Revision 7491c395
| doc/activitydiagrams/message/urtMessageInit.svg | ||
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<?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="275px" preserveAspectRatio="none" style="width:418px;height:275px;" version="1.1" viewBox="0 0 418 275" width="418px" zoomAndPan="magnify"><defs><filter height="300%" id="f160ofdjzs96s" 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="163.75" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="144" x="136.25" y="47.6611">urtMessageInit()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="211.25" y="68.6143"/><path d="M10,72.8594 L10,158.5234 A0,0 0 0 0 10,158.5234 L312,158.5234 A0,0 0 0 0 312,158.5234 L312,119.6914 L332,115.6914 L312,111.6914 L312,82.8594 L302,72.8594 L10,72.8594 A0,0 0 0 0 10,72.8594 " fill="#FBFB77" filter="url(#f160ofdjzs96s)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M302,72.8594 L302,82.8594 L312,82.8594 L302,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="61" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="65" y="89.4263"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="56" x="65" y="89.4263">message</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="128" x="129" y="89.4263">: urt_message_t*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="261" y="89.4263"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="261" x2="312" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="162" x="16" y="105.0591">The message to initialize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="16" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="96" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="128" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="97" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="101" y="134.8247"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="56" x="101" y="134.8247">payload</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="56" x="165" y="134.8247">: void*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="225" y="134.8247"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="225" x2="312" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="16" y="150.4575">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="66" y="150.4575">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="195" x="102" y="150.4575">for messages without payload.</text><ellipse cx="342" cy="115.6914" fill="#000000" filter="url(#f160ofdjzs96s)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#f160ofdjzs96s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="131" x="276.5" y="178.5234"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="111" x="286.5" y="199.6621">initialize members</text><path d="M129,223.3594 L129,263.625 A0,0 0 0 0 129,263.625 L311,263.625 A0,0 0 0 0 311,263.625 L311,247.4922 L331,243.4922 L311,239.4922 L311,233.3594 L301,223.3594 L129,223.3594 A0,0 0 0 0 129,223.3594 " fill="#FBFB77" filter="url(#f160ofdjzs96s)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M301,223.3594 L301,233.3594 L311,233.3594 L301,223.3594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="129" x2="143.5" y1="235.9258" y2="235.9258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="147.5" y="239.9263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="147.5" y="239.9263">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="196.5" y="239.9263"/><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="96" x="196.5" y="239.9263">urt_status_t</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="296.5" y="239.9263"/><line style="stroke: #A80036; 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stroke-width: 1.5;" x1="342" x2="342" y1="212.4922" y2="232.4922"/><polygon fill="#A80036" points="338,222.4922,342,232.4922,346,222.4922,342,226.4922" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[cf41be7f63b42d9455c93a9cc8728d76] |
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@startuml |
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title **µRtWare**\nurtMessageInit()\n |
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start |
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note |
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- - ""**message** : urt_message_t*"" - - |
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The message to initialize. |
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Must not be ""NULL"". |
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- - ""**payload** : void*"" - - |
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May be ""NULL"" for messages without payload. |
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end note |
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:initialize members; |
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stop |
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note |
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- - **return** ""urt_status_t"" - - |
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Returns ""URT_STATUS_OK"". |
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end note |
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@enduml |
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PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020) |
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(GPL source distribution) |
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Java Runtime: OpenJDK Runtime Environment |
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JVM: OpenJDK 64-Bit Server VM |
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Java Version: 11.0.6+10-post-Ubuntu-1ubuntu118.04.1 |
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Operating System: Linux |
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Default Encoding: UTF-8 |
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Language: en |
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Country: US |
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--></g></svg> |
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| doc/activitydiagrams/message/urtMessageInit.uml | ||
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/' |
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µRtWare is a lightweight publish/subscribe middleware for real-time |
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applications. It was developed as part of the software habitat for the |
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Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well. |
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Copyright (C) 2018..2020 Thomas Schöpping et al. |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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'/ |
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/'### INTRO ##################################################################'/ |
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@startuml |
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title **µRtWare**\nurtMessageInit()\n |
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!include ../../functions.iuml |
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/'### PARAMETERS & START #####################################################'/ |
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start |
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note |
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-- ""**message** : urt_message_t*"" -- |
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The message to initialize. |
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Must not be ""NULL"". |
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-- ""**payload** : void*"" -- |
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May be ""NULL"" for messages without payload. |
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end note |
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/'### PROCEDURE ##############################################################'/ |
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:initialize members; |
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/'### STOP & RETURN ##########################################################'/ |
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stop |
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note |
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-- **return** ""urt_status_t"" -- |
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Returns ""URT_STATUS_OK"". |
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end note |
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/'### OUTRO ##################################################################'/ |
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@enduml |
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| doc/activitydiagrams/publisher/urtPublisherInit.svg | ||
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| 1 |
<?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="692px" preserveAspectRatio="none" style="width:811px;height:692px;" version="1.1" viewBox="0 0 811 692" width="811px" zoomAndPan="magnify"><defs><filter height="300%" id="f1xffo3a9rerdo" 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="360" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="150" x="329.5" y="47.6611">urtPublisherInit()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="407.5" y="68.6143"/><path d="M10,72.8594 L10,219.0547 A0,0 0 0 0 10,219.0547 L426,219.0547 A0,0 0 0 0 426,219.0547 L426,149.957 L446,145.957 L426,141.957 L426,82.8594 L416,72.8594 L10,72.8594 A0,0 0 0 0 10,72.8594 " fill="#FBFB77" filter="url(#f1xffo3a9rerdo)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M416,72.8594 L416,82.8594 L426,82.8594 L416,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="102" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="106" y="89.4263"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="72" x="106" y="89.4263">publisher</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="144" x="186" y="89.4263">: urt_publisher_t*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="334" y="89.4263"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="334" x2="426" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="161" x="16" y="105.0591">The publisher to initialize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="16" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="96" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="128" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="134" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="138" y="134.8247"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="40" x="138" y="134.8247">topic</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="112" x="186" y="134.8247">: urt_topic_t*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="302" y="134.8247"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="302" x2="426" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="259" x="16" y="150.4575">The topic, this publisher is associated to.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="16" y="165.5903">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="96" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="128" y="165.5903">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="114" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="118" y="180.2231"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="64" x="118" y="180.2231">messages</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="128" x="190" y="180.2231">: urt_message_t*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="322" y="180.2231"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="322" x2="426" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="9" x="16" y="195.856">A</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="29" y="195.856">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="346" x="65" y="195.856">terminated list of messages to contribute to the topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="16" y="210.9888">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="66" y="210.9888">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="202" x="102" y="210.9888">(no messages are contributed).</text><ellipse cx="456" cy="145.957" fill="#000000" filter="url(#f1xffo3a9rerdo)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#f1xffo3a9rerdo)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="131" x="390.5" y="239.0547"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="111" x="400.5" y="260.1934">initialize members</text><rect fill="#FEFECE" filter="url(#f1xffo3a9rerdo)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="416" y="341.4258"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="426" y="362.5645">lock topic</text><rect fill="#FFFFFF" filter="url(#f1xffo3a9rerdo)" height="145.5859" style="stroke: #000000; stroke-width: 2.0;" width="638" x="137" y="386.1963"/><path d="M294,387.1963 L294,395.4932 L284,405.4932 L137,405.4932 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="147" x="140" y="400.1914">contribute messages</text><rect fill="#FEFECE" filter="url(#f1xffo3a9rerdo)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="474" x="219" y="422.4932"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="454" x="229" y="443.6318">set next pointer of topic's latest message to first message to contribute</text><rect fill="#FEFECE" filter="url(#f1xffo3a9rerdo)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="618" x="147" y="485.8135"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="598" x="157" y="506.9521">set next pointer of last message to contribute to the message after the topic's latest message</text><rect fill="#FEFECE" filter="url(#f1xffo3a9rerdo)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="96" x="408" y="551.7822"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="76" x="418" y="572.9209">unlock topic</text><polygon fill="#FEFECE" filter="url(#f1xffo3a9rerdo)" points="386,293.0234,526,293.0234,538,305.0234,526,317.0234,386,317.0234,374,305.0234,386,293.0234" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="460" y="327.2339">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="140" x="386" y="308.8315">Messages to contribute?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="538" y="302.4292">no</text><polygon fill="#FEFECE" filter="url(#f1xffo3a9rerdo)" points="456,605.751,468,617.751,456,629.751,444,617.751,456,605.751" style="stroke: #A80036; stroke-width: 1.5;"/><path d="M243,640.6182 L243,680.8838 A0,0 0 0 0 243,680.8838 L425,680.8838 A0,0 0 0 0 425,680.8838 L425,664.751 L445,660.751 L425,656.751 L425,650.6182 L415,640.6182 L243,640.6182 A0,0 0 0 0 243,640.6182 " fill="#FBFB77" filter="url(#f1xffo3a9rerdo)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M415,640.6182 L415,650.6182 L425,650.6182 L415,640.6182 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="243" x2="257.5" y1="653.1846" y2="653.1846"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="261.5" y="657.1851"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="261.5" y="657.1851">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="310.5" y="657.1851"/><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="96" x="310.5" y="657.1851">urt_status_t</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="410.5" y="657.1851"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="410.5" x2="425" y1="653.1846" y2="653.1846"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="249" y="672.8179">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="302" y="672.8179">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="406" y="672.8179">.