AMiRo-OS

<?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="977px" preserveAspectRatio="none" style="width:1146px;height:977px;" version="1.1" viewBox="0 0 1146 977" width="1146px" zoomAndPan="magnify"><defs><filter height="300%" id="f1snfj7r7itc1b" 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="527.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="135" x="504.5" y="47.6611">urtServiceInit()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="575" y="68.6143"/><path d="M355,72.8594 L355,259.3203 L920,259.3203 L920,82.8594 L910,72.8594 L355,72.8594 " fill="#FBFB77" filter="url(#f1snfj7r7itc1b)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M910,72.8594 L910,82.8594 L920,82.8594 L910,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="355" x2="557" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="561" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="561" y="89.4263">service</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="97" x="617" y="89.4263">: urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="718" x2="920" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="148" x="361" y="105.0591">The service to initialize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="361" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="441" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="473" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="355" x2="574" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="578" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="14" x="578" y="134.8247">id</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="101" x="596" y="134.8247">: urt_serviceid_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="701" x2="920" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="258" x="361" y="150.4575">Unique, numeric identifier of the service.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="355" x2="539" y1="161.0898" y2="161.0898"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="543" y="165.0903"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="61" x="543" y="165.0903">callback</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="124" x="608" y="165.0903">: urt_servicefunc_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="736" x2="920" y1="161.0898" y2="161.0898"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="307" x="361" y="180.7231">Callabck function to be executed by this service.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="361" y="195.856">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="441" y="195.856">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="473" y="195.856">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="355" x2="920" y1="203.9219" y2="203.9219"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="355" x2="920" y1="205.9219" y2="205.9219"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="355" x2="566.5" y1="216.4883" y2="216.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="570.5" y="220.4888"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="570.5" y="220.4888">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="619.5" y="220.4888">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="708.5" x2="920" y1="216.4883" y2="216.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="361" y="236.1216">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="414" y="236.1216">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="75" x="522" y="236.1216">on success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="361" y="251.2544">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="128" x="414" y="251.2544">URT_STATUS_ERROR</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="359" x="546" y="251.2544">if another service with the same identifier already exists.</text><ellipse cx="637.5" cy="289.3203" fill="#000000" filter="url(#f1snfj7r7itc1b)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M10,309.3203 L10,485.7813 A0,0 0 0 0 10,485.7813 L552,485.7813 A0,0 0 0 0 552,485.7813 L552,401.5508 L572,397.5508 L552,393.5508 L552,319.3203 L542,309.3203 L10,309.3203 A0,0 0 0 0 10,309.3203 " fill="#FBFB77" filter="url(#f1snfj7r7itc1b)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M542,309.3203 L542,319.3203 L552,319.3203 L542,309.3203 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="32" x="16" y="326.3872">next</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="52" y="326.3872">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="67" y="326.3872">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="14" x="16" y="341.52">id</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="26" x="34" y="341.52">← id</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="81" x="16" y="356.6528">urtMutexInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="30" x="97" y="356.6528">lock</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="127" y="356.6528">)</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="61" x="16" y="371.7856">callback</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="66" x="81" y="371.7856">← callback</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="20.5" y1="382.418" y2="382.418"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="513" x="24.5" y="386.4185">URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="541.5" x2="552" y1="382.418" y2="382.418"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="90" x="16" y="402.0513">minDuration</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="52" x="110" y="402.0513">← 0xF..F</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="94" x="16" y="417.1841">maxDuration</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="114" y="417.1841">← 0</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="167.5" y1="427.8164" y2="427.8164"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="219" x="171.5" y="431.8169">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="394.5" x2="552" y1="427.8164" y2="427.8164"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="102" x="16" y="447.4497">sumDurations</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="122" y="447.4497">← 0</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="67" x="16" y="462.5825">numCalls</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="87" y="462.5825">← 0</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="99" x="16" y="477.7153">numTimeouts</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="119" y="477.7153">← 0</text><rect fill="#FEFECE" filter="url(#f1snfj7r7itc1b)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="131" x="572" y="380.5664"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="111" x="582" y="401.7051">initialize members</text><rect fill="#FEFECE" filter="url(#f1snfj7r7itc1b)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="77" x="599" y="505.7813"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="57" x="609" y="526.9199">lock core</text><rect fill="#FEFECE" filter="url(#f1snfj7r7itc1b)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="140" x="567.5" y="559.75"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="120" x="577.5" y="580.8887">access first service</text><rect fill="#FEFECE" filter="url(#f1snfj7r7itc1b)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="168" x="553.5" y="671.0386"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="563.5" y="692.1772">proceed to next service</text><polygon fill="#FEFECE" filter="url(#f1snfj7r7itc1b)" points="569.5,613.7188,705.5,613.7188,717.5,626.5234,705.5,639.3281,569.5,639.3281,557.5,626.5234,569.5,613.7188" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="641.5" y="649.5386">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="78" x="569.5" y="623.9292">Service is not</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="28" x="651.5" y="623.9292">NULL</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="569.5" y="636.7339">and service ID is lower?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="543.5" y="623.9292">no</text><polygon fill="#FEFECE" filter="url(#f1snfj7r7itc1b)" points="283,747.0073,423,747.0073,435,759.0073,423,771.0073,283,771.0073,271,759.0073,283,747.0073" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="357" y="781.2178">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="102" x="283" y="762.8154">Current service is</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="28" x="389" y="762.8154">NULL</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="6" x="417" y="762.8154">?</text><rect fill="#FEFECE" filter="url(#f1snfj7r7itc1b)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="246" x="230" y="802.7178"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="226" x="240" y="823.8564">append self to core's list of services</text><rect fill="#FEFECE" filter="url(#f1snfj7r7itc1b)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="93" x="306.5" y="871.6865"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="73" x="316.5" y="892.8252">unlock core</text><path d="M140,940.6553 L140,965.7881 A0,0 0 0 0 140,965.7881 L322,965.7881 A0,0 0 0 0 322,965.7881 L322,958.6553 L342,953.2217 L322,950.6553 L322,950.6553 L312,940.6553 L140,940.6553 A0,0 0 0 0 140,940.6553 " fill="#FBFB77" filter="url(#f1snfj7r7itc1b)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M312,940.6553 L312,950.6553 L322,950.6553 L312,940.6553 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="146" y="957.7222">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="199" y="957.7222">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="303" y="957.7222">:</text><ellipse cx="353" cy="953.2217" fill="#FFFFFF" filter="url(#f1snfj7r7itc1b)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="353" cy="953.2217" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#f1snfj7r7itc1b)" points="624.5,747.0073,793.5,747.0073,805.5,759.0073,793.5,771.0073,624.5,771.0073,612.5,759.0073,624.5,747.0073" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="713" y="781.2178">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="169" x="624.5" y="762.8154">Current service ID is greater?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="805.5" y="756.4131">no</text><rect fill="#FEFECE" filter="url(#f1snfj7r7itc1b)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="245" x="586.5" y="802.7178"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="225" x="596.5" y="823.8564">insert self in front of current service</text><rect fill="#FEFECE" filter="url(#f1snfj7r7itc1b)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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@startuml

