Revision dd31cb03 doc/activitydiagrams/publisher/urtPublisherPublish.uml
| doc/activitydiagrams/publisher/urtPublisherPublish.uml | ||
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-- **payload** : void* -- |
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Pointer to the data to be published. |
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May be ""NULL"" for messages without payload. |
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-- **n** : size_t --
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-- **bytes** : size_t --
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Size of the payload in bytes. |
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-- **t** : urt_osTime_t -- |
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Timestamp to be set for the message. |
| ... | ... | |
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==== |
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-- **return** : urt_status_t -- |
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Returns ""URT_STATUS_OK"" on success. |
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Returns ""URT_STATUS_ERROR"" on timeout.
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Returns ""URT_STATUS_PUBLISH_TIMEOUT"" on timeout.
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endnote |
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/'### PROCEDURE ##############################################################'/ |
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start |
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:lock topic; |
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:access topic's next message; |
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fork |
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:access topic's next message; |
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fork again |
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#EEEEEE:..//URT_CFG_PUBSUB_PROFILING == true//..\nincrement counter of publish attempts; |
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endfork |
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while (HRT consumers left for the message?) is (yes) |
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:wait for topic's condition variable (using topic's mutex) to be signaled or timeout; |
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if (Timeout occurred?) then (yes) |
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#EEEEEE:..//URT_CFG_PUBSUB_PROFILING == true//..\nincrement counter of publish fails; |
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:unlock topic; |
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stop |
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note |
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Returns ""URT_STATUS_ERROR"".
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Returns ""URT_STATUS_PUBLISH_TIMEOUT"".
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endnote |
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else (no) |
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if (Message timestamp was modified?) then (yes) |
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:access topic's next message; |
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repeat |
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:proceed to next message; |
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repeat while (Timestamp is younger than of previous message?) is (yes) |
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->no; |
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else (no) |
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endif |
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endif |
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endwhile (no) |
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partition "//URT_CFG_PUBSUB_PROFILING == true//" #EEEEEE {
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if (Consumers left for this message?) then (yes) |
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#EEEEEE:increment counter of discarded messages (@topic); |
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else (no) |
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endif |
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} |
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fork |
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fork |
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:iterate topic pointer to this message; |
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fork again |
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:copy payload to message; |
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fork again |
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:set origin time of message; |
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fork again |
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:set number of HRT consumers (from topic); |
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endfork |
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partition "setup message" {
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fork |
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:iterate topic's pointer to this message; |
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fork again |
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:copy payload to message; |
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fork again |
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:set origin time of message; |
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fork again |
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:set number of HRT consumers (from topic); |
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fork again |
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#EEEEEE:..//URT_CFG_PUBSUB_PROFILING == true//.. |
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set numer of consumers (from topic); |
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endfork |
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} |
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fork again |
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:set QoS rate timer (@topic) wrt. most critical HRT subscriber;
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#EEEEEE:..//URT_CFG_PUBSUB_QOS_RATECHECKS == true//..\nset QoS rate timer (@topic) wrt. most critical HRT subscriber;
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fork again |
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while (HRT subscribers left?) is (yes) |
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if (QoS delay timer (@subscriber) is not armed?) then (yes) |
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:set QoS delay timer (@subscriber) wrt. origin time of the message; |
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note: No lock required since this timer is only accessed when the topic is locked. |
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else (no) |
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endif |
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:iterate to next HRT subscriber; |
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endwhile (no) |
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partition "//URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true//" #EEEEEE {
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#EEEEEE:access first HRT subscriber of topic; |
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while (HRT subscriber is not ""NULL""?) is (yes) |
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if (QoS deadline timer (@subscriber) is not armed?) then (yes) |
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#EEEEEE:set QoS deadline timer (@subscriber) wrt. origin time of the message; |
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note |
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No lock required. |
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This timer is only accessed while topic is locked. |
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endnote |
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else (no) |
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endif |
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#EEEEEE:proceed to next HRT subscriber; |
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endwhile (no) |
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} |
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fork again |
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#EEEEEE:..//URT_CFG_PUBSUB_PROFILING == true//..\nincrement counter of published messages (@topic); |
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endfork |
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:fire event; |
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note: Msut be within topic lock because of HRT counter. |
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