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..2018  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/>.        #

#                                                                              #

# This research/work was supported by the Cluster of Excellence Cognitive      #

# Interaction Technology 'CITEC' (EXC 277) at Bielefeld University, which is   #

# funded by the German Research Foundation (DFG).                              #

################################################################################

# absolute path to this directory

URTWARE_DIR := $(dir $(lastword $(MAKEFILE_LIST)))

# include paths

URTWARE_INC = $(URTWARE_DIR:/=) \

              $(URTWARE_DIR)inc

URTWARE_SRCDIR = $(URTWARE_DIR)src

# C sources

URTWARE_CSRC =

# C++ sources

URTWARE_CPPSRC =

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stroke-width: 1.5;" x1="4577.92" x2="4833.92" y1="1558.8594" y2="1558.8594"/><ellipse cx="4587.92" cy="1570.7617" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="204" x="4596.92" y="1573.0698">URT_CONDVAR_STATUS_SIGNAL = 0</text><ellipse cx="4587.92" cy="1583.5664" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="232" x="4596.92" y="1585.8745">URT_CONDVAR_STATUS_BROADCAST = 1</text><ellipse cx="4587.92" cy="1596.3711" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="4596.92" y="1598.6792">URT_CONDVAR_STATUS_TIMEOUT = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4577.92" x2="4833.92" y1="1605.2734" y2="1605.2734"/><!--class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#fx5q9amszycal)" height="99.2188" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="671" x="4370.42" y="1158.8594"/><ellipse cx="4651.17" cy="1174.8594" fill="#ADD8E6" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4652.0138,1181.6094 L4649.5606,1181.6094 L4649.5606,1171.3594 L4646.42,1171.3594 L4646.42,1169.2188 L4655.1544,1169.2188 L4655.1544,1171.3594 L4652.0138,1171.3594 L4652.0138,1181.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="4671.67" y="1179.0137">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4371.42" x2="5040.42" y1="1190.8594" y2="1190.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4371.42" x2="5040.42" y1="1198.8594" y2="1198.8594"/><ellipse cx="4381.42" cy="1210.7617" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="283" x="4390.42" y="1213.0698">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4381.42" cy="1223.5664" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="294" x="4390.42" y="1225.8745">urtConvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4381.42" cy="1236.3711" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="324" x="4390.42" y="1238.6792">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4381.42" cy="1249.1758" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="645" x="4390.42" y="1251.4839">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_condvarStatus_t</text><!--class urt_osTimerCallback_t--><rect fill="#FEFECE" filter="url(#fx5q9amszycal)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="3694.92" y="1539.3594"/><ellipse cx="3765.67" cy="1555.3594" fill="#ADD8E6" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3766.5138,1562.1094 L3764.0606,1562.1094 L3764.0606,1551.8594 L3760.92,1551.8594 L3760.92,1549.7188 L3769.6544,1549.7188 L3769.6544,1551.8594 L3766.5138,1551.8594 L3766.5138,1562.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="3786.17" y="1559.5137">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3695.92" x2="3979.92" y1="1571.3594" y2="1571.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3695.92" x2="3979.92" y1="1579.3594" y2="1579.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="3700.92" y="1593.5698">urt_osTimerCallback_t (parameter : void*) : void</text><!--class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#fx5q9amszycal)" height="99.2188" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="731" x="3583.42" y="1158.8594"/><ellipse cx="3902.67" cy="1174.8594" fill="#ADD8E6" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3903.5138,1181.6094 L3901.0606,1181.6094 L3901.0606,1171.3594 L3897.92,1171.3594 L3897.92,1169.2188 L3906.6544,1169.2188 L3906.6544,1171.3594 L3903.5138,1171.3594 L3903.5138,1181.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="3923.17" y="1179.0137">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3584.42" x2="4313.42" y1="1190.8594" y2="1190.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3584.42" x2="4313.42" y1="1198.8594" y2="1198.8594"/><ellipse cx="3594.42" cy="1210.7617" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="3603.42" y="1213.0698">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="3594.42" cy="1223.5664" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="705" x="3603.42" y="1225.8745">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="3594.42" cy="1236.3711" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="300" x="3603.42" y="1238.6792">urtTimerReset (timer : urt_osTimer_t*) : urt_status_t</text><ellipse cx="3594.42" cy="1249.1758" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="254" x="3603.42" y="1251.4839">urtTimerIsArmed (timer : urt_timer_t*) : bool</text><!--class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#fx5q9amszycal)" height="48" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="5097.92" y="1545.8594"/><ellipse cx="5112.92" cy="1561.8594" fill="#ADD8E6" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5113.7638,1568.6094 L5111.3106,1568.6094 L5111.3106,1558.3594 L5108.17,1558.3594 L5108.17,1556.2188 L5116.9044,1556.2188 L5116.9044,1558.3594 L5113.7638,1558.3594 L5113.7638,1568.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="5126.92" y="1566.0137">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5098.92" x2="5246.92" y1="1577.8594" y2="1577.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5098.92" x2="5246.92" y1="1585.8594" y2="1585.8594"/><!--class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#fx5q9amszycal)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="5282.92" y="1539.3594"/><ellipse cx="5330.67" cy="1555.3594" fill="#ADD8E6" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5331.5138,1562.1094 L5329.0606,1562.1094 L5329.0606,1551.8594 L5325.92,1551.8594 L5325.92,1549.7188 L5334.6544,1549.7188 L5334.6544,1551.8594 L5331.5138,1551.8594 L5331.5138,1562.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="5351.17" y="1559.5137">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5283.92" x2="5533.92" y1="1571.3594" y2="1571.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5283.92" x2="5533.92" y1="1579.3594" y2="1579.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="5288.92" y="1593.5698">urt_osThreadFunction_t (arg : void*) : void</text><!--class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#fx5q9amszycal)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="5569.92" y="1532.8594"/><ellipse cx="5591.67" cy="1548.8594" fill="#EB937F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5595.7794,1554.8594 L5588.0606,1554.8594 L5588.0606,1542.4688 L5595.7794,1542.4688 L5595.7794,1544.625 L5590.5138,1544.625 L5590.5138,1547.2969 L5595.2794,1547.2969 L5595.2794,1549.4531 L5590.5138,1549.4531 L5590.5138,1552.7031 L5595.7794,1552.7031 L5595.7794,1554.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="5607.17" y="1553.0137">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5570.92" x2="5810.92" y1="1564.8594" y2="1564.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="5575.92" y="1579.0698">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="5575.92" y="1591.8745">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5570.92" x2="5810.92" y1="1598.4688" y2="1598.4688"/><!--class urt_osThread_t--><rect fill="#FEFECE" filter="url(#fx5q9amszycal)" height="460.9453" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="613" x="5102.42" y="977.8594"/><ellipse cx="5357.67" cy="993.8594" fill="#ADD8E6" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5358.5138,1000.6094 L5356.0606,1000.6094 L5356.0606,990.3594 L5352.92,990.3594 L5352.92,988.2188 L5361.6544,988.2188 L5361.6544,990.3594 L5358.5138,990.3594 L5358.5138,1000.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="5378.17" y="998.0137">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5103.42" x2="5714.42" y1="1009.8594" y2="1009.8594"/><ellipse cx="5113.42" cy="1021.7617" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="280" x="5122.42" y="1024.0698">URT_THREAD_PRIO_LOW_MIN : urt_osThreadPrio_t</text><ellipse cx="5113.42" cy="1034.5664" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="283" x="5122.42" y="1036.8745">URT_THREAD_PRIO_LOW_MAX : urt_osThreadPrio_t</text><ellipse cx="5113.42" cy="1047.3711" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="302" x="5122.42" y="1049.6792">URT_THREAD_PRIO_NORMAL_MIN : urt_osThreadPrio_t</text><ellipse cx="5113.42" cy="1060.1758" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="305" x="5122.42" y="1062.4839">URT_THREAD_PRIO_NORMAL_MAX : urt_osThreadPrio_t</text><ellipse cx="5113.42" cy="1072.9805" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="284" x="5122.42" y="1075.2886">URT_THREAD_PRIO_HIGH_MIN : urt_osThreadPrio_t</text><ellipse cx="5113.42" cy="1085.7852" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="287" x="5122.42" y="1088.0933">URT_THREAD_PRIO_HIGH_MAX : urt_osThreadPrio_t</text><ellipse cx="5113.42" cy="1098.5898" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="270" x="5122.42" y="1100.8979">URT_THREAD_PRIO_RT_MIN : urt_osThreadPrio_t</text><ellipse cx="5113.42" cy="1111.3945" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="273" x="5122.42" y="1113.7026">URT_THREAD_PRIO_RT_MAX : urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5103.42" x2="5714.42" y1="1120.2969" y2="1120.2969"/><ellipse cx="5113.42" cy="1132.1992" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="5122.42" y="1134.5073">URT_THREAD_MAX_SLEEP : float</text><ellipse cx="5113.42" cy="1145.0039" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="5122.42" y="1147.312">URT_THREAD_MAX_SSLEP : unsigned int</text><ellipse cx="5113.42" cy="1157.8086" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="5122.42" y="1160.1167">URT_THREAD_MAX_MSLEEP : unsigned int</text><ellipse cx="5113.42" cy="1170.6133" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="232" x="5122.42" y="1172.9214">URT_THREAD_MAX_USLEEP : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5103.42" x2="5714.42" y1="1179.5156" y2="1179.5156"/><ellipse cx="5113.42" cy="1191.418" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="360" x="5122.42" y="1193.7261">URT_THREAD_WORKING_AREA (var : varname, stacksize : size_t)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5103.42" x2="5714.42" y1="1200.3203" y2="1200.3203"/><ellipse cx="5113.42" cy="1212.2227" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="587" x="5122.42" y="1214.5308">urtThreadInit (wa : void*, wasize : size_t, func : urt_osThreadFunction_t*, arg : void*) : urt_osThread_t*</text><ellipse cx="5113.42" cy="1225.0273" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="490" x="5122.42" y="1227.3354">urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void</text><ellipse cx="5113.42" cy="1237.832" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="5122.42" y="1240.1401">urtThreadYield (void) : void</text><ellipse cx="5113.42" cy="1250.6367" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="389" x="5122.42" y="1252.9448">urtThreadGetPriority (thread : urt_osThread_t*) : urt_osThreadPrio_t</text><ellipse cx="5113.42" cy="1263.4414" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="453" x="5122.42" y="1265.7495">urtThreadSetPriority (thread : urt_osThread_t*, prio : urt_osThreadPrio_t) : void</text><ellipse cx="5113.42" cy="1276.2461" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="5122.42" y="1278.5542">urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="5113.42" cy="1289.0508" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; 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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="220" x="5122.42" y="1342.5776">urtThreadSleep (seconds : float) : void</text><ellipse cx="5113.42" cy="1353.0742" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="273" x="5122.42" y="1355.3823">urtThreadSSleep (seconds : usnigned int) : void</text><ellipse cx="5113.42" cy="1365.8789" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="5122.42" y="1368.187">urtThreadMSleep (milliseconds : unsigned int) : void</text><ellipse cx="5113.42" cy="1378.6836" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="305" x="5122.42" y="1380.9917">urtThreadUSleep (microseconds : unsigned int) : void</text><ellipse cx="5113.42" cy="1391.4883" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; 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stroke-width: 1.5;" x1="6843.92" x2="7335.92" y1="1558.8594" y2="1558.