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="357px" preserveAspectRatio="none" style="width:445px;height:357px;" version="1.1" viewBox="0 0 445 357" width="445px" zoomAndPan="magnify"><defs><filter height="300%" id="fo2sv7byrug75" 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="177" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="112" x="165.5" y="47.6611">urtCoreInit()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="224.5" y="68.6143"/><path d="M312.5,72.8594 L312.5,123.125 L424.5,123.125 L424.5,82.8594 L414.5,72.8594 L312.5,72.8594 " fill="#FBFB77" filter="url(#fo2sv7byrug75)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M414.5,72.8594 L414.5,82.8594 L424.5,82.8594 L414.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="312.5" x2="351" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="355" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="27" x="355" y="89.4263">void</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="386" y="89.4263"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="386" x2="424.5" y1="85.4258" y2="85.4258"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="312.5" x2="424.5" y1="97.9922" y2="97.9922"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="312.5" x2="424.5" y1="99.9922" y2="99.9922"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="312.5" x2="323" y1="110.5586" y2="110.5586"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="327" y="114.5591"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="327" y="114.5591">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="34" x="376" y="114.5591">: void</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="414" x2="424.5" y1="110.5586" y2="110.5586"/><ellipse cx="368.5" cy="153.125" fill="#000000" filter="url(#fo2sv7byrug75)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M10,173.125 L10,304.1875 A0,0 0 0 0 10,304.1875 L283,304.1875 A0,0 0 0 0 283,304.1875 L283,242.6563 L303,238.6563 L283,234.6563 L283,183.125 L273,173.125 L10,173.125 A0,0 0 0 0 10,173.125 " fill="#FBFB77" filter="url(#fo2sv7byrug75)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M273,173.125 L273,183.125 L283,183.125 L273,173.125 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><ellipse cx="21.5" cy="185.7578" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="27" y="190.1919">_nodes</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="83" y="190.1919">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="98" y="190.1919">NULL</text><ellipse cx="21.5" cy="200.8906" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; 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stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="53" x="27" y="235.5903">_status</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="84" y="235.5903">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="99" y="235.5903">URT_STATUS_OK</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="20.5" y1="246.2227" y2="246.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="244" x="24.5" y="250.2231">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="272.5" x2="283" y1="246.2227" y2="246.2227"/><ellipse cx="21.5" cy="261.4219" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="27" y="265.856">_topics</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="83" y="265.856">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="98" y="265.856">NULL</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="35.5" y1="276.4883" y2="276.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="214" x="39.5" y="280.4888">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="257.5" x2="283" y1="276.4883" y2="276.4883"/><ellipse cx="21.5" cy="291.6875" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="67" x="27" y="296.1216">_services</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="98" y="296.1216">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="113" y="296.1216">NULL</text><rect fill="#FEFECE" filter="url(#fo2sv7byrug75)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="131" x="303" y="221.6719"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="111" x="313" y="242.8105">initialize members</text><ellipse cx="368.5" cy="335.1875" fill="#FFFFFF" filter="url(#fo2sv7byrug75)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="368.5" cy="335.1875" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="368.5" x2="368.5" y1="123.125" y2="143.125"/><polygon fill="#A80036" points="364.5,133.125,368.5,143.125,372.5,133.125,368.5,137.125" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="368.5" x2="368.5" y1="163.125" y2="221.6719"/><polygon fill="#A80036" points="364.5,211.6719,368.5,221.6719,372.5,211.6719,368.5,215.6719" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="368.5" x2="368.5" y1="255.6406" y2="324.1875"/><polygon fill="#A80036" points="364.5,314.1875,368.5,324.1875,372.5,314.1875,368.5,318.1875" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9be517565b964ee274900b7b46a44bbb]

  - - **return** : void - -

  * **_nodes** ← ""NULL""

  * urtEventSourceInit(**_evtSource**)

  * urtMutexInit(**_lock**)

  * **_status** ← ""URT_STATUS_OK""

  * **_topics** ← ""NULL""

  * **_services** ← ""NULL""

  -- **return** : void --

  * **_nodes** ← ""NULL""

  * urtEventSourceInit(**_evtSource**)

  * urtMutexInit(**_lock**)

  * **_status** ← ""URT_STATUS_OK""

  * **_topics** ← ""NULL""

  * **_services** ← ""NULL""

<?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="572px" preserveAspectRatio="none" style="width:287px;height:572px;" version="1.1" viewBox="0 0 287 572" width="287px" zoomAndPan="magnify"><defs><filter height="300%" id="fxn4zf5n3gka3" 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="98" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="181" x="52" y="47.6611">urtCoreStartNodes()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="145.5" y="68.6143"/><path d="M87,72.8594 L87,123.125 L199,123.125 L199,82.8594 L189,72.8594 L87,72.8594 " fill="#FBFB77" filter="url(#fxn4zf5n3gka3)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M189,72.8594 L189,82.8594 L199,82.8594 L189,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="87" x2="125.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="129.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="27" x="129.5" y="89.4263">void</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="160.5" y="89.4263"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="160.5" x2="199" y1="85.4258" y2="85.4258"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="87" x2="199" y1="97.9922" y2="97.9922"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="87" x2="199" y1="99.9922" y2="99.9922"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="87" x2="97.5" y1="110.5586" y2="110.5586"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="101.5" y="114.5591"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="101.5" y="114.5591">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="34" x="150.5" y="114.5591">: void</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="188.5" x2="199" y1="110.5586" y2="110.5586"/><ellipse cx="143" cy="153.125" fill="#000000" filter="url(#fxn4zf5n3gka3)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#fxn4zf5n3gka3)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="77" x="104.5" y="183.125"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="57" x="114.5" y="204.2637">lock core</text><rect fill="#FEFECE" filter="url(#fxn4zf5n3gka3)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="266" x="10" y="237.0938"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="246" x="20" y="258.2324">access first node in core's list of nodes</text><rect fill="#FEFECE" filter="url(#fxn4zf5n3gka3)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="132" x="77" y="346.7729"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="87" y="367.9116">start node thread</text><rect fill="#FEFECE" filter="url(#fxn4zf5n3gka3)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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  - - **return** : void - -

  -- **return** : void --

<?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="1074px" preserveAspectRatio="none" style="width:814px;height:1074px;" version="1.1" viewBox="0 0 814 1074" width="814px" zoomAndPan="magnify"><defs><filter height="300%" id="f1n6ixpk89zlyl" 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="361.75" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="178" x="317.25" y="47.6611">urtCoreStopNodes()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="409.25" y="68.6143"/><path d="M179.5,72.8594 L179.5,183.6563 L800.5,183.6563 L800.5,82.8594 L790.5,72.8594 L179.5,72.8594 " fill="#FBFB77" filter="url(#f1n6ixpk89zlyl)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M790.5,72.8594 L790.5,82.8594 L800.5,82.8594 L790.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="179.5" x2="416.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="420.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="50" x="420.5" y="89.4263">reason</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="474.5" y="89.4263">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="563.5" x2="800.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="252" x="185.5" y="105.0591">The reason why the function was called.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="134" x="185.5" y="120.1919">For normal shutdown</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="323.5" y="120.1919">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="101" x="431.5" y="120.1919">should be used.</text><line style="stroke: #A80036; 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stroke-width: 1.5;"/><rect fill="#FEFECE" filter="url(#f1n6ixpk89zlyl)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="88" y="482.3984"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="62" x="98" y="503.5371">set core's</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="49" x="164" y="503.5371">_status</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="131" x="217" y="503.5371">variable to argument</text><rect fill="#FEFECE" filter="url(#f1n6ixpk89zlyl)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="266" x="90" y="536.3672"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="246" x="100" y="557.5059">access first node in core's list of nodes</text><rect fill="#FEFECE" filter="url(#f1n6ixpk89zlyl)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="16" y="1054.8906">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="69" y="1054.8906">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="173" y="1054.8906">.</text><ellipse cx="223" cy="1050.3901" fill="#FFFFFF" filter="url(#f1n6ixpk89zlyl)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="223" cy="1050.3901" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#f1n6ixpk89zlyl)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="93" x="710.5" y="331.625"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="73" x="720.5" y="352.7637">unlock core</text><path d="M437,400.5938 L437,425.7266 A0,0 0 0 0 437,425.7266 L726,425.7266 A0,0 0 0 0 726,425.7266 L726,418.5938 L746,413.1602 L726,410.5938 L726,410.5938 L716,400.5938 L437,400.5938 A0,0 0 0 0 437,400.5938 " fill="#FBFB77" filter="url(#f1n6ixpk89zlyl)" style="stroke: #A80036; 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stroke-width: 1.5;" x1="223" x2="223" y1="1019.3901" y2="1039.3901"/><polygon fill="#A80036" points="219,1029.3901,223,1039.3901,227,1029.3901,223,1033.3901" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="757" x2="757" y1="365.5938" y2="402.1602"/><polygon fill="#A80036" points="753,392.1602,757,402.1602,761,392.1602,757,396.1602" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="341" x2="223" y1="309.625" y2="309.625"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="223" x2="223" y1="309.625" y2="331.625"/><polygon fill="#A80036" points="219,321.625,223,331.625,227,321.625,223,325.625" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="639" x2="757" y1="309.625" y2="309.625"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="757" x2="757" y1="309.625" y2="331.625"/><polygon fill="#A80036" points="753,321.625,757,331.625,761,321.625,757,325.625" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="490" x2="490" y1="277.625" y2="297.625"/><polygon fill="#A80036" points="486,287.625,490,297.625,494,287.625,490,291.625" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ffcae7d50b357ec14f744781a649cc71]

  Returns ""URT_STATUS_OK"" if there was no call with another reason than ""URT_STATUS_OK"" before.

  If the function has been called before with a different reason, that reason is returned.

if (Current core ""_status"" value is ""URT_STATUS_OK""?) then (yes)

  if (Thread priority is lower than ""URT_THREAD_PRIO_HIGH_MAX""?) then (yes)

    :boost thread priority to ""URT_THREAD_PRIO_HIGH_MAX"";

  else (no)

  endif

  :set core's ""_status"" variable to argument;

  :access first node in core's list of nodes;

  while (Current node is not ""NULL""?) is (yes)

    :request node to terminate;

    :proceed to next node;

  endwhile (no)

  :broadcast control event (terminate);

  :unlock core;

  if (Thread boosted its priority?) then (yes)

    :reset thread priority;

  else (no)

  endif

  stop

  note

    Returns ""URT_STATUS_OK"".

  endnote

  :unlock core;

  stop

  note

    Returns the previously set ""_status"" value.

  endnote

  Returns ""URT_STATUS_OK"" if there was no call with another reason than ""URT_STATUS_OK"" before.

