AMiRo-OS

<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="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]

@startuml

title **µRtWare**\nurtSubscriberHrt()\n

start

note

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

  The subscriber which shall subscribe to a topic.

  Must not be ""NULL"".

  - - ""**topic** : urt_topic_t*"" - -

  The topic to subscribe to.

  Must not be ""NULL"".

  - - ""**messages** : urt_message_t*"" - -

  List of messages to be contributed to the topic.

  Those messages must not be associated to another topic.

  Once a message was contributed, it cannot be removed from the topic anymore.

  - - ""**deadline** : urt_delay_t"" - -

  Maximum latency to consume messages.

  A value of 0 indicates, that latency is of no concern.

  - - ""**rate** : urt_delay_t_t"" - -

  Expected minimum rate of new messages (= mamximum time between consecutive messages).

  A value of 0 indicates, that rate is of no concern.

  - - ""**jitter** : urt_delay_t_t"" - -

  Maximum allowed jitter (difference between maximum and minimum latency) when consuming messages.

  A value of 0 indicates, that jitter is of no concern.

end note

if (Is topic already set?) then (yes)

  :return ""URT_STATUS_ERROR"";

else (no)

  fork

    :set HRT data;

  fork again

    :set topic;

  endfork

  :lock topic;

  fork

    if (Messages to contribute?) then (yes)

      partition "contribute messages" {

        :set next pointer of topic's latest message to first message to contribute;

        :set next pointer of last message to contribute to the message after the topic's latest message;

      }

    else (no)

    endif

  fork again

    :set message pointer to topic's latest message;

  fork again

    :register to topic's event source;

  fork again

    :insert subscriber to topic's list of HRT subscribers;

  fork again

    :increment topic's HRT counter;

  endfork

  :unlock topic;

  :return ""URT_STATUS_OK"";

endif

stop

note

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

  Returns ""URT_STATUS_ERROR"" if the subscriber was already associated to a topic.

end note

@enduml

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

(GPL source distribution)

Java Runtime: OpenJDK Runtime Environment

JVM: OpenJDK 64-Bit Server VM

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

Operating System: Linux

Default Encoding: UTF-8

Language: en

Country: US

--></g></svg>