AMiRo-OS

<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="890px" preserveAspectRatio="none" style="width:1865px;height:890px;" version="1.1" viewBox="0 0 1865 890" width="1865px" zoomAndPan="magnify"><defs><filter height="300%" id="f1utu8khfxyd7p" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="887.25" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="328" x="767.75" y="47.6611">urtHrtSubscriberFetchNextMessage()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="934.75" y="68.6143"/><path d="M1072.375,72.8594 L1072.375,304.7188 L1560.375,304.7188 L1560.375,82.8594 L1550.375,72.8594 L1072.375,72.8594 " fill="#FBFB77" filter="url(#f1utu8khfxyd7p)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1550.375,72.8594 L1550.375,82.8594 L1560.375,82.8594 L1550.375,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1072.375" x2="1203.375" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1207.375" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="1207.375" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="136" x="1289.375" y="89.4263">: urt_hrtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1429.375" x2="1560.375" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="313" x="1078.375" y="105.0591">The HRT subscriber that shall fetch the message.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="1078.375" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1158.375" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1190.375" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1072.375" x2="1260.375" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1264.375" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="59" x="1264.375" y="134.8247">payload</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="1327.375" y="134.8247">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1372.375" x2="1560.375" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="238" x="1078.375" y="150.4575">Pointer where to copy the payload to.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="1078.375" y="165.5903">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1128.375" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="195" x="1164.375" y="165.5903">for messages without payload.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1072.375" x2="1267.375" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1271.375" y="180.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="1271.375" y="180.2231">bytes</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="45" x="1316.375" y="180.2231">: size_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1365.375" x2="1560.375" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="137" x="1078.375" y="195.856">Payload size in bytes.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1072.375" x2="1240.875" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1244.875" y="210.4888"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="53" x="1244.875" y="210.4888">latency</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="86" x="1301.875" y="210.4888">: urt_delay_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1391.875" x2="1560.375" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="267" x="1078.375" y="226.1216">The latency can be returned by reference.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="1078.375" y="241.2544">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1128.375" y="241.2544">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1160.375" y="241.2544">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1072.375" x2="1560.375" y1="249.3203" y2="249.3203"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1072.375" x2="1560.375" y1="251.3203" y2="251.3203"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1072.375" x2="1245.375" y1="261.8867" y2="261.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1249.375" y="265.8872"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="1249.375" y="265.8872">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="1298.375" y="265.8872">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1387.375" x2="1560.375" y1="261.8867" y2="261.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1078.375" y="281.52">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="1131.375" y="281.52">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="75" x="1239.375" y="281.52">on success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1078.375" y="296.6528">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="128" x="1131.375" y="296.6528">URT_STATUS_ERROR</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="282" x="1263.375" y="296.6528">if the subscriber is not associated to a topic.</text><ellipse cx="1316.375" cy="334.7188" fill="#000000" filter="url(#f1utu8khfxyd7p)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#f1utu8khfxyd7p)" points="1253.875,364.7188,1378.875,364.7188,1390.875,376.7188,1378.875,388.7188,1253.875,388.7188,1241.875,376.7188,1253.875,364.7188" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="125" x="1253.875" y="380.5269">Associated to a topic?