</text><ellipse cx="456" cy="660.751" fill="#FFFFFF" filter="url(#f1xffo3a9rerdo)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="456" cy="660.751" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="456" x2="456" y1="155.957" y2="239.0547"/><polygon fill="#A80036" points="452,229.0547,456,239.0547,460,229.0547,456,233.0547" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="456" x2="456" y1="456.4619" y2="485.8135"/><polygon fill="#A80036" points="452,475.8135,456,485.8135,460,475.8135,456,479.8135" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="456" x2="456" y1="375.3945" y2="422.4932"/><polygon fill="#A80036" points="452,412.4932,456,422.4932,460,412.4932,456,416.4932" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="456" x2="456" y1="519.7822" y2="551.7822"/><polygon fill="#A80036" points="452,541.7822,456,551.7822,460,541.7822,456,545.7822" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="456" x2="456" y1="317.0234" y2="341.4258"/><polygon fill="#A80036" points="452,331.4258,456,341.4258,460,331.4258,456,335.4258" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="538" x2="785" y1="305.0234" y2="305.0234"/><polygon fill="#A80036" points="781,455.8135,785,465.8135,789,455.8135,785,459.8135" style="stroke: #A80036; stroke-width: 1.5;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="785" x2="785" y1="305.0234" y2="617.751"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="785" x2="468" y1="617.751" y2="617.751"/><polygon fill="#A80036" points="478,613.751,468,617.751,478,621.751,474,617.751" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="456" x2="456" y1="585.751" y2="605.751"/><polygon fill="#A80036" points="452,595.751,456,605.751,460,595.751,456,599.751" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="456" x2="456" y1="273.0234" y2="293.0234"/><polygon fill="#A80036" points="452,283.0234,456,293.0234,460,283.0234,456,287.0234" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="456" x2="456" y1="629.751" y2="649.751"/><polygon fill="#A80036" points="452,639.751,456,649.751,460,639.751,456,643.751" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[cad571e197258dd00abff76ac285e5b2] |
|
| 2 |
@startuml |
|
| 3 |
|
|
| 4 |
title **µRtWare**\nurtPublisherInit()\n |
|
| 5 |
|
|
| 6 |
|
|
| 7 |
|
|
| 8 |
|
|
| 9 |
|
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| 10 |
|
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| 11 |
|
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| 12 |
|
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| 13 |
|
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| 14 |
|
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| 15 |
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| 16 |
|
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| 17 |
start |
|
| 18 |
note |
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| 19 |
- - ""**publisher** : urt_publisher_t*"" - - |
|
| 20 |
The publisher to initialize. |
|
| 21 |
Must not be ""NULL"". |
|
| 22 |
- - ""**topic** : urt_topic_t*"" - - |
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| 23 |
The topic, this publisher is associated to. |
|
| 24 |
Must not be ""NULL"". |
|
| 25 |
- - ""**messages** : urt_message_t*"" - - |
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| 26 |
A ""NULL"" terminated list of messages to contribute to the topic. |
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| 27 |
May be ""NULL"" (no messages are contributed). |
|
| 28 |
end note |
|
| 29 |
|
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| 30 |
|
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| 31 |
:initialize members; |
|
| 32 |
if (Messages to contribute?) then (yes) |
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| 33 |
:lock topic; |
|
| 34 |
partition "contribute messages" {
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| 35 |
:set next pointer of topic's latest message to first message to contribute; |
|
| 36 |
:set next pointer of last message to contribute to the message after the topic's latest message; |
|
| 37 |
} |
|
| 38 |
:unlock topic; |
|
| 39 |
else (no) |
|
| 40 |
endif |
|
| 41 |
|
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| 42 |
|
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| 43 |
stop |
|
| 44 |
note |
|
| 45 |
- - **return** ""urt_status_t"" - - |
|
| 46 |
Returns ""URT_STATUS_OK"". |
|
| 47 |
end note |
|
| 48 |
|
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| 49 |
|
|
| 50 |
@enduml |
|
| 51 |
|
|
| 52 |
PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020) |
|
| 53 |
(GPL source distribution) |
|
| 54 |
Java Runtime: OpenJDK Runtime Environment |
|
| 55 |
JVM: OpenJDK 64-Bit Server VM |
|
| 56 |
Java Version: 11.0.6+10-post-Ubuntu-1ubuntu118.04.1 |
|
| 57 |
Operating System: Linux |
|
| 58 |
Default Encoding: UTF-8 |
|
| 59 |
Language: en |
|
| 60 |
Country: US |
|
| 61 |
--></g></svg> |
|
| doc/activitydiagrams/publisher/urtPublisherInit.uml | ||
|---|---|---|
| 1 |
/' |
|
| 2 |
µRtWare is a lightweight publish/subscribe middleware for real-time |
|
| 3 |
applications. It was developed as part of the software habitat for the |
|
| 4 |
Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well. |
|
| 5 |
|
|
| 6 |
Copyright (C) 2018..2020 Thomas Schöpping et al. |
|
| 7 |
|
|
| 8 |
This program is free software: you can redistribute it and/or modify |
|
| 9 |
it under the terms of the GNU General Public License as published by |
|
| 10 |
the Free Software Foundation, either version 3 of the License, or |
|
| 11 |
(at your option) any later version. |
|
| 12 |
|
|
| 13 |
This program is distributed in the hope that it will be useful, |
|
| 14 |
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
| 15 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
| 16 |
GNU General Public License for more details. |
|
| 17 |
|
|
| 18 |
You should have received a copy of the GNU General Public License |
|
| 19 |
along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
| 20 |
'/ |
|
| 21 |
|
|
| 22 |
/'### INTRO ##################################################################'/ |
|
| 23 |
|
|
| 24 |
@startuml |
|
| 25 |
|
|
| 26 |
title **µRtWare**\nurtPublisherInit()\n |
|
| 27 |
|
|
| 28 |
!include ../../functions.iuml |
|
| 29 |
|
|
| 30 |
/'### PARAMETERS & START #####################################################'/ |
|
| 31 |
|
|
| 32 |
start |
|
| 33 |
note |
|
| 34 |
-- ""**publisher** : urt_publisher_t*"" -- |
|
| 35 |
The publisher to initialize. |
|
| 36 |
Must not be ""NULL"". |
|
| 37 |
-- ""**topic** : urt_topic_t*"" -- |
|
| 38 |
The topic, this publisher is associated to. |
|
| 39 |
Must not be ""NULL"". |
|
| 40 |
-- ""**messages** : urt_message_t*"" -- |
|
| 41 |
A ""NULL"" terminated list of messages to contribute to the topic. |
|
| 42 |
May be ""NULL"" (no messages are contributed). |
|
| 43 |
end note |
|
| 44 |
|
|
| 45 |
/'### PROCEDURE ##############################################################'/ |
|
| 46 |
|
|
| 47 |
:initialize members; |
|
| 48 |
if (Messages to contribute?) then (yes) |
|
| 49 |
:lock topic; |
|
| 50 |
partition "contribute messages" {
|
|
| 51 |
:set next pointer of topic's latest message to first message to contribute; |
|
| 52 |
:set next pointer of last message to contribute to the message after the topic's latest message; |
|
| 53 |
} |
|
| 54 |
:unlock topic; |
|
| 55 |
else (no) |
|
| 56 |
endif |
|
| 57 |
|
|
| 58 |
/'### STOP & RETURN ##########################################################'/ |
|
| 59 |
|
|
| 60 |
stop |
|
| 61 |
note |
|
| 62 |
-- **return** ""urt_status_t"" -- |
|
| 63 |
Returns ""URT_STATUS_OK"". |
|
| 64 |
end note |
|
| 65 |
|
|
| 66 |
/'### OUTRO ##################################################################'/ |
|
| 67 |
|
|
| 68 |
@enduml |
|
| doc/activitydiagrams/publisher/urtPublisherPublish.svg | ||
|---|---|---|
| 1 |
<?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="1255px" preserveAspectRatio="none" style="width:2678px;height:1255px;" version="1.1" viewBox="0 0 2678 1255" width="2678px" zoomAndPan="magnify"><defs><filter height="300%" id="f52skes7don2n" 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="1293.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="183" x="1246.5" y="47.6611">urtPublisherPublish()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="1341" y="68.6143"/><path d="M351,72.8594 L351,264.4531 A0,0 0 0 0 351,264.4531 L736,264.4531 A0,0 0 0 0 736,264.4531 L736,172.6563 L756,168.6563 L736,164.6563 L736,82.8594 L726,72.8594 L351,72.8594 A0,0 0 0 0 351,72.8594 " fill="#FBFB77" filter="url(#f52skes7don2n)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M726,72.8594 L726,82.8594 L736,82.8594 L726,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="351" x2="427.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="431.5" y="89.4263"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="72" x="431.5" y="89.4263">publisher</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="144" x="511.5" y="89.4263">: urt_publisher_t*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="659.5" y="89.4263"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="659.5" x2="736" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="197" x="357" y="105.0591">Pointer to the publisher to use.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="357" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="437" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="469" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="351" x2="479.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="483.5" y="134.8247"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="56" x="483.5" y="134.8247">payload</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="56" x="547.5" y="134.8247">: void*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="607.5" y="134.8247"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="607.5" x2="736" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="226" x="357" y="150.4575">Pointer to the data to be published.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="357" y="165.5903">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="407" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="195" x="443" y="165.5903">for messages without payload.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="351" x2="499.5" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="503.5" y="180.2231"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="8" x="503.5" y="180.2231">n</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="64" x="519.5" y="180.2231">: size_t</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="587.5" y="180.2231"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="587.5" x2="736" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="180" x="357" y="195.856">Size of the payload in bytes.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="351" x2="475.5" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="479.5" y="210.4888"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="8" x="479.5" y="210.4888">t</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="112" x="495.5" y="210.4888">: urt_osTime_t</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="611.5" y="210.4888"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="611.5" x2="736" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="246" x="357" y="226.1216">Timestamp to be set for the message.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="351" x2="455.5" y1="236.7539" y2="236.7539"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="459.5" y="240.7544"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="56" x="459.5" y="240.7544">timeout</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="523.5" y="240.7544">: urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="631.5" y="240.7544"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="631.5" x2="736" y1="236.7539" y2="236.7539"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="364" x="357" y="256.3872">Timeout delay in case the message cannot be published.</text><ellipse cx="766" cy="168.6563" fill="#000000" filter="url(#f52skes7don2n)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="726" y="284.4531"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="736" y="305.5918">lock topic</text><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="137" x="697.5" y="338.4219"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="707.5" y="359.5605">lock next message</text><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="122" x="705" y="448.1011"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="715" y="469.2397">unlock message</text><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="524" x="504" y="502.0698"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="504" x="514" y="523.2085">wait for topic's condition variable (using topic's mutex) to be signaled or timeout</text><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="106" x="713" y="556.0386"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="86" x="723" y="577.1772">lock message</text><polygon fill="#FEFECE" filter="url(#f52skes7don2n)" points="626,392.3906,906,392.3906,918,404.3906,906,416.3906,626,416.3906,614,404.3906,626,392.3906" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="770" y="426.6011">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="280" x="626" y="408.1987">HRT consumers left for the message or timeout?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="600" y="401.7964">no</text><polygon fill="#FEFECE" filter="url(#f52skes7don2n)" points="713,632.0073,819,632.0073,831,644.0073,819,656.0073,713,656.0073,701,644.0073,713,632.0073" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="106" x="713" y="647.8154">Timeout occurred?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="681" y="641.4131">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="831" y="641.4131">no</text><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="122" x="36.5" y="666.0073"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="46.5" y="687.146">unlock message</text><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="96" x="49.5" y="734.9761"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="76" x="59.5" y="756.1147">unlock topic</text><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="175" x="10" y="803.9448"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="39" x="20" y="825.0835">return</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="63" y="825.0835">URT_STATUS_ERROR</text><rect fill="#000000" filter="url(#f52skes7don2n)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="2471" x="195" y="666.0073"/><rect fill="#000000" filter="url(#f52skes7don2n)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1014" x="207" y="756.812"/><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="251" x="219" y="782.812"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="231" x="229" y="803.9507">iterate topic pointer to this message</text><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="180" x="498" y="782.812"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="160" x="508" y="803.9507">copy payload to message</text><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="187" x="706" y="782.812"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="167" x="716" y="803.9507">set origin time of message</text><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="921" y="782.812"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="266" x="931" y="803.9507">set number of HRT consumers (from topic)</text><rect fill="#000000" filter="url(#f52skes7don2n)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1014" x="207" y="836.7808"/><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="122" x="652" y="877.7808"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="662" y="898.9194">unlock message</text><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="398" x="1249" y="817.2964"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="378" x="1259" y="838.4351">set QoS rate timer (@topic) wrt. most critical HRT subscriber</text><path d="M1675,805.6323 L1675,830.7651 A0,0 0 0 0 1675,830.7651 L2170,830.7651 A0,0 0 0 0 2170,830.7651 L2170,823.6323 L2190,818.1987 L2170,815.6323 L2170,815.6323 L2160,805.6323 L1675,805.6323 A0,0 0 0 0 1675,805.6323 " fill="#FBFB77" filter="url(#f52skes7don2n)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2160,805.6323 L2160,815.6323 L2170,815.6323 L2160,805.6323 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="474" x="1681" y="822.6992">No lock required since this timer is only accessed when the topic is locked.