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="1712px" preserveAspectRatio="none" style="width:1846px;height:1712px;" version="1.1" viewBox="0 0 1846 1712" width="1846px" zoomAndPan="magnify"><defs><filter height="300%" id="f1n5j7g2wxnm1t" 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="877.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="309" x="767.5" y="47.6611">urtSubscriberFetchLatestMessage()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="925" y="68.6143"/><path d="M582.5,72.8594 L582.5,249.3203 A0,0 0 0 0 582.5,249.3203 L887.5,249.3203 A0,0 0 0 0 887.5,249.3203 L887.5,165.0898 L907.5,161.0898 L887.5,157.0898 L887.5,82.8594 L877.5,72.8594 L582.5,72.8594 A0,0 0 0 0 582.5,72.8594 " fill="#FBFB77" filter="url(#f1n5j7g2wxnm1t)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M877.5,72.8594 L877.5,82.8594 L887.5,82.8594 L877.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="582.5" x2="611" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="615" y="89.4263"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="80" x="615" y="89.4263">subscriber</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="152" x="703" y="89.4263">: urt_subscriber_t*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="859" y="89.4263"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="859" x2="887.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="284" x="588.5" y="105.0591">The subscriber that shall fetch the message.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="588.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="668.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="700.5" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="582.5" x2="671" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="675" y="134.8247"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="56" x="675" y="134.8247">payload</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="56" x="739" y="134.8247">: void*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="799" y="134.8247"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="799" x2="887.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="238" x="588.5" y="150.4575">Pointer where to copy the payload to.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="588.5" y="165.5903">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="638.5" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="195" x="674.5" y="165.5903">for messages without payload.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="582.5" x2="675" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="679" y="180.2231"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="40" x="679" y="180.2231">bytes</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="64" x="727" y="180.2231">: size_t</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="795" y="180.2231"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="795" x2="887.5" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="137" x="588.5" y="195.856">Payload size in bytes.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="582.5" x2="643" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="647" y="210.4888"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="56" x="647" y="210.4888">latency</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="112" x="711" y="210.4888">: urt_delay_t*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="827" y="210.4888"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="827" x2="887.5" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="267" x="588.5" y="226.1216">The latency can be returned by reference.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="588.5" y="241.2544">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="638.5" y="241.2544">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="670.5" y="241.2544">.</text><ellipse cx="917.5" cy="161.0898" fill="#000000" filter="url(#f1n5j7g2wxnm1t)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#f1n5j7g2wxnm1t)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="877.5" y="269.3203"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="887.5" y="290.459">lock topic</text><polygon fill="#FEFECE" filter="url(#f1n5j7g2wxnm1t)" points="864,323.2891,971,323.2891,983,335.2891,971,347.2891,864,347.2891,852,335.2891,864,323.2891" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="107" x="864" y="339.0972">Is HRT subscriber?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="832" y="332.6948">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="983" y="332.6948">no</text><rect fill="#FEFECE" filter="url(#f1n5j7g2wxnm1t)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="156" x="598.375" y="357.2891"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="608.375" y="378.4277">access next message</text><polygon fill="#FEFECE" filter="url(#f1n5j7g2wxnm1t)" points="1059.125,357.2891,1258.125,357.2891,1270.125,369.2891,1258.125,381.2891,1059.125,381.2891,1047.125,369.2891,1059.125,357.2891" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="1059.125" y="373.0972">Has a message been read before?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1027.125" y="366.6948">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1270.125" y="366.6948">no</text><rect fill="#FEFECE" filter="url(#f1n5j7g2wxnm1t)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="185" x="880.875" y="391.2891"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="165" x="890.875" y="412.4277">access last read message</text><rect fill="#FFFFFF" filter="url(#f1n5j7g2wxnm1t)" height="213.9448" style="stroke: #000000; stroke-width: 2.0;" width="355" x="794.375" y="491.77"/><path d="M978.375,492.77 L978.375,501.0669 L968.375,511.0669 L794.375,511.0669 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="174" x="797.375" y="505.7651">find oldest valid message</text><rect fill="#FEFECE" filter="url(#f1n5j7g2wxnm1t)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="156" x="895.375" y="528.0669"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="905.375" y="549.2056">access next message</text><rect fill="#FEFECE" filter="url(#f1n5j7g2wxnm1t)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="169" x="888.875" y="637.7461"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="898.875" y="658.8848">iterate by one message</text><polygon fill="#FEFECE" filter="url(#f1n5j7g2wxnm1t)" points="840.375,582.0356,1106.375,582.0356,1118.375,594.0356,1106.375,606.0356,840.375,606.0356,828.375,594.0356,840.375,582.0356" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="977.375" y="616.2461">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="266" x="840.375" y="597.8438">Timestamp of next is younger than of current?