 | 'Number of calls emitted. |
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57 | + {field} numCalls : uint64_t |
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58 | 'Number of calls that were not processed successfully. |
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59 | + {field} numFails : uint64_t |
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60 | } |
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61 | |||
62 | /' NRT request type. '/ |
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63 | $structure("urt_nrtrequest_t") { |
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64 | .. URT_CFG_RPC_PROFILING == true .. |
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65 | 'Minimum latency ever detected. |
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66 | + {field} minLatency : urt_delay_t |
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67 | 'Maximum latency ever detected. |
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68 | + {field} maxLatency : urt_delay_t |
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69 | __ |
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70 | 'Initializes a urt_nrtrequest_t object. |
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71 | + {method} urtNrtRequestInit (request : urt_nrtrequest_t*) : void |
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72 | 'Acquire and lock an NRT request (blocking). |
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73 | + {method} urtNrtRequestAcquire (request : urt_nrtrequest_t*) : urt_status_t |
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74 | 'Try to acquire and lock an NRT request (non blocking). |
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75 | + {method} urtNrtRequestTryAcquire (request : urt_nrtrequest_t*) : urt_status_t |
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76 | 'Release an acquired/locked NRT request. |
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77 | + {method} urtNrtRequestRelease (request : urt_nrtrequest_t*) : urt_status_t |
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78 | 'Submit an NRT request to the specified service. |
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79 | + {method} urtNrtRequestSubmit (request : urt_nrtrequest_t*, service : urt_service_t*) : urt_status_t |
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80 | 'Retrieve an NRT request, thereby removing it from the service's request queue if required. |
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81 | + {method} urtNrtRequestRetrieve (request : urt_nrtrequest_t*) : urt_status_t |
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82 | } |
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83 | |||
84 | /' SRT request type. '/ |
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85 | $structure("urt_srtrequest_t") { |
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86 | .. URT_CFG_RPC_PROFILING == true .. |
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87 | 'Minimum latency ever detected. |
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88 | + {field} minLatency : urt_delay_t |
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89 | 'Maximum latency ever detected. |
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90 | + {field} maxLatency : urt_delay_t |
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91 | __ |
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92 | 'Initializes a urt_srtrequest_t object. |
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93 | + {method} urtSrtRequestInit (request : urt_srtrequest_t*) : void |
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94 | 'Acquire and lock an SRT request (blocking). |
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95 | + {method} urtSrtRequestAcquire (request : urt_srtrequest_t*) : urt_status_t |
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96 | 'Try to acquire and lock an SRT request (non blocking). |
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97 | + {method} urtSrtRequestTryAcquire (request : urt_srtrequest_t*) : urt_status_t |
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98 | 'Release an acquired/locked SRT request. |
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99 | + {method} urtSrtRequestRelease (request : urt_srtrequest_t*) : urt_status_t |
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100 | 'Submit an SRT request to the specified service. |
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101 | + {method} urtSrtRequestSubmit (request : urt_srtrequest_t*, service : urt_service_t*) : urt_status_t |
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102 | 'Retrieve an SRT request, thereby removing it from the service's request queue if required. |
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103 | + {method} urtSrtRequestRetrieve (request : urt_srtrequest_t*) : urt_status_t |
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104 | 'Calculate the usefulness on an SRT RPC response. |
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105 | + {method} urtSrtCalculateUsefulness (request : urt_srtrequest_t*, usefulnesscb : urt_usefulness_f, cbparams : void*) : float |
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106 | } |
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107 | |||
108 | /' FRT request type. '/ |
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109 | $structure("urt_frtrequest_t") { |
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110 | .. URT_CFG_RPC_QOS_DEADLINECHECKS == true .. |
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111 | 'Maximum temporal offset between sending and consuming the FRT request. |
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112 | + {field} deadlineOffset : urt_delay_t |
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113 | .. URT_CFG_RPC_QOS_JITTERCHECKS == true .. |
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114 | 'Maximum expected jitter. |
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115 | + {field} maxJitter : urt_delay_t |
