commit ee83a495436186dbc15d6e0bc3e360e19ae5ff02
Author: Thomas Schöpping <tschoepp@cit-ec.uni-bielefeld.de>
Date:   Tue Feb 25 15:14:38 2020 +0100

    Again another huge update to the documentation.
    Still incomplete, though.

diff --git a/doc/activitydiagrams/publisher/urtPublisherPublish.svg b/doc/activitydiagrams/publisher/urtPublisherPublish.svg
index 5089693..111d809 100644
--- a/doc/activitydiagrams/publisher/urtPublisherPublish.svg
+++ b/doc/activitydiagrams/publisher/urtPublisherPublish.svg
@@ -1,83 +1,76 @@
-<?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="1211px" preserveAspectRatio="none" style="width:2678px;height:1211px;" version="1.1" viewBox="0 0 2678 1211" width="2678px" zoomAndPan="magnify"><defs><filter height="300%" id="f1jy0wcjc0dc24" 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="1293.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="183" x="1246.5" y="47.6611">urtPublisherPublish()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="1341" y="68.6143"/><path d="M351,72.8594 L351,264.4531 A0,0 0 0 0 351,264.4531 L736,264.4531 A0,0 0 0 0 736,264.4531 L736,172.6563 L756,168.6563 L736,164.6563 L736,82.8594 L726,72.8594 L351,72.8594 A0,0 0 0 0 351,72.8594 " fill="#FBFB77" filter="url(#f1jy0wcjc0dc24)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M726,72.8594 L726,82.8594 L736,82.8594 L726,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="351" x2="427.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="431.5" y="89.4263"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="72" x="431.5" y="89.4263">publisher</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="144" x="511.5" y="89.4263">: urt_publisher_t*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="659.5" y="89.4263"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="659.5" x2="736" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="197" x="357" y="105.0591">Pointer to the publisher to use.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="357" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="437" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="469" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="351" x2="479.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="483.5" y="134.8247"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="56" x="483.5" y="134.8247">payload</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="56" x="547.5" y="134.8247">: void*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="607.5" y="134.8247"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="607.5" x2="736" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="226" x="357" y="150.4575">Pointer to the data to be published.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="357" y="165.5903">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="407" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="195" x="443" y="165.5903">for messages without payload.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="351" x2="499.5" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="503.5" y="180.2231"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="8" x="503.5" y="180.2231">n</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="64" x="519.5" y="180.2231">: size_t</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="587.5" y="180.2231"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="587.5" x2="736" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="180" x="357" y="195.856">Size of the payload in bytes.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="351" x2="475.5" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="479.5" y="210.4888"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="8" x="479.5" y="210.4888">t</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="112" x="495.5" y="210.4888">: urt_osTime_t</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="611.5" y="210.4888"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="611.5" x2="736" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="246" x="357" y="226.1216">Timestamp to be set for the message.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="351" x2="455.5" y1="236.7539" y2="236.7539"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="459.5" y="240.7544"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="56" x="459.5" y="240.7544">timeout</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="523.5" y="240.7544">: urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="631.5" y="240.7544"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="631.5" x2="736" y1="236.7539" y2="236.7539"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="364" x="357" y="256.3872">Timeout delay in case the message cannot be published.