</text><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="434" x="2190" y="801.2144"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="414" x="2200" y="822.353">set QoS delay timer (@subscriber) wrt. origin time of the message</text><polygon fill="#FEFECE" filter="url(#f52skes7don2n)" points="2277,752.812,2537,752.812,2549,764.812,2537,776.812,2277,776.812,2265,764.812,2277,752.812" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="2411" y="787.0225">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="260" x="2277" y="768.6201">QoS delay timer (@subscriber) is not armed?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="2549" y="762.2178">no</text><polygon fill="#FEFECE" filter="url(#f52skes7don2n)" points="2407,859.5854,2419,871.5854,2407,883.5854,2395,871.5854,2407,859.5854" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="208" x="2303" y="918.5854"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="188" x="2313" y="939.7241">iterate to next HRT subscriber</text><polygon fill="#FEFECE" filter="url(#f52skes7don2n)" points="2346,692.0073,2468,692.0073,2480,704.0073,2468,716.0073,2346,716.0073,2334,704.0073,2346,692.0073" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="2411" y="726.2178">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="122" x="2346" y="707.8154">HRT subscribers left?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="2320" y="701.4131">no</text><rect fill="#000000" filter="url(#f52skes7don2n)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="2471" x="195" y="994.5542"/><path d="M1053,1024.9722 L1053,1050.105 A0,0 0 0 0 1053,1050.105 L1389,1050.105 A0,0 0 0 0 1389,1050.105 L1389,1042.9722 L1409,1037.5386 L1389,1034.9722 L1389,1034.9722 L1379,1024.9722 L1053,1024.9722 A0,0 0 0 0 1053,1024.9722 " fill="#FBFB77" filter="url(#f52skes7don2n)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1379,1024.9722 L1379,1034.9722 L1389,1034.9722 L1379,1024.9722 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="315" x="1059" y="1042.0391">Msut be within topic lock because of HRT counter.</text><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="79" x="1409" y="1020.5542"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="59" x="1419" y="1041.6929">fire event</text><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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stroke-width: 1.0;"/><path d="M725,1203.3276 L725,1213.3276 L735,1213.3276 L725,1203.3276 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="455" x2="518.5" y1="1215.894" y2="1215.894"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="522.5" y="1219.8945"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="522.5" y="1219.8945">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="571.5" y="1219.8945"/><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="96" x="571.5" y="1219.8945">urt_status_t</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="671.5" y="1219.8945"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="671.5" x2="735" y1="1215.894" y2="1215.894"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="461" y="1235.5273">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="128" x="514" y="1235.5273">URT_STATUS_ERROR</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="74" x="646" y="1235.5273">on timeout.</text><ellipse cx="766" cy="1223.4604" fill="#FFFFFF" filter="url(#f52skes7don2n)" rx="11" ry="11" style="stroke: #000000; 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|
| 2 |
@startuml |
|
| 3 |
|
|
| 4 |
title **µRtWare**\nurtPublisherPublish()\n |
|
| 5 |
|
|
| 6 |
|
|
| 7 |
|
|
| 8 |
|
|
| 9 |
|
|
| 10 |
|
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| 11 |
|
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| 12 |
|
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| 13 |
|
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| 14 |
|
|
| 15 |
|
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| 16 |
|
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| 17 |
start |
|
| 18 |
note |
|
| 19 |
- - ""**publisher** : urt_publisher_t*"" - - |
|
| 20 |
Pointer to the publisher to use. |
|
| 21 |
Must not be ""NULL"". |
|
| 22 |
- - ""**payload** : void*"" - - |
|
| 23 |
Pointer to the data to be published. |
|
| 24 |
May be ""NULL"" for messages without payload. |
|
| 25 |
- - ""**n** : size_t"" - - |
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| 26 |
Size of the payload in bytes. |
|
| 27 |
- - ""**t** : urt_osTime_t"" - - |
|
| 28 |
Timestamp to be set for the message. |
|
| 29 |
- - ""**timeout** : urt_delay_t"" - - |
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| 30 |
Timeout delay in case the message cannot be published. |
|
| 31 |
end note |
|
| 32 |
|
|
| 33 |
|
|
| 34 |
:lock topic; |
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| 35 |
:lock next message; |
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| 36 |
while (HRT consumers left for the message or timeout?) is (yes) |
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| 37 |
:unlock message; |
|
| 38 |
:wait for topic's condition variable (using topic's mutex) to be signaled or timeout; |
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| 39 |
:lock message; |
|
| 40 |
endwhile (no) |
|
| 41 |
if (Timeout occurred?) then (yes) |
|
| 42 |
:unlock message; |
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| 43 |
:unlock topic; |
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| 44 |
:return ""URT_STATUS_ERROR""; |
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| 45 |
else (no) |
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| 46 |
fork |
|
| 47 |
fork |
|
| 48 |
:iterate topic pointer to this message; |
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| 49 |
fork again |
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| 50 |
:copy payload to message; |
|
| 51 |
fork again |
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| 52 |
:set origin time of message; |
|
| 53 |
fork again |
|
| 54 |
:set number of HRT consumers (from topic); |
|
| 55 |
endfork |
|
| 56 |
:unlock message; |
|
| 57 |
fork again |
|
| 58 |
:set QoS rate timer (@topic) wrt. most critical HRT subscriber; |
|
| 59 |
fork again |
|
| 60 |
while (HRT subscribers left?) is (yes) |
|
| 61 |
if (QoS delay timer (@subscriber) is not armed?) then (yes) |
|
| 62 |
:set QoS delay timer (@subscriber) wrt. origin time of the message; |
|
| 63 |
note: No lock required since this timer is only accessed when the topic is locked. |
|
| 64 |
else (no) |
|
| 65 |
endif |
|
| 66 |
:iterate to next HRT subscriber; |
|
| 67 |
endwhile (no) |
|
| 68 |
endfork |
|
| 69 |
:fire event; |
|
| 70 |
note: Msut be within topic lock because of HRT counter. |
|
| 71 |
:unlock topic; |
|
| 72 |
:return ""URT_STATUS_OK""; |
|
| 73 |
endif |
|
| 74 |
|
|
| 75 |
|
|
| 76 |
stop |
|
| 77 |
note |
|
| 78 |
- - **return** ""urt_status_t"" - - |
|
| 79 |
Returns ""URT_STATUS_ERROR"" on timeout. |
|
| 80 |
end note |
|
| 81 |
|
|
| 82 |
|
|
| 83 |
@enduml |
|
| 84 |
|
|
| 85 |
PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020) |
|
| 86 |
(GPL source distribution) |
|
| 87 |
Java Runtime: OpenJDK Runtime Environment |
|
| 88 |
JVM: OpenJDK 64-Bit Server VM |
|
| 89 |
Java Version: 11.0.6+10-post-Ubuntu-1ubuntu118.04.1 |
|
| 90 |
Operating System: Linux |
|
| 91 |
Default Encoding: UTF-8 |
|
| 92 |
Language: en |
|
| 93 |
Country: US |
|
| 94 |
--></g></svg> |
|
| doc/activitydiagrams/publisher/urtPublisherPublish.uml | ||
|---|---|---|
| 1 |
/' |
|
| 2 |
µRtWare is a lightweight publish/subscribe middleware for real-time |
|
| 3 |
applications. It was developed as part of the software habitat for the |
|
| 4 |
Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well. |
|
| 5 |
|
|
| 6 |
Copyright (C) 2018..2020 Thomas Schöpping et al. |
|
| 7 |
|
|
| 8 |
This program is free software: you can redistribute it and/or modify |
|
| 9 |
it under the terms of the GNU General Public License as published by |
|
| 10 |
the Free Software Foundation, either version 3 of the License, or |
|
| 11 |
(at your option) any later version. |
|
| 12 |
|
|
| 13 |
This program is distributed in the hope that it will be useful, |
|
| 14 |
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
| 15 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
| 16 |
GNU General Public License for more details. |
|
| 17 |
|
|
| 18 |
You should have received a copy of the GNU General Public License |
|
| 19 |
along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
| 20 |
'/ |
|
| 21 |
|
|
| 22 |
/'### INTRO ##################################################################'/ |
|
| 23 |
|
|
| 24 |
@startuml |
|
| 25 |
|
|
| 26 |
title **µRtWare**\nurtPublisherPublish()\n |
|
| 27 |
|
|
| 28 |
!include ../../functions.iuml |
|
| 29 |
|
|
| 30 |
/'### PARAMETERS & START #####################################################'/ |
|
| 31 |
|
|
| 32 |
start |
|
| 33 |
note |
|
| 34 |
-- ""**publisher** : urt_publisher_t*"" -- |
|
| 35 |
Pointer to the publisher to use. |
|
| 36 |
Must not be ""NULL"". |
|
| 37 |
-- ""**payload** : void*"" -- |
|
| 38 |
Pointer to the data to be published. |
|
| 39 |
May be ""NULL"" for messages without payload. |
|
| 40 |
-- ""**n** : size_t"" -- |
|
| 41 |
Size of the payload in bytes. |
|
| 42 |
-- ""**t** : urt_osTime_t"" -- |
|
| 43 |
Timestamp to be set for the message. |
|
| 44 |
-- ""**timeout** : urt_delay_t"" -- |
|
| 45 |
Timeout delay in case the message cannot be published. |
|
| 46 |
end note |
|
| 47 |
|
|
| 48 |
/'### PROCEDURE ##############################################################'/ |
|
| 49 |
|
|
| 50 |
:lock topic; |
|
| 51 |
:lock next message; |
|
| 52 |
while (HRT consumers left for the message or timeout?) is (yes) |
|
| 53 |
:unlock message; |
|
| 54 |
:wait for topic's condition variable (using topic's mutex) to be signaled or timeout; |
|
| 55 |
:lock message; |
|
| 56 |
endwhile (no) |
|
| 57 |
if (Timeout occurred?) then (yes) |
|
| 58 |
:unlock message; |
|
| 59 |
:unlock topic; |
|
| 60 |
:return ""URT_STATUS_ERROR""; |
|
| 61 |
else (no) |
|
| 62 |
fork |
|
| 63 |
fork |
|
| 64 |
:iterate topic pointer to this message; |
|
| 65 |
fork again |
|
| 66 |
:copy payload to message; |
|
| 67 |
fork again |
|
| 68 |
:set origin time of message; |
|
| 69 |
fork again |
|
| 70 |
:set number of HRT consumers (from topic); |
|
| 71 |
endfork |
|
| 72 |
:unlock message; |
|
| 73 |
fork again |
|
| 74 |
:set QoS rate timer (@topic) wrt. most critical HRT subscriber; |
|
| 75 |
fork again |
|
| 76 |
while (HRT subscribers left?) is (yes) |
|
| 77 |
if (QoS delay timer (@subscriber) is not armed?) then (yes) |
|
| 78 |
:set QoS delay timer (@subscriber) wrt. origin time of the message; |
|
| 79 |
note: No lock required since this timer is only accessed when the topic is locked. |
|
| 80 |
else (no) |
|
| 81 |
endif |
|
| 82 |
:iterate to next HRT subscriber; |
|
| 83 |
endwhile (no) |
|
| 84 |
endfork |
|
| 85 |
:fire event; |
|
| 86 |
note: Msut be within topic lock because of HRT counter. |
|
| 87 |
:unlock topic; |
|
| 88 |
:return ""URT_STATUS_OK""; |
|
| 89 |
endif |
|
| 90 |
|
|
| 91 |
/'### STOP & RETURN ##########################################################'/ |
|
| 92 |
|
|
| 93 |
stop |
|
| 94 |
note |
|
| 95 |
-- **return** ""urt_status_t"" -- |
|
| 96 |
Returns ""URT_STATUS_ERROR"" on timeout. |
|
| 97 |
end note |
|
| 98 |
|
|
| 99 |
/'### OUTRO ##################################################################'/ |
|
| 100 |
|
|
| 101 |
@enduml |
|
| doc/activitydiagrams/subscriber/urtSubscriberCalculateUsefulness.svg | ||
|---|---|---|
| 1 |
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stroke-width: 1.0;"/><path d="M414.5,72.8594 L414.5,82.8594 L424.5,82.8594 L414.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="73.5" x2="125" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="129" y="89.4263"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="80" x="129" y="89.4263">subscriber</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="152" x="217" y="89.4263">: urt_subscriber_t*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="373" y="89.4263"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="373" x2="424.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="223" x="79.5" y="105.0591">The subscriber to be unsubscribed.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="79.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="159.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="191.5" y="120.1919">.</text><line style="stroke: #A80036; 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stroke-width: 1.5;" width="84" x="570" y="268.2339"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="39" x="580" y="289.3726">return</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="21" x="623" y="289.3726">0.0</text><polygon fill="#FEFECE" filter="url(#f1bh34zu0bgazr)" points="559.5,308.2026,571.5,320.2026,559.5,332.2026,547.5,320.2026,559.5,308.2026" style="stroke: #A80036; stroke-width: 1.5;"/><polygon fill="#FEFECE" filter="url(#f1bh34zu0bgazr)" points="702.5,178.5234,750.5,178.5234,762.5,190.5234,750.5,202.5234,702.5,202.5234,690.5,190.5234,702.5,178.5234" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="22" x="730.5" y="212.7339">SRT</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="48" x="702.5" y="194.3315">RT class</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="22" x="762.5" y="187.9292">NRT</text><rect fill="#FEFECE" filter="url(#f1bh34zu0bgazr)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="125" x="664" y="234.2339"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="105" x="674" y="255.3726">execute callback</text><rect fill="#FEFECE" filter="url(#f1bh34zu0bgazr)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="99" x="677" y="303.2026"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="687" y="324.3413">return result</text><rect fill="#FEFECE" filter="url(#f1bh34zu0bgazr)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="70" x="799" y="265.3159"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="39" x="809" y="286.4546">return</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="7" x="852" y="286.4546">1</text><path d="M99.5,368.0386 L99.5,408.3042 A0,0 0 0 0 99.5,408.3042 L423.5,408.3042 A0,0 0 0 0 423.5,408.3042 L423.5,392.1714 L443.5,388.1714 L423.5,384.1714 L423.5,378.0386 L413.5,368.0386 L99.5,368.0386 A0,0 0 0 0 99.5,368.0386 " fill="#FBFB77" filter="url(#f1bh34zu0bgazr)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M413.5,368.0386 L413.5,378.0386 L423.5,378.0386 L413.5,368.0386 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="99.5" x2="213" y1="380.605" y2="380.605"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="217" y="384.6055"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="217" y="384.6055">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="266" y="384.6055"/><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="40" x="266" y="384.6055">float</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="310" y="384.6055"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="310" x2="423.5" y1="380.605" y2="380.605"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="255" x="105.5" y="400.2383">Returns the usefulness as a value within</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="40" x="364.5" y="400.2383">[0,1]</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="404.5" y="400.2383">.</text><ellipse cx="454.5" cy="388.1714" fill="#FFFFFF" filter="url(#f1bh34zu0bgazr)" rx="11" ry="11" style="stroke: #000000; 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@startuml |
