urtware / doc / classdiagrams / overview.uml @ 5f113d7b
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µRtWare is a lightweight publish/subscribe middleware for real-time |
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applications. It was developed as part of the software habitat for the |
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Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well. |
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|
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Copyright (C) 2018..2018 Thomas Schöpping et al. |
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|
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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|
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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|
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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'/ |
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|
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@startuml |
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|
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title **µRtWare**\nOverview\n |
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|
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|
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|
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/' Not a type but a set of configuration macros. '/ |
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class urt_config <<(C,grey)>> { |
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'Selection to en-/disable debug checks. |
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+ URT_CONFIG_DEBUG : bool |
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'Selector to specify the width of urt_delay_t type. |
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+ URT_CONFIG_DELAY_WIDTH |
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'Selector to specify the widtg of the urt_topicid_t type. |
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+ URT_CONFIG_TOPICID_WIDTH |
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'Selector to specify the integer type of urt_nodesync_t. |
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+ URT_CONFIG_NODESYNC_TYPE |
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} |
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|
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package "primitives" { |
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|
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/' Temporal delay in microseconds. '/ |
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class urt_delay_t <<(T,lightblue)>> { |
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.. either .. |
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uint32_t |
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.. or .. |
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uint64_t |
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} |
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urt_delay_t ..> urt_config |
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|
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/' Well defined error codes. '/ |
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enum urt_status_t { |
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URT_STATUS_OK = 0 |
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URT_STATUS_WARNING = 1 |
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URT_STATUS_ERROR = -1 |
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} |
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|
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/' Topic ID type. '/ |
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class urt_topicid_t <<(T,lightblue)>> { |
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'configurable |
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uin8_t |
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.. or .. |
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uint16_t |
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.. or .. |
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uint32_t |
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.. or .. |
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uint64_t |
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} |
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urt_topicid_t ..> urt_config |
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|
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/' Just a function for debugging. '/ |
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class urt_debug <<(F,white)>> { |
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'Checks the condition in debug mode. |
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+ urtDebugAssert(condition : bool) : void |
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} |
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|
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/' Node synchronization type. '/ |
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class urt_nodesync_t <<T,lightblue>> { |
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'configurable |
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uin8_t |
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.. or .. |
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int8_t |
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.. or .. |
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uint16_t |
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.. or .. |
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int16_t |
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.. or .. |
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uint32_t |
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.. or .. |
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int32_t |
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.. or .. |
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uint64_t |
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.. or .. |
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int64_t |
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} |
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urt_nodesync_t ..> urt_config |
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|
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} /' package "primitives" '/ |
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|
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|
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|
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package "OSAL" { |
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|
