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<?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="1899px" preserveAspectRatio="none" style="width:1735px;height:1899px;" version="1.1" viewBox="0 0 1735 1899" width="1735px" zoomAndPan="magnify"><defs><filter height="300%" id="fw8r9eje3asw" 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="822" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="338" x="697.5" y="47.6611">urtHrtSubscriberFetchLatestMessage()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="869.5" y="68.6143"/><path d="M876.25,72.8594 L876.25,334.9844 L1565.25,334.9844 L1565.25,82.8594 L1555.25,72.8594 L876.25,72.8594 " fill="#FBFB77" filter="url(#fw8r9eje3asw)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1555.25,72.8594 L1555.25,82.8594 L1565.25,82.8594 L1555.25,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="876.25" x2="1107.75" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1111.75" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="1111.75" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="136" x="1193.75" y="89.4263">: urt_hrtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1333.75" x2="1565.25" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="313" x="882.25" y="105.0591">The HRT subscriber that shall fetch the message.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="882.25" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="962.25" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="994.25" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="876.25" x2="1164.75" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1168.75" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="59" x="1168.75" y="134.8247">payload</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="1231.75" y="134.8247">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1276.75" x2="1565.25" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="238" x="882.25" y="150.4575">Pointer where to copy the payload to.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="882.25" y="165.5903">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="932.25" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="195" x="968.25" y="165.5903">for messages without payload.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="876.25" x2="1171.75" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1175.75" y="180.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="1175.75" y="180.2231">bytes</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="45" x="1220.75" y="180.2231">: size_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1269.75" x2="1565.25" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="137" x="882.25" y="195.856">Payload size in bytes.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="876.25" x2="1145.25" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1149.25" y="210.4888"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="53" x="1149.25" y="210.4888">latency</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="86" x="1206.25" y="210.4888">: urt_delay_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1296.25" x2="1565.25" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="267" x="882.25" y="226.1216">The latency can be returned by reference.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="882.25" y="241.2544">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="932.25" y="241.2544">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="964.25" y="241.2544">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="876.25" x2="1565.25" y1="249.3203" y2="249.3203"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="876.25" x2="1565.25" y1="251.3203" y2="251.3203"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="876.25" x2="1149.75" y1="261.8867" y2="261.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1153.75" y="265.8872"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="1153.75" y="265.8872">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="1202.75" y="265.8872">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1291.75" x2="1565.25" y1="261.8867" y2="261.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="882.25" y="281.52">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="935.25" y="281.52">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="75" x="1043.25" y="281.52">on success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="882.25" y="296.6528">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="192" x="935.25" y="296.6528">URT_STATUS_FETCH_NOTOPIC</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="282" x="1131.25" y="296.6528">if the subscriber is not associated to a topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="882.25" y="311.7856">Retruns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="935.25" y="311.7856">URT_STATUS_FETCH_NOMESSAGE</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="228" x="1147.25" y="311.7856">if there is no new message to fetch.