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urtware / doc / activitydiagrams / subscriber / urtSubscriberFetchNextMessage.uml @ c22d21ad

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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**\nurtSubscriberFetchNextMessage()\n
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!include ../../functions.iuml
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/'### PARAMETERS & START #####################################################'/
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start
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note
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  -- ""**subscriber** : urt_subscriber_t*"" --
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  The subscriber that shall fetch the message.
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  Must not be ""NULL"".
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  -- ""**payload** : void*"" --
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  Pointer where to copy the payload to.
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  May be ""NULL"" for messages without payload.
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  -- ""**bytes** : size_t"" --
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  Payload size in bytes.
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  -- ""**latency** : urt_delay_t*"" --
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  The latency can be returned by reference.
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  May be ""NULL"".
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end note
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/'### PROCEDURE ##############################################################'/
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:lock topic;
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if (Is HRT subscriber?) then (yes)
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  :access next message;
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else (no)
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  if (Has a message been read before?) then (yes)
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    :access last read message;
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    if (Message timestamp equals local copy?) then (yes)
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    else (no)
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      partition "find oldest valid message" {
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        :access next message;
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        while (Timestamp of next message is younger than of current?) is (yes)
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          :iterate by one message;
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        endwhile (no)
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      }
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    endif
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  else (no)
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    :access message after topic's latest message;
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  endif
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endif
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fork
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  :set last fetched message pointer to locked message;
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fork again
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  fork
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    :copy timestamp of message;
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  fork again
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    if (Optional output argument "latency" given?) then (yes)
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      :set latency value (now - message origin time);
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    else (no)
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    endif
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  endfork
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fork again
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  :copy message payload;
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fork again
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  if (Is HRT subscriber?) then (yes)
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    fork
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      :decrement HRT counter of current message;
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      if (HRT counter became 0?) then (yes)
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        :signal topic's condition variable;
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      else (no)
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      endif
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    fork again
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      :update QoS delay timer (@subscriber);
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    endfork
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  else (no)
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  endif
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endfork
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:unlock topic;
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/'### STOP & RETURN ##########################################################'/
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stop
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note
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  -- **return** ""urt_status_t"" --
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  Returns ""URT_STATUS_OK"".
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end note
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/'### OUTRO ##################################################################'/
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@enduml