title **µRtWare**\nurtServiceInit()\n

note

  - - **service** : urt_service_t* - -

  The service to initialize.

  Must not be ""NULL"".

  - - **id** : urt_serviceid_t - -

  Unique, numeric identifier of the service.

  - - **callback** : urt_servicefunc_t* - -

  Callabck function to be executed by this service.

  Must not be ""NULL"".

  ====

  - - **return** : urt_status_t - -

  Returns ""URT_STATUS_OK"" on success.

  Returns ""URT_STATUS_ERROR"" if another service with the same identifier already exists.

endnote

start

:initialize members;

note

  **next** ← ""NULL""

  **id** ← id

  urtMutexInit(**lock**)

  **callback** ← callback

  .. URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true ..

  **minDuration** ← 0xF..F

  **maxDuration** ← 0

  .. URT_CFG_RPC_PROFILING == true ..

  **sumDurations** ← 0

  **numCalls** ← 0

  **numTimeouts** ← 0

endnote

:lock core;

:access first service;

while (Service is not ""NULL""\nand service ID is lower?) is (yes)

  :proceed to next service;

endwhile (no)

if (Current service is ""NULL""?) then (yes)

  :append self to core's list of services;

  :unlock core;

  stop

  note

    Returns ""URT_STATUS_OK"":

  endnote

elseif (Current service ID is greater?) then (yes)

  :insert self in front of current service;

  :unlock core;

  stop

  note

    Returns ""URT_STATUS_OK"":

  endnote

else (no)

  :unlock core;

  stop

  note

    Returns ""URT_STATUS_ERROR"":

  endnote

endif

@enduml

PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)

(GPL source distribution)

Java Runtime: OpenJDK Runtime Environment

JVM: OpenJDK 64-Bit Server VM

Java Version: 11.0.6+10-post-Ubuntu-1ubuntu118.04.1

Operating System: Linux

Default Encoding: UTF-8

Language: en

Country: US

--></g></svg>