Statistics
| Branch: | Revision:

urtware / doc / activitydiagrams / publisher / urtPublisherPublish.uml @ e87bd7c7

History | View | Annotate | Download (3.021 KB)

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