urtware / doc / activitydiagrams / service / urtServiceInit.uml @ ee83a495
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1 | ee83a495 | Thomas Schöpping | /' |
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2 | µRtWare is a lightweight publish/subscribe middleware for real-time |
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3 | applications. It was developed as part of the software habitat for the |
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4 | Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well. |
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5 | |||
6 | Copyright (C) 2018..2020 Thomas Schöpping et al. |
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7 | |||
8 | This program is free software: you can redistribute it and/or modify |
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9 | it under the terms of the GNU General Public License as published by |
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10 | the Free Software Foundation, either version 3 of the License, or |
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11 | (at your option) any later version. |
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12 | |||
13 | This program is distributed in the hope that it will be useful, |
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14 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
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15 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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16 | GNU General Public License for more details. |
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17 | |||
18 | You should have received a copy of the GNU General Public License |
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19 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
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20 | '/ |
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21 | |||
22 | /'### INTRO ##################################################################'/ |
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23 | |||
24 | @startuml |
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25 | |||
26 | title **µRtWare**\nurtServiceInit()\n |
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27 | |||
28 | /'### PARAMETERS & RETURN ####################################################'/ |
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29 | |||
30 | note |
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31 | -- **service** : urt_service_t* -- |
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32 | The service to initialize. |
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33 | Must not be ""NULL"". |
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34 | -- **id** : urt_serviceid_t -- |
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35 | Unique, numeric identifier of the service. |
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36 | -- **callback** : urt_servicefunc_t* -- |
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37 | Callabck function to be executed by this service. |
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38 | Must not be ""NULL"". |
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39 | ==== |
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40 | -- **return** : urt_status_t -- |
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41 | Returns ""URT_STATUS_OK"" on success. |
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42 | Returns ""URT_STATUS_ERROR"" if another service with the same identifier already exists. |
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43 | endnote |
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44 | |||
45 | /'### PROCEDURE ##############################################################'/ |
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46 | |||
47 | start |
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48 | :initialize members; |
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49 | note |
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50 | **next** ← ""NULL"" |
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51 | **id** ← id |
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52 | urtMutexInit(**lock**) |
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53 | **callback** ← callback |
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54 | .. URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true .. |
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55 | **minDuration** ← 0xF..F |
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56 | **maxDuration** ← 0 |
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57 | .. URT_CFG_RPC_PROFILING == true .. |
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58 | **sumDurations** ← 0 |
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59 | **numCalls** ← 0 |
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60 | **numTimeouts** ← 0 |
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61 | endnote |
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62 | :lock core; |
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63 | :access first service; |
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64 | while (Service is not ""NULL""\nand service ID is lower?) is (yes) |
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65 | :proceed to next service; |
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66 | endwhile (no) |
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67 | if (Current service is ""NULL""?) then (yes) |
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68 | :append self to core's list of services; |
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69 | :unlock core; |
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70 | stop |
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71 | note |
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72 | Returns ""URT_STATUS_OK"": |
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73 | endnote |
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74 | elseif (Current service ID is greater?) then (yes) |
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75 | :insert self in front of current service; |
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76 | :unlock core; |
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77 | stop |
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78 | note |
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79 | Returns ""URT_STATUS_OK"": |
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80 | endnote |
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81 | else (no) |
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82 | :unlock core; |
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83 | stop |
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84 | note |
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85 | Returns ""URT_STATUS_ERROR"": |
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86 | endnote |
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87 | endif |
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88 | |||
89 | /'### OUTRO ##################################################################'/ |
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90 | |||
91 | @enduml |