/' 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 . '/ /'### INTRO ##################################################################'/ @startuml title **µRtWare**\nurtNrtSubscriberFetchLatestMessage()\n !include ./functions.iuml /'### PARAMETERS & RETURN ####################################################'/ note -- **subscriber** : urt_nrtsubscriber_t* -- The NRT 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 /'### PROCEDURE ##############################################################'/ start if (Associated to a topic?) then (yes) :lock topic; $find_latest_message() $fetch_message() :unlock topic; stop note Returns ""URT_STATUS_OK"". endnote else (no) stop note Returns ""URT_STATUS_ERROR"". endnote endif /'### OUTRO ##################################################################'/ @enduml