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/>.

'/

/'### INTRO ##################################################################'/

@startuml

title **µRtWare**\nurtFrtSubscriberCalculateValidity()\n

/'### PARAMETERS & RETURN ####################################################'/

note

  -- **subscriber** : urt_frtsubscriber_t* --

  The FRT subscriber to calculate a validity for.

  Must not be ""NULL"".

  -- **latency** : urt_delay_t --

  Latency (of a message) as argument to calculate validity.

  ====

  -- **return** : bool --

  Returns a boolean indicator whether the latency is fine.

endnote

/'### PROCEDURE ##############################################################'/

start

if (Latency is lower than the deadline offset and within allowed jitter?) then (yes)

  stop

  note

    Returns ""true"".

  endnote

else (no)

  stop

  note

    Returns ""false"".

  endnote

endif

/'### OUTRO ##################################################################'/

@enduml