  If the function has been called before with a different reason, that reason is returned.

if (Current core ""_status"" value is ""URT_STATUS_OK""?) then (yes)

  if (Thread priority is lower than ""URT_THREAD_PRIO_HIGH_MAX""?) then (yes)

    :boost thread priority to ""URT_THREAD_PRIO_HIGH_MAX"";

  else (no)

  endif

  :set core's ""_status"" variable to argument;

  :access first node in core's list of nodes;

  while (Current node is not ""NULL""?) is (yes)

    :request node to terminate;

    :proceed to next node;

  endwhile (no)

  :broadcast control event (terminate);

  :unlock core;

  if (Thread boosted its priority?) then (yes)

    :reset thread priority;

  else (no)

  endif

  stop

  note

    Returns ""URT_STATUS_OK"".

  endnote

  :unlock core;

  stop

  note

    Returns the previously set ""_status"" value.

  endnote

<?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="776px" preserveAspectRatio="none" style="width:1340px;height:776px;" version="1.1" viewBox="0 0 1340 776" width="1340px" zoomAndPan="magnify"><defs><filter height="300%" id="f1x4zz6pvjwbbn" 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="624.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="246" x="546" y="47.6611">urtCoreSynchronizeNodes()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="672" y="68.6143"/><path d="M351.5,72.8594 L351.5,213.9219 L983.5,213.9219 L983.5,82.8594 L973.5,72.8594 L351.5,72.8594 " fill="#FBFB77" filter="url(#f1x4zz6pvjwbbn)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M973.5,72.8594 L973.5,82.8594 L983.5,82.8594 L973.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="351.5" x2="601" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="605" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="37" x="605" y="89.4263">node</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="84" x="646" y="89.4263">: urt_node_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="734" x2="983.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="211" x="357.5" y="105.0591">Pointer to a node to synchronize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="357.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="437.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="469.5" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="351.5" x2="983.5" y1="128.2578" y2="128.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="351.5" x2="983.5" y1="130.2578" y2="130.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="351.5" x2="596.5" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="600.5" y="144.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="600.5" y="144.8247">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="649.5" y="144.8247">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="738.5" x2="983.5" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="357.5" y="160.4575">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="410.5" y="160.4575">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="269" x="518.5" y="160.4575">if all nodes are synchronized and proceed.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="357.5" y="175.5903">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="168" x="410.5" y="175.5903">URT_STATUS_SYNC_ERROR</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="345" x="582.5" y="175.5903">if an exception occurred (faulty stage value detected).</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="357.5" y="190.7231">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="184" x="410.5" y="190.7231">URT_STATUS_SYNC_PENDING</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="238" x="598.5" y="190.7231">if there are nodes left to synchronize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="611" x="357.5" y="205.856">In the latter case, the node thread must still wait for the control event (proceed) to synchronize.</text><ellipse cx="667.5" cy="243.9219" fill="#000000" filter="url(#f1x4zz6pvjwbbn)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="77" x="629" y="273.9219"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="57" x="639" y="295.0605">lock core</text><rect fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="231" x="552" y="327.8906"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="211" x="562" y="349.0293">increment the node's stage value</text><rect fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="251" x="542" y="381.8594"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="231" x="552" y="402.998">access first node core's list of nodes</text><rect fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="156" x="589.5" y="493.1479"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="599.5" y="514.2866">proceed to next node</text><polygon fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" points="528.5,435.8281,806.5,435.8281,818.5,448.6328,806.5,461.4375,528.5,461.4375,516.5,448.6328,528.5,435.8281" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="671.5" y="471.6479">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="111" x="528.5" y="446.0386">Current node is not</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="28" x="643.5" y="446.0386">NULL</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="278" x="528.5" y="458.8433">and stage of current node is equal to argument?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="502.5" y="446.0386">no</text><polygon fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" points="128,569.1167,318,569.1167,330,581.1167,318,593.1167,128,593.1167,116,581.1167,128,569.1167" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="227" y="603.3271">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="128" y="584.9248">All nodes are at the same stage?</text><rect fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="237" x="104.5" y="625.9214"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="217" x="114.5" y="647.0601">broadcast control event (proceed)</text><rect fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="93" x="176.5" y="683.2925"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="73" x="186.5" y="704.4312">unlock core</text><path d="M10,739.0972 L10,764.23 A0,0 0 0 0 10,764.23 L192,764.23 A0,0 0 0 0 192,764.23 L192,757.0972 L212,751.6636 L192,749.0972 L192,749.0972 L182,739.0972 L10,739.0972 A0,0 0 0 0 10,739.0972 " fill="#FBFB77" filter="url(#f1x4zz6pvjwbbn)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M182,739.0972 L182,749.0972 L192,749.0972 L182,739.0972 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="16" y="756.1641">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="69" y="756.1641">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="173" y="756.1641">.</text><ellipse cx="223" cy="751.6636" fill="#FFFFFF" filter="url(#f1x4zz6pvjwbbn)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="223" cy="751.6636" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" points="464,569.1167,861,569.1167,873,581.1167,861,593.1167,464,593.1167,452,581.1167,464,569.1167" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="666.5" y="603.3271">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="397" x="464" y="584.9248">The stage of the last checked node was one less than the argument?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="873" y="578.5225">no</text><rect fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="93" x="616" y="625.9214"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="73" x="626" y="647.0601">unlock core</text><path d="M357.5,683.2925 L357.5,708.4253 A0,0 0 0 0 357.5,708.4253 L631.5,708.4253 A0,0 0 0 0 631.5,708.4253 L631.5,701.2925 L651.5,695.8589 L631.5,693.2925 L631.5,693.2925 L621.5,683.2925 L357.5,683.2925 A0,0 0 0 0 357.5,683.2925 " fill="#FBFB77" filter="url(#f1x4zz6pvjwbbn)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M621.5,683.2925 L621.5,693.2925 L631.5,693.2925 L621.5,683.2925 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="61" x="363.5" y="700.3594">Returns a</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="184" x="428.5" y="700.3594">URT_STATUS_SYNC_PENDING</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="612.5" y="700.3594">.</text><ellipse cx="662.5" cy="695.8589" fill="#FFFFFF" filter="url(#f1x4zz6pvjwbbn)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="662.5" cy="695.8589" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="318" x="1011" y="622.519"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="21" x="1021" y="643.6577">call</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="273" x="1046" y="643.6577">urtCoreStopNodes(URT_STATUS_SYNC_ERROR)</text><rect fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="93" x="1123.5" y="679.8901"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="73" x="1133.5" y="701.0288">unlock core</text><path d="M893,735.6948 L893,760.8276 A0,0 0 0 0 893,760.8276 L1139,760.8276 A0,0 0 0 0 1139,760.8276 L1139,753.6948 L1159,748.2612 L1139,745.6948 L1139,745.6948 L1129,735.6948 L893,735.6948 A0,0 0 0 0 893,735.6948 " fill="#FBFB77" filter="url(#f1x4zz6pvjwbbn)" style="stroke: #A80036; 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  Returns ""URT_STATUS_SYNC_ERROR"" if an exception occurred (faulty stage value detected).

  Returns ""URT_STATUS_SYNC_PENDING"" if there are nodes left to synchronize.

if (All nodes are at the same stage?) then (yes)

  :broadcast control event (proceed);

    Returns ""URT_STATUS_OK"".

elseif (The stage of the last checked node was one less than the argument?) then (yes)

    Returns a ""URT_STATUS_SYNC_PENDING"".

  :call ""urtCoreStopNodes(URT_STATUS_SYNC_ERROR)"";

    Returns ""URT_STATUS_SYNC_ERROR"".

  Returns ""URT_STATUS_SYNC_ERROR"" if an exception occurred (faulty stage value detected).

  Returns ""URT_STATUS_SYNC_PENDING"" if there are nodes left to synchronize.

if (All nodes are at the same stage?) then (yes)

  :broadcast control event (proceed);

    Returns ""URT_STATUS_OK"".

elseif (The stage of the last checked node was one less than the argument?) then (yes)

    Returns a ""URT_STATUS_SYNC_PENDING"".

  :call ""urtCoreStopNodes(URT_STATUS_SYNC_ERROR)"";

    Returns ""URT_STATUS_SYNC_ERROR"".

      :set ""next"" pointer of last message to contribute to the message after the topic's latest message;

      :set ""next"" pointer of topic's latest message to first message to contribute;

<?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="387px" preserveAspectRatio="none" style="width:536px;height:387px;" version="1.1" viewBox="0 0 536 387" width="536px" zoomAndPan="magnify"><defs><filter height="300%" id="f10ynr553pczer" 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="222.75" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="144" x="195.25" y="47.6611">urtMessageInit()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="270.25" y="68.6143"/><path d="M222.5,72.8594 L222.5,183.6563 L524.5,183.6563 L524.5,82.8594 L514.5,72.8594 L222.5,72.8594 " fill="#FBFB77" filter="url(#f10ynr553pczer)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M514.5,72.8594 L514.5,82.8594 L524.5,82.8594 L514.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="222.5" x2="278.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="282.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="67" x="282.5" y="89.4263">message</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="111" x="353.5" y="89.4263">: urt_message_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="468.5" x2="524.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="162" x="228.5" y="105.0591">The message to initialize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="228.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="308.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="340.5" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="222.5" x2="317.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="321.5" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="59" x="321.5" y="134.8247">payload</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="384.5" y="134.8247">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="429.5" x2="524.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="228.5" y="150.4575">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="278.5" y="150.4575">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="195" x="314.5" y="150.4575">for messages without payload.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="222.5" x2="524.5" y1="158.5234" y2="158.5234"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="222.5" x2="524.5" y1="160.5234" y2="160.5234"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="222.5" x2="328" y1="171.0898" y2="171.0898"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="332" y="175.0903"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="332" y="175.0903">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="34" x="381" y="175.0903">: void</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="419" x2="524.5" y1="171.0898" y2="171.0898"/><ellipse cx="373.5" cy="213.6563" fill="#000000" filter="url(#f10ynr553pczer)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M10,233.6563 L10,334.4531 A0,0 0 0 0 10,334.4531 L288,334.4531 A0,0 0 0 0 288,334.4531 L288,288.0547 L308,284.0547 L288,280.0547 L288,243.6563 L278,233.6563 L10,233.6563 A0,0 0 0 0 10,233.6563 " fill="#FBFB77" filter="url(#f10ynr553pczer)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M278,233.6563 L278,243.6563 L288,243.6563 L278,233.6563 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><ellipse cx="21.5" cy="246.2891" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="32" x="27" y="250.7231">next</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="63" y="250.7231">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="78" y="250.7231">NULL</text><ellipse cx="21.5" cy="261.4219" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="59" x="27" y="265.856">payload</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="65" x="90" y="265.856">← payload</text><ellipse cx="21.5" cy="276.5547" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="77" x="27" y="280.9888">originTime</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="108" y="280.9888">← 0</text><ellipse cx="21.5" cy="291.6875" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="176" x="27" y="296.1216">numHrtConsumbersLeft</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="207" y="296.1216">← 0</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="20.5" y1="306.7539" y2="306.7539"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="249" x="24.5" y="310.7544">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; 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  - - **return** : void - -

