urtware / doc / statediagrams / publisher / publish.uml @ 6ebd2388
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1 | 6ebd2388 | Thomas Schöpping | /' |
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2 | µRtWare is a lightweight publish/subscribe middleware for real-time |
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3 | applications. It was developed as part of the software habitat for the |
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4 | Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well. |
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5 | |||
6 | Copyright (C) 2018..2018 Thomas Schöpping et al. |
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7 | |||
8 | This program is free software: you can redistribute it and/or modify |
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9 | it under the terms of the GNU General Public License as published by |
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10 | the Free Software Foundation, either version 3 of the License, or |
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11 | (at your option) any later version. |
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12 | |||
13 | This program is distributed in the hope that it will be useful, |
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14 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
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15 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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16 | GNU General Public License for more details. |
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17 | |||
18 | You should have received a copy of the GNU General Public License |
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19 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
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20 | '/ |
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21 | |||
22 | @startuml |
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23 | |||
24 | title **µRtWare**\nurtPublisherPublish()\n |
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25 | |||
26 | |||
27 | |||
28 | start |
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29 | :lock topic; |
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30 | :lock next message; |
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31 | while (HRT consumers left for the message & no timeout?) is (yes) |
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32 | :wait for condition variable to be signaled or timeout; |
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33 | endwhile (no) |
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34 | if (Timeout occurred?) then (yes) |
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35 | :unlock message; |
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36 | :unlock topic; |
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37 | :return error; |
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38 | stop |
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39 | else (no) |
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40 | fork |
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41 | fork |
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42 | :iterate topic pointer to this message; |
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43 | fork again |
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44 | :copy payload; |
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45 | fork again |
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46 | :set origin time; |
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47 | fork again |
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48 | :set number of HRT consumers (from topic); |
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49 | endfork |
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50 | :unlock message; |
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51 | fork again |
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52 | :set QoS timer (rate) wrt. most critical HRT subscriber; |
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53 | fork again |
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54 | while (HRT subscribers left?) is (yes) |
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55 | if (QoS timer (delay) is not armed?) then (yes) |
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56 | :set QoS timer (delay) wrt. origin time of the message; |
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57 | note |
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58 | no lock required since this timer is only accessed when the topic is locked |
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59 | endnote |
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60 | else (no) |
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61 | endif |
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62 | endwhile (no) |
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63 | endfork |
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64 | :fire event; |
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65 | note |
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66 | must be within lock because of HRT counter |
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67 | endnote |
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68 | :unlock topic; |
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69 | :return success; |
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70 | stop |
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71 | endif |
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72 | |||
73 | @enduml |