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/' OS time type with arbitrary resolution. '/ |
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class urt_osTime_t <<(T,lightblue)>> { |
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'Converts an OS time to 64 bit microsecond precise value. |
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+ urtTime2Us (t : urt_osTime_t*) : uint64_t |
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'Retrieves the current time. |
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+ urtTimeNow (void) : urt_osTime_t |
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} |
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|
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/' OS mutex lock interface. '/ |
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class urt_osMutex_t <<(T,lightblue)>> { |
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'Initializes a urt_osMutex_t object. |
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+ urtMutexInit (mutex : urt_osMutex_t*) : void |
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'Block the thread until the mutex could be locked. |
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+ urtMutexLock (mutex : urt_osMutex_t*) : void |
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'Tries to lock the mutex, but does not block but immediately returns an indicator. |
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+ urtMutexTryLock (mutex : urt_osMutex_t*) : bool |
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'Unlocks a previously locked mutex. |
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+ urtMutexUnlock (mutex : urt_osMutex_t*) : void |
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} |
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|
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package "condition variable" { |
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|
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/' Return type for the wait function on condition variables. '/ |
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enum urt_condvarStatus_t { |
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'The condition variable has been signaled. |
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+ URT_CONDVAR_STATUS_SIGNAL = 0 |
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'The condition variable has been broadcasted. |
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+ URT_CONDVAR_STATUS_BROADCAST = 1 |
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'The wait function timed out. |
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+ URT_CONDVAR_STATUS_TIMEOUT = 2 |
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} |
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|
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/' Condition variable interface. '/ |
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class urt_osCondvar_t <<(T,lightblue)>> { |
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'Initializes a urt_osCondvar_t object. |
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+ urtCondvarInit (condvar : urt_osCondvar_t*) : void |
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'Signals one thread that is waiting for the condition variable. |
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+ urtConvarSignal (condvar : urt_osCondvar_t*) : void |
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'Signals all threads that are waiting for the condition variable. |
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+ urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void |
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'Waits for the condition variable. |
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+ urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_condvarStatus_t |
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} |
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urt_osCondvar_t ..> urt_osMutex_t |
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urt_osCondvar_t ..> urt_delay_t |
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urt_osCondvar_t ..> urt_condvarStatus_t |
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|
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} /' package "condition variable" '/ |
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|
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package "timer" { |
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|
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/' Timer callback definition. '/ |
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class urt_osTimerCallback_t <<(T,lightblue)>> { |
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urt_osTimerCallback_t (parameter : void*) : void |
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} |
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|
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/' OS timer interface. '/ |
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class urt_osTimer_t <<(T,lightblue)>> { |
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'Initializes an urt_osTimer_t object. |
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+ urtTimerInit (timer : urt_osTimer_t*) : void |
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'Sets the timer to a specified delay with specified callback and arguments. |
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+ urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t |
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'Resets the timer. |
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+ urtTimerReset (timer : urt_osTimer_t*) : urt_status_t |
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'Check whether the timer is already armed. |
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+ urtTimerIsArmed (timer : urt_osTimer_t*) : bool |
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} |
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urt_osTimer_t ..> urt_delay_t |
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urt_osTimer_t ..> urt_status_t |
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urt_osTimer_t ..> urt_osTimerCallback_t |
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|
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} /' package "timer" '/ |
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|
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package "thread" { |
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|
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/' Thread priority type. '/ |
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class urt_osThreadPrio_t <<(T,lightblue)>> |
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|
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/' Thread main function type. '/ |
