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**\n_main()\n

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

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

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

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

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

@enduml