AMiRo-OS

<?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="1776px" preserveAspectRatio="none" style="width:3008px;height:1776px;" version="1.1" viewBox="0 0 3008 1776" width="3008px" zoomAndPan="magnify"><defs><filter height="300%" id="fjrexx23r0l7p" 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="1458.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="183" x="1411.5" y="47.6611">urtPublisherPublish()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="1506" y="68.6143"/><path d="M1294.5,72.8594 L1294.5,319.8516 L1679.5,319.8516 L1679.5,82.8594 L1669.5,72.8594 L1294.5,72.8594 " fill="#FBFB77" filter="url(#fjrexx23r0l7p)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1669.5,72.8594 L1669.5,82.8594 L1679.5,82.8594 L1669.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1294.5" x2="1391.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1395.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="69" x="1395.5" y="89.4263">publisher</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="110" x="1468.5" y="89.4263">: urt_publisher_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1582.5" x2="1679.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="197" x="1300.5" y="105.0591">Pointer to the publisher to use.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="1300.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1380.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1412.5" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1294.5" x2="1431" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1435" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="59" x="1435" y="134.8247">payload</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="1498" y="134.8247">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1543" x2="1679.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="226" x="1300.5" y="150.4575">Pointer to the data to be published.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="1300.5" y="165.5903">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1350.5" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="195" x="1386.5" y="165.5903">for messages without payload.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1294.5" x2="1438" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1442" y="180.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="1442" y="180.2231">bytes</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="45" x="1487" y="180.2231">: size_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1536" x2="1679.5" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="180" x="1300.5" y="195.856">Size of the payload in bytes.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1294.5" x2="1432.5" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1436.5" y="210.4888"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="6" x="1436.5" y="210.4888">t</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="91" x="1446.5" y="210.4888">: urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1541.5" x2="1679.5" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="246" x="1300.5" y="226.1216">Timestamp to be set for the message.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1294.5" x2="1413" y1="236.7539" y2="236.7539"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1417" y="240.7544"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="1417" y="240.7544">timeout</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="79" x="1478" y="240.7544">: urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1561" x2="1679.5" y1="236.7539" y2="236.7539"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="364" x="1300.5" y="256.3872">Timeout delay in case the message cannot be published.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1294.5" x2="1679.5" y1="264.4531" y2="264.4531"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1294.5" x2="1679.5" y1="266.4531" y2="266.4531"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1294.5" x2="1416" y1="277.0195" y2="277.0195"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1420" y="281.02"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="1420" y="281.02">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="1469" y="281.02">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1558" x2="1679.5" y1="277.0195" y2="277.0195"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1300.5" y="296.6528">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="1353.5" y="296.6528">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="75" x="1461.5" y="296.6528">on success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1300.5" y="311.7856">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="1353.5" y="311.7856">URT_STATUS_PUBLISH_TIMEOUT</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="74" x="1565.5" y="311.7856">on timeout.</text><ellipse cx="1487" cy="349.8516" fill="#000000" filter="url(#fjrexx23r0l7p)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="1447" y="379.8516"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="1457" y="400.9902">lock topic</text><rect fill="#000000" filter="url(#fjrexx23r0l7p)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="519" x="1227.5" y="433.8203"/><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="201" x="1241.5" y="466.8047"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="181" x="1251.5" y="487.9434">access topic's next message</text><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="262" x="1470.5" y="459.8203"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1470.5" x2="1485.5" y1="476.8047" y2="476.8047"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="232" x="1485.5" y="480.459">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1717.5" x2="1732.5" y1="476.8047" y2="476.8047"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="242" x="1480.5" y="494.9277">increment counter of publish attempts</text><rect fill="#000000" filter="url(#fjrexx23r0l7p)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="519" x="1227.5" y="527.7578"/><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="524" x="1225" y="609.4683"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="504" x="1235" y="630.6069">wait for topic's condition variable (using topic's mutex) to be signaled or timeout</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1434,663.437,1540,663.437,1552,675.437,1540,687.437,1434,687.437,1422,675.437,1434,663.437" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="106" x="1434" y="679.2451">Timeout occurred?