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/>.

'/

/' Acquire a request (blocking). '/

!function $acquire_request()

  start

  :lock request;

  note

    Execution is blocked until mutex is locked.

  endnote

  if (Request is owned by a service?) then (yes)

    :unlock request;

    stop

    note

      Returns ""URT_STATUS_REQUEST_BADOWNER"".

    endnote

  else (no)

    stop

    note

      Returns ""URT_STATUS_OK"".

    endnote

  endif

!endfunction

/' Try to acquire a request (non blocking). '/

!function $try_acquire_request()

  start

  :lock request;

  note

    Does not block.

  endnote

  if (Request could be locked?) then (yes)

    if (Request is owned by a service?) then (yes)

      :unlock request;

      stop

      note

        Returns ""URT_STATUS_REQUEST_BADOWNER"".

      endnote

    else (no)

      stop

      note

        Returns ""URT_STATUS_OK"".

      endnote

    endif

  else (no)

    stop

    note

      Returns ""URT_STATUS_REQUEST_LOCKED"".

    endnote

  endif

!endfunction

/' Release a previously acquired request. '/

!function $release_request()

  start

  :unlock request;

  stop

  note

    Returns ""URT_STATUS_OK"".

  endnote

!endfunction