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title **µRtWare**\nurtSubscriberCalculateUsefulness()\n |
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start |
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note |
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- - ""**subscriber** : urt_subscriber_t*"" - - |
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The subscriber to be unsubscribed. |
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Must not be ""NULL"". |
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- - ""**latency** : urt_delay_t"" - - |
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Delay (of a mesage) to calculate the usefulness for. |
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end note |
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if (RT class) then (HRT) |
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:return ""1""; |
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note: Otherwise some QoS timer would have triggered. |
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elseif (RT class) then (FRT) |
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if (Timing ok?) then (yes) |
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:return ""1.0""; |
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else (no) |
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:return ""0.0""; |
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endif |
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elseif (RT class) then (SRT) |
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:execute callback; |
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:return result; |
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else (NRT) |
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:return ""1""; |
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endif |
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stop |
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note |
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- - **return** ""float"" - - |
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Returns the usefulness as a value within ""[0,1]"". |
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end note |
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@enduml |
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PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020) |
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(GPL source distribution) |
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Java Runtime: OpenJDK Runtime Environment |
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JVM: OpenJDK 64-Bit Server VM |
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Java Version: 11.0.6+10-post-Ubuntu-1ubuntu118.04.1 |
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Operating System: Linux |
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Default Encoding: UTF-8 |
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Language: en |
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Country: US |
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--></g></svg> |
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| doc/activitydiagrams/subscriber/urtSubscriberCalculateUsefulness.uml | ||
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/' |
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µRtWare is a lightweight publish/subscribe middleware for real-time |
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applications. It was developed as part of the software habitat for the |
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Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well. |
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|
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Copyright (C) 2018..2020 Thomas Schöpping et al. |
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| 7 |
|
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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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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 |
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This program is distributed in the hope that it will be useful, |
|
| 14 |
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
| 15 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
| 16 |
GNU General Public License for more details. |
|
| 17 |
|
|
| 18 |
You should have received a copy of the GNU General Public License |
|
| 19 |
along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
| 20 |
'/ |
|
| 21 |
|
|
| 22 |
/'### INTRO ##################################################################'/ |
|
| 23 |
|
|
| 24 |
@startuml |
|
| 25 |
|
|
| 26 |
title **µRtWare**\nurtSubscriberCalculateUsefulness()\n |
|
| 27 |
|
|
| 28 |
!include ../../functions.iuml |
|
| 29 |
|
|
| 30 |
/'### PARAMETERS & START #####################################################'/ |
|
| 31 |
|
|
| 32 |
start |
|
| 33 |
note |
|
| 34 |
-- ""**subscriber** : urt_subscriber_t*"" -- |
|
| 35 |
The subscriber to be unsubscribed. |
|
| 36 |
Must not be ""NULL"". |
|
| 37 |
-- ""**latency** : urt_delay_t"" -- |
|
| 38 |
Delay (of a mesage) to calculate the usefulness for. |
|
| 39 |
end note |
|
| 40 |
|
|
| 41 |
/'### PROCEDURE ##############################################################'/ |
|
| 42 |
|
|
| 43 |
if (RT class) then (HRT) |
|
| 44 |
:return ""1""; |
|
| 45 |
note: Otherwise some QoS timer would have triggered. |
|
| 46 |
elseif (RT class) then (FRT) |
|
| 47 |
if (Timing ok?) then (yes) |
|
| 48 |
:return ""1.0""; |
|
| 49 |
else (no) |
|
| 50 |
:return ""0.0""; |
|
| 51 |
endif |
|
| 52 |
elseif (RT class) then (SRT) |
|
| 53 |
:execute callback; |
|
| 54 |
:return result; |
|
| 55 |
else (NRT) |
|
| 56 |
:return ""1""; |
|
| 57 |
endif |
|
| 58 |
|
|
| 59 |
/'### STOP & RETURN ##########################################################'/ |
|
| 60 |
|
|
| 61 |
stop |
|
| 62 |
note |
|
| 63 |
-- **return** ""float"" -- |
|
| 64 |
Returns the usefulness as a value within ""[0,1]"". |
|
| 65 |
end note |
|
| 66 |
|
|
| 67 |
/'### OUTRO ##################################################################'/ |
|
| 68 |
|
|
| 69 |
@enduml |
|
| doc/activitydiagrams/subscriber/urtSubscriberFetchLatestMessage.svg | ||
|---|---|---|
| 1 |
<?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="2036px" preserveAspectRatio="none" style="width:1846px;height:2036px;" version="1.1" viewBox="0 0 1846 2036" width="1846px" zoomAndPan="magnify"><defs><filter height="300%" id="f1gna4y7n2gv27" 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="309" x="767.5" y="47.6611">urtSubscriberFetchLatestMessage()</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(#f1gna4y7n2gv27)" 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(#f1gna4y7n2gv27)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#f1gna4y7n2gv27)" 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(#f1gna4y7n2gv27)" 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(#f1gna4y7n2gv27)" 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(#f1gna4y7n2gv27)" 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(#f1gna4y7n2gv27)" 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(#f1gna4y7n2gv27)" 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(#f1gna4y7n2gv27)" 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(#f1gna4y7n2gv27)" 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(#f1gna4y7n2gv27)" 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(#f1gna4y7n2gv27)" 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(#f1gna4y7n2gv27)" 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(#f1gna4y7n2gv27)" 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(#f1gna4y7n2gv27)" points="882.375,582.0356,1148.375,582.0356,1160.375,594.0356,1148.375,606.0356,882.375,606.0356,870.375,594.0356,882.375,582.0356" 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="266" x="882.375" y="597.8438">Timestamp of next is younger than of current?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="856.375" 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(#f1gna4y7n2gv27)" 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(#f1gna4y7n2gv27)" 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(#f1gna4y7n2gv27)" 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(#f1gna4y7n2gv27)" 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(#f1gna4y7n2gv27)" 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(#f1gna4y7n2gv27)" 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(#f1gna4y7n2gv27)" 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="#FFFFFF" filter="url(#f1gna4y7n2gv27)" height="522.687" style="stroke: #000000; stroke-width: 2.0;" width="990" x="421" y="926.4854"/><path d="M535,927.4854 L535,935.7822 L525,945.7822 L421,945.7822 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="104" x="424" y="940.4805">iterate to latest</text><path d="M575,967.2002 L575,992.333 A0,0 0 0 0 575,992.333 L785,992.333 A0,0 0 0 0 785,992.333 L785,985.2002 L805,979.7666 L785,977.2002 L785,977.2002 L775,967.2002 L575,967.2002 A0,0 0 0 0 575,967.2002 " fill="#FBFB77" filter="url(#f1gna4y7n2gv27)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M775,967.2002 L775,977.2002 L785,977.2002 L775,967.2002 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="189" x="581" y="984.2671">Locked two messages ahead.</text><rect fill="#FEFECE" filter="url(#f1gna4y7n2gv27)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="225" x="805" y="962.7822"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="205" x="815" y="983.9209">lock one message further ahead</text><rect fill="#000000" filter="url(#f1gna4y7n2gv27)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="925" x="455" y="1072.4614"/><rect fill="#000000" filter="url(#f1gna4y7n2gv27)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="612" x="479" y="1146.8638"/><rect fill="#FEFECE" filter="url(#f1gna4y7n2gv27)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="296" x="493" y="1172.8638"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="276" x="503" y="1194.0024">decrement HRT counter of current message</text><rect fill="#FEFECE" filter="url(#f1gna4y7n2gv27)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="260" x="817" y="1172.8638"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="240" x="827" y="1194.0024">update QoS delay timer (@subscriber)</text><rect fill="#000000" filter="url(#f1gna4y7n2gv27)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; 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stroke-width: 1.0;"/><path d="M811,1407.6216 L811,1417.6216 L821,1417.6216 L811,1407.6216 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="163" x="643" y="1424.6885">One message still locked.</text><rect fill="#FEFECE" filter="url(#f1gna4y7n2gv27)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="153" x="841" y="1403.2036"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="133" x="851" y="1424.3423">unlock next message</text><rect fill="#000000" filter="url(#f1gna4y7n2gv27)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1825" x="10" y="1469.1724"/><rect fill="#FEFECE" filter="url(#f1gna4y7n2gv27)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="352" x="22" y="1652.4614"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="332" x="32" y="1673.6001">set last fetched message pointer to locked message</text><rect fill="#000000" filter="url(#f1gna4y7n2gv27)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; 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|
| 2 |
@startuml |
|
| 3 |
|
|
| 4 |
title **µRtWare**\nurtSubscriberFetchLatestMessage()\n |
|
| 5 |
|
|
| 6 |
|
|
| 7 |
|
|
| 8 |
|
|
| 9 |
|
|
| 10 |
|
|
| 11 |
|
|
| 12 |
|
|
| 13 |
|
|
| 14 |
|
|
| 15 |
|
|
| 16 |
|
|
| 17 |
start |
|
| 18 |
note |
|
| 19 |
- - ""**subscriber** : urt_subscriber_t*"" - - |
|
| 20 |
The subscriber that shall fetch the message. |
|
| 21 |
Must not be ""NULL"". |
|
| 22 |
- - ""**payload** : void*"" - - |
|
| 23 |
Pointer where to copy the payload to. |
|
| 24 |
May be ""NULL"" for messages without payload. |
|
| 25 |
- - ""**bytes** : size_t"" - - |
|
| 26 |
Payload size in bytes. |
|
| 27 |
- - ""**latency** : urt_delay_t*"" - - |
|
| 28 |
The latency can be returned by reference. |
|
| 29 |
May be ""NULL"". |
|
| 30 |
end note |
|
| 31 |
|
|
| 32 |
|
|
| 33 |
:lock topic; |
|
| 34 |
if (Is HRT subscriber?) then (yes) |
|
| 35 |
:lock next message; |
|
| 36 |
else (no) |
|
| 37 |
if (Has a message been read before?) then (yes) |
|
| 38 |
:lock last read message; |
|
| 39 |
if (Message timestamp equals local copy?) then (yes) |
|
| 40 |
else (no) |
|
| 41 |
partition "find oldest valid message" {
|
|
| 42 |
:lock next message; |
|
| 43 |
note: Locked two messages ahead. |
|
| 44 |
while (Timestamp of next is younger than of current?) is (yes) |
|
| 45 |
fork |
|
| 46 |
:unlock current message; |
|
| 47 |
fork again |
|
| 48 |
:lock one message further ahead; |
|
| 49 |
endfork |
|
| 50 |
endwhile (no) |
|
| 51 |
:unlock next message; |
|
| 52 |
note: One message still locked. |
|
| 53 |
} |
|
| 54 |
endif |
|
| 55 |
else (no) |
|
| 56 |
:lock message after topic's latest message; |
|
| 57 |
endif |
|
| 58 |
endif |
|
| 59 |
partition "iterate to latest" {
|
|
| 60 |
:lock one message further ahead; |
|
| 61 |
note: Locked two messages ahead. |
|
| 62 |
while (Timestamp of next message is younger than of current?) is (yes) |
|
| 63 |
fork |
|
| 64 |
if (Is HRT subscriber?) then (yes) |
|
| 65 |
fork |
|
| 66 |
:decrement HRT counter of current message; |
|
| 67 |
fork again |
|
| 68 |
:update QoS delay timer (@subscriber); |
|
| 69 |
endfork |
|
| 70 |
else (no) |
|
| 71 |
endif |
|
| 72 |
:unlock current message; |
|
| 73 |
fork again |
|
| 74 |
:lock one message further ahead; |
|
| 75 |
endfork |
|
| 76 |
endwhile (no) |
|
| 77 |
:unlock next message; |
|
| 78 |
note: One message still locked. |
