urtware / doc / activitydiagrams / service / urtServiceCall.uml @ dd31cb03
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µRtWare is a lightweight publish/subscribe middleware for real-time |
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applications. It was developed as part of the software habitat for the |
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Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well. |
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Copyright (C) 2018..2020 Thomas Schöpping et al. |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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|
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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|
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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/'### INTRO ##################################################################'/ |
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@startuml |
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title **µRtWare**\nurtServiceCall()\n |
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/'### PARAMETERS & RETURN ####################################################'/ |
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note |
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-- **service** : urt_service_t* -- |
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The service to call. |
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Must not be ""NULL"". |
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-- **arg** : void* -- |
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Optional argument for the service call. |
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May be ""NULL"" if the service expects no arguments. |
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-- **ret** : void* -- |
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Pointer to an optional output value. |
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May be ""NULL"". |
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-- **timeout** : urt_delay_t -- |
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Timeout delay to be propagated to the callback function. |
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Whether timeout is considered depends on the callback function. |
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==== |
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-- **return** : urt_status_t -- |
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Returns the exact output status of the service call. |
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endnote |
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/'### PROCEDURE ##############################################################'/ |
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|
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start |
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#EEEEEE:..//URT_CFG_RPC_PROFILING == true//..\nincrement call counter; |
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:execute the service ""callback"" function; |
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partition "//URT_CFG_RPC_PROFILING == true//" #EEEEEE { |
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fork |
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#EEEEEE:accumulate sum of durations; |
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fork again |
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if (Calback returned ""URT_STATUS_SERVICE_TIMEOUT""?) then (yes) |
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#EEEEEE:increment timeout counter; |
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else (no) |
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endif |
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fork again |
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if (Duration was shorter than ""minDuration""?) then (yes) |
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#EEEEEE:update ""minDuration"" value; |
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elseif (Duration was longer than ""maxDuration""?) then (yes) |
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#EEEEEE:update ""maxDuration"" value; |
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else (no) |
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endif |
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endfork |
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} |
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stop |
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note |
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Returns the return value of the callback. |
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endnote |
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/'### OUTRO ##################################################################'/ |
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@enduml |