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

'/

@startuml

title **µRtWare**\nInitialization\n

start

fork

  fork

    partition "urt_core_t" {

      note

        must be initialized statically

        (in startup thread)

      endnote

      :initialize members;

    }

  fork again

    partition "urt_osThread_t" {

      :initialize work area;

      note

        must be initialized statically

        (in preamble / static memory allocation)

      endnote

      :initialize members;

    }

  endfork

  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;

  }

fork again

  partition "urt_message_t" {

    :initialize members;

  }

endfork

stop

@enduml