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class urt_osThreadFunction_t <<(T,lightblue)>> { |
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urt_osThreadFunction_t (arg : void*) : void |
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} |
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|
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/' Thread terminate signals. '/ |
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enum urt_osThreadTerminateSignal_t { |
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'Signal to request termination asap. |
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URT_THREAD_TERMINATE_REQUEST = 15 |
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'Signal to kill a thread immediately. |
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URT_THREAD_TERMINATE_KILL = 9 |
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} |
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|
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/' Thread execution states. '/ |
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enum urt_osThreadState_t { |
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'Thread is currently being executed. |
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URT_THREAD_STATE_RUNNING = 0 |
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'Thread is ready but waiting to be scheduled. |
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URT_THREAD_STATE_READY = 1 |
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'Thread is actively sleeping. |
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URT_THREAD_STATE_SLEEPING = 2 |
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'Thread has ben suspended explicitely. |
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URT_THREAD_STATE_SUSPENDED = 3 |
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'Thread is waiting for something (e.g. Mutex, event, etc.). |
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URT_THREAD_STATE_WAITING = 4 |
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'Thread has terminated. |
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URT_THREAD_STATE_TERMINATED = 5 |
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} |
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|
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/' OS thread interface. '/ |
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class urt_osThread_t <<(T,lightblue)>> { |
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'Minimum priority for low priority threads. |
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+ URT_THREAD_PRIO_LOW_MIN : urt_osThreadPrio_t |
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'Maximum priority for low priority threads. |
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+ URT_THREAD_PRIO_LOW_MAX : urt_osThreadPrio_t |
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'Minimum priority for normal priority threads. |
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+ URT_THREAD_PRIO_NORMAL_MIN : urt_osThreadPrio_t |
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'Maximum priority for normal priority threads. |
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+ URT_THREAD_PRIO_NORMAL_MAX : urt_osThreadPrio_t |
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'Minimum priority for high priority threads. |
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+ URT_THREAD_PRIO_HIGH_MIN : urt_osThreadPrio_t |
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'Maximum priority for high priority threads. |
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+ URT_THREAD_PRIO_HIGH_MAX : urt_osThreadPrio_t |
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'Minimum priority for real-time threads. |
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+ URT_THREAD_PRIO_RT_MIN : urt_osThreadPrio_t |
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'Maximum priority for real-time threads. |
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+ URT_THREAD_PRIO_RT_MAX : urt_osThreadPrio_t |
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.. |
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'Maximum sleep interval in seconds (as float). |
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+ URT_THREAD_MAX_SLEEP : float |
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'Maximum sleep interval in seconds. |
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+ URT_THREAD_MAX_SSLEP : unsigned int |
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'Maximum sleep interval in milliseconds. |
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+ URT_THREAD_MAX_MSLEEP : unsigned int |
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'Maximum sleep interval in microseconds. |
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+ URT_THREAD_MAX_USLEEP : unsigned int |
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__ |
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'Macro to setup working area as static variable (handles alignment if required). |
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+ URT_THREAD_WORKING_AREA (varname, stacksize) |
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.. |
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'Initializes an urt_osThread_t object. |
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+ urtThreadInit (wa : void*, wasize : size_t, func : urt_osThreadFunction_t*, arg : void*) : urt_osThread_t* |
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'Starts a thread. |
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+ urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void |
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'The calling threads yields. |
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+ urtThreadYield (void) : void |
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'Retrieves the priority of a thread. |
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+ urtThreadGetPriority (thread : urt_osThread_t*) : urt_osThreadPrio_t |
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'Sets the priority of a thread. |
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+ urtThreadSetPriority (thread : urt_osThread_t*, prio : urt_osThreadPrio_t) : void |
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'Retrieves the first thread in the list of children. |
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+ urtThreadSuspend (void) : void |
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'Wakes a suspended thread. |
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+ urtThreadResume (thread : urt_osThread_t*) : urt_status_t |
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'Suspends the calling thread for the specified time. |
