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**\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

  .. URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true  ..

    '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