AMiRo-OS

<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="1049px" preserveAspectRatio="none" style="width:999px;height:1049px;" version="1.1" viewBox="0 0 999 1049" width="999px" zoomAndPan="magnify"><defs><filter height="300%" id="fe99m1kw6ut90" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="454.25" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="116" x="440.75" y="47.6611">urtNodeInit()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="501.75" y="68.6143"/><path d="M343,72.8594 L343,501.4453 L852,501.4453 L852,82.8594 L842,72.8594 L343,72.8594 " fill="#FBFB77" filter="url(#fe99m1kw6ut90)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M842,72.8594 L842,82.8594 L852,82.8594 L842,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="531" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="535" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="37" x="535" y="89.4263">node</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="84" x="576" y="89.4263">: urt_node_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="664" x2="852" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="135" x="349" y="105.0591">The node to initialize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="349" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="429" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="461" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="511.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="515.5" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="49" x="515.5" y="134.8247">thread</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="111" x="568.5" y="134.8247">: urt_osThread_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="683.5" x2="852" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="335" x="349" y="150.4575">The already initialized, exclusive thread for the node.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="349" y="165.5903">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="429" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="461" y="165.5903">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="452.5" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="456.5" y="180.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="103" x="456.5" y="180.2231">setupcallback</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="175" x="563.5" y="180.2231">: urt_nodeSetupCallback_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="742.5" x2="852" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="296" x="349" y="195.856">Callback function to be executed during setup.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="349" y="210.9888">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="399" y="210.9888">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="194" x="435" y="210.9888">if no custom setup is required.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="522" y1="221.6211" y2="221.6211"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="530" y="225.6216"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="98" x="530" y="225.6216">setupparams</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="632" y="225.6216">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="673" x2="852" y1="221.6211" y2="221.6211"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="275" x="349" y="241.2544">Parameters for the setup callback function.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="51" x="349" y="256.3872">Must be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="404" y="256.3872">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="200" x="440" y="256.3872">if no setup callback is specified.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="349" y="271.52">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="399" y="271.52">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="377" x="435" y="271.52">if the specified setup callback does not expect parameters.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="461" y1="282.1523" y2="282.1523"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="465" y="286.1528"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="93" x="465" y="286.1528">loopcallback</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="168" x="562" y="286.1528">: urt_nodeLoopCallback_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="734" x2="852" y1="282.1523" y2="282.1523"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="270" x="349" y="301.7856">Callback function to be executed in a loop.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="349" y="316.9185">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="429" y="316.9185">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="461" y="316.9185">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="527" y1="327.5508" y2="327.5508"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="531" y="331.5513"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="88" x="531" y="331.5513">loopparams</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="623" y="331.5513">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="668" x2="852" y1="327.5508" y2="327.5508"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="266" x="349" y="347.1841">Parameters for the loop callback function.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="349" y="362.3169">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="399" y="362.3169">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="368" x="435" y="362.3169">if the specified loop callback does not expect parameters.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="425" y1="372.9492" y2="372.9492"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="429" y="376.9497"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="133" x="429" y="376.9497">shutdowncallback</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="200" x="566" y="376.9497">: urt_nodeShutdownCallback_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="770" x2="852" y1="372.9492" y2="372.9492"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="321" x="349" y="392.5825">Callback function to be executed during shutdown.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="349" y="407.7153">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="399" y="407.7153">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="219" x="435" y="407.7153">if no custom shutdown is required.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="507" y1="418.3477" y2="418.3477"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="511" y="422.3481"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="128" x="511" y="422.3481">shutdownparams</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="643" y="422.3481">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="688" x2="852" y1="418.3477" y2="418.3477"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="266" x="349" y="437.981">Parameters for the loop callback function.