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6843.92" x2="7335.92" y1="1566.8594" y2="1566.8594"/><ellipse cx="6853.92" cy="1578.7617" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="341" x="6862.92" y="1581.0698">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="6853.92" cy="1591.5664" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="458" x="6862.92" y="1593.8745">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="6853.92" cy="1604.3711" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="468" x="6862.92" y="1606.6792">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#fx5q9amszycal)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; 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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="211" x="1898.42" y="814.2886">numHrtConsumersLeft : unsigned int</text><ellipse cx="1889.42" cy="824.7852" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="1898.42" y="827.0933">hrtConsumersLeft : urt_osCondvar_t</text><ellipse cx="1889.42" cy="854.3945" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="1898.42" y="856.7026">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1879.42" x2="2060.42" y1="840.0898" y2="840.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="87" x="2060.42" y="843.3979">evaluation data</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="2147.42" x2="2328.42" y1="840.0898" y2="840.0898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1879.42" x2="2328.42" y1="863.2969" y2="863.2969"/><ellipse cx="1889.42" cy="875.1992" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="425" x="1898.42" y="877.5073">urtMessageInit (message : urt_message_t*, payload : void*) : urt_status_t</text><!--class urt_subscriber_t--><rect fill="#FEFECE" filter="url(#fx5q9amszycal)" height="244.0703" id="urt_subscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="851" x="1093.42" y="121.8594"/><ellipse cx="1464.17" cy="137.8594" fill="#D3D3D3" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1463.6544,138.4219 Q1461.795,137.7188 1461.1466,136.9453 Q1460.4981,136.1719 1460.4981,134.8594 Q1460.4981,133.1719 1461.5763,132.2031 Q1462.6544,131.2344 1464.5294,131.2344 Q1465.3888,131.2344 1466.2403,131.4297 Q1467.0919,131.625 1467.9356,132.0156 L1467.9356,134.4063 Q1467.1544,133.8438 1466.3341,133.5547 Q1465.5138,133.2656 1464.7169,133.2656 Q1463.8419,133.2656 1463.3653,133.625 Q1462.8888,133.9844 1462.8888,134.6406 Q1462.8888,135.1563 1463.2325,135.4922 Q1463.5763,135.8281 1464.67,136.2344 L1465.7325,136.6406 Q1467.2169,137.1875 1467.9278,138.0938 Q1468.6388,139 1468.6388,140.375 Q1468.6388,142.25 1467.5294,143.1719 Q1466.42,144.0938 1464.17,144.0938 Q1463.2481,144.0938 1462.3263,143.875 Q1461.4044,143.6563 1460.545,143.2344 L1460.545,140.7031 Q1461.5138,141.3906 1462.4356,141.7344 Q1463.3575,142.0781 1464.2481,142.0781 Q1465.1544,142.0781 1465.6544,141.6641 Q1466.1544,141.25 1466.1544,140.5156 Q1466.1544,139.9531 1465.8184,139.5391 Q1465.4825,139.125 1464.8575,138.875 L1463.6544,138.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="1484.67" y="142.0137">urt_subscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1094.42" x2="1943.42" y1="153.8594" y2="153.8594"/><ellipse cx="1104.42" cy="165.7617" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="135" x="1113.42" y="168.0698">next : urt_subscriber_t*</text><ellipse cx="1104.42" cy="178.5664" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="1113.42" y="180.8745">topic : urt_topic_t*</text><ellipse cx="1104.42" cy="191.3711" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="1113.42" y="193.6792">evtListener : urt_osEventListener_t</text><ellipse cx="1104.42" cy="204.1758" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="122" x="1113.42" y="206.4839">rtclass : urt_rtclass_t</text><ellipse cx="1104.42" cy="216.9805" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="175" x="1113.42" y="219.2886">lastMessage : urt_message_t*</text><ellipse cx="1104.42" cy="229.7852" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="1113.42" y="232.0933">lastMessageTime : urt_osTime_t</text><ellipse cx="1104.42" cy="259.3945" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="1113.42" y="261.7026">minLatency : urt_delay_t</text><ellipse cx="1104.42" cy="272.1992" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="1113.42" y="274.5073">maxLatency : urt_delay_t</text><ellipse cx="1104.42" cy="285.0039" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="1113.42" y="287.312">sumLatencies : uint64_t</text><ellipse cx="1104.42" cy="297.8086" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="215" x="1113.42" y="300.1167">numMessagesReceived : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1094.42" x2="1475.42" y1="245.0898" y2="245.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="87" x="1475.42" y="248.3979">evaluation data</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1562.42" x2="1943.42" y1="245.0898" y2="245.0898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1094.42" x2="1943.42" y1="306.7109" y2="306.7109"/><ellipse cx="1104.42" cy="318.6133" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="359" x="1113.42" y="320.9214">urtSubscriberInit (subscriber : urt_subscriber_t*) : urt_status_t</text><ellipse cx="1104.42" cy="331.418" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="825" x="1113.42" y="333.7261">urtSubscriberSubscribe (subscriber : urt_subscriber_t*, topic : urt_topic_t*, rtclass : urt_rtclass_t*, messages : urt_messages_t*) : urt_status_t</text><ellipse cx="1104.42" cy="344.2227" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="413" x="1113.42" y="346.5308">urtSubscriberUnsubscribe (subscriber : urt_subscriber_t*) : urt_status_t</text><ellipse cx="1104.42" cy="357.0273" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="499" x="1113.42" y="359.3354">urtSubscriberFetchMessage (subscriber : urt_subscriber_t*, latest : bool) : urt_status_t</text><!--class urt_topic_t--><rect fill="#FEFECE" filter="url(#fx5q9amszycal)" height="231.2656" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="511" x="1780.42" y="425.8594"/><ellipse cx="1998.67" cy="441.8594" fill="#D3D3D3" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1998.1544,442.4219 Q1996.295,441.7188 1995.6466,440.9453 Q1994.9981,440.1719 1994.9981,438.8594 Q1994.9981,437.1719 1996.0763,436.2031 Q1997.1544,435.2344 1999.0294,435.2344 Q1999.8888,435.2344 2000.7403,435.4297 Q2001.5919,435.625 2002.4356,436.0156 L2002.4356,438.4063 Q2001.6544,437.8438 2000.8341,437.5547 Q2000.0138,437.2656 1999.2169,437.2656 Q1998.3419,437.2656 1997.8653,437.625 Q1997.3888,437.9844 1997.3888,438.6406 Q1997.3888,439.1563 1997.7325,439.4922 Q1998.0763,439.8281 1999.17,440.2344 L2000.2325,440.6406 Q2001.7169,441.1875 2002.4278,442.0938 Q2003.1388,443 2003.1388,444.375 Q2003.1388,446.25 2002.0294,447.1719 Q2000.92,448.0938 1998.67,448.0938 Q1997.7481,448.0938 1996.8263,447.875 Q1995.9044,447.6563 1995.045,447.2344 L1995.045,444.7031 Q1996.0138,445.3906 1996.9356,445.7344 Q1997.8575,446.0781 1998.7481,446.0781 Q1999.6544,446.0781 2000.1544,445.6641 Q2000.6544,445.25 2000.6544,444.5156 Q2000.6544,443.9531 2000.3184,443.5391 Q1999.9825,443.125 1999.3575,442.875 L1998.1544,442.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="2019.17" y="446.0137">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1781.42" x2="2290.42" y1="457.8594" y2="457.8594"/><ellipse cx="1791.42" cy="469.7617" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="1800.42" y="472.0698">next : urt_topic_t*</text><ellipse cx="1791.42" cy="482.5664" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="126" x="1800.42" y="484.8745">mutex : urt_osMutex_t</text><ellipse cx="1791.42" cy="495.3711" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="1800.42" y="497.6792">evtSource : urt_osEventSource_t</text><ellipse cx="1791.42" cy="508.1758" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="1800.42" y="510.4839">numHrtSubscribers : unsigned int</text><ellipse cx="1791.42" cy="520.9805" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="1800.42" y="523.2886">hrtSubscribers : urt_subscriber_t*</text><ellipse cx="1791.42" cy="533.7852" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="1800.42" y="536.0933">qosTimer : urt_osTimer_t</text><ellipse cx="1791.42" cy="546.5898" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="209" x="1800.42" y="548.8979">mandatoryMessage : urt_message_t</text><ellipse cx="1791.42" cy="559.3945" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="1800.42" y="561.7026">latestMessage : urt_message_t*</text><ellipse cx="1791.42" cy="572.1992" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="1800.42" y="574.5073">id : urt_topicid_t</text><ellipse cx="1791.42" cy="601.8086" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="222" x="1800.42" y="604.1167">numDiscardedMessages : unsigned int</text><ellipse cx="1791.42" cy="614.6133" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="1800.42" y="616.9214">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1781.42" x2="1992.42" y1="587.5039" y2="587.5039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="87" x="1992.42" y="590.812">evaluation data</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="2079.42" x2="2290.42" y1="587.5039" y2="587.5039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1781.42" x2="2290.42" y1="623.5156" y2="623.5156"/><ellipse cx="1791.42" cy="635.418" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="358" x="1800.42" y="637.7261">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><ellipse cx="1791.42" cy="648.2227" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="485" x="1800.42" y="650.5308">urtTopicContributeMessages (topic : urt_topic_t*, messages : urt_message_t*) : void</text><!--class urt_publisher_t--><rect fill="#FEFECE" filter="url(#fx5q9amszycal)" height="128.8281" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="759" x="1997.42" y="179.3594"/><ellipse cx="2326.17" cy="195.3594" fill="#D3D3D3" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2325.6544,195.9219 Q2323.795,195.2188 2323.1466,194.4453 Q2322.4981,193.6719 2322.4981,192.3594 Q2322.4981,190.6719 2323.5763,189.7031 Q2324.6544,188.7344 2326.5294,188.7344 Q2327.3888,188.7344 2328.2403,188.9297 Q2329.0919,189.125 2329.9356,189.5156 L2329.9356,191.9063 Q2329.1544,191.3438 2328.3341,191.0547 Q2327.5138,190.7656 2326.7169,190.7656 Q2325.8419,190.7656 2325.3653,191.125 Q2324.8888,191.4844 2324.8888,192.1406 Q2324.8888,192.6563 2325.2325,192.9922 Q2325.5763,193.3281 2326.67,193.7344 L2327.7325,194.1406 Q2329.2169,194.6875 2329.9278,195.5938 Q2330.6388,196.5 2330.6388,197.875 Q2330.6388,199.75 2329.5294,200.6719 Q2328.42,201.5938 2326.17,201.5938 Q2325.2481,201.5938 2324.3263,201.375 Q2323.4044,201.1563 2322.545,200.7344 L2322.545,198.2031 Q2323.5138,198.8906 2324.4356,199.2344 Q2325.3575,199.5781 2326.2481,199.5781 Q2327.1544,199.5781 2327.6544,199.1641 Q2328.1544,198.75 2328.1544,198.0156 Q2328.1544,197.4531 2327.8184,197.0391 Q2327.4825,196.625 2326.8575,196.375 L2325.6544,195.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="2346.67" y="199.5137">urt_publisher_t</text><line style="stroke: #A80036; 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@startuml

