urtware / doc / activitydiagrams / subscriber / urtFrtSubscriberSubscribe.uml @ ee83a495
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1 | 7491c395 | 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 | ee83a495 | Thomas Schöpping | title **µRtWare**\nurtFrtSubscriberSubscribe()\n |
27 | 7491c395 | Thomas Schöpping | |
28 | ee83a495 | Thomas Schöpping | /'### PARAMETERS & RETURN ####################################################'/ |
29 | 7491c395 | Thomas Schöpping | |
30 | note |
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31 | ee83a495 | Thomas Schöpping | -- **subscriber** : urt_frtsubscriber_t* -- |
32 | The FRT subscriber which shall subscribe to a topic. |
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33 | 7491c395 | Thomas Schöpping | Must not be ""NULL"". |
34 | ee83a495 | Thomas Schöpping | -- **topic** : urt_topic_t* -- |
35 | 7491c395 | Thomas Schöpping | The topic to subscribe to. |
36 | Must not be ""NULL"". |
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37 | ee83a495 | Thomas Schöpping | -- **messages** : urt_message_t* -- |
38 | ""NULL"" terminated list of messages to contribute to the topic. |
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39 | Messages must not be associated to another topic. |
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40 | Once a message has been contributed, it cannot be removed later. |
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41 | May be ""NULL"" (no messages to contribute). |
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42 | -- **deadline** : urt_delay_t -- |
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43 | Maximum latency to consume messages. |
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44 | A value of 0 indicates that latency is of no concern. |
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45 | -- **jitter** : urt_delay_t -- |
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46 | Maximum allowed jitter (difference between maximum and minimum latency) when consuming messages. |
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47 | A value of 0 indicates that jitter is of no concern. |
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48 | ==== |
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49 | -- **return** : urt_status_t -- |
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50 | Returns ""URT_STATUS_OK"" on success. |
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51 | Returns ""URT_STATUS_ERROR"" if the subscriber is already associated to a topic. |
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52 | endnote |
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53 | 7491c395 | Thomas Schöpping | |
54 | /'### PROCEDURE ##############################################################'/ |
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55 | |||
56 | ee83a495 | Thomas Schöpping | start |
57 | 7491c395 | Thomas Schöpping | if (Is topic already set?) then (yes) |
58 | ee83a495 | Thomas Schöpping | stop |
59 | note |
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60 | Returns ""URT_STATUS_ERROR"". |
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61 | endnote |
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62 | 7491c395 | Thomas Schöpping | else (no) |
63 | fork |
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64 | :set topic; |
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65 | ee83a495 | Thomas Schöpping | fork again |
66 | :set deadline offset; |
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67 | fork again |
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68 | :set maximum jitter; |
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69 | 7491c395 | Thomas Schöpping | endfork |
70 | ee83a495 | Thomas Schöpping | :lock topic; |
71 | 7491c395 | Thomas Schöpping | fork |
72 | ee83a495 | Thomas Schöpping | if (Messages to contribute?) then (yes) |
73 | !include ../contributemessages.iuml |
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74 | else (no) |
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75 | endif |
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76 | fork again |
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77 | c22d21ad | Thomas Schöpping | fork |
78 | :set message pointer to topic's latest message; |
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79 | ee83a495 | Thomas Schöpping | fork again |
80 | :copy timestamp from topic's latest message; |
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81 | c22d21ad | Thomas Schöpping | endfork |
82 | 7491c395 | Thomas Schöpping | fork again |
83 | :register to topic's event source; |
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84 | endfork |
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85 | ee83a495 | Thomas Schöpping | :unlock topic; |
86 | stop |
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87 | note |
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88 | Returns ""URT_STATUS_OK"". |
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89 | endnote |
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90 | 7491c395 | Thomas Schöpping | endif |
91 | |||
92 | /'### OUTRO ##################################################################'/ |
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93 | |||
94 | @enduml |