  * **next** ← ""NULL""

  * **payload** ← payload

  * **originTime** ← 0

  * **numHrtConsumbersLeft** ← 0

  * **numConsumersLeft** ← 0

  -- **return** : void --

  * **next** ← ""NULL""

  * **payload** ← payload

  * **originTime** ← 0

  * **numHrtConsumbersLeft** ← 0

  * **numConsumersLeft** ← 0

<?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="1693px" preserveAspectRatio="none" style="width:828px;height:1693px;" version="1.1" viewBox="0 0 828 1693" width="828px" zoomAndPan="magnify"><defs><filter height="300%" id="f1p8hd1hubp91s" 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="368.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="66" x="380" y="47.6611">_main()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="416" y="68.6143"/><path d="M220.75,72.8594 L220.75,153.3906 L762.75,153.3906 L762.75,82.8594 L752.75,72.8594 L220.75,72.8594 " fill="#FBFB77" filter="url(#f1p8hd1hubp91s)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M752.75,72.8594 L752.75,82.8594 L762.75,82.8594 L752.75,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="220.75" x2="452.75" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="456.75" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="25" x="456.75" y="89.4263">arg</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="485.75" y="89.4263">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="530.75" x2="762.75" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="332" x="226.75" y="105.0591">Optional Argument to the thread main function (see</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="176" x="562.75" y="105.0591">urt_osThreadFunction_t</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="9" x="738.75" y="105.0591">).</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="134" x="226.75" y="120.1919">This function expects</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="364.75" y="120.1919">arg</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="81" x="392.75" y="120.1919">to be of type</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="88" x="477.75" y="120.1919">urt_node_t*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="565.75" y="120.1919">.</text><line style="stroke: #A80036; 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stroke-width: 1.0;"/><path d="M191,332.876 L191,342.876 L201,342.876 L191,332.876 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="150" x="36" y="349.9429">Callback must not loop.</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="179" x="221" y="328.458"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="50" x="231" y="349.5967">execute</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="105" x="285" y="349.5967">setupcallback()</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="367" x="127" y="430.8291"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="21" x="137" y="451.9678">call</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="322" x="162" y="451.9678">urtCoreStopNodes(URT_STATUS_NODE_INVALEVTMASK)</text><polygon fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" points="124,382.4268,497,382.4268,509,394.4268,497,406.4268,124,406.4268,112,394.4268,124,382.4268" style="stroke: #A80036; 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stroke-width: 1.5;"/><rect fill="#FFFFFF" filter="url(#f1p8hd1hubp91s)" height="531.2222" style="stroke: #000000; stroke-width: 2.0;" width="606" x="170.75" y="815.9082"/><path d="M210.75,816.9082 L210.75,825.2051 L200.75,835.2051 L170.75,835.2051 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="30" x="173.75" y="829.9033">loop</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="240" x="371.75" y="907.9155"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="220" x="381.75" y="929.0542">Wait for a specified or a core event</text><path d="M214.75,1014.7046 L214.75,1039.8374 A0,0 0 0 0 214.75,1039.8374 L385.75,1039.8374 A0,0 0 0 0 385.75,1039.8374 L385.75,1032.7046 L405.75,1027.271 L385.75,1024.7046 L385.75,1024.7046 L375.75,1014.7046 L214.75,1014.7046 A0,0 0 0 0 214.75,1014.7046 " fill="#FBFB77" filter="url(#f1p8hd1hubp91s)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M375.75,1014.7046 L375.75,1024.7046 L385.75,1024.7046 L375.75,1014.7046 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="150" x="220.75" y="1031.7715">Callback must not loop.</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="172" x="405.75" y="1010.2866"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="50" x="415.75" y="1031.4253">execute</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="98" x="469.75" y="1031.4253">loopcallback()</text><rect fill="#EEEEEE" filter="url(#f1p8hd1hubp91s)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="464" x="259.75" y="1064.2554"/><line style="stroke: #A80036; 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stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="495.75" y="1176.9697">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="308.75" y="1158.5674">Event mask returned by</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="448.75" y="1158.5674">loopcallback()</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="550.75" y="1158.5674">redefines core event?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="686.75" y="1152.165">no</text><polygon fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" points="491.75,1245.1304,503.75,1257.1304,491.75,1269.1304,479.75,1257.1304,491.75,1245.1304" style="stroke: #A80036; stroke-width: 1.5;"/><polygon fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" points="431.75,961.8843,551.75,961.8843,563.75,973.8843,551.75,985.8843,431.75,985.8843,419.75,973.8843,431.75,961.8843" style="stroke: #A80036; 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stroke-width: 2.0;" width="653" x="70.25" y="1357.9321"/><path d="M117.25,1358.9321 L117.25,1367.229 L107.25,1377.229 L70.25,1377.229 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="37" x="73.25" y="1371.9272">outro</text><path d="M90.25,1447.0493 L90.25,1472.1821 A0,0 0 0 0 90.25,1472.1821 L272.25,1472.1821 A0,0 0 0 0 272.25,1472.1821 L272.25,1465.0493 L292.25,1459.6157 L272.25,1457.0493 L272.25,1457.0493 L262.25,1447.0493 L90.25,1447.0493 A0,0 0 0 0 90.25,1447.0493 " fill="#FBFB77" filter="url(#f1p8hd1hubp91s)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M262.25,1447.0493 L262.25,1457.0493 L272.25,1457.0493 L262.25,1447.0493 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="161" x="96.25" y="1464.1162">Callback must terminate.</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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stroke-width: 1.0;"/><!--MD5=[755282de1820a8b3b359aedce59a2083]

  This function expects ""arg"" to be of type ""urt_node_t*"".

      :call ""urtCoreStopNodes(URT_STATUS_NODE_INVALEVTMASK)"";

    :act as if ""setupcallback"" returned 0xF..F;

  while (Termination of node thread requested?) is (no)

      #EEEEEE:..//URT_CFG_PUBSUB_PROFILING == true || URT_CFG_RPC_PROFILING = true//..\nincrement loop counter;

        :call ""urtCoreStopNodes(URT_STATUS_NODE_INVALEVTMASK)"";

  endwhile (yes)

    note

      Callback must terminate.

    endnote

  This function expects ""arg"" to be of type ""urt_node_t*"".

      :call ""urtCoreStopNodes(URT_STATUS_NODE_INVALEVTMASK)"";

    :act as if ""setupcallback"" returned 0xF..F;

  while (Termination of node thread requested?) is (no)

      #EEEEEE:..//URT_CFG_PUBSUB_PROFILING == true || URT_CFG_RPC_PROFILING = true//..\nincrement loop counter;

        :call ""urtCoreStopNodes(URT_STATUS_NODE_INVALEVTMASK)"";

  endwhile (yes)

    note

      Callback must terminate.