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116 | .. URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true .. |
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117 | 'Minimum latency ever detected (to calculate jitter). |
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118 | + {field} minLatency : urt_delay_t |
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119 | 'Maximum latency ever detected (to calculate jitter). |
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120 | + {field} maxLatency : urt_delay_t |
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121 | __ |
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122 | 'Initializes a urt_frtrequest_t object. |
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123 | + {method} urtFrtRequestInit (request : urt_frtrequest_t*) : void |
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124 | 'Acquire and lock an FRT request (blocking). |
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125 | + {method} urtFrtRequestAcquire (request : urt_frtrequest_t*) : urt_status_t |
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126 | 'Try to acquire and lock an FRT request (non blocking). |
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127 | + {method} urtFrtRequestTryAcquire (request : urt_frtrequest_t*) : urt_status_t |
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128 | 'Release an acquired/locked FRT request. |
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129 | + {method} urtFrtRequestRelease (request : urt_frtrequest_t*) : urt_status_t |
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130 | 'Submit an FRT request to the specified service. |
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131 | + {method} urtFrtRequestSubmit (request : urt_frtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t |
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132 | 'Retrieve an FRT request, thereby removing it from the service's request queue if required. |
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133 | + {method} urtFrtRequestRetrieve (request : urt_frtrequest_t*) : urt_status_t |
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134 | 'Calculate the validity on an FRT RPC response. |
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135 | + {method} urtDrtCalculateValidity (request : urt_frtrequest_t) : bool |
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136 | .. URT_CFG_RPC_QOS_JITTERCHECKS == true .. |
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137 | 'Get a pointer to the request's maximum jitter value. |
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138 | 6c5df8c1 | Thomas Schöpping | + {method} urtFrtRequestGetMaxJitter (request : urt_frtrequest_t*) : urt_delay_t* const |
139 | 2d315870 | Thomas Schöpping | } |
140 | |||
141 | /' HRT request type. '/ |
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142 | $structure("urt_hrtrequest_t") { |
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143 | .. URT_CFG_RPC_QOS_DEADLINECHECKS == true .. |
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144 | 'Maximum temporal offset between sending and consuming the HRT request. |
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145 | + {field} deadlineOffset : urt_delay_t |
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146 | .. URT_CFG_RPC_QOS_JITTERCHECKS == true .. |
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147 | 'Maximum expected jitter. |
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148 | + {field} maxJitter : urt_delay_t |
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149 | .. URT_CFG_RPC_QOS_DEADLINECHECKS == true || URT_CFG_RPC_QOS_JITTERCHECKS == true .. |
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150 | 'QoS timer to detect missed deadlines and/or jitter. |
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151 | + {field} qosTimer : urt_osTimer_t |
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152 | .. URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true .. |
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153 | 'Minimum latency ever detected (to calculate jitter). |
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154 | + {field} minLatency : urt_delay_t |
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155 | 'Maximum latency ever detected (to calculate jitter). |
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156 | + {field} maxLatency : urt_delay_t |
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157 | __ |
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158 | 'Initializes a urt_hrtrequest_t object. |
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159 | + {method} urtHrtRequestInit (request : urt_hrtrequest_t*) : void |
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160 | 'Acquire and lock an HRT request (blocking). |
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161 | + {method} urtHrtRequestAcquire (request : urt_hrtrequest_t*) : urt_status_t |
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162 | 'Try to acquire and lock an HRT request (non blocking). |
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163 | + {method} urtHrtRequestTryAcquire (request : urt_hrtrequest_t*) : urt_status_t |
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164 | 'Release an acquired/locked HRT request. |
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165 | + {method} urtHrtRequestRelease (request : urt_hrtrequest_t*) : urt_status_t |
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166 | 'Submit an HRT request to the specified service. |
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167 | + {method} urtHrtRequestSubmit (request : urt_hrtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t |
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168 | 'Retrieve an HRT request, thereby removing it from the service's request queue if required. |
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169 | + {method} urtHrtRequestRetrieve (request : urt_hrtrequest_t*) : urt_status_t |
