AMiRo-OS

    urt_topic_t* topic;

    urt_osEventListener_t evtListener;

    urt_message_t* lastMessage;

    urt_osTime_t lastMessageTime;

    #if (URT_CFG_PUBSUB_PROFILING)

        uint64_t sumLatencies;

        uint64_t numMessagesReceived;

    #endif /* URT_CFG_PUBSUB_PROFILING */

    urt_basesubscriber_t base;

    #if (URT_CFG_PUBSUB_PROFILING)

        urt_delay_t minLatency;

        urt_delay_t maxLatency;

    #endif /* URT_CFG_PUBSUB_PROFILING */

    urt_basesubscriber_t base;

    urt_srtusefulnessfunc_t* usefulnesscb;

    #if (URT_CFG_PUBSUB_PROFILING)

        urt_delay_t minLatency;

        urt_delay_t maxLatency;

    #endif /* URT_CFG_PUBSUB_PROFILING */

    urt_basesubscriber_t base;

    #if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS)

        urt_delay_t deadlineOffset;

    #endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */

    #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS)

        urt_delay_t maxJitter;

    #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */

    #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING)

        urt_delay_t minLatency;

        urt_delay_t maxLatency;

    #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */

    urt_basesubscriber_t base;

    urt_hrtsubscriber_t* next;

    #if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS)

        urt_delay_t deadlineOffset;

        urt_osTimer_t qosDeadlineTimer;

    #endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */

    #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS)

        urt_delay_t maxJitter;

    #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */

    #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING)

        urt_delay_t minLatency;

        urt_delay_t maxLatency;

    #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */

    #if (URT_CFG_PUBSUB_QOS_RATECHECKS)

        urt_delay_t expectedRate;

    #endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */

    void urtNrtSubscriberInit(urt_nrtsubscriber_t* subscriber);

    urt_status_t urtNrtSubscriberSubscribe(urt_nrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages);

    urt_status_t urtNrtSubscriberFetchNextMessage(urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);

    urt_status_t urtNrtSubscriberFetchLatestMessage(urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);

    urt_status_t urtNrtSubscriberUnsubscribe(urt_nrtsubscriber_t* subscriber);

    void urtSrtSubscriberInit(urt_srtsubscriber_t* subscriber);

    urt_status_t urtSrtSubscriberSubscribe(urt_srtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* message, urt_srtusefulnessfunc_t* usefulnesscb, void* cbparams);

    urt_status_t urtSrtSubscriberFetchNextMessage(urt_srtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);

    urt_status_t urtSrtSubscriberFetchLatestMessage(urt_srtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);

    urt_status_t urtSrtSubscriberCalculateUsefulness(urt_srtsubscriber_t* subscriber, urt_delay_t latency);

    urt_status_t urtSrtSubscriberUnsubscribe(urt_srtsubscriber_t* subscriber);

    void urtFrtSubscriberInit(urt_frtsubscriber_t* subscriber);

    urt_status_t urtFrtSubscriberSubscribe(urt_frtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages, urt_delay_t deadline, urt_delay_t jitter);

    urt_status_t urtFrtSubscriberFetchNextMessage(urt_frtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);

    urt_status_t urtFrtSubscriberFetchLatestMessage(urt_frtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);

    bool urtFrtSubscriberCalculateValidity(urt_frtsubscriber_t* subscriber, urt_delay_t latency);

    urt_status_t urtFrtSubscriberUnsubscribe(urt_frtsubscriber_t* subscriber);

    void urtHrtSubscriberInit(urt_hrtsubscriber_t* subscriber);

    urt_status_t urtHrtSubscriberSubscribe(urt_hrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* message, urt_delay_t deadline, urt_delay_t rate, urt_delay_t jitter);

    urt_status_t urtHrtSubscriberFetchNextMessage(urt_hrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);

    urt_status_t urtHrtSubscriberFetchLatestMessage(urt_hrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);

    urt_status_t urtHrtSubscriberUnsubscribe(urt_hrtsubscriber_t* subscriber);