|
| 79 |
} |
|
| 80 |
fork |
|
| 81 |
:set last fetched message pointer to locked message; |
|
| 82 |
fork again |
|
| 83 |
fork |
|
| 84 |
:copy timestamp of message; |
|
| 85 |
fork again |
|
| 86 |
if (Optional output argument "latency" given?) then (yes) |
|
| 87 |
:set latency value (now - message origin time); |
|
| 88 |
else (no) |
|
| 89 |
endif |
|
| 90 |
endfork |
|
| 91 |
fork again |
|
| 92 |
:copy message payload; |
|
| 93 |
fork again |
|
| 94 |
if (Is HRT subscriber?) then (yes) |
|
| 95 |
fork |
|
| 96 |
:decrement HRT counter of current message; |
|
| 97 |
if (At least one HRT counter became 0?) then (yes) |
|
| 98 |
:signal topic's condition variable; |
|
| 99 |
else (no) |
|
| 100 |
endif |
|
| 101 |
fork again |
|
| 102 |
:update QoS delay timer (@subscriber); |
|
| 103 |
endfork |
|
| 104 |
else (no) |
|
| 105 |
endif |
|
| 106 |
endfork |
|
| 107 |
:unlock message; |
|
| 108 |
:unlock topic; |
|
| 109 |
|
|
| 110 |
|
|
| 111 |
stop |
|
| 112 |
note |
|
| 113 |
- - **return** ""urt_status_t"" - - |
|
| 114 |
Returns ""URT_STATUS_OK"". |
|
| 115 |
end note |
|
| 116 |
|
|
| 117 |
|
|
| 118 |
@enduml |
|
| 119 |
|
|
| 120 |
PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020) |
|
| 121 |
(GPL source distribution) |
|
| 122 |
Java Runtime: OpenJDK Runtime Environment |
|
| 123 |
JVM: OpenJDK 64-Bit Server VM |
|
| 124 |
Java Version: 11.0.6+10-post-Ubuntu-1ubuntu118.04.1 |
|
| 125 |
Operating System: Linux |
|
| 126 |
Default Encoding: UTF-8 |
|
| 127 |
Language: en |
|
| 128 |
Country: US |
|
| 129 |
--></g></svg> |
|
| doc/activitydiagrams/subscriber/urtSubscriberFetchLatestMessage.uml | ||
|---|---|---|
| 1 |
/' |
|
| 2 |
µRtWare is a lightweight publish/subscribe middleware for real-time |
|
| 3 |
applications. It was developed as part of the software habitat for the |
|
| 4 |
Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well. |
|
| 5 |
|
|
| 6 |
Copyright (C) 2018..2020 Thomas Schöpping et al. |
|
| 7 |
|
|
| 8 |
This program is free software: you can redistribute it and/or modify |
|
| 9 |
it under the terms of the GNU General Public License as published by |
|
| 10 |
the Free Software Foundation, either version 3 of the License, or |
|
| 11 |
(at your option) any later version. |
|
| 12 |
|
|
| 13 |
This program is distributed in the hope that it will be useful, |
|
| 14 |
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
| 15 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
| 16 |
GNU General Public License for more details. |
|
| 17 |
|
|
| 18 |
You should have received a copy of the GNU General Public License |
|
| 19 |
along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
| 20 |
'/ |
|
| 21 |
|
|
| 22 |
/'### INTRO ##################################################################'/ |
|
| 23 |
|
|
| 24 |
@startuml |
|
| 25 |
|
|
| 26 |
title **µRtWare**\nurtSubscriberFetchLatestMessage()\n |
|
| 27 |
|
|
| 28 |
!include ../../functions.iuml |
|
| 29 |
|
|
| 30 |
/'### PARAMETERS & START #####################################################'/ |
|
| 31 |
|
|
| 32 |
start |
|
| 33 |
note |
|
| 34 |
-- ""**subscriber** : urt_subscriber_t*"" -- |
|
| 35 |
The subscriber that shall fetch the message. |
|
| 36 |
Must not be ""NULL"". |
|
| 37 |
-- ""**payload** : void*"" -- |
|
| 38 |
Pointer where to copy the payload to. |
|
| 39 |
May be ""NULL"" for messages without payload. |
|
| 40 |
-- ""**bytes** : size_t"" -- |
|
| 41 |
Payload size in bytes. |
|
| 42 |
-- ""**latency** : urt_delay_t*"" -- |
|
| 43 |
The latency can be returned by reference. |
|
| 44 |
May be ""NULL"". |
|
| 45 |
end note |
|
| 46 |
|
|
| 47 |
/'### PROCEDURE ##############################################################'/ |
|
| 48 |
|
|
| 49 |
:lock topic; |
|
| 50 |
if (Is HRT subscriber?) then (yes) |
|
| 51 |
:lock next message; |
|
| 52 |
else (no) |
|
| 53 |
if (Has a message been read before?) then (yes) |
|
| 54 |
:lock last read message; |
|
| 55 |
if (Message timestamp equals local copy?) then (yes) |
|
| 56 |
else (no) |
|
| 57 |
partition "find oldest valid message" {
|
|
| 58 |
:lock next message; |
|
| 59 |
note: Locked two messages ahead. |
|
| 60 |
while (Timestamp of next is younger than of current?) is (yes) |
|
| 61 |
fork |
|
| 62 |
:unlock current message; |
|
| 63 |
fork again |
|
| 64 |
:lock one message further ahead; |
|
| 65 |
endfork |
|
| 66 |
endwhile (no) |
|
| 67 |
:unlock next message; |
|
| 68 |
note: One message still locked. |
|
| 69 |
} |
|
| 70 |
endif |
|
| 71 |
else (no) |
|
| 72 |
:lock message after topic's latest message; |
|
| 73 |
endif |
|
| 74 |
endif |
|
| 75 |
partition "iterate to latest" {
|
|
| 76 |
:lock one message further ahead; |
|
| 77 |
note: Locked two messages ahead. |
|
| 78 |
while (Timestamp of next message is younger than of current?) is (yes) |
|
| 79 |
fork |
|
| 80 |
if (Is HRT subscriber?) then (yes) |
|
| 81 |
fork |
|
| 82 |
:decrement HRT counter of current message; |
|
| 83 |
fork again |
|
| 84 |
:update QoS delay timer (@subscriber); |
|
| 85 |
endfork |
|
| 86 |
else (no) |
|
| 87 |
endif |
|
| 88 |
:unlock current message; |
|
| 89 |
fork again |
|
| 90 |
:lock one message further ahead; |
|
| 91 |
endfork |
|
| 92 |
endwhile (no) |
|
| 93 |
:unlock next message; |
|
| 94 |
note: One message still locked. |
|
| 95 |
} |
|
| 96 |
fork |
|
| 97 |
:set last fetched message pointer to locked message; |
|
| 98 |
fork again |
|
| 99 |
fork |
|
| 100 |
:copy timestamp of message; |
|
| 101 |
fork again |
|
| 102 |
if (Optional output argument "latency" given?) then (yes) |
|
| 103 |
:set latency value (now - message origin time); |
|
| 104 |
else (no) |
|
| 105 |
endif |
|
| 106 |
endfork |
|
| 107 |
fork again |
|
| 108 |
:copy message payload; |
|
| 109 |
fork again |
|
| 110 |
if (Is HRT subscriber?) then (yes) |
|
| 111 |
fork |
|
| 112 |
:decrement HRT counter of current message; |
|
| 113 |
if (At least one HRT counter became 0?) then (yes) |
|
| 114 |
:signal topic's condition variable; |
|
| 115 |
else (no) |
|
| 116 |
endif |
|
| 117 |
fork again |
|
| 118 |
:update QoS delay timer (@subscriber); |
|
| 119 |
endfork |
|
| 120 |
else (no) |
|
| 121 |
endif |
|
| 122 |
endfork |
|
| 123 |
:unlock message; |
|
| 124 |
:unlock topic; |
|
| 125 |
|
|
| 126 |
/'### STOP & RETURN ##########################################################'/ |
|
| 127 |
|
|
| 128 |
stop |
|
| 129 |
note |
|
| 130 |
-- **return** ""urt_status_t"" -- |
|
| 131 |
Returns ""URT_STATUS_OK"". |
|
| 132 |
end note |
|
| 133 |
|
|
| 134 |
/'### OUTRO ##################################################################'/ |
|
| 135 |
|
|
| 136 |
@enduml |
|
| doc/activitydiagrams/subscriber/urtSubscriberFetchNextMessage.svg | ||
|---|---|---|
| 1 |
<?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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|
| 2 |
@startuml |
|
| 3 |
|
|
| 4 |
title **µRtWare**\nurtSubscriberFetchNextMessage()\n |
|
| 5 |
|
|
| 6 |
|
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| 7 |
|
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| 8 |
|
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| 9 |
|
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| 10 |
|
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| 11 |
|
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| 12 |
|
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| 13 |
|
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| 14 |
|
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| 15 |
|
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| 16 |
|
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| 17 |
start |
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| 18 |
note |
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| 19 |
- - ""**subscriber** : urt_subscriber_t*"" - - |
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| 20 |
The subscriber that shall fetch the message. |
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| 21 |
Must not be ""NULL"". |
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| 22 |
- - ""**payload** : void*"" - - |
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| 23 |
Pointer where to copy the payload to. |
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| 24 |
May be ""NULL"" for messages without payload. |
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| 25 |
- - ""**bytes** : size_t"" - - |
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| 26 |
Payload size in bytes. |
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| 27 |
- - ""**latency** : urt_delay_t*"" - - |
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| 28 |
The latency can be returned by reference. |
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| 29 |
May be ""NULL"". |
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| 30 |
end note |
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| 31 |
|
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| 32 |
|
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| 33 |
:lock topic; |
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| 34 |
if (Is HRT subscriber?) then (yes) |
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| 35 |
:lock next message; |
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| 36 |
else (no) |
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| 37 |
if (Has a message been read before?) then (yes) |
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| 38 |
:lock last read message; |
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| 39 |
if (Message timestamp equals local copy?) then (yes) |
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else (no) |
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| 41 |
partition "find oldest valid message" {
|
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| 42 |
:lock next message; |
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| 43 |
note: Locked two messages ahead. |
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| 44 |
while (Timestamp of next message is younger than of current?) is (yes) |
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| 45 |
fork |
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:unlock current message; |
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fork again |
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| 48 |
:lock one message further ahead; |
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endfork |
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endwhile (no) |
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:unlock next message; |
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note: One message still locked. |
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| 53 |
} |
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| 54 |
endif |
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| 55 |
else (no) |
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| 56 |
:lock message after topic's latest message; |
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| 57 |
endif |
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| 58 |
endif |
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| 59 |
fork |
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| 60 |
:set last fetched message pointer to locked message; |
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| 61 |
fork again |
|
| 62 |
fork |
|
| 63 |
:copy timestamp of message; |
|
| 64 |
fork again |
|
| 65 |
if (Optional output argument "latency" given?) then (yes) |
|
| 66 |
:set latency value (now - message origin time); |
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| 67 |
else (no) |
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| 68 |
endif |
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| 69 |
endfork |
|
| 70 |
fork again |
|
| 71 |
:copy message payload; |
|
| 72 |
fork again |
|
| 73 |
if (Is HRT subscriber?) then (yes) |
|
| 74 |
fork |
|
| 75 |
:decrement HRT counter of current message; |
|
| 76 |
if (HRT counter became 0?) then (yes) |
|
| 77 |
:signal topic's condition variable; |
|
| 78 |
else (no) |
|
| 79 |
endif |
|
| 80 |
fork again |
|
| 81 |
:update QoS delay timer (@subscriber); |
|
| 82 |
endfork |
|
| 83 |
else (no) |
|
| 84 |
endif |
|
| 85 |
endfork |
|
| 86 |
:unlock message; |
|
| 87 |
:unlock topic; |
|
| 88 |
|
|
| 89 |
|
|
| 90 |
stop |
|
| 91 |
note |
|
| 92 |
- - **return** ""urt_status_t"" - - |
|
| 93 |
Returns ""URT_STATUS_OK"". |
|
| 94 |
end note |
|
| 95 |
|
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| 96 |
|
|
| 97 |
@enduml |
|
| 98 |
|
|
| 99 |
PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020) |
|
| 100 |
(GPL source distribution) |
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| 101 |
Java Runtime: OpenJDK Runtime Environment |
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| 102 |
JVM: OpenJDK 64-Bit Server VM |
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| 103 |
Java Version: 11.0.6+10-post-Ubuntu-1ubuntu118.04.1 |
|
| 104 |
Operating System: Linux |
|
| 105 |
Default Encoding: UTF-8 |
|
| 106 |
Language: en |
|
| 107 |
Country: US |
|
| 108 |
--></g></svg> |
|
| doc/activitydiagrams/subscriber/urtSubscriberFetchNextMessage.uml | ||
|---|---|---|
| 1 |
/' |
|
| 2 |
µRtWare is a lightweight publish/subscribe middleware for real-time |
|
| 3 |
applications. It was developed as part of the software habitat for the |
|
| 4 |
Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well. |
|
| 5 |
|
|
| 6 |
Copyright (C) 2018..2020 Thomas Schöpping et al. |
|
| 7 |
|
|
| 8 |
This program is free software: you can redistribute it and/or modify |
|
| 9 |
it under the terms of the GNU General Public License as published by |
|
| 10 |
the Free Software Foundation, either version 3 of the License, or |
|
| 11 |
(at your option) any later version. |
|
| 12 |
|
|
| 13 |
This program is distributed in the hope that it will be useful, |
|
| 14 |
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
| 15 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
| 16 |
GNU General Public License for more details. |
|
| 17 |
|
|
| 18 |
You should have received a copy of the GNU General Public License |
|
| 19 |
along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
| 20 |
'/ |
|
| 21 |
|
|
| 22 |
/'### INTRO ##################################################################'/ |
|
| 23 |
|
|
| 24 |
@startuml |
|
| 25 |
|
|
| 26 |
title **µRtWare**\nurtSubscriberFetchNextMessage()\n |
|
| 27 |
|
|
| 28 |
!include ../../functions.iuml |
|
| 29 |
|
|
| 30 |
/'### PARAMETERS & START #####################################################'/ |
|
| 31 |
|
|
| 32 |
start |
|
| 33 |
note |
|
| 34 |
-- ""**subscriber** : urt_subscriber_t*"" -- |
|
| 35 |
The subscriber that shall fetch the message. |
|
| 36 |
Must not be ""NULL"". |
|
| 37 |
-- ""**payload** : void*"" -- |
|
| 38 |
Pointer where to copy the payload to. |
|
| 39 |
May be ""NULL"" for messages without payload. |
|
| 40 |
-- ""**bytes** : size_t"" -- |
|
| 41 |
Payload size in bytes. |
|
| 42 |
-- ""**latency** : urt_delay_t*"" -- |
|
| 43 |
The latency can be returned by reference. |
|
| 44 |
May be ""NULL"". |
|
| 45 |
end note |
|
| 46 |
|
|
| 47 |
/'### PROCEDURE ##############################################################'/ |
|
| 48 |
|
|
| 49 |
:lock topic; |
|
| 50 |
if (Is HRT subscriber?) then (yes) |
|
| 51 |
:lock next message; |
|
| 52 |
else (no) |
|
| 53 |
if (Has a message been read before?) then (yes) |
|
| 54 |
:lock last read message; |
|
| 55 |
