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="1630px" preserveAspectRatio="none" style="width:821px;height:1630px;" version="1.1" viewBox="0 0 821 1630" width="821px" zoomAndPan="magnify"><defs><filter height="300%" id="f18z385qfrf5hk" 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="365" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="66" x="376.5" y="47.6611">_main()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="412.5" y="68.6143"/><path d="M219,72.8594 L219,153.3906 L761,153.3906 L761,82.8594 L751,72.8594 L219,72.8594 " fill="#FBFB77" filter="url(#f18z385qfrf5hk)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M751,72.8594 L751,82.8594 L761,82.8594 L751,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="219" x2="451" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="455" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="25" x="455" y="89.4263">arg</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="484" y="89.4263">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="529" x2="761" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="332" x="225" y="105.0591">Optional Argument to the thread main function (see</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="176" x="561" y="105.0591">urt_osThreadFunction_t</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="9" x="737" y="105.0591">).</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="239" x="225" y="120.1919">This functions expects no arguments.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="219" x2="761" y1="128.2578" y2="128.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="219" x2="761" y1="130.2578" y2="130.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="219" x2="444.5" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="448.5" y="144.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="448.5" y="144.8247">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="34" x="497.5" y="144.8247">: void</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="535.5" x2="761" y1="140.8242" y2="140.8242"/><ellipse cx="490" cy="183.3906" fill="#000000" filter="url(#f18z385qfrf5hk)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FFFFFF" filter="url(#f18z385qfrf5hk)" height="600.9141" style="stroke: #000000; stroke-width: 2.0;" width="800" x="10" y="204.1924"/><path d="M60,205.1924 L60,213.4893 L50,223.4893 L10,223.4893 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="40" x="13" y="218.1875">setup</text><rect fill="#FEFECE" filter="url(#f18z385qfrf5hk)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="157" x="411.5" y="240.4893"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="137" x="421.5" y="261.6279">register to core event</text><polygon fill="#FEFECE" filter="url(#f18z385qfrf5hk)" points="402,294.458,578,294.458,590,306.458,578,318.458,402,318.458,390,306.458,402,294.458" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="39" x="402" y="310.2661">Node's</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="445" y="310.2661">setupcallback</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="38" x="540" y="310.2661">is set?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="370" y="303.8638">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="590" y="303.8638">no</text><path d="M30,332.876 L30,358.0088 A0,0 0 0 0 30,358.0088 L201,358.0088 A0,0 0 0 0 201,358.0088 L201,350.876 L221,345.4424 L201,342.876 L201,342.876 L191,332.876 L30,332.876 A0,0 0 0 0 30,332.876 " fill="#FBFB77" filter="url(#f18z385qfrf5hk)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M191,332.876 L191,342.876 L201,342.876 L191,332.876 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="150" x="36" y="349.9429">Callback must not loop.</text><rect fill="#FEFECE" filter="url(#f18z385qfrf5hk)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="179" x="221" y="328.458"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="50" x="231" y="349.5967">execute</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="105" x="285" y="349.5967">setupcallback()</text><rect fill="#FEFECE" filter="url(#f18z385qfrf5hk)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="283" x="169" y="430.8291"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="21" x="179" y="451.9678">call</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="238" x="204" y="451.9678">urtCoreStopNodes(URT_STATUS_ERROR)</text><polygon fill="#FEFECE" filter="url(#f18z385qfrf5hk)" points="124,382.4268,497,382.4268,509,394.4268,497,406.4268,124,406.4268,112,394.4268,124,382.4268" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="314.5" y="416.6372">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="124" y="398.2349">Event mask returned by</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="105" x="264" y="398.2349">setupcallback()</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="373" y="398.2349">redefines core event?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="509" y="391.8325">no</text><polygon fill="#FEFECE" filter="url(#f18z385qfrf5hk)" points="310.5,484.7979,322.5,496.7979,310.5,508.7979,298.5,496.7979,310.5,484.7979" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#FEFECE" filter="url(#f18z385qfrf5hk)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="257" x="541" y="328.458"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="50" x="551" y="349.5967">act as if</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="605" y="349.5967">stupcallback</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="95" x="693" y="349.5967">returned 0xF..F</text><polygon fill="#FEFECE" filter="url(#f18z385qfrf5hk)" points="490,514.7979,502,526.7979,490,538.7979,478,526.7979,490,514.7979" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#FEFECE" filter="url(#f18z385qfrf5hk)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="258" x="361" y="607.2002"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="238" x="371" y="628.3389">suspend all child threads (recursively)</text><rect fill="#FEFECE" filter="url(#f18z385qfrf5hk)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="341" x="319.5" y="661.1689"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="329.5" y="682.3076">synchronize by calling</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="182" x="468.5" y="682.3076">urtCoreSynchronizeNodes(1)</text><rect fill="#FEFECE" filter="url(#f18z385qfrf5hk)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="251" x="364.5" y="715.1377"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="231" x="374.5" y="736.2764">resume all child threads (recursively)</text><polygon fill="#FEFECE" filter="url(#f18z385qfrf5hk)" points="399,558.7979,581,558.7979,593,570.7979,581,582.7979,399,582.7979,387,570.7979,399,558.7979" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="494" y="593.0083">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="81" x="399" y="574.606">Core status is</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="484" y="574.606">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="6" x="575" y="574.606">?