title **µRtWare**\nOverview\n

package "primitives" {

  class urt_delay_t <<(T,lightblue)>> {

    .. either ..

    uint32_t

    .. or ..

    uint64_t

  }

  enum urt_status_t {

    URT_STATUS_OK = 0

    URT_STATUS_WARNING = 1

    URT_STATUS_ERROR = -1

  }

  class urt_topicid_t <<(T,lightblue)>> {

    uin8_t

    .. or ..

    uint16_t

    .. or ..

    uint32_t

    .. or ..

    uint64_t

  }

} 

package "interfaces" {

  class urt_osTime_t <<(T,lightblue)>> {

    + urtTime2Us (t : urt_osTime_t*) : uint64_t

    + urtTimeNow (void) : urt_osTime_t

  }

  class urt_osMutex_t <<(T,lightblue)>> {

    + urtMutexInit (mutex : urt_osmutex_t*) : void

    + urtMutexLock (mutex : urt_osmutex_t*) : void

    + urtMutexTryLock (mutex : urt_osmutex_t*) : bool

    + urtMutexUnlock (mutex : urt_osmutex_t*) : void

  }

  package "condition variable" {

    enum urt_condvarStatus_t {

      + URT_CONDVAR_STATUS_SIGNAL = 0

      + URT_CONDVAR_STATUS_BROADCAST = 1

      + URT_CONDVAR_STATUS_TIMEOUT = 2

    }

    class urt_osCondvar_t <<(T,lightblue)>> {

      + urtCondvarInit (condvar : urt_osCondvar_t*) : void

      + urtConvarSignal (condvar : urt_osCondvar_t*) : void

      + urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void

      + urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_condvarStatus_t

    }

    urt_osCondvar_t ..> urt_osMutex_t

    urt_osCondvar_t ..> urt_delay_t

    urt_osCondvar_t ..> urt_condvarStatus_t

  } 

  package "timer" {

    class urt_osTimerCallback_t <<(T,lightblue)>> {

      urt_osTimerCallback_t (parameter : void*) : void

    }

    class urt_osTimer_t <<(T,lightblue)>> {

      + urtTimerInit (timer : urt_osTimer_t*) : void

      + urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t

      + urtTimerReset (timer : urt_osTimer_t*) : urt_status_t

      + urtTimerIsArmed (timer : urt_timer_t*) : bool

    }

    urt_osTimer_t ..> urt_delay_t

    urt_osTimer_t ..> urt_status_t

    urt_osTimer_t ..> urt_osTimerCallback_t

  } 

  package "thread" {

    class urt_osThreadPrio_t <<(T,lightblue)>>

    class urt_osThreadFunction_t <<(T,lightblue)>> {

      urt_osThreadFunction_t (arg : void*) : void

    }

    enum urt_osThreadTerminateSignal_t {

      URT_THREAD_TERMINATE_REQUEST = 15

      URT_THREAD_TERMINATE_KILL = 9

    }

    class urt_osThread_t <<(T,lightblue)>> {

      + URT_THREAD_PRIO_LOW_MIN : urt_osThreadPrio_t

      + URT_THREAD_PRIO_LOW_MAX : urt_osThreadPrio_t

      + URT_THREAD_PRIO_NORMAL_MIN : urt_osThreadPrio_t

      + URT_THREAD_PRIO_NORMAL_MAX : urt_osThreadPrio_t

      + URT_THREAD_PRIO_HIGH_MIN : urt_osThreadPrio_t

      + URT_THREAD_PRIO_HIGH_MAX : urt_osThreadPrio_t

      + URT_THREAD_PRIO_RT_MIN : urt_osThreadPrio_t

      + URT_THREAD_PRIO_RT_MAX : urt_osThreadPrio_t

      ..

      + URT_THREAD_MAX_SLEEP : float

      + URT_THREAD_MAX_SSLEP : unsigned int

      + URT_THREAD_MAX_MSLEEP : unsigned int

      + URT_THREAD_MAX_USLEEP : unsigned int

      __

      + URT_THREAD_WORKING_AREA (var : varname, stacksize : size_t)

      ..

      + urtThreadInit (wa : void*, wasize : size_t, func : urt_osThreadFunction_t*, arg : void*) : urt_osThread_t*

      + urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void

      + urtThreadYield (void) : void

      + urtThreadGetPriority (thread : urt_osThread_t*) : urt_osThreadPrio_t

      + urtThreadSetPriority (thread : urt_osThread_t*, prio : urt_osThreadPrio_t) : void

      + urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*

      + urtThreadGetParent (thread : urt_osThread_t*) : urt_osThread_t*

      + urtThreadSuspend (void) : void

      + urtThreadIsSuspended (thread : urt_osThread_t*) : bool

      + urtThreadResume (thread : urt_osThread_t*) : urt_status_t

      + urtThreadSleep (seconds : float) : void

      + urtThreadSSleep (seconds : usnigned int) : void

      + urtThreadMSleep (milliseconds : unsigned int) : void

      + urtThreadUSleep (microseconds : unsigned int) : void

      + urtThreadSleepUntil (time : urt_osTime_t) : void

      + urtThreadExit (void) : void

      + urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void

      + urtThreadJoin (thread : urt_osThread_t*) : void

    }

    urt_osThread_t ..> urt_osThreadPrio_t

    urt_osThread_t ..> urt_osThreadFunction_t

    urt_osThread_t ..> urt_osTime_t

    urt_osThread_t ..> urt_osThreadTerminateSignal_t

  } 

  package "events" {

    class urt_osEventMask_t <<(T,lightblue)>>

    class urt_osEventFlags_t <<(T,lightblue)>>

    enum urt_osEventWaitType_t {

      URT_EVENT_WAIT_ONE = 0

      URT_EVENT_WAIT_ANY = 1

      URT_EVENT_WAIT_ALL = 2

    }

    class urt_osEventListener_t <<(T,lightblue)>> {

      + urtEventListenerInit (listener : urt_osEventListener_t*) : void

      + urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t

      + urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t

    }

    urt_osEventListener_t ..> urt_osEventFlags_t

    class urt_osEventSource_t <<(T,lightblue)>> {

      + urtEventSourceInit (source : urt_osEventSource_t*) : void

      + urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void

    }

    urt_osEventSource_t ..> urt_osEventFlags_t

    class urt_events <<(F,white)>> {

      + urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t) : urt_status_t

      + urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : urt_status_t

      + urtEventWait (type : urt_osEventWaitType_t, timeout : urt_delay_t) : urt_osEventMask_t