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1402" y="672.8428">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1552" y="672.8428">no</text><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="1205" y="697.437"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1205" x2="1215" y1="714.4214" y2="714.4214"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="232" x="1215" y="718.0757">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1447" x2="1457" y1="714.4214" y2="714.4214"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="210" x="1215" y="732.5444">increment counter of publish fails</text><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="96" x="1283" y="780.3745"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="76" x="1293" y="801.5132">unlock topic</text><path d="M1014,849.3433 L1014,874.4761 A0,0 0 0 0 1014,874.4761 L1300,874.4761 A0,0 0 0 0 1300,874.4761 L1300,867.3433 L1320,861.9097 L1300,859.3433 L1300,859.3433 L1290,849.3433 L1014,849.3433 A0,0 0 0 0 1014,849.3433 " fill="#FBFB77" filter="url(#fjrexx23r0l7p)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1290,849.3433 L1290,859.3433 L1300,859.3433 L1290,849.3433 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1020" y="866.4102">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="1073" y="866.4102">URT_STATUS_PUBLISH_TIMEOUT</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1281" y="866.4102">.</text><ellipse cx="1331" cy="861.9097" fill="#FFFFFF" filter="url(#fjrexx23r0l7p)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="1331" cy="861.9097" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="1552.5" y="817.8394"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="161" x="1562.5" y="838.978">proceed to next message</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1643,745.8394,1655,757.8394,1643,769.8394,1631,757.8394,1643,745.8394" style="stroke: #A80036; stroke-width: 1.5;"/><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1499,894.4761,1787,894.4761,1799,906.4761,1787,918.4761,1499,918.4761,1487,906.4761,1499,894.4761" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="288" x="1499" y="910.2842">Timestamp is younger than of previous message?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1799" y="903.8818">yes</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1542,697.437,1744,697.437,1756,709.437,1744,721.437,1542,721.437,1530,709.437,1542,697.437" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1647" y="731.6475">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="202" x="1542" y="713.2451">Message timestamp was modified?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1756" y="706.8428">no</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1643,942.375,1655,954.375,1643,966.375,1631,954.375,1643,942.375" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1649" y="939.7808">no</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1378.5,553.7578,1595.5,553.7578,1607.5,565.7578,1595.5,577.7578,1378.5,577.7578,1366.5,565.7578,1378.5,553.7578" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1491" y="587.9683">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="1378.5" y="569.5659">HRT consumers left for the message?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1352.5" y="563.1636">no</text><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="174.668" style="stroke: #000000; stroke-width: 2.0;" width="396" x="1295" y="999.1768"/><path d="M1576,1000.1768 L1576,1008.4736 L1566,1018.4736 L1295,1018.4736 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="271" x="1298" y="1013.1719">URT_CFG_PUBSUB_PROFILING == true</text><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="344" x="1315" y="1083.876"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="324" x="1325" y="1105.0146">increment counter of discarded messages (@topic)</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1389,1035.4736,1585,1035.4736,1597,1047.4736,1585,1059.4736,1389,1059.4736,1377,1047.4736,1389,1035.4736" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1491" y="1069.6841">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="1389" y="1051.2817">Consumers left for this message?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1597" y="1044.8794">no</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1487,1137.8447,1499,1149.8447,1487,1161.8447,1475,1149.8447,1487,1137.8447" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#000000" filter="url(#fjrexx23r0l7p)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="2987" x="10" y="1193.8447"/><rect fill="#FFFFFF" filter="url(#fjrexx23r0l7p)" height="156.2344" style="stroke: #000000; stroke-width: 2.0;" width="1268" x="22" y="1325.584"/><path d="M140,1326.584 L140,1334.8809 L130,1344.8809 L22,1344.8809 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="108" x="25" y="1339.5791">setup message</text><rect fill="#000000" filter="url(#fjrexx23r0l7p)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1248" x="32" y="1361.8809"/><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="261" x="46" y="1394.8652"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="241" x="56" y="1416.0039">iterate topic's pointer to this message</text><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="180" x="317" y="1394.8652"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="160" x="327" y="1416.0039">copy payload to message</text><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="187" x="507" y="1394.8652"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="167" x="517" y="1416.0039">set origin time of message</text><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="704" y="1394.8652"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="266" x="714" y="1416.0039">set number of HRT consumers (from topic)</text><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; 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@startuml

