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="1116px" preserveAspectRatio="none" style="width:1906px;height:1116px;" version="1.1" viewBox="0 0 1906 1116" width="1906px" zoomAndPan="magnify"><defs><filter height="300%" id="f1ai3q21p4d2f8" 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="907.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="269" x="817.5" y="47.6611">urtHrtSubscriberUnsubscribe()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="955" y="68.6143"/><path d="M838.75,72.8594 L838.75,183.6563 A0,0 0 0 0 838.75,183.6563 L1326.75,183.6563 A0,0 0 0 0 1326.75,183.6563 L1326.75,132.2578 L1346.75,128.2578 L1326.75,124.2578 L1326.75,82.8594 L1316.75,72.8594 L838.75,72.8594 A0,0 0 0 0 838.75,72.8594 " fill="#FBFB77" filter="url(#f1ai3q21p4d2f8)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1316.75,72.8594 L1316.75,82.8594 L1326.75,82.8594 L1316.75,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="838.75" x2="969.75" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="973.75" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="973.75" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="136" x="1055.75" y="89.4263">: urt_hrtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1195.75" x2="1326.75" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="252" x="844.75" y="105.0591">The HRT subscriber to be unsubscribed.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="844.75" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="924.75" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="956.75" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="838.75" x2="1326.75" y1="128.2578" y2="128.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="838.75" x2="1326.75" y1="130.2578" y2="130.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="838.75" x2="1011.75" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1015.75" y="144.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="1015.75" y="144.8247">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="1064.75" y="144.8247">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1153.75" x2="1326.75" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="844.75" y="160.4575">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="897.75" y="160.4575">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="68" x="1005.75" y="160.4575">on sucess.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="844.75" y="175.5903">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="128" x="897.75" y="175.5903">URT_STATUS_ERROR</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="282" x="1029.75" y="175.5903">if the subscriber is not associated to a topic.</text><ellipse cx="1356.75" cy="128.2578" fill="#000000" filter="url(#f1ai3q21p4d2f8)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#f1ai3q21p4d2f8)" points="1294.25,203.6563,1419.25,203.6563,1431.25,215.6563,1419.25,227.6563,1294.25,227.6563,1282.25,215.6563,1294.25,203.6563" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="125" x="1294.25" y="219.4644">Associated to a topic?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1262.25" y="213.062">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1431.25" y="213.062">no</text><rect fill="#FEFECE" filter="url(#f1ai3q21p4d2f8)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="781.5" y="237.6563"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="791.5" y="258.7949">lock topic</text><rect fill="#000000" filter="url(#f1ai3q21p4d2f8)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1623" x="10" y="291.625"/><path d="M22,492.8164 L22,517.9492 A0,0 0 0 0 22,517.9492 L323,517.9492 A0,0 0 0 0 323,517.9492 L323,510.8164 L343,505.3828 L323,502.8164 L323,502.8164 L313,492.8164 L22,492.8164 A0,0 0 0 0 22,492.8164 " fill="#FBFB77" filter="url(#f1ai3q21p4d2f8)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M313,492.8164 L313,502.8164 L323,502.8164 L313,492.8164 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="280" x="28" y="509.8833">Must be within lock because of HRT counter.</text><rect fill="#FEFECE" filter="url(#f1ai3q21p4d2f8)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="124" x="343" y="488.3984"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="104" x="353" y="509.5371">unregister event</text><rect fill="#FEFECE" filter="url(#f1ai3q21p4d2f8)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="214" x="495" y="488.3984"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="194" x="505" y="509.5371">decrement topic's HRT counter</text><rect fill="#FEFECE" filter="url(#f1ai3q21p4d2f8)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="312" x="737" y="405.5117"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="292" x="747" y="426.6504">remove self from topic's list of HRT subscribers</text><rect fill="#FEFECE" filter="url(#f1ai3q21p4d2f8)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="218" x="784" y="522.8828"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="198" x="794" y="544.0215">update QoS rate timer (@topic)</text><polygon fill="#FEFECE" filter="url(#f1ai3q21p4d2f8)" points="798,474.4805,988,474.4805,1000,486.4805,988,498.4805,798,498.4805,786,486.4805,798,474.4805" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="897" y="508.6909">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="798" y="490.2886">Was the most critical subscriber?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1000" y="483.8862">no</text><polygon fill="#FEFECE" filter="url(#f1ai3q21p4d2f8)" points="893,580.7383,905,592.7383,893,604.7383,881,592.7383,893,580.7383" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#FEFECE" filter="url(#f1ai3q21p4d2f8)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="185" x="1262.5" y="317.625"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="165" x="1272.5" y="338.7637">access last read message</text><rect fill="#000000" filter="url(#f1ai3q21p4d2f8)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="506" x="1101" y="432.3984"/><rect fill="#FEFECE" filter="url(#f1ai3q21p4d2f8)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="1115" y="458.3984"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="161" x="1125" y="479.5371">proceed to next message</text><rect fill="#FEFECE" filter="url(#f1ai3q21p4d2f8)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="271" x="1324" y="458.3984"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="251" x="1334" y="479.5371">decrement next message's HRT counter</text><rect fill="#000000" filter="url(#f1ai3q21p4d2f8)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="506" x="1101" y="512.3672"/><polygon fill="#FEFECE" filter="url(#f1ai3q21p4d2f8)" points="1238,371.5938,1472,371.5938,1484,383.5938,1472,395.5938,1238,395.5938,1226,383.5938,1238,371.5938" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1359" y="405.8042">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="234" x="1238" y="387.4019">Timestamp of next message is younger?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1212" y="380.9995">no</text><rect fill="#FEFECE" filter="url(#f1ai3q21p4d2f8)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="217" x="1246.5" y="625.2539"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="197" x="1256.5" y="646.3926">signal topic's condition variable</text><polygon fill="#FEFECE" filter="url(#f1ai3q21p4d2f8)" points="1227,576.8516,1483,576.8516,1495,588.8516,1483,600.8516,1227,600.8516,1215,588.8516,1227,576.8516" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1359" y="611.062">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="256" x="1227" y="592.6597">The HRT counter of any message became 0?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1495" y="586.2573">no</text><polygon fill="#FEFECE" filter="url(#f1ai3q21p4d2f8)" points="1355,679.2227,1367,691.2227,1355,703.2227,1343,691.2227,1355,679.2227" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#000000" filter="url(#f1ai3q21p4d2f8)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1623" x="10" y="723.2227"/><rect fill="#FEFECE" filter="url(#f1ai3q21p4d2f8)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="96" x="773.5" y="749.2227"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="76" x="783.5" y="770.3613">unlock topic</text><path d="M142,793.1914 L142,1060.4492 A0,0 0 0 0 142,1060.4492 L744,1060.4492 A0,0 0 0 0 744,1060.4492 L744,930.8203 L764,926.8203 L744,922.8203 L744,803.1914 L734,793.1914 L142,793.1914 A0,0 0 0 0 142,793.1914 " fill="#FBFB77" filter="url(#f1ai3q21p4d2f8)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M734,793.1914 L734,803.1914 L744,803.1914 L734,793.1914 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="142" x2="372" y1="805.7578" y2="805.7578"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="134" x="376" y="809.7583">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="514" x2="744" y1="805.7578" y2="805.7578"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="37" x="148" y="825.3911">topic</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="189" y="825.3911">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="204" y="825.3911">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="93" x="148" y="840.5239">lastMessage</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="245" y="840.5239">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="260" y="840.5239">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="128" x="148" y="855.6567">lastMessageTime</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="280" y="855.6567">← 0</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="142" x2="314.5" y1="866.2891" y2="866.2891"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="249" x="318.5" y="870.2896">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="571.5" x2="744" y1="866.2891" y2="866.2891"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="101" x="148" y="885.9224">sumLatencies</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="253" y="885.9224">← 0</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="173" x="148" y="901.0552">numMessagesReceived</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="325" y="901.0552">← 0</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="142" x2="378.5" y1="911.6875" y2="911.6875"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="121" x="382.5" y="915.688">urt_hrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="507.5" x2="744" y1="911.6875" y2="911.6875"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="142" x2="270.5" y1="926.8203" y2="926.8203"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="337" x="274.5" y="930.8208">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="615.5" x2="744" y1="926.8203" y2="926.8203"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="110" x="148" y="946.4536">deadlineOffset</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="262" y="946.4536">← 0</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="142" x2="287" y1="957.0859" y2="957.0859"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="304" x="291" y="961.0864">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="599" x2="744" y1="957.0859" y2="957.0859"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="103" x="148" y="976.7192">expectedRate</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="255" y="976.7192">← 0</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="142" x2="285" y1="987.3516" y2="987.3516"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="308" x="289" y="991.3521">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; 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@startuml