    }

    urt_events ..> urt_osEventSource_t

    urt_events ..> urt_osEventListener_t

    urt_events ..> urt_osEventMask_t

    urt_events ..> urt_status_t

    urt_events ..> urt_osEventWaitType_t

    urt_events ..> urt_delay_t

  } 

} 

package "middleware" {

  package "real-time class" {

    class urt_rtclass_t <<(S,lightgrey)>> {

      + class : urt_rtclasstype_t

      + params : urt_rtclassparams_t

    }

    urt_rtclass_t "1" *- - "1" urt_rtclasstype_t

    urt_rtclass_t "1" *- - "1" urt_rtclassparams_t

    enum urt_rtclasstype_t {

      URT_RTCLASS_HARD = 0

      URT_RTCLASS_FIRM = 1

      URT_RTCLASS_SOFT = 2

      URT_RTCLASS_NONE = 3

    }

    class urt_rtclassparams_t <<(U,lightgreen)>> {

      + hrt : urt_hrtparams_t

      + frt : urt_frtparams_t

      + srt : urt_srtparans_t

      + nrt : urt_nrtparams_t

    }

    urt_rtclassparams_t "1" *- - "0..1" urt_hrtparams_t

    urt_rtclassparams_t "1" *- - "0..1" urt_frtparams_t

    urt_rtclassparams_t "1" *- - "0..1" urt_srtparams_t

    urt_rtclassparams_t "1" *- - "0..1" urt_nrtparams_t

    class urt_hrtparams_t <<(S,lightgrey)>> {

      + deadlineOffset : urt_delay_t

      + expectedRate : urt_delay_t

      + qosTimer : urt_osTimer_t

    }

    urt_hrtparams_t ..> urt_delay_t

    urt_hrtparams_t "1" *- - "1" urt_osTimer_t

    class urt_frtparams_t <<(S,lightgrey)>> {

      + deadlineOffset : urt_delay_t

      + expectedRate : urt_delay_t

      + qosTimer : urt_osTimer_t

      + callback : urt_osTimerCallback_t

      + cbparams : void*

    }

    urt_frtparams_t ..> urt_delay_t

    urt_frtparams_t "1" *- - "1" urt_osTimer_t

    urt_frtparams_t "1" *- - "1" urt_osTimerCallback_t

    class urt_srtparams_t <<(S,lightgrey)>> {

      + *usefulness (dt : urt_delay_t, params : void*) : float

      + params : void*

    }

    urt_srtparams_t ..> urt_delay_t

    class urt_nrtparams_t <<(S,lightgrey)>> {

    }

  } 

  class urt_message_t <<(S,lightgrey)>> {

    + next : urt_message_t*

    + payload : void*

    + originTime : urt_osTime_t

    + lock : urt_osMutex_t

    + numHrtConsumersLeft : unsigned int

    + hrtConsumersLeft : urt_osCondvar_t

    - - evaluation data - -

    + numConsumersLeft : unsigned int

    __

    + urtMessageInit (message : urt_message_t*, payload : void*) : urt_status_t

  }

  urt_message_t "1" o- - "0..1" urt_message_t

  urt_message_t "1" *- - "1" urt_osTime_t

  urt_message_t "1" *- - "1" urt_osMutex_t

  urt_message_t "1" *- - "1" urt_osCondvar_t

  class urt_subscriber_t <<(S,lightgrey)>> {

    + next : urt_subscriber_t*

    + topic : urt_topic_t*

    + evtListener : urt_osEventListener_t

    + rtclass : urt_rtclass_t

    + lastMessage : urt_message_t*

    + lastMessageTime : urt_osTime_t

    - - evaluation data - -

    + minLatency : urt_delay_t

    + maxLatency : urt_delay_t

    + sumLatencies : uint64_t

    + numMessagesReceived : unsigned int

    __

    + urtSubscriberInit (subscriber : urt_subscriber_t*) : urt_status_t

    + urtSubscriberSubscribe (subscriber : urt_subscriber_t*, topic : urt_topic_t*, rtclass : urt_rtclass_t*, messages : urt_messages_t*) : urt_status_t

    + urtSubscriberUnsubscribe (subscriber : urt_subscriber_t*) : urt_status_t

    + urtSubscriberFetchMessage (subscriber : urt_subscriber_t*, latest : bool) : urt_status_t

  }

  urt_subscriber_t "1" o- - "0..1" urt_subscriber_t

  urt_subscriber_t "1" o- - "0..1" urt_topic_t

  urt_subscriber_t "1" *- - "1" urt_osEventListener_t

  urt_subscriber_t "1" *- - "1" urt_rtclass_t

  urt_subscriber_t "1" o- - "0..1" urt_message_t

  urt_subscriber_t "1" *- - "1" urt_osTime_t

  urt_subscriber_t "1" *- - "2" urt_delay_t

  urt_subscriber_t ..> urt_status_t

  urt_subscriber_t ..> urt_topicid_t

  class urt_publisher_t <<(S,lightgrey)>> {

    + topic : urt_topic_t*

    - - evaluation data - -

    + publishAttempts : unsigned int

    + publishFails : unsigned int

    __

    + urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t

    + urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, n : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t

  }

  urt_publisher_t "1" o- - "1" urt_topic_t

  urt_publisher_t ..> urt_message_t

  urt_publisher_t ..> urt_osTime_t

  urt_publisher_t ..> urt_delay_t

  urt_publisher_t ..> urt_status_t

  class urt_topic_t <<(S,lightgrey)>> {

    + next : urt_topic_t*

    + mutex : urt_osMutex_t

    + evtSource : urt_osEventSource_t

    + numHrtSubscribers : unsigned int

    + hrtSubscribers : urt_subscriber_t*

    + qosTimer : urt_osTimer_t

    + mandatoryMessage : urt_message_t

    + latestMessage : urt_message_t*

    + id : urt_topicid_t

    - - evaluation data - -

    + numDiscardedMessages : unsigned int

    + numSubscribers : unsigned int

    __

    + urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t

    + urtTopicContributeMessages (topic : urt_topic_t*, messages : urt_message_t*) : void

  }

  urt_topic_t "1" o- - "0..1" urt_topic_t

  urt_topic_t "1" *- - "1" urt_osMutex_t

  urt_topic_t "1" *- - "1" urt_osEventSource_t

  urt_topic_t "1" o- - "0..*" urt_subscriber_t

  urt_topic_t "1" *- - "1" urt_osTimer_t

  urt_topic_t "1" o- - "1..*" urt_message_t

  urt_topic_t "1" *- - "1" urt_message_t

  urt_topic_t "1" *- - "1" urt_topicid_t

  urt_topic_t ..> urt_osTime_t

  urt_topic_t ..> urt_status_t

  class urt_core_t <<(S,lightgrey)>> {

    - {static} _nodes : urt_node_t*

    - {static} _topics : urt_topic_t*

    __

    + urtCoreInit (void) : urt_status_t

    + urtCoreStartAll (void) : urt_status_t

    + urtCoreStopAll (void) : urt_status_t

    + urtCoreRetrieveTopic (id : urt_topicid_t) : urt_topic_t*

  }

  urt_core_t "1" o- - "0..*" urt_topic_t

  urt_core_t "1" o- - "0..*" urt_node_t

  urt_core_t ..> urt_status_t

  urt_core_t ..> urt_topicid_t

  package "node" {

    class urt_nodeSetupCallback_t <<(T,lightblue)>> {

      urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_status_t

    }

    urt_nodeSetupCallback_t ..> urt_node_t

    urt_nodeSetupCallback_t ..> urt_status_t

    class urt_nodeLoopCallback_t <<(T,lightblue)>> {

      urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_status_t

    }

    urt_nodeLoopCallback_t ..> urt_node_t

    urt_nodeLoopCallback_t ..> urt_osEventMask_t

    urt_nodeLoopCallback_t ..> urt_status_t

    class urt_node_t <<(S,lightgrey)>> {

      + next : urt_node_t*

      + thread : urt_osThread_t*

      + setupcallback : urt_nodeSetupCallback_t*

      + setupparams : void*

      + loopcallback : urt_nodeLoopCallback_t*

      + loopparams : void*

      + waitmask : urt_osEventMask_t

      + waittype : urt_osEventWaitType_t

      __

      - {static} _main : urt_osThreadFunction_t

      + urtNodeInit (node : urt_node_t*, stacksize : size_t, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*) : urt_status_t

      + urtNodeTerminateRecusively (node : urt_node_t*, sig : urt_osThreadTerminateSignal_t) : void

      + urtNodeJoinRecursively (node : urt_node_t*) : void

    }

    urt_node_t "1" o- - "0..1" urt_node_t

    urt_node_t "1" o- - "1" urt_osThread_t

    urt_node_t "1" o- - "1" urt_nodeSetupCallback_t

    urt_node_t "1" o- - "1" urt_nodeLoopCallback_t

    urt_node_t "1" *- - "1" urt_osEventMask_t

    urt_node_t "1" *- - "1" urt_osEventWaitType_t

    urt_node_t ..> urt_osThreadTerminateSignal_t

  } 

} 

@enduml

PlantUML version 1.2018.11(Sat Sep 22 18:43:53 CEST 2018)

(GPL source distribution)

Java Runtime: OpenJDK Runtime Environment

JVM: OpenJDK 64-Bit Server VM

Java Version: 1.8.0_181-8u181-b13-0ubuntu0.16.04.1-b13

Operating System: Linux

OS Version: 4.15.0-36-generic

Default Encoding: UTF-8

Language: en

Country: US

--></g></svg>

/'

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..2018  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/>.

'/

@startuml

title **µRtWare**\nOverview\n

package "primitives" {

  /' Temporal delay in microseconds. '/

  class urt_delay_t <<(T,lightblue)>> {

    .. either ..

    uint32_t

    .. or ..

    uint64_t

  }

  /' Well defined error codes. '/

  enum urt_status_t {

    URT_STATUS_OK = 0

    URT_STATUS_WARNING = 1

    URT_STATUS_ERROR = -1

  }

  /' Topic ID type. '/

  class urt_topicid_t <<(T,lightblue)>> {

    'configurable

    uin8_t

    .. or ..

    uint16_t

    .. or ..

    uint32_t

    .. or ..

    uint64_t

  }

} /' package "primitives" '/

package "interfaces" {

  /' OS time type with arbitrary resolution. '/

  class urt_osTime_t <<(T,lightblue)>> {

      'Converts an OS time to 64 bit microsecond precise value.

