Revision ee83a495 doc/classdiagrams/pubsub.uml
doc/classdiagrams/pubsub.uml | ||
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} |
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$group("subscriber") { |
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$group("real-time constraint data") { |
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/' The top level RT constraints structure. '/ |
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$structure("urt_rtdata_t") { |
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'The actual RT constraint class. |
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+ {field} class : urt_rtconstraintclass_t |
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'Parameters of the RT constraints. |
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+ {field} params : urt_rtconstraintsparams_t |
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} |
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/' Descriptor to distinguish the four RT classes. '/ |
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$enumeration("urt_rtclass_t") { |
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'Hard real-time. |
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URT_RTCLASS_HARD = 0 |
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'Firm real-time. |
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URT_RTCLASS_FIRM = 1 |
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'Soft real-time. |
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URT_RTCLASS_SOFT = 2 |
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'No real-time at all. |
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URT_RTCLASS_NONE = 3 |
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} |
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/' Union structure, holding RT constraints parameters. '/ |
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$union("urt_rtclassdata_t") { |
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'Parameters for hard real-time. |
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+ {field} hrt : urt_hrtparams_t |
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'Parameters for firm real-time. |
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+ {field} frt : urt_frtparams_t |
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'Parameters for soft real-time. |
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+ {field} srt : urt_srtparans_t |
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'Parameters for non-real-time. |
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+ {field} nrt : urt_nrtparams_t |
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} |
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/' Parameters for hard real-time. '/ |
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$structure("urt_hrtdata_t") { |
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'Pointer to the next HRT subscriber in a list. |
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+ {field} next : urt_subscriber_t* |
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.. URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true .. |
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'QoS Timer to detect missed deadlines. |
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+ {field} qosDeadlineTimer : urt_osTimer_t |
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'Maximum temporal offset between creation and consumption of messages. |
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+ {field} deadlineOffset : urt_delay_t |
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.. URT_CFG_PUBSUB_QOS_RATECHECKS == true .. |
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'Expected rate at which data is published. |
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+ {field} expectedRate : urt_delay_t |
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.. URT_CFG_PUBSUB_PROFILING == true || URT_CFG_PUBSUB_QOS_JITTERCHECKS == true .. |
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'Maximum expected jitter. |
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+ {field} maxJitter : urt_delay_t |
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'Minimum latency ever detected (to calculate jitter). |
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+ {field} minLatency : urt_delay_t |
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'Maximum latency ever detected (to calculate jitter). |
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+ {field} maxLatency : urt_delay_t |
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} |
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/' Parameters for firm real-time. '/ |
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$structure("urt_frtdata_t") { |
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.. URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true .. |
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'Maximum temporal offset between creation and consumption of messages. |
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+ {field} deadlineOffset : urt_delay_t |
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.. URT_CFG_PUBSUB_QOS_RATECHECKS == true .. |
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'Expected rate at which data is published. |
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+ {field} expectedRate : urt_delay_t |
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.. URT_CFG_PUBSUB_PROFILING == true || URT_CFG_PUBSUB_QOS_JITTERCHECKS == true .. |
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'Maximum expected jitter. |
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+ {field} maxJitter : urt_delay_t |
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'Minimum latency ever detected (to calculate jitter). |
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+ {field} minLatency : urt_delay_t |
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'Maximum latency ever detected (to calculate jitter). |
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+ {field} maxLatency : urt_delay_t |
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} |
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|
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$group("SRT data") { |
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/' Function type to be called when calculating the usefulness of a message. '/ |
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$function("urt_srtusefulnessfunc_t") { |
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'Takes a delay and optionally parameters as arguments and returns a float in [0, 1]. |
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urt_srtusefulnessfunc_t (dt : urt_delay_t, params : void*) : float |
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} |
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/' Parameters for soft real-time. '/ |
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$structure("urt_srtdata_t") { |
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'Callback to calculate usefulness of a message |
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+ {field} usefullnesscb : urt_srtusefulnessfunc_t* |
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'Optional parameters for the callback function. |
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+ {field} cbparams : void* |
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} |
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} /'SRT data'/ |
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/' Parameters for non-real-time. '/ |
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$structure("urt_nrtdata_t") { |
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'There are nor parameters in this case. |
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} |
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} /'real-time constraint data'/ |
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|
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/' Subscriber type. '/ |
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$structure("urt_subscriber_t") { |
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/' Base subscriber type. '/ |
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$structure("urt_basesubscriber_t") { |
