urtware / doc / activitydiagrams / subscriber / functions.iuml @ e87bd7c7
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1 | e87bd7c7 | 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 | /' Fetch a message and update/copy all data. '/ |
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23 | !function $fetch_message() |
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24 | partition "fetch message" { |
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25 | fork |
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26 | :update message pointer; |
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27 | fork again |
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28 | :copy timestamp of message; |
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29 | fork again |
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30 | :copy message payload; |
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31 | fork again |
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32 | if (Optional output argument ""latency"" given?) then (yes) |
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33 | :set ""latency"" value (now - message origin time); |
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34 | else (no) |
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35 | endif |
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36 | endfork |
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37 | } |
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38 | !endfunction |
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39 | |||
40 | /' Find the latest message in the circular message buffer. '/ |
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41 | !function $find_latest_message() |
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42 | partition "find latest message" { |
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43 | :access last read message; |
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44 | while (Timestamp of next message is younger?) is (yes) |
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45 | :proceed to next message; |
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46 | endwhile (no) |
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47 | } |
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48 | !endfunction |
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49 | |||
50 | /' Find the oldest message in the circular message buffer. '/ |
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51 | !function $find_oldest_message() |
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52 | partition "find oldest valid message" { |
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53 | if (Timestamp of last read message euqals local copy?) then (yes) |
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54 | else (no) |
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55 | while (Timestamp of next message is younger?) is (yes) |
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56 | :proceed to next message; |
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57 | endwhile (no) |
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58 | endif |
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59 | :proceed to next message; |
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60 | } |
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61 | !endfunction |