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="593" y="568.2036">no</text><polygon fill="#FEFECE" filter="url(#f18z385qfrf5hk)" points="490,769.1064,502,781.1064,490,793.1064,478,781.1064,490,769.1064" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#FFFFFF" filter="url(#f18z385qfrf5hk)" height="467.7183" style="stroke: #000000; stroke-width: 2.0;" width="581" x="169" y="815.9082"/><path d="M209,816.9082 L209,825.2051 L199,835.2051 L169,835.2051 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="30" x="172" y="829.9033">loop</text><rect fill="#FEFECE" filter="url(#f18z385qfrf5hk)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="240" x="370" y="907.9155"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="220" x="380" y="929.0542">Wait for a specified or a core event</text><path d="M213,1014.7046 L213,1039.8374 A0,0 0 0 0 213,1039.8374 L384,1039.8374 A0,0 0 0 0 384,1039.8374 L384,1032.7046 L404,1027.271 L384,1024.7046 L384,1024.7046 L374,1014.7046 L213,1014.7046 A0,0 0 0 0 213,1014.7046 " fill="#FBFB77" filter="url(#f18z385qfrf5hk)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M374,1014.7046 L374,1024.7046 L384,1024.7046 L374,1014.7046 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="150" x="219" y="1031.7715">Callback must not loop.</text><rect fill="#FEFECE" filter="url(#f18z385qfrf5hk)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="172" x="404" y="1010.2866"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="50" x="414" y="1031.4253">execute</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="98" x="468" y="1031.4253">loopcallback()</text><rect fill="#FEFECE" filter="url(#f18z385qfrf5hk)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="283" x="348.5" y="1127.6577"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="21" x="358.5" y="1148.7964">call</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="238" x="383.5" y="1148.7964">urtCoreStopNodes(URT_STATUS_ERROR)</text><polygon fill="#FEFECE" filter="url(#f18z385qfrf5hk)" points="307,1079.2554,673,1079.2554,685,1091.2554,673,1103.2554,307,1103.2554,295,1091.2554,307,1079.2554" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="494" y="1113.4658">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="307" y="1095.0635">Event mask returned by</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="447" y="1095.0635">loopcallback()</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="549" y="1095.0635">redefines core event?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="685" y="1088.6611">no</text><polygon fill="#FEFECE" filter="url(#f18z385qfrf5hk)" points="490,1181.6265,502,1193.6265,490,1205.6265,478,1193.6265,490,1181.6265" style="stroke: #A80036; stroke-width: 1.5;"/><polygon fill="#FEFECE" filter="url(#f18z385qfrf5hk)" points="430,961.8843,550,961.8843,562,973.8843,550,985.8843,430,985.8843,418,973.8843,430,961.8843" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="494" y="996.0947">no</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="120" x="430" y="977.6924">Core event received?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="562" y="971.29">yes</text><polygon fill="#FEFECE" filter="url(#f18z385qfrf5hk)" points="490,1225.6265,502,1237.6265,490,1249.6265,478,1237.6265,490,1225.6265" style="stroke: #A80036; stroke-width: 1.5;"/><polygon fill="#FEFECE" filter="url(#f18z385qfrf5hk)" points="401.5,852.2051,578.5,852.2051,590.5,864.2051,578.5,876.2051,401.5,876.2051,389.5,864.2051,401.5,852.2051" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="494" y="886.4155">no</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="177" x="401.5" y="868.0132">Thread termination requested?</text><rect fill="#FFFFFF" filter="url(#f18z385qfrf5hk)" height="282.6055" style="stroke: #000000; stroke-width: 2.0;" width="451" x="270.5" y="1294.4282"/><path d="M317.5,1295.4282 L317.5,1303.7251 L307.5,1313.7251 L270.5,1313.7251 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="37" x="273.5" y="1308.4233">outro</text><rect fill="#FEFECE" filter="url(#f18z385qfrf5hk)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="399" x="290.5" y="1379.1274"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="50" x="300.5" y="1400.2661">execute</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="126" x="354.5" y="1400.2661">shutdowncallback()</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="484.5" y="1400.2661">with core's status as argument</text><polygon fill="#FEFECE" filter="url(#f18z385qfrf5hk)" points="391.5,1330.7251,588.5,1330.7251,600.5,1342.7251,588.5,1354.7251,391.5,1354.7251,379.5,1342.7251,391.5,1330.7251" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="494" y="1364.9355">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="39" x="391.5" y="1346.5332">Node's</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="112" x="434.5" y="1346.5332">shutdowncallback</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="38" x="550.5" y="1346.5332">is set?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="600.5" y="1340.1309">no</text><polygon fill="#FEFECE" filter="url(#f18z385qfrf5hk)" points="490,1433.0962,502,1445.0962,490,1457.0962,478,1445.0962,490,1433.0962" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#FEFECE" filter="url(#f18z385qfrf5hk)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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  Optional Argument to the thread main function (see ""urt_osThreadFunction_t"").