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170 | .. URT_CFG_RPC_QOS_JITTERCHECKS == true .. |
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171 | 'Get a pointer to the request's maximum jitter value. |
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172 | 6c5df8c1 | Thomas Schöpping | + {method} urtHrtRequestGetMaxJitter (request : urt_hrtrequest_t*) : urt_delay_t* const |
173 | 2d315870 | Thomas Schöpping | } |
174 | 4d55cea4 | Thomas Schöpping | } |
175 | |||
176 | 056e40d2 | Thomas Schöpping | /' Service structure type. '/ |
177 | $structure("urt_service_t") { |
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178 | 'Pointer to the next service in a list. |
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179 | + {field} next : urt_service_t* |
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180 | 'Identifier of the service. |
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181 | + {field} id : urt_serviceid_t |
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182 | 2d315870 | Thomas Schöpping | 'Mutex lock for exclusive access. |
183 | 056e40d2 | Thomas Schöpping | + {field} lock : urt_osMutex_t |
184 | 2d315870 | Thomas Schöpping | 'Pointer to the first element in a queue of pending requests. |
185 | + {field} requestQueue_front : urt_baserequest_t* |
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186 | 'Pointer to the last HRT request in a queue of pending requests. |
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187 | + {field} requestQueue_hrtBack : urt_hrtrequest_t* |
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188 | 'Pointer to the last FRT/SRT request in a queue pf pending requests. |
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189 | + {field} requestQueue_fsrtBack : urt_baserequest_t* |
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190 | 'Pointer to the last element in a queue of pending requests. |
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191 | + {field} requestQueue_back : urt_baserequest_t* |
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192 | 'Event source to be fired by requests. |
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193 | + {field} evtSource : urt_osEventSource_t |
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194 | 'Event listener to notify the service thread. |
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195 | + {field} evtListener : urt_osEventListener_t |
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196 | ee83a495 | Thomas Schöpping | .. URT_CFG_RPC_PROFILING == true .. |
197 | 2d315870 | Thomas Schöpping | 'Number of calls. |
198 | 056e40d2 | Thomas Schöpping | + {field} numCalls : uint64_t |
199 | 2d315870 | Thomas Schöpping | 'Number of lost ownerships. |
200 | + {field} numOwnershipLost : uint64_t |
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201 | 4d55cea4 | Thomas Schöpping | __ |
202 | 056e40d2 | Thomas Schöpping | 'Initializes a urt_service_t object. |
203 | 2d315870 | Thomas Schöpping | + {method} urtServiceInit (service : urt_service_t*, id : urt_serviceid_t) : urt_status_t |
204 | 'Dispatch the next pending request. |
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205 | + {method} urtServiceDispatch (service : urt_service_t*, payload : void*, bytes : size_t) : urt_baserequest_t* |
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206 | 'Acquire and lock the specified request (blocking). |
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207 | + {method} urtServiceAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t |
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208 | 'Acquire and lock the specified request (non blocking). |
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209 | + {method} urtServiceTryAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t |
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210 | 'Respond to a request. |
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211 | + {method} urtServiceRespond (request : urt_baserequest_t*) : urt_status_t |
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212 | 4d55cea4 | Thomas Schöpping | } |
213 | |||
214 | !endsub |
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215 | |||
216 | /'### DEPENDENCIES & LAYOUT ##################################################'/ |
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217 | |||
218 | !startsub DEPENDENCIES |
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219 | |||
220 | 2d315870 | Thomas Schöpping | urt_baserequest_t "1" o- "0,1,2" urt_baserequest_t |
221 | urt_baserequest_t "1" o- "0,1" urt_service_t |
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222 | |||
223 | urt_nrtrequest_t --|> urt_baserequest_t |
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224 | urt_nrtrequest_t ..> urt_service_t |
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225 | |||
226 | urt_srtrequest_t --|> urt_baserequest_t |
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227 | urt_srtrequest_t ..> urt_service_t |
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228 | |||
229 | urt_frtrequest_t --|> urt_baserequest_t |
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230 | urt_frtrequest_t ..> urt_service_t |
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231 | |||
232 | urt_hrtrequest_t --|> urt_baserequest_t |
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233 | urt_hrtrequest_t ..> urt_service_t |
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234 | |||
235 | urt_service_t "1" o- "0,1" urt_service_t |
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236 | urt_service_t "1" o- "0,2,3" urt_baserequest_t |
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237 | urt_service_t "1" o- "0,1" urt_hrtrequest_t |
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238 | 4d55cea4 | Thomas Schöpping | |
239 | !endsub |
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240 | |||
241 | /'### OUTRO ##################################################################'/ |
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242 | |||
243 | @enduml |