    endnote

<?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="1049px" preserveAspectRatio="none" style="width:999px;height:1049px;" version="1.1" viewBox="0 0 999 1049" width="999px" zoomAndPan="magnify"><defs><filter height="300%" id="fe99m1kw6ut90" 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="454.25" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="116" x="440.75" y="47.6611">urtNodeInit()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="501.75" y="68.6143"/><path d="M343,72.8594 L343,501.4453 L852,501.4453 L852,82.8594 L842,72.8594 L343,72.8594 " fill="#FBFB77" filter="url(#fe99m1kw6ut90)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M842,72.8594 L842,82.8594 L852,82.8594 L842,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="531" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="535" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="37" x="535" y="89.4263">node</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="84" x="576" y="89.4263">: urt_node_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="664" x2="852" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="135" x="349" y="105.0591">The node to initialize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="349" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="429" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="461" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="511.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="515.5" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="49" x="515.5" y="134.8247">thread</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="111" x="568.5" y="134.8247">: urt_osThread_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="683.5" x2="852" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="335" x="349" y="150.4575">The already initialized, exclusive thread for the node.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="349" y="165.5903">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="429" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="461" y="165.5903">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="452.5" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="456.5" y="180.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="103" x="456.5" y="180.2231">setupcallback</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="175" x="563.5" y="180.2231">: urt_nodeSetupCallback_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="742.5" x2="852" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="296" x="349" y="195.856">Callback function to be executed during setup.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="349" y="210.9888">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="399" y="210.9888">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="194" x="435" y="210.9888">if no custom setup is required.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="522" y1="221.6211" y2="221.6211"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="530" y="225.6216"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="98" x="530" y="225.6216">setupparams</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="632" y="225.6216">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="673" x2="852" y1="221.6211" y2="221.6211"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="275" x="349" y="241.2544">Parameters for the setup callback function.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="51" x="349" y="256.3872">Must be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="404" y="256.3872">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="200" x="440" y="256.3872">if no setup callback is specified.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="349" y="271.52">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="399" y="271.52">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="377" x="435" y="271.52">if the specified setup callback does not expect parameters.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="461" y1="282.1523" y2="282.1523"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="465" y="286.1528"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="93" x="465" y="286.1528">loopcallback</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="168" x="562" y="286.1528">: urt_nodeLoopCallback_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="734" x2="852" y1="282.1523" y2="282.1523"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="270" x="349" y="301.7856">Callback function to be executed in a loop.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="349" y="316.9185">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="429" y="316.9185">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="461" y="316.9185">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="527" y1="327.5508" y2="327.5508"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="531" y="331.5513"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="88" x="531" y="331.5513">loopparams</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="623" y="331.5513">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="668" x2="852" y1="327.5508" y2="327.5508"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="266" x="349" y="347.1841">Parameters for the loop callback function.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="349" y="362.3169">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="399" y="362.3169">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="368" x="435" y="362.3169">if the specified loop callback does not expect parameters.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="425" y1="372.9492" y2="372.9492"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="429" y="376.9497"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="133" x="429" y="376.9497">shutdowncallback</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="200" x="566" y="376.9497">: urt_nodeShutdownCallback_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="770" x2="852" y1="372.9492" y2="372.9492"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="321" x="349" y="392.5825">Callback function to be executed during shutdown.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="349" y="407.7153">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="399" y="407.7153">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="219" x="435" y="407.7153">if no custom shutdown is required.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="507" y1="418.3477" y2="418.3477"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="511" y="422.3481"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="128" x="511" y="422.3481">shutdownparams</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="643" y="422.3481">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="688" x2="852" y1="418.3477" y2="418.3477"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="266" x="349" y="437.981">Parameters for the loop callback function.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="51" x="349" y="453.1138">Must be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="404" y="453.1138">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="225" x="440" y="453.1138">if no shutdown callback is specified.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="349" y="468.2466">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="399" y="468.2466">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="402" x="435" y="468.2466">if the specified shutdown callback does not expect parameters.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="852" y1="476.3125" y2="476.3125"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="852" y1="478.3125" y2="478.3125"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="552" y1="488.8789" y2="488.8789"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="556" y="492.8794"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="556" y="492.8794">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="34" x="605" y="492.8794">: void</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="643" x2="852" y1="488.8789" y2="488.8789"/><ellipse cx="597.5" cy="531.4453" fill="#000000" filter="url(#fe99m1kw6ut90)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M10,551.4453 L10,743.0391 A0,0 0 0 0 10,743.0391 L512,743.0391 A0,0 0 0 0 512,743.0391 L512,651.2422 L532,647.2422 L512,643.2422 L512,561.4453 L502,551.4453 L10,551.4453 A0,0 0 0 0 10,551.4453 " fill="#FBFB77" filter="url(#fe99m1kw6ut90)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M502,551.4453 L502,561.4453 L512,561.4453 L502,551.4453 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><ellipse cx="21.5" cy="564.0781" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="32" x="27" y="568.5122">next</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="63" y="568.5122">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="78" y="568.5122">NULL</text><ellipse cx="21.5" cy="579.2109" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="49" x="27" y="583.645">thread</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="57" x="80" y="583.645">← thread</text><ellipse cx="21.5" cy="594.3438" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="103" x="27" y="598.7778">setupcallback</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="102" x="134" y="598.7778">← setupcallback</text><ellipse cx="21.5" cy="609.4766" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="98" x="27" y="613.9106">setupparams</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="100" x="129" y="613.9106">← setupparams</text><ellipse cx="21.5" cy="624.6094" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="93" x="27" y="629.0435">loopcallback</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="93" x="124" y="629.0435">← loopcallback</text><ellipse cx="21.5" cy="639.7422" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="88" x="27" y="644.1763">loopparams</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="91" x="119" y="644.1763">← loopparams</text><ellipse cx="21.5" cy="654.875" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="133" x="27" y="659.3091">shutdowncallback</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="93" x="164" y="659.3091">← loopcallback</text><ellipse cx="21.5" cy="670.0078" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="128" x="27" y="674.4419">shutdownparams</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="91" x="159" y="674.4419">← loopparams</text><ellipse cx="21.5" cy="685.1406" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="42" x="27" y="689.5747">stage</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="73" y="689.5747">← 0</text><ellipse cx="21.5" cy="700.2734" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="129" x="27" y="704.7075">urtEventListenerInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="55" x="156" y="704.7075">listener</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="211" y="704.7075">)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="20.5" y1="715.3398" y2="715.3398"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="473" x="24.5" y="719.3403">URT_CFG_PUBSUB_PROFILING == true || URT_CFG_RPC_PROFILING = true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="501.5" x2="512" y1="715.3398" y2="715.3398"/><ellipse cx="21.5" cy="730.5391" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="40" x="27" y="734.9731">loops</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="71" y="734.9731">← 0</text><rect fill="#FEFECE" filter="url(#fe99m1kw6ut90)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="131" x="532" y="630.2578"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="111" x="542" y="651.3965">initialize members</text><rect fill="#FEFECE" filter="url(#fe99m1kw6ut90)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="77" x="559" y="763.0391"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="57" x="569" y="784.1777">lock core</text><rect fill="#FFFFFF" filter="url(#fe99m1kw6ut90)" height="134.2656" style="stroke: #000000; stroke-width: 2.0;" width="784" x="204.5" y="807.8096"/><path d="M453.5,808.8096 L453.5,817.1064 L443.5,827.1064 L204.5,827.1064 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="239" x="207.5" y="821.8047">prepend self to core's list of nodes</text><rect fill="#000000" filter="url(#fe99m1kw6ut90)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="764" x="214.5" y="844.1064"/><rect fill="#FEFECE" filter="url(#fe99m1kw6ut90)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="463" x="228.5" y="870.1064"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="238.5" y="891.2451">set this node's</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="28" x="335.5" y="891.2451">next</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="314" x="367.5" y="891.2451">pointer to the first node in the core's list of nodes</text><rect fill="#FEFECE" filter="url(#fe99m1kw6ut90)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="247" x="719.5" y="870.1064"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="227" x="729.5" y="891.2451">set core's node pointer to this node</text><rect fill="#000000" filter="url(#fe99m1kw6ut90)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="764" x="214.5" y="924.0752"/><rect fill="#FEFECE" filter="url(#fe99m1kw6ut90)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="93" x="551" y="962.0752"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="73" x="561" y="983.2139">unlock core</text><ellipse cx="597.5" cy="1027.0439" fill="#FFFFFF" filter="url(#fe99m1kw6ut90)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="597.5" cy="1027.0439" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="597.5" x2="597.5" y1="501.4453" y2="521.4453"/><polygon fill="#A80036" points="593.5,511.4453,597.5,521.4453,601.5,511.4453,597.5,515.4453" style="stroke: #A80036; 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stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="843" x2="843" y1="904.0752" y2="924.0752"/><polygon fill="#A80036" points="839,914.0752,843,924.0752,847,914.0752,843,918.0752" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="597.5" x2="597.5" y1="797.0078" y2="844.1064"/><polygon fill="#A80036" points="593.5,834.1064,597.5,844.1064,601.5,834.1064,597.5,838.1064" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="597.5" x2="597.5" y1="930.0752" y2="962.0752"/><polygon fill="#A80036" points="593.5,952.0752,597.5,962.0752,601.5,952.0752,597.5,956.0752" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="597.5" x2="597.5" y1="996.0439" y2="1016.0439"/><polygon fill="#A80036" points="593.5,1006.0439,597.5,1016.0439,601.5,1006.0439,597.5,1010.0439" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[de16bb9876615d6275991dc35d68a8ce]

  May be ""NULL"" if no custom setup is required.

  Parameters for the setup callback function.

  Must be ""NULL"" if no setup callback is specified.

  May be ""NULL"" if the specified setup callback does not expect parameters.

  Parameters for the loop callback function.

  May be ""NULL"" if the specified loop callback does not expect parameters.

  - - **shutdowncallback** : urt_nodeShutdownCallback_t* - -

  Callback function to be executed during shutdown.

  May be ""NULL"" if no custom shutdown is required.

  - - **shutdownparams** : void* - -

  Parameters for the loop callback function.

  Must be ""NULL"" if no shutdown callback is specified.

  May be ""NULL"" if the specified shutdown callback does not expect parameters.

  - - **return** : void - -

  * **next** ← ""NULL""

  * **thread** ← thread

  * **setupcallback** ← setupcallback

  * **setupparams** ← setupparams

  * **loopcallback** ← loopcallback

  * **loopparams** ← loopparams

  * **shutdowncallback** ← loopcallback

  * **shutdownparams** ← loopparams

  * **stage** ← 0

  * urtEventListenerInit(**listener**)

  * **loops** ← 0

partition "prepend self to core's list of nodes" {

  fork

    :set this node's ""next"" pointer to the first node in the core's list of nodes;

  fork again

    :set core's node pointer to this node;

  endfork

}

  May be ""NULL"" if no custom setup is required.

  Parameters for the setup callback function.

  Must be ""NULL"" if no setup callback is specified.

  May be ""NULL"" if the specified setup callback does not expect parameters.

  Parameters for the loop callback function.

  May be ""NULL"" if the specified loop callback does not expect parameters.

  -- **shutdowncallback** : urt_nodeShutdownCallback_t* --

  Callback function to be executed during shutdown.

  May be ""NULL"" if no custom shutdown is required.

  -- **shutdownparams** : void* --

  Parameters for the loop callback function.

  Must be ""NULL"" if no shutdown callback is specified.

  May be ""NULL"" if the specified shutdown callback does not expect parameters.

