urtware / doc / classdiagrams / urtware.uml @ 4d55cea4
History | View | Annotate | Download (4.554 KB)
1 | 4d55cea4 | Thomas Schöpping | /' |
---|---|---|---|
2 | µRtWare is a lightweight publish/subscribe middleware for real-time |
||
3 | applications. It was developed as part of the software habitat for the |
||
4 | Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well. |
||
5 | |||
6 | Copyright (C) 2018..2020 Thomas Schöpping et al. |
||
7 | |||
8 | This program is free software: you can redistribute it and/or modify |
||
9 | it under the terms of the GNU General Public License as published by |
||
10 | the Free Software Foundation, either version 3 of the License, or |
||
11 | (at your option) any later version. |
||
12 | |||
13 | This program is distributed in the hope that it will be useful, |
||
14 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
||
15 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||
16 | GNU General Public License for more details. |
||
17 | |||
18 | You should have received a copy of the GNU General Public License |
||
19 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
||
20 | '/ |
||
21 | |||
22 | /'### INTRO ##################################################################'/ |
||
23 | |||
24 | @startuml |
||
25 | |||
26 | title **µRtWare** |
||
27 | |||
28 | !include ../functions.iuml |
||
29 | |||
30 | /'### ENTITIES ###############################################################'/ |
||
31 | |||
32 | !startsub ENTITIES |
||
33 | |||
34 | /' uRtWare core structure. '/ |
||
35 | $structure("urt_core_t") { |
||
36 | 'List of nodes ordered by their (initial) priority. |
||
37 | - {field} {static} _nodes : urt_node_t* |
||
38 | 'Event source for control events. |
||
39 | - {field} {static} _evtSource : urt_osEventSource_t |
||
40 | 'Mutex used for synchronization. |
||
41 | - {field} {static} _lock : urt_osMutex_t |
||
42 | .. URT_CFG_PUBSUB_ENABLED == true .. |
||
43 | - {field} {static} _pubsub : urt_pubsub_t |
||
44 | .. URT_CFG_RPC_ENABLED == true .. |
||
45 | - {field} {static} _rpc : urt_rpc_t |
||
46 | __ |
||
47 | 'Initializes the urt_core_t object. |
||
48 | + {method} urtCoreInit (void) : urt_status_t |
||
49 | 'Starts all node threads (nodes will block before the loop). |
||
50 | + {method} urtCoreStartNodes (void) : urt_status_t |
||
51 | 'Nodes can use this function to synchronize globally. |
||
52 | + {method} urtCoreSynchronizeNodes (node : urt_node_t*, stage : urt_nodestage_t) : urt_status_t |
||
53 | 'Stops all nodes. |
||
54 | + {method} urtCoreStopNodes (void) : urt_status_t |
||
55 | } |
||
56 | |||
57 | $group("node") { |
||
58 | /' Function type to be called during setup phase of node threads. '/ |
||
59 | $type("urt_nodeSetupCallback_t") { |
||
60 | 'Takes the node and optional parameters as arguments and returns a event mask for the next iteration. |
||
61 | urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t |
||
62 | } |
||
63 | |||
64 | /' Function type to be called during loop phase of node threads. '/ |
||
65 | $type("urt_nodeLoopCallback_t") { |
||
66 | 'Takes the node, a mask of occurred events and optional parameters as arguments and returns a event mask for the next iteration. |
||
67 | urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t |
||
68 | } |
||
69 | |||
70 | /' Node structure. '/ |
||
71 | $structure("urt_node_t") { |
||
72 | 'Pointer to the next node in a list. |
||
73 | + {field} next : urt_node_t* |
||
74 | 'Pointer to the nore thread. |
||
75 | + {field} thread : urt_osThread_t* |
||
76 | 'Callback function to be called during the setup phase. |
||
77 | + {field} setupcallback : urt_nodeSetupCallback_t* |
||
78 | 'Optional parameters for the setup callback function. |
||
79 | + {field} setupparams : void* |
||
80 | 'Callback function to be called in each loop iteration. |
||
81 | + {field} loopcallback : urt_nodeLoopCallback_t* |
||
82 | 'Optional parameters for the loop callback function. |
||
83 | + {field} loopparams : void* |
||
84 | 'Execution stage of the node. |
||
85 | + {field} stage : urt_nodestage_t |
||
86 | 'Event listener for middleware-wide control events. |
||
87 | + {field} listener : urt_osEventListener_t |
||
88 | __ |
||
89 | 'The main() function of the node thread. |
||
90 | - {method} {static} _main : urt_osThreadFunction_t |
||
91 | 'Initializes an urt_node_t object. |
||
92 | + {method} urtNodeInit (node : urt_node_t*, stacksize : size_t, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*) : urt_status_t |
||
93 | } |
||
94 | } /'node'/ |
||
95 | |||
96 | $module("Publish-Subscribe System") { |
||
97 | !includesub pubsub.uml!ENTITIES |
||
98 | } |
||
99 | |||
100 | $module("Remote Procedure Call System") { |
||
101 | !includesub rpc.uml!ENTITIES |
||
102 | } |
||
103 | |||
104 | !endsub |
||
105 | |||
106 | /'### DEPENDENCIES & LAYOUT ##################################################'/ |
||
107 | |||
108 | !startsub DEPENDENCIES |
||
109 | |||
110 | urt_node_t "1" o-- "0..1" urt_node_t |
||
111 | urt_node_t "1" o-- "1" urt_nodeSetupCallback_t |
||
112 | urt_node_t <.. urt_nodeSetupCallback_t |
||
113 | urt_node_t "1" o-- "1" urt_nodeLoopCallback_t |
||
114 | urt_node_t <.. urt_nodeLoopCallback_t |
||
115 | |||
116 | !includesub pubsub.uml!DEPENDENCIES |
||
117 | |||
118 | !includesub rpc.uml!DEPENDENCIES |
||
119 | |||
120 | urt_core_t "1" o-- "0..1" urt_node_t |
||
121 | urt_core_t "1" *-- "0..1" urt_pubsub_t |
||
122 | urt_core_t "1" *-- "0..1" urt_rpc_t |
||
123 | |||
124 | !endsub |
||
125 | |||
126 | /'### OUTRO ##################################################################'/ |
||
127 | |||
128 | @enduml |