AMiRo-OS

title **µRtWare**\nPublish-Subscribe System

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

  + {field} numConsumersLeft : unsigned int

  __

    'Initializes a urt_message_t object.

}

$group("subscriber") {

    + {field} maxLatency : urt_delay_t

    __

      'Initializes a urt_nrtsubscriber_t object.

      'Tries to subscribe to a topic and optionally contributes a list of messages to the topic.

    + {method} urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t

      'Fetches the next message in the buffer, optionally copies the payload and optionally returns the latency.

    + {field} maxLatency : urt_delay_t

    __

      'Initializes a urt_srtsubscriber_t object.

      'Tries to subscribe to a topic, sets all parameters and optionally contributes a list of messages to the topic.

    + {method} urtSrtSubscriberSubscribe (subscriber : urt_srtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_srtusefulnessfunc_t*, cbparams : void*) : urt_status_t

      'Fetches the next message in the buffer, optionally copies the payload and optionally returns the latency.

    + {field} maxLatency : urt_delay_t

    __

      'Initializes a urt_frtsubscriber_t object.

      'Tries to subscribe to a topic, sets all parameters and optionally contributes a list of messages to the topic.

    + {method} urtFrtSubscriberSubscribe (subscriber : urt_frtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, jitter : urt_delay_t) : urt_status_t

      'Fetches the next message in the buffer, optionally copies the payload and optionally returns the latency.

    + {field} expectedRate : urt_delay_t

    __

      'Initializes a urt_hrtsubscriber_t object.

      'Tries to subscribe to a topic, sets all parameters and optionally contributes a list of messages to the topic.

    + {method} urtHrtSubscriberSubscribe (subscriber : urt_hrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, rate : urt_delay_t, jitter : urt_delay_t) : urt_status_t

      'Fetches the next message in the buffer, optionally copies the payload and optionally returns the latency.

  + {field} publishFails : uint64_t

  __

    'Initializes a urt_publisher_t object and contributes an optional list of messages.

    'Publishes a message via the associated topic.

}

/' Topic type. '/

  + {field} evtSource : urt_osEventSource_t

    'Number of HRT subscribers.

  + {field} numHrtSubscribers : unsigned int

    'Condition variable to inform waiting publishers when a blocked message becomes available.

  + {field} hrtReleased : urt_osCondvar_t

    'Mandatory message, each Topic holds.

    'Pointer to the latest message.

  + {field} latestMessage : urt_message_t*

  .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..

    'Timer to check for missed rates.

  + {field} qosRateTimer : urt_osTimer_t

  .. URT_CFG_PUBSUB_PROFILING == true ..

    'Number of overall subscribers.

  + {field} numSubscribers : unsigned int

  __