urtware / doc / activitydiagrams / subscriber / urtSubscriberSubscribeHrt.uml @ 7491c395
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1 | 7491c395 | Thomas Schöpping | /' |
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2 | µRtWare is a lightweight publish/subscribe middleware for real-time |
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3 | applications. It was developed as part of the software habitat for the |
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4 | Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well. |
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5 | |||
6 | Copyright (C) 2018..2020 Thomas Schöpping et al. |
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7 | |||
8 | This program is free software: you can redistribute it and/or modify |
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9 | it under the terms of the GNU General Public License as published by |
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10 | the Free Software Foundation, either version 3 of the License, or |
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11 | (at your option) any later version. |
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12 | |||
13 | This program is distributed in the hope that it will be useful, |
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14 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
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15 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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16 | GNU General Public License for more details. |
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17 | |||
18 | You should have received a copy of the GNU General Public License |
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19 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
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20 | '/ |
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21 | |||
22 | /'### INTRO ##################################################################'/ |
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23 | |||
24 | @startuml |
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25 | |||
26 | title **µRtWare**\nurtSubscriberHrt()\n |
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27 | |||
28 | !include ../../functions.iuml |
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29 | |||
30 | /'### PARAMETERS & START #####################################################'/ |
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31 | |||
32 | start |
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33 | note |
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34 | -- ""**subscriber** : urt_subscriber_t*"" -- |
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35 | The subscriber which shall subscribe to a topic. |
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36 | Must not be ""NULL"". |
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37 | -- ""**topic** : urt_topic_t*"" -- |
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38 | The topic to subscribe to. |
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39 | Must not be ""NULL"". |
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40 | -- ""**messages** : urt_message_t*"" -- |
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41 | List of messages to be contributed to the topic. |
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42 | Those messages must not be associated to another topic. |
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43 | Once a message was contributed, it cannot be removed from the topic anymore. |
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44 | -- ""**deadline** : urt_delay_t"" -- |
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45 | Maximum latency to consume messages. |
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46 | A value of 0 indicates, that latency is of no concern. |
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47 | -- ""**rate** : urt_delay_t_t"" -- |
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48 | Expected minimum rate of new messages (= mamximum time between consecutive messages). |
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49 | A value of 0 indicates, that rate is of no concern. |
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50 | -- ""**jitter** : urt_delay_t_t"" -- |
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51 | Maximum allowed jitter (difference between maximum and minimum latency) when consuming messages. |
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52 | A value of 0 indicates, that jitter is of no concern. |
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53 | end note |
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54 | |||
55 | /'### PROCEDURE ##############################################################'/ |
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56 | |||
57 | if (Is topic already set?) then (yes) |
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58 | :return ""URT_STATUS_ERROR""; |
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59 | else (no) |
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60 | fork |
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61 | :set HRT data; |
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62 | fork again |
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63 | :set topic; |
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64 | endfork |
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65 | :lock topic; |
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66 | fork |
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67 | if (Messages to contribute?) then (yes) |
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68 | partition "contribute messages" { |
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69 | :set next pointer of topic's latest message to first message to contribute; |
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70 | :set next pointer of last message to contribute to the message after the topic's latest message; |
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71 | } |
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72 | else (no) |
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73 | endif |
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74 | fork again |
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75 | :set message pointer to topic's latest message; |
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76 | fork again |
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77 | :register to topic's event source; |
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78 | fork again |
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79 | :insert subscriber to topic's list of HRT subscribers; |
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80 | fork again |
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81 | :increment topic's HRT counter; |
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82 | endfork |
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83 | :unlock topic; |
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84 | :return ""URT_STATUS_OK""; |
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85 | endif |
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86 | |||
87 | /'### STOP & RETURN ##########################################################'/ |
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88 | |||
89 | stop |
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90 | note |
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91 | -- **return** ""urt_status_t"" -- |
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92 | Returns ""URT_STATUS_ERROR"" if the subscriber was already associated to a topic. |
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93 | end note |
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94 | |||
95 | /'### OUTRO ##################################################################'/ |
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96 | |||
97 | @enduml |