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+ urtThreadSleep (seconds : float) : void |
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'Suspends the calling thread for the specified time. |
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+ urtThreadSSleep (seconds : usnigned int) : void |
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'Suspends the calling thread for the specified time. |
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+ urtThreadMSleep (milliseconds : unsigned int) : void |
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'Suspends the calling thread for the specified time. |
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+ urtThreadUSleep (microseconds : unsigned int) : void |
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'Suspends the calling thread until the specified time. |
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+ urtThreadSleepUntil (time : urt_osTime_t) : void |
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'The calling thread exits execution (terminates). |
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+ urtThreadExit (void) : void |
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'Terminates a specified thread. |
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+ urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void |
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'Waits until the specified thread terminates. |
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+ urtThreadJoin (thread : urt_osThread_t*) : void |
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'Retrieves the execution state of the specified thread. |
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+ urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t |
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'Retrieves the first child of a thread (or ""NULL""). |
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+ urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t* |
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'Retrieves a sibling (next child in a list) of the thread or ""NULL"". |
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+ urtThreadGetSibling (thread : urt_osThread_t*) : urt_psThread_t* |
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} |
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urt_osThread_t ..> urt_osThreadPrio_t |
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urt_osThread_t ..> urt_osThreadFunction_t |
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urt_osThread_t ..> urt_osTime_t |
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urt_osThread_t ..> urt_osThreadTerminateSignal_t |
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urt_osThread_t ..> urt_osThreadState_t |
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|
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} /' package "thread" '/ |
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|
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package "events" { |
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|
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/' OS event mask type. '/ |
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class urt_osEventMask_t <<(T,lightblue)>> { |
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'The event mask, which will be handled with maximum priority by the event system. |
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+ URT_EVENTMASK_MAXPRIO : urt_osEventMask_t |
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} |
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|
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/' OS event flag type. '/ |
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class urt_osEventFlags_t <<(T,lightblue)>> |
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|
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enum urt_osEventWaitType_t { |
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URT_EVENT_WAIT_ONE = 0 |
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URT_EVENT_WAIT_ANY = 1 |
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URT_EVENT_WAIT_ALL = 2 |
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} |
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|
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/' OS event listener interface. '/ |
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class urt_osEventListener_t <<(T,lightblue)>> { |
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'Initializes an urt_osEventListener_t object. |
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+ urtEventListenerInit (listener : urt_osEventListener_t*) : void |
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'Retrieves the flags of the event listener. |
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+ urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t |
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'Retrieves and clears the flags of the event listener. |
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+ urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t |
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} |
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urt_osEventListener_t ..> urt_osEventFlags_t |
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|
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/' OS event source interface. '/ |
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class urt_osEventSource_t <<(T,lightblue)>> { |
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'Initializes an urt_osEventSource_t object. |
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+ urtEventSourceInit (source : urt_osEventSource_t*) : void |
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'Emits an event. |
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+ urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void |
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} |
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urt_osEventSource_t ..> urt_osEventFlags_t |
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|
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/' Not a class/type but a set of static event-related functions. '/ |
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class urt_events <<(F,white)>> { |
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'Registers a lister to a source. |
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+ urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t) : urt_status_t |
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'Unregisters a listener from a source. |
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+ urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : urt_status_t |
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'Blocks the thread until any event occurs or the timeout expires. |