if (Message timestamp equals local copy?) then (yes) |
|
| 56 |
else (no) |
|
| 57 |
partition "find oldest valid message" {
|
|
| 58 |
:lock next message; |
|
| 59 |
note: Locked two messages ahead. |
|
| 60 |
while (Timestamp of next message is younger than of current?) is (yes) |
|
| 61 |
fork |
|
| 62 |
:unlock current message; |
|
| 63 |
fork again |
|
| 64 |
:lock one message further ahead; |
|
| 65 |
endfork |
|
| 66 |
endwhile (no) |
|
| 67 |
:unlock next message; |
|
| 68 |
note: One message still locked. |
|
| 69 |
} |
|
| 70 |
endif |
|
| 71 |
else (no) |
|
| 72 |
:lock message after topic's latest message; |
|
| 73 |
endif |
|
| 74 |
endif |
|
| 75 |
fork |
|
| 76 |
:set last fetched message pointer to locked message; |
|
| 77 |
fork again |
|
| 78 |
fork |
|
| 79 |
:copy timestamp of message; |
|
| 80 |
fork again |
|
| 81 |
if (Optional output argument "latency" given?) then (yes) |
|
| 82 |
:set latency value (now - message origin time); |
|
| 83 |
else (no) |
|
| 84 |
endif |
|
| 85 |
endfork |
|
| 86 |
fork again |
|
| 87 |
:copy message payload; |
|
| 88 |
fork again |
|
| 89 |
if (Is HRT subscriber?) then (yes) |
|
| 90 |
fork |
|
| 91 |
:decrement HRT counter of current message; |
|
| 92 |
if (HRT counter became 0?) then (yes) |
|
| 93 |
:signal topic's condition variable; |
|
| 94 |
else (no) |
|
| 95 |
endif |
|
| 96 |
fork again |
|
| 97 |
:update QoS delay timer (@subscriber); |
|
| 98 |
endfork |
|
| 99 |
else (no) |
|
| 100 |
endif |
|
| 101 |
endfork |
|
| 102 |
:unlock message; |
|
| 103 |
:unlock topic; |
|
| 104 |
|
|
| 105 |
/'### STOP & RETURN ##########################################################'/ |
|
| 106 |
|
|
| 107 |
stop |
|
| 108 |
note |
|
| 109 |
-- **return** ""urt_status_t"" -- |
|
| 110 |
Returns ""URT_STATUS_OK"". |
|
| 111 |
end note |
|
| 112 |
|
|
| 113 |
/'### OUTRO ##################################################################'/ |
|
| 114 |
|
|
| 115 |
@enduml |
|
| doc/activitydiagrams/subscriber/urtSubscriberInit.svg | ||
|---|---|---|
| 1 |
<?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="245px" preserveAspectRatio="none" style="width:385px;height:245px;" version="1.1" viewBox="0 0 385 245" width="385px" zoomAndPan="magnify"><defs><filter height="300%" id="f6uexfk9udhqe" 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="147.25" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="162" x="110.75" y="47.6611">urtSubscriberInit()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="194.75" y="68.6143"/><path d="M10,72.8594 L10,128.2578 A0,0 0 0 0 10,128.2578 L279,128.2578 A0,0 0 0 0 279,128.2578 L279,104.5586 L299,100.5586 L279,96.5586 L279,82.8594 L269,72.8594 L10,72.8594 A0,0 0 0 0 10,72.8594 " fill="#FBFB77" filter="url(#f6uexfk9udhqe)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M269,72.8594 L269,82.8594 L279,82.8594 L269,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="20.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="24.5" y="89.4263"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="80" x="24.5" y="89.4263">subscriber</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="152" x="112.5" y="89.4263">: urt_subscriber_t*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="268.5" y="89.4263"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="268.5" x2="279" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="169" x="16" y="105.0591">The subscriber to initialize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="16" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="96" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="128" y="120.1919">.</text><ellipse cx="309" cy="100.5586" fill="#000000" filter="url(#f6uexfk9udhqe)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#f6uexfk9udhqe)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="131" x="243.5" y="148.2578"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="111" x="253.5" y="169.3965">initialize members</text><path d="M96,193.0938 L96,233.3594 A0,0 0 0 0 96,233.3594 L278,233.3594 A0,0 0 0 0 278,233.3594 L278,217.2266 L298,213.2266 L278,209.2266 L278,203.0938 L268,193.0938 L96,193.0938 A0,0 0 0 0 96,193.0938 " fill="#FBFB77" filter="url(#f6uexfk9udhqe)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M268,193.0938 L268,203.0938 L278,203.0938 L268,193.0938 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="96" x2="110.5" y1="205.6602" y2="205.6602"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="114.5" y="209.6606"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="114.5" y="209.6606">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="163.5" y="209.6606"/><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="96" x="163.5" y="209.6606">urt_status_t</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="263.5" y="209.6606"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="263.5" x2="278" y1="205.6602" y2="205.6602"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="102" y="225.2935">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="155" y="225.2935">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="259" y="225.2935">.</text><ellipse cx="309" cy="213.2266" fill="#FFFFFF" filter="url(#f6uexfk9udhqe)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="309" cy="213.2266" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="309" x2="309" y1="110.5586" y2="148.2578"/><polygon fill="#A80036" points="305,138.2578,309,148.2578,313,138.2578,309,142.2578" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="309" x2="309" y1="182.2266" y2="202.2266"/><polygon fill="#A80036" points="305,192.2266,309,202.2266,313,192.2266,309,196.2266" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ffaca355b74f349bc9f1411a91e3e6e0] |
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@startuml |
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title **µRtWare**\nurtSubscriberInit()\n |
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start |
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note |
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- - ""**subscriber** : urt_subscriber_t*"" - - |
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The subscriber to initialize. |
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Must not be ""NULL"". |
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end note |
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:initialize members; |
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stop |
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note |
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- - **return** ""urt_status_t"" - - |
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Returns ""URT_STATUS_OK"". |
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end note |
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@enduml |
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PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020) |
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(GPL source distribution) |
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Java Runtime: OpenJDK Runtime Environment |
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JVM: OpenJDK 64-Bit Server VM |
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Java Version: 11.0.6+10-post-Ubuntu-1ubuntu118.04.1 |
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Operating System: Linux |
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Default Encoding: UTF-8 |
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Language: en |
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Country: US |
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--></g></svg> |
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| doc/activitydiagrams/subscriber/urtSubscriberInit.uml | ||
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/' |
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µRtWare is a lightweight publish/subscribe middleware for real-time |
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applications. It was developed as part of the software habitat for the |
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Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well. |
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Copyright (C) 2018..2020 Thomas Schöpping et al. |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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'/ |
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/'### INTRO ##################################################################'/ |
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@startuml |
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title **µRtWare**\nurtSubscriberInit()\n |
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!include ../../functions.iuml |
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/'### PARAMETERS & START #####################################################'/ |
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start |
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note |
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-- ""**subscriber** : urt_subscriber_t*"" -- |
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The subscriber to initialize. |
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Must not be ""NULL"". |
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end note |
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/'### PROCEDURE ##############################################################'/ |
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:initialize members; |
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/'### STOP & RETURN ##########################################################'/ |
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stop |
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note |
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-- **return** ""urt_status_t"" -- |
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Returns ""URT_STATUS_OK"". |
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end note |
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/'### OUTRO ##################################################################'/ |
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@enduml |
|
| doc/activitydiagrams/subscriber/urtSubscriberSubscribeFrt.svg | ||
|---|---|---|
| 1 |
<?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="1079px" preserveAspectRatio="none" style="width:1747px;height:1079px;" version="1.1" viewBox="0 0 1747 1079" width="1747px" zoomAndPan="magnify"><defs><filter height="300%" id="f555gmqt6z79y" 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="828.375" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="158" x="793.875" y="47.6611">urtSubscriberFrt()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="875.875" y="68.6143"/><path d="M10,72.8594 L10,370.3828 A0,0 0 0 0 10,370.3828 L710,370.3828 A0,0 0 0 0 710,370.3828 L710,225.6211 L730,221.6211 L710,217.6211 L710,82.8594 L700,72.8594 L10,72.8594 A0,0 0 0 0 10,72.8594 " fill="#FBFB77" filter="url(#f555gmqt6z79y)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M700,72.8594 L700,82.8594 L710,82.8594 L700,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="236" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="240" y="89.4263"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="80" x="240" y="89.4263">subscriber</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="152" x="328" y="89.4263">: urt_subscriber_t*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="484" y="89.4263"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="484" x2="710" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="298" x="16" y="105.0591">The subscriber which shall subscribe to a topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="16" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="96" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="128" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="276" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="280" y="134.8247"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="40" x="280" y="134.8247">topic</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="112" x="328" y="134.8247">: urt_topic_t*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="444" y="134.8247"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="444" x2="710" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="161" x="16" y="150.4575">The topic to subscribe to.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="16" y="165.5903">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="96" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="128" y="165.5903">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="256" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="260" y="180.2231"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="64" x="260" y="180.2231">messages</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="128" x="332" y="180.2231">: urt_message_t*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="464" y="180.2231"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="464" x2="710" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="303" x="16" y="195.856">List of messages to be contributed to the topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="373" x="16" y="210.9888">Those messages must not be associated to another topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="517" x="16" y="226.1216">Once a message was contributed, it cannot be removed from the topic anymore.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="268" y1="236.7539" y2="236.7539"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="272" y="240.7544"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="64" x="272" y="240.7544">deadline</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="344" y="240.7544">: urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="452" y="240.7544"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="452" x2="710" y1="236.7539" y2="236.7539"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="267" x="16" y="256.3872">Maximum latency to consume messages.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="329" x="16" y="271.52">A value of 0 indicates, that latency is of no concern.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="276" y1="282.1523" y2="282.1523"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="280" y="286.1528"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="32" x="280" y="286.1528">rate</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="120" x="320" y="286.1528">: urt_delay_t_t</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="444" y="286.1528"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="444" x2="710" y1="282.1523" y2="282.1523"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="621" x="16" y="301.7856">Expected minimum rate of new messages (= mamximum time between consecutive messages).</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="309" x="16" y="316.9185">A value of 0 indicates, that rate is of no concern.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="268" y1="327.5508" y2="327.5508"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="272" y="331.5513"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="48" x="272" y="331.5513">jitter</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="120" x="328" y="331.5513">: urt_delay_t_t</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="452" y="331.5513"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="452" x2="710" y1="327.5508" y2="327.5508"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="679" x="16" y="347.1841">Maximum allowed jitter (difference between maximum and minimum latency) when consuming messages.