</text><ellipse cx="766" cy="168.6563" fill="#000000" filter="url(#f1jy0wcjc0dc24)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#f1jy0wcjc0dc24)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="726" y="284.4531"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="736" y="305.5918">lock topic</text><rect fill="#FEFECE" filter="url(#f1jy0wcjc0dc24)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="156" x="688" y="338.4219"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="698" y="359.5605">access next message</text><polygon fill="#FEFECE" filter="url(#f1jy0wcjc0dc24)" points="638,462.5151,894,462.5151,906,474.5151,894,486.5151,638,486.5151,626,474.5151,638,462.5151" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="256" x="638" y="478.3232">Message timestamp was modified?) the (yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="906" y="471.9209">no</text><rect fill="#FEFECE" filter="url(#f1jy0wcjc0dc24)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="171" x="496.75" y="496.5151"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="151" x="506.75" y="517.6538">iterate to next message</text><rect fill="#FEFECE" filter="url(#f1jy0wcjc0dc24)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="524" x="687.75" y="496.5151"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="504" x="697.75" y="517.6538">wait for topic's condition variable (using topic's mutex) to be signaled or timeout</text><polygon fill="#FEFECE" filter="url(#f1jy0wcjc0dc24)" points="766,536.4839,778,548.4839,766,560.4839,754,548.4839,766,536.4839" style="stroke: #A80036; stroke-width: 1.5;"/><polygon fill="#FEFECE" filter="url(#f1jy0wcjc0dc24)" points="648,392.3906,884,392.3906,896,411.5977,884,430.8047,648,430.8047,636,411.5977,648,392.3906" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="770" y="441.0151">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="211" x="648" y="402.6011">HRT consumers left for the message</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="648" y="415.4058">or the message timestamp was modified</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="139" x="648" y="428.2104">and a timeout occurred?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="622" y="409.0034">no</text><polygon fill="#FEFECE" filter="url(#f1jy0wcjc0dc24)" points="713,602.4839,819,602.4839,831,614.4839,819,626.4839,713,626.4839,701,614.4839,713,602.4839" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="106" x="713" y="618.292">Timeout occurred?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="681" y="611.8896">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="831" y="611.8896">no</text><rect fill="#FEFECE" filter="url(#f1jy0wcjc0dc24)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="96" x="49.5" y="636.4839"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="76" x="59.5" y="657.6226">unlock topic</text><rect fill="#FEFECE" filter="url(#f1jy0wcjc0dc24)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="175" x="10" y="705.4526"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="39" x="20" y="726.5913">return</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="63" y="726.5913">URT_STATUS_ERROR</text><rect fill="#000000" filter="url(#f1jy0wcjc0dc24)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="2471" x="195" y="636.4839"/><rect fill="#000000" filter="url(#f1jy0wcjc0dc24)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1014" x="207" y="761.7729"/><rect fill="#FEFECE" filter="url(#f1jy0wcjc0dc24)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="251" x="219" y="787.7729"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="231" x="229" y="808.9116">iterate topic pointer to this message</text><rect fill="#FEFECE" filter="url(#f1jy0wcjc0dc24)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="180" x="498" y="787.7729"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="160" x="508" y="808.9116">copy payload to message</text><rect fill="#FEFECE" filter="url(#f1jy0wcjc0dc24)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="187" x="706" y="787.7729"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="167" x="716" y="808.9116">set origin time of message</text><rect fill="#FEFECE" filter="url(#f1jy0wcjc0dc24)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="921" y="787.7729"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="266" x="931" y="808.9116">set number of HRT consumers (from topic)</text><rect fill="#000000" filter="url(#f1jy0wcjc0dc24)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1014" x="207" y="841.7417"/><rect fill="#FEFECE" filter="url(#f1jy0wcjc0dc24)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="398" x="1249" y="787.7729"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="378" x="1259" y="808.9116">set QoS rate timer (@topic) wrt. most critical HRT subscriber</text><path d="M1675,776.1089 L1675,801.2417 A0,0 0 0 0 1675,801.2417 L2170,801.2417 A0,0 0 0 0 2170,801.2417 L2170,794.1089 L2190,788.6753 L2170,786.1089 L2170,786.1089 L2160,776.1089 L1675,776.1089 A0,0 0 0 0 1675,776.1089 " fill="#FBFB77" filter="url(#f1jy0wcjc0dc24)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2160,776.1089 L2160,786.1089 L2170,786.1089 L2160,776.1089 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="474" x="1681" y="793.1758">No lock required since this timer is only accessed when the topic is locked.