/' µRtWare is a lightweight publish/subscribe middleware for real-time applications. It was developed as part of the software habitat for the Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well. Copyright (C) 2018..2018 Thomas Schöpping et al. This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . '/ @startuml title **µRtWare**\nurtCoreSynchronizeNodes()\n start :acquire mutex lock; :set node's ""stage"" variable to argument; while (Nodes left to check?) is (yes) :compare argument with the node's ""stage"" value; :iterate to next node; endwhile (no) :release mutex; if (Are all nodes in the same stage?) then (yes) :broadcast control event; else (no) :wait for control event; endif stop @enduml