  This functions expects no arguments.

partition "setup" {

  :register to core event;

  if (Node's ""setupcallback"" is set?) then (yes)

    :execute ""setupcallback()"";

    note

      Callback must not loop.

    endnote

    if (Event mask returned by ""setupcallback()"" redefines core event?) then (yes)

      :call ""urtCoreStopNodes(URT_STATUS_ERROR)"";

    else (no)

    endif

  else (no)

    :act as if ""stupcallback"" returned 0xF..F;

  endif

  if (Core status is ""URT_STATUS_OK""?) then (yes)

    :suspend all child threads (recursively);

    :synchronize by calling ""urtCoreSynchronizeNodes(1)"";

    :resume all child threads (recursively);

  else (no)

  endif

}

partition "loop" {

  while (Thread termination requested?) is (no)

    :Wait for a specified or a core event;

    if (Core event received?) then (yes)

    else (no)

      :execute ""loopcallback()"";

      note

        Callback must not loop.

      endnote

      if (Event mask returned by ""loopcallback()"" redefines core event?) then (yes)

        :call ""urtCoreStopNodes(URT_STATUS_ERROR)"";

      else (no)

      endif

    endif

  endwhile

}

partition "outro" {

  if (Node's ""shutdowncallback"" is set?) then (yes)

    :execute ""shutdowncallback()"" with core's status as argument;

  else (no)

  endif

  :unregister from core event;

  :terminate node thread (and all child threads);

}