AMiRo-OS

  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);

}