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urtware / doc / activitydiagrams / subscriber / nrtsubscriber / urtNrtSubscriberFetchLatestMessage.uml @ dd31cb03

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/'
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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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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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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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'/
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/'### INTRO ##################################################################'/
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@startuml
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title **µRtWare**\nurtNrtSubscriberFetchLatestMessage()\n
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!include ../functions.iuml
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/'### PARAMETERS & RETURN ####################################################'/
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note
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  -- **subscriber** : urt_nrtsubscriber_t* --
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  The NRT subscriber that shall fetch the message.
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  Must not be ""NULL"".
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  -- **payload** : void* --
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  Pointer where to copy the payload to.
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  May be ""NULL"" for messages without payload.
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  -- **bytes** : size_t --
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  Payload size in bytes.
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  -- **latency** : urt_delay_t* --
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  The latency can be returned by reference.
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  May be ""NULL"".
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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_FETCH_NOTOPIC"" if the subscriber is not associated to a topic.
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  Retruns ""URT_STATUS_FETCH_NOMESSAGE"" if there is no new message to fetch.
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endnote
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/'### PROCEDURE ##############################################################'/
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start
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if (Associated to a topic?) then (yes)
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  :lock topic;
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  $find_latest_message()
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  if (Timestamp equals local copy?) then (yes)
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    :unlock topic;
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    stop
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    note
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      Returns ""URT_STATUS_FETCH_NOMESSAGE"".
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    endnote
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  else (no)
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    fork
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      $fetch_message()
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    fork again
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      :calculate message latency;
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      note
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        Can be optimized in case all flags are disabled.
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      endnote
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      fork
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        #EEEEEE:..//URT_CFG_PUBSUB_PROFILING == true//..\naccumulate ""sumLatencies"" value;
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      fork again
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        partition "//URT_CFG_PUBSUB_PROFILING == true//" #EEEEEE {
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          if (Latency is lower than ""minLatency""?) then (yes)
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            #EEEEEE:update ""minLatency"" value;
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          elseif (Latency is greater than ""maxLatency""?) then (yes)
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            #EEEEEE:update ""maxLatency"" value;
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          else (no)
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          endif
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        }
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      fork again
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        if (Optional ""latency"" output argument given?) then (yes)
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          :set ""latency"" value;
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        else (no)
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        endif
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      fork again
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      endfork
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    endfork
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    :unlock topic;
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    stop
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    note
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      Returns ""URT_STATUS_OK"".
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    endnote
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  endif
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else (no)
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  stop
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  note
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    Returns ""URT_STATUS_FETCH_NOTOPIC"".
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  endnote
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endif
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/'### OUTRO ##################################################################'/
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@enduml