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="51" x="349" y="453.1138">Must be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="404" y="453.1138">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="225" x="440" y="453.1138">if no shutdown callback is specified.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="349" y="468.2466">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="399" y="468.2466">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="402" x="435" y="468.2466">if the specified shutdown callback does not expect parameters.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="852" y1="476.3125" y2="476.3125"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="852" y1="478.3125" y2="478.3125"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="552" y1="488.8789" y2="488.8789"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="556" y="492.8794"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="556" y="492.8794">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="34" x="605" y="492.8794">: void</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="643" x2="852" y1="488.8789" y2="488.8789"/><ellipse cx="597.5" cy="531.4453" fill="#000000" filter="url(#fe99m1kw6ut90)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M10,551.4453 L10,743.0391 A0,0 0 0 0 10,743.0391 L512,743.0391 A0,0 0 0 0 512,743.0391 L512,651.2422 L532,647.2422 L512,643.2422 L512,561.4453 L502,551.4453 L10,551.4453 A0,0 0 0 0 10,551.4453 " fill="#FBFB77" filter="url(#fe99m1kw6ut90)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M502,551.4453 L502,561.4453 L512,561.4453 L502,551.4453 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><ellipse cx="21.5" cy="564.0781" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="32" x="27" y="568.5122">next</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="63" y="568.5122">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="78" y="568.5122">NULL</text><ellipse cx="21.5" cy="579.2109" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="49" x="27" y="583.645">thread</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="57" x="80" y="583.645">← thread</text><ellipse cx="21.5" cy="594.3438" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="103" x="27" y="598.7778">setupcallback</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="102" x="134" y="598.7778">← setupcallback</text><ellipse cx="21.5" cy="609.4766" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="98" x="27" y="613.9106">setupparams</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="100" x="129" y="613.9106">← setupparams</text><ellipse cx="21.5" cy="624.6094" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="93" x="27" y="629.0435">loopcallback</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="93" x="124" y="629.0435">← loopcallback</text><ellipse cx="21.5" cy="639.7422" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="88" x="27" y="644.1763">loopparams</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="91" x="119" y="644.1763">← loopparams</text><ellipse cx="21.5" cy="654.875" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="133" x="27" y="659.3091">shutdowncallback</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="93" x="164" y="659.3091">← loopcallback</text><ellipse cx="21.5" cy="670.0078" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="128" x="27" y="674.4419">shutdownparams</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="91" x="159" y="674.4419">← loopparams</text><ellipse cx="21.5" cy="685.1406" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="42" x="27" y="689.5747">stage</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="73" y="689.5747">← 0</text><ellipse cx="21.5" cy="700.2734" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="129" x="27" y="704.7075">urtEventListenerInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="55" x="156" y="704.7075">listener</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="211" y="704.7075">)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="20.5" y1="715.3398" y2="715.3398"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="473" x="24.5" y="719.3403">URT_CFG_PUBSUB_PROFILING == true || URT_CFG_RPC_PROFILING = true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="501.5" x2="512" y1="715.3398" y2="715.3398"/><ellipse cx="21.5" cy="730.5391" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="40" x="27" y="734.9731">loops</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="71" y="734.9731">← 0</text><rect fill="#FEFECE" filter="url(#fe99m1kw6ut90)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="131" x="532" y="630.2578"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="111" x="542" y="651.3965">initialize members</text><rect fill="#FEFECE" filter="url(#fe99m1kw6ut90)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="77" x="559" y="763.0391"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="57" x="569" y="784.1777">lock core</text><rect fill="#FFFFFF" filter="url(#fe99m1kw6ut90)" height="134.2656" style="stroke: #000000; stroke-width: 2.0;" width="784" x="204.5" y="807.8096"/><path d="M453.5,808.8096 L453.5,817.1064 L443.5,827.1064 L204.5,827.1064 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="239" x="207.5" y="821.8047">prepend self to core's list of nodes</text><rect fill="#000000" filter="url(#fe99m1kw6ut90)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="764" x="214.5" y="844.1064"/><rect fill="#FEFECE" filter="url(#fe99m1kw6ut90)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="463" x="228.5" y="870.1064"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="238.5" y="891.2451">set this node's</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="28" x="335.5" y="891.2451">next</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="314" x="367.5" y="891.2451">pointer to the first node in the core's list of nodes</text><rect fill="#FEFECE" filter="url(#fe99m1kw6ut90)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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  May be ""NULL"" if no custom setup is required.

  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.

  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 - -

  * **next** ← ""NULL""

  * **thread** ← thread

  * **setupcallback** ← setupcallback

  * **setupparams** ← setupparams

  * **loopcallback** ← loopcallback

  * **loopparams** ← loopparams

  * **shutdowncallback** ← loopcallback

  * **shutdownparams** ← loopparams

  * **stage** ← 0

  * urtEventListenerInit(**listener**)

  * **loops** ← 0

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

}