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="312" x="16" y="362.3169">A value of 0 indicates, that jitter is of no concern.</text><ellipse cx="740" cy="221.6211" fill="#000000" filter="url(#f555gmqt6z79y)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#f555gmqt6z79y)" points="682.5,390.3828,797.5,390.3828,809.5,402.3828,797.5,414.3828,682.5,414.3828,670.5,402.3828,682.5,390.3828" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="115" x="682.5" y="406.1909">Is topic already set?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="650.5" y="399.7886">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="809.5" y="399.7886">no</text><rect fill="#FEFECE" filter="url(#f555gmqt6z79y)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="175" x="277.75" y="424.3828"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="39" x="287.75" y="445.5215">return</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="330.75" y="445.5215">URT_STATUS_ERROR</text><rect fill="#000000" filter="url(#f555gmqt6z79y)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="230" x="999.75" y="424.3828"/><rect fill="#FEFECE" filter="url(#f555gmqt6z79y)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="99" x="1013.75" y="450.3828"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="1023.75" y="471.5215">set FRT data</text><rect fill="#FEFECE" filter="url(#f555gmqt6z79y)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="75" x="1140.75" y="450.3828"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="55" x="1150.75" y="471.5215">set topic</text><rect fill="#000000" filter="url(#f555gmqt6z79y)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="230" x="999.75" y="504.3516"/><rect fill="#FEFECE" filter="url(#f555gmqt6z79y)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="1074.75" y="530.3516"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="1084.75" y="551.4902">lock topic</text><rect fill="#000000" filter="url(#f555gmqt6z79y)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1264" x="472.75" y="584.3203"/><rect fill="#FFFFFF" filter="url(#f555gmqt6z79y)" height="151.2344" style="stroke: #000000; stroke-width: 2.0;" width="638" x="496.75" y="656.8325"/><path d="M653.75,657.8325 L653.75,666.1294 L643.75,676.1294 L496.75,676.1294 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="147" x="499.75" y="670.8276">contribute messages</text><rect fill="#FEFECE" filter="url(#f555gmqt6z79y)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="474" x="578.75" y="693.1294"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="454" x="588.75" y="714.2681">set next pointer of topic's latest message to first message to contribute</text><rect fill="#FEFECE" filter="url(#f555gmqt6z79y)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="618" x="506.75" y="762.0981"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="598" x="516.75" y="783.2368">set next pointer of last message to contribute to the message after the topic's latest message</text><polygon fill="#FEFECE" filter="url(#f555gmqt6z79y)" points="745.75,610.3203,885.75,610.3203,897.75,622.3203,885.75,634.3203,745.75,634.3203,733.75,622.3203,745.75,610.3203" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="819.75" y="644.5308">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="140" x="745.75" y="626.1284">Messages to contribute?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="897.75" y="619.7261">no</text><polygon fill="#FEFECE" filter="url(#f555gmqt6z79y)" points="815.75,828.0669,827.75,840.0669,815.75,852.0669,803.75,840.0669,815.75,828.0669" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#FEFECE" filter="url(#f555gmqt6z79y)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="313" x="1184.75" y="719.4653"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="293" x="1194.75" y="740.604">set message pointer to topic's latest message</text><rect fill="#FEFECE" filter="url(#f555gmqt6z79y)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="217" x="1507.75" y="719.4653"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="197" x="1517.75" y="740.604">register to topic's event source</text><rect fill="#000000" filter="url(#f555gmqt6z79y)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1264" x="472.75" y="872.0669"/><rect fill="#FEFECE" filter="url(#f555gmqt6z79y)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="96" x="1066.75" y="898.0669"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="76" x="1076.75" y="919.2056">unlock topic</text><rect fill="#FEFECE" filter="url(#f555gmqt6z79y)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="154" x="1037.75" y="952.0356"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="39" x="1047.75" y="973.1743">return</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="91" x="1090.75" y="973.1743">URT_STATUS_OK</text><polygon fill="#FEFECE" filter="url(#f555gmqt6z79y)" points="740,992.0044,752,1004.0044,740,1016.0044,728,1004.0044,740,992.0044" style="stroke: #A80036; stroke-width: 1.5;"/><path d="M181,1026.8716 L181,1067.1372 A0,0 0 0 0 181,1067.1372 L709,1067.1372 A0,0 0 0 0 709,1067.1372 L709,1051.0044 L729,1047.0044 L709,1043.0044 L709,1036.8716 L699,1026.8716 L181,1026.8716 A0,0 0 0 0 181,1026.8716 " fill="#FBFB77" filter="url(#f555gmqt6z79y)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M699,1026.8716 L699,1036.8716 L709,1036.8716 L699,1026.8716 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="181" x2="368.5" y1="1039.438" y2="1039.438"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="372.5" y="1043.4385"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="372.5" y="1043.4385">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="421.5" y="1043.4385"/><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="96" x="421.5" y="1043.4385">urt_status_t</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="521.5" y="1043.4385"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="521.5" x2="709" y1="1039.438" y2="1039.438"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="187" y="1059.0713">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="128" x="240" y="1059.0713">URT_STATUS_ERROR</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="322" x="372" y="1059.0713">if the subscriber was already associated to a topic.</text><ellipse cx="740" cy="1047.0044" fill="#FFFFFF" filter="url(#f555gmqt6z79y)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="740" cy="1047.0044" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1063.25" x2="1063.25" y1="430.3828" y2="450.3828"/><polygon fill="#A80036" points="1059.25,440.3828,1063.25,450.3828,1067.25,440.3828,1063.25,444.3828" style="stroke: #A80036; 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stroke-width: 1.0;"/><!--MD5=[a74ab46ba53b86df339b4734eb9fd9c0] |
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@startuml |
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title **µRtWare**\nurtSubscriberFrt()\n |
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start |
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note |
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| 19 |
- - ""**subscriber** : urt_subscriber_t*"" - - |
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| 20 |
The subscriber which shall subscribe to a topic. |
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| 21 |
Must not be ""NULL"". |
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| 22 |
- - ""**topic** : urt_topic_t*"" - - |
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| 23 |
The topic to subscribe to. |
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| 24 |
Must not be ""NULL"". |
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| 25 |
- - ""**messages** : urt_message_t*"" - - |
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| 26 |
List of messages to be contributed to the topic. |
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| 27 |
Those messages must not be associated to another topic. |
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| 28 |
Once a message was contributed, it cannot be removed from the topic anymore. |
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| 29 |
- - ""**deadline** : urt_delay_t"" - - |
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| 30 |
Maximum latency to consume messages. |
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| 31 |
A value of 0 indicates, that latency is of no concern. |
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| 32 |
- - ""**rate** : urt_delay_t_t"" - - |
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| 33 |
Expected minimum rate of new messages (= mamximum time between consecutive messages). |
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| 34 |
A value of 0 indicates, that rate is of no concern. |
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| 35 |
- - ""**jitter** : urt_delay_t_t"" - - |
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| 36 |
Maximum allowed jitter (difference between maximum and minimum latency) when consuming messages. |
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| 37 |
A value of 0 indicates, that jitter is of no concern. |
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| 38 |
end note |
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| 39 |
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| 40 |
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| 41 |
if (Is topic already set?) then (yes) |
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| 42 |
:return ""URT_STATUS_ERROR""; |
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| 43 |
else (no) |
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| 44 |
fork |
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| 45 |
:set FRT data; |
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| 46 |
fork again |
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| 47 |
:set topic; |
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| 48 |
endfork |
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| 49 |
:lock topic; |
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| 50 |
fork |
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| 51 |
if (Messages to contribute?) then (yes) |
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| 52 |
partition "contribute messages" {
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| 53 |
:set next pointer of topic's latest message to first message to contribute; |
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| 54 |
:set next pointer of last message to contribute to the message after the topic's latest message; |
|
| 55 |
} |
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| 56 |
else (no) |
|
| 57 |
endif |
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| 58 |
fork again |
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| 59 |
:set message pointer to topic's latest message; |
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| 60 |
fork again |
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| 61 |
:register to topic's event source; |
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| 62 |
endfork |
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| 63 |
:unlock topic; |
|
| 64 |
:return ""URT_STATUS_OK""; |
|
| 65 |
endif |
|
| 66 |
|
|
| 67 |
|
|
| 68 |
stop |
|
| 69 |
note |
|
| 70 |
- - **return** ""urt_status_t"" - - |
|
| 71 |
Returns ""URT_STATUS_ERROR"" if the subscriber was already associated to a topic. |
|
| 72 |
end note |
|
| 73 |
|
|
| 74 |
|
|
| 75 |
@enduml |
|
| 76 |
|
|
| 77 |
PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020) |
|
| 78 |
(GPL source distribution) |
|
| 79 |
Java Runtime: OpenJDK Runtime Environment |
|
| 80 |
JVM: OpenJDK 64-Bit Server VM |
|
| 81 |
Java Version: 11.0.6+10-post-Ubuntu-1ubuntu118.04.1 |
|
| 82 |
Operating System: Linux |
|
| 83 |
Default Encoding: UTF-8 |
|
| 84 |
Language: en |
|
| 85 |
Country: US |
|
| 86 |
--></g></svg> |
|
| doc/activitydiagrams/subscriber/urtSubscriberSubscribeFrt.uml | ||
|---|---|---|
| 1 |
/' |
|
| 2 |
µRtWare is a lightweight publish/subscribe middleware for real-time |
|
| 3 |
applications. It was developed as part of the software habitat for the |
|
| 4 |
Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well. |
|
| 5 |
|
|
| 6 |
Copyright (C) 2018..2020 Thomas Schöpping et al. |
|
| 7 |
|
|
| 8 |
This program is free software: you can redistribute it and/or modify |
|
| 9 |
it under the terms of the GNU General Public License as published by |
|
| 10 |
the Free Software Foundation, either version 3 of the License, or |
|
| 11 |
(at your option) any later version. |
|
| 12 |
|
|
| 13 |
This program is distributed in the hope that it will be useful, |
|
| 14 |
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
| 15 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
| 16 |
GNU General Public License for more details. |
|
| 17 |
|
|
| 18 |
You should have received a copy of the GNU General Public License |
|
| 19 |
along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
| 20 |
'/ |
|
| 21 |
|
|
| 22 |
/'### INTRO ##################################################################'/ |
|
| 23 |
|
|
| 24 |
@startuml |
|
| 25 |
|
|
| 26 |
title **µRtWare**\nurtSubscriberFrt()\n |
|
| 27 |
|
|
| 28 |
!include ../../functions.iuml |
|
| 29 |
|
|
| 30 |
/'### PARAMETERS & START #####################################################'/ |
|
| 31 |
|
|
| 32 |
start |
|
| 33 |
note |
|
| 34 |
-- ""**subscriber** : urt_subscriber_t*"" -- |
|
| 35 |
The subscriber which shall subscribe to a topic. |
|
| 36 |
Must not be ""NULL"". |
|
| 37 |
-- ""**topic** : urt_topic_t*"" -- |
|
| 38 |
The topic to subscribe to. |
|
| 39 |
Must not be ""NULL"". |
|
| 40 |
-- ""**messages** : urt_message_t*"" -- |
|
| 41 |
List of messages to be contributed to the topic. |
|
| 42 |
Those messages must not be associated to another topic. |
|
| 43 |
Once a message was contributed, it cannot be removed from the topic anymore. |
|
| 44 |
-- ""**deadline** : urt_delay_t"" -- |
|
| 45 |
Maximum latency to consume messages. |
|
| 46 |
A value of 0 indicates, that latency is of no concern. |
|
| 47 |
-- ""**rate** : urt_delay_t_t"" -- |
|
| 48 |
Expected minimum rate of new messages (= mamximum time between consecutive messages). |
|
| 49 |
A value of 0 indicates, that rate is of no concern. |
|
| 50 |
-- ""**jitter** : urt_delay_t_t"" -- |
|
| 51 |
Maximum allowed jitter (difference between maximum and minimum latency) when consuming messages. |
|
| 52 |
A value of 0 indicates, that jitter is of no concern. |
|
| 53 |
end note |
|
| 54 |
|
|
| 55 |
/'### PROCEDURE ##############################################################'/ |
|
| 56 |
|
|
| 57 |
if (Is topic already set?) then (yes) |
|
| 58 |
:return ""URT_STATUS_ERROR""; |
|
| 59 |
else (no) |
|
| 60 |
fork |
|
| 61 |
:set FRT data; |
|
| 62 |
fork again |
|
| 63 |
:set topic; |
|
| 64 |
endfork |
|
| 65 |
:lock topic; |
|
| 66 |
fork |
|
| 67 |
if (Messages to contribute?) then (yes) |
|
| 68 |
partition "contribute messages" {
|
|
| 69 |
:set next pointer of topic's latest message to first message to contribute; |
|
| 70 |
:set next pointer of last message to contribute to the message after the topic's latest message; |
