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..2019  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**\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 rate timer (@topic) wrt. most critical HRT subscriber;

  fork again

    while (HRT subscribers left?) is (yes)

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

        :set QoS delay timer (@subscriber) 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

      :iterate to next HRT subscriber;

    endwhile (no)

  endfork

  :fire event;

  note

    must be within lock because of HRT counter

  endnote

  :unlock topic;

  :return success;

  stop

endif

@enduml