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="1081px" preserveAspectRatio="none" style="width:3055px;height:1081px;" version="1.1" viewBox="0 0 3055 1081" width="3055px" zoomAndPan="magnify"><defs><filter height="300%" id="fnkdh20ze193k" 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="1482.25" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="247" x="1403.25" y="47.6611">urtHrtSubscriberSubscribe()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="1529.75" y="68.6143"/><path d="M600.5,72.8594 L600.5,440.9141 L1300.5,440.9141 L1300.5,82.8594 L1290.5,72.8594 L600.5,72.8594 " fill="#FBFB77" filter="url(#fnkdh20ze193k)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1290.5,72.8594 L1290.5,82.8594 L1300.5,82.8594 L1290.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="600.5" x2="837.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="841.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="841.5" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="136" x="923.5" y="89.4263">: urt_hrtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1063.5" x2="1300.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="327" x="606.5" y="105.0591">The HRT subscriber which shall subscribe to a topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="606.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="686.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="718.5" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="600.5" x2="884.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="888.5" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="37" x="888.5" y="134.8247">topic</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="83" x="929.5" y="134.8247">: urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1016.5" x2="1300.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="161" x="606.5" y="150.4575">The topic to subscribe to.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="606.5" y="165.5903">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="686.5" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="718.5" y="165.5903">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="600.5" x2="851.5" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="855.5" y="180.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="75" x="855.5" y="180.2231">messages</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="111" x="934.5" y="180.2231">: urt_message_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1049.5" x2="1300.5" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="606.5" y="195.856">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="346" x="642.5" y="195.856">terminated list of messages to contribute to the topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="329" x="606.5" y="210.9888">Messages must not be associated to another topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="430" x="606.5" y="226.1216">Once a message has been contributed, it cannot be removed later.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="606.5" y="241.2544">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="656.5" y="241.2544">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="186" x="692.5" y="241.2544">(no messages to contribute).</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="600.5" x2="873" y1="251.8867" y2="251.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="877" y="255.8872"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="64" x="877" y="255.8872">deadline</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="79" x="945" y="255.8872">: urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1028" x2="1300.5" y1="251.8867" y2="251.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="267" x="606.5" y="271.52">Maximum latency to consume messages.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="325" x="606.5" y="286.6528">A value of 0 indicates that latency is of no concern.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="600.5" x2="887.5" y1="297.2852" y2="297.2852"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="891.5" y="301.2856"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="35" x="891.5" y="301.2856">jitter</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="79" x="930.5" y="301.2856">: urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1013.5" x2="1300.5" y1="297.2852" y2="297.2852"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="679" x="606.5" y="316.9185">Maximum allowed jitter (difference between maximum and minimum latency) when consuming messages.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="308" x="606.5" y="332.0513">A value of 0 indicates that jitter is of no concern.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="10" x="606.5" y="347.1841">--</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="30" x="620.5" y="347.1841">rate</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="77" x="654.5" y="347.1841">: urt-delay_t</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="621" x="606.5" y="362.3169">Expected minimum rate of new messages (= mamximum time between consecutive messages).</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="309" x="606.5" y="377.4497">A value of 0 indicates, that rate is of no concern.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="600.5" x2="1300.5" y1="385.5156" y2="385.5156"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="600.5" x2="1300.5" y1="387.5156" y2="387.5156"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="600.5" x2="879.5" y1="398.082" y2="398.082"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="883.5" y="402.0825"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="883.5" y="402.0825">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="932.5" y="402.0825">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1021.5" x2="1300.5" y1="398.082" y2="398.082"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="606.5" y="417.7153">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="659.5" y="417.7153">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="75" x="767.5" y="417.7153">on success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="606.5" y="432.8481">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="128" x="659.5" y="432.8481">URT_STATUS_ERROR</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="308" x="791.5" y="432.8481">if the subscriber is already associated to a topic.</text><ellipse cx="950.5" cy="470.9141" fill="#000000" filter="url(#fnkdh20ze193k)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#fnkdh20ze193k)" points="893,500.9141,1008,500.9141,1020,512.9141,1008,524.9141,893,524.9141,881,512.9141,893,500.9141" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="115" x="893" y="516.7222">Is topic already set?