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="1502px" preserveAspectRatio="none" style="width:1846px;height:1502px;" version="1.1" viewBox="0 0 1846 1502" width="1846px" zoomAndPan="magnify"><defs><filter height="300%" id="fxzoig5nbtsvt" 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="877.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="299" x="772.5" y="47.6611">urtSubscriberFetchNextMessage()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="925" y="68.6143"/><path d="M582.5,72.8594 L582.5,249.3203 A0,0 0 0 0 582.5,249.3203 L887.5,249.3203 A0,0 0 0 0 887.5,249.3203 L887.5,165.0898 L907.5,161.0898 L887.5,157.0898 L887.5,82.8594 L877.5,72.8594 L582.5,72.8594 A0,0 0 0 0 582.5,72.8594 " fill="#FBFB77" filter="url(#fxzoig5nbtsvt)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M877.5,72.8594 L877.5,82.8594 L887.5,82.8594 L877.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="582.5" x2="611" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="615" y="89.4263"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="80" x="615" y="89.4263">subscriber</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="152" x="703" y="89.4263">: urt_subscriber_t*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="859" y="89.4263"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="859" x2="887.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="284" x="588.5" y="105.0591">The subscriber that shall fetch the message.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="588.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="668.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="700.5" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="582.5" x2="671" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="675" y="134.8247"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="56" x="675" y="134.8247">payload</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="56" x="739" y="134.8247">: void*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="799" y="134.8247"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="799" x2="887.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="238" x="588.5" y="150.4575">Pointer where to copy the payload to.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="588.5" y="165.5903">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="638.5" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="195" x="674.5" y="165.5903">for messages without payload.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="582.5" x2="675" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="679" y="180.2231"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="40" x="679" y="180.2231">bytes</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="64" x="727" y="180.2231">: size_t</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="795" y="180.2231"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="795" x2="887.5" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="137" x="588.5" y="195.856">Payload size in bytes.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="582.5" x2="643" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="647" y="210.4888"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="56" x="647" y="210.4888">latency</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="112" x="711" y="210.4888">: urt_delay_t*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="827" y="210.4888"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="827" x2="887.5" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="267" x="588.5" y="226.1216">The latency can be returned by reference.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="588.5" y="241.2544">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="638.5" y="241.2544">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="670.5" y="241.2544">.</text><ellipse cx="917.5" cy="161.0898" fill="#000000" filter="url(#fxzoig5nbtsvt)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="877.5" y="269.3203"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="887.5" y="290.459">lock topic</text><polygon fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" points="864,323.2891,971,323.2891,983,335.2891,971,347.2891,864,347.2891,852,335.2891,864,323.2891" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="107" x="864" y="339.0972">Is HRT subscriber?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="832" y="332.6948">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="983" y="332.6948">no</text><rect fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="137" x="529.875" y="357.2891"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="539.875" y="378.4277">lock next message</text><polygon fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" points="1137.125,357.2891,1336.125,357.2891,1348.125,369.2891,1336.125,381.2891,1137.125,381.2891,1125.125,369.2891,1137.125,357.2891" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="1137.125" y="373.0972">Has a message been read before?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1105.125" y="366.6948">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1348.125" y="366.6948">no</text><rect fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="166" x="932.375" y="391.2891"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="146" x="942.375" y="412.4277">lock last read message</text><rect fill="#FFFFFF" filter="url(#fxzoig5nbtsvt)" height="319.9136" style="stroke: #000000; stroke-width: 2.0;" width="566" x="706.875" y="491.77"/><path d="M890.875,492.77 L890.875,501.0669 L880.875,511.0669 L706.875,511.0669 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="174" x="709.875" y="505.7651">find oldest valid message</text><path d="M716.875,532.4849 L716.875,557.6177 A0,0 0 0 0 716.875,557.6177 L926.875,557.6177 A0,0 0 0 0 926.875,557.6177 L926.875,550.4849 L946.875,545.0513 L926.875,542.4849 L926.875,542.4849 L916.875,532.4849 L716.875,532.4849 A0,0 0 0 0 716.875,532.4849 " fill="#FBFB77" filter="url(#fxzoig5nbtsvt)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M916.875,532.4849 L916.875,542.4849 L926.875,542.4849 L916.875,532.4849 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="189" x="722.875" y="549.5518">Locked two messages ahead.</text><rect fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="137" x="946.875" y="528.0669"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="956.875" y="549.2056">lock next message</text><rect fill="#000000" filter="url(#fxzoig5nbtsvt)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="453" x="788.875" y="637.7461"/><rect fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="172" x="802.875" y="663.7461"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="152" x="812.875" y="684.8848">unlock current message</text><rect fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="225" x="1002.875" y="663.7461"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="205" x="1012.875" y="684.8848">lock one message further ahead</text><rect fill="#000000" filter="url(#fxzoig5nbtsvt)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="453" x="788.875" y="717.7148"/><polygon fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" points="853.875,582.0356,1176.875,582.0356,1188.875,594.0356,1176.875,606.0356,853.875,606.0356,841.875,594.0356,853.875,582.0356" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1019.375" y="616.2461">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="323" x="853.875" y="597.8438">Timestamp of next message is younger than of current?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="827.875" y="591.4414">no</text><path d="M734.875,770.1328 L734.875,795.2656 A0,0 0 0 0 734.875,795.2656 L918.875,795.2656 A0,0 0 0 0 918.875,795.2656 L918.875,788.1328 L938.875,782.6992 L918.875,780.1328 L918.875,780.1328 L908.875,770.1328 L734.875,770.1328 A0,0 0 0 0 734.875,770.1328 " fill="#FBFB77" filter="url(#fxzoig5nbtsvt)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M908.875,770.1328 L908.875,780.1328 L918.875,780.1328 L908.875,770.1328 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="163" x="740.875" y="787.1997">One message still locked.</text><rect fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="153" x="938.875" y="765.7148"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="133" x="948.875" y="786.8535">unlock next message</text><polygon fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" points="903.375,445.2578,1127.375,445.2578,1139.375,457.2578,1127.375,469.2578,903.375,469.2578,891.375,457.2578,903.375,445.2578" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1019.375" y="479.4683">no</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="903.375" y="461.0659">Message timestamp equals local copy?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1139.375" y="454.6636">yes</text><polygon fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" points="1015.375,831.6836,1027.375,843.6836,1015.375,855.6836,1003.375,843.6836,1015.375,831.6836" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="1314.875" y="391.2891"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="266" x="1324.875" y="412.4277">lock message after topic's latest message</text><polygon fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" points="1236.625,861.6836,1248.625,873.6836,1236.625,885.6836,1224.625,873.6836,1236.625,861.6836" style="stroke: #A80036; stroke-width: 1.5;"/><polygon fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" points="917.5,891.6836,929.5,903.6836,917.5,915.6836,905.5,903.6836,917.5,891.6836" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#000000" filter="url(#fxzoig5nbtsvt)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1825" x="10" y="935.6836"/><rect fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="352" x="22" y="1118.9727"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="332" x="32" y="1140.1113">set last fetched message pointer to locked message</text><rect fill="#000000" filter="url(#fxzoig5nbtsvt)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="586" x="384" y="1044.5703"/><rect fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="196" x="396" y="1118.9727"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="176" x="406" y="1140.1113">copy timestamp of message</text><rect fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="304" x="630" y="1118.9727"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="284" x="640" y="1140.1113">set latency value (now - message origin time)</text><polygon fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" points="662,1070.5703,902,1070.5703,914,1082.5703,902,1094.5703,662,1094.5703,650,1082.5703,662,1070.5703" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="786" y="1104.7808">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="662" y="1086.3784">Optional output argument "latency" given?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="914" y="1079.9761">no</text><polygon fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" points="782,1177.3438,794,1189.3438,782,1201.3438,770,1189.3438,782,1177.3438" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#000000" filter="url(#fxzoig5nbtsvt)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="586" x="384" y="1221.3438"/><rect fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="163" x="998" y="1118.9727"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="143" x="1008" y="1140.1113">copy message payload</text><rect fill="#000000" filter="url(#fxzoig5nbtsvt)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; 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@startuml

