AMiRo-OS

/'

µRtWare is a lightweight publish/subscribe middleware for real-time

applications. It was developed as part of the software habitat for the

Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.

Copyright (C) 2018..2020  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

'/

/'### INTRO ##################################################################'/

@startuml

title **µRtWare**\nPrimitives

!include ./functions.iuml

/'### ENTITIES ###############################################################'/

!startsub ENTITIES

/' Node synchronization type. '/

$type("urt_nodestage_t") {

  .. URT_CFG_NODESTAGE_WIDTH == 8 ..

  uin8_t

  .. URT_CFG_NODESTAGE_WIDTH == 16 ..

  uint16_t

  .. URT_CFG_NODESTAGE_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_NODESTAGE_WIDTH == 64 ..

  uint64_t

}

/' Topic ID type. '/

$type("urt_topicid_t") {

  .. URT_CFG_PUBSUB_TOPICID_WIDTH == 8 ..

  uin8_t

  .. URT_CFG_PUBSUB_TOPICID_WIDTH == 16 ..

  uint16_t

  .. URT_CFG_PUBSUB_TOPICID_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_PUBSUB_TOPICID_WIDTH == 64 ..

  uint64_t

}

/' Service ID type. '/

$type("urt_serviceid_t") {

  .. URT_CFG_RPC_SERVICEID_WIDTH == 8 ..

  uin8_t

  .. URT_CFG_RPC_SERVICEID_WIDTH == 16 ..

  uint16_t

  .. URT_CFG_RPC_SERVICEID_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_RPC_SERVICEID_WIDTH == 64 ..

  uint64_t

}

/' Well defined error codes. '/

$enumeration("urt_status_t") {

    'Staus indicating success.

  URT_STATUS_OK = 0

    'Error status indicating a violated HRT deadline.

  URT_STATUS_DEADLINEVIOLATION

    'Error status indicating violated HRT jitter.

  URT_STATUS_JITTERVIOLATION

    'Error status indicating a violated HRT rate.

  URT_STATUS_RATEVIOLATION

    'Synchronization status indicating that further nodes need to synchronize.

  URT_STATUS_SYNC_PENDING

    'Synchronization status indicating a synchronization error.

  URT_STATUS_SYNC_ERROR

    'Status indicating that a node's ""_main"" thread encountered an invalid event mask.

  URT_STATUS_NODE_INVALEVTMASK

  .. URT_CFG_PUBSUB_ENABLED == true ..

    'Status indicating that another topic with identical ID has been found.

  URT_STATUS_TOPIC_DUPLICATE

    'Status indicating a timeout during a urtPublisherPublish() call.

  URT_STATUS_PUBLISH_TIMEOUT

    'Status indicating that the topic was already set.

  URT_STATUS_SUBSCRIBE_TOPICSET

    'Status indicating that there is no associated topic.

  URT_STATUS_FETCH_NOTOPIC

    'Status indicating that there is no (new) message.

  URT_STATUS_FETCH_NOMESSAGE

    'Status indicating that there is no topic to unsubscribe from.

  URT_STATUS_UNSUBSCRIBE_NOTOPIC

  .. URT_CFG_RPC_ENABLED == true ..

    'Status indicating that another service with identical ID has been found.

  URT_STATUS_SERVICE_DUPLICATE

    'Status indicating that a request is not owned by the calling service.

  URT_STATUS_REQUEST_BADOWNER

    'Status indicatting an aloready locked request.

  URT_STATUS_REQUEST_LOCKED

}

/' Temporal delay in microseconds. '/

$type("urt_delay_t") {

  .. URT_CFG_DELAY_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_DELAY_WIDTH == 64 ..

  uint64_t

  __

    'Special value constant for no delay at all.

  URT_DELAY_IMMEDIATE = 0

    'Special value constant for infinite delays.

  URT_DELAY_INFINITE = 0xF..F

}

/' Function type to be called when calculating the usefulness of a message or request response. '/

$function("urt_usefulness_f") {

    'Takes a delay and optional parameters as arguments and returns a float in [0, 1].

  urt_usefulness_f (dt : urt_delay_t, params : void*) : float

}

!endsub

/'### DEPENDENCIES & LAYOUT ##################################################'/

!startsub DEPENDENCIES

urt_usefulness_f ..> urt_delay_t

!endsub

/'### OUTRO ##################################################################'/

@enduml