Revision ee83a495 doc/activitydiagrams/publisher/urtPublisherPublish.uml

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doc/activitydiagrams/publisher/urtPublisherPublish.uml
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title **µRtWare**\nurtPublisherPublish()\n
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!include ../../functions.iuml
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/'### PARAMETERS & RETURN ####################################################'/
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/'### PARAMETERS & START #####################################################'/
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start
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note
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  -- ""**publisher** : urt_publisher_t*"" --
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  -- **publisher** : urt_publisher_t* --
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  Pointer to the publisher to use.
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  Must not be ""NULL"".
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  -- ""**payload** : void*"" --
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  -- **payload** : void* --
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  Pointer to the data to be published.
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  May be ""NULL"" for messages without payload.
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  -- ""**n** : size_t"" --
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  -- **n** : size_t --
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  Size of the payload in bytes.
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  -- ""**t** : urt_osTime_t"" --
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  -- **t** : urt_osTime_t --
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  Timestamp to be set for the message.
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  -- ""**timeout** : urt_delay_t"" --
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  -- **timeout** : urt_delay_t --
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  Timeout delay in case the message cannot be published.
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end note
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  ====
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  -- **return** : urt_status_t --
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  Returns ""URT_STATUS_OK"" on success.
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  Returns ""URT_STATUS_ERROR"" on timeout.
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endnote
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/'### PROCEDURE ##############################################################'/
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start
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:lock topic;
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:access next message;
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while (HRT consumers left for the message\nor the message timestamp was modified\nand a timeout occurred?) is (yes)
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  if (Message timestamp was modified?) the (yes)
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    :iterate to next message;
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:access topic's next message;
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while (HRT consumers left for the message?) is (yes)
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  :wait for topic's condition variable (using topic's mutex) to be signaled or timeout;
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  if (Timeout occurred?) then (yes)
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    :unlock topic;
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    stop
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    note
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      Returns ""URT_STATUS_ERROR"".
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    endnote
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  else (no)
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    :wait for topic's condition variable (using topic's mutex) to be signaled or timeout;
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    if (Message timestamp was modified?) then (yes)
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      :access topic's next message;
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    else (no)
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    endif
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  endif
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endwhile (no)
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if (Timeout occurred?) then (yes)
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  :unlock topic;
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  :return ""URT_STATUS_ERROR"";
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else (no)
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fork
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  fork
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    fork
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      :iterate topic pointer to this message;
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    fork again
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      :copy payload to message;
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    fork again
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      :set origin time of message;
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    fork again
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      :set number of HRT consumers (from topic);
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    endfork
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    :iterate topic pointer to this message;
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  fork again
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    :set QoS rate timer (@topic) wrt. most critical HRT subscriber;
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    :copy payload to message;
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  fork again
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    while (HRT subscribers left?) is (yes)
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      if (QoS delay timer (@subscriber) is not armed?) then (yes)
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        :set QoS delay timer (@subscriber) wrt. origin time of the message;
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        note: No lock required since this timer is only accessed when the topic is locked.
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      else (no)
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      endif
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      :iterate to next HRT subscriber;
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    endwhile (no)
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    :set origin time of message;
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  fork again
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    :set number of HRT consumers (from topic);
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  endfork
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  :fire event;
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  note: Msut be within topic lock because of HRT counter.
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  :unlock topic;
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  :return ""URT_STATUS_OK"";
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endif
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/'### STOP & RETURN ##########################################################'/
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fork again
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  :set QoS rate timer (@topic) wrt. most critical HRT subscriber;
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fork again
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  while (HRT subscribers left?) is (yes)
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    if (QoS delay timer (@subscriber) is not armed?) then (yes)
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      :set QoS delay timer (@subscriber) wrt. origin time of the message;
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      note: No lock required since this timer is only accessed when the topic is locked.
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    else (no)
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    endif
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    :iterate to next HRT subscriber;
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  endwhile (no)
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endfork
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:fire event;
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note: Msut be within topic lock because of HRT counter.
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:unlock topic;
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stop
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note
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  -- **return** ""urt_status_t"" --
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  Returns ""URT_STATUS_ERROR"" on timeout.
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end note
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 Returns ""URT_STATUS_OK"".
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endnote
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/'### OUTRO ##################################################################'/
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