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="1095px" preserveAspectRatio="none" style="width:1085px;height:1095px;" version="1.1" viewBox="0 0 1085 1095" width="1085px" zoomAndPan="magnify"><defs><filter height="300%" id="f18sfotrgi6r4b" 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="497.25" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="117" x="483.25" y="47.6611">urtTopicInit()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="544.75" y="68.6143"/><path d="M223.75,72.8594 L223.75,259.3203 L854.75,259.3203 L854.75,82.8594 L844.75,72.8594 L223.75,72.8594 " fill="#FBFB77" filter="url(#f18sfotrgi6r4b)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M844.75,72.8594 L844.75,82.8594 L854.75,82.8594 L844.75,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="223.75" x2="473.25" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="477.25" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="37" x="477.25" y="89.4263">topic</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="83" x="518.25" y="89.4263">: urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="605.25" x2="854.75" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="134" x="229.75" y="105.0591">The topic to initialize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="229.75" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="309.75" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="341.75" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="223.75" x2="482.75" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="486.75" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="14" x="486.75" y="134.8247">id</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="87" x="504.75" y="134.8247">: urt_topicid_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="595.75" x2="854.75" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="244" x="229.75" y="150.4575">Unique, numeric identifier of the topic.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="223.75" x2="404.75" y1="161.0898" y2="161.0898"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="408.75" y="165.0903"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="146" x="408.75" y="165.0903">mandatoryMessage</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="111" x="558.75" y="165.0903">: urt_message_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="673.75" x2="854.75" y1="161.0898" y2="161.0898"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="194" x="229.75" y="180.7231">Starting message of the topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="229.75" y="195.856">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="309.75" y="195.856">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="341.75" y="195.856">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="223.75" x2="854.75" y1="203.9219" y2="203.9219"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="223.75" x2="854.75" y1="205.9219" y2="205.9219"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="223.75" x2="468.25" y1="216.4883" y2="216.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="472.25" y="220.4888"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="472.25" y="220.4888">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="521.25" y="220.4888">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="610.25" x2="854.75" y1="216.4883" y2="216.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="229.75" y="236.1216">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="282.75" y="236.1216">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="75" x="390.75" y="236.1216">on success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="229.75" y="251.2544">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="282.75" y="251.2544">URT_STATUS_TOPIC_DUPLICATE</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="345" x="494.75" y="251.2544">if another topic with the same identifier already exists.</text><ellipse cx="539.25" cy="289.3203" fill="#000000" filter="url(#f18sfotrgi6r4b)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M120.75,309.3203 L120.75,546.3125 A0,0 0 0 0 120.75,546.3125 L453.75,546.3125 A0,0 0 0 0 453.75,546.3125 L453.75,431.8164 L473.75,427.8164 L453.75,423.8164 L453.75,319.3203 L443.75,309.3203 L120.75,309.3203 A0,0 0 0 0 120.75,309.3203 " fill="#FBFB77" filter="url(#f18sfotrgi6r4b)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M443.75,309.3203 L443.75,319.3203 L453.75,319.3203 L443.75,309.3203 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><ellipse cx="132.25" cy="321.9531" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="32" x="137.75" y="326.3872">next</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="173.75" y="326.3872">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="188.75" y="326.3872">NULL</text><ellipse cx="132.25" cy="337.0859" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="14" x="137.75" y="341.52">id</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="26" x="155.75" y="341.52">← id</text><ellipse cx="132.25" cy="352.2188" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="81" x="137.75" y="356.6528">urtMutexInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="30" x="218.75" y="356.6528">lock</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="248.75" y="356.6528">)</text><ellipse cx="132.25" cy="367.3516" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="123" x="137.75" y="371.7856">urtEventSourceInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="73" x="260.75" y="371.7856">evtSource</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="333.75" y="371.7856">)</text><ellipse cx="132.25" cy="382.4844" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="134" x="137.75" y="386.9185">numHrtSubscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="275.75" y="386.9185">← 0</text><ellipse cx="132.25" cy="397.6172" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="95" x="137.75" y="402.0513">urtCondvarInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="232.75" y="402.0513">hrtReleased</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="321.75" y="402.0513">)</text><ellipse cx="132.25" cy="412.75" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="146" x="137.75" y="417.1841">mandatoryMessage</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="142" x="287.75" y="417.1841">← mandatoryMessage</text><ellipse cx="132.25" cy="427.8828" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="108" x="137.75" y="432.3169">latestMessage</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="153" x="249.75" y="432.3169">← &amp;mandatoryMessage</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="120.75" x2="131.25" y1="442.9492" y2="442.9492"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="304" x="135.25" y="446.9497">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="443.25" x2="453.75" y1="442.9492" y2="442.9492"/><ellipse cx="132.25" cy="458.1484" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="108" x="137.75" y="462.5825">hrtSubscribers</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="249.75" y="462.5825">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="264.75" y="462.5825">NULL</text><ellipse cx="132.25" cy="473.2813" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="78" x="137.75" y="477.7153">urtTimerInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="102" x="215.75" y="477.7153">qosRateTimer</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="317.75" y="477.7153">)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="120.75" x2="158.75" y1="488.3477" y2="488.3477"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="249" x="162.75" y="492.3481">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="415.75" x2="453.75" y1="488.3477" y2="488.3477"/><ellipse cx="132.25" cy="503.5469" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="179" x="137.75" y="507.981">numMessagesPublished</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="320.75" y="507.981">← 0</text><ellipse cx="132.25" cy="518.6797" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="181" x="137.75" y="523.1138">numMessagesDiscarded</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="322.75" y="523.1138">← 0</text><ellipse cx="132.25" cy="533.8125" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="119" x="137.75" y="538.2466">numSubscribers</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="260.75" y="538.2466">← 0</text><rect fill="#FEFECE" filter="url(#f18sfotrgi6r4b)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="131" x="473.75" y="410.832"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="111" x="483.75" y="431.9707">initialize members</text><path d="M146.75,570.7305 L146.75,595.8633 A0,0 0 0 0 146.75,595.8633 L416.75,595.8633 A0,0 0 0 0 416.75,595.8633 L416.75,588.7305 L436.75,583.2969 L416.75,580.7305 L416.75,580.7305 L406.75,570.7305 L146.75,570.7305 A0,0 0 0 0 146.75,570.7305 " fill="#FBFB77" filter="url(#f18sfotrgi6r4b)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M406.75,570.7305 L406.75,580.7305 L416.75,580.7305 L406.75,570.7305 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="93" x="152.75" y="587.7974">latestMessage</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="16" x="245.75" y="587.7974">-&gt;</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="140" x="261.75" y="587.7974">next ← latestMessage</text><rect fill="#FEFECE" filter="url(#f18sfotrgi6r4b)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="205" x="436.75" y="566.3125"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="185" x="446.75" y="587.4512">close circular message buffer</text><rect fill="#FEFECE" filter="url(#f18sfotrgi6r4b)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="77" x="500.75" y="620.2813"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="57" x="510.75" y="641.4199">lock core</text><rect fill="#FEFECE" filter="url(#f18sfotrgi6r4b)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="127" x="475.75" y="674.25"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="107" x="485.75" y="695.3887">access first topic</text><rect fill="#FEFECE" filter="url(#f18sfotrgi6r4b)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="155" x="461.75" y="785.5386"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="471.75" y="806.6772">proceed to next topic</text><polygon fill="#FEFECE" filter="url(#f18sfotrgi6r4b)" points="478.25,728.2188,600.25,728.2188,612.25,741.0234,600.25,753.8281,478.25,753.8281,466.25,741.0234,478.25,728.2188" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="543.25" y="764.0386">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="66" x="478.25" y="738.4292">Topic is not</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="28" x="548.25" y="738.4292">NULL</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="122" x="478.25" y="751.2339">and topic ID is lower?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="452.25" y="738.4292">no</text><polygon fill="#FEFECE" filter="url(#f18sfotrgi6r4b)" points="160,861.5073,286,861.5073,298,873.5073,286,885.5073,160,885.5073,148,873.5073,160,861.5073" style="stroke: #A80036; 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stroke-width: 1.0;"/><!--MD5=[a618885110f4d5e675a4288c5683db04]

