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**\nurtTopicInit()\n

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

note

  -- **topic** : urt_topic_t* --

  The topic to initialize.

  Must not be ""NULL"".

  -- **id** : urt_topicid_t --

  Unique, numeric identifier of the topic.

  -- **mandatoryMessage** : urt_message_t* --

  Starting message of the topic.

  Must not be ""NULL"".

  ====

  -- **return** : urt_status_t --

  Returns ""URT_STATUS_OK"" on success.

  Returns ""URT_STATUS_TOPIC_DUPLICATE"" if another topic with the same identifier already exists.

endnote

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

start

:initialize members;

note

  * **next** ← ""NULL""

  * **id** ← id

  * urtMutexInit(**lock**)

  * urtEventSourceInit(**evtSource**)

  * **numHrtSubscriber** ← 0

  * urtCondvarInit(**hrtReleased**)

  * **mandatoryMessage** ← mandatoryMessage

  * **latestMessage** ← &mandatoryMessage

  .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..

  * **hrtSubscribers** ← ""NULL""

  * urtTimerInit(**qosRateTimer**)

  .. URT_CFG_PUBSUB_PROFILING == true ..

  * **numMessagesPublished** ← 0

  * **numMessagesDiscarded** ← 0

  * **numSubscribers** ← 0

endnote

:close circular message buffer;

note

  latestMessage""->""next ← latestMessage

endnote

:lock core;

:access first topic;

while (Topic is not ""NULL""\nand topic ID is lower?) is (yes)

  :proceed to next topic;

endwhile (no)

if (Current topic is ""NULL""?) then (yes)

  :append self to core's list of topic;

  :unlock core;

  stop

  note

    Returns ""URT_STATUS_OK"".

  endnote

elseif (Current topic ID is greater?) then (yes)

  :insert self in front of current topic;

  :unlock core;

  stop

  note

    Returns ""URT_STATUS_OK"".

  endnote

else (no)

  :unlock core;

  stop

  note

    Returns ""URT_STATUS_TOPIC_DUPLICATE"".

  endnote

endif

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

@enduml