</text><rect fill="#FEFECE" filter="url(#f1jy0wcjc0dc24)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="434" x="2190" y="771.6909"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="414" x="2200" y="792.8296">set QoS delay timer (@subscriber) wrt. origin time of the message</text><polygon fill="#FEFECE" filter="url(#f1jy0wcjc0dc24)" points="2277,723.2886,2537,723.2886,2549,735.2886,2537,747.2886,2277,747.2886,2265,735.2886,2277,723.2886" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="2411" y="757.499">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="260" x="2277" y="739.0967">QoS delay timer (@subscriber) is not armed?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="2549" y="732.6943">no</text><polygon fill="#FEFECE" filter="url(#f1jy0wcjc0dc24)" points="2407,830.062,2419,842.062,2407,854.062,2395,842.062,2407,830.062" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#FEFECE" filter="url(#f1jy0wcjc0dc24)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="208" x="2303" y="874.062"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="188" x="2313" y="895.2007">iterate to next HRT subscriber</text><polygon fill="#FEFECE" filter="url(#f1jy0wcjc0dc24)" points="2346,662.4839,2468,662.4839,2480,674.4839,2468,686.4839,2346,686.4839,2334,674.4839,2346,662.4839" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="2411" y="696.6943">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="122" x="2346" y="678.292">HRT subscribers left?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="2320" y="671.8896">no</text><rect fill="#000000" filter="url(#f1jy0wcjc0dc24)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; 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stroke-width: 1.0;"/><path d="M1392,72.8594 L1392,82.8594 L1402,82.8594 L1392,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1017" x2="1114" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1118" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="69" x="1118" y="89.4263">publisher</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="110" x="1191" y="89.4263">: urt_publisher_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1305" x2="1402" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="197" x="1023" y="105.0591">Pointer to the publisher to use.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="1023" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1103" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1135" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1017" x2="1153.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1157.5" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="59" x="1157.5" y="134.8247">payload</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="1220.5" y="134.8247">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1265.5" x2="1402" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="226" x="1023" y="150.4575">Pointer to the data to be published.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="1023" y="165.5903">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1073" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="195" x="1109" y="165.5903">for messages without payload.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1017" x2="1176.5" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1180.5" y="180.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="9" x="1180.5" y="180.2231">n</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="45" x="1193.5" y="180.2231">: size_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1242.5" x2="1402" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="180" x="1023" y="195.856">Size of the payload in bytes.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1017" x2="1155" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1159" y="210.4888"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="6" x="1159" y="210.4888">t</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="91" x="1169" y="210.4888">: urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1264" x2="1402" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="246" x="1023" y="226.1216">Timestamp to be set for the message.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1017" x2="1135.5" y1="236.7539" y2="236.7539"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1139.5" y="240.7544"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="1139.5" y="240.7544">timeout</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="79" x="1200.5" y="240.7544">: urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1283.5" x2="1402" y1="236.7539" y2="236.7539"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="364" x="1023" y="256.3872">Timeout delay in case the message cannot be published.