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**\nurtCoreStopNodes()\n

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

note

  -- **reason** : urt_status_t --

  The reason why the function was called.

  For normal shutdown ""URT_STATUS_OK"" should be used.

  ====

  -- **return** : urt_status_t --

  Returns ""URT_STATUS_OK"" if there was no call with another reason than ""URT_STATUS_OK"" before.

  If the function has been called before with a different reason, that reason is returned.

endnote

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

start

:lock core;

if (Current core ""_status"" value is ""URT_STATUS_OK""?) then (yes)

  if (Thread priority is lower than ""URT_THREAD_PRIO_HIGH_MAX""?) then (yes)

    :boost thread priority to ""URT_THREAD_PRIO_HIGH_MAX"";

  else (no)

  endif

  :set core's ""_status"" variable to argument;

  :access first node in core's list of nodes;

  while (Current node is not ""NULL""?) is (yes)

    :request node to terminate;

    :proceed to next node;

  endwhile (no)

  :broadcast control event (terminate);

  :unlock core;

  if (Thread boosted its priority?) then (yes)

    :reset thread priority;

  else (no)

  endif

  stop

  note

    Returns ""URT_STATUS_OK"".

  endnote

else (no)

  :unlock core;

  stop

  note

    Returns the previously set ""_status"" value.

  endnote

endif

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

@enduml