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="1042px" preserveAspectRatio="none" style="width:2807px;height:1042px;" version="1.1" viewBox="0 0 2807 1042" width="2807px" zoomAndPan="magnify"><defs><filter height="300%" id="fkh7ofrjdg7y2" 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="1358" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="247" x="1279" y="47.6611">urtNrtSubscriberSubscribe()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="1405.5" y="68.6143"/><path d="M656.5,72.8594 L656.5,304.7188 L1274.5,304.7188 L1274.5,82.8594 L1264.5,72.8594 L656.5,72.8594 " fill="#FBFB77" filter="url(#fkh7ofrjdg7y2)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1264.5,72.8594 L1264.5,82.8594 L1274.5,82.8594 L1264.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="656.5" x2="852.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="856.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="856.5" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="136" x="938.5" y="89.4263">: urt_nrtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1078.5" x2="1274.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="327" x="662.5" y="105.0591">The NRT subscriber which shall subscribe to a topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="662.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="742.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="774.5" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="656.5" x2="899.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="903.5" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="37" x="903.5" y="134.8247">topic</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="83" x="944.5" y="134.8247">: urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1031.5" x2="1274.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="161" x="662.5" y="150.4575">The topic to subscribe to.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="662.5" y="165.5903">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="742.5" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="774.5" y="165.5903">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="656.5" x2="866.5" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="870.5" y="180.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="75" x="870.5" y="180.2231">messages</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="111" x="949.5" y="180.2231">: urt_message_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1064.5" x2="1274.5" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="662.5" y="195.856">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="346" x="698.5" 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="662.5" 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="662.5" 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="662.5" y="241.2544">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="712.5" y="241.2544">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="186" x="748.5" y="241.2544">(no messages to contribute).</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="656.5" x2="1274.5" y1="249.3203" y2="249.3203"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="656.5" x2="1274.5" y1="251.3203" y2="251.3203"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="656.5" x2="894.5" y1="261.8867" y2="261.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="898.5" y="265.8872"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="898.5" y="265.8872">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="947.5" y="265.8872">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1036.5" x2="1274.5" y1="261.8867" y2="261.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="662.5" y="281.52">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="715.5" y="281.52">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="75" x="823.5" y="281.52">on success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="662.5" y="296.6528">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="232" x="715.5" y="296.6528">URT_STATUS_SUBSCRIBE_TOPICSET</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="308" x="951.5" y="296.6528">if the subscriber is already associated to a topic.</text><ellipse cx="965.5" cy="334.7188" fill="#000000" filter="url(#fkh7ofrjdg7y2)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#fkh7ofrjdg7y2)" points="908,364.7188,1023,364.7188,1035,376.7188,1023,388.7188,908,388.7188,896,376.7188,908,364.7188" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="115" x="908" y="380.5269">Is topic already set?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="876" y="374.1245">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1035" y="374.1245">no</text><path d="M10,398.7188 L10,423.8516 A0,0 0 0 0 10,423.8516 L320,423.8516 A0,0 0 0 0 320,423.8516 L320,416.7188 L340,411.2852 L320,408.7188 L320,408.7188 L310,398.7188 L10,398.7188 A0,0 0 0 0 10,398.7188 " fill="#FBFB77" filter="url(#fkh7ofrjdg7y2)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M310,398.7188 L310,408.7188 L320,408.7188 L310,398.7188 " 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="415.7856">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="232" x="69" y="415.7856">URT_STATUS_SUBSCRIBE_TOPICSET</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="301" y="415.7856">.</text><ellipse cx="351" cy="411.2852" fill="#FFFFFF" filter="url(#fkh7ofrjdg7y2)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="351" cy="411.2852" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><rect fill="#000000" filter="url(#fkh7ofrjdg7y2)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="560" x="1322" y="398.7188"/><rect fill="#FEFECE" filter="url(#fkh7ofrjdg7y2)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="75" x="1336" y="473.2656"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="55" x="1346" y="494.4043">set topic</text><path d="M1439,424.7188 L1439,555.7813 A0,0 0 0 0 1439,555.7813 L1717,555.7813 A0,0 0 0 0 1717,555.7813 L1717,494.25 L1737,490.25 L1717,486.25 L1717,434.7188 L1707,424.7188 L1439,424.7188 A0,0 0 0 0 1439,424.7188 " fill="#EEEEEE" filter="url(#fkh7ofrjdg7y2)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1707,424.7188 L1707,434.7188 L1717,434.7188 L1707,424.7188 " fill="#EEEEEE" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1439" x2="1507" y1="437.2852" y2="437.2852"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="134" x="1511" y="441.2856">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1649" x2="1717" y1="437.2852" y2="437.2852"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1439" x2="1449.5" y1="452.418" y2="452.418"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="249" x="1453.5" y="456.4185">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1706.5" x2="1717" y1="452.418" y2="452.418"/><ellipse cx="1450.5" cy="467.6172" 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="101" x="1456" y="472.0513">sumLatencies</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="1561" y="472.0513">← 0</text><ellipse cx="1450.5" cy="482.75" 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="173" x="1456" y="487.1841">numMessagesReceived</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="1633" y="487.1841">← 0</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1439" x2="1513.5" y1="497.8164" y2="497.8164"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="121" x="1517.5" y="501.8169">urt_nrtsubscriber_t</text><line style="stroke: #A80036; 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stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="88" x="1456" y="547.7153">maxLatency</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="1548" y="547.7153">← 0</text><rect fill="#EEEEEE" filter="url(#fkh7ofrjdg7y2)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="131" x="1737" y="473.2656"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="111" x="1747" y="494.4043">initialize members</text><rect fill="#000000" filter="url(#fkh7ofrjdg7y2)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="560" x="1322" y="575.7813"/><rect fill="#FEFECE" filter="url(#fkh7ofrjdg7y2)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="1562" y="601.7813"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="1572" y="622.9199">lock topic</text><rect fill="#000000" filter="url(#fkh7ofrjdg7y2)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; 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stroke-width: 1.5;" width="475" x="1055" y="790.5591"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="20" x="1065" y="811.6978">set</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="28" x="1089" y="811.6978">next</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="399" x="1121" y="811.6978">pointer of topic's latest message to first message to contribute</text><rect fill="#000000" filter="url(#fkh7ofrjdg7y2)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1150" x="394" y="844.5278"/><polygon fill="#FEFECE" filter="url(#fkh7ofrjdg7y2)" points="899,681.75,1039,681.75,1051,693.75,1039,705.75,899,705.75,887,693.75,899,681.75" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="973" y="715.9604">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="140" x="899" y="697.5581">Messages to contribute?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1051" y="691.1558">no</text><polygon fill="#FEFECE" filter="url(#fkh7ofrjdg7y2)" points="969,882.5278,981,894.5278,969,906.5278,957,894.5278,969,882.5278" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#000000" filter="url(#fkh7ofrjdg7y2)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="656" x="1604" y="756.4106"/><rect fill="#FEFECE" filter="url(#fkh7ofrjdg7y2)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="313" x="1618" y="782.4106"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="293" x="1628" y="803.5493">set message pointer to topic's latest message</text><rect fill="#FEFECE" filter="url(#fkh7ofrjdg7y2)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="297" x="1951" y="782.4106"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="277" x="1961" y="803.5493">copy timestamp from topic's latest message</text><rect fill="#000000" filter="url(#fkh7ofrjdg7y2)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="656" x="1604" y="836.3794"/><rect fill="#FEFECE" filter="url(#fkh7ofrjdg7y2)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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@startuml