|
| 71 |
} |
|
| 72 |
else (no) |
|
| 73 |
endif |
|
| 74 |
fork again |
|
| 75 |
:set message pointer to topic's latest message; |
|
| 76 |
fork again |
|
| 77 |
:register to topic's event source; |
|
| 78 |
endfork |
|
| 79 |
:unlock topic; |
|
| 80 |
:return ""URT_STATUS_OK""; |
|
| 81 |
endif |
|
| 82 |
|
|
| 83 |
/'### STOP & RETURN ##########################################################'/ |
|
| 84 |
|
|
| 85 |
stop |
|
| 86 |
note |
|
| 87 |
-- **return** ""urt_status_t"" -- |
|
| 88 |
Returns ""URT_STATUS_ERROR"" if the subscriber was already associated to a topic. |
|
| 89 |
end note |
|
| 90 |
|
|
| 91 |
/'### OUTRO ##################################################################'/ |
|
| 92 |
|
|
| 93 |
@enduml |
|
| doc/activitydiagrams/subscriber/urtSubscriberSubscribeHrt.svg | ||
|---|---|---|
| 1 |
<?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="1079px" preserveAspectRatio="none" style="width:2149px;height:1079px;" version="1.1" viewBox="0 0 2149 1079" width="2149px" zoomAndPan="magnify"><defs><filter height="300%" id="fuj8ganickisx" 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="1029.375" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="162" x="992.875" y="47.6611">urtSubscriberHrt()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="1076.875" y="68.6143"/><path d="M10,72.8594 L10,370.3828 A0,0 0 0 0 10,370.3828 L710,370.3828 A0,0 0 0 0 710,370.3828 L710,225.6211 L730,221.6211 L710,217.6211 L710,82.8594 L700,72.8594 L10,72.8594 A0,0 0 0 0 10,72.8594 " fill="#FBFB77" filter="url(#fuj8ganickisx)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M700,72.8594 L700,82.8594 L710,82.8594 L700,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="236" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="240" y="89.4263"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="80" x="240" y="89.4263">subscriber</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="152" x="328" y="89.4263">: urt_subscriber_t*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="484" y="89.4263"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="484" x2="710" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="298" x="16" y="105.0591">The subscriber which shall subscribe to a topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="16" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="96" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="128" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="276" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="280" y="134.8247"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="40" x="280" y="134.8247">topic</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="112" x="328" y="134.8247">: urt_topic_t*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="444" y="134.8247"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="444" x2="710" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="161" x="16" y="150.4575">The topic to subscribe to.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="16" y="165.5903">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="96" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="128" y="165.5903">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="256" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="260" y="180.2231"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="64" x="260" y="180.2231">messages</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="128" x="332" y="180.2231">: urt_message_t*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="464" y="180.2231"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="464" x2="710" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="303" x="16" y="195.856">List of messages to be contributed to the topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="373" x="16" y="210.9888">Those messages must not be associated to another topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="517" x="16" y="226.1216">Once a message was contributed, it cannot be removed from the topic anymore.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="268" y1="236.7539" y2="236.7539"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="272" y="240.7544"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="64" x="272" y="240.7544">deadline</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="344" y="240.7544">: urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="452" y="240.7544"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="452" x2="710" y1="236.7539" y2="236.7539"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="267" x="16" y="256.3872">Maximum latency to consume messages.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="329" x="16" y="271.52">A value of 0 indicates, that latency is of no concern.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="276" y1="282.1523" y2="282.1523"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="280" y="286.1528"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="32" x="280" y="286.1528">rate</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="120" x="320" y="286.1528">: urt_delay_t_t</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="444" y="286.1528"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="444" x2="710" y1="282.1523" y2="282.1523"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="621" x="16" y="301.7856">Expected minimum rate of new messages (= mamximum time between consecutive messages).</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="309" x="16" y="316.9185">A value of 0 indicates, that rate is of no concern.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="268" y1="327.5508" y2="327.5508"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="272" y="331.5513"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="48" x="272" y="331.5513">jitter</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="120" x="328" y="331.5513">: urt_delay_t_t</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="452" y="331.5513"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="452" x2="710" y1="327.5508" y2="327.5508"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="679" x="16" y="347.1841">Maximum allowed jitter (difference between maximum and minimum latency) when consuming messages.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="312" x="16" y="362.3169">A value of 0 indicates, that jitter is of no concern.</text><ellipse cx="740" cy="221.6211" fill="#000000" filter="url(#fuj8ganickisx)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#fuj8ganickisx)" points="682.5,390.3828,797.5,390.3828,809.5,402.3828,797.5,414.3828,682.5,414.3828,670.5,402.3828,682.5,390.3828" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="115" x="682.5" y="406.1909">Is topic already set?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="650.5" y="399.7886">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="809.5" y="399.7886">no</text><rect fill="#FEFECE" filter="url(#fuj8ganickisx)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="175" x="128.75" y="424.3828"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="39" x="138.75" y="445.5215">return</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="181.75" y="445.5215">URT_STATUS_ERROR</text><rect fill="#000000" filter="url(#fuj8ganickisx)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="231" x="1121.75" y="424.3828"/><rect fill="#FEFECE" filter="url(#fuj8ganickisx)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="101" x="1135.75" y="450.3828"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="81" x="1145.75" y="471.5215">set HRT data</text><rect fill="#FEFECE" filter="url(#fuj8ganickisx)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="75" x="1264.75" y="450.3828"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="55" x="1274.75" y="471.5215">set topic</text><rect fill="#000000" filter="url(#fuj8ganickisx)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="231" x="1121.75" y="504.3516"/><rect fill="#FEFECE" filter="url(#fuj8ganickisx)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="1197.75" y="530.3516"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="1207.75" y="551.4902">lock topic</text><rect fill="#000000" filter="url(#fuj8ganickisx)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1815" x="323.75" y="584.3203"/><rect fill="#FFFFFF" filter="url(#fuj8ganickisx)" height="151.2344" style="stroke: #000000; stroke-width: 2.0;" width="638" x="347.75" y="656.8325"/><path d="M504.75,657.8325 L504.75,666.1294 L494.75,676.1294 L347.75,676.1294 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="147" x="350.75" y="670.8276">contribute messages</text><rect fill="#FEFECE" filter="url(#fuj8ganickisx)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="474" x="429.75" y="693.1294"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="454" x="439.75" y="714.2681">set next pointer of topic's latest message to first message to contribute</text><rect fill="#FEFECE" filter="url(#fuj8ganickisx)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="618" x="357.75" y="762.0981"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="598" x="367.75" y="783.2368">set next pointer of last message to contribute to the message after the topic's latest message</text><polygon fill="#FEFECE" filter="url(#fuj8ganickisx)" points="596.75,610.3203,736.75,610.3203,748.75,622.3203,736.75,634.3203,596.75,634.3203,584.75,622.3203,596.75,610.3203" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="670.75" y="644.5308">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="140" x="596.75" y="626.1284">Messages to contribute?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="748.75" y="619.7261">no</text><polygon fill="#FEFECE" filter="url(#fuj8ganickisx)" points="666.75,828.0669,678.75,840.0669,666.75,852.0669,654.75,840.0669,666.75,828.0669" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#FEFECE" filter="url(#fuj8ganickisx)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="313" x="1009.75" y="719.4653"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="293" x="1019.75" y="740.604">set message pointer to topic's latest message</text><rect fill="#FEFECE" filter="url(#fuj8ganickisx)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="217" x="1349.75" y="719.4653"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="197" x="1359.75" y="740.604">register to topic's event source</text><rect fill="#FEFECE" filter="url(#fuj8ganickisx)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="331" x="1576.75" y="719.4653"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="311" x="1586.75" y="740.604">insert subscriber to topic's list of HRT subscribers</text><rect fill="#FEFECE" filter="url(#fuj8ganickisx)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="209" x="1917.75" y="719.4653"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="189" x="1927.75" y="740.604">increment topic's HRT counter</text><rect fill="#000000" filter="url(#fuj8ganickisx)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; 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stroke-width: 1.0;"/><!--MD5=[86f4e621ff1428b72db951ab1c7d8a26] |
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@startuml |
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title **µRtWare**\nurtSubscriberHrt()\n |
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start |
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note |
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- - ""**subscriber** : urt_subscriber_t*"" - - |
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| 20 |
The subscriber which shall subscribe to a topic. |
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| 21 |
Must not be ""NULL"". |
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| 22 |
- - ""**topic** : urt_topic_t*"" - - |
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| 23 |
The topic to subscribe to. |
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Must not be ""NULL"". |
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| 25 |
- - ""**messages** : urt_message_t*"" - - |
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| 26 |
List of messages to be contributed to the topic. |
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| 27 |
Those messages must not be associated to another topic. |
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| 28 |
Once a message was contributed, it cannot be removed from the topic anymore. |
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| 29 |
- - ""**deadline** : urt_delay_t"" - - |
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| 30 |
Maximum latency to consume messages. |
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| 31 |
A value of 0 indicates, that latency is of no concern. |
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| 32 |
- - ""**rate** : urt_delay_t_t"" - - |
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| 33 |
Expected minimum rate of new messages (= mamximum time between consecutive messages). |
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| 34 |
A value of 0 indicates, that rate is of no concern. |
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| 35 |
- - ""**jitter** : urt_delay_t_t"" - - |
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| 36 |
Maximum allowed jitter (difference between maximum and minimum latency) when consuming messages. |
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A value of 0 indicates, that jitter is of no concern. |
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| 38 |
end note |
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| 39 |
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| 40 |
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| 41 |
if (Is topic already set?) then (yes) |
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| 42 |
:return ""URT_STATUS_ERROR""; |
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| 43 |
else (no) |
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| 44 |
fork |
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| 45 |
:set HRT data; |
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| 46 |
fork again |
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| 47 |
:set topic; |
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| 48 |
endfork |
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| 49 |
:lock topic; |
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| 50 |
fork |
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| 51 |
if (Messages to contribute?) then (yes) |
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| 52 |
partition "contribute messages" {
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| 53 |
:set next pointer of topic's latest message to first message to contribute; |
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| 54 |
:set next pointer of last message to contribute to the message after the topic's latest message; |
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| 55 |
} |
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| 56 |
else (no) |
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| 57 |
endif |
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| 58 |
fork again |
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| 59 |
:set message pointer to topic's latest message; |
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| 60 |
fork again |
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