/'### PARAMETERS & RETURN ####################################################'/

  - - **mandatoryMessage** : urt_message_t* - -

  Starting message of the topic.

  Must not be ""NULL"".

  ====

  - - **return** : urt_status_t - -

  Returns ""URT_STATUS_OK"" on success.

  Returns ""URT_STATUS_TOPIC_DUPLICATE"" if another topic with the same identifier already exists.

endnote

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

start

:initialize members;

note

  * **next** ← ""NULL""

  * **id** ← id

  * urtMutexInit(**lock**)

  * urtEventSourceInit(**evtSource**)

  * **numHrtSubscriber** ← 0

  * urtCondvarInit(**hrtReleased**)

  * **mandatoryMessage** ← mandatoryMessage

  * **latestMessage** ← &mandatoryMessage

  .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..

  * **hrtSubscribers** ← ""NULL""

  * urtTimerInit(**qosRateTimer**)

  .. URT_CFG_PUBSUB_PROFILING == true ..

  * **numMessagesPublished** ← 0

  * **numMessagesDiscarded** ← 0

  * **numSubscribers** ← 0

endnote

:close circular message buffer;

note

  latestMessage""->""next ← latestMessage

endnote

:lock core;

:access first topic;

while (Topic is not ""NULL""\nand topic ID is lower?) is (yes)

  :proceed to next topic;

endwhile (no)

if (Current topic is ""NULL""?) then (yes)

  :append self to core's list of topic;

  :unlock core;

  stop

  note

    Returns ""URT_STATUS_OK"".

  endnote

elseif (Current topic ID is greater?) then (yes)

  :insert self in front of current topic;

  :unlock core;

  stop

  note

    Returns ""URT_STATUS_OK"".

  endnote

else (no)

  :unlock core;

  stop

  note

    Returns ""URT_STATUS_TOPIC_DUPLICATE"".

  endnote

endif

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

@enduml

@startuml

title **µRtWare**\nurtTopicInit()\n

note

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

  The topic to initialize.

  Must not be ""NULL"".

  - - **id** : urt_topicid_t - -

  Unique, numeric identifier of the topic.

  - - **mandatoryMessage** : urt_message_t* - -

  Starting message of the topic.

  Must not be ""NULL"".

  * **mandatoryMessage** ← mandatoryMessage

PlantUML version 1.2020.15(Sun Jun 28 13:39:45 CEST 2020)

Language: de

Country: DE