urtware / doc / activitydiagrams / publisher / urtPublisherPublish.uml @ e87bd7c7
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1 | 7491c395 | Thomas Schöpping | /' |
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2 | µRtWare is a lightweight publish/subscribe middleware for real-time |
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3 | applications. It was developed as part of the software habitat for the |
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4 | Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well. |
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5 | |||
6 | Copyright (C) 2018..2020 Thomas Schöpping et al. |
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7 | |||
8 | This program is free software: you can redistribute it and/or modify |
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9 | it under the terms of the GNU General Public License as published by |
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10 | the Free Software Foundation, either version 3 of the License, or |
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11 | (at your option) any later version. |
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12 | |||
13 | This program is distributed in the hope that it will be useful, |
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14 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
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15 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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16 | GNU General Public License for more details. |
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17 | |||
18 | You should have received a copy of the GNU General Public License |
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19 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
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20 | '/ |
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21 | |||
22 | /'### INTRO ##################################################################'/ |
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23 | |||
24 | @startuml |
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25 | |||
26 | title **µRtWare**\nurtPublisherPublish()\n |
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27 | |||
28 | ee83a495 | Thomas Schöpping | /'### PARAMETERS & RETURN ####################################################'/ |
29 | 7491c395 | Thomas Schöpping | |
30 | note |
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31 | ee83a495 | Thomas Schöpping | -- **publisher** : urt_publisher_t* -- |
32 | 7491c395 | Thomas Schöpping | Pointer to the publisher to use. |
33 | Must not be ""NULL"". |
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34 | ee83a495 | Thomas Schöpping | -- **payload** : void* -- |
35 | 7491c395 | Thomas Schöpping | Pointer to the data to be published. |
36 | May be ""NULL"" for messages without payload. |
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37 | ee83a495 | Thomas Schöpping | -- **n** : size_t -- |
38 | 7491c395 | Thomas Schöpping | Size of the payload in bytes. |
39 | ee83a495 | Thomas Schöpping | -- **t** : urt_osTime_t -- |
40 | 7491c395 | Thomas Schöpping | Timestamp to be set for the message. |
41 | ee83a495 | Thomas Schöpping | -- **timeout** : urt_delay_t -- |
42 | 7491c395 | Thomas Schöpping | Timeout delay in case the message cannot be published. |
43 | ee83a495 | Thomas Schöpping | ==== |
44 | -- **return** : urt_status_t -- |
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45 | Returns ""URT_STATUS_OK"" on success. |
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46 | Returns ""URT_STATUS_ERROR"" on timeout. |
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47 | endnote |
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48 | 7491c395 | Thomas Schöpping | |
49 | /'### PROCEDURE ##############################################################'/ |
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50 | |||
51 | ee83a495 | Thomas Schöpping | start |
52 | 7491c395 | Thomas Schöpping | :lock topic; |
53 | ee83a495 | Thomas Schöpping | :access topic's next message; |
54 | while (HRT consumers left for the message?) is (yes) |
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55 | :wait for topic's condition variable (using topic's mutex) to be signaled or timeout; |
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56 | if (Timeout occurred?) then (yes) |
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57 | :unlock topic; |
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58 | stop |
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59 | note |
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60 | Returns ""URT_STATUS_ERROR"". |
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61 | endnote |
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62 | c22d21ad | Thomas Schöpping | else (no) |
63 | ee83a495 | Thomas Schöpping | if (Message timestamp was modified?) then (yes) |
64 | :access topic's next message; |
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65 | else (no) |
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66 | endif |
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67 | c22d21ad | Thomas Schöpping | endif |
68 | 7491c395 | Thomas Schöpping | endwhile (no) |
69 | ee83a495 | Thomas Schöpping | fork |
70 | 7491c395 | Thomas Schöpping | fork |
71 | ee83a495 | Thomas Schöpping | :iterate topic pointer to this message; |
72 | 7491c395 | Thomas Schöpping | fork again |
73 | ee83a495 | Thomas Schöpping | :copy payload to message; |
74 | 7491c395 | Thomas Schöpping | fork again |
75 | ee83a495 | Thomas Schöpping | :set origin time of message; |
76 | fork again |
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77 | :set number of HRT consumers (from topic); |
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78 | 7491c395 | Thomas Schöpping | endfork |
79 | ee83a495 | Thomas Schöpping | fork again |
80 | :set QoS rate timer (@topic) wrt. most critical HRT subscriber; |
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81 | fork again |
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82 | while (HRT subscribers left?) is (yes) |
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83 | if (QoS delay timer (@subscriber) is not armed?) then (yes) |
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84 | :set QoS delay timer (@subscriber) wrt. origin time of the message; |
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85 | note: No lock required since this timer is only accessed when the topic is locked. |
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86 | else (no) |
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87 | endif |
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88 | :iterate to next HRT subscriber; |
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89 | endwhile (no) |
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90 | endfork |
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91 | :fire event; |
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92 | note: Msut be within topic lock because of HRT counter. |
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93 | :unlock topic; |
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94 | 7491c395 | Thomas Schöpping | stop |
95 | note |
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96 | ee83a495 | Thomas Schöpping | Returns ""URT_STATUS_OK"". |
97 | endnote |
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98 | 7491c395 | Thomas Schöpping | |
99 | /'### OUTRO ##################################################################'/ |
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100 | |||
101 | @enduml |