AMiRo-OS

#include <urtware.h>

    void urtNrtSubscriberInit(urt_nrtsubscriber_t* subscriber);

    urt_status_t urtNrtSubscriberSubscribe(urt_nrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages);

    urt_status_t urtNrtSubscriberFetchNextMessage(urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);

    urt_status_t urtNrtSubscriberFetchLatestMessage(urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);

    urt_status_t urtNrtSubscriberUnsubscribe(urt_nrtsubscriber_t* subscriber);

    void urtSrtSubscriberInit(urt_srtsubscriber_t* subscriber);

    urt_status_t urtSrtSubscriberSubscribe(urt_srtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* message, urt_srtusefulnessfunc_t* usefulnesscb, void* cbparams);

    urt_status_t urtSrtSubscriberFetchNextMessage(urt_srtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);

    urt_status_t urtSrtSubscriberFetchLatestMessage(urt_srtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);

    urt_status_t urtSrtSubscriberCalculateUsefulness(urt_srtsubscriber_t* subscriber, urt_delay_t latency);

    urt_status_t urtSrtSubscriberUnsubscribe(urt_srtsubscriber_t* subscriber);

    void urtFrtSubscriberInit(urt_frtsubscriber_t* subscriber);

    urt_status_t urtFrtSubscriberSubscribe(urt_frtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages, urt_delay_t deadline, urt_delay_t jitter);

    urt_status_t urtFrtSubscriberFetchNextMessage(urt_frtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);

    urt_status_t urtFrtSubscriberFetchLatestMessage(urt_frtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);

    bool urtFrtSubscriberCalculateValidity(urt_frtsubscriber_t* subscriber, urt_delay_t latency);

    urt_status_t urtFrtSubscriberUnsubscribe(urt_frtsubscriber_t* subscriber);

    void urtHrtSubscriberInit(urt_hrtsubscriber_t* subscriber);

    urt_status_t urtHrtSubscriberSubscribe(urt_hrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* message, urt_delay_t deadline, urt_delay_t rate, urt_delay_t jitter);

    urt_status_t urtHrtSubscriberFetchNextMessage(urt_hrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);

    urt_status_t urtHrtSubscriberFetchLatestMessage(urt_hrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);

    urt_status_t urtHrtSubscriberUnsubscribe(urt_hrtsubscriber_t* subscriber);