AMiRo-OS

    urt_topic_t* next;

    urt_topicid_t id;

    urt_osMutex_t lock;

    urt_osEventSource_t evtSource;

    unsigned int numHrtSubscribers;

    urt_osCondvar_t hrtReleased;

    urt_message_t mandatoryMessage;

    urt_message_t* latestMessage;

    #if (URT_CFG_PUBSUB_QOS_RATECHECKS)

        urt_hrtsubscriber_t* hrtSubscribers;

        urt_osTimer_t qosRateTimer;

    #endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */

    #if (URT_CFG_PUBSUB_PROFILING)

        uint64_t numMessagesPublished;

        uint64_t numMessagesDiscarded;

        unsigned int numSubscribers;

    #endif /* URT_CFG_PUBSUB_PROFILING */

    urt_status_t urtTopicInit(urt_topic_t* topic, urt_topicid_t id);