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+ urtEventWait (type : urt_osEventWaitType_t, timeout : urt_delay_t) : urt_osEventMask_t |
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} |
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urt_events ..> urt_osEventSource_t |
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urt_events ..> urt_osEventListener_t |
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urt_events ..> urt_osEventMask_t |
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urt_events ..> urt_status_t |
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urt_events ..> urt_osEventWaitType_t |
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urt_events ..> urt_delay_t |
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|
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} /' package "events" '/ |
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|
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/' Not a class/type but a set of output-related functions. '/ |
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class urt_streams <<(F,white)>> { |
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'Prints a formatted string to the standard output stream (stdout). |
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+ urtPrintf(fmt : char*, ... ) : int |
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'Prints a formatted string to the standard error stream (stderr). |
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+ urtErrPrintf(fmt : char*, ... ) : int |
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} |
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|
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} /' package "interfaces" '/ |
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|
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package "middleware" { |
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|
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package "real-time class" { |
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|
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/' The top level RT class structure. '/ |
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class urt_rtclass_t <<(S,lightgrey)>> { |
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'The actual RT class. |
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+ class : urt_rtclasstype_t |
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'Parameters of the RT class. |
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+ params : urt_rtclassparams_t |
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} |
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urt_rtclass_t "1" *-- "1" urt_rtclasstype_t |
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urt_rtclass_t "1" *-- "1" urt_rtclassparams_t |
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|
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/' Descriptor to distinguish the four RT classes. '/ |
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enum urt_rtclasstype_t { |
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'Hard real-time. |
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URT_RTCLASS_HARD = 0 |
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'Firm real-time. |
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URT_RTCLASS_FIRM = 1 |
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'Soft real-time. |
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URT_RTCLASS_SOFT = 2 |
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'No real-time at all. |
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URT_RTCLASS_NONE = 3 |
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} |
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|
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/' Union structure, holding RT class parameters. '/ |
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class urt_rtclassparams_t <<(U,lightgreen)>> { |
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'Parameters for hard real-time. |
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+ hrt : urt_hrtparams_t |
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'Parameters for firm real-time. |
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+ frt : urt_frtparams_t |
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'Parameters for soft real-time. |
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+ srt : urt_srtparans_t |
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'Parameters for non-real-time. |
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+ nrt : urt_nrtparams_t |
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} |
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urt_rtclassparams_t "1" *-- "0..1" urt_hrtparams_t |
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urt_rtclassparams_t "1" *-- "0..1" urt_frtparams_t |
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urt_rtclassparams_t "1" *-- "0..1" urt_srtparams_t |
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urt_rtclassparams_t "1" *-- "0..1" urt_nrtparams_t |
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|
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/' Parameters for hard real-time. '/ |
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class urt_hrtparams_t <<(S,lightgrey)>> { |
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'Maximum temporal offset between creation and consumption of messages. |
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+ deadlineOffset : urt_delay_t |
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'Expected rate at which data is published. |
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+ expectedRate : urt_delay_t |
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'QoS timer to detected missed deadlines. |
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+ qosTimer : urt_osTimer_t |
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} |
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urt_hrtparams_t ..> urt_delay_t |
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urt_hrtparams_t "1" *-- "1" urt_osTimer_t |
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|
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/' Parameters for firm real-time. '/ |
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class urt_frtparams_t <<(S,lightgrey)>> { |
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'Maximum temporal offset between creation and consumption of messages. |
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+ deadlineOffset : urt_delay_t |
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'Expected rate at which data is published. |
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+ expectedRate : urt_delay_t |
