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="1073px" preserveAspectRatio="none" style="width:1782px;height:1073px;" version="1.1" viewBox="0 0 1782 1073" width="1782px" zoomAndPan="magnify"><defs><filter height="300%" id="f1amcfo5x9amkf" 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="845.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="338" x="721" y="47.6611">urtHrtSubscriberFetchLatestMessage()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="893" y="68.6143"/><path d="M1009.25,72.8594 L1009.25,304.7188 L1497.25,304.7188 L1497.25,82.8594 L1487.25,72.8594 L1009.25,72.8594 " fill="#FBFB77" filter="url(#f1amcfo5x9amkf)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1487.25,72.8594 L1487.25,82.8594 L1497.25,82.8594 L1487.25,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1009.25" x2="1140.25" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1144.25" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="1144.25" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="136" x="1226.25" y="89.4263">: urt_hrtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1366.25" x2="1497.25" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="313" x="1015.25" y="105.0591">The HRT subscriber that shall fetch the message.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="1015.25" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1095.25" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1127.25" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1009.25" x2="1197.25" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1201.25" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="59" x="1201.25" y="134.8247">payload</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="1264.25" y="134.8247">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1309.25" x2="1497.25" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="238" x="1015.25" y="150.4575">Pointer where to copy the payload to.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="1015.25" y="165.5903">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1065.25" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="195" x="1101.25" y="165.5903">for messages without payload.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1009.25" x2="1204.25" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1208.25" y="180.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="1208.25" y="180.2231">bytes</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="45" x="1253.25" y="180.2231">: size_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1302.25" x2="1497.25" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="137" x="1015.25" y="195.856">Payload size in bytes.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1009.25" x2="1177.75" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1181.75" y="210.4888"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="53" x="1181.75" y="210.4888">latency</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="86" x="1238.75" y="210.4888">: urt_delay_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1328.75" x2="1497.25" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="267" x="1015.25" y="226.1216">The latency can be returned by reference.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="1015.25" y="241.2544">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1065.25" y="241.2544">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1097.25" y="241.2544">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1009.25" x2="1497.25" y1="249.3203" y2="249.3203"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1009.25" x2="1497.25" y1="251.3203" y2="251.3203"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1009.25" x2="1182.25" y1="261.8867" y2="261.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1186.25" y="265.8872"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="1186.25" y="265.8872">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="1235.25" y="265.8872">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1324.25" x2="1497.25" y1="261.8867" y2="261.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1015.25" y="281.52">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="1068.25" y="281.52">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="75" x="1176.25" y="281.52">on success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1015.25" y="296.6528">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="128" x="1068.25" y="296.6528">URT_STATUS_ERROR</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="282" x="1200.25" y="296.6528">if the subscriber is not associated to a topic.</text><ellipse cx="1253.25" cy="334.7188" fill="#000000" filter="url(#f1amcfo5x9amkf)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#f1amcfo5x9amkf)" points="1190.75,364.7188,1315.75,364.7188,1327.75,376.7188,1315.75,388.7188,1190.75,388.7188,1178.75,376.7188,1190.75,364.7188" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="125" x="1190.75" y="380.5269">Associated to a topic?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1158.75" y="374.1245">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1327.75" y="374.1245">no</text><rect fill="#FEFECE" filter="url(#f1amcfo5x9amkf)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="700.5" y="398.7188"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="710.5" y="419.8574">lock topic</text><rect fill="#FEFECE" filter="url(#f1amcfo5x9amkf)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="185" x="648" y="452.6875"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="165" x="658" y="473.8262">access last read message</text><rect fill="#000000" filter="url(#f1amcfo5x9amkf)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="508" x="486.5" y="562.3667"/><rect fill="#FEFECE" filter="url(#f1amcfo5x9amkf)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="500.5" y="588.3667"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="161" x="510.5" y="609.5054">proceed to next message</text><rect fill="#FEFECE" filter="url(#f1amcfo5x9amkf)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="271" x="709.5" y="588.3667"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="251" x="719.5" y="609.5054">decrement next message's HRT counter</text><rect fill="#000000" filter="url(#f1amcfo5x9amkf)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="508" x="486.5" y="642.3354"/><polygon fill="#FEFECE" filter="url(#f1amcfo5x9amkf)" points="623.5,506.6563,857.5,506.6563,869.5,518.6563,857.5,530.6563,623.5,530.6563,611.5,518.6563,623.5,506.6563" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="744.5" y="540.8667">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="234" x="623.5" y="522.4644">Timestamp of next message is younger?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="597.5" y="516.062">no</text><rect fill="#000000" filter="url(#f1amcfo5x9amkf)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1499" x="10" y="690.3354"/><rect fill="#FFFFFF" filter="url(#f1amcfo5x9amkf)" height="231.0703" style="stroke: #000000; stroke-width: 2.0;" width="970" x="22" y="707.1372"/><path d="M135,708.1372 L135,716.4341 L125,726.4341 L22,726.4341 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="103" x="25" y="721.1323">fetch message</text><rect fill="#000000" filter="url(#f1amcfo5x9amkf)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="950" x="32" y="743.4341"/><rect fill="#FEFECE" filter="url(#f1amcfo5x9amkf)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="175" x="46" y="817.8364"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="155" x="56" y="838.9751">update message pointer</text><rect fill="#FEFECE" filter="url(#f1amcfo5x9amkf)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="196" x="231" y="817.8364"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="176" x="241" y="838.9751">copy timestamp of message</text><rect fill="#FEFECE" filter="url(#f1amcfo5x9amkf)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="163" x="437" y="817.8364"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="143" x="447" y="838.9751">copy message payload</text><rect fill="#FEFECE" filter="url(#f1amcfo5x9amkf)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="308" x="638" y="817.8364"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="20" x="648" y="838.9751">set</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="49" x="672" y="838.9751">latency</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="211" x="725" y="838.9751">value (now - message origin time)</text><polygon fill="#FEFECE" filter="url(#f1amcfo5x9amkf)" points="672.5,769.4341,911.5,769.4341,923.5,781.4341,911.5,793.4341,672.5,793.4341,660.5,781.4341,672.5,769.4341" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="796" y="803.6445">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="672.5" y="785.2422">Optional output argument</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="49" x="822.5" y="785.2422">latency</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="36" x="875.5" y="785.2422">given?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="923.5" y="778.8398">no</text><polygon fill="#FEFECE" filter="url(#f1amcfo5x9amkf)" points="792,876.2075,804,888.2075,792,900.2075,780,888.2075,792,876.2075" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#000000" filter="url(#f1amcfo5x9amkf)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="950" x="32" y="920.2075"/><rect fill="#FEFECE" filter="url(#f1amcfo5x9amkf)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="217" x="1051.5" y="809.688"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="197" x="1061.5" y="830.8267">signal topic's condition variable</text><polygon fill="#FEFECE" filter="url(#f1amcfo5x9amkf)" points="1032,761.2856,1288,761.2856,1300,773.2856,1288,785.2856,1032,785.2856,1020,773.2856,1032,761.2856" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1164" y="795.4961">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="256" x="1032" y="777.0938">The HRT counter of any message became 0?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1300" y="770.6914">no</text><polygon fill="#FEFECE" filter="url(#f1amcfo5x9amkf)" points="1160,868.0591,1172,880.0591,1160,892.0591,1148,880.0591,1160,868.0591" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#FEFECE" filter="url(#f1amcfo5x9amkf)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="155" x="1340" y="809.688"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="1350" y="830.8267">reset QoS delay timer</text><rect fill="#000000" filter="url(#f1amcfo5x9amkf)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1499" x="10" y="958.2075"/><rect fill="#FEFECE" filter="url(#f1amcfo5x9amkf)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="96" x="692.5" y="984.2075"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="76" x="702.5" y="1005.3462">unlock topic</text><path d="M527.5,1036.6099 L527.5,1061.7427 A0,0 0 0 0 527.5,1061.7427 L709.5,1061.7427 A0,0 0 0 0 709.5,1061.7427 L709.5,1054.6099 L729.5,1049.1763 L709.5,1046.6099 L709.5,1046.6099 L699.5,1036.6099 L527.5,1036.6099 A0,0 0 0 0 527.5,1036.6099 " fill="#FBFB77" filter="url(#f1amcfo5x9amkf)" style="stroke: #A80036; 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@startuml

