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**\nurtPublisherInit()\n

!include ../functions.iuml

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

note

  -- **publisher** : urt_publisher_t* --

  The publisher to initialize.

  Must not be ""NULL"".

  -- **topic** : urt_topic_t* --

  The topic, this publisher is associated to.

  Must not be ""NULL"".

  -- **messages** : urt_message_t* --

  ""NULL"" terminated list of messages to contribute to the topic.

  Messages must not be associated to another topic.

  Once a message has been contributed, it cannot be removed later.

  May be ""NULL"" (no messages to contribute).

  ====

  -- **return** : urt_status_t --

  Always returns ""URT_STATUS_OK"".

endnote

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

start

:initialize members;

note

  **topic** ← topic

  .. URT_CFG_PUBSUB_PROFILING == true ..

  **publishAttempts** ← 0

  **publishFails** ← 0

endnote

if (Messages to contribute?) then (yes)

  :lock topic;

  $contribute_messages()

  :unlock topic;

else (no)

endif

stop

note

  Returns ""URT_STATUS_OK"".

endnote

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

@enduml