  -- **return** : void --

  * **next** ← ""NULL""

  * **thread** ← thread

  * **setupcallback** ← setupcallback

  * **setupparams** ← setupparams

  * **loopcallback** ← loopcallback

  * **loopparams** ← loopparams

  * **shutdowncallback** ← loopcallback

  * **shutdownparams** ← loopparams

  * **stage** ← 0

  * urtEventListenerInit(**listener**)

  * **loops** ← 0

partition "prepend self to core's list of nodes" {

  fork

    :set this node's ""next"" pointer to the first node in the core's list of nodes;

  fork again

    :set core's node pointer to this node;

  endfork

}

<?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="793px" preserveAspectRatio="none" style="width:1214px;height:793px;" version="1.1" viewBox="0 0 1214 793" width="1214px" zoomAndPan="magnify"><defs><filter height="300%" id="f1cmn83qlc5kyj" 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="561.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="150" x="531" y="47.6611">urtPublisherInit()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="609" y="68.6143"/><path d="M369.5,72.8594 L369.5,274.4531 L820.5,274.4531 L820.5,82.8594 L810.5,72.8594 L369.5,72.8594 " fill="#FBFB77" filter="url(#f1cmn83qlc5kyj)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M810.5,72.8594 L810.5,82.8594 L820.5,82.8594 L810.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="369.5" x2="499.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="503.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="69" x="503.5" y="89.4263">publisher</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="110" x="576.5" y="89.4263">: urt_publisher_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="690.5" x2="820.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="161" x="375.5" y="105.0591">The publisher to initialize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="375.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="455.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="487.5" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="369.5" x2="529" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="533" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="37" x="533" y="134.8247">topic</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="83" x="574" y="134.8247">: urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="661" x2="820.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="259" x="375.5" y="150.4575">The topic, this publisher is associated to.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="375.5" y="165.5903">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="455.5" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="487.5" y="165.5903">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="369.5" x2="496" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="500" y="180.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="75" x="500" y="180.2231">messages</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="111" x="579" y="180.2231">: urt_message_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="694" x2="820.5" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="375.5" y="195.856">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="346" x="411.5" y="195.856">terminated list of messages to contribute to the topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="329" x="375.5" y="210.9888">Messages must not be associated to another topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="430" x="375.5" y="226.1216">Once a message has been contributed, it cannot be removed later.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="375.5" y="241.2544">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="425.5" y="241.2544">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="186" x="461.5" y="241.2544">(no messages to contribute).</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="369.5" x2="820.5" y1="249.3203" y2="249.3203"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="369.5" x2="820.5" y1="251.3203" y2="251.3203"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="369.5" x2="549.5" y1="261.8867" y2="261.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="553.5" y="265.8872"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="553.5" y="265.8872">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="34" x="602.5" y="265.8872">: void</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="640.5" x2="820.5" y1="261.8867" y2="261.8867"/><ellipse cx="595" cy="304.4531" fill="#000000" filter="url(#f1cmn83qlc5kyj)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M231.5,324.4531 L231.5,394.9844 A0,0 0 0 0 231.5,394.9844 L509.5,394.9844 A0,0 0 0 0 509.5,394.9844 L509.5,363.7188 L529.5,359.7188 L509.5,355.7188 L509.5,334.4531 L499.5,324.4531 L231.5,324.4531 A0,0 0 0 0 231.5,324.4531 " fill="#FBFB77" filter="url(#f1cmn83qlc5kyj)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M499.5,324.4531 L499.5,334.4531 L509.5,334.4531 L499.5,324.4531 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><ellipse cx="243" cy="337.0859" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="37" x="248.5" y="341.52">topic</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="289.5" y="341.52">← topic</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="231.5" x2="242" y1="352.1523" y2="352.1523"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="249" x="246" y="356.1528">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="499" x2="509.5" y1="352.1523" y2="352.1523"/><ellipse cx="243" cy="367.3516" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="123" x="248.5" y="371.7856">publishAttempts</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="375.5" y="371.7856">← 0</text><ellipse cx="243" cy="382.4844" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="88" x="248.5" y="386.9185">publishFails</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="340.5" y="386.9185">← 0</text><rect fill="#FEFECE" filter="url(#f1cmn83qlc5kyj)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="131" x="529.5" y="342.7344"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="111" x="539.5" y="363.873">initialize members</text><rect fill="#FEFECE" filter="url(#f1cmn83qlc5kyj)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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stroke-width: 1.5;" x1="1188" x2="607" y1="728.3916" y2="728.3916"/><polygon fill="#A80036" points="617,724.3916,607,728.3916,617,732.3916,613,728.3916" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="595" x2="595" y1="696.3916" y2="716.3916"/><polygon fill="#A80036" points="591,706.3916,595,716.3916,599,706.3916,595,710.3916" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="595" x2="595" y1="376.7031" y2="414.9844"/><polygon fill="#A80036" points="591,404.9844,595,414.9844,599,404.9844,595,408.9844" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="595" x2="595" y1="740.3916" y2="760.3916"/><polygon fill="#A80036" points="591,750.3916,595,760.3916,599,750.3916,595,754.3916" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[cc6adf1d0441bf5c83751fa056e4110e]

  - - **return** : void - -

  * **topic** ← topic

  * **publishAttempts** ← 0

  * **publishFails** ← 0

      :set ""next"" pointer of last message to contribute to the message after the topic's latest message;

      :set ""next"" pointer of topic's latest message to first message to contribute;

  -- **return** : void --

  * **topic** ← topic

  * **publishAttempts** ← 0

  * **publishFails** ← 0

<?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="1776px" preserveAspectRatio="none" style="width:3008px;height:1776px;" version="1.1" viewBox="0 0 3008 1776" width="3008px" zoomAndPan="magnify"><defs><filter height="300%" id="fjrexx23r0l7p" 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="1458.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="183" x="1411.5" y="47.6611">urtPublisherPublish()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="1506" y="68.6143"/><path d="M1294.5,72.8594 L1294.5,319.8516 L1679.5,319.8516 L1679.5,82.8594 L1669.5,72.8594 L1294.5,72.8594 " fill="#FBFB77" filter="url(#fjrexx23r0l7p)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1669.5,72.8594 L1669.5,82.8594 L1679.5,82.8594 L1669.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1294.5" x2="1391.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1395.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="69" x="1395.5" y="89.4263">publisher</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="110" x="1468.5" y="89.4263">: urt_publisher_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1582.5" x2="1679.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="197" x="1300.5" y="105.0591">Pointer to the publisher to use.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="1300.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1380.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1412.5" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1294.5" x2="1431" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1435" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="59" x="1435" y="134.8247">payload</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="1498" y="134.8247">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1543" x2="1679.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="226" x="1300.5" y="150.4575">Pointer to the data to be published.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="1300.5" y="165.5903">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1350.5" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="195" x="1386.5" y="165.5903">for messages without payload.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1294.5" x2="1438" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1442" y="180.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="1442" y="180.2231">bytes</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="45" x="1487" y="180.2231">: size_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1536" x2="1679.5" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="180" x="1300.5" y="195.856">Size of the payload in bytes.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1294.5" x2="1432.5" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1436.5" y="210.4888"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="6" x="1436.5" y="210.4888">t</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="91" x="1446.5" y="210.4888">: urt_osTime_t</text><line style="stroke: #A80036; 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stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1470.5" x2="1485.5" y1="476.8047" y2="476.8047"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="232" x="1485.5" y="480.459">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1717.5" x2="1732.5" y1="476.8047" y2="476.8047"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="242" x="1480.5" y="494.9277">increment counter of publish attempts</text><rect fill="#000000" filter="url(#fjrexx23r0l7p)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="519" x="1227.5" y="527.7578"/><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="524" x="1225" y="609.4683"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="504" x="1235" y="630.6069">wait for topic's condition variable (using topic's mutex) to be signaled or timeout</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1434,663.437,1540,663.437,1552,675.437,1540,687.437,1434,687.437,1422,675.437,1434,663.437" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="106" x="1434" y="679.2451">Timeout occurred?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1402" y="672.8428">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1552" y="672.8428">no</text><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="1205" y="697.437"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1205" x2="1215" y1="714.4214" y2="714.4214"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="232" x="1215" y="718.0757">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1447" x2="1457" y1="714.4214" y2="714.4214"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="210" x="1215" y="732.5444">increment counter of publish fails</text><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="96" x="1283" y="780.3745"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="76" x="1293" y="801.5132">unlock topic</text><path d="M1014,849.3433 L1014,874.4761 A0,0 0 0 0 1014,874.4761 L1300,874.4761 A0,0 0 0 0 1300,874.4761 L1300,867.3433 L1320,861.9097 L1300,859.3433 L1300,859.3433 L1290,849.3433 L1014,849.3433 A0,0 0 0 0 1014,849.3433 " fill="#FBFB77" filter="url(#fjrexx23r0l7p)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1290,849.3433 L1290,859.3433 L1300,859.3433 L1290,849.3433 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1020" y="866.4102">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="1073" y="866.4102">URT_STATUS_PUBLISH_TIMEOUT</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1281" y="866.4102">.</text><ellipse cx="1331" cy="861.9097" fill="#FFFFFF" filter="url(#fjrexx23r0l7p)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="1331" cy="861.9097" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="1552.5" y="817.8394"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="161" x="1562.5" y="838.978">proceed to next message</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1643,745.8394,1655,757.8394,1643,769.8394,1631,757.8394,1643,745.8394" style="stroke: #A80036; stroke-width: 1.5;"/><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1499,894.4761,1787,894.4761,1799,906.4761,1787,918.4761,1499,918.4761,1487,906.4761,1499,894.4761" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="288" x="1499" y="910.2842">Timestamp is younger than of previous message?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1799" y="903.8818">yes</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1542,697.437,1744,697.437,1756,709.437,1744,721.437,1542,721.437,1530,709.437,1542,697.437" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1647" y="731.6475">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="202" x="1542" y="713.2451">Message timestamp was modified?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1756" y="706.8428">no</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1643,942.375,1655,954.375,1643,966.375,1631,954.375,1643,942.375" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1649" y="939.7808">no</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1378.5,553.7578,1595.5,553.7578,1607.5,565.7578,1595.5,577.7578,1378.5,577.7578,1366.5,565.7578,1378.5,553.7578" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1491" y="587.9683">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="1378.5" y="569.5659">HRT consumers left for the message?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1352.5" y="563.1636">no</text><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="174.668" style="stroke: #000000; stroke-width: 2.0;" width="396" x="1295" y="999.1768"/><path d="M1576,1000.1768 L1576,1008.4736 L1566,1018.4736 L1295,1018.4736 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="271" x="1298" y="1013.1719">URT_CFG_PUBSUB_PROFILING == true</text><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="344" x="1315" y="1083.876"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="324" x="1325" y="1105.0146">increment counter of discarded messages (@topic)</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1389,1035.4736,1585,1035.4736,1597,1047.4736,1585,1059.4736,1389,1059.4736,1377,1047.4736,1389,1035.4736" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1491" y="1069.6841">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="1389" y="1051.2817">Consumers left for this message?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1597" y="1044.8794">no</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1487,1137.8447,1499,1149.8447,1487,1161.8447,1475,1149.8447,1487,1137.8447" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#000000" filter="url(#fjrexx23r0l7p)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="2987" x="10" y="1193.8447"/><rect fill="#FFFFFF" filter="url(#fjrexx23r0l7p)" height="156.2344" style="stroke: #000000; stroke-width: 2.0;" width="1268" x="22" y="1325.584"/><path d="M140,1326.584 L140,1334.8809 L130,1344.8809 L22,1344.8809 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="108" x="25" y="1339.5791">setup message</text><rect fill="#000000" filter="url(#fjrexx23r0l7p)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1248" x="32" y="1361.8809"/><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="261" x="46" y="1394.8652"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="241" x="56" y="1416.0039">iterate topic's pointer to this message</text><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="180" x="317" y="1394.8652"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="160" x="327" y="1416.0039">copy payload to message</text><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="187" x="507" y="1394.8652"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="167" x="517" y="1416.0039">set origin time of message</text><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="704" y="1394.8652"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="266" x="714" y="1416.0039">set number of HRT consumers (from topic)</text><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="254" x="1012" y="1387.8809"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1012" x2="1023" y1="1404.8652" y2="1404.8652"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="232" x="1023" y="1408.5195">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1255" x2="1266" y1="1404.8652" y2="1404.8652"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="230" x="1026" y="1422.9883">set numer of consumers (from topic)</text><rect fill="#000000" filter="url(#fjrexx23r0l7p)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1248" x="32" y="1455.8184"/><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="398" x="1318" y="1379.7324"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1318" x2="1377.5" y1="1396.7168" y2="1396.7168"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="279" x="1377.5" y="1400.3711">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1656.5" x2="1716" y1="1396.7168" y2="1396.7168"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="378" x="1328" y="1414.8398">set QoS rate timer (@topic) wrt. most critical HRT subscriber</text><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="376.1094" style="stroke: #000000; stroke-width: 2.0;" width="888" x="1744" y="1210.6465"/><path d="M2119,1211.6465 L2119,1219.9434 L2109,1229.9434 L1744,1229.9434 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="365" x="1747" y="1224.6416">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="241" x="2240" y="1246.9434"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="221" x="2250" y="1268.082">access first HRT subscriber of topic</text><path d="M1788,1410.1191 L1788,1450.3848 A0,0 0 0 0 1788,1450.3848 L2113,1450.3848 A0,0 0 0 0 2113,1450.3848 L2113,1434.252 L2133,1430.252 L2113,1426.252 L2113,1420.1191 L2103,1410.1191 L1788,1410.1191 A0,0 0 0 0 1788,1410.1191 " fill="#FBFB77" filter="url(#fjrexx23r0l7p)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2103,1410.1191 L2103,1420.1191 L2113,1420.1191 L2103,1410.1191 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="108" x="1794" y="1427.186">No lock required.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="304" x="1794" y="1442.3188">This timer is only accessed while topic is locked.</text><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="455" x="2133" y="1413.2676"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="435" x="2143" y="1434.4063">set QoS deadline timer (@subscriber) wrt. origin time of the message</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="2221.5,1361.7168,2499.5,1361.7168,2511.5,1373.7168,2499.5,1385.7168,2221.5,1385.7168,2209.5,1373.7168,2221.5,1361.7168" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="2364.5" y="1395.9272">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="278" x="2221.5" y="1377.5249">QoS deadline timer (@subscriber) is not armed?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="2511.5" y="1371.1226">no</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="2360.5,1474.7871,2372.5,1486.7871,2360.5,1498.7871,2348.5,1486.7871,2360.5,1474.7871" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="218" x="2251.5" y="1518.7871"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="198" x="2261.5" y="1539.9258">proceed to next HRT subscriber</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="2280,1300.9121,2441,1300.9121,2453,1312.9121,2441,1324.9121,2280,1324.9121,2268,1312.9121,2280,1300.9121" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="2364.5" y="1335.1226">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="123" x="2280" y="1316.7202">HRT subscriber is not</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="28" x="2407" y="1316.7202">NULL</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="6" x="2435" y="1316.7202">?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="2254" y="1310.3179">no</text><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; 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stroke-width: 1.0;"/><path d="M1417.5,1637.1738 L1417.5,1647.1738 L1427.5,1647.1738 L1417.5,1637.1738 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="315" x="1097.5" y="1654.2407">Msut be within topic lock because of HRT counter.</text><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="79" x="1447.5" y="1632.7559"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="59" x="1457.5" y="1653.8945">fire event</text><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="96" x="1439" y="1686.7246"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="76" x="1449" y="1707.8633">unlock topic</text><path d="M1274,1739.127 L1274,1764.2598 A0,0 0 0 0 1274,1764.2598 L1456,1764.2598 A0,0 0 0 0 1456,1764.2598 L1456,1757.127 L1476,1751.6934 L1456,1749.127 L1456,1749.127 L1446,1739.127 L1274,1739.127 A0,0 0 0 0 1274,1739.127 " fill="#FBFB77" filter="url(#fjrexx23r0l7p)" style="stroke: #A80036; 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  - - **bytes** : size_t - -

