AMiRo-OS

<?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="866px" preserveAspectRatio="none" style="width:2377px;height:866px;" version="1.1" viewBox="0 0 2377 866" width="2377px" zoomAndPan="magnify"><defs><filter height="300%" id="fee41veaagnt2" 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="1143" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="183" x="1096" y="47.6611">urtPublisherPublish()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="1190.5" y="68.6143"/><ellipse cx="657.25" cy="82.8594" fill="#000000" filter="url(#fee41veaagnt2)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#fee41veaagnt2)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="617.25" y="112.8594"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="627.25" y="133.998">lock topic</text><rect fill="#FEFECE" filter="url(#fee41veaagnt2)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="137" x="588.75" y="166.8281"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="598.75" y="187.9668">lock next message</text><rect fill="#FEFECE" filter="url(#fee41veaagnt2)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="344" x="485.25" y="276.5073"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="324" x="495.25" y="297.646">wait for condition variable to be signaled or timeout</text><polygon fill="#FEFECE" filter="url(#fee41veaagnt2)" points="509.25,220.7969,805.25,220.7969,817.25,232.7969,805.25,244.7969,509.25,244.7969,497.25,232.7969,509.25,220.7969" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="661.25" y="255.0073">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="296" x="509.25" y="236.605">HRT consumers left for the message &amp; no timeout?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="483.25" y="230.2026">no</text><polygon fill="#FEFECE" filter="url(#fee41veaagnt2)" points="604.25,352.4761,710.25,352.4761,722.25,364.4761,710.25,376.4761,604.25,376.4761,592.25,364.4761,604.25,352.4761" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="106" x="604.25" y="368.2842">Timeout occurred?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="572.25" y="361.8818">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="722.25" y="361.8818">no</text><rect fill="#FEFECE" filter="url(#fee41veaagnt2)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="122" x="10" y="386.4761"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="20" y="407.6147">unlock message</text><rect fill="#FEFECE" filter="url(#fee41veaagnt2)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="96" x="23" y="455.4448"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="76" x="33" y="476.5835">unlock topic</text><rect fill="#FEFECE" filter="url(#fee41veaagnt2)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="94" x="24" y="524.4136"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="74" x="34" y="545.5522">return error</text><ellipse cx="71" cy="603.3823" fill="none" filter="url(#fee41veaagnt2)" rx="10" ry="10" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="71.5" cy="603.8823" fill="#000000" filter="url(#fee41veaagnt2)" rx="6" ry="6" style="stroke: none; stroke-width: 1.0;"/><rect fill="#000000" filter="url(#fee41veaagnt2)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="2223" x="142" y="386.4761"/><rect fill="#000000" filter="url(#fee41veaagnt2)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="861" x="156" y="442.7964"/><rect fill="#FEFECE" filter="url(#fee41veaagnt2)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="251" x="170" y="468.7964"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="231" x="180" y="489.9351">iterate topic pointer to this message</text><rect fill="#FEFECE" filter="url(#fee41veaagnt2)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="102" x="449" y="468.7964"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="82" x="459" y="489.9351">copy payload</text><rect fill="#FEFECE" filter="url(#fee41veaagnt2)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="110" x="579" y="468.7964"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="90" x="589" y="489.9351">set origin time</text><rect fill="#FEFECE" filter="url(#fee41veaagnt2)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="717" y="468.7964"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="266" x="727" y="489.9351">set number of HRT consumers (from topic)</text><rect fill="#000000" filter="url(#fee41veaagnt2)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="861" x="156" y="522.7651"/><rect fill="#FEFECE" filter="url(#fee41veaagnt2)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="122" x="525.5" y="563.7651"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="535.5" y="584.9038">unlock