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="882.25" y="326.9185">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="935.25" y="326.9185">URT_STATUS_JITTERVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="403" x="1147.25" y="326.9185">if the message's latency violated the maximum expected jitter.</text><ellipse cx="1220.75" cy="364.9844" fill="#000000" filter="url(#fw8r9eje3asw)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#fw8r9eje3asw)" points="1158.25,394.9844,1283.25,394.9844,1295.25,406.9844,1283.25,418.9844,1158.25,418.9844,1146.25,406.9844,1158.25,394.9844" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="125" x="1158.25" y="410.7925">Associated to a topic?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1126.25" y="404.3901">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1295.25" y="404.3901">no</text><rect fill="#FEFECE" filter="url(#fw8r9eje3asw)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="692.5" y="428.9844"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="702.5" y="450.123">lock topic</text><rect fill="#FFFFFF" filter="url(#fw8r9eje3asw)" height="540.7378" style="stroke: #000000; stroke-width: 2.0;" width="1442" x="10" y="473.7549"/><path d="M155,474.7549 L155,483.0518 L145,493.0518 L10,493.0518 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="135" x="13" y="487.75">find latest message</text><rect fill="#FEFECE" filter="url(#fw8r9eje3asw)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="145" x="660" y="510.0518"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="44" x="670" y="531.1904">access</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="77" x="718" y="531.1904">lastMessage</text><rect fill="#000000" filter="url(#fw8r9eje3asw)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1377" x="44" y="619.731"/><rect fill="#FEFECE" filter="url(#fw8r9eje3asw)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="489.5" y="645.731"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="161" x="499.5" y="666.8696">proceed to next message</text><rect fill="#000000" filter="url(#fw8r9eje3asw)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1044" x="58" y="708.1841"/><rect fill="#FEFECE" filter="url(#fw8r9eje3asw)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="329" x="72" y="741.1685"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="309" x="82" y="762.3071">decrement message's counter of HRT consumers</text><rect fill="#EEEEEE" filter="url(#fw8r9eje3asw)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="301" x="429" y="734.1841"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="429" x2="463.5" y1="751.1685" y2="751.1685"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="232" x="463.5" y="754.8228">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="695.5" x2="730" y1="751.1685" y2="751.1685"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="281" x="439" y="769.2915">decrement message's counter of consumers</text><rect fill="#EEEEEE" filter="url(#fw8r9eje3asw)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="330" x="758" y="734.1841"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="758" x2="768" y1="751.1685" y2="751.1685"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="310" x="768" y="754.8228">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1078" x2="1088" y1="751.1685" y2="751.1685"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="768" y="769.2915">reset QoS deadline timer</text><rect fill="#000000" filter="url(#fw8r9eje3asw)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1044" x="58" y="802.1216"/><rect fill="#EEEEEE" filter="url(#fw8r9eje3asw)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="277" x="1130" y="699.6997"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1130" x2="1153.5" y1="716.6841" y2="716.6841"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="230" x="1153.5" y="720.3384">URT_CFG:PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1383.5" x2="1407" y1="716.6841" y2="716.6841"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="257" x="1140" y="734.8071">increment counter of received messages</text><rect fill="#000000" filter="url(#fw8r9eje3asw)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1377" x="44" y="828.1216"/><rect fill="#FEFECE" filter="url(#fw8r9eje3asw)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="217" x="624" y="902.5239"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="197" x="634" y="923.6626">signal topic's condition variable</text><polygon fill="#FEFECE" filter="url(#fw8r9eje3asw)" points="623.5,854.1216,841.5,854.1216,853.5,866.1216,841.5,878.1216,623.5,878.1216,611.5,866.1216,623.5,854.1216" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="736.5" y="888.332">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="218" x="623.5" y="869.9297">HRT counter of a message became 0?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="853.5" y="863.5273">no</text><polygon fill="#FEFECE" filter="url(#fw8r9eje3asw)" points="732.5,956.4927,744.5,968.4927,732.5,980.4927,720.5,968.4927,732.5,956.4927" style="stroke: #A80036; stroke-width: 1.5;"/><polygon fill="#FEFECE" filter="url(#fw8r9eje3asw)" points="615.5,564.0205,849.5,564.0205,861.5,576.0205,849.5,588.0205,615.5,588.0205,603.5,576.0205,615.5,564.0205" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="736.5" y="598.231">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="234" x="615.5" y="579.8286">Timestamp of next message is younger?