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="814.375" y="591.4414">no</text><polygon fill="#FEFECE" filter="url(#f1n5j7g2wxnm1t)" points="861.375,445.2578,1085.375,445.2578,1097.375,457.2578,1085.375,469.2578,861.375,469.2578,849.375,457.2578,861.375,445.2578" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="977.375" y="479.4683">no</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="861.375" y="461.0659">Message timestamp equals local copy?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1097.375" y="454.6636">yes</text><polygon fill="#FEFECE" filter="url(#f1n5j7g2wxnm1t)" points="973.375,725.7148,985.375,737.7148,973.375,749.7148,961.375,737.7148,973.375,725.7148" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#FEFECE" filter="url(#f1n5j7g2wxnm1t)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="305" x="1191.375" y="391.2891"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="285" x="1201.375" y="412.4277">access message after topic's latest message</text><polygon fill="#FEFECE" filter="url(#f1n5j7g2wxnm1t)" points="1158.625,755.7148,1170.625,767.7148,1158.625,779.7148,1146.625,767.7148,1158.625,755.7148" style="stroke: #A80036; stroke-width: 1.5;"/><polygon fill="#FEFECE" filter="url(#f1n5j7g2wxnm1t)" points="917.5,785.7148,929.5,797.7148,917.5,809.7148,905.5,797.7148,917.5,785.7148" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#FFFFFF" filter="url(#f1n5j7g2wxnm1t)" height="358.3472" style="stroke: #000000; stroke-width: 2.0;" width="709" x="567.5" y="820.5166"/><path d="M681.5,821.5166 L681.5,829.8135 L671.5,839.8135 L567.5,839.8135 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="104" x="570.5" y="834.5117">iterate to latest</text><rect fill="#000000" filter="url(#f1n5j7g2wxnm1t)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="612" x="611.5" y="960.9263"/><rect fill="#FEFECE" filter="url(#f1n5j7g2wxnm1t)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="296" x="625.5" y="986.9263"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="276" x="635.5" y="1008.0649">decrement HRT counter of current message</text><rect fill="#FEFECE" filter="url(#f1n5j7g2wxnm1t)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="260" x="949.5" y="986.9263"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="240" x="959.5" y="1008.0649">update QoS delay timer (@subscriber)</text><rect fill="#000000" filter="url(#f1n5j7g2wxnm1t)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="612" x="611.5" y="1040.895"/><polygon fill="#FEFECE" filter="url(#f1n5j7g2wxnm1t)" points="864,912.5239,971,912.5239,983,924.5239,971,936.5239,864,936.5239,852,924.5239,864,912.5239" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="921.5" y="946.7344">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="107" x="864" y="928.332">Is HRT subscriber?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="983" y="921.9297">no</text><polygon fill="#FEFECE" filter="url(#f1n5j7g2wxnm1t)" points="917.5,1066.895,929.5,1078.895,917.5,1090.895,905.5,1078.895,917.5,1066.895" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#FEFECE" filter="url(#f1n5j7g2wxnm1t)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="169" x="833" y="1110.895"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="843" y="1132.0337">iterate by one message</text><polygon fill="#FEFECE" filter="url(#f1n5j7g2wxnm1t)" points="756,856.8135,1079,856.8135,1091,868.8135,1079,880.8135,756,880.8135,744,868.8135,756,856.8135" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="921.5" y="891.0239">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="323" x="756" y="872.6216">Timestamp of next message is younger than of current?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="730" y="866.2192">no</text><rect fill="#000000" filter="url(#f1n5j7g2wxnm1t)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1825" x="10" y="1198.8638"/><rect fill="#FEFECE" filter="url(#f1n5j7g2wxnm1t)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="352" x="22" y="1382.1528"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="332" x="32" y="1403.2915">set last fetched message pointer to locked message</text><rect fill="#000000" filter="url(#f1n5j7g2wxnm1t)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="586" x="384" y="1307.7505"/><rect fill="#FEFECE" filter="url(#f1n5j7g2wxnm1t)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="196" x="396" y="1382.1528"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="176" x="406" y="1403.2915">copy timestamp of message</text><rect fill="#FEFECE" filter="url(#f1n5j7g2wxnm1t)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="304" x="630" y="1382.1528"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="284" x="640" y="1403.2915">set latency value (now - message origin time)</text><polygon fill="#FEFECE" filter="url(#f1n5j7g2wxnm1t)" points="662,1333.7505,902,1333.7505,914,1345.7505,902,1357.7505,662,1357.7505,650,1345.7505,662,1333.7505" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="786" y="1367.9609">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="662" y="1349.5586">Optional output argument "latency" given?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="914" y="1343.1563">no</text><polygon fill="#FEFECE" filter="url(#f1n5j7g2wxnm1t)" points="782,1440.5239,794,1452.5239,782,1464.5239,770,1452.5239,782,1440.5239" style="stroke: #A80036; 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@startuml

