AMiRo-OS

/'

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..2020  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 <http://www.gnu.org/licenses/>.

'/

/'### INTRO ##################################################################'/

@startuml

title **µRtWare**\nurtNodeInit()\n

/'### PARAMETERS & RETURN ####################################################'/

note

  -- **node** : urt_node_t* --

  The node to initialize.

  Must not be ""NULL"".

  -- **thread** : urt_osThread_t* --

  The already initialized, exclusive thread for the node.

  Must not be ""NULL"".

  -- **setupcallback** : urt_nodeSetupCallback_t* --

  Callback function to be executed during setup.

  May be ""NULL"" if no custom setup is required.

  --  **setupparams** : void*--

  Parameters for the setup callback function.

  Must be ""NULL"" if no setup callback is specified.

  May be ""NULL"" if the specified setup callback does not expect parameters.

  -- **loopcallback** : urt_nodeLoopCallback_t* --

  Callback function to be executed in a loop.

  Must not be ""NULL"".

  -- **loopparams** : void* --

  Parameters for the loop callback function.

  May be ""NULL"" if the specified loop callback does not expect parameters.

  -- **shutdowncallback** : urt_nodeShutdownCallback_t* --

  Callback function to be executed during shutdown.

  May be ""NULL"" if no custom shutdown is required.

  -- **shutdownparams** : void* --

  Parameters for the loop callback function.

  Must be ""NULL"" if no shutdown callback is specified.

  May be ""NULL"" if the specified shutdown callback does not expect parameters.

  ====

  -- **return** : void --

endnote

/'### PROCEDURE ##############################################################'/

start

:initialize members;

note

  * **next** ← ""NULL""

  * **thread** ← thread

  * **setupcallback** ← setupcallback

  * **setupparams** ← setupparams

  * **loopcallback** ← loopcallback

  * **loopparams** ← loopparams

  * **shutdowncallback** ← loopcallback

  * **shutdownparams** ← loopparams

  * **stage** ← 0

  * urtEventListenerInit(**listener**)

  .. URT_CFG_PUBSUB_PROFILING == true || URT_CFG_RPC_PROFILING = true ..

  * **loops** ← 0

endnote

:lock core;

partition "prepend self to core's list of nodes" {

  fork

    :set this node's ""next"" pointer to the first node in the core's list of nodes;

  fork again

    :set core's node pointer to this node;

  endfork

}

:unlock core;

stop

/'### OUTRO ##################################################################'/

@enduml