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="589.5" y="573.4263">no</text><polygon fill="#FEFECE" filter="url(#fw8r9eje3asw)" points="646.5,1034.4927,818.5,1034.4927,830.5,1046.4927,818.5,1058.4927,646.5,1058.4927,634.5,1046.4927,646.5,1034.4927" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="646.5" y="1050.3008">Timestamp equals local copy?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="614.5" y="1043.8984">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="830.5" y="1043.8984">no</text><rect fill="#FEFECE" filter="url(#fw8r9eje3asw)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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<?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="1900px" preserveAspectRatio="none" style="width:1792px;height:1900px;" version="1.1" viewBox="0 0 1792 1900" width="1792px" zoomAndPan="magnify"><defs><filter height="300%" id="f15mjsst8r4upa" 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="850.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="338" x="726" y="47.6611">urtHrtSubscriberFetchLatestMessage()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="898" y="68.6143"/><path d="M899.25,72.8594 L899.25,334.9844 L1588.25,334.9844 L1588.25,82.8594 L1578.25,72.8594 L899.25,72.8594 " fill="#FBFB77" filter="url(#f15mjsst8r4upa)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1578.25,72.8594 L1578.25,82.8594 L1588.25,82.8594 L1578.25,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="899.25" x2="1130.75" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1134.75" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="1134.75" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="136" x="1216.75" y="89.4263">: urt_hrtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1356.75" x2="1588.25" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="313" x="905.25" y="105.0591">The HRT subscriber that shall fetch the message.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="905.25" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="985.25" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1017.25" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="899.25" x2="1187.75" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1191.75" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="59" x="1191.75" y="134.8247">payload</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="1254.75" y="134.8247">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1299.75" x2="1588.25" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="238" x="905.25" y="150.4575">Pointer where to copy the payload to.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="905.25" y="165.5903">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="955.25" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="195" x="991.25" y="165.5903">for messages without payload.</text><line style="stroke: #A80036; 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2 | 2 |
@startuml |
3 | 3 |
|
4 | 4 |
title **µRtWare**\nurtHrtSubscriberFetchLatestMessage()\n |
5 | 5 |
|
6 |
!include ../functions.iuml |
|
7 |
|
|
8 |
/'### PARAMETERS & RETURN ####################################################'/ |
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9 |
|
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10 |
note |
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11 |
- - **subscriber** : urt_hrtsubscriber_t* - - |
|
12 |
The HRT subscriber that shall fetch the message. |
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13 |
Must not be ""NULL"". |
|
14 |
- - **payload** : void* - - |
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15 |
Pointer where to copy the payload to. |
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16 |
May be ""NULL"" for messages without payload. |
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17 |
- - **bytes** : size_t - - |
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18 |
Payload size in bytes. |
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19 |
- - **latency** : urt_delay_t* - - |
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20 |
The latency can be returned by reference. |
|
21 |
May be ""NULL"". |
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22 |
==== |
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23 |
- - **return** : urt_status_t - - |
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24 |
Returns ""URT_STATUS_OK"" on success. |
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25 |
Returns ""URT_STATUS_FETCH_NOTOPIC"" if the subscriber is not associated to a topic. |
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26 |
Retruns ""URT_STATUS_FETCH_NOMESSAGE"" if there is no new message to fetch. |
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27 |
Returns ""URT_STATUS_JITTERVIOLATION"" if the message's latency violated the maximum expected jitter. |
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28 |