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1017" x2="1402" y1="264.4531" y2="264.4531"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1017" x2="1402" y1="266.4531" y2="266.4531"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1017" x2="1138.5" y1="277.0195" y2="277.0195"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1142.5" y="281.02"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="1142.5" y="281.02">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="1191.5" y="281.02">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1280.5" x2="1402" y1="277.0195" y2="277.0195"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1023" y="296.6528">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="1076" y="296.6528">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="75" x="1184" y="296.6528">on success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1023" y="311.7856">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="128" x="1076" y="311.7856">URT_STATUS_ERROR</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="74" x="1208" y="311.7856">on timeout.</text><ellipse cx="1209.5" cy="349.8516" fill="#000000" filter="url(#fgb6zrwdj1tda)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#fgb6zrwdj1tda)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="1169.5" y="379.8516"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="1179.5" y="400.9902">lock topic</text><rect fill="#FEFECE" filter="url(#fgb6zrwdj1tda)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="201" x="1109" y="433.8203"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="181" x="1119" y="454.959">access topic's next message</text><rect fill="#FEFECE" filter="url(#fgb6zrwdj1tda)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="524" x="947.5" y="543.4995"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="504" x="957.5" y="564.6382">wait for topic's condition variable (using topic's mutex) to be signaled or timeout</text><polygon fill="#FEFECE" filter="url(#fgb6zrwdj1tda)" points="1156.5,597.4683,1262.5,597.4683,1274.5,609.4683,1262.5,621.4683,1156.5,621.4683,1144.5,609.4683,1156.5,597.4683" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="106" x="1156.5" y="613.2764">Timeout occurred?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1124.5" y="606.874">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1274.5" y="606.874">no</text><rect fill="#FEFECE" filter="url(#fgb6zrwdj1tda)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="96" x="1071" y="631.4683"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="76" x="1081" y="652.6069">unlock topic</text><path d="M882,700.437 L882,725.5698 A0,0 0 0 0 882,725.5698 L1088,725.5698 A0,0 0 0 0 1088,725.5698 L1088,718.437 L1108,713.0034 L1088,710.437 L1088,710.437 L1078,700.437 L882,700.437 A0,0 0 0 0 882,700.437 " fill="#FBFB77" filter="url(#fgb6zrwdj1tda)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1078,700.437 L1078,710.437 L1088,710.437 L1078,700.437 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="888" y="717.5039">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="128" x="941" y="717.5039">URT_STATUS_ERROR</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1069" y="717.5039">.</text><ellipse cx="1119" cy="713.0034" fill="#FFFFFF" filter="url(#fgb6zrwdj1tda)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="1119" cy="713.0034" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#fgb6zrwdj1tda)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="201" x="1199.5" y="679.8706"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="181" x="1209.5" y="701.0093">access topic's next message</text><polygon fill="#FEFECE" filter="url(#fgb6zrwdj1tda)" points="1199,631.4683,1401,631.4683,1413,643.4683,1401,655.4683,1199,655.4683,1187,643.4683,1199,631.4683" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1304" y="665.6787">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="202" x="1199" y="647.2764">Message timestamp was modified?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1413" y="640.874">no</text><polygon fill="#FEFECE" filter="url(#fgb6zrwdj1tda)" points="1300,738.2417,1312,750.2417,1300,762.2417,1288,750.2417,1300,738.2417" style="stroke: #A80036; stroke-width: 1.5;"/><polygon fill="#FEFECE" filter="url(#fgb6zrwdj1tda)" points="1101,487.7891,1318,487.7891,1330,499.7891,1318,511.7891,1101,511.7891,1089,499.7891,1101,487.7891" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1213.5" y="521.9995">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="1101" y="503.5972">HRT consumers left for the message?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1075" y="497.1948">no</text><rect fill="#000000" filter="url(#fgb6zrwdj1tda)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="2451" x="10" y="804.2417"/><rect fill="#000000" filter="url(#fgb6zrwdj1tda)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="960" x="22" y="924.4365"/><rect fill="#FEFECE" filter="url(#fgb6zrwdj1tda)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="251" x="34" y="950.4365"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="231" x="44" y="971.5752">iterate topic pointer to this message</text><rect fill="#FEFECE" filter="url(#fgb6zrwdj1tda)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="180" x="295" y="950.4365"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="160" x="305" y="971.5752">copy payload to message</text><rect