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="1031px" preserveAspectRatio="none" style="width:999px;height:1031px;" version="1.1" viewBox="0 0 999 1031" width="999px" zoomAndPan="magnify"><defs><filter height="300%" id="fxpvnq5f0ubws" 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="454.25" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="117" x="440.25" y="47.6611">urtTopicInit()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="501.75" y="68.6143"/><path d="M223.75,72.8594 L223.75,213.9219 L774.75,213.9219 L774.75,82.8594 L764.75,72.8594 L223.75,72.8594 " fill="#FBFB77" filter="url(#fxpvnq5f0ubws)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M764.75,72.8594 L764.75,82.8594 L774.75,82.8594 L764.75,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="223.75" x2="433.25" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="437.25" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="37" x="437.25" y="89.4263">topic</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="83" x="478.25" y="89.4263">: urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="565.25" x2="774.75" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="134" x="229.75" y="105.0591">The topic to initialize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="229.75" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="309.75" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="341.75" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="223.75" x2="442.75" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="446.75" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="14" x="446.75" y="134.8247">id</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="87" x="464.75" y="134.8247">: urt_topicid_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="555.75" x2="774.75" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="244" x="229.75" y="150.4575">Unique, numeric identifier of the topic.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="223.75" x2="774.75" y1="158.5234" y2="158.5234"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="223.75" x2="774.75" y1="160.5234" y2="160.5234"/><line style="stroke: #A80036; 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stroke-width: 1.0;"/><path d="M80.75,263.9219 L80.75,485.7813 A0,0 0 0 0 80.75,485.7813 L413.75,485.7813 A0,0 0 0 0 413.75,485.7813 L413.75,378.8516 L433.75,374.8516 L413.75,370.8516 L413.75,273.9219 L403.75,263.9219 L80.75,263.9219 A0,0 0 0 0 80.75,263.9219 " fill="#FBFB77" filter="url(#fxpvnq5f0ubws)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M403.75,263.9219 L403.75,273.9219 L413.75,273.9219 L403.75,263.9219 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="32" x="86.75" y="280.9888">next</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="122.75" y="280.9888">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="137.75" y="280.9888">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="14" x="86.75" y="296.1216">id</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="26" x="104.75" y="296.1216">← id</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="81" x="86.75" y="311.2544">urtMutexInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="30" x="167.75" y="311.2544">lock</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="197.75" y="311.2544">)</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="123" x="86.75" y="326.3872">urtEventSourceInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="73" x="209.75" y="326.3872">evtSource</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="282.75" y="326.3872">)</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="134" x="86.75" y="341.52">numHrtSubscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="224.75" y="341.52">← 0</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="108" x="86.75" y="356.6528">hrtSubscribers</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="198.75" y="356.6528">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="213.75" y="356.6528">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="95" x="86.75" y="371.7856">urtCondvarInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="181.75" y="371.7856">hrtReleased</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="270.75" y="371.7856">)</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="99" x="86.75" y="386.9185">urtMessageInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="146" x="185.75" y="386.9185">mandatoryMessage</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="331.75" y="386.9185">)</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="108" x="86.75" y="402.0513">latestMessage</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="153" x="198.75" y="402.0513">← &amp;mandatoryMessage</text><line style="stroke: #A80036; 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stroke-width: 1.0;"/><path d="M366.75,510.1992 L366.75,520.1992 L376.75,520.1992 L366.75,510.1992 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="93" x="112.75" y="527.2661">latestMessage</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="16" x="205.75" y="527.2661">-&gt;</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="140" x="221.75" y="527.2661">next ← latestMessage</text><rect fill="#FEFECE" filter="url(#fxpvnq5f0ubws)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="205" x="396.75" y="505.7813"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="185" x="406.75" y="526.9199">close circular message buffer</text><rect fill="#FEFECE" filter="url(#fxpvnq5f0ubws)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="77" x="460.75" y="559.75"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="57" x="470.75" y="580.8887">lock core</text><rect fill="#FEFECE" filter="url(#fxpvnq5f0ubws)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="127" x="435.75" y="613.7188"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="107" x="445.75" y="634.8574">access first topic</text><rect fill="#FEFECE" filter="url(#fxpvnq5f0ubws)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="155" x="421.75" y="725.0073"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="431.75" y="746.146">proceed to next topic</text><polygon fill="#FEFECE" filter="url(#fxpvnq5f0ubws)" points="438.25,667.6875,560.25,667.6875,572.25,680.4922,560.25,693.2969,438.25,693.2969,426.25,680.4922,438.25,667.6875" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="503.25" y="703.5073">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="66" x="438.25" y="677.8979">Topic is not</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="28" x="508.25" y="677.8979">NULL</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="122" x="438.25" y="690.7026">and topic ID is lower?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="412.25" y="677.8979">no</text><polygon fill="#FEFECE" filter="url(#fxpvnq5f0ubws)" points="160,800.9761,286,800.9761,298,812.9761,286,824.9761,160,824.9761,148,812.9761,160,800.9761" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="227" y="835.1865">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="88" x="160" y="816.7842">Current topic is</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="28" x="252" y="816.7842">NULL</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="6" x="280" y="816.7842">?</text><rect fill="#FEFECE" filter="url(#fxpvnq5f0ubws)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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stroke-width: 1.0;"/><!--MD5=[75588162bd2c775fc0dfe49fc5f43cd1]

@startuml

title **µRtWare**\nurtTopicInit()\n

note

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

  The topic to initialize.

  Must not be ""NULL"".

  - - **id** : urt_topicid_t - -

  Unique, numeric identifier of the topic.

  ====

  - - **return** : urt_status_t - -

  Returns ""URT_STATUS_OK"" on success.

  Returns ""URT_STATUS_ERROR"" if another topic with the same identifier already exists.

endnote

start

:initialize members;

note

  **next** ← ""NULL""

  **id** ← id

  urtMutexInit(**lock**)

  urtEventSourceInit(**evtSource**)

  **numHrtSubscriber** ← 0

  **hrtSubscribers** ← ""NULL""

  urtCondvarInit(**hrtReleased**)

  urtMessageInit(**mandatoryMessage**)

  **latestMessage** ← &mandatoryMessage

  .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..

  urtTimerInit(**qosRateTimer**)

  .. URT_CFG_PUBSUB_PROFILING == true ..

  **numDiscardedMessages** ← 0

  **numSubscribers** ← 0

endnote

:close circular message buffer;

note

  latestMessage""->""next ← latestMessage

endnote

:lock core;

:access first topic;

while (Topic is not ""NULL""\nand topic ID is lower?) is (yes)

  :proceed to next topic;

endwhile (no)

if (Current topic is ""NULL""?) then (yes)

  :append self to core's list of topic;

  :unlock core;

  stop

  note

    Returns ""URT_STATUS_OK"".

  endnote

elseif (Current topic ID is greater?) then (yes)

  :insert self in front of current topic;

  :unlock core;

  stop

  note

    Returns ""URT_STATUS_OK"".

  endnote

else (no)

  :unlock core;

  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>