Revision c22d21ad doc/activitydiagrams/publisher/urtPublisherPublish.uml
| doc/activitydiagrams/publisher/urtPublisherPublish.uml | ||
|---|---|---|
| 48 | 48 |
/'### PROCEDURE ##############################################################'/ |
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|
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:lock topic; |
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:lock next message; |
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while (HRT consumers left for the message or timeout?) is (yes) |
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:unlock message; |
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:wait for topic's condition variable (using topic's mutex) to be signaled or timeout; |
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:lock message; |
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:access next message; |
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while (HRT consumers left for the message\nor the message timestamp was modified\nand a timeout occurred?) is (yes) |
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if (Message timestamp was modified?) the (yes) |
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:iterate to next message; |
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else (no) |
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:wait for topic's condition variable (using topic's mutex) to be signaled or timeout; |
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endif |
|
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endwhile (no) |
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if (Timeout occurred?) then (yes) |
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:unlock message; |
|
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:unlock topic; |
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:return ""URT_STATUS_ERROR""; |
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else (no) |
| ... | ... | |
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fork again |
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:set number of HRT consumers (from topic); |
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endfork |
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:unlock message; |
|
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fork again |
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:set QoS rate timer (@topic) wrt. most critical HRT subscriber; |
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fork again |
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