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**\nurtCoreSynchronizeNodes()\n

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

note

  -- **node** : urt_node_t* --

  Pointer to a node to synchronize.

  Must not be ""NULL"".

  ====

  -- **return** : urt_status_t --

  Returns ""URT_STATUS_OK"" if all nodes are synchronized and proceed.

  Returns ""URT_STATUS_SYNC_ERROR"" if an exception occurred (faulty stage value detected).

  Returns ""URT_STATUS_SYNC_PENDING"" if there are nodes left to synchronize.

  In the latter case, the node thread must still wait for the control event (proceed) to synchronize.

endnote

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

start

:lock core;

:increment the node's stage value;

:access first node core's list of nodes;

while (Current node is not ""NULL""\nand stage of current node is equal to argument?) is (yes)

  :proceed to next node;

endwhile (no)

if (All nodes are at the same stage?) then (yes)

  :broadcast control event (proceed);

  :unlock core;

  stop

  note

    Returns ""URT_STATUS_OK"".

  endnote

elseif (The stage of the last checked node was one less than the argument?) then (yes)

  :unlock core;

  stop

  note

    Returns a ""URT_STATUS_SYNC_PENDING"".

  endnote

else (no)

  :call ""urtCoreStopNodes(URT_STATUS_SYNC_ERROR)"";

  :unlock core;

  stop

  note

    Returns ""URT_STATUS_SYNC_ERROR"".

  endnote

endif

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

@enduml