title **µRtWare**\nurtPublisherPublish()\n

note

  - - **publisher** : urt_publisher_t* - -

  Pointer to the publisher to use.

  Must not be ""NULL"".

  - - **payload** : void* - -

  Pointer to the data to be published.

  May be ""NULL"" for messages without payload.

  - - **bytes** : size_t - -

  Size of the payload in bytes.

  - - **t** : urt_osTime_t - -

  Timestamp to be set for the message.

  - - **timeout** : urt_delay_t - -

  Timeout delay in case the message cannot be published.

  ====

  - - **return** : urt_status_t - -

  Returns ""URT_STATUS_OK"" on success.

  Returns ""URT_STATUS_PUBLISH_TIMEOUT"" on timeout.

endnote

start

:lock topic;

fork

  :access topic's next message;

fork again

  #EEEEEE:..//URT_CFG_PUBSUB_PROFILING == true//..\nincrement counter of publish attempts;

endfork

while (HRT consumers left for the message?) is (yes)

  :wait for topic's condition variable (using topic's mutex) to be signaled or timeout;

  if (Timeout occurred?) then (yes)

    #EEEEEE:..//URT_CFG_PUBSUB_PROFILING == true//..\nincrement counter of publish fails;

    :unlock topic;

    stop

    note

      Returns ""URT_STATUS_PUBLISH_TIMEOUT"".

    endnote

  else (no)

    if (Message timestamp was modified?) then (yes)

      repeat

        :proceed to next message;

      repeat while (Timestamp is younger than of previous message?) is (yes)

      ->no;

    else (no)

    endif

  endif

endwhile (no)

partition "//URT_CFG_PUBSUB_PROFILING == true//" #EEEEEE {

  if (Consumers left for this message?) then (yes)

    #EEEEEE:increment counter of discarded messages (@topic);

  else (no)

  endif

}

fork

  partition "setup message" {

    fork

      :iterate topic's pointer to this message;

    fork again

      :copy payload to message;

    fork again

      :set origin time of message;

    fork again

      :set number of HRT consumers (from topic);

    fork again

      #EEEEEE:..//URT_CFG_PUBSUB_PROFILING == true//..

       set numer of consumers (from topic);

    endfork

  }

fork again

  #EEEEEE:..//URT_CFG_PUBSUB_QOS_RATECHECKS == true//..\nset QoS rate timer (@topic) wrt. most critical HRT subscriber;

fork again

  partition "//URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true//" #EEEEEE {

    #EEEEEE:access first HRT subscriber of topic;

    while (HRT subscriber is not ""NULL""?) is (yes)

      if (QoS deadline timer (@subscriber) is not armed?) then (yes)

        #EEEEEE:set QoS deadline timer (@subscriber) wrt. origin time of the message;

        note

          No lock required.

          This timer is only accessed while topic is locked.

        endnote

      else (no)

      endif

      #EEEEEE:proceed to next HRT subscriber;

    endwhile (no)

  }

fork again

  #EEEEEE:..//URT_CFG_PUBSUB_PROFILING == true//..\nincrement counter of published messages (@topic);

endfork

:fire event;

note: Msut be within topic lock because of HRT counter.

:unlock topic;

stop

note

 Returns ""URT_STATUS_OK"".

endnote

@enduml

PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)

(GPL source distribution)

Java Runtime: OpenJDK Runtime Environment

JVM: OpenJDK 64-Bit Server VM

Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04

Operating System: Linux

Default Encoding: UTF-8

Language: en

Country: US

--></g></svg>