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..2019  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**\n_main()\n

start

partition "setup" {

  :register to core event;

  :execute setup callback;

  note

    must not loop!

  endnote

  :check returned event mask not to define the core event;

  :suspend all child threads (if any, recursively);

  :synchronize by calling ""urtCoreSynchronizeNdes()"";

  :resume all child threads (if any, recusively);

}

partition "loop" {

  while (Termination requested?) is (no)

    :wait for any event;

    if (Was not a core event?) then (yes)

      :execute loop callback;

      note

        must not loop!

      endnote

      :check returned event mask not to define the core event;

    else (no)

    endif

  endwhile (yes)

}

partition "outro" {

  :unregister from core event;

  :terminate thread;

}

stop

@enduml