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="1693px" preserveAspectRatio="none" style="width:828px;height:1693px;" version="1.1" viewBox="0 0 828 1693" width="828px" zoomAndPan="magnify"><defs><filter height="300%" id="f1p8hd1hubp91s" 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="368.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="66" x="380" y="47.6611">_main()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="416" y="68.6143"/><path d="M220.75,72.8594 L220.75,153.3906 L762.75,153.3906 L762.75,82.8594 L752.75,72.8594 L220.75,72.8594 " fill="#FBFB77" filter="url(#f1p8hd1hubp91s)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M752.75,72.8594 L752.75,82.8594 L762.75,82.8594 L752.75,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="220.75" x2="452.75" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="456.75" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="25" x="456.75" y="89.4263">arg</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="485.75" y="89.4263">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="530.75" x2="762.75" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="332" x="226.75" y="105.0591">Optional Argument to the thread main function (see</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="176" x="562.75" y="105.0591">urt_osThreadFunction_t</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="9" x="738.75" y="105.0591">).</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="134" x="226.75" y="120.1919">This function expects</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="364.75" y="120.1919">arg</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="81" x="392.75" y="120.1919">to be of type</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="88" x="477.75" y="120.1919">urt_node_t*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="565.75" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="220.75" x2="762.75" y1="128.2578" y2="128.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="220.75" x2="762.75" y1="130.2578" y2="130.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="220.75" x2="446.25" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="450.25" y="144.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="450.25" y="144.8247">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="34" x="499.25" y="144.8247">: void</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="537.25" x2="762.75" y1="140.8242" y2="140.8242"/><ellipse cx="491.75" cy="183.3906" fill="#000000" filter="url(#f1p8hd1hubp91s)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FFFFFF" filter="url(#f1p8hd1hubp91s)" height="600.9141" style="stroke: #000000; stroke-width: 2.0;" width="807" x="10" y="204.1924"/><path d="M60,205.1924 L60,213.4893 L50,223.4893 L10,223.4893 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="40" x="13" y="218.1875">setup</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="157" x="413.25" y="240.4893"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="137" x="423.25" y="261.6279">register to core event</text><polygon fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" points="403.75,294.458,579.75,294.458,591.75,306.458,579.75,318.458,403.75,318.458,391.75,306.458,403.75,294.458" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="39" x="403.75" y="310.2661">Node's</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="446.75" y="310.2661">setupcallback</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="38" x="541.75" y="310.2661">is set?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="371.75" y="303.8638">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="591.75" y="303.8638">no</text><path d="M30,332.876 L30,358.0088 A0,0 0 0 0 30,358.0088 L201,358.0088 A0,0 0 0 0 201,358.0088 L201,350.876 L221,345.4424 L201,342.876 L201,342.876 L191,332.876 L30,332.876 A0,0 0 0 0 30,332.876 " fill="#FBFB77" filter="url(#f1p8hd1hubp91s)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M191,332.876 L191,342.876 L201,342.876 L191,332.876 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="150" x="36" y="349.9429">Callback must not loop.</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="179" x="221" y="328.458"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="50" x="231" y="349.5967">execute</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="105" x="285" y="349.5967">setupcallback()</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="367" x="127" y="430.8291"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="21" x="137" y="451.9678">call</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="322" x="162" y="451.9678">urtCoreStopNodes(URT_STATUS_NODE_INVALEVTMASK)</text><polygon fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" points="124,382.4268,497,382.4268,509,394.4268,497,406.4268,124,406.4268,112,394.4268,124,382.4268" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="314.5" y="416.6372">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="124" y="398.2349">Event mask returned by</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="105" x="264" y="398.2349">setupcallback()</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="373" y="398.2349">redefines core event?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="509" y="391.8325">no</text><polygon fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" points="310.5,484.7979,322.5,496.7979,310.5,508.7979,298.5,496.7979,310.5,484.7979" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="264" x="541" y="328.458"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="50" x="551" y="349.5967">act as if</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="91" x="605" y="349.5967">setupcallback</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="95" x="700" y="349.5967">returned 0xF..F</text><polygon fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" points="491.75,514.7979,503.75,526.7979,491.75,538.7979,479.75,526.7979,491.75,514.7979" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="258" x="362.75" y="607.2002"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="238" x="372.75" y="628.3389">suspend all child threads (recursively)</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="341" x="321.25" y="661.1689"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="331.25" y="682.3076">synchronize by calling</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="182" x="470.25" y="682.3076">urtCoreSynchronizeNodes(1)</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="251" x="366.25" y="715.1377"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="231" x="376.25" y="736.2764">resume all child threads (recursively)</text><polygon fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" points="400.75,558.7979,582.75,558.7979,594.75,570.7979,582.75,582.7979,400.75,582.7979,388.75,570.7979,400.75,558.7979" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="495.75" y="593.0083">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="81" x="400.75" y="574.606">Core status is</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="485.75" y="574.606">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="6" x="576.75" y="574.606">?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="594.75" y="568.2036">no</text><polygon fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" points="491.75,769.1064,503.75,781.1064,491.75,793.1064,479.75,781.1064,491.75,769.1064" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#FFFFFF" filter="url(#f1p8hd1hubp91s)" height="531.2222" style="stroke: #000000; stroke-width: 2.0;" width="606" x="170.75" y="815.9082"/><path d="M210.75,816.9082 L210.75,825.2051 L200.75,835.2051 L170.75,835.2051 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="30" x="173.75" y="829.9033">loop</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="240" x="371.75" y="907.9155"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="220" x="381.75" y="929.0542">Wait for a specified or a core event</text><path d="M214.75,1014.7046 L214.75,1039.8374 A0,0 0 0 0 214.75,1039.8374 L385.75,1039.8374 A0,0 0 0 0 385.75,1039.8374 L385.75,1032.7046 L405.75,1027.271 L385.75,1024.7046 L385.75,1024.7046 L375.75,1014.7046 L214.75,1014.7046 A0,0 0 0 0 214.75,1014.7046 " fill="#FBFB77" filter="url(#f1p8hd1hubp91s)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M375.75,1014.7046 L375.75,1024.7046 L385.75,1024.7046 L375.75,1014.7046 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="150" x="220.75" y="1031.7715">Callback must not loop.</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="172" x="405.75" y="1010.2866"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="50" x="415.75" y="1031.4253">execute</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="98" x="469.75" y="1031.4253">loopcallback()</text><rect fill="#EEEEEE" filter="url(#f1p8hd1hubp91s)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="464" x="259.75" y="1064.2554"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="259.75" x2="269.75" y1="1081.2397" y2="1081.2397"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="444" x="269.75" y="1084.894">URT_CFG_PUBSUB_PROFILING == true || URT_CFG_RPC_PROFILING = true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="713.75" x2="723.75" y1="1081.2397" y2="1081.2397"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="147" x="269.75" y="1099.3628">increment loop counter</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="367" x="308.25" y="1191.1616"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="21" x="318.25" y="1212.3003">call</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="322" x="343.25" y="1212.3003">urtCoreStopNodes(URT_STATUS_NODE_INVALEVTMASK)</text><polygon fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" points="308.75,1142.7593,674.75,1142.7593,686.75,1154.7593,674.75,1166.7593,308.75,1166.7593,296.75,1154.7593,308.75,1142.7593" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="495.75" y="1176.9697">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="308.75" y="1158.5674">Event mask returned by</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="448.75" y="1158.5674">loopcallback()</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="550.75" y="1158.5674">redefines core event?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="686.75" y="1152.165">no</text><polygon fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" points="491.75,1245.1304,503.75,1257.1304,491.75,1269.1304,479.75,1257.1304,491.75,1245.1304" style="stroke: #A80036; stroke-width: 1.5;"/><polygon fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" points="431.75,961.8843,551.75,961.8843,563.75,973.8843,551.75,985.8843,431.75,985.8843,419.75,973.8843,431.75,961.8843" style="stroke: #A80036; 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stroke-width: 2.0;" width="653" x="70.25" y="1357.9321"/><path d="M117.25,1358.9321 L117.25,1367.229 L107.25,1377.229 L70.25,1377.229 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="37" x="73.25" y="1371.9272">outro</text><path d="M90.25,1447.0493 L90.25,1472.1821 A0,0 0 0 0 90.25,1472.1821 L272.25,1472.1821 A0,0 0 0 0 272.25,1472.1821 L272.25,1465.0493 L292.25,1459.6157 L272.25,1457.0493 L272.25,1457.0493 L262.25,1447.0493 L90.25,1447.0493 A0,0 0 0 0 90.25,1447.0493 " fill="#FBFB77" filter="url(#f1p8hd1hubp91s)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M262.25,1447.0493 L262.25,1457.0493 L272.25,1457.0493 L262.25,1447.0493 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="161" x="96.25" y="1464.1162">Callback must terminate.</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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stroke-width: 1.0;"/><!--MD5=[57f7dd3258e9e32082ded56183dd3797]