title **µRtWare**\nurtSubscriberFetchNextMessage()\n

start

note

  - - ""**subscriber** : urt_subscriber_t*"" - -

  The subscriber that shall fetch the message.

  Must not be ""NULL"".

  - - ""**payload** : void*"" - -

  Pointer where to copy the payload to.

  May be ""NULL"" for messages without payload.

  - - ""**bytes** : size_t"" - -

  Payload size in bytes.

  - - ""**latency** : urt_delay_t*"" - -

  The latency can be returned by reference.

  May be ""NULL"".

end note

:lock topic;

if (Is HRT subscriber?) then (yes)

  :lock next message;

else (no)

  if (Has a message been read before?) then (yes)

    :lock last read message;

    if (Message timestamp equals local copy?) then (yes)

    else (no)

      partition "find oldest valid message" {

        :lock next message;

        note: Locked two messages ahead.

        while (Timestamp of next message is younger than of current?) is (yes)

          fork

            :unlock current message;

          fork again

            :lock one message further ahead;

          endfork

        endwhile (no)

        :unlock next message;

        note: One message still locked.

      }

    endif

  else (no)

    :lock message after topic's latest message;

  endif

endif

fork

  :set last fetched message pointer to locked message;

fork again

  fork

    :copy timestamp of message;

  fork again

    if (Optional output argument "latency" given?) then (yes)

      :set latency value (now - message origin time);

    else (no)

    endif

  endfork

fork again

  :copy message payload;

fork again

  if (Is HRT subscriber?) then (yes)

    fork

      :decrement HRT counter of current message;

      if (HRT counter became 0?) then (yes)

        :signal topic's condition variable;

      else (no)

      endif

    fork again

      :update QoS delay timer (@subscriber);

    endfork

  else (no)

  endif

endfork

:unlock message;

:unlock topic;

stop

note

  - - **return** ""urt_status_t"" - -

  Returns ""URT_STATUS_OK"".

end note

@enduml

PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)

(GPL source distribution)

Java Runtime: OpenJDK Runtime Environment

JVM: OpenJDK 64-Bit Server VM

Java Version: 11.0.6+10-post-Ubuntu-1ubuntu118.04.1

Operating System: Linux

Default Encoding: UTF-8

Language: en

Country: US

--></g></svg>