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="1098px" preserveAspectRatio="none" style="width:1281px;height:1098px;" version="1.1" viewBox="0 0 1281 1098" width="1281px" zoomAndPan="magnify"><defs><filter height="300%" id="fhsp3n667pfg2" 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="595" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="324" x="477.5" y="47.6611">urtFrtSubscriberFetchNextMessage()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="642.5" y="68.6143"/><path d="M631,72.8594 L631,304.7188 L1119,304.7188 L1119,82.8594 L1109,72.8594 L631,72.8594 " fill="#FBFB77" filter="url(#fhsp3n667pfg2)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1109,72.8594 L1109,82.8594 L1119,82.8594 L1109,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="631" x2="764" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="768" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="768" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="132" x="850" y="89.4263">: urt_frtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="986" x2="1119" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="310" x="637" y="105.0591">The FRT subscriber that shall fetch the message.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="637" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="717" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="749" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="631" x2="819" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="823" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="59" x="823" y="134.8247">payload</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="886" y="134.8247">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="931" x2="1119" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="238" x="637" 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="637" y="165.5903">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="687" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="195" x="723" y="165.5903">for messages without payload.</text><line style="stroke: #A80036; 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stroke-width: 1.0;" x1="950.5" x2="1119" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="267" x="637" 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="637" y="241.2544">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="687" y="241.2544">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="719" y="241.2544">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="631" x2="1119" y1="249.3203" y2="249.3203"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="631" x2="1119" y1="251.3203" y2="251.3203"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="631" x2="804" y1="261.8867" y2="261.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="808" y="265.8872"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="808" y="265.8872">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="857" y="265.8872">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="946" x2="1119" y1="261.8867" y2="261.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="637" y="281.52">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="690" y="281.52">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="75" x="798" y="281.52">on success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="637" y="296.6528">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="128" x="690" y="296.6528">URT_STATUS_ERROR</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="282" x="822" y="296.6528">if the subscriber is not associated to a topic.</text><ellipse cx="875" cy="334.7188" fill="#000000" filter="url(#fhsp3n667pfg2)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#fhsp3n667pfg2)" points="812.5,364.7188,937.5,364.7188,949.5,376.7188,937.5,388.7188,812.5,388.7188,800.5,376.7188,812.5,364.7188" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="125" x="812.5" y="380.5269">Associated to a topic?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="780.5" y="374.1245">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="949.5" y="374.1245">no</text><rect fill="#FEFECE" filter="url(#fhsp3n667pfg2)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="455" y="398.7188"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="465" y="419.8574">lock topic</text><rect fill="#FFFFFF" filter="url(#fhsp3n667pfg2)" height="307.7651" style="stroke: #000000; stroke-width: 2.0;" width="365.5" x="322" y="443.4893"/><path d="M506,444.4893 L506,452.7861 L496,462.7861 L322,462.7861 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="174" x="325" y="457.4844">find oldest valid message</text><rect fill="#FEFECE" filter="url(#fhsp3n667pfg2)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="404.5" y="585.3169"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="161" x="414.5" y="606.4556">proceed to next message</text><polygon fill="#FEFECE" filter="url(#fhsp3n667pfg2)" points="378,528.1885,612,528.1885,624,540.1885,612,552.1885,378,552.1885,366,540.1885,378,528.1885" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="499" y="562.3989">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="234" x="378" y="543.9966">Timestamp of next message is younger?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="352" y="537.5942">no</text><polygon fill="#FEFECE" filter="url(#fhsp3n667pfg2)" points="345.5,479.7861,644.5,479.7861,656.5,491.7861,644.5,503.7861,345.5,503.7861,333.5,491.7861,345.5,479.7861" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="499" y="513.9966">no</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="299" x="345.5" y="495.5942">Timestamp of last read message euqals local copy?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="656.5" y="489.1919">yes</text><polygon fill="#FEFECE" filter="url(#fhsp3n667pfg2)" points="495,661.2856,507,673.2856,495,685.2856,483,673.2856,495,661.2856" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#FEFECE" filter="url(#fhsp3n667pfg2)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="404.5" y="705.2856"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="161" x="414.5" y="726.4243">proceed to next message</text><rect fill="#FFFFFF" filter="url(#fhsp3n667pfg2)" height="226.668" style="stroke: #000000; stroke-width: 2.0;" width="988" x="10" y="762.0562"/><path d="M123,763.0562 L123,771.353 L113,781.353 L10,781.353 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="103" x="13" y="776.0513">fetch message</text><rect fill="#000000" filter="url(#fhsp3n667pfg2)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="968" x="20" y="798.353"/><rect fill="#FEFECE" filter="url(#fhsp3n667pfg2)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="175" x="34" y="872.7554"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="155" x="44" y="893.894">update message pointer</text><rect fill="#FEFECE" filter="url(#fhsp3n667pfg2)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="196" x="219" y="872.7554"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="176" x="229" y="893.894">copy timestamp of message</text><rect fill="#FEFECE" filter="url(#fhsp3n667pfg2)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="163" x="443" y="872.7554"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="143" x="453" y="893.894">copy message payload</text><rect fill="#FEFECE" filter="url(#fhsp3n667pfg2)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="308" x="644" y="872.7554"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="20" x="654" y="893.894">set</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="49" x="678" y="893.894">latency</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="211" x="731" y="893.894">value (now - message origin time)</text><polygon fill="#FEFECE" filter="url(#fhsp3n667pfg2)" points="678.5,824.353,917.5,824.353,929.5,836.353,917.5,848.353,678.5,848.353,666.5,836.353,678.5,824.353" style="stroke: #A80036; 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stroke-width: 1.0;" width="968" x="20" y="970.7241"/><rect fill="#FEFECE" filter="url(#fhsp3n667pfg2)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="96" x="447" y="1008.7241"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="76" x="457" y="1029.8628">unlock topic</text><path d="M282,1061.1265 L282,1086.2593 A0,0 0 0 0 282,1086.2593 L464,1086.2593 A0,0 0 0 0 464,1086.2593 L464,1079.1265 L484,1073.6929 L464,1071.1265 L464,1071.1265 L454,1061.1265 L282,1061.1265 A0,0 0 0 0 282,1061.1265 " fill="#FBFB77" filter="url(#fhsp3n667pfg2)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M454,1061.1265 L454,1071.1265 L464,1071.1265 L454,1061.1265 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="288" y="1078.1934">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="341" y="1078.1934">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="445" y="1078.1934">.</text><ellipse cx="495" cy="1073.6929" fill="#FFFFFF" filter="url(#fhsp3n667pfg2)" rx="11" ry="11" style="stroke: #000000; 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stroke-width: 1.0;"/><!--MD5=[b4d8deb4bdd0e27d6df9418617a46e52]