    + urtTime2Us (t : urt_osTime_t*) : uint64_t

      'Retrieves the current time.

    + urtTimeNow (void) : urt_osTime_t

  }

  /' OS mutex lock interface. '/

  class urt_osMutex_t <<(T,lightblue)>> {

      'Initializes a urt_osMutex_t object.

    + urtMutexInit (mutex : urt_osmutex_t*) : void

      'Block the thread until the mutex could be locked.

    + urtMutexLock (mutex : urt_osmutex_t*) : void

      'Tries to lock the mutex, but does not block but immediately returns an indicator.

    + urtMutexTryLock (mutex : urt_osmutex_t*) : bool

      'Unlocks a previously locked mutex.

    + urtMutexUnlock (mutex : urt_osmutex_t*) : void

  }

  package "condition variable" {

    /' Return type for the wait function on condition variables. '/

    enum urt_condvarStatus_t {

        'The condition variable has been signaled.

      + URT_CONDVAR_STATUS_SIGNAL = 0

        'The condition variable has been broadcasted.

      + URT_CONDVAR_STATUS_BROADCAST = 1

        'The wait function timed out.

      + URT_CONDVAR_STATUS_TIMEOUT = 2

    }

    /' Condition variable interface. '/

    class urt_osCondvar_t <<(T,lightblue)>> {

        'Initializes a urt_osCondvar_t object.

      + urtCondvarInit (condvar : urt_osCondvar_t*) : void

        'Signals one thread that is waiting for the condition variable.

      + urtConvarSignal (condvar : urt_osCondvar_t*) : void

        'Signals all threads that are waiting for the condition variable.

      + urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void

        'Waits for the condition variable.

      + urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_condvarStatus_t

    }

    urt_osCondvar_t ..> urt_osMutex_t

    urt_osCondvar_t ..> urt_delay_t

    urt_osCondvar_t ..> urt_condvarStatus_t

  } /' package "condition variable" '/

  package "timer" {

    /' Timer callback definition. '/

    class urt_osTimerCallback_t <<(T,lightblue)>> {

      urt_osTimerCallback_t (parameter : void*) : void

    }

    /' OS timer interface. '/

    class urt_osTimer_t <<(T,lightblue)>> {

        'Initializes an urt_osTimer_t object.

      + urtTimerInit (timer : urt_osTimer_t*) : void

        'Sets the timer to a specified delay with specified callback and arguments.

      + urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t

        'Resets the timer.

      + urtTimerReset (timer : urt_osTimer_t*) : urt_status_t

        'Check whether the timer is already armed.

      + urtTimerIsArmed (timer : urt_timer_t*) : bool

    }

    urt_osTimer_t ..> urt_delay_t

    urt_osTimer_t ..> urt_status_t

    urt_osTimer_t ..> urt_osTimerCallback_t

  } /' package "timer" '/

  package "thread" {

    /' Thread priority type. '/

    class urt_osThreadPrio_t <<(T,lightblue)>>

    /' Thread main function type. '/

    class urt_osThreadFunction_t <<(T,lightblue)>> {

      urt_osThreadFunction_t (arg : void*) : void

    }

    /' Thread terminate signals. '/

    enum urt_osThreadTerminateSignal_t {

      'Signal to request termination asap.

      URT_THREAD_TERMINATE_REQUEST = 15

      'Signal to kill a thread immediately.

      URT_THREAD_TERMINATE_KILL = 9

    }

    /' OS thread interface. '/

    class urt_osThread_t <<(T,lightblue)>> {

        'Minimum priority for low priority threads.

      + URT_THREAD_PRIO_LOW_MIN : urt_osThreadPrio_t

        'Maximum priority for low priority threads.

      + URT_THREAD_PRIO_LOW_MAX : urt_osThreadPrio_t

        'Minimum priority for normal priority threads.

      + URT_THREAD_PRIO_NORMAL_MIN : urt_osThreadPrio_t

        'Maximum priority for normal priority threads.

      + URT_THREAD_PRIO_NORMAL_MAX : urt_osThreadPrio_t

        'Minimum priority for high priority threads.

      + URT_THREAD_PRIO_HIGH_MIN : urt_osThreadPrio_t

        'Maximum priority for high priority threads.

      + URT_THREAD_PRIO_HIGH_MAX : urt_osThreadPrio_t

        'Minimum priority for real-time threads.

      + URT_THREAD_PRIO_RT_MIN : urt_osThreadPrio_t

        'Maximum priority for real-time threads.

      + URT_THREAD_PRIO_RT_MAX : urt_osThreadPrio_t

      ..

        'Maximum sleep interval in seconds (as float).

      + URT_THREAD_MAX_SLEEP : float

        'Maximum sleep interval in seconds.

      + URT_THREAD_MAX_SSLEP : unsigned int

        'Maximum sleep interval in milliseconds.

      + URT_THREAD_MAX_MSLEEP : unsigned int

        'Maximum sleep interval in microseconds.

      + URT_THREAD_MAX_USLEEP : unsigned int

      __

        'Macro to setup working area as static variable (handles alignment if required).

      + URT_THREAD_WORKING_AREA (var : varname, stacksize : size_t)

      ..

        'Initializes an urt_osThread_t object.

      + urtThreadInit (wa : void*, wasize : size_t, func : urt_osThreadFunction_t*, arg : void*) : urt_osThread_t*

        'Starts a thread.

      + urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void

        'The calling threads yields.

      + urtThreadYield (void) : void

        'Retrieves the priority of a thread.

      + urtThreadGetPriority (thread : urt_osThread_t*) : urt_osThreadPrio_t

        'Sets the priority of a thread.

      + urtThreadSetPriority (thread : urt_osThread_t*, prio : urt_osThreadPrio_t) : void

        'Retrieves the first thread in the list of children.

      + urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*

        'Retrieves the parent thread.

      + urtThreadGetParent (thread : urt_osThread_t*) : urt_osThread_t*

        'The calling threads suspends execution until it is woken up by calling urtTheadResume().

      + urtThreadSuspend (void) : void

        'Retrieves whether a  thread is currently suspended.

      + urtThreadIsSuspended (thread : urt_osThread_t*) : bool

        'Wakes a suspended thread.

      + urtThreadResume (thread : urt_osThread_t*) : urt_status_t

        'Suspends the calling thread for the specified time.

      + urtThreadSleep (seconds : float) : void

        'Suspends the calling thread for the specified time.

      + urtThreadSSleep (seconds : usnigned int) : void

        'Suspends the calling thread for the specified time.

      + urtThreadMSleep (milliseconds : unsigned int) : void

        'Suspends the calling thread for the specified time.

      + urtThreadUSleep (microseconds : unsigned int) : void

        'Suspends the calling thread until the specified time.

      + urtThreadSleepUntil (time : urt_osTime_t) : void

        'The calling thread exits execution (terminates).

      + urtThreadExit (void) : void

        'Terminates a specified thread.

      + urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void

        'Waits until the specified thread terminates.

      + urtThreadJoin (thread : urt_osThread_t*) : void

    }

    urt_osThread_t ..> urt_osThreadPrio_t

    urt_osThread_t ..> urt_osThreadFunction_t

    urt_osThread_t ..> urt_osTime_t

    urt_osThread_t ..> urt_osThreadTerminateSignal_t

  } /' package "thread" '/

  package "events" {

    /' OS event mask type. '/

    class urt_osEventMask_t <<(T,lightblue)>>

    /' OS event flag type. '/

    class urt_osEventFlags_t <<(T,lightblue)>>

    enum urt_osEventWaitType_t {

      URT_EVENT_WAIT_ONE = 0

      URT_EVENT_WAIT_ANY = 1

      URT_EVENT_WAIT_ALL = 2

    }

    /' OS event listener interface. '/

    class urt_osEventListener_t <<(T,lightblue)>> {

        'Initializes an urt_osEventListener_t object.

      + urtEventListenerInit (listener : urt_osEventListener_t*) : void

        'Retrieves the flags of the event listener.

      + urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t

        'Retrieves and clears the flags of the event listener.

      + urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t

    }

    urt_osEventListener_t ..> urt_osEventFlags_t

    /' OS event source interface. '/

    class urt_osEventSource_t <<(T,lightblue)>> {

        'Initializes an urt_osEventSource_t object.

      + urtEventSourceInit (source : urt_osEventSource_t*) : void

        'Emits an event.

      + urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void

    }

    urt_osEventSource_t ..> urt_osEventFlags_t

    /' Not a class/type but a set of static event-related functions. '/

    class urt_events <<(F,white)>> {

        'Registers a lister to a source.

      + urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t) : urt_status_t

        'Unregisters a listener from a source.

      + urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : urt_status_t

        'Blocks the thread until any event occurs or the timeout expires.

      + urtEventWait (type : urt_osEventWaitType_t, timeout : urt_delay_t) : urt_osEventMask_t

    }

    urt_events ..> urt_osEventSource_t

    urt_events ..> urt_osEventListener_t

    urt_events ..> urt_osEventMask_t

    urt_events ..> urt_status_t

    urt_events ..> urt_osEventWaitType_t

    urt_events ..> urt_delay_t

  } /' package "events" '/

} /' package "interfaces" '/

package "middleware" {

  package "real-time class" {

    /' The top level RT class structure. '/

    class urt_rtclass_t <<(S,lightgrey)>> {

        'The actual RT class.

      + class : urt_rtclasstype_t

        'Parameters of the RT class.

