AMiRo-OS

/'

µRtWare is a lightweight publish/subscribe middleware for real-time

applications. It was developed as part of the software habitat for the

Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.

Copyright (C) 2018..2020  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

'/

/'### INTRO ##################################################################'/

@startuml

title **µRtWare**\nurtHrtSubscriberInit()\n

/'### PARAMETERS & RETURN ####################################################'/

note

  -- ""**subscriber** : urt_hrtsubscriber_t*"" --

  The HRT subscriber to initialize.

  Must not be ""NULL"".

endnote

/'### PROCEDURE ##############################################################'/

start

:initialize members;

note

  -- urt_basesubscriber_t --

  **topic** ← ""NULL""

  urtEventListenerInit(**evtListener**)

  **lastMessage** ← ""NULL""

  **lastMessageTime** ← 0

  .. URT_CFG_PUBSUB_PROFILING == true ..

  **sumLatencies** ← 0

  **numMessagesReceived** ← 0

  -- urt_hrtsubscriber_t --

  **next** ← ""NULL""

  .. URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true ..

  **deadlineOffset** ← 0

  urtTimerInit(**qosDeadlineTimer**)

  .. URT_CFG_PUBSUB_QOS_RATECHECK == true ..

  **expectedRate** ← 0

  .. URT_CFG_PUBSUB_QOS_JITTERCHECK == true ..

  **maxJitter** ← 0

  .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true ..

  **minLatency** ← 0xF..F

  **maxLatency** ← 0

endnote

stop

note

  Returns ""URT_STATUS_OK"".

endnote

/'### OUTRO ##################################################################'/

@enduml