Statistics
| Branch: | Revision:

urtware / doc / classdiagrams / urtware.uml @ 6c5df8c1

History | View | Annotate | Download (6.161 KB)

1 4d55cea4 Thomas Schöpping
/'
2
µRtWare is a lightweight publish/subscribe middleware for real-time
3
applications. It was developed as part of the software habitat for the
4
Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
5
6
Copyright (C) 2018..2020  Thomas Schöpping et al.
7
8
This program is free software: you can redistribute it and/or modify
9
it under the terms of the GNU General Public License as published by
10
the Free Software Foundation, either version 3 of the License, or
11
(at your option) any later version.
12
13
This program is distributed in the hope that it will be useful,
14
but WITHOUT ANY WARRANTY; without even the implied warranty of
15
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
16
GNU General Public License for more details.
17
18
You should have received a copy of the GNU General Public License
19
along with this program.  If not, see <http://www.gnu.org/licenses/>.
20
'/
21
22
/'### INTRO ##################################################################'/
23
24
@startuml
25
26
title **µRtWare**
27
28 dd31cb03 Thomas Schöpping
!include ./functions.iuml
29 4d55cea4 Thomas Schöpping
30
/'### ENTITIES ###############################################################'/
31
32
!startsub ENTITIES
33
34 46471486 Thomas Schöpping
/' µRtWare core structure. '/
35 4d55cea4 Thomas Schöpping
$structure("urt_core_t") {
36
    'List of nodes ordered by their (initial) priority.
37
  - {field} {static} _nodes : urt_node_t*
38
    'Event source for control events.
39
  - {field} {static} _evtSource : urt_osEventSource_t
40
    'Mutex used for synchronization.
41
  - {field} {static} _lock : urt_osMutex_t
42 e87bd7c7 Thomas Schöpping
    'System execution/health status.
43
  - {field} {static} _status : urt_status_t
44 4d55cea4 Thomas Schöpping
  .. URT_CFG_PUBSUB_ENABLED == true ..
45 056e40d2 Thomas Schöpping
    'List of topics ordered by their identifiers.
46
  - {field} {static} _topics : urt_topic_t*
47 4d55cea4 Thomas Schöpping
  .. URT_CFG_RPC_ENABLED == true ..
48 056e40d2 Thomas Schöpping
    'List of services ordered by their identifiers.
49
  - {field} {static} _services : urt_service_t*
50 4d55cea4 Thomas Schöpping
  __
51
    'Initializes the urt_core_t object.
52 dd31cb03 Thomas Schöpping
  + {method} urtCoreInit (void) : void
53 e87bd7c7 Thomas Schöpping
    'Retrieves the current system status.
54
  + {method} urtCoreGetStatus (void) : urt_status_t
55 4d55cea4 Thomas Schöpping
    'Starts all node threads (nodes will block before the loop).
56 dd31cb03 Thomas Schöpping
  + {method} urtCoreStartNodes (void) : void
57 e87bd7c7 Thomas Schöpping
    'Nodes can use this function to synchronize.
58
  + {method} urtCoreSynchronize (node : urt_node_t*) : urt_status_t
59
    'Stops all nodes and propagates a specified reason.
60
  + {method} urtCoreStopNodes (reason : urt_status_t) : urt_status_t
61 621aa0b6 Thomas Schöpping
    'Retrieve the core event source.
62 6c5df8c1 Thomas Schöpping
  + {method} urtCoreGetEventSource (void) : urt_osEventSource_t*
63 621aa0b6 Thomas Schöpping
    'Retrieve the core mutex lock.
64 6c5df8c1 Thomas Schöpping
  + {method} urtCoreGetMutex (void) : urt_osMutex_t*
65 056e40d2 Thomas Schöpping
  .. URT_CFG_PUBSUB_ENABLED == true ..
66
    'Retrieves a topic given an identifier.
67 ee83a495 Thomas Schöpping
  + {method} urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*
68 056e40d2 Thomas Schöpping
  .. URT_CFG_RPC_ENABLED == true ..
69
    'Retrieves a service given an identifier.
70 ee83a495 Thomas Schöpping
  + {method} urtCoreGetService (id : urt_serviceid_t) : urt_service_t*
71 4d55cea4 Thomas Schöpping
}
72
73
$group("node") {
74
  /' Function type to be called during setup phase of node threads. '/
75
  $type("urt_nodeSetupCallback_t") {
76
