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urtware / doc / classdiagrams / primitives.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**\nPrimitives
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!include ./functions.iuml
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/'### ENTITIES ###############################################################'/
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!startsub ENTITIES
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/' Node synchronization type. '/
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$type("urt_nodestage_t") {
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  .. URT_CFG_NODESTAGE_WIDTH == 8 ..
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  uin8_t
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  .. URT_CFG_NODESTAGE_WIDTH == 16 ..
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  uint16_t
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  .. URT_CFG_NODESTAGE_WIDTH == 32 ..
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  uint32_t
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  .. URT_CFG_NODESTAGE_WIDTH == 64 ..
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  uint64_t
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}
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/' Topic ID type. '/
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$type("urt_topicid_t") {
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  .. URT_CFG_TOPICID_WIDTH == 8 ..
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  uin8_t
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  .. URT_CFG_TOPICID_WIDTH == 16 ..
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  uint16_t
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  .. URT_CFG_TOPICID_WIDTH == 32 ..
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  uint32_t
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  .. URT_CFG_TOPICID_WIDTH == 64 ..
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  uint64_t
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}
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/' Service ID type. '/
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$type("urt_serviceid_t") {
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  .. URT_CFG_SERVICEID_WIDTH == 8 ..
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  uin8_t
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  .. URT_CFG_SERVICEID_WIDTH == 16 ..
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  uint16_t
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  .. URT_CFG_SERVICEID_WIDTH == 32 ..
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  uint32_t
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  .. URT_CFG_SERVICEID_WIDTH == 64 ..
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  uint64_t
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}
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/' Well defined error codes. '/
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$enumeration("urt_status_t") {
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    'Staus indicating success.
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  URT_STATUS_OK = 0
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    'Error status indicating a violated HRT deadline.
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  URT_STATUS_DEADLINEVIOLATION
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    'Error status indicating violated HRT jitter.
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  URT_STATUS_JITTERVIOLATION
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    'Error status indicating a violated HRT rate.
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  URT_STATUS_RATEVIOLATION
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    'Synchronization status indicating that further nodes need to synchronize.
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  URT_STATUS_SYNC_PENDING
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    'Synchronization status indicating a synchronization error.
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  URT_STATUS_SYNC_ERROR
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    'Status indicating that a node's ""_main"" thread encountered an invalid event mask.
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  URT_STATUS_NODE_INVALEVTMASK
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  .. URT_CFG_PUBSUB_ENABLED == true ..
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    'Status indicating that another topic with identical ID has been found.
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  URT_STATUS_TOPIC_DUPLICATE
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    'Status indicating a timeout during a urtPublisherPublish() call.
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  URT_STATUS_PUBLISH_TIMEOUT
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    'Status indicating that the topic was already set.
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  URT_STATUS_SUBSCRIBE_TOPICSET
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    'Status indicating that there is no associated topic.
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  URT_STATUS_FETCH_NOTOPIC
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    'Status indicating that there is no (new) message.
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  URT_STATUS_FETCH_NOMESSAGE
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    'Status indicating that there is no topic to unsubscribe from.
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  URT_STATUS_UNSUBSCRIBE_NOTOPIC
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  .. URT_CFG_RPC_ENABLED == true ..
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    'Status indicating that another service with identical ID has been found.
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  URT_STATUS_SERVICE_DUPLICATE
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    'Status indicating that a service call timed out.
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  URT_STATUS_SERVICE_TIMEOUT
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}
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/' Temporal delay in microseconds. '/
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$type("urt_delay_t") {
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  .. URT_CFG_DELAY_WIDTH == 32 ..
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  uint32_t
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  .. URT_CFG_DELAY_WIDTH == 64 ..
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  uint64_t
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}
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/' Just a function for debugging. '/
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$function("urt_debug") {
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    'Checks the condition in debug mode.
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  + {method} urtDebugAssert(condition : bool) : void
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}
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!endsub
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/'### DEPENDENCIES & LAYOUT ##################################################'/
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!startsub DEPENDENCIES
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!endsub
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/'### OUTRO ##################################################################'/
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@enduml
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