urtware / doc / activitydiagrams / core / urtCoreSynchronizeNodes.uml @ e87bd7c7
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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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|
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Copyright (C) 2018..2020 Thomas Schöpping et al. |
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|
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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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|
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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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|
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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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/'### INTRO ##################################################################'/ |
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@startuml |
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title **µRtWare**\nurtCoreSynchronizeNodes()\n |
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/'### PARAMETERS & RETURN ####################################################'/ |
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|
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note |
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-- **node** : urt_node_t* -- |
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Pointer to a node to synchronize. |
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Must not be ""NULL"". |
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==== |
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-- **return** : urt_status_t -- |
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Returns ""URT_STATUS_OK"" if all nodes are synchronized and proceed. |
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Returns ""URT_STATUS_ERROR"" if an exception occurred (faulty stage value detected). |
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Returns a value greater than ""URT_STATUS_OK"" but smaller than ""URT_STATUS_ERROR"" if there are nodes left to synchronize. |
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In the latter case, the node thread must still wait for the control event (proceed) to synchronize. |
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endnote |
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/'### PROCEDURE ##############################################################'/ |
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start |
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:lock core; |
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:increment the node's stage value; |
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:access first node core's list of nodes; |
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while (Current node is not ""NULL""\nand stage of current node is equal to argument?) is (yes) |
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:proceed to next node; |
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endwhile (no) |
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if (The stage of a node was equal to the argument or 1 less than the argument?) then (yes) |
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:call ""urtCoreStopNodes(URT_STATUS_ERROR)""; |
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:unlock core; |
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stop |
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note |
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Returns ""URT_STATUS_ERROR"". |
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endnote |
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else (no) |
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endif |
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if (Stages of all nodes are equal to argument?) then (yes) |
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:broadcast control event (proceed); |
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:unlock core; |
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stop |
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note |
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Returns ""URT_STATUS_OK"". |
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endnote |
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else (no) |
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:unlock core; |
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stop |
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note |
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Returns a value greater than ""URT_STATUS_OK"" but smaller than ""URT_STATUS_ERROR"". |
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endnote |
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endif |
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/'### OUTRO ##################################################################'/ |
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|
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@enduml |