/' µRtWare is a lightweight publish/subscribe middleware for real-time applications. It was developed as part of the software habitat for the Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well. Copyright (C) 2018..2020 Thomas Schöpping et al. This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . '/ /'### INTRO ##################################################################'/ @startuml title **µRtWare**\nRemote Procedure Call System !include ./functions.iuml /'### ENTITIES ###############################################################'/ !startsub ENTITIES /' Function type to be called when executing an RPC. '/ $function("urt_servicefunc_t") { urt_servicefunc_t (arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t } /' Service structure type. '/ $structure("urt_service_t") { 'Pointer to the next service in a list. + {field} next : urt_service_t* 'Identifier of the service. + {field} id : urt_serviceid_t 'Mutex lock for exclusive access.' + {field} lock : urt_osMutex_t 'Callback function to be executed by the service. + {field} callback : urt_servicefunc_t* .. URT_CFG_RPC_PROFILING == true .. 'Sum of all durations. + {field} sumDurations : uint64_t 'Number of executed calls. + {field} numCalls : uint64_t 'Number of failed calls due to timeout. + {field} numTimeouts : uint64_t 'Minimum duration ever detected (to calculate jitter). + {field} minDuration : urt_delay_t 'Maximum duration ever detected (to calculate jitter). + {field} maxDuration : urt_delay_t __ 'Initializes a urt_service_t object. + {method} urtServiceInit(service : urt_service_t*, id : urt_serviceid_t, callback : urt_servicefunc_t*) : urt_status_t 'Executes an RPC with given arguments and return parameters as well as a timout, in case the RPC may delay execution significantly. + {method} urtServiceCall(service : urt_service_t*, arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t } !endsub /'### DEPENDENCIES & LAYOUT ##################################################'/ !startsub DEPENDENCIES urt_service_t "1" o-- "0..1" urt_service_t urt_service_t "1" o-- "0..1" urt_servicefunc_t !endsub /'### OUTRO ##################################################################'/ @enduml