AMiRo-OS

/'

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 <http://www.gnu.org/licenses/>.

'/

/'### INTRO ##################################################################'/

@startuml

title **µRtWare**\nPrimitives

!include ../functions.iuml

/'### ENTITIES ###############################################################'/

!startsub ENTITIES

/' Node synchronization type. '/

$type("urt_nodestage_t") {

  .. URT_CFG_NODESTAGE_WIDTH == 8 ..

  uin8_t

  .. URT_CFG_NODESTAGE_WIDTH == 16 ..

  uint16_t

  .. URT_CFG_NODESTAGE_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_NODESTAGE_WIDTH == 64 ..

  uint64_t

}

/' Topic ID type. '/

$type("urt_topicid_t") {

  .. URT_CFG_TOPICID_WIDTH == 8 ..

  uin8_t

  .. URT_CFG_TOPICID_WIDTH == 16 ..

  uint16_t

  .. URT_CFG_TOPICID_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_TOPICID_WIDTH == 64 ..

  uint64_t

}

/' Service ID type. '/

$type("urt_serviceid_t") {

  .. URT_CFG_SERVICEID_WIDTH == 8 ..

  uin8_t

  .. URT_CFG_SERVICEID_WIDTH == 16 ..

  uint16_t

  .. URT_CFG_SERVICEID_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_SERVICEID_WIDTH == 64 ..

  uint64_t

}

/' Well defined error codes. '/

$type("urt_status_t") {

    'No bit set indicates success.

  URT_STATUS_OK = 0x0..0

    'MSB set indicates an error.

  URT_STATUS_ERROR = 0x8..0

}

/' Temporal delay in microseconds. '/

$type("urt_delay_t") {

  .. URT_CFG_DELAY_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_DELAY_WIDTH == 64 ..

  uint64_t

}

/' Just a function for debugging. '/

$function("urt_debug") {

    'Checks the condition in debug mode.

  + {method} urtDebugAssert(condition : bool) : void

}

!endsub

/'### DEPENDENCIES & LAYOUT ##################################################'/

!startsub DEPENDENCIES

!endsub

/'### OUTRO ##################################################################'/

@enduml