@startuml

title **µRtWare**\n_main()\n

note

  - - **arg** : void* - -

  Optional Argument to the thread main function (see ""urt_osThreadFunction_t"").

  This function expects ""arg"" to be of type ""urt_node_t*"".

  ====

  - - **return** : void - -

endnote

start

partition "setup" {

  :register to core event;

  if (Node's ""setupcallback"" is set?) then (yes)

    :execute ""setupcallback()"";

    note

      Callback must not loop.

    endnote

    if (Event mask returned by ""setupcallback()"" redefines core event?) then (yes)

      :call ""urtCoreStopNodes(URT_STATUS_NODE_INVALEVTMASK)"";

    else (no)

    endif

  else (no)

    :act as if ""setupcallback"" returned 0xF..F;

  endif

  if (Core status is ""URT_STATUS_OK""?) then (yes)

    :suspend all child threads (recursively);

    :synchronize by calling ""urtCoreSynchronizeNodes(1)"";

    :resume all child threads (recursively);

  else (no)

  endif

}

partition "loop" {

  while (Termination of node thread requested?) is (no)

    :Wait for a specified or a core event;

    if (Core event received?) then (yes)

    else (no)

      :execute ""loopcallback()"";

      note

        Callback must not loop.

      endnote

      #EEEEEE:..//URT_CFG_PUBSUB_PROFILING == true || URT_CFG_RPC_PROFILING = true//..\nincrement loop counter;

      if (Event mask returned by ""loopcallback()"" redefines core event?) then (yes)

        :call ""urtCoreStopNodes(URT_STATUS_NODE_INVALEVTMASK)"";

      else (no)

      endif

    endif

  endwhile (yes)

}

partition "outro" {

  if (Node's ""shutdowncallback"" is set?) then (yes)

    :execute ""shutdowncallback()"" with core's status as argument;

    note

      Callback must terminate.

    endnote

  else (no)

  endif

  :unregister from core event;

  :terminate node thread (and all child threads);

}

stop

@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: 11.0.7+10-post-Ubuntu-2ubuntu218.04

Operating System: Linux

Default Encoding: UTF-8

Language: en

Country: US

--></g></svg>