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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**
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!include ./functions.iuml
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/'### ENTITIES ###############################################################'/
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!startsub ENTITIES
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/' µRtWare core structure. '/
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$structure("urt_core_t") {
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    'List of nodes ordered by their (initial) priority.
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  - {field} {static} _nodes : urt_node_t*
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    'Event source for control events.
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  - {field} {static} _evtSource : urt_osEventSource_t
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    'Mutex used for synchronization.
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  - {field} {static} _lock : urt_osMutex_t
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    'System execution/health status.
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  - {field} {static} _status : urt_status_t
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  .. URT_CFG_PUBSUB_ENABLED == true ..
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    'List of topics ordered by their identifiers.
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  - {field} {static} _topics : urt_topic_t*
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  .. URT_CFG_RPC_ENABLED == true ..
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    'List of services ordered by their identifiers.
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  - {field} {static} _services : urt_service_t*
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  __
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    'Initializes the urt_core_t object.
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  + {method} urtCoreInit (void) : void
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    'Retrieves the current system status.
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  + {method} urtCoreGetStatus (void) : urt_status_t
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    'Starts all node threads (nodes will block before the loop).
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  + {method} urtCoreGetEventMask (void) : urt_osEventMask_t
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    'Retrieve the core event mask.
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  + {method} urtCoreGetEvtSource (void) : urt_osEventSource_t*
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    'Retrieve the core event source.
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  + {method} urtCoreStartNodes (void) : void
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    'Nodes can use this function to synchronize.
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  + {method} urtCoreSynchronizeNodes (node : urt_node_t*) : urt_status_t
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    'Stops all nodes and propagates a specified reason.
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  + {method} urtCoreStopNodes (reason : urt_status_t) : urt_status_t
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    'Retrieve the core event source.
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  + {method} urtCoreGetEventSource (void) : urt_osEventSource_t*
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    'Retrieve the core mutex lock.
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  + {method} urtCoreGetMutex (void) : urt_osMutex_t*
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  + {method} urtCoreGetNodes (void) : urt_node_t*
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    'Retrieve node of the core.
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  + {method} urtCoreAddNode (node : urt_node_t*) : urt_status_t
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    'Prepend node to core's list of nodes..
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  .. URT_CFG_PUBSUB_ENABLED == true ..
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    'Retrieves a topic given an identifier.
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  + {method} urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*
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    'Append topic to core's list of topics.
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  + {method} urtCoreAddTopic (topic : urt_topic_t*) : urt_status_t
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  .. URT_CFG_RPC_ENABLED == true ..
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    'Retrieves a service given an identifier.
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  + {method} urtCoreGetService (id : urt_serviceid_t) : urt_service_t*
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  + {method} urtCoreAddService (service : urt_service_t*) : urt_status_t
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}
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$group("node") {
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  /' Function type to be called during setup phase of node threads. '/
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  $type("urt_nodeSetupCallback_t") {
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      'Takes the node and optional parameters as arguments and returns a event mask for the next iteration.
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    urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t
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  }
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  /' Function type to be called during loop phase of node threads. '/
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  $type("urt_nodeLoopCallback_t") {
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      'Takes the node, a mask of occurred events and optional parameters as arguments and returns a event mask for the next iteration.
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    urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t
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  }
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  /' Function type to be called during shutdown phase of node threads. '/
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  $type("urt_nodeShutdownCallback_t") {
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      'Takes the node, an error code defining the cause of the shutdown and optional parameters as argumnets.
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    urt_nodeShutdownCallback_t (node : urt_node_t*, cause : urt_status_t, arg : void*) : void
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  }
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  /' Node structure. '/
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  $structure("urt_node_t") {
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      'Pointer to the next node in a list.
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    + {field} next : urt_node_t*
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      'Pointer to the node thread.
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    + {field} thread : urt_osThread_t*
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      'Optional callback function to be called during the setup phase.
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    + {field} setupcallback : urt_nodeSetupCallback_t*
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      'Optional parameters for the setup callback function.
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    + {field} setupparams : void*
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      'Callback function to be called in each loop iteration.
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    + {field} loopcallback : urt_nodeLoopCallback_t*
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      'Optional parameters for the loop callback function.
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    + {field} loopparams : void*
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      'Optional callback function to be called during the shutdown phase.
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    + {field} shutdowncallback : urt_nodeShutdownCallback_t*
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      'Optional parameters for the shutdown callback function.
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    + {field} shutdownparams : void*
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      'Execution stage of the node.
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    + {field} stage : urt_nodestage_t
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      'Event listener for middleware-wide control events.
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    + {field} listener : urt_osEventListener_t
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    .. URT_CFG_PUBSUB_PROFILING == true || URT_CFG_RPC_PROFILING = true ..
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      'Counter of executed loops.
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    + {field} loops : uint64_t
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    __
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    'The main() function of the node thread.
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    - {method} {static} _main : urt_osThreadFunction_t
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      'Initializes an urt_node_t object.
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    + {method} urtNodeInit (node : urt_node_t*, thread : urt_osThread_t*, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*, shutdowncallback : urt_nodeShutdownCallback_t*, shutodwnparams : void*) : void
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  }
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} /'node'/
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$module("Publish-Subscribe System") {
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  !includesub pubsub.uml!ENTITIES
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}
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$module("Remote Procedure Call System") {
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  !includesub rpc.uml!ENTITIES
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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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urt_node_t "1" o-- "0,1" urt_node_t
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urt_node_t "1" o-- "0,1" urt_nodeSetupCallback_t
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urt_node_t <.. urt_nodeSetupCallback_t
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urt_node_t "1" o-- "1" urt_nodeLoopCallback_t
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urt_node_t <.. urt_nodeLoopCallback_t
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urt_node_t "1" o-- "0,1" urt_nodeShutdownCallback_t
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urt_node_t <.. urt_nodeShutdownCallback_t
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!includesub pubsub.uml!DEPENDENCIES
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!includesub rpc.uml!DEPENDENCIES
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urt_core_t "1" o-- "0,1" urt_node_t
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urt_core_t "1" o-- "0,1" urt_topic_t
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urt_core_t "1" o-- "0,1" urt_service_t
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!endsub
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/'### OUTRO ##################################################################'/
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@enduml