endnote |
|
29 |
|
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30 |
/'### PROCEDURE ##############################################################'/ |
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31 |
|
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32 |
start |
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33 |
if (Associated to a topic?) then (yes) |
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34 |
:lock topic; |
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35 |
partition "find latest message" { |
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36 |
:access ""lastMessage""; |
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37 |
while (Timestamp of next message is younger?) is (yes) |
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38 |
fork |
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39 |
:proceed to next message; |
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40 |
fork |
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41 |
:decrement message's counter of HRT consumers; |
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42 |
fork again |
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43 |
#EEEEEE:..//URT_CFG_PUBSUB_PROFILING == true//..\ndecrement message's counter of consumers; |
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44 |
fork again |
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45 |
#EEEEEE:..//URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true//..\nreset QoS deadline timer; |
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46 |
endfork |
|
47 |
fork again |
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48 |
#EEEEEE:..//URT_CFG:PUBSUB_PROFILING == true//..\nincrement counter of received messages; |
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49 |
endfork |
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50 |
if (HRT counter of a message became 0?) then (yes) |
|
51 |
:signal topic's condition variable; |
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52 |
else (no) |
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53 |
endif |
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54 |
endwhile (no) |
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55 |
} |
|
56 |
if (Timestamp equals local copy?) then (yes) |
|
57 |
:unlock topic; |
|
58 |
stop |
|
59 |
note |
|
60 |
Returns ""URT_STATUS_FETCH_NOMESSAGE"". |
|
61 |
endnote |
|
62 |
else (no) |
|
63 |
:calculate message latency; |
|
64 |
fork |
|
65 |
#EEEEEE:..//URT:CFG_PUBSUB_PROFILING == true//..\naccumulate ""sumLatencies"" value; |
|
66 |
fork again |
|
67 |
if (Optional ""latency"" output argument given?) then (yes) |
|
68 |
:set ""latency"" value; |
|
69 |
else (no) |
|
70 |
endif |
|
71 |
endfork |
|
72 |
endif |
|
73 |
partition "//URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true//" #EEEEEE { |
|
74 |
if (Latency is within allowed jitter range?) then (yes) |
|
75 |
if (Latency is lower than ""minlatency""?) then (yes) |
|
76 |
#EEEEEE:update ""minLatency"" value; |
|
77 |
elseif (Latency is greater than ""maxLatency"" value?) then (yes) |
|
78 |
#EEEEEE:update ""maxLatency"" value; |
|
79 |
else (no) |
|
80 |
endif |
|
81 |
else (no) |
|
82 |
partition "//URT_CFG_PUBSUB_QOS_JITTERCHECKS == true//" #EEEEEE { |
|
83 |
#EEEEEE:unlock topic; |
|
84 |
#EEEEEE:call ""urtCoreStopNodes(URT_STATUS_JITTERVIOLATION)""; |
|
85 |
stop |
|
86 |
note |
|
87 |
Returns ""URT_STATUS_JITTERVIOLATION"". |
|
88 |
endnote |
|
89 |
} |
|
90 |
endif |
|
91 |
} |
|
92 |
fork |
|
93 |
$fetch_message() |
|
94 |
fork again |
|
95 |
#EEEEEE:..//URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true//..\nreset QoS deadline timer; |
|
96 |
endfork |
|
97 |
:unlock topic; |
|
98 |
stop |
|
99 |
note |
|
100 |
Returns ""URT_STATUS_OK"". |
|
101 |
endnote |
|
102 |
else (no) |
|
103 |
stop |
|
104 |
note |
|
105 |
Returns ""URT_STATUS_FETCH_NOTOPIC"". |
|
106 |
endnote |
|
107 |
endif |
|
108 |
|
|
109 |
/'### OUTRO ##################################################################'/ |
|
110 |
|
|
111 |
@enduml |
|
112 |
|
|
113 |
@startuml |
|
114 |
|
|
115 |
title **µRtWare**\nurtHrtSubscriberFetchLatestMessage()\n |
|
6 | 116 |
|
7 | 117 |
|
8 | 118 |
|
... | ... | |
111 | 221 |
else (no) |
112 | 222 |
stop |
113 | 223 |
note |
114 |
Returns ""URT_STATUS_ERROR"".
|
|
224 |
Returns ""URT_STATUS_FETCH_NOTOPIC"".
|
|
115 | 225 |
endnote |
116 | 226 |
endif |
117 | 227 |
|
118 | 228 |
|
119 | 229 |
@enduml |
120 | 230 |
|
121 |
PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
|
|
231 |
PlantUML version 1.2020.15(Sun Jun 28 13:39:45 CEST 2020)
|
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122 | 232 |
(GPL source distribution) |
123 | 233 |
Java Runtime: OpenJDK Runtime Environment |
124 | 234 |
JVM: OpenJDK 64-Bit Server VM |
125 |
Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04 |
|
126 |
Operating System: Linux |
|
127 | 235 |
Default Encoding: UTF-8 |
128 |
Language: en
|
|
129 |
Country: US
|
|
236 |
Language: de
|
|
237 |
Country: DE
|
|
130 | 238 |
--></g></svg> |
Also available in: Unified diff