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**\nurtCoreStopNodes()\n

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

note

  -- **reason** : urt_status_t --

  The reason why the function was called.

  For normal shutdown ""URT_STATUS_OK"" should be used.

  ====

  -- **return** : urt_status_t --

  Always returns ""URT_STATUS_OK"".

endnote

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

start

:lock core;

if (Current ""_status"" value is smaller than specified reason?) then (yes)

  :set core's ""_status"" value to argument;

else (no)

endif

:access first node in core's list of nodes;

while (Current node is not ""NULL""?) is (yes)

  :request node to terminate;

  :proceed to next node;

endwhile (no)

:broadcast control event (terminate);

:unlock core;

stop

note

  Returns ""URT_STATUS_OK"".

endnote

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

@enduml