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**\nNode Thread\n

start

:execute setup callback;

note

  must not loop!

endnote

:suspend thread and all children (if any);

note

  threads are woken simultaneously by core

endnote

while (Termination requested?) is (no)

  :wait for event;

  note

    maks specified by callbacks

  endnote

  :execute loop callback;

  note

    must not loop!

  endnote

endwhile (yes)

:terminate thread;

stop

@enduml