MscGen

MscGen is a Message Sequence Chart Generator, which is supported by Doxygen.

Doxygen has @msc and @endmsc tags, and mscgen's code can be written between the tags.

Example is here:

/** Request a fandango on core.
 * Sending this signal to the Iberian dance task will cause it to create a
 * wild pointer which is then used to corrupt the malloc arena leading to
 * mysterious failures later on in the program execution.
 *
 *\msc
 *  T,"Iberian Dance Task";
 *
 *  T->"Iberian Dance Task" [label="IbFandangoReq", URL="\ref IbFandangoReq"];
 *  T<<"Iberian Dance Task" [label="IbFandangoCnf", URL="\ref IbFandangoCnf", ID="1"];
 *\endmsc
 *
 * 

 * 
In some cases, the system may have failed before this signal is sent
 *     or received, in which case the confirm maybe lost.
 * 
 */
typedef struct IbFandangoReqTag
{
  TaskId reqTaskId;
}
IbFandangoReq;