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'QoS Timer to detect missed deadlines. |
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+ qosTimer : urt_osTimer_t |
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'Callback function for the QoS timer. |
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+ callback : urt_osTimerCallback_t |
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'Parameters for the callback function. |
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+ cbparams : void* |
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} |
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urt_frtparams_t ..> urt_delay_t |
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urt_frtparams_t "1" *-- "1" urt_osTimer_t |
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urt_frtparams_t "1" *-- "1" urt_osTimerCallback_t |
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|
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/' Parameters for soft real-time. '/ |
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class urt_srtparams_t <<(S,lightgrey)>> { |
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'Callback function to calculate usefulness given a dleay. |
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+ *usefulness (dt : urt_delay_t, params : void*) : float |
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'Optional parameters for the callback function. |
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+ params : void* |
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} |
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urt_srtparams_t ..> urt_delay_t |
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|
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/' Parameters for non-real-time. '/ |
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class urt_nrtparams_t <<(S,lightgrey)>> { |
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'There are nor parameters in this case. |
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} |
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|
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} /' package "real-time class" '/ |
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|
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|
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|
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/' Message type. '/ |
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class urt_message_t <<(S,lightgrey)>> { |
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'Pointer to the next message in a list. |
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+ next : urt_message_t* |
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'Pointer to some arbitrary (reusable) payload object. |
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+ payload : void* |
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'Origin time of the message. |
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+ originTime : urt_osTime_t |
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'Mutex lock for exclusive access. |
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+ lock : urt_osMutex_t |
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'Counter of HRT subscribers that did not consume the message yet. |
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+ numHrtConsumersLeft : unsigned int |
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'Condition variable to inform waiting publishers when the message is available again. |
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+ hrtConsumersLeft : urt_osCondvar_t |
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-- evaluation data -- |
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'Counter of overall subscribers that did not consume the message yet. |
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+ numConsumersLeft : unsigned int |
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__ |
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'Initializes a urt_message_t object. |
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+ urtMessageInit (message : urt_message_t*, payload : void*) : urt_status_t |
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} |
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urt_message_t "1" o-- "0..1" urt_message_t |
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urt_message_t "1" *-- "1" urt_osTime_t |
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urt_message_t "1" *-- "1" urt_osMutex_t |
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urt_message_t "1" *-- "1" urt_osCondvar_t |
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|
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/' Subscriber type. '/ |
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class urt_subscriber_t <<(S,lightgrey)>> { |
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'Pointer to the next subscriber in a list. |
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+ next : urt_subscriber_t* |
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'Pointer to the topic, this subscriber subscribed to. |
472 |
+ topic : urt_topic_t* |
473 |
'Event listener to notify the node about new messages. |
474 |
+ evtListener : urt_osEventListener_t |
475 |
'Real-time class descriptor. |
476 |
+ rtclass : urt_rtclass_t |
477 |
'Pointer to the message consumed most recently. |
478 |
+ lastMessage : urt_message_t* |
479 |
'Copy of the origin time of the message consumed most recently. |
480 |
+ lastMessageTime : urt_osTime_t |
481 |
-- evaluation data -- |
482 |
'Minimum latency ever detected. |
483 |
+ minLatency : urt_delay_t |
484 |
'Maximum latency ever detected. |
485 |
+ maxLatency : urt_delay_t |
486 |
'Sum of all latencies. |
487 |
+ sumLatencies : uint64_t |
488 |
'Number of messages received. |
489 |
+ numMessagesReceived : unsigned int |
490 |
__ |
491 |
'Initializes a urt_subscriber_t object. |
492 |
+ urtSubscriberInit (subscriber : urt_subscriber_t*) : urt_status_t |
493 |
'Tries to subscribe to a topic and contributes an optional list of messages. |
494 |
+ urtSubscriberSubscribe (subscriber : urt_subscriber_t*, topic : urt_topic_t*, rtclass : urt_rtclass_t*, messages : urt_messages_t*) : urt_status_t |
495 |
'Unsubscribes from a topic. |
496 |
+ urtSubscriberUnsubscribe (subscriber : urt_subscriber_t*) : urt_status_t |
497 |
'Fetches either the next or the latest message and optionally copies the payload. |
498 |
+ urtSubscriberFetchMessage (subscriber : urt_subscriber_t*, payload : void*, bytes : size_t, latest : bool) : urt_status_t |
499 |
} |
500 |
urt_subscriber_t "1" o-- "0..1" urt_subscriber_t |
501 |
urt_subscriber_t "1" o-- "0..1" urt_topic_t |
502 |
urt_subscriber_t "1" *-- "1" urt_osEventListener_t |
503 |
urt_subscriber_t "1" *-- "1" urt_rtclass_t |
