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..2018  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/>.

'/

@startuml

title **µRtWare**\nurtSubscriberUnsubscribe()\n

start

if (Is HRT subscriber?) then (yes)

  :lock topic;

  fork

    :unregister event;

    note left

      must be within lock because of HRT counter

    endnote

  fork again

    :decrease topic HRT counter;

  fork again

    :remove self from topic list of HRT subscribers;

    if (Was most critical subscriber?) then (yes)

      :update QoS rate timer (@topic);

    else (no)

    endif

  fork again

    while (Unfetched messages left?) is (yes)

      :lock message;

      :decrease HRT counter;

      :unlock message;

    endwhile (no)

  endfork

  :unlock topic;

else (no)

  :unregister event;

endif

:reset members;

note left

  optional

end note

stop

@enduml