AMiRo-OS

/'

µRtWare is a lightweight publish/subscribe middleware for real-time

applications. It was developed as part of the software habitat for the

Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.

Copyright (C) 2018..2020  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

'/

/'### INTRO ##################################################################'/

@startuml

title **µRtWare**\nurtSubscriberCalculateUsefulness()\n

!include ../../functions.iuml

/'### PARAMETERS & START #####################################################'/

start

note

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

  The subscriber to be unsubscribed.

  Must not be ""NULL"".

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

  Delay (of a mesage) to calculate the usefulness for.

end note

/'### PROCEDURE ##############################################################'/

if (RT class) then (HRT)

  :return ""1"";

  note: Otherwise some QoS timer would have triggered.

elseif (RT class) then (FRT)

  if (Timing ok?) then (yes)

    :return ""1.0"";

  else (no)

    :return ""0.0"";

  endif

elseif (RT class) then (SRT)

  :execute callback;

  :return result;

else (NRT)

  :return ""1"";

endif

/'### STOP & RETURN ##########################################################'/

stop

note

  -- **return** ""float"" --

  Returns the usefulness as a value within ""[0,1]"".

end note

/'### OUTRO ##################################################################'/

@enduml