urtware / doc / activitydiagrams / subscriber / urtHrtSubscriberUnsubscribe.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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|
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Copyright (C) 2018..2020 Thomas Schöpping et al. |
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|
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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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|
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@startuml |
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|
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title **µRtWare**\nurtHrtSubscriberUnsubscribe()\n |
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|
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/'### PARAMETERS & RETURN ####################################################'/ |
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|
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start |
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note |
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-- **subscriber** : urt_hrtsubscriber_t* -- |
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The HRT subscriber to be unsubscribed. |
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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 sucess. |
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Returns ""URT_STATUS_ERROR"" if the subscriber is not associated to a topic. |
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endnote |
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|
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/'### PROCEDURE ##############################################################'/ |
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|
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if (Associated to a topic?) then (yes) |
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:lock topic; |
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fork |
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:unregister event; |
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note |
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Must be within lock because of HRT counter. |
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endnote |
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fork again |
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:decrement topic's HRT counter; |
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fork again |
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:remove self from topic's list of HRT subscribers; |
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if (Was the most critical subscriber?) then (yes) |
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:update QoS rate timer (@topic); |
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else (no) |
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endif |
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fork again |
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:access last read message; |
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while (Timestamp of next message is younger?) is (yes) |
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fork |
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:proceed to next message; |
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fork again |
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:decrement next message's HRT counter; |
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endfork |
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endwhile (no) |
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if (The HRT counter of any message became 0?) then (yes) |
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:signal topic's condition variable; |
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else (no) |
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endif |
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endfork |
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:unlock topic; |
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:reset members; |
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note |
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-- urt_basesubscriber_t -- |
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**topic** ← ""NULL"" |
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**lastMessage** ← ""NULL"" |
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**lastMessageTime** ← 0 |
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.. URT_CFG_PUBSUB_PROFILING == true .. |
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**sumLatencies** ← 0 |
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**numMessagesReceived** ← 0 |
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-- urt_hrtsubscriber_t -- |
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.. URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true .. |
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**deadlineOffset** ← 0 |
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.. URT_CFG_PUBSUB_QOS_RATECHECKS == true .. |
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**expectedRate** ← 0 |
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.. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true .. |
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**maxJitter** ← 0 |
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.. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true .. |
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**minLatency** ← 0xF..F |
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**maxLatency** ← 0 |
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endnote |
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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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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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|
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/'### OUTRO ##################################################################'/ |
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|
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@enduml |