  Returns ""URT_STATUS_PUBLISH_TIMEOUT"" on timeout.

fork

  :access topic's next message;

fork again

  #EEEEEE:..//URT_CFG_PUBSUB_PROFILING == true//..\nincrement counter of publish attempts;

endfork

    #EEEEEE:..//URT_CFG_PUBSUB_PROFILING == true//..\nincrement counter of publish fails;

      Returns ""URT_STATUS_PUBLISH_TIMEOUT"".

      repeat

        :proceed to next message;

      repeat while (Timestamp is younger than of previous message?) is (yes)

      ->no;

partition "//URT_CFG_PUBSUB_PROFILING == true//" #EEEEEE {

  if (Consumers left for this message?) then (yes)

    #EEEEEE:increment counter of discarded messages (@topic);

  else (no)

  endif

}

  partition "setup message" {

    fork

      :iterate topic's pointer to this message;

    fork again

      :copy payload to message;

    fork again

      :set origin time of message;

    fork again

      :set number of HRT consumers (from topic);

    fork again

      #EEEEEE:..//URT_CFG_PUBSUB_PROFILING == true//..

       set numer of consumers (from topic);

    endfork

  }

  #EEEEEE:..//URT_CFG_PUBSUB_QOS_RATECHECKS == true//..\nset QoS rate timer (@topic) wrt. most critical HRT subscriber;

  partition "//URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true//" #EEEEEE {

    #EEEEEE:access first HRT subscriber of topic;

    while (HRT subscriber is not ""NULL""?) is (yes)

      if (QoS deadline timer (@subscriber) is not armed?) then (yes)

        #EEEEEE:set QoS deadline timer (@subscriber) wrt. origin time of the message;

        note

          No lock required.

          This timer is only accessed while topic is locked.

        endnote

      else (no)

      endif

      #EEEEEE:proceed to next HRT subscriber;

    endwhile (no)

  }

fork again

  #EEEEEE:..//URT_CFG_PUBSUB_PROFILING == true//..\nincrement counter of published messages (@topic);

  -- **bytes** : size_t --

  Returns ""URT_STATUS_PUBLISH_TIMEOUT"" on timeout.

fork

  :access topic's next message;

fork again

  #EEEEEE:..//URT_CFG_PUBSUB_PROFILING == true//..\nincrement counter of publish attempts;

endfork

    #EEEEEE:..//URT_CFG_PUBSUB_PROFILING == true//..\nincrement counter of publish fails;

      Returns ""URT_STATUS_PUBLISH_TIMEOUT"".

      repeat

        :proceed to next message;

      repeat while (Timestamp is younger than of previous message?) is (yes)

      ->no;

partition "//URT_CFG_PUBSUB_PROFILING == true//" #EEEEEE {

  if (Consumers left for this message?) then (yes)

    #EEEEEE:increment counter of discarded messages (@topic);

  else (no)

  endif

}

  partition "setup message" {

    fork

      :iterate topic's pointer to this message;

    fork again

      :copy payload to message;

    fork again

      :set origin time of message;

    fork again

      :set number of HRT consumers (from topic);

    fork again

      #EEEEEE:..//URT_CFG_PUBSUB_PROFILING == true//..

       set numer of consumers (from topic);

    endfork

  }

  #EEEEEE:..//URT_CFG_PUBSUB_QOS_RATECHECKS == true//..\nset QoS rate timer (@topic) wrt. most critical HRT subscriber;

  partition "//URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true//" #EEEEEE {

    #EEEEEE:access first HRT subscriber of topic;

    while (HRT subscriber is not ""NULL""?) is (yes)

      if (QoS deadline timer (@subscriber) is not armed?) then (yes)

        #EEEEEE:set QoS deadline timer (@subscriber) wrt. origin time of the message;

        note

          No lock required.

          This timer is only accessed while topic is locked.

        endnote

      else (no)

      endif

      #EEEEEE:proceed to next HRT subscriber;

    endwhile (no)

  }

fork again

  #EEEEEE:..//URT_CFG_PUBSUB_PROFILING == true//..\nincrement counter of published messages (@topic);

<?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="788px" preserveAspectRatio="none" style="width:1219px;height:788px;" version="1.1" viewBox="0 0 1219 788" width="1219px" zoomAndPan="magnify"><defs><filter height="300%" id="f15pkoa3awclp5" 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="564" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="139" x="539" y="47.6611">urtServiceCall()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="611.5" y="68.6143"/><path d="M402,72.8594 L402,304.7188 L836,304.7188 L836,82.8594 L826,72.8594 L402,72.8594 " fill="#FBFB77" filter="url(#f15pkoa3awclp5)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M826,72.8594 L826,82.8594 L836,82.8594 L826,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="402" x2="538.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="542.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="542.5" y="89.4263">service</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="97" x="598.5" y="89.4263">: urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="699.5" x2="836" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="118" x="408" y="105.0591">The service to call.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="408" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="488" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="520" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="402" x2="580" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="584" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="25" x="584" y="134.8247">arg</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="613" y="134.8247">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="658" x2="836" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="244" x="408" y="150.4575">Optional argument for the service call.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="408" y="165.5903">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="458" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="233" x="494" y="165.5903">if the service expects no arguments.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="402" x2="582" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="586" y="180.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="21" x="586" y="180.2231">ret</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="611" y="180.2231">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="656" x2="836" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="225" x="408" y="195.856">Pointer to an optional output value.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="408" y="210.9888">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="458" y="210.9888">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="490" y="210.9888">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="402" x2="545" y1="221.6211" y2="221.6211"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="549" y="225.6216"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="549" y="225.6216">timeout</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="79" x="610" y="225.6216">: urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="693" x2="836" y1="221.6211" y2="221.6211"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="361" x="408" y="241.2544">Timeout delay to be propagated to the callback function.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="413" x="408" y="256.3872">Whether timeout is considered depends on the callback function.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="402" x2="836" y1="264.4531" y2="264.4531"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="402" x2="836" y1="266.4531" y2="266.4531"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="402" x2="548" y1="277.0195" y2="277.0195"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="552" y="281.02"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="552" y="281.02">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="601" y="281.02">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="690" x2="836" y1="277.0195" y2="277.0195"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="322" x="408" y="296.6528">Returns the exact output status of the service call.</text><ellipse cx="619" cy="334.7188" fill="#000000" filter="url(#f15pkoa3awclp5)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#EEEEEE" filter="url(#f15pkoa3awclp5)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="506" y="364.7188"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="506" x2="516" y1="381.7031" y2="381.7031"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="206" x="516" y="385.3574">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="722" x2="732" y1="381.7031" y2="381.7031"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="141" x="516" y="399.8262">increment call counter</text><rect fill="#FEFECE" filter="url(#f15pkoa3awclp5)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="258" x="490" y="432.6563"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="123" x="500" y="453.7949">execute the service</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="56" x="627" y="453.7949">callback</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="51" x="687" y="453.7949">function</text><rect fill="#EEEEEE" filter="url(#f15pkoa3awclp5)" height="255.0703" style="stroke: #000000; 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stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="752.5" y="573.9341">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="630" y="555.5317">Duration was shorter than</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="77" x="784" y="555.5317">minDuration</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="6" x="861" y="555.5317">?</text><rect fill="#EEEEEE" filter="url(#f15pkoa3awclp5)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="183" x="657" y="596.5283"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="45" x="667" y="617.667">update</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="77" x="716" y="617.667">minDuration</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="33" x="797" y="617.667">value</text><polygon fill="#FEFECE" filter="url(#f15pkoa3awclp5)" points="911,539.7236,1142,539.7236,1154,551.7236,1142,563.7236,911,563.7236,899,551.7236,911,539.7236" style="stroke: #A80036; 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  Pointer to an optional output value.