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="861" y="510.3198">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1020" y="510.3198">no</text><path d="M10,534.9141 L10,560.0469 A0,0 0 0 0 10,560.0469 L216,560.0469 A0,0 0 0 0 216,560.0469 L216,552.9141 L236,547.4805 L216,544.9141 L216,544.9141 L206,534.9141 L10,534.9141 A0,0 0 0 0 10,534.9141 " fill="#FBFB77" filter="url(#fnkdh20ze193k)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M206,534.9141 L206,544.9141 L216,544.9141 L206,534.9141 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="16" y="551.981">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="128" x="69" y="551.981">URT_STATUS_ERROR</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="197" y="551.981">.</text><ellipse cx="247" cy="547.4805" fill="#FFFFFF" filter="url(#fnkdh20ze193k)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="247" cy="547.4805" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><rect fill="#000000" filter="url(#fnkdh20ze193k)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="592" x="1380" y="534.9141"/><rect fill="#FEFECE" filter="url(#fnkdh20ze193k)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="75" x="1394" y="560.9141"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="55" x="1404" y="582.0527">set topic</text><rect fill="#FEFECE" filter="url(#fnkdh20ze193k)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="138" x="1497" y="560.9141"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="1507" y="582.0527">set deadline offset</text><rect fill="#FEFECE" filter="url(#fnkdh20ze193k)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="135" x="1663" y="560.9141"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="1673" y="582.0527">set maximum jitter</text><rect fill="#FEFECE" filter="url(#fnkdh20ze193k)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="132" x="1826" y="560.9141"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="1836" y="582.0527">set expected rate</text><rect fill="#000000" filter="url(#fnkdh20ze193k)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="592" x="1380" y="614.8828"/><rect fill="#FEFECE" filter="url(#fnkdh20ze193k)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="1636" y="640.8828"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="1646" y="662.0215">lock topic</text><rect fill="#000000" filter="url(#fnkdh20ze193k)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="2776.5" x="268" y="694.8516"/><rect fill="#FFFFFF" filter="url(#fnkdh20ze193k)" height="134.2656" style="stroke: #000000; stroke-width: 2.0;" width="1168" x="280" y="767.3638"/><path d="M437,768.3638 L437,776.6606 L427,786.6606 L280,786.6606 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="147" x="283" y="781.3589">contribute messages</text><rect fill="#000000" filter="url(#fnkdh20ze193k)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1148" x="290" y="803.6606"/><rect fill="#FEFECE" filter="url(#fnkdh20ze193k)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="474" x="304" y="829.6606"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="454" x="314" y="850.7993">set next pointer of topic's latest message to first message to contribute</text><rect fill="#FEFECE" filter="url(#fnkdh20ze193k)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="618" x="806" y="829.6606"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="598" x="816" y="850.7993">set next pointer of last message to contribute to the message after the topic's latest message</text><rect fill="#000000" filter="url(#fnkdh20ze193k)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1148" x="290" y="883.6294"/><polygon fill="#FEFECE" filter="url(#fnkdh20ze193k)" points="794,720.8516,934,720.8516,946,732.8516,934,744.8516,794,744.8516,782,732.8516,794,720.8516" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="868" y="755.062">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="140" x="794" y="736.6597">Messages to contribute?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="946" y="730.2573">no</text><polygon fill="#FEFECE" filter="url(#fnkdh20ze193k)" points="864,921.6294,876,933.6294,864,945.6294,852,933.6294,864,921.6294" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#000000" filter="url(#fnkdh20ze193k)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="664" x="1498" y="795.5122"/><rect fill="#FEFECE" filter="url(#fnkdh20ze193k)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="313" x="1512" y="821.5122"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="293" x="1522" y="842.6509">set message pointer to topic's latest message</text><rect fill="#FEFECE" filter="url(#fnkdh20ze193k)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="297" x="1853" y="821.5122"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="277" x="1863" y="842.6509">copy timestamp from topic's latest message</text><rect fill="#000000" filter="url(#fnkdh20ze193k)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="664" x="1498" y="875.481"/><rect fill="#FEFECE" filter="url(#fnkdh20ze193k)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="217" x="2172" y="821.5122"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="197" x="2182" y="842.6509">register to topic's event source</text><rect fill="#000000" filter="url(#fnkdh20ze193k)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="633.5" x="2399" y="795.5122"/><rect fill="#FEFECE" filter="url(#fnkdh20ze193k)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="287" x="2411" y="821.5122"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="267" x="2421" y="842.6509">insert self to topic's list of HRT subscribers</text><rect fill="#FEFECE" filter="url(#fnkdh20ze193k)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="302" x="2718.5" y="821.5122"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="282" x="2728.5" y="842.6509">increment topic's counter of HRT subscribers</text><rect fill="#000000" filter="url(#fnkdh20ze193k)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="633.5" x="2399" y="875.481"/><rect fill="#000000" filter="url(#fnkdh20ze193k)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="2776.5" x="268" y="965.6294"/><rect fill="#FEFECE" filter="url(#fnkdh20ze193k)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="96" x="1628" y="991.6294"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="76" x="1638" y="1012.7681">unlock topic</text><path d="M1463,1044.0317 L1463,1069.1646 A0,0 0 0 0 1463,1069.1646 L1645,1069.1646 A0,0 0 0 0 1645,1069.1646 L1645,1062.0317 L1665,1056.5981 L1645,1054.0317 L1645,1054.0317 L1635,1044.0317 L1463,1044.0317 A0,0 0 0 0 1463,1044.0317 " fill="#FBFB77" filter="url(#fnkdh20ze193k)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1635,1044.0317 L1635,1054.0317 L1645,1054.0317 L1635,1044.0317 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1469" y="1061.0986">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="1522" y="1061.0986">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1626" y="1061.0986">.</text><ellipse cx="1676" cy="1056.5981" fill="#FFFFFF" filter="url(#fnkdh20ze193k)" rx="11" ry="11" style="stroke: #000000; 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@startuml