      + params : urt_rtclassparams_t

    }

    urt_rtclass_t "1" *-- "1" urt_rtclasstype_t

    urt_rtclass_t "1" *-- "1" urt_rtclassparams_t

    /' Descriptor to distinguish the four RT classes. '/

    enum urt_rtclasstype_t {

      'Hard real-time.

      URT_RTCLASS_HARD = 0

      'Firm real-time.

      URT_RTCLASS_FIRM = 1

      'Soft real-time.

      URT_RTCLASS_SOFT = 2

      'No real-time at all.

      URT_RTCLASS_NONE = 3

    }

    /' Union structure, holding RT class parameters. '/

    class urt_rtclassparams_t <<(U,lightgreen)>> {

        'Parameters for hard real-time.

      + hrt : urt_hrtparams_t

        'Parameters for firm real-time.

      + frt : urt_frtparams_t

        'Parameters for soft real-time.

      + srt : urt_srtparans_t

        'Parameters for non-real-time.

      + nrt : urt_nrtparams_t

    }

    urt_rtclassparams_t "1" *-- "0..1" urt_hrtparams_t

    urt_rtclassparams_t "1" *-- "0..1" urt_frtparams_t

    urt_rtclassparams_t "1" *-- "0..1" urt_srtparams_t

    urt_rtclassparams_t "1" *-- "0..1" urt_nrtparams_t

    /' Parameters for hard real-time. '/

    class urt_hrtparams_t <<(S,lightgrey)>> {

        'Maximum temporal offset between creation and consumption of messages.

      + deadlineOffset : urt_delay_t

        'Expected rate at which data is published.

      + expectedRate : urt_delay_t

        'QoS timer to detected missed deadlines.

      + qosTimer : urt_osTimer_t

    }

    urt_hrtparams_t ..> urt_delay_t

    urt_hrtparams_t "1" *-- "1" urt_osTimer_t

    /' Parameters for firm real-time. '/

    class urt_frtparams_t <<(S,lightgrey)>> {

        'Maximum temporal offset between creation and consumption of messages.

      + deadlineOffset : urt_delay_t

        'Expected rate at which data is published.

      + expectedRate : urt_delay_t

        'QoS Timer to detect missed deadlines.

      + qosTimer : urt_osTimer_t

        'Callback function for the QoS timer.

      + callback : urt_osTimerCallback_t

        'Parameters for the callback function.

      + cbparams : void*

    }

    urt_frtparams_t ..> urt_delay_t

    urt_frtparams_t "1" *-- "1" urt_osTimer_t

    urt_frtparams_t "1" *-- "1" urt_osTimerCallback_t

    /' Parameters for soft real-time. '/

    class urt_srtparams_t <<(S,lightgrey)>> {

        'Callback function to calculate usefulness given a dleay.

      + *usefulness (dt : urt_delay_t, params : void*) : float

        'Optional parameters for the callback function.

      + params : void*

    }

    urt_srtparams_t ..> urt_delay_t

    /' Parameters for non-real-time. '/

    class urt_nrtparams_t <<(S,lightgrey)>> {

      'There are nor parameters in this case.

    }

  } /' package "real-time class" '/

  /' Message type. '/

  class urt_message_t <<(S,lightgrey)>> {

      'Pointer to the next message in a list.

    + next : urt_message_t*

      'Pointer to some arbitrary (reusable) payload object.

    + payload : void*

      'Origin time of the message.

    + originTime : urt_osTime_t

      'Mutex lock for exclusive access.

    + lock : urt_osMutex_t

      'Counter of HRT subscribers that did not consume the message yet.

    + numHrtConsumersLeft : unsigned int

      'Condition variable to inform waiting publishers when the message is available again.

    + hrtConsumersLeft : urt_osCondvar_t

    -- evaluation data --

      'Counter of overall subscribers that did not consume the message yet.

    + numConsumersLeft : unsigned int

    __

      'Initializes a urt_message_t object.

    + urtMessageInit (message : urt_message_t*, payload : void*) : urt_status_t

  }

  urt_message_t "1" o-- "0..1" urt_message_t

  urt_message_t "1" *-- "1" urt_osTime_t

  urt_message_t "1" *-- "1" urt_osMutex_t

  urt_message_t "1" *-- "1" urt_osCondvar_t

  /' Subscriber type. '/

  class urt_subscriber_t <<(S,lightgrey)>> {

      'Pointer to the next subscriber in a list.

    + next : urt_subscriber_t*

      'Pointer to the topic, this subscriber subscribed to.

    + topic : urt_topic_t*

      'Event listener to notify the node about new messages.

    + evtListener : urt_osEventListener_t

      'Real-time class descriptor.

    + rtclass : urt_rtclass_t

      'Pointer to the message consumed most recently.

    + lastMessage : urt_message_t*

      'Copy of the origin time of the message consumed most recently.

    + lastMessageTime : urt_osTime_t

    -- evaluation data --

      'Minimum latency ever detected.

    + minLatency : urt_delay_t

      'Maximum latency ever detected.

    + maxLatency : urt_delay_t

      'Sum of all latencies.

    + sumLatencies : uint64_t

      'Number of messages received.

    + numMessagesReceived : unsigned int

    __

      'Initializes a urt_subscriber_t object.

    + urtSubscriberInit (subscriber : urt_subscriber_t*) : urt_status_t

      'Tries to subscribe to a topic and contributes an optional list of messages.

    + urtSubscriberSubscribe (subscriber : urt_subscriber_t*, topic : urt_topic_t*, rtclass : urt_rtclass_t*, messages : urt_messages_t*) : urt_status_t

      'Unsubscribes from a topic.

    + urtSubscriberUnsubscribe (subscriber : urt_subscriber_t*) : urt_status_t

      'Fetches either the next or the latest message.

    + urtSubscriberFetchMessage (subscriber : urt_subscriber_t*, latest : bool) : urt_status_t

  }

  urt_subscriber_t "1" o-- "0..1" urt_subscriber_t

  urt_subscriber_t "1" o-- "0..1" urt_topic_t

  urt_subscriber_t "1" *-- "1" urt_osEventListener_t

  urt_subscriber_t "1" *-- "1" urt_rtclass_t

  urt_subscriber_t "1" o-- "0..1" urt_message_t

  urt_subscriber_t "1" *-- "1" urt_osTime_t

  urt_subscriber_t "1" *-- "2" urt_delay_t

  urt_subscriber_t ..> urt_status_t

  urt_subscriber_t ..> urt_topicid_t

  /' Publisher type. '/

  class urt_publisher_t <<(S,lightgrey)>> {

      'Pointer to the topic for publishing.

    + topic : urt_topic_t*

    -- evaluation data --

      'Counter of attempts to publish a message.

    + publishAttempts : unsigned int

      'Counter of failed attempts to publish a message.

    + publishFails : unsigned int

    __

      'Initializes a urt_publisher_t object and contributes an optional list of messages.

    + urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t

      'Publishes a message via the associated topic.

    + urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, n : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t

  }

  urt_publisher_t "1" o-- "1" urt_topic_t

  urt_publisher_t ..> urt_message_t

  urt_publisher_t ..> urt_osTime_t

  urt_publisher_t ..> urt_delay_t

  urt_publisher_t ..> urt_status_t

  /' Topic type. '/

  class urt_topic_t <<(S,lightgrey)>> {

      'Pointer to the next topic in a list.

    + next : urt_topic_t*

      'Mutex lock for exclusive access.

    + mutex : urt_osMutex_t

      'Event source to inform all subscribers when a new message is published.

    + evtSource : urt_osEventSource_t

      'Number of HRT subscribers.

    + numHrtSubscribers : unsigned int

      'List of HRT subscribers, orderd by their expected rate (most critical first).

    + hrtSubscribers : urt_subscriber_t*

      'Timer to check for missed rates.

    + qosTimer : urt_osTimer_t

      'Mandatory message, each Topic holds.

    + mandatoryMessage : urt_message_t

      'Pointer to the latest message.

    + latestMessage : urt_message_t*

      'Identifier of the topic.

    + id : urt_topicid_t

    -- evaluation data --

      'Variable to count how many (non-hrt) subscribers did not fetch a message before it was reused.

    + numDiscardedMessages : unsigned int

      'Number of overall subscribers.

    + numSubscribers : unsigned int

    __

      'Initializes an urt_topic_t object.

    + urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t

      'Appends the given list of messages to the topic's buffer.

    + urtTopicContributeMessages (topic : urt_topic_t*, messages : urt_message_t*) : void

  }

  urt_topic_t "1" o-- "0..1" urt_topic_t

  urt_topic_t "1" *-- "1" urt_osMutex_t

  urt_topic_t "1" *-- "1" urt_osEventSource_t

  urt_topic_t "1" o-- "0..*" urt_subscriber_t

  urt_topic_t "1" *-- "1" urt_osTimer_t

  urt_topic_t "1" o-- "1..*" urt_message_t

  urt_topic_t "1" *-- "1" urt_message_t

  urt_topic_t "1" *-- "1" urt_topicid_t

  urt_topic_t ..> urt_osTime_t

  urt_topic_t ..> urt_status_t

  /' uRtWare core type. '/

  class urt_core_t <<(S,lightgrey)>> {

      'List of nodes ordered by their (initial) priority.

    - {static} _nodes : urt_node_t*

      'List of topics ordered by their identifiers.

    - {static} _topics : urt_topic_t*

    __

      'Initializes the urt_core_t object.

    + urtCoreInit (void) : urt_status_t

      'Starts all nodes.

    + urtCoreStartAll (void) : urt_status_t

      'Stops all nodes.

    + urtCoreStopAll (void) : urt_status_t

      'Retrieves a topic given an identifier.

