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urtware / doc / activitydiagrams / node / urtNodeInit.uml @ dd31cb03

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µRtWare is a lightweight publish/subscribe middleware for real-time
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applications. It was developed as part of the software habitat for the
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Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
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Copyright (C) 2018..2020  Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program.  If not, see <http://www.gnu.org/licenses/>.
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'/
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/'### INTRO ##################################################################'/
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@startuml
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title **µRtWare**\nurtNodeInit()\n
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/'### PARAMETERS & RETURN ####################################################'/
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note
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  -- **node** : urt_node_t* --
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  The node to initialize.
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  Must not be ""NULL"".
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  -- **thread** : urt_osThread_t* --
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  The already initialized, exclusive thread for the node.
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  Must not be ""NULL"".
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  -- **setupcallback** : urt_nodeSetupCallback_t* --
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  Callback function to be executed during setup.
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  May be ""NULL"" if no custom setup is required.
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  --  **setupparams** : void*--
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  Parameters for the setup callback function.
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  Must be ""NULL"" if no setup callback is specified.
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  May be ""NULL"" if the specified setup callback does not expect parameters.
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  -- **loopcallback** : urt_nodeLoopCallback_t* --
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  Callback function to be executed in a loop.
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  Must not be ""NULL"".
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  -- **loopparams** : void* --
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  Parameters for the loop callback function.
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  May be ""NULL"" if the specified loop callback does not expect parameters.
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  -- **shutdowncallback** : urt_nodeShutdownCallback_t* --
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  Callback function to be executed during shutdown.
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  May be ""NULL"" if no custom shutdown is required.
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  -- **shutdownparams** : void* --
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  Parameters for the loop callback function.
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  Must be ""NULL"" if no shutdown callback is specified.
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  May be ""NULL"" if the specified shutdown callback does not expect parameters.
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  ====
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  -- **return** : void --
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endnote
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/'### PROCEDURE ##############################################################'/
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start
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:initialize members;
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note
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  * **next** ← ""NULL""
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  * **thread** ← thread
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  * **setupcallback** ← setupcallback
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  * **setupparams** ← setupparams
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  * **loopcallback** ← loopcallback
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  * **loopparams** ← loopparams
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  * **shutdowncallback** ← loopcallback
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  * **shutdownparams** ← loopparams
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  * **stage** ← 0
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  * urtEventListenerInit(**listener**)
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  .. URT_CFG_PUBSUB_PROFILING == true || URT_CFG_RPC_PROFILING = true ..
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  * **loops** ← 0
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endnote
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:lock core;
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partition "prepend self to core's list of nodes" {
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  fork
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    :set this node's ""next"" pointer to the first node in the core's list of nodes;
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  fork again
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    :set core's node pointer to this node;
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  endfork
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}
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:unlock core;
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stop
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/'### OUTRO ##################################################################'/
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@enduml