title **µRtWare**\nurtHrtSubscriberUnsubscribe()\n

start

note

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

  The HRT subscriber to be unsubscribed.

  Must not be ""NULL"".

  ====

  - - **return** : urt_status_t - -

  Returns ""URT_STATUS_OK"" on sucess.

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

endnote

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

  :lock topic;

  fork

    :unregister event;

    note

      Must be within lock because of HRT counter.

    endnote

  fork again

    :decrement topic's HRT counter;

  fork again

    :remove self from topic's list of HRT subscribers;

    if (Was the most critical subscriber?) then (yes)

      :update QoS rate timer (@topic);

    else (no)

    endif

  fork again

    :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)

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

      :signal topic's condition variable;

    else (no)

    endif

  endfork

  :unlock topic;

  :reset members;

  note

    - - urt_basesubscriber_t - -

    **topic** ← ""NULL""

    **lastMessage** ← ""NULL""

    **lastMessageTime** ← 0

    .. URT_CFG_PUBSUB_PROFILING == true ..

    **sumLatencies** ← 0

    **numMessagesReceived** ← 0

    - - urt_hrtsubscriber_t - -

    .. URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true ..

    **deadlineOffset** ← 0

    .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..

    **expectedRate** ← 0

    .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ..

    **maxJitter** ← 0

    .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true ..

    **minLatency** ← 0xF..F

    **maxLatency** ← 0

  endnote

  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>