#EEEEEE:..//URT_CFG_RPC_PROFILING == true//..\nincrement call counter;

partition "//URT_CFG_RPC_PROFILING == true//" #EEEEEE {

  fork

    #EEEEEE:accumulate sum of durations;

  fork again

    if (Calback returned ""URT_STATUS_SERVICE_TIMEOUT""?) then (yes)

      #EEEEEE:increment timeout counter;

    else (no)

    endif

  fork again

    if (Duration was shorter than ""minDuration""?) then (yes)

      #EEEEEE:update ""minDuration"" value;

    elseif (Duration was longer than ""maxDuration""?) then (yes)

      #EEEEEE:update ""maxDuration"" value;

    else (no)

    endif

  endfork

}

  Pointer to an optional output value.

#EEEEEE:..//URT_CFG_RPC_PROFILING == true//..\nincrement call counter;

partition "//URT_CFG_RPC_PROFILING == true//" #EEEEEE {

  fork

    #EEEEEE:accumulate sum of durations;

  fork again

    if (Calback returned ""URT_STATUS_SERVICE_TIMEOUT""?) then (yes)

      #EEEEEE:increment timeout counter;

    else (no)

    endif

  fork again

    if (Duration was shorter than ""minDuration""?) then (yes)

      #EEEEEE:update ""minDuration"" value;

    elseif (Duration was longer than ""maxDuration""?) then (yes)

      #EEEEEE:update ""maxDuration"" value;

    else (no)

    endif

  endfork

}

<?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="962px" preserveAspectRatio="none" style="width:1112px;height:962px;" version="1.1" viewBox="0 0 1112 962" width="1112px" zoomAndPan="magnify"><defs><filter height="300%" id="f10ia0x871a6j9" 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="510.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="135" x="487.5" y="47.6611">urtServiceInit()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="558" y="68.6143"/><path d="M225,72.8594 L225,259.3203 L886,259.3203 L886,82.8594 L876,72.8594 L225,72.8594 " fill="#FBFB77" filter="url(#f10ia0x871a6j9)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M876,72.8594 L876,82.8594 L886,82.8594 L876,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="225" x2="475" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="479" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="479" y="89.4263">service</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="97" x="535" y="89.4263">: urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="636" x2="886" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="148" x="231" y="105.0591">The service to initialize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="231" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="311" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="343" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="225" x2="492" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="496" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="14" x="496" y="134.8247">id</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="101" x="514" y="134.8247">: urt_serviceid_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="619" x2="886" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="258" x="231" y="150.4575">Unique, numeric identifier of the service.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="225" x2="457" y1="161.0898" y2="161.0898"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="461" y="165.0903"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="61" x="461" y="165.0903">callback</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="124" x="526" y="165.0903">: urt_servicefunc_t*</text><line style="stroke: #A80036; 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stroke-width: 1.0;" x1="626.5" x2="886" y1="216.4883" y2="216.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="231" y="236.1216">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="284" y="236.1216">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="75" x="392" y="236.1216">on success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="231" y="251.2544">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="224" x="284" y="251.2544">URT_STATUS_SERVICE_DUPLICATE</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="359" x="512" y="251.2544">if another service with the same identifier already exists.</text><ellipse cx="555.5" cy="289.3203" fill="#000000" filter="url(#f10ia0x871a6j9)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M222,309.3203 L222,470.6484 A0,0 0 0 0 222,470.6484 L470,470.6484 A0,0 0 0 0 470,470.6484 L470,393.9844 L490,389.9844 L470,385.9844 L470,319.3203 L460,309.3203 L222,309.3203 A0,0 0 0 0 222,309.3203 " fill="#FBFB77" filter="url(#f10ia0x871a6j9)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M460,309.3203 L460,319.3203 L470,319.3203 L460,309.3203 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><ellipse cx="233.5" cy="321.9531" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="32" x="239" y="326.3872">next</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="275" y="326.3872">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="290" y="326.3872">NULL</text><ellipse cx="233.5" cy="337.0859" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; 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  Returns ""URT_STATUS_SERVICE_DUPLICATE"" if another service with the same identifier already exists.

  * **next** ← ""NULL""

  * **id** ← id

  * urtMutexInit(**lock**)

  * **callback** ← callback

  * **minDuration** ← 0xF..F

  * **maxDuration** ← 0

  * **sumDurations** ← 0

  * **numCalls** ← 0

  * **numTimeouts** ← 0

    Returns ""URT_STATUS_SERVICE_DUPLICATE"":

  Returns ""URT_STATUS_SERVICE_DUPLICATE"" if another service with the same identifier already exists.

  * **next** ← ""NULL""

  * **id** ← id

  * urtMutexInit(**lock**)

  * **callback** ← callback

  * **minDuration** ← 0xF..F

  * **maxDuration** ← 0

  * **sumDurations** ← 0

  * **numCalls** ← 0

  * **numTimeouts** ← 0

    Returns ""URT_STATUS_SERVICE_DUPLICATE"":

<?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="329px" preserveAspectRatio="none" style="width:598px;height:329px;" version="1.1" viewBox="0 0 598 329" width="598px" zoomAndPan="magnify"><defs><filter height="300%" id="flqx6fh6bygnd" 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="253.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="305" x="145.5" y="47.6611">urtFrtSubscriberCalculateValidity()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="301" y="68.6143"/><path d="M167.5,72.8594 L167.5,198.7891 L555.5,198.7891 L555.5,82.8594 L545.5,72.8594 L167.5,72.8594 " fill="#FBFB77" filter="url(#flqx6fh6bygnd)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M545.5,72.8594 L545.5,82.8594 L555.5,82.8594 L545.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="167.5" x2="250.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="254.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="254.5" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="132" x="336.5" y="89.4263">: urt_frtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="472.5" x2="555.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="282" x="173.5" y="105.0591">The FRT subscriber to calculate a validity for.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="173.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="253.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="285.5" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="167.5" x2="289.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="293.5" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="53" x="293.5" y="134.8247">latency</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="79" x="350.5" y="134.8247">: urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="433.5" x2="555.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="367" x="173.5" y="150.4575">Latency (of a message) as argument to calculate validity.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="167.5" x2="555.5" y1="158.5234" y2="158.5234"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="167.5" x2="555.5" y1="160.5234" y2="160.5234"/><line style="stroke: #A80036; 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@startuml

title **µRtWare**\nurtFrtSubscriberCalculateValidity()\n

note

  - - **subscriber** : urt_frtsubscriber_t* - -

  The FRT subscriber to calculate a validity for.

  Must not be ""NULL"".

  - - **latency** : urt_delay_t - -

  Latency (of a message) as argument to calculate validity.

  ====

  - - **return** : bool - -

  Returns a boolean indicator whether the latency is fine.

endnote

start

if (Latency is lower than the deadline offset and within allowed jitter?) then (yes)

  stop

  note

    Returns ""true"".

  endnote

else (no)

  stop

  note

    Returns ""false"".

  endnote

endif

@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>

/'

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**\nurtFrtSubscriberCalculateValidity()\n

/'### PARAMETERS & RETURN ####################################################'/

note

  -- **subscriber** : urt_frtsubscriber_t* --

  The FRT subscriber to calculate a validity for.

  Must not be ""NULL"".

  -- **latency** : urt_delay_t --

  Latency (of a message) as argument to calculate validity.

  ====

  -- **return** : bool --

  Returns a boolean indicator whether the latency is fine.

endnote

/'### PROCEDURE ##############################################################'/

start

if (Latency is lower than the deadline offset and within allowed jitter?) then (yes)

  stop

  note

    Returns ""true"".

  endnote

else (no)

  stop

  note

    Returns ""false"".