fill="#FEFECE" filter="url(#fgb6zrwdj1tda)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="187" x="485" y="950.4365"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="167" x="495" y="971.5752">set origin time of message</text><rect fill="#FEFECE" filter="url(#fgb6zrwdj1tda)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="682" y="950.4365"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="266" x="692" y="971.5752">set number of HRT consumers (from topic)</text><rect fill="#000000" filter="url(#fgb6zrwdj1tda)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="960" x="22" y="1004.4053"/><rect fill="#FEFECE" filter="url(#fgb6zrwdj1tda)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="398" x="1010" y="950.4365"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="378" x="1020" y="971.5752">set QoS rate timer (@topic) wrt. most critical HRT subscriber</text><path d="M1470,938.7725 L1470,963.9053 A0,0 0 0 0 1470,963.9053 L1965,963.9053 A0,0 0 0 0 1965,963.9053 L1965,956.7725 L1985,951.3389 L1965,948.7725 L1965,948.7725 L1955,938.7725 L1470,938.7725 A0,0 0 0 0 1470,938.7725 " fill="#FBFB77" filter="url(#fgb6zrwdj1tda)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1955,938.7725 L1955,948.7725 L1965,948.7725 L1955,938.7725 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="474" x="1476" y="955.8394">No lock required since this timer is only accessed when the topic is locked.</text><rect fill="#FEFECE" filter="url(#fgb6zrwdj1tda)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="434" x="1985" y="934.3545"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="414" x="1995" y="955.4932">set QoS delay timer (@subscriber) wrt. origin time of the message</text><polygon fill="#FEFECE" filter="url(#fgb6zrwdj1tda)" points="2072,885.9521,2332,885.9521,2344,897.9521,2332,909.9521,2072,909.9521,2060,897.9521,2072,885.9521" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="2206" y="920.1626">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="260" x="2072" y="901.7603">QoS delay timer (@subscriber) is not armed?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="2344" y="895.3579">no</text><polygon fill="#FEFECE" filter="url(#fgb6zrwdj1tda)" points="2202,992.7256,2214,1004.7256,2202,1016.7256,2190,1004.7256,2202,992.7256" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#FEFECE" filter="url(#fgb6zrwdj1tda)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="208" x="2098" y="1036.7256"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="188" x="2108" y="1057.8643">iterate to next HRT subscriber</text><polygon fill="#FEFECE" filter="url(#fgb6zrwdj1tda)" points="2141,830.2417,2263,830.2417,2275,842.2417,2263,854.2417,2141,854.2417,2129,842.2417,2141,830.2417" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="2206" y="864.4521">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="122" x="2141" y="846.0498">HRT subscribers left?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="2115" y="839.6475">no</text><rect fill="#000000" filter="url(#fgb6zrwdj1tda)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="2451" x="10" y="1112.6943"/><path d="M814,1143.1123 L814,1168.2451 A0,0 0 0 0 814,1168.2451 L1150,1168.2451 A0,0 0 0 0 1150,1168.2451 L1150,1161.1123 L1170,1155.6787 L1150,1153.1123 L1150,1153.1123 L1140,1143.1123 L814,1143.1123 A0,0 0 0 0 814,1143.1123 " fill="#FBFB77" filter="url(#fgb6zrwdj1tda)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1140,1143.1123 L1140,1153.1123 L1150,1153.1123 L1140,1143.1123 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="315" x="820" y="1160.1792">Msut be within topic lock because of HRT counter.</text><rect fill="#FEFECE" filter="url(#fgb6zrwdj1tda)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="79" x="1170" y="1138.6943"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="59" x="1180" y="1159.833">fire event</text><rect fill="#FEFECE" filter="url(#fgb6zrwdj1tda)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="96" x="1161.5" y="1192.6631"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="76" x="1171.5" y="1213.8018">unlock topic</text><path d="M996.5,1245.0654 L996.5,1270.1982 A0,0 0 0 0 996.5,1270.1982 L1178.5,1270.1982 A0,0 0 0 0 1178.5,1270.1982 L1178.5,1263.0654 L1198.5,1257.6318 L1178.5,1255.0654 L1178.5,1255.0654 L1168.5,1245.0654 L996.5,1245.0654 A0,0 0 0 0 996.5,1245.0654 " fill="#FBFB77" filter="url(#fgb6zrwdj1tda)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1168.5,1245.0654 L1168.5,1255.0654 L1178.5,1255.0654 L1168.5,1245.0654 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1002.5" y="1262.1323">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="1055.5" y="1262.1323">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1159.5" y="1262.1323">.</text><ellipse cx="1209.5" cy="1257.6318" fill="#FFFFFF" filter="url(#fgb6zrwdj1tda)" rx="11" ry="11" style="stroke: #000000; 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 @startuml
 
 title **µRtWare**\nurtPublisherPublish()\n
 
 
-
-
-
-
-
-
-
-
-
-
-start
 note
-  - - ""**publisher** : urt_publisher_t*"" - -
+  - - **publisher** : urt_publisher_t* - -
   Pointer to the publisher to use.