504 |
urt_subscriber_t "1" o-- "0..1" urt_message_t |
505 |
urt_subscriber_t "1" *-- "1" urt_osTime_t |
506 |
urt_subscriber_t "1" *-- "2" urt_delay_t |
507 |
urt_subscriber_t ..> urt_status_t |
508 |
urt_subscriber_t ..> urt_topicid_t |
509 |
|
510 |
/' Publisher type. '/ |
511 |
class urt_publisher_t <<(S,lightgrey)>> { |
512 |
'Pointer to the topic for publishing. |
513 |
+ topic : urt_topic_t* |
514 |
-- evaluation data -- |
515 |
'Counter of attempts to publish a message. |
516 |
+ publishAttempts : unsigned int |
517 |
'Counter of failed attempts to publish a message. |
518 |
+ publishFails : unsigned int |
519 |
__ |
520 |
'Initializes a urt_publisher_t object and contributes an optional list of messages. |
521 |
+ urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t |
522 |
'Publishes a message via the associated topic. |
523 |
+ urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, n : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t |
524 |
} |
525 |
urt_publisher_t "1" o-- "1" urt_topic_t |
526 |
urt_publisher_t ..> urt_message_t |
527 |
urt_publisher_t ..> urt_osTime_t |
528 |
urt_publisher_t ..> urt_delay_t |
529 |
urt_publisher_t ..> urt_status_t |
530 |
|
531 |
/' Topic type. '/ |
532 |
class urt_topic_t <<(S,lightgrey)>> { |
533 |
'Pointer to the next topic in a list. |
534 |
+ next : urt_topic_t* |
535 |
'Mutex lock for exclusive access. |
536 |
+ lock : urt_osMutex_t |
537 |
'Event source to inform all subscribers when a new message is published. |
538 |
+ evtSource : urt_osEventSource_t |
539 |
'Number of HRT subscribers. |
540 |
+ numHrtSubscribers : unsigned int |
541 |
'List of HRT subscribers, orderd by their expected rate (most critical first). |
542 |
+ hrtSubscribers : urt_subscriber_t* |
543 |
'Timer to check for missed rates. |
544 |
+ qosTimer : urt_osTimer_t |
545 |
'Mandatory message, each Topic holds. |
546 |
+ mandatoryMessage : urt_message_t |
547 |
'Pointer to the latest message. |
548 |
+ latestMessage : urt_message_t* |
549 |
'Identifier of the topic. |
550 |
+ id : urt_topicid_t |
551 |
-- evaluation data -- |
552 |
'Variable to count how many (non-hrt) subscribers did not fetch a message before it was reused. |
553 |
+ numDiscardedMessages : unsigned int |
554 |
'Number of overall subscribers. |
555 |
+ numSubscribers : unsigned int |
556 |
__ |
557 |
'Initializes an urt_topic_t object. |
558 |
+ urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t |
559 |
} |
560 |
urt_topic_t "1" o-- "0..1" urt_topic_t |
561 |
urt_topic_t "1" *-- "1" urt_osMutex_t |
562 |
urt_topic_t "1" *-- "1" urt_osEventSource_t |
563 |
urt_topic_t "1" o-- "0..*" urt_subscriber_t |
564 |
urt_topic_t "1" *-- "1" urt_osTimer_t |
565 |
urt_topic_t "1" o-- "1..*" urt_message_t |
566 |
urt_topic_t "1" *-- "1" urt_message_t |
567 |
urt_topic_t "1" *-- "1" urt_topicid_t |
568 |
urt_topic_t ..> urt_osTime_t |
569 |
urt_topic_t ..> urt_status_t |
570 |
|
571 |
/' uRtWare core type. '/ |
572 |
class urt_core_t <<(S,lightgrey)>> { |
573 |
'List of nodes ordered by their (initial) priority. |
574 |
- {static} _nodes : urt_node_t* |
575 |
'List of topics ordered by their identifiers. |
576 |
- {static} _topics : urt_topic_t* |
577 |
'Event source for control events. |
578 |
- {static} _evtSource : urt_osEventSource_t |
579 |
'Mutex used for synchronization. |
580 |
- {static} _lock : urt_osMutex_t |
581 |
__ |
582 |
'Initializes the urt_core_t object. |
583 |
+ urtCoreInit (void) : urt_status_t |
584 |
'Starts all node threads (nodes will block before the loop). |
585 |
+ urtCoreStartNodes (void) : urt_status_t |
586 |
'Nodes can use this function to synchronize globally. |
587 |
+ urtCoreSynchronizeNodes (node : urt_node_t*, stage : urt_nodesync_t) : urt_status_t |
588 |
'Stops all nodes. |
589 |
+ urtCoreStopNodes (void) : urt_status_t |
590 |
'Retrieves a topic given an identifier. |
591 |
+ urtCoreRetrieveTopic (id : urt_topicid_t) : urt_topic_t* |
592 |
} |
593 |
urt_core_t "1" o-- "0..*" urt_topic_t |
594 |
urt_core_t "1" o-- "0..*" urt_node_t |
595 |
urt_core_t "1" *-- "1" urt_osEventSource_t |
596 |
urt_core_t "1" *-- "1" urt_osMutex_t |
597 |
urt_core_t ..> urt_status_t |
598 |
urt_core_t --> urt_nodesync_t |
599 |
urt_core_t ..> urt_topicid_t |
600 |
|
601 |
package "node" { |
602 |
|
603 |
/' Function type to be called during setup phase of node threads. '/ |
604 |
class urt_nodeSetupCallback_t <<(T,lightblue)>> { |
605 |
'Takes the node and optional parameters as arguments and returns a event mask for the next iteration. |
606 |
urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t |
607 |
} |
608 |
urt_nodeSetupCallback_t ..> urt_node_t |
609 |
urt_nodeSetupCallback_t ..> urt_status_t |
610 |
|
611 |
/' Function type to be called during loop phase of node threads. '/ |
612 |
class urt_nodeLoopCallback_t <<(T,lightblue)>> { |
613 |
'Takes the node, a mask of occurred events and optional parameters as arguments and returns a event mask for the next iteration. |
614 |
urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t |
615 |
} |
616 |
urt_nodeLoopCallback_t ..> urt_node_t |
617 |
urt_nodeLoopCallback_t ..> urt_osEventMask_t |
618 |
urt_nodeLoopCallback_t ..> urt_status_t |
619 |
|
620 |
/' Node type. '/ |
621 |
class urt_node_t <<(S,lightgrey)>> { |
622 |
'Pointer to the next node in a list. |
623 |
+ next : urt_node_t* |
624 |
'Pointer to the nore thread. |
625 |
+ thread : urt_osThread_t* |
626 |
'Callback function to be called during the setup phase. |
627 |
+ setupcallback : urt_nodeSetupCallback_t* |
628 |
'Optional parameters for the setup callback function. |
629 |
+ setupparams : void* |
630 |
'Callback function to be called in each loop iteration. |
631 |
+ loopcallback : urt_nodeLoopCallback_t* |
632 |
'Optional parameters for the loop callback function. |
633 |
+ loopparams : void* |
634 |
'Execution stage of the node. |
635 |
+ stage : urt_nodesync_t |
636 |
'Event listener for middleware-wide control events. |
637 |
+ listener : urt_osEventListener_t |
638 |
__ |
639 |
'The main() function of the node thread. |
640 |
- {static} _main : urt_osThreadFunction_t |
641 |
'Initializes an urt_node_t object. |
642 |
+ urtNodeInit (node : urt_node_t*, stacksize : size_t, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*) : urt_status_t |
643 |
} |
644 |
urt_node_t "1" o-- "0..1" urt_node_t |
645 |
urt_node_t "1" o-- "1" urt_osThread_t |
646 |
urt_node_t "1" o-- "1" urt_nodeSetupCallback_t |
647 |
urt_node_t "1" o-- "1" urt_nodeLoopCallback_t |
648 |
urt_node_t "1" *-- "1" urt_nodesync_t |
649 |
urt_node_t "1" *-- "1" urt_osEventMask_t |
650 |
urt_node_t "1" *-- "1" urt_osEventWaitType_t |
651 |
urt_node_t "1" *-- "1" urt_osEventListener_t |
652 |
urt_node_t ..> urt_osThreadTerminateSignal_t |
653 |
|
654 |
} /' package "node" '/ |
655 |
|
656 |
} /' package "middleware" '/ |
657 |
|
658 |
@enduml |
659 |
|