    + urtCoreRetrieveTopic (id : urt_topicid_t) : urt_topic_t*

  }

  urt_core_t "1" o-- "0..*" urt_topic_t

  urt_core_t "1" o-- "0..*" urt_node_t

  urt_core_t ..> urt_status_t

  urt_core_t ..> urt_topicid_t

  package "node" {

    /' Function type to be called during setup phase of node threads. '/

    class urt_nodeSetupCallback_t <<(T,lightblue)>> {

      'Takes the node and optional parameters as arguments.

      urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_status_t

    }

    urt_nodeSetupCallback_t ..> urt_node_t

    urt_nodeSetupCallback_t ..> urt_status_t

    /' Function type to be called during loop phase of node threads. '/

    class urt_nodeLoopCallback_t <<(T,lightblue)>> {

      'Takes the node, a mask of occurred events and optional parameters as arguments.

      urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_status_t

    }

    urt_nodeLoopCallback_t ..> urt_node_t

    urt_nodeLoopCallback_t ..> urt_osEventMask_t

    urt_nodeLoopCallback_t ..> urt_status_t

    /' Node type. '/

    class urt_node_t <<(S,lightgrey)>> {

        'Pointer to the next node in a list.

      + next : urt_node_t*

        'Pointer to the nore thread.

      + thread : urt_osThread_t*

        'Callback function to be called during the setup phase.

      + setupcallback : urt_nodeSetupCallback_t*

        'Optional parameters for the setup callback function.

      + setupparams : void*

        'Callback function to be called in each loop iteration.

      + loopcallback : urt_nodeLoopCallback_t*

        'Optional parameters for the loop callback function.

      + loopparams : void*

        'A mask for which events to wait.

      + waitmask : urt_osEventMask_t

        'How the node will wait for events.

      + waittype : urt_osEventWaitType_t

      __

      'The main() function of the node thread.

      - {static} _main : urt_osThreadFunction_t

        'Initializes an urt_node_t object.

      + urtNodeInit (node : urt_node_t*, stacksize : size_t, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*) : urt_status_t

        'Terminate a node thread and all its child threads (if any).

      + urtNodeTerminateRecusively (node : urt_node_t*, sig : urt_osThreadTerminateSignal_t) : void

        'Wait for a node thread an all its child threads (if any) to terminate.

      + urtNodeJoinRecursively (node : urt_node_t*) : void

    }

    urt_node_t "1" o-- "0..1" urt_node_t

    urt_node_t "1" o-- "1" urt_osThread_t

    urt_node_t "1" o-- "1" urt_nodeSetupCallback_t

    urt_node_t "1" o-- "1" urt_nodeLoopCallback_t

    urt_node_t "1" *-- "1" urt_osEventMask_t

    urt_node_t "1" *-- "1" urt_osEventWaitType_t

    urt_node_t ..> urt_osThreadTerminateSignal_t

  } /' package "node" '/

} /' package "middleware" '/

@enduml

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stroke-width: 1.0;"/><path d="M135,421.23 L135,431.23 L145,431.23 L135,421.23 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="68" x="62" y="438.2969">recursively</text><rect fill="#FEFECE" filter="url(#fxpz2tqgpdftz)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="349" x="165" y="416.812"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="329" x="175" y="437.9507">wait for current node and al its child threads to stop</text><polygon fill="#FEFECE" filter="url(#fxpz2tqgpdftz)" points="263.5,368.4097,415.5,368.4097,427.5,380.4097,415.5,392.4097,263.5,392.4097,251.5,380.4097,263.5,368.4097" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="343.5" y="402.6201">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="152" x="263.5" y="384.2178">Current node still running?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="427.5" y="377.8154">no</text><polygon fill="#FEFECE" filter="url(#fxpz2tqgpdftz)" points="339.5,470.7808,351.5,482.7808,339.5,494.7808,327.5,482.7808,339.5,470.7808" style="stroke: #A80036; stroke-width: 1.5;"/><polygon fill="#FEFECE" filter="url(#fxpz2tqgpdftz)" points="285.5,307.605,393.5,307.605,405.5,319.605,393.5,331.605,285.5,331.605,273.5,319.605,285.5,307.605" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="343.5" y="341.8154">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="108" x="285.5" y="323.4131">Nodes left to stop?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="259.5" y="317.0107">no</text><ellipse cx="24" cy="365.605" fill="none" filter="url(#fxpz2tqgpdftz)" rx="10" ry="10" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="24.5" cy="366.105" fill="#000000" filter="url(#fxpz2tqgpdftz)" rx="6" ry="6" style="stroke: none; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="339.5" x2="339.5" y1="202.5386" y2="231.6362"/><polygon fill="#A80036" points="335.5,221.6362,339.5,231.6362,343.5,221.6362,339.5,225.6362" style="stroke: #A80036; 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stroke-width: 1.5;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="26" x2="26" y1="124.8594" y2="287.605"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="26" x2="339.5" y1="287.605" y2="287.605"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="339.5" x2="339.5" y1="287.605" y2="307.605"/><polygon fill="#A80036" points="335.5,297.605,339.5,307.605,343.5,297.605,339.5,301.605" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="339.5" x2="339.5" y1="92.8594" y2="112.8594"/><polygon fill="#A80036" points="335.5,102.8594,339.5,112.8594,343.5,102.8594,339.5,106.8594" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="339.5" x2="339.5" y1="392.4097" y2="416.812"/><polygon fill="#A80036" points="335.5,406.812,339.5,416.812,343.5,406.812,339.5,410.812" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="427.5" x2="524" y1="380.4097" y2="380.4097"/><polygon fill="#A80036" points="520,423.7964,524,433.7964,528,423.7964,524,427.7964" style="stroke: #A80036; stroke-width: 1.5;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="524" x2="524" y1="380.4097" y2="482.7808"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="524" x2="351.5" y1="482.7808" y2="482.7808"/><polygon fill="#A80036" points="361.5,478.7808,351.5,482.7808,361.5,486.7808,357.5,482.7808" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="339.5" x2="339.5" y1="450.7808" y2="470.7808"/><polygon fill="#A80036" points="335.5,460.7808,339.5,470.7808,343.5,460.7808,339.5,464.7808" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="339.5" x2="339.5" y1="331.605" y2="368.4097"/><polygon fill="#A80036" points="335.5,358.4097,339.5,368.4097,343.5,358.4097,339.5,362.4097" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="339.5" x2="339.5" y1="494.7808" y2="504.7808"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="339.5" x2="548" y1="504.7808" y2="504.7808"/><polygon fill="#A80036" points="544,425.394,548,415.394,552,425.394,548,421.394" style="stroke: #A80036; stroke-width: 1.5;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="548" x2="548" y1="319.605" y2="504.7808"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="548" x2="405.5" y1="319.605" y2="319.605"/><polygon fill="#A80036" points="415.5,315.605,405.5,319.605,415.5,323.605,411.5,319.605" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="273.5" x2="24" y1="319.605" y2="319.605"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="24" x2="24" y1="319.605" y2="355.605"/><polygon fill="#A80036" points="20,345.605,24,355.605,28,345.605,24,349.605" style="stroke: #A80036; stroke-width: 1.0;"/><!--

@startuml

title **µRtWare**\nDeinitialization\n

start

while (Nodes left to be stopped?) is (yes)

  :request current node and al its child threads to terminate;

  note

    recursively

  endnote

  :iterate to next node;

endwhile (no)

while (Nodes left to stop?) is (yes)

  if (Current node still running?) then (yes)

    :wait for current node and al its child threads to stop;

    note

      recursively

    endnote

  else (no)

  endif

endwhile (no)

stop

@enduml

PlantUML version 1.2018.11(Sat Sep 22 18:43:53 CEST 2018)

(GPL source distribution)

Java Runtime: OpenJDK Runtime Environment

JVM: OpenJDK 64-Bit Server VM

Java Version: 1.8.0_181-8u181-b13-0ubuntu0.16.04.1-b13

Operating System: Linux

OS Version: 4.15.0-36-generic

Default Encoding: UTF-8

Language: en

Country: US

--></g></svg>

/'

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..2018  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/>.

'/

@startuml

title **µRtWare**\nDeinitialization\n

start

while (Nodes left to be stopped?) is (yes)

  :request current node and al its child threads to terminate;

  note

    recursively

  endnote

  :iterate to next node;

endwhile (no)

while (Nodes left to stop?) is (yes)

  if (Current node still running?) then (yes)

    :wait for current node and al its child threads to stop;

    note

      recursively

    endnote

  else (no)

  endif

endwhile (no)

