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urtware / doc / activitydiagrams / topic / urtTopicInit.uml @ 77bd2c61

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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**\nurtTopicInit()\n
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/'### PARAMETERS & RETURN ####################################################'/
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note
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  -- **topic** : urt_topic_t* --
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  The topic to initialize.
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  Must not be ""NULL"".
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  -- **id** : urt_topicid_t --
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  Unique, numeric identifier of the topic.
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  -- **mandatoryMessage** : urt_message_t* --
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  Starting message of the topic.
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  Must not be ""NULL"".
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  ====
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  -- **return** : urt_status_t --
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  Returns ""URT_STATUS_OK"" on success.
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  Returns ""URT_STATUS_TOPIC_DUPLICATE"" if another topic with the same identifier already exists.
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endnote
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/'### PROCEDURE ##############################################################'/
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start
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:initialize members;
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note
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  * **next** ← ""NULL""
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  * **id** ← id
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  * urtMutexInit(**lock**)
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  * urtEventSourceInit(**evtSource**)
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  * **numHrtSubscriber** ← 0
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  * urtCondvarInit(**hrtReleased**)
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  * **mandatoryMessage** ← mandatoryMessage
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  * **latestMessage** ← &mandatoryMessage
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  .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..
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  * **hrtSubscribers** ← ""NULL""
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  * urtTimerInit(**qosRateTimer**)
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  .. URT_CFG_PUBSUB_PROFILING == true ..
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  * **numMessagesPublished** ← 0
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  * **numMessagesDiscarded** ← 0
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  * **numSubscribers** ← 0
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endnote
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:close circular message buffer;
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note
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  latestMessage""->""next ← latestMessage
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endnote
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:lock core;
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:access first topic;
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while (Topic is not ""NULL""\nand topic ID is lower?) is (yes)
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  :proceed to next topic;
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endwhile (no)
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if (Current topic is ""NULL""?) then (yes)
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  :append self to core's list of topic;
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  :unlock core;
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  stop
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  note
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    Returns ""URT_STATUS_OK"".
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  endnote
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elseif (Current topic ID is greater?) then (yes)
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  :insert self in front of current topic;
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  :unlock core;
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  stop
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  note
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    Returns ""URT_STATUS_OK"".
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  endnote
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else (no)
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  :unlock core;
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  stop
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  note
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    Returns ""URT_STATUS_TOPIC_DUPLICATE"".
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  endnote
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endif
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/'### OUTRO ##################################################################'/
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@enduml