title **µRtWare**\nurtNrtSubscriberSubscribe()\n

note

  - - **subscriber** : urt_nrtsubscriber_t* - -

  The NRT subscriber which shall subscribe to a topic.

  Must not be ""NULL"".

  - - **topic** : urt_topic_t* - -

  The topic to subscribe to.

  Must not be ""NULL"".

  - - **messages** : urt_message_t* - -

  ""NULL"" terminated list of messages to contribute to the topic.

  Messages must not be associated to another topic.

  Once a message has been contributed, it cannot be removed later.

  May be ""NULL"" (no messages to contribute).

  ====

  - - **return** : urt_status_t - -

  Returns ""URT_STATUS_OK"" on success.

  Returns ""URT_STATUS_SUBSCRIBE_TOPICSET"" if the subscriber is already associated to a topic.

endnote

start

if (Is topic already set?) then (yes)

  stop

  note

    Returns ""URT_STATUS_SUBSCRIBE_TOPICSET"".

  endnote

else (no)

  fork

    :set topic;

  fork again

    #EEEEEE:initialize members;

    note #EEEEEE

      - - urt_basesubscriber_t - -

      .. URT_CFG_PUBSUB_PROFILING == true ..

      * **sumLatencies** ← 0

      * **numMessagesReceived** ← 0

      - - urt_nrtsubscriber_t - -

      .. URT_CFG_PUBSUB_PROFILING == true ..

      * **minLatency** ← 0xF..F

      * **maxLatency** ← 0

    endnote

  endfork

  :lock topic;

  fork

    if (Messages to contribute?) then (yes)

        partition "contribute messages" {

    fork

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

    fork again

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

    endfork

  }

    else (no)

    endif

  fork again

    fork

      :set message pointer to topic's latest message;

    fork again

      :copy timestamp from topic's latest message;

    endfork

  fork again

    :register to topic's event source;

  fork again

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

  endfork

  :unlock topic;

  stop

  note

    Returns ""URT_STATUS_OK"".

  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>