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/>.

'/

@startuml

title **µRtWare**\nurtSubscriberSubscribe()\n

start

fork

  if (Was rtclass specified?) then (yes)

    :set rtclass member;

  else (no)

  endif

fork again

  :set topic;

endfork

:lock topic;

fork

  if (Messages specified?) then (yes)

    partition "contribute messages" {

      :set ""next"" pointer of topic's latest message to first message to contribute;

      :set ""next"" pointer of last message to contribute to message formerly after the topic's latest message;

    }

  else (no)

  endif

fork again

  :set message pointer to topic's latest message;

endfork

if (Is HRT subscriber?) then (yes)

  fork

    :increase topic HRT counter;

  fork again

    :insert subscriber to topic list of HRT subscribers;

  endfork

else (no)

endif

:register to topic event source;

note

  Must be within lock because of HRT counter.

endnote

:unlock topic;

stop

@enduml