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'Pointer to the topic, this subscriber subscribed to. |
149 | 56 |
+ {field} topic : urt_topic_t* |
150 | 57 |
'Event listener to notify the node about new messages. |
151 | 58 |
+ {field} evtListener : urt_osEventListener_t |
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'Real-time class descriptor. |
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+ {field} rtdata : urt_rtdata_t |
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'Pointer to the message consumed most recently. |
155 | 60 |
+ {field} lastMessage : urt_message_t* |
156 | 61 |
'Copy of the origin time of the message consumed most recently. |
... | ... | |
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+ {field} sumLatencies : uint64_t |
161 | 66 |
'Number of messages received. |
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+ {field} numMessagesReceived : uint64_t |
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} |
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/' Function type to be called when calculating the usefulness of a message. '/ |
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$function("urt_srtusefulnessfunc_t") { |
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'Takes a delay and optionally parameters as arguments and returns a float in [0, 1]. |
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urt_srtusefulnessfunc_t (dt : urt_delay_t, params : void*) : float |
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} |
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/' NRT subscriber type. '/ |
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$structure("urt_nrtsubscriber_t") { |
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.. URT_CFG_PUBSUB_PROFILING == true .. |
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'Minimum latency ever detected. |
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+ {field} minLatency : urt_delay_t |
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'Maximum latency ever detected. |
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+ {field} maxLatency : urt_delay_t |
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__ |
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'Initializes a urt_nrtsubscriber_t object. |
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+ {method} urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : urt_status_t |
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'Tries to subscribe to a topic and optionally contributes a list of messages to the topic. |
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+ {method} urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t |
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'Fetches the next message in the buffer, optionally copies the payload and optionally returns the latency. |
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+ {method} urtNrtSubscriberFetchNextMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t |
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'Fetches the latest message, optionally copies the payload and optionally returns the latency. |
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+ {method} urtNrtSubscriberFetchLatestMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t |
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'Unsubscribes from a topic. |
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+ {method} urtNrtSubscriberUnsubscribe (subscriber : urt_nrtsubscriber_t*) : urt_status_t |
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} |
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/' SRT subscriber type. '/ |
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$structure("urt_srtsubscriber_t") { |
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'Callback to calculate usefulness of a message |
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+ {field} usefulnesscb : urt_srtusefulnessfunc_t* |
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'Optional parameters for the usefulness callback function. |
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+ {field} cbparams : void* |
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.. URT_CFG_PUBSUB_PROFILING == true .. |
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'Minimum latency ever detected. |
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+ {field} minLatency : urt_delay_t |
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'Maximum latency ever detected. |
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+ {field} maxLatency : urt_delay_t |
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__ |
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'Initializes a urt_srtsubscriber_t object. |
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+ {method} urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : urt_status_t |
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'Tries to subscribe to a topic, sets all parameters and optionally contributes a list of messages to the topic. |
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+ {method} urtSrtSubscriberSubscribe (subscriber : urt_srtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_srtusefulnessfunc_t*, cbparams : void*) : urt_status_t |
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'Fetches the next message in the buffer, optionally copies the payload and optionally returns the latency. |
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+ {method} urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t |
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'Fetches the latest message, optionally copies the payload and optionally returns the latency. |
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+ {method} urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t |
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'Calculates the usefulness of a message after the specified delay. |
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+ {method} urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float |
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'Unsubscribes from a topic. |
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+ {method} urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t |
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} |
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|
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/' FRT subscriber type. '/ |
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$structure("urt_frtsubscriber_t") { |
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.. URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true .. |
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'Maximum temporal offset between creation and consumption of messages. |
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+ {field} deadlineOffset : urt_delay_t |
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.. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true .. |
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'Maximum expected jitter. |
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+ {field} maxJitter : urt_delay_t |
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.. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true .. |
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'Minimum latency ever detected (to calculate jitter). |
165 | 132 |
+ {field} minLatency : urt_delay_t |
166 | 133 |
'Maximum latency ever detected (to calculate jitter). |
167 | 134 |
+ {field} maxLatency : urt_delay_t |
168 | 135 |
__ |
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'Initializes a urt_subscriber_t object. |
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+ {method} urtSubscriberInit (subscriber : urt_subscriber_t*) : urt_status_t
|
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'Tries to subscribe to a topic as HRT subscriber, sets all according parameters and optionally contributes a list of messages to the topic.
|
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+ {method} urtSubscriberSubscribeHrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, rate : urt_delay_t, jitter : urt_delay_t) : urt_status_t
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'Tries to subscribe to a topic as FRT subscriber, sets all according parameters and optionally contributes a list of messages to the topic.
