Embedded Software for SoC - Grupo de Mecatrônica EESC/USP

62 Chapter 5
The second step (Figure 5-6) involves dynamic creation of child tasks in
a parent task. Every par statement in the code (Figure 5-6(a)) is refined to
dynamically fork and join child tasks as part of the parent’s execution (Figure
5-6(b)). The init methods of the children are called to create the child tasks.
Then‚ par_start suspends the calling parent task in the RTOS layer before
the children are actually executed in the par statement. After the two child
tasks finish execution and the par exits‚ par_end resumes the execution of
the parent task in the RTOS layer.