digraph pdo_conf {
    node [fontname="Helvetica"]
    edge [fontname="Helvetica", fontsize="12"]

    start
    start -> action_next_sync [label