urtware / doc / activitydiagrams / node / _main.uml @ e87bd7c7
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1 | e48e1ccf | Thomas Schöpping | /' |
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2 | µRtWare is a lightweight publish/subscribe middleware for real-time |
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3 | applications. It was developed as part of the software habitat for the |
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4 | Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well. |
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5 | |||
6 | Copyright (C) 2018..2020 Thomas Schöpping et al. |
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7 | |||
8 | This program is free software: you can redistribute it and/or modify |
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9 | it under the terms of the GNU General Public License as published by |
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10 | the Free Software Foundation, either version 3 of the License, or |
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11 | (at your option) any later version. |
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12 | |||
13 | This program is distributed in the hope that it will be useful, |
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14 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
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15 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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16 | GNU General Public License for more details. |
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17 | |||
18 | You should have received a copy of the GNU General Public License |
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19 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
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20 | '/ |
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21 | |||
22 | /'### INTRO ##################################################################'/ |
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23 | |||
24 | @startuml |
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25 | |||
26 | title **µRtWare**\n_main()\n |
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27 | |||
28 | /'### PARAMETERS & RETURN ####################################################'/ |
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29 | |||
30 | note |
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31 | -- **arg** : void* -- |
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32 | e87bd7c7 | Thomas Schöpping | Optional Argument to the thread main function (see ""urt_osThreadFunction_t""). |
33 | This functions expects no arguments. |
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34 | e48e1ccf | Thomas Schöpping | ==== |
35 | -- **return** : void -- |
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36 | endnote |
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37 | |||
38 | /'### PROCEDURE ##############################################################'/ |
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39 | |||
40 | start |
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41 | e87bd7c7 | Thomas Schöpping | partition "setup" { |
42 | :register to core event; |
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43 | if (Node's ""setupcallback"" is set?) then (yes) |
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44 | :execute ""setupcallback()""; |
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45 | note |
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46 | Callback must not loop. |
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47 | endnote |
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48 | if (Event mask returned by ""setupcallback()"" redefines core event?) then (yes) |
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49 | :call ""urtCoreStopNodes(URT_STATUS_ERROR)""; |
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50 | else (no) |
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51 | endif |
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52 | else (no) |
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53 | :act as if ""stupcallback"" returned 0xF..F; |
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54 | endif |
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55 | if (Core status is ""URT_STATUS_OK""?) then (yes) |
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56 | :suspend all child threads (recursively); |
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57 | :synchronize by calling ""urtCoreSynchronizeNodes(1)""; |
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58 | :resume all child threads (recursively); |
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59 | else (no) |
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60 | endif |
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61 | } |
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62 | partition "loop" { |
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63 | while (Thread termination requested?) is (no) |
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64 | :Wait for a specified or a core event; |
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65 | if (Core event received?) then (yes) |
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66 | else (no) |
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67 | :execute ""loopcallback()""; |
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68 | note |
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69 | Callback must not loop. |
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70 | endnote |
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71 | if (Event mask returned by ""loopcallback()"" redefines core event?) then (yes) |
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72 | :call ""urtCoreStopNodes(URT_STATUS_ERROR)""; |
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73 | else (no) |
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74 | endif |
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75 | endif |
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76 | endwhile |
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77 | } |
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78 | partition "outro" { |
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79 | if (Node's ""shutdowncallback"" is set?) then (yes) |
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80 | :execute ""shutdowncallback()"" with core's status as argument; |
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81 | else (no) |
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82 | endif |
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83 | :unregister from core event; |
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84 | :terminate node thread (and all child threads); |
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85 | } |
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86 | e48e1ccf | Thomas Schöpping | stop |
87 | |||
88 | /'### OUTRO ##################################################################'/ |
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89 | |||
90 | @enduml |