title **µRtWare**\nurtHrtSubscriberFetchLatestMessage()\n

note

  - - **subscriber** : urt_hrtsubscriber_t* - -

  The HRT subscriber that shall fetch the message.

  Must not be ""NULL"".

  - - **payload** : void* - -

  Pointer where to copy the payload to.

  May be ""NULL"" for messages without payload.

  - - **bytes** : size_t - -

  Payload size in bytes.

  - - **latency** : urt_delay_t* - -

  The latency can be returned by reference.

  May be ""NULL"".

  ====

  - - **return** : urt_status_t - -

  Returns ""URT_STATUS_OK"" on success.

  Returns ""URT_STATUS_ERROR"" if the subscriber is not associated to a topic.

endnote

start

if (Associated to a topic?) then (yes)

  :lock topic;

  :access last read message;

  while (Timestamp of next message is younger?) is (yes)

    fork

      :proceed to next message;

    fork again

      :decrement next message's HRT counter;

    endfork

  endwhile (no)

  fork

partition "fetch message" {

  fork

    :update message pointer;

  fork again

      :copy timestamp of message;

  fork again

    :copy message payload;

  fork again

    if (Optional output argument ""latency"" given?) then (yes)

      :set ""latency"" value (now - message origin time);

    else (no)

    endif

  endfork

}

  fork again

    if (The HRT counter of any message became 0?) then (yes)

      :signal topic's condition variable;

    else (no)

    endif

  fork again

    :reset QoS delay timer;

  endfork

  :unlock topic;

  stop

  note

    Returns ""URT_STATUS_OK"".

  endnote

else (no)

  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>