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+ {method} urtSubscriberSubscribeFrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, rate : urt_delay_t, jitter : urt_delay_t) : urt_status_t
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'Tries to subscribe to a topic as SRT subscriber, sets all according parameters and optionally contributes a list of messages to the topic.
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+ {method} urtSubscriberSubscribeSrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_srtusefulnessfunc_t*, cbparams : void*) : urt_status_t
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'Tries to subscribe to a topic as NRT subscriber and optionally contributes a list of messages to the topic.
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+ {method} urtSubscriberSubscribeNrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t
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'Initializes a urt_frtsubscriber_t object.
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+ {method} urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : urt_status_t
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'Tries to subscribe to a topic, sets all parameters and optionally contributes a list of messages to the topic.
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+ {method} urtFrtSubscriberSubscribe (subscriber : urt_frtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, jitter : urt_delay_t) : urt_status_t
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'Fetches the next message in the buffer, optionally copies the payload and optionally returns the latency.
|
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+ {method} urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t
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'Fetches the latest message, optionally copies the payload and optionally returns the latency.
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+ {method} urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t
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'Checks whether a message is valid after the specified delay.
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+ {method} urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool
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179 | 146 |
'Unsubscribes from a topic. |
180 |
+ {method} urtSubscriberUnsubscribe (subscriber : urt_subscriber_t*) : urt_status_t |
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+ {method} urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t |
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} |
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/' HRT subscriber type. '/ |
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$structure("urt_hrtsubscriber_t") { |
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'Pointer to the next HRT subscriber in a list. |
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+ {field} next : urt_hrtsubscriber_t* |
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.. URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true .. |
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'Maximum temporal offset between creation and consumption of messages. |
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+ {field} deadlineOffset : urt_delay_t |
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'QoS Timer to detect missed deadlines. |
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+ {field} qosDeadlineTimer : urt_osTimer_t |
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.. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true .. |
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'Maximum expected jitter. |
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+ {field} maxJitter : urt_delay_t |
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.. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true.. |
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'Minimum latency ever detected (to calculate jitter). |
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+ {field} minLatency : urt_delay_t |
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'Maximum latency ever detected (to calculate jitter). |
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+ {field} maxLatency : urt_delay_t |
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.. URT_CFG_PUBSUB_QOS_RATECHECKS == true .. |
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'Expected rate at which data is published. |
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+ {field} expectedRate : urt_delay_t |
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__ |
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'Initializes a urt_hrtsubscriber_t object. |
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+ {method} urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : urt_status_t |
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'Tries to subscribe to a topic, sets all parameters and optionally contributes a list of messages to the topic. |
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+ {method} urtHrtSubscriberSubscribe (subscriber : urt_hrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, rate : urt_delay_t, jitter : urt_delay_t) : urt_status_t |
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181 | 175 |
'Fetches the next message in the buffer, optionally copies the payload and optionally returns the latency. |
182 |
+ {method} urtSubscriberFetchNextMessage (subscriber : urt_subscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t
|
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+ {method} urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t
|
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183 | 177 |
'Fetches the latest message, optionally copies the payload and optionally returns the latency. |
184 |
+ {method} urtSubscriberFetchLatestMessage (subscriber : urt_subscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t
|
|
185 |
'Calculates the usefulness of a message after the specified delay depending on the SRT or FRT (or HRT) parameters.
|
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186 |
+ {method} urtSubscriberCalculateUsefulness (subscriber : urt_subscriber_t*, latency : urt_delay_t) : float
|
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178 |
+ {method} urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t
|
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179 |
'Unsubscribes from a topic.