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1221.875" y="374.1245">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1390.875" y="374.1245">no</text><rect fill="#FEFECE" filter="url(#f1utu8khfxyd7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="761.25" y="398.7188"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="771.25" y="419.8574">lock topic</text><rect fill="#FEFECE" filter="url(#f1utu8khfxyd7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="710.75" y="452.6875"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="161" x="720.75" y="473.8262">proceed to next message</text><rect fill="#000000" filter="url(#f1utu8khfxyd7p)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1582.5" x="10" y="506.6563"/><rect fill="#FFFFFF" filter="url(#f1utu8khfxyd7p)" height="231.4063" style="stroke: #000000; stroke-width: 2.0;" width="960" x="22" y="523.458"/><path d="M135,524.458 L135,532.7549 L125,542.7549 L22,542.7549 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="103" x="25" y="537.4531">fetch message</text><rect fill="#000000" filter="url(#f1utu8khfxyd7p)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="940" x="32" y="559.7549"/><rect fill="#FEFECE" filter="url(#f1utu8khfxyd7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="796" y="619.9653">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="672.5" y="601.563">Optional output argument</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="49" x="822.5" y="601.563">latency</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="36" x="875.5" y="601.563">given?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="923.5" y="595.1606">no</text><polygon fill="#FEFECE" filter="url(#f1utu8khfxyd7p)" points="792,692.5283,804,704.5283,792,716.5283,780,704.5283,792,692.5283" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#000000" filter="url(#f1utu8khfxyd7p)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="940" x="32" y="736.5283"/><rect fill="#FEFECE" filter="url(#f1utu8khfxyd7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="240" x="992" y="543.1221"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="220" x="1002" y="564.2607">decrement message's HRT counter</text><rect fill="#FEFECE" filter="url(#f1utu8khfxyd7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="217" x="1003.5" y="660.4932"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="197" x="1013.5" y="681.6318">signal topic's condition variable</text><polygon fill="#FEFECE" filter="url(#f1utu8khfxyd7p)" points="1044.5,612.0908,1179.5,612.0908,1191.5,624.0908,1179.5,636.0908,1044.5,636.0908,1032.5,624.0908,1044.5,612.0908" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1116" y="646.3013">no</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="135" x="1044.5" y="627.8989">HRT counter became 0?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1191.5" y="621.4966">yes</text><polygon fill="#FEFECE" filter="url(#f1utu8khfxyd7p)" points="1112,718.8643,1124,730.8643,1112,742.8643,1100,730.8643,1112,718.8643" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#FEFECE" filter="url(#f1utu8khfxyd7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="1280.5" y="626.0088"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="266" x="1290.5" y="647.1475">update QoS delay timer wrt. next message</text><polygon fill="#FEFECE" filter="url(#f1utu8khfxyd7p)" points="1306.5,577.6064,1540.5,577.6064,1552.5,589.6064,1540.5,601.6064,1306.5,601.6064,1294.5,589.6064,1306.5,577.6064" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1427.5" y="611.8169">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="234" x="1306.5" y="593.4146">Timestamp of next message is younger?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1552.5" y="587.0122">no</text><polygon fill="#FEFECE" filter="url(#f1utu8khfxyd7p)" points="1423.5,684.3799,1435.5,696.3799,1423.5,708.3799,1411.5,696.3799,1423.5,684.3799" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#000000" filter="url(#f1utu8khfxyd7p)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1582.5" x="10" y="774.8643"/><rect fill="#FEFECE" filter="url(#f1utu8khfxyd7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="96" x="753.25" y="800.8643"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="76" x="763.25" y="822.0029">unlock topic</text><path d="M588.25,853.2666 L588.25,878.3994 A0,0 0 0 0 588.25,878.3994 L770.25,878.3994 A0,0 0 0 0 770.25,878.3994 L770.25,871.2666 L790.25,865.833 L770.25,863.2666 L770.25,863.2666 L760.25,853.2666 L588.25,853.2666 A0,0 0 0 0 588.25,853.2666 " fill="#FBFB77" filter="url(#f1utu8khfxyd7p)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M760.25,853.2666 L760.25,863.2666 L770.25,863.2666 L760.25,853.2666 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="594.25" y="870.3335">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="647.25" y="870.3335">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="751.25" y="870.3335">.</text><ellipse cx="801.25" cy="865.833" fill="#FFFFFF" filter="url(#f1utu8khfxyd7p)" rx="11" ry="11" style="stroke: #000000; 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      partition "fetch message" {

    fork

      :update message pointer;

    fork again

        :copy timestamp of message;

    fork again

      :copy message payload;

    fork again

      if (Optional output argument ""latency"" given?) then (yes)

        :set ""latency"" value (now - message origin time);

      else (no)

      endif

    endfork

  }