      'Takes the node and optional parameters as arguments and returns a event mask for the next iteration.
77
    urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t
78
  }
79
80
  /' Function type to be called during loop phase of node threads. '/
81
  $type("urt_nodeLoopCallback_t") {
82
      'Takes the node, a mask of occurred events and optional parameters as arguments and returns a event mask for the next iteration.
83
    urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t
84
  }
85
86 e87bd7c7 Thomas Schöpping
  /' Function type to be called during shutdown phase of node threads. '/
87
  $type("urt_nodeShutdownCallback_t") {
88
      'Takes the node, an error code defining the cause of the shutdown and optional parameters as argumnets.
89
    urt_nodeShutdownCallback_t (node : urt_node_t*, cause : urt_status_t, arg : void*) : void
90
  }
91
92 4d55cea4 Thomas Schöpping
  /' Node structure. '/
93
  $structure("urt_node_t") {
94
      'Pointer to the next node in a list.
95
    + {field} next : urt_node_t*
96 ee83a495 Thomas Schöpping
      'Pointer to the node thread.
97 4d55cea4 Thomas Schöpping
    + {field} thread : urt_osThread_t*
98 e87bd7c7 Thomas Schöpping
      'Optional callback function to be called during the setup phase.
99 4d55cea4 Thomas Schöpping
    + {field} setupcallback : urt_nodeSetupCallback_t*
100
      'Optional parameters for the setup callback function.
101
    + {field} setupparams : void*
102
      'Callback function to be called in each loop iteration.
103
    + {field} loopcallback : urt_nodeLoopCallback_t*
104
      'Optional parameters for the loop callback function.
105
    + {field} loopparams : void*
106 e87bd7c7 Thomas Schöpping
      'Optional callback function to be called during the shutdown phase.
107
    + {field} shutdowncallback : urt_nodeShutdownCallback_t*
108
      'Optional parameters for the shutdown callback function.
109
    + {field} shutdownparams : void*
110 4d55cea4 Thomas Schöpping
      'Execution stage of the node.
111
    + {field} stage : urt_nodestage_t
112
      'Event listener for middleware-wide control events.
113
    + {field} listener : urt_osEventListener_t
114 ee83a495 Thomas Schöpping
    .. URT_CFG_PUBSUB_PROFILING == true || URT_CFG_RPC_PROFILING = true ..
115
      'Counter of executed loops.
116
    + {field} loops : uint64_t
117 4d55cea4 Thomas Schöpping
    __
118
    'The main() function of the node thread.
119
    - {method} {static} _main : urt_osThreadFunction_t
120
      'Initializes an urt_node_t object.
121 dd31cb03 Thomas Schöpping
    + {method} urtNodeInit (node : urt_node_t*, thread : urt_osThread_t*, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*, shutdowncallback : urt_nodeShutdownCallback_t*, shutodwnparams : void*) : void
122 4d55cea4 Thomas Schöpping
  }
123
} /'node'/
124
125
$module("Publish-Subscribe System") {
126
  !includesub pubsub.uml!ENTITIES
127
}
128
129
$module("Remote Procedure Call System") {
130
  !includesub rpc.uml!ENTITIES
131
}
132
133
!endsub
134
135
/'### DEPENDENCIES & LAYOUT ##################################################'/
136
137
!startsub DEPENDENCIES
138
139 2d315870 Thomas Schöpping
urt_node_t "1" o-- "0,1" urt_node_t
140
urt_node_t "1" o-- "0,1" urt_nodeSetupCallback_t
141 4d55cea4 Thomas Schöpping
urt_node_t <.. urt_nodeSetupCallback_t
142
urt_node_t "1" o-- "1" urt_nodeLoopCallback_t
143
urt_node_t <.. urt_nodeLoopCallback_t
144 2d315870 Thomas Schöpping
urt_node_t "1" o-- "0,1" urt_nodeShutdownCallback_t
145 e87bd7c7 Thomas Schöpping
urt_node_t <.. urt_nodeShutdownCallback_t
146 4d55cea4 Thomas Schöpping
147
!includesub pubsub.uml!DEPENDENCIES
148
149
!includesub rpc.uml!DEPENDENCIES
150
151 2d315870 Thomas Schöpping
urt_core_t "1" o-- "0,1" urt_node_t
152
urt_core_t "1" o-- "0,1" urt_topic_t
153
urt_core_t "1" o-- "0,1" urt_service_t
154 4d55cea4 Thomas Schöpping
155
!endsub
156
157
/'### OUTRO ##################################################################'/
158
159
@enduml