|
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180 |
+ {method} urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t
|
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187 | 181 |
} |
188 | 182 |
} /'subscriber'/ |
189 | 183 |
|
... | ... | |
191 | 185 |
$structure("urt_publisher_t") { |
192 | 186 |
'Pointer to the topic for publishing. |
193 | 187 |
+ {field} topic : urt_topic_t* |
194 |
.. URT_CFG_PROFILING == true .. |
|
188 |
.. URT_CFG_PUBSUB_PROFILING == true ..
|
|
195 | 189 |
'Counter of attempts to publish a message. |
196 | 190 |
+ {field} publishAttempts : uint64_t |
197 | 191 |
'Counter of failed attempts to publish a message. |
... | ... | |
216 | 210 |
'Number of HRT subscribers. |
217 | 211 |
+ {field} numHrtSubscribers : unsigned int |
218 | 212 |
'List of HRT subscribers, orderd by their expected rate (most critical first). |
219 |
+ {field} hrtSubscribers : urt_subscriber_t* |
|
213 |
+ {field} hrtSubscribers : urt_hrtsubscriber_t*
|
|
220 | 214 |
'Condition variable to inform waiting publishers when a blocked message becomes available. |
221 | 215 |
+ {field} hrtReleased : urt_osCondvar_t |
222 | 216 |
'Mandatory message, each Topic holds. |
... | ... | |
242 | 236 |
|
243 | 237 |
!startsub DEPENDENCIES |
244 | 238 |
|
245 |
urt_srtdata_t "1" o-- "0..1" urt_srtusefulnessfunc_t |
|
246 |
|
|
247 |
urt_rtclassdata_t "1" *-- "0..1" urt_hrtdata_t |
|
248 |
urt_rtclassdata_t "1" *-- "0..1" urt_frtdata_t |
|
249 |
urt_rtclassdata_t "1" *-- "0..1" urt_srtdata_t |
|
250 |
urt_rtclassdata_t "1" *-- "0..1" urt_nrtdata_t |
|
239 |
urt_message_t "1" o-- "0..1" urt_message_t |
|
251 | 240 |
|
252 |
urt_rtdata_t "1" *-- "1" urt_rtclass_t
|
|
253 |
urt_rtdata_t "1" *-- "1" urt_rtclassdata_t
|
|
241 |
urt_nrtsubscriber_t --|> urt_basesubscriber_t
|
|
242 |
urt_nrtsubscriber_t ..> urt_message_t
|
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254 | 243 |
|
255 |
urt_hrtdata_t "1" o-up- "0..1" urt_subscriber_t |
|
244 |
urt_srtsubscriber_t --|> urt_basesubscriber_t |
|
245 |
urt_srtsubscriber_t "1" o-- "0..1" urt_srtusefulnessfunc_t |
|
246 |
urt_srtsubscriber_t ..> urt_message_t |
|
256 | 247 |
|
257 |
urt_message_t "1" o-- "0..1" urt_message_t |
|
248 |
urt_frtsubscriber_t --|> urt_basesubscriber_t |
|
249 |
urt_frtsubscriber_t ..> urt_message_t |
|
258 | 250 |
|
259 |
urt_subscriber_t "1" *-- "1" urt_rtdata_t
|
|
260 |
urt_subscriber_t "1" o- "0..1" urt_topic_t
|
|
261 |
urt_subscriber_t "1" o-- "0..1" urt_message_t
|
|
251 |
urt_hrtsubscriber_t --|> urt_basesubscriber_t
|
|
252 |
urt_hrtsubscriber_t "1" o-- "0..1" urt_hrtsubscriber_t
|
|
253 |
urt_hrtsubscriber_t ..> urt_message_t
|
|
262 | 254 |
|
263 | 255 |
urt_publisher_t "1" o- "1" urt_topic_t |
264 | 256 |
urt_publisher_t ..> urt_message_t |
265 | 257 |
|
266 | 258 |
urt_topic_t "1" o-- "0..1" urt_topic_t |
267 |
urt_topic_t "1" o- "0..1" urt_subscriber_t |
|
268 |
urt_topic_t "1" o-- "1..1" urt_message_t |
|
259 |
urt_topic_t "1" o- "0..1" urt_hrtsubscriber_t |
|
269 | 260 |
urt_topic_t "1" *-- "1" urt_message_t |
270 | 261 |
|
271 | 262 |
!endsub |
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