urtware / doc / activitydiagrams / node / _main.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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Copyright (C) 2018..2020 Thomas Schöpping et al. |
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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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|
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@startuml |
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title **µRtWare**\n_main()\n |
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/'### PARAMETERS & RETURN ####################################################'/ |
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|
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note |
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-- **arg** : void* -- |
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Optional Argument to the thread main function (see ""urt_osThreadFunction_t""). |
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This functions expects no arguments. |
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==== |
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-- **return** : void -- |
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endnote |
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/'### PROCEDURE ##############################################################'/ |
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|
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start |
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partition "setup" { |
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:register to core event; |
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if (Node's ""setupcallback"" is set?) then (yes) |
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:execute ""setupcallback()""; |
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note |
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Callback must not loop. |
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endnote |
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if (Event mask returned by ""setupcallback()"" redefines core event?) then (yes) |
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:call ""urtCoreStopNodes(URT_STATUS_ERROR)""; |
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else (no) |
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endif |
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else (no) |
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:act as if ""stupcallback"" returned 0xF..F; |
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endif |
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if (Core status is ""URT_STATUS_OK""?) then (yes) |
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:suspend all child threads (recursively); |
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:synchronize by calling ""urtCoreSynchronizeNodes(1)""; |
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:resume all child threads (recursively); |
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else (no) |
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endif |
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} |
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partition "loop" { |
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while (Thread termination requested?) is (no) |
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:Wait for a specified or a core event; |
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if (Core event received?) then (yes) |
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else (no) |
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:execute ""loopcallback()""; |
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note |
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Callback must not loop. |
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endnote |
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if (Event mask returned by ""loopcallback()"" redefines core event?) then (yes) |
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:call ""urtCoreStopNodes(URT_STATUS_ERROR)""; |
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else (no) |
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endif |
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endif |
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endwhile |
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} |
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partition "outro" { |
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if (Node's ""shutdowncallback"" is set?) then (yes) |
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:execute ""shutdowncallback()"" with core's status as argument; |
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else (no) |
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endif |
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:unregister from core event; |
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:terminate node thread (and all child threads); |
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} |
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stop |
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/'### OUTRO ##################################################################'/ |
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@enduml |
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