AMiRo-OS

    partition "urt_core_t" {

      note

        must be initialized statically

        (in startup thread)

      endnote

      :initialize members;

    }

    partition "urt_osThread_t" {

      :initialize work area;

      note

        must be initialized statically

        (in preamble / static memory allocation)

      endnote

      :initialize members;

    }

  fork

    partition "urt_topic_t" {

      :initialize members;

      :insert self to topic list;

    }

    partition "urt_publisher_t" {

      :initialize members;

      :find topic in topic list;

      if (Any messages to contribute?) then (yes)

        :lock topic;

        :contribute messages;

        :unlock topic;

      else (no)

      endif

    }

  fork again

    partition "urt_node_t" {

      :initialize members;

      :insert self to node list;

    }

  endfork

fork again

  partition "urt_subscriber_t" {

    :initialize members;

  }

  partition "urt_message_t" {

    :initialize members;

  }