urtware / doc / activitydiagrams / service / urtServiceInit.uml @ ee83a495
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µRtWare is a lightweight publish/subscribe middleware for real-time |
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applications. It was developed as part of the software habitat for the |
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Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well. |
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Copyright (C) 2018..2020 Thomas Schöpping et al. |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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|
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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|
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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/'### INTRO ##################################################################'/ |
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@startuml |
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title **µRtWare**\nurtServiceInit()\n |
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/'### PARAMETERS & RETURN ####################################################'/ |
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note |
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-- **service** : urt_service_t* -- |
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The service to initialize. |
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Must not be ""NULL"". |
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-- **id** : urt_serviceid_t -- |
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Unique, numeric identifier of the service. |
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-- **callback** : urt_servicefunc_t* -- |
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Callabck function to be executed by this service. |
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Must not be ""NULL"". |
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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"" if another service with the same identifier already exists. |
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endnote |
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|
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/'### PROCEDURE ##############################################################'/ |
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|
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start |
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:initialize members; |
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note |
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**next** ← ""NULL"" |
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**id** ← id |
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urtMutexInit(**lock**) |
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**callback** ← callback |
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.. URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true .. |
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**minDuration** ← 0xF..F |
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**maxDuration** ← 0 |
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.. URT_CFG_RPC_PROFILING == true .. |
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**sumDurations** ← 0 |
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**numCalls** ← 0 |
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**numTimeouts** ← 0 |
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endnote |
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:lock core; |
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:access first service; |
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while (Service is not ""NULL""\nand service ID is lower?) is (yes) |
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:proceed to next service; |
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endwhile (no) |
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if (Current service is ""NULL""?) then (yes) |
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:append self to core's list of services; |
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:unlock core; |
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stop |
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note |
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Returns ""URT_STATUS_OK"": |
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endnote |
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elseif (Current service ID is greater?) then (yes) |
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:insert self in front of current service; |
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:unlock core; |
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stop |
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note |
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Returns ""URT_STATUS_OK"": |
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endnote |
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else (no) |
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:unlock core; |
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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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endif |
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/'### OUTRO ##################################################################'/ |
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@enduml |