title **µRtWare**\nurtHrtSubscriberSubscribe()\n

note

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

  The HRT subscriber which shall subscribe to a topic.

  Must not be ""NULL"".

  - - **topic** : urt_topic_t* - -

  The topic to subscribe to.

  Must not be ""NULL"".

  - - **messages** : urt_message_t* - -

  ""NULL"" terminated list of messages to contribute to the topic.

  Messages must not be associated to another topic.

  Once a message has been contributed, it cannot be removed later.

  May be ""NULL"" (no messages to contribute).

  - - **deadline** : urt_delay_t - -

  Maximum latency to consume messages.

  A value of 0 indicates that latency is of no concern.

  - - **jitter** : urt_delay_t - -

  Maximum allowed jitter (difference between maximum and minimum latency) when consuming messages.

  A value of 0 indicates that jitter is of no concern.

  - - **rate** : urt-delay_t

  Expected minimum rate of new messages (= mamximum time between consecutive messages).

  A value of 0 indicates, that rate is of no concern.

  ====

  - - **return** : urt_status_t - -

  Returns ""URT_STATUS_OK"" on success.

  Returns ""URT_STATUS_ERROR"" if the subscriber is already associated to a topic.

endnote

start

if (Is topic already set?) then (yes)

  stop

  note

    Returns ""URT_STATUS_ERROR"".

  endnote

else (no)

  fork

    :set topic;

  fork again

    :set deadline offset;

  fork again

    :set maximum jitter;

  fork again

    :set expected rate;

  endfork

  :lock topic;

  fork

    if (Messages to contribute?) then (yes)

partition "contribute messages" {

  fork

    :set next pointer of topic's latest message to first message to contribute;

  fork again

    :set next pointer of last message to contribute to the message after the topic's latest message;

  endfork

}

    else (no)

    endif

  fork again

    fork

      :set message pointer to topic's latest message;

    fork again

      :copy timestamp from topic's latest message;

    endfork

  fork again

    :register to topic's event source;

  fork again

    fork

      :insert self to topic's list of HRT subscribers;

    fork again

      :increment topic's counter of HRT subscribers;

    endfork

  endfork

  :unlock topic;

  stop

  note

    Returns ""URT_STATUS_OK"".

  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>