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="986px" preserveAspectRatio="none" style="width:1112px;height:986px;" version="1.1" viewBox="0 0 1112 986" width="1112px" zoomAndPan="magnify"><defs><filter height="300%" id="f80ugbpvfjoli" 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="510.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="135" x="487.5" y="47.6611">urtServiceInit()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="558" y="68.6143"/><path d="M225,72.8594 L225,213.9219 L886,213.9219 L886,82.8594 L876,72.8594 L225,72.8594 " fill="#FBFB77" filter="url(#f80ugbpvfjoli)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M876,72.8594 L876,82.8594 L886,82.8594 L876,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="225" x2="475" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="479" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="479" y="89.4263">service</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="97" x="535" y="89.4263">: urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="636" x2="886" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="148" x="231" y="105.0591">The service to initialize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="231" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="311" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="343" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="225" x2="492" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="496" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="14" x="496" y="134.8247">id</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="101" x="514" y="134.8247">: urt_serviceid_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="619" x2="886" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="258" x="231" y="150.4575">Unique, numeric identifier of the service.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="225" x2="886" y1="158.5234" y2="158.5234"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="225" x2="886" y1="160.5234" y2="160.5234"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="225" x2="484.5" y1="171.0898" y2="171.0898"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="488.5" y="175.0903"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="488.5" y="175.0903">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="537.5" y="175.0903">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="626.5" x2="886" y1="171.0898" y2="171.0898"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="231" y="190.7231">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="284" y="190.7231">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="75" x="392" y="190.7231">on success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="231" y="205.856">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="224" x="284" y="205.856">URT_STATUS_SERVICE_DUPLICATE</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="359" x="512" y="205.856">if another service with the same identifier already exists.</text><ellipse cx="555.5" cy="243.9219" fill="#000000" filter="url(#f80ugbpvfjoli)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M214,263.9219 L214,440.3828 A0,0 0 0 0 214,440.3828 L470,440.3828 A0,0 0 0 0 470,440.3828 L470,356.1523 L490,352.1523 L470,348.1523 L470,273.9219 L460,263.9219 L214,263.9219 A0,0 0 0 0 214,263.9219 " fill="#FBFB77" filter="url(#f80ugbpvfjoli)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M460,263.9219 L460,273.9219 L470,273.9219 L460,263.9219 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><ellipse cx="225.5" cy="276.5547" 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="231" y="280.9888">next</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="267" y="280.9888">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="282" y="280.9888">NULL</text><ellipse cx="225.5" cy="291.6875" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; 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stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="168" x="231" y="341.52">requestQueue_hrtBack</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="403" y="341.52">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="418" y="341.52">NULL</text><ellipse cx="225.5" 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" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="173" x="231" y="356.6528">requestQueue_fsrtBack</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="408" y="356.6528">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="423" y="356.6528">NULL</text><ellipse cx="225.5" 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" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="147" x="231" y="371.7856">requestQueue_back</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="382" y="371.7856">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="397" y="371.7856">NULL</text><ellipse cx="225.5" 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" lengthAdjust="spacingAndGlyphs" textLength="123" x="231" y="386.9185">urtEventSourceInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="73" x="354" y="386.9185">evtSource</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="427" y="386.9185">)</text><ellipse cx="225.5" 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="129" x="231" y="402.0513">urtEventListenerInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="82" x="360" y="402.0513">evtListener</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="442" y="402.0513">)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="214" x2="228.5" y1="412.6836" y2="412.6836"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="219" x="232.5" y="416.6841">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="455.5" x2="470" y1="412.6836" y2="412.6836"/><ellipse cx="225.5" 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="67" x="231" y="432.3169">numCalls</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="302" y="432.3169">← 0</text><rect fill="#FEFECE" filter="url(#f80ugbpvfjoli)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="131" x="490" y="335.168"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="111" x="500" y="356.3066">initialize members</text><rect fill="#FEFECE" filter="url(#f80ugbpvfjoli)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="223" x="444" y="460.3828"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="203" x="454" y="481.5215">register event listener to source</text><rect fill="#FEFECE" filter="url(#f80ugbpvfjoli)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="77" x="517" y="514.3516"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="57" x="527" y="535.4902">lock core</text><rect fill="#FEFECE" filter="url(#f80ugbpvfjoli)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="140" x="485.5" y="568.3203"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="120" x="495.5" y="589.459">access first service</text><rect fill="#FEFECE" filter="url(#f80ugbpvfjoli)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="168" x="471.5" y="679.6089"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="481.5" y="700.7476">proceed to next service</text><polygon fill="#FEFECE" filter="url(#f80ugbpvfjoli)" points="487.5,622.2891,623.5,622.2891,635.5,635.0938,623.5,647.8984,487.5,647.8984,475.5,635.0938,487.5,622.2891" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="559.5" y="658.1089">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="78" x="487.5" y="632.4995">Service is not</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="28" x="569.5" y="632.4995">NULL</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="487.5" y="645.3042">and service ID is lower?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="461.5" y="632.4995">no</text><polygon fill="#FEFECE" filter="url(#f80ugbpvfjoli)" points="153,755.5776,293,755.5776,305,767.5776,293,779.5776,153,779.5776,141,767.5776,153,755.5776" style="stroke: #A80036; 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stroke-width: 1.0;"/><!--MD5=[8f85d21c3e6ae9a6993ca88bb2fc4c1c]

@startuml

title **µRtWare**\nurtServiceInit()\n

note

  - - **service** : urt_service_t* - -

  The service to initialize.

  Must not be ""NULL"".

  - - **id** : urt_serviceid_t - -

  Unique, numeric identifier of the service.

  ====

  - - **return** : urt_status_t - -

  Returns ""URT_STATUS_OK"" on success.

  Returns ""URT_STATUS_SERVICE_DUPLICATE"" if another service with the same identifier already exists.

endnote

start

:initialize members;

note

  * **next** ← ""NULL""

  * **id** ← id

  * urtMutexInit(**lock**)

  * **requestQueue_front** ← ""NULL""

  * **requestQueue_hrtBack** ← ""NULL""

  * **requestQueue_fsrtBack** ← ""NULL""

  * **requestQueue_back** ← ""NULL""

  * urtEventSourceInit(**evtSource**)

  * urtEventListenerInit(**evtListener**)

  .. URT_CFG_RPC_PROFILING == true ..

  * **numCalls** ← 0

endnote

:register event listener to source;

:lock core;

:access first service;

while (Service is not ""NULL""\nand service ID is lower?) is (yes)

  :proceed to next service;

endwhile (no)

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

  :append self to core's list of services;

  :unlock core;

  stop

  note

    Returns ""URT_STATUS_OK"":

  endnote

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

  :insert self in front of current service;

  :unlock core;

  stop

  note

    Returns ""URT_STATUS_OK"":

  endnote

else (no)

  :unlock core;

  stop

  note

    Returns ""URT_STATUS_SERVICE_DUPLICATE"":

  endnote

endif

@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: 11.0.7+10-post-Ubuntu-2ubuntu218.04

Operating System: Linux

Default Encoding: UTF-8

Language: en

Country: US

--></g></svg>