stop

@enduml

<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="440px" preserveAspectRatio="none" style="width:446px;height:440px;" version="1.1" viewBox="0 0 446 440" width="446px" zoomAndPan="magnify"><defs><filter height="300%" id="f15t7xuxx0vrgq" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="177.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="179" x="132.5" y="47.6611">Emergency Callback</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="225" y="68.6143"/><ellipse cx="274" cy="82.8594" fill="#000000" filter="url(#f15t7xuxx0vrgq)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M36,221.3901 L36,246.5229 A0,0 0 0 0 36,246.5229 L120,246.5229 A0,0 0 0 0 120,246.5229 L120,239.3901 L140,233.9565 L120,231.3901 L120,231.3901 L110,221.3901 L36,221.3901 A0,0 0 0 0 36,221.3901 " fill="#FBFB77" filter="url(#f15t7xuxx0vrgq)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M110,221.3901 L110,231.3901 L120,231.3901 L110,221.3901 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="63" x="42" y="238.457">recusively</text><rect fill="#FEFECE" filter="url(#f15t7xuxx0vrgq)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="268" x="140" y="216.9722"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="248" x="150" y="238.1108">terminate node and all its child threads</text><rect fill="#FEFECE" filter="url(#f15t7xuxx0vrgq)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="146" x="201" y="280.0386"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="126" x="211" y="301.1772">iterate to next node</text><polygon fill="#FEFECE" filter="url(#f15t7xuxx0vrgq)" points="205,161.2617,343,161.2617,355,173.2617,343,185.2617,205,185.2617,193,173.2617,205,161.2617" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="278" y="195.4722">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="205" y="177.0698">Nodes left to terminate?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="179" y="170.6675">no</text><rect fill="#FEFECE" filter="url(#f15t7xuxx0vrgq)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="176" x="186" y="356.0073"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="196" y="377.146">initiate system shutdown</text><ellipse cx="274" cy="419.9761" fill="none" filter="url(#f15t7xuxx0vrgq)" rx="10" ry="10" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="274.5" cy="420.4761" fill="#000000" filter="url(#f15t7xuxx0vrgq)" rx="6" ry="6" style="stroke: none; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#f15t7xuxx0vrgq)" points="205,112.8594,343,112.8594,355,124.8594,343,136.8594,205,136.8594,193,124.8594,205,112.8594" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="278" y="147.0698">no</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="205" y="128.6675">Has been called before?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="355" y="122.2651">yes</text><ellipse cx="395" cy="124.8594" fill="none" filter="url(#f15t7xuxx0vrgq)" rx="10" ry="10" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="395.5" cy="125.3594" fill="#000000" filter="url(#f15t7xuxx0vrgq)" rx="6" ry="6" style="stroke: none; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="274" x2="274" y1="250.9409" y2="280.0386"/><polygon fill="#A80036" points="270,270.0386,274,280.0386,278,270.0386,274,274.0386" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="274" x2="274" y1="185.2617" y2="216.9722"/><polygon fill="#A80036" points="270,206.9722,274,216.9722,278,206.9722,274,210.9722" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="274" x2="274" y1="314.0073" y2="324.0073"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="274" x2="420" y1="324.0073" y2="324.0073"/><polygon fill="#A80036" points="416,260.0386,420,250.0386,424,260.0386,420,256.0386" style="stroke: #A80036; stroke-width: 1.5;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="420" x2="420" y1="173.2617" y2="324.0073"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="420" x2="355" y1="173.2617" y2="173.2617"/><polygon fill="#A80036" points="365,169.2617,355,173.2617,365,177.2617,361,173.2617" style="stroke: #A80036; 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@startuml

title **µRtWare**\nEmergency Callback\n

start

if (Has been called before?) then (yes)

  stop

else (no)

  while (Nodes left to terminate?) is (yes)

    :terminate node and all its child threads;

    note

      recusively

    endnote

    :iterate to next node;

  endwhile (no)

  :initiate system shutdown;

  stop

endif

@enduml

PlantUML version 1.2018.11(Sat Sep 22 18:43:53 CEST 2018)

(GPL source distribution)

Java Runtime: OpenJDK Runtime Environment

JVM: OpenJDK 64-Bit Server VM

Java Version: 1.8.0_181-8u181-b13-0ubuntu0.16.04.1-b13

Operating System: Linux

OS Version: 4.15.0-36-generic

Default Encoding: UTF-8

Language: en

Country: US

--></g></svg>

/'

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..2018  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/>.

'/

@startuml

title **µRtWare**\nEmergency Callback\n

start

if (Has been called before?) then (yes)

  stop

else (no)

  while (Nodes left to terminate?) is (yes)

    :terminate node and all its child threads;

    note

      recusively

    endnote

    :iterate to next node;

  endwhile (no)

  :initiate system shutdown;

  stop

endif

@enduml

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@startuml

title **µRtWare**\nInitialization\n

start

fork

  fork

    partition "urt_core_t" {

      note

        must be initialized statically

        (in startup thread)

      endnote

      :initialize members;

    }

  fork again

    partition "urt_osThread_t" {

      :initialize work area;

      note

        must be initialized statically

        (in preamble / static memory allocation)

      endnote

      :initialize members;

    }

  endfork

  fork

    partition "urt_topic_t" {

      :initialize members;

      :insert self to topic list;

    }

    partition "urt_publisher_t" {

      :initialize members;

      :find topic in topic list;

      if (Any messages to contribute?) then (yes)

        :lock topic;

        :contribute messages;

        :unlock topic;

      else (no)

      endif

    }

  fork again

    partition "urt_node_t" {

      :initialize members;

      :insert self to node list;

    }

  endfork

fork again

  partition "urt_subscriber_t" {

    :initialize members;

  }

fork again

  partition "urt_message_t" {

    :initialize members;

  }

endfork

stop

@enduml

PlantUML version 1.2018.11(Sat Sep 22 18:43:53 CEST 2018)

(GPL source distribution)

Java Runtime: OpenJDK Runtime Environment

JVM: OpenJDK 64-Bit Server VM

Java Version: 1.8.0_181-8u181-b13-0ubuntu0.16.04.1-b13

Operating System: Linux

OS Version: 4.15.0-36-generic

Default Encoding: UTF-8

Language: en

Country: US

--></g></svg>

/'

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..2018  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/>.

'/

@startuml

title **µRtWare**\nInitialization\n

start

fork

  fork

    partition "urt_core_t" {

      note

        must be initialized statically

        (in startup thread)

      endnote

      :initialize members;

    }

  fork again

    partition "urt_osThread_t" {

      :initialize work area;

      note

        must be initialized statically

        (in preamble / static memory allocation)

      endnote

      :initialize members;

    }

  endfork

  fork

    partition "urt_topic_t" {

      :initialize members;

      :insert self to topic list;

    }

    partition "urt_publisher_t" {

      :initialize members;

      :find topic in topic list;

      if (Any messages to contribute?) then (yes)

        :lock topic;

        :contribute messages;

        :unlock topic;

      else (no)

      endif

    }

  fork again

    partition "urt_node_t" {

      :initialize members;

      :insert self to node list;

    }

  endfork

fork again

  partition "urt_subscriber_t" {

    :initialize members;

  }

fork again

  partition "urt_message_t" {

    :initialize members;

  }

endfork

stop

@enduml

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stroke-width: 1.0;"/><path d="M236,117.2773 L236,142.4102 A0,0 0 0 0 236,142.4102 L351,142.4102 A0,0 0 0 0 351,142.4102 L351,135.2773 L371,129.8438 L351,127.2773 L351,127.2773 L341,117.2773 L236,117.2773 A0,0 0 0 0 236,117.2773 " fill="#FBFB77" filter="url(#f2m2ok2ab1v62)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M341,117.2773 L341,127.2773 L351,127.2773 L341,117.2773 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="94" x="242" y="134.3442">must not loop!</text><rect fill="#FEFECE" filter="url(#f2m2ok2ab1v62)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="165" x="371" y="112.8594"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="145" x="381" y="133.998">execute setup callback</text><path d="M10,171.2461 L10,196.3789 A0,0 0 0 0 10,196.3789 L300,196.3789 A0,0 0 0 0 300,196.3789 L300,189.2461 L320,183.8125 L300,181.2461 L300,181.2461 L290,171.2461 L10,171.2461 A0,0 0 0 0 10,171.2461 " fill="#FBFB77" filter="url(#f2m2ok2ab1v62)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M290,171.2461 L290,181.2461 L300,181.2461 L290,171.2461 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="269" x="16" y="188.313">threads are woken simultaneously by core</text><rect fill="#FEFECE" filter="url(#f2m2ok2ab1v62)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="267" x="320" y="166.8281"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="247" x="330" y="187.9668">suspend thread and all children (if any)</text><path d="M184,280.9253 L184,306.0581 A0,0 0 0 0 184,306.0581 L381,306.0581 A0,0 0 0 0 381,306.0581 L381,298.9253 L401,293.4917 L381,290.9253 L381,290.9253 L371,280.9253 L184,280.9253 A0,0 0 0 0 184,280.9253 " fill="#FBFB77" filter="url(#f2m2ok2ab1v62)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M371,280.9253 L371,290.9253 L381,290.9253 L371,280.9253 " fill="#FBFB77" style="stroke: #A80036; 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stroke-width: 1.0;"/><ellipse cx="454" cy="480.0112" fill="#000000" filter="url(#f2m2ok2ab1v62)" rx="6" ry="6" style="stroke: none; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="453.5" x2="453.5" y1="92.8594" y2="112.8594"/><polygon fill="#A80036" points="449.5,102.8594,453.5,112.8594,457.5,102.8594,453.5,106.8594" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="453.5" x2="453.5" y1="146.8281" y2="166.8281"/><polygon fill="#A80036" points="449.5,156.8281,453.5,166.8281,457.5,156.8281,453.5,160.8281" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="453.5" x2="453.5" y1="310.4761" y2="339.5737"/><polygon fill="#A80036" points="449.5,329.5737,453.5,339.5737,457.5,329.5737,453.5,333.5737" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="453.5" x2="453.5" y1="244.7969" y2="276.5073"/><polygon fill="#A80036" points="449.5,266.5073,453.5,276.5073,457.5,266.5073,453.5,270.5073" style="stroke: #A80036; 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@startuml

title **µRtWare**\nNode Thread\n

start

:execute setup callback;

note

  must not loop!

endnote

:suspend thread and all children (if any);

note

  threads are woken simultaneously by core

endnote

while (Termination requested?) is (no)

  :wait for event;

  note

    maks specified by callbacks

  endnote

  :execute loop callback;

  note

    must not loop!

  endnote

endwhile (yes)

:terminate thread;

stop

@enduml

PlantUML version 1.2018.11(Sat Sep 22 18:43:53 CEST 2018)

(GPL source distribution)

Java Runtime: OpenJDK Runtime Environment

JVM: OpenJDK 64-Bit Server VM

Java Version: 1.8.0_181-8u181-b13-0ubuntu0.16.04.1-b13

Operating System: Linux

OS Version: 4.15.0-36-generic

Default Encoding: UTF-8

Language: en

Country: US

--></g></svg>

/'

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..2018  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/>.

'/

@startuml

title **µRtWare**\nNode Thread\n

start

:execute setup callback;

note

  must not loop!

endnote

:suspend thread and all children (if any);

note