urtware / doc / activitydiagrams / subscriber / urtHrtSubscriberUnsubscribe.uml @ e87bd7c7
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1 | ee83a495 | 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**\nurtHrtSubscriberUnsubscribe()\n |
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27 | |||
28 | /'### PARAMETERS & RETURN ####################################################'/ |
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29 | |||
30 | start |
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31 | note |
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32 | -- **subscriber** : urt_hrtsubscriber_t* -- |
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33 | The HRT subscriber to be unsubscribed. |
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34 | Must not be ""NULL"". |
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35 | ==== |
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36 | -- **return** : urt_status_t -- |
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37 | Returns ""URT_STATUS_OK"" on sucess. |
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38 | Returns ""URT_STATUS_ERROR"" if the subscriber is not associated to a topic. |
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39 | endnote |
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40 | |||
41 | /'### PROCEDURE ##############################################################'/ |
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42 | |||
43 | if (Associated to a topic?) then (yes) |
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44 | :lock topic; |
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45 | fork |
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46 | :unregister event; |
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47 | note |
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48 | Must be within lock because of HRT counter. |
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49 | endnote |
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50 | fork again |
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51 | :decrement topic's HRT counter; |
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52 | fork again |
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53 | :remove self from topic's list of HRT subscribers; |
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54 | if (Was the most critical subscriber?) then (yes) |
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55 | :update QoS rate timer (@topic); |
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56 | else (no) |
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57 | endif |
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58 | fork again |
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59 | :access last read message; |
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60 | while (Timestamp of next message is younger?) is (yes) |
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61 | fork |
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62 | :proceed to next message; |
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63 | fork again |
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64 | :decrement next message's HRT counter; |
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65 | endfork |
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66 | endwhile (no) |
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67 | if (The HRT counter of any message became 0?) then (yes) |
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68 | :signal topic's condition variable; |
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69 | else (no) |
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70 | endif |
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71 | endfork |
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72 | :unlock topic; |
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73 | :reset members; |
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74 | note |
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75 | -- urt_basesubscriber_t -- |
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76 | **topic** ← ""NULL"" |
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77 | **lastMessage** ← ""NULL"" |
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78 | **lastMessageTime** ← 0 |
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79 | .. URT_CFG_PUBSUB_PROFILING == true .. |
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80 | **sumLatencies** ← 0 |
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81 | **numMessagesReceived** ← 0 |
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82 | -- urt_hrtsubscriber_t -- |
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83 | .. URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true .. |
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84 | **deadlineOffset** ← 0 |
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85 | .. URT_CFG_PUBSUB_QOS_RATECHECKS == true .. |
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86 | **expectedRate** ← 0 |
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87 | .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true .. |
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88 | **maxJitter** ← 0 |
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89 | .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true .. |
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90 | **minLatency** ← 0xF..F |
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91 | **maxLatency** ← 0 |
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92 | endnote |
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93 | stop |
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94 | note |
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95 | Returns ""URT_STATUS_OK"". |
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96 | endnote |
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97 | else (no) |
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98 | stop |
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99 | note |
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100 | Returns ""URT_STATUS_ERROR"". |
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101 | endnote |
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102 | endif |
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103 | |||
104 | /'### OUTRO ##################################################################'/ |
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105 | |||
106 | @enduml |