  endnote

endif

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

@enduml

<?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="1370px" preserveAspectRatio="none" style="width:2922px;height:1370px;" version="1.1" viewBox="0 0 2922 1370" width="2922px" zoomAndPan="magnify"><defs><filter height="300%" id="f12n62kzuquswy" 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="1415.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="334" x="1293" y="47.6611">urtFrtSubscriberFetchLatestMessage()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="1463" y="68.6143"/><path d="M1570.75,72.8594 L1570.75,334.9844 L2259.75,334.9844 L2259.75,82.8594 L2249.75,72.8594 L1570.75,72.8594 " fill="#FBFB77" filter="url(#f12n62kzuquswy)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2249.75,72.8594 L2249.75,82.8594 L2259.75,82.8594 L2249.75,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1570.75" x2="1804.25" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1808.25" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="1808.25" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="132" x="1890.25" y="89.4263">: urt_frtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="2026.25" x2="2259.75" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="350" x="1576.75" y="105.0591">The FRT subscriber that shall fetch the latest message.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="1576.75" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1656.75" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1688.75" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1570.75" x2="1859.25" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1863.25" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="59" x="1863.25" y="134.8247">payload</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="1926.25" y="134.8247">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1971.25" x2="2259.75" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="238" x="1576.75" 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="1576.75" y="165.5903">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1626.75" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="195" x="1662.75" y="165.5903">for messages without payload.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1570.75" x2="1866.25" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1870.25" y="180.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="1870.25" y="180.2231">bytes</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="45" x="1915.25" y="180.2231">: size_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1964.25" x2="2259.75" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="137" x="1576.75" y="195.856">Payload size in bytes.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1570.75" x2="1839.75" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1843.75" y="210.4888"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="53" x="1843.75" y="210.4888">latency</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="86" x="1900.75" y="210.4888">: urt_delay_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1990.75" x2="2259.75" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="267" x="1576.75" 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="1576.75" y="241.2544">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1626.75" y="241.2544">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1658.75" y="241.2544">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1570.75" x2="2259.75" y1="249.3203" y2="249.3203"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1570.75" x2="2259.75" y1="251.3203" y2="251.3203"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1570.75" x2="1844.25" y1="261.8867" y2="261.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1848.25" y="265.8872"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="1848.25" y="265.8872">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="1897.25" y="265.8872">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1986.25" x2="2259.75" y1="261.8867" y2="261.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1576.75" y="281.52">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="1629.75" y="281.52">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="75" x="1737.75" y="281.52">on success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1576.75" y="296.6528">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="192" x="1629.75" y="296.6528">URT_STATUS_FETCH_NOTOPIC</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="282" x="1825.75" y="296.6528">if the subscriber is not associated to a topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1576.75" y="311.7856">Retruns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="1629.75" y="311.7856">URT_STATUS_FETCH_NOMESSAGE</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="228" x="1841.75" y="311.7856">if there is no new message to fetch.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1576.75" y="326.9185">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="1629.75" y="326.9185">URT_STATUS_JITTERVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="403" x="1841.75" y="326.9185">if the message's latency violated the maximum expected jitter.</text><ellipse cx="1915.25" cy="364.9844" fill="#000000" filter="url(#f12n62kzuquswy)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#f12n62kzuquswy)" points="1852.75,394.9844,1977.75,394.9844,1989.75,406.9844,1977.75,418.9844,1852.75,418.9844,1840.75,406.9844,1852.75,394.9844" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="125" x="1852.75" y="410.7925">Associated to a topic?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1820.75" y="404.3901">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1989.75" y="404.3901">no</text><rect fill="#FEFECE" filter="url(#f12n62kzuquswy)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="862.5" y="428.9844"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="872.5" y="450.123">lock topic</text><rect fill="#FFFFFF" filter="url(#f12n62kzuquswy)" height="348.8823" style="stroke: #000000; stroke-width: 2.0;" width="736" x="533" y="473.7549"/><path d="M678,474.7549 L678,483.0518 L668,493.0518 L533,493.0518 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="135" x="536" y="487.75">find latest message</text><rect fill="#FEFECE" filter="url(#f12n62kzuquswy)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="145" x="830" y="510.0518"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="44" x="840" y="531.1904">access</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="77" x="888" y="531.1904">lastMessage</text><rect fill="#000000" filter="url(#f12n62kzuquswy)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="671" x="567" y="619.731"/><rect fill="#FEFECE" filter="url(#f12n62kzuquswy)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="659.5" y="645.731"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="161" x="669.5" y="666.8696">proceed to next message</text><rect fill="#EEEEEE" filter="url(#f12n62kzuquswy)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="338" x="581" y="714.6997"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="581" x2="634" y1="731.6841" y2="731.6841"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="232" x="634" y="735.3384">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="866" x2="919" y1="731.6841" y2="731.6841"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="318" x="591" y="749.8071">decrement counter of consumers left (@message)</text><rect fill="#EEEEEE" filter="url(#f12n62kzuquswy)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="277" x="947" y="680.2153"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="947" x2="969.5" y1="697.1997" y2="697.1997"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="232" x="969.5" y="700.854">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1201.5" x2="1224" y1="697.1997" y2="697.1997"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="257" x="957" y="715.3228">increment counter of received messages</text><rect fill="#000000" filter="url(#f12n62kzuquswy)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="671" x="567" y="782.6372"/><polygon fill="#FEFECE" filter="url(#f12n62kzuquswy)" points="785.5,564.0205,1019.5,564.0205,1031.5,576.0205,1019.5,588.0205,785.5,588.0205,773.5,576.0205,785.5,564.0205" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="906.5" y="598.231">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="234" x="785.5" y="579.8286">Timestamp of next message is younger?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="759.5" y="573.4263">no</text><polygon fill="#FEFECE" filter="url(#f12n62kzuquswy)" points="816.5,842.6372,988.5,842.6372,1000.5,854.6372,988.5,866.6372,816.5,866.6372,804.5,854.6372,816.5,842.6372" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="816.5" y="858.4453">Timestamp equals local copy?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="784.5" y="852.043">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1000.5" y="852.043">no</text><rect fill="#FEFECE" filter="url(#f12n62kzuquswy)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="96" x="279" y="876.6372"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="76" x="289" y="897.7759">unlock topic</text><path d="M10,945.606 L10,970.7388 A0,0 0 0 0 10,970.7388 L296,970.7388 A0,0 0 0 0 296,970.7388 L296,963.606 L316,958.1724 L296,955.606 L296,955.606 L286,945.606 L10,945.606 A0,0 0 0 0 10,945.606 " fill="#FBFB77" filter="url(#f12n62kzuquswy)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M286,945.606 L286,955.606 L296,955.606 L286,945.606 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="16" y="962.6729">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="69" y="962.6729">URT_STATUS_FETCH_NOMESSAGE</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="277" y="962.6729">.</text><ellipse cx="327" cy="958.1724" fill="#FFFFFF" filter="url(#f12n62kzuquswy)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="327" cy="958.1724" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><rect fill="#000000" filter="url(#f12n62kzuquswy)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="2200" x="385" y="876.6372"/><rect fill="#FFFFFF" filter="url(#f12n62kzuquswy)" height="142.2656" style="stroke: #000000; stroke-width: 2.0;" width="622" x="397" y="1006.3257"/><path d="M510,1007.3257 L510,1015.6226 L500,1025.6226 L397,1025.6226 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="103" x="400" y="1020.3208">fetch message</text><rect fill="#000000" filter="url(#f12n62kzuquswy)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="602" x="407" y="1042.6226"/><rect fill="#FEFECE" filter="url(#f12n62kzuquswy)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="175" x="421" y="1068.6226"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="155" x="431" y="1089.7612">update message pointer</text><rect fill="#FEFECE" filter="url(#f12n62kzuquswy)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="180" x="624" y="1068.6226"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="160" x="634" y="1089.7612">copy message origin time</text><rect fill="#FEFECE" filter="url(#f12n62kzuquswy)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="163" x="832" y="1068.6226"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="143" x="842" y="1089.7612">copy message payload</text><rect fill="#000000" filter="url(#f12n62kzuquswy)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="602" x="407" y="1122.5913"/><path d="M1381.5,907.0552 L1381.5,932.188 A0,0 0 0 0 1381.5,932.188 L1701.5,932.188 A0,0 0 0 0 1701.5,932.188 L1701.5,925.0552 L1721.5,919.6216 L1701.5,917.0552 L1701.5,917.0552 L1691.5,907.0552 L1381.5,907.0552 A0,0 0 0 0 1381.5,907.0552 " fill="#FBFB77" filter="url(#f12n62kzuquswy)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1691.5,907.0552 L1691.5,917.0552 L1701.5,917.0552 L1691.5,907.0552 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="299" x="1387.5" y="924.1221">Can be optimized in case all flags are disabled.</text><rect fill="#FEFECE" filter="url(#f12n62kzuquswy)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="187" x="1721.5" y="902.6372"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="167" x="1731.5" y="923.7759">calculate message latency</text><rect fill="#000000" filter="url(#f12n62kzuquswy)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1526" x="1047" y="971.606"/><rect fill="#EEEEEE" filter="url(#f12n62kzuquswy)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="1061" y="1087.9741"/><line style="stroke: #A80036; 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@startuml

title **µRtWare**\nurtFrtSubscriberFetchLatestMessage()\n

note

  - - **subscriber** : urt_frtsubscriber_t* - -

  The FRT subscriber that shall fetch the latest 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"".

  ====

  - - **return** : urt_status_t - -

  Returns ""URT_STATUS_OK"" on success.

  Returns ""URT_STATUS_FETCH_NOTOPIC"" if the subscriber is not associated to a topic.

  Retruns ""URT_STATUS_FETCH_NOMESSAGE"" if there is no new message to fetch.

  Returns ""URT_STATUS_JITTERVIOLATION"" if the message's latency violated the maximum expected jitter.

endnote

start

if (Associated to a topic?) then (yes)

  :lock topic;

    partition "find latest message" {

    :access ""lastMessage"";

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

      fork

        :proceed to next message;

        #EEEEEE:..//URT_CFG_PUBSUB_PROFILING == true//..\ndecrement counter of consumers left (@message);

      fork again

        #EEEEEE:..//URT_CFG_PUBSUB_PROFILING == true//..\nincrement counter of received messages;

      endfork

    endwhile (no)

  }

  if (Timestamp equals local copy?) then (yes)

    :unlock topic;

    stop

    note

      Returns ""URT_STATUS_FETCH_NOMESSAGE"".

    endnote

  else (no)

    fork

        partition "fetch message" {

    fork

      :update message pointer;

    fork again

      :copy message origin time;

    fork again

      :copy message payload;

    endfork

  }

    fork again

      :calculate message latency;

      note

        Can be optimized in case all flags are disabled.

      endnote

      fork

        #EEEEEE:..//URT_CFG_PUBSUB_PROFILING == true//..\naccumulate ""sumLatencies"" value;

      fork again

        partition "//URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true//" #EEEEEE {

          if (Latency is lower than ""minLatency"" but within allowed jitter range?) then (yes)

            #EEEEEE:update ""minLatency"" value;

          elseif (Latency is greater than ""maxLatency"" but within allowed jitter range?) then (yes)

            #EEEEEE:update ""maxLatency"" value;

          else (no)

          endif

        }

      fork again

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

          :set ""latency"" value;

        else (no)

        endif

      fork again

      endfork

    endfork

    :unlock topic;

    stop

    note

      Returns ""URT_STATUS_OK"" or ""URT_STATUS_JITTERVIOLATION"".

    endnote

  endif

else (no)

  stop

  note

    Returns ""URT_STATUS_FETCH_NOTOPIC"".

  endnote

endif