message</text><rect fill="#FEFECE" filter="url(#fee41veaagnt2)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="350" x="1045" y="503.2808"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="330" x="1055" y="524.4194">set QoS timer (rate) wrt. most critical HRT subscriber</text><path d="M1457,526.1011 L1457,551.2339 A0,0 0 0 0 1457,551.2339 L1946,551.2339 A0,0 0 0 0 1946,551.2339 L1946,544.1011 L1966,538.6675 L1946,536.1011 L1946,536.1011 L1936,526.1011 L1457,526.1011 A0,0 0 0 0 1457,526.1011 " fill="#FBFB77" filter="url(#fee41veaagnt2)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1936,526.1011 L1936,536.1011 L1946,536.1011 L1936,526.1011 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="468" x="1463" y="543.168">no lock required since this timer is only accessed when the topic is locked</text><rect fill="#FEFECE" filter="url(#fee41veaagnt2)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="351" x="1966" y="521.6831"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="331" x="1976" y="542.8218">set QoS timer (delay) wrt. origin time of the message</text><polygon fill="#FEFECE" filter="url(#fee41veaagnt2)" points="2050,473.2808,2233,473.2808,2245,485.2808,2233,497.2808,2050,497.2808,2038,485.2808,2050,473.2808" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="2145.5" y="507.4912">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="2050" y="489.0889">QoS timer (delay) is not armed?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="2245" y="482.6865">no</text><polygon fill="#FEFECE" filter="url(#fee41veaagnt2)" points="2141.5,580.0542,2153.5,592.0542,2141.5,604.0542,2129.5,592.0542,2141.5,580.0542" style="stroke: #A80036; stroke-width: 1.5;"/><polygon fill="#FEFECE" filter="url(#fee41veaagnt2)" points="2080.5,412.4761,2202.5,412.4761,2214.5,424.4761,2202.5,436.4761,2080.5,436.4761,2068.5,424.4761,2080.5,412.4761" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="2145.5" y="446.6865">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="122" x="2080.5" y="428.2842">HRT subscribers left?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="2054.5" y="421.8818">no</text><rect fill="#000000" filter="url(#fee41veaagnt2)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="2223" x="142" y="648.0542"/><path d="M895,678.4722 L895,703.605 A0,0 0 0 0 895,703.605 L1194,703.605 A0,0 0 0 0 1194,703.605 L1194,696.4722 L1214,691.0386 L1194,688.4722 L1194,688.4722 L1184,678.4722 L895,678.4722 A0,0 0 0 0 895,678.4722 " fill="#FBFB77" filter="url(#fee41veaagnt2)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1184,678.4722 L1184,688.4722 L1194,688.4722 L1184,678.4722 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="278" x="901" y="695.5391">must be within lock because of HRT counter</text><rect fill="#FEFECE" filter="url(#fee41veaagnt2)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="79" x="1214" y="674.0542"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="59" x="1224" y="695.1929">fire event</text><rect fill="#FEFECE" filter="url(#fee41veaagnt2)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="96" x="1205.5" y="728.0229"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="76" x="1215.5" y="749.1616">unlock topic</text><rect fill="#FEFECE" filter="url(#fee41veaagnt2)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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@startuml

title **µRtWare**\nurtPublisherPublish()\n

start

:lock topic;

:lock next message;

while (HRT consumers left for the message & no timeout?) is (yes)

  :wait for condition variable to be signaled or timeout;

endwhile (no)

if (Timeout occurred?) then (yes)

  :unlock message;

  :unlock topic;

  :return error;

  stop

else (no)

  fork

    fork

      :iterate topic pointer to this message;

    fork again

      :copy payload;

    fork again

      :set origin time;

    fork again

      :set number of HRT consumers (from topic);

    endfork

    :unlock message;

  fork again

    :set QoS timer (rate) wrt. most critical HRT subscriber;

  fork again

    while (HRT subscribers left?) is (yes)

      if (QoS timer (delay) is not armed?) then (yes)

        :set QoS timer (delay) wrt. origin time of the message;

        note

          no lock required since this timer is only accessed when the topic is locked

        endnote

      else (no)

      endif

    endwhile (no)

  endfork

  :fire event;

  note

    must be within lock because of HRT counter

  endnote

  :unlock topic;

  :return success;

  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>