@startuml

title **µRtWare**\nurtFrtSubscriberFetchNextMessage()\n

note

  - - **subscriber** : urt_frtsubscriber_t* - -

  The FRT subscriber that shall fetch the message.

  Must not be ""NULL"".

  - - **payload** : void* - -

  Pointer where to copy the payload to.

  May be ""NULL"" for messages without payload.

  - - **bytes** : size_t - -

  Payload size in bytes.

  - - **latency** : urt_delay_t* - -

  The latency can be returned by reference.

  May be ""NULL"".

  ====

  - - **return** : urt_status_t - -

  Returns ""URT_STATUS_OK"" on success.

  Returns ""URT_STATUS_ERROR"" if the subscriber is not associated to a topic.

endnote

start

if (Associated to a topic?) then (yes)

  :lock topic;

    partition "find oldest valid message" {

    if (Timestamp of last read message euqals local copy?) then (yes)

    else (no)

      while (Timestamp of next message is younger?) is (yes)

        :proceed to next message;

      endwhile (no)

    endif

    :proceed to next message;

  }

    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

  }

  :unlock topic;

  stop

  note

    Returns ""URT_STATUS_OK"".

  endnote

else (no)

  stop

  note

    Returns ""URT_STATUS_ERROR"".

  endnote

endif

@enduml

PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)

(GPL source distribution)

Java Runtime: OpenJDK Runtime Environment

JVM: OpenJDK 64-Bit Server VM

Java Version: 11.0.6+10-post-Ubuntu-1ubuntu118.04.1

Operating System: Linux

Default Encoding: UTF-8

Language: en

Country: US

--></g></svg>