   Must not be ""NULL"".
-  - - ""**payload** : void*"" - -
+  - - **payload** : void* - -
   Pointer to the data to be published.
   May be ""NULL"" for messages without payload.
-  - - ""**n** : size_t"" - -
+  - - **n** : size_t - -
   Size of the payload in bytes.
-  - - ""**t** : urt_osTime_t"" - -
+  - - **t** : urt_osTime_t - -
   Timestamp to be set for the message.
-  - - ""**timeout** : urt_delay_t"" - -
+  - - **timeout** : urt_delay_t - -
   Timeout delay in case the message cannot be published.
-end note
+  ====
+  - - **return** : urt_status_t - -
+  Returns ""URT_STATUS_OK"" on success.
+  Returns ""URT_STATUS_ERROR"" on timeout.
+endnote
 
 
+start
 :lock topic;
-:access next message;
-while (HRT consumers left for the message\nor the message timestamp was modified\nand a timeout occurred?) is (yes)
-  if (Message timestamp was modified?) the (yes)
-    :iterate to next message;
+:access topic's next message;
+while (HRT consumers left for the message?) is (yes)
+  :wait for topic's condition variable (using topic's mutex) to be signaled or timeout;
+  if (Timeout occurred?) then (yes)
+    :unlock topic;
+    stop
+    note
+      Returns ""URT_STATUS_ERROR"".
+    endnote
   else (no)
-    :wait for topic's condition variable (using topic's mutex) to be signaled or timeout;
+    if (Message timestamp was modified?) then (yes)
+      :access topic's next message;
+    else (no)
+    endif
   endif
 endwhile (no)
-if (Timeout occurred?) then (yes)
-  :unlock topic;
-  :return ""URT_STATUS_ERROR"";
-else (no)
+fork
   fork
-    fork
-      :iterate topic pointer to this message;
-    fork again
-      :copy payload to message;
-    fork again
-      :set origin time of message;
-    fork again
-      :set number of HRT consumers (from topic);
-    endfork
+    :iterate topic pointer to this message;
   fork again
-    :set QoS rate timer (@topic) wrt. most critical HRT subscriber;
+    :copy payload to message;
   fork again
-    while (HRT subscribers left?) is (yes)
-      if (QoS delay timer (@subscriber) is not armed?) then (yes)
-        :set QoS delay timer (@subscriber) wrt. origin time of the message;
-        note: No lock required since this timer is only accessed when the topic is locked.
-      else (no)
-      endif
-      :iterate to next HRT subscriber;
-    endwhile (no)
+    :set origin time of message;
+  fork again
+    :set number of HRT consumers (from topic);
   endfork
-  :fire event;
-  note: Msut be within topic lock because of HRT counter.
-  :unlock topic;
-  :return ""URT_STATUS_OK"";
-endif
-
-
+fork again
+  :set QoS rate timer (@topic) wrt. most critical HRT subscriber;
+fork again
+  while (HRT subscribers left?) is (yes)
+    if (QoS delay timer (@subscriber) is not armed?) then (yes)
+      :set QoS delay timer (@subscriber) wrt. origin time of the message;
+      note: No lock required since this timer is only accessed when the topic is locked.
+    else (no)
+    endif
+    :iterate to next HRT subscriber;
+  endwhile (no)
+endfork
+:fire event;
+note: Msut be within topic lock because of HRT counter.
+:unlock topic;
 stop
 note
-  - - **return** ""urt_status_t"" - -
-  Returns ""URT_STATUS_ERROR"" on timeout.
-end note
+ Returns ""URT_STATUS_OK"".
+endnote
 
 
 @enduml