title **µRtWare**\nurtSubscriberFetchLatestMessage()\n

start

note

  - - ""**subscriber** : urt_subscriber_t*"" - -

  The subscriber that shall fetch the message.

  Must not be ""NULL"".

  - - ""**payload** : void*"" - -

  Pointer where to copy the payload to.

  May be ""NULL"" for messages without payload.

  - - ""**bytes** : size_t"" - -

  Payload size in bytes.

  - - ""**latency** : urt_delay_t*"" - -

  The latency can be returned by reference.

  May be ""NULL"".

end note

:lock topic;

if (Is HRT subscriber?) then (yes)

  :access next message;

else (no)

  if (Has a message been read before?) then (yes)

    :access last read message;

    if (Message timestamp equals local copy?) then (yes)

    else (no)

      partition "find oldest valid message" {

        :access next message;

        while (Timestamp of next is younger than of current?) is (yes)

          :iterate by one message;

        endwhile (no)

      }

    endif

  else (no)

    :access message after topic's latest message;

  endif

endif

partition "iterate to latest" {

  while (Timestamp of next message is younger than of current?) is (yes)

    if (Is HRT subscriber?) then (yes)

      fork

        :decrement HRT counter of current message;

      fork again

        :update QoS delay timer (@subscriber);

      endfork

    else (no)

    endif

    :iterate by one message;

  endwhile (no)

}

fork

  :set last fetched message pointer to locked message;

fork again

  fork

    :copy timestamp of message;

  fork again

    if (Optional output argument "latency" given?) then (yes)

      :set latency value (now - message origin time);

    else (no)

    endif

  endfork

fork again

  :copy message payload;

fork again

  if (Is HRT subscriber?) then (yes)

    fork

      :decrement HRT counter of current message;

      if (At least one HRT counter became 0?) then (yes)

        :signal topic's condition variable;

      else (no)

      endif

    fork again

      :update QoS delay timer (@subscriber);

    endfork

  else (no)

  endif

endfork

:unlock topic;

stop

note

  - - **return** ""urt_status_t"" - -

  Returns ""URT_STATUS_OK"".

end note

@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: 11.0.6+10-post-Ubuntu-1ubuntu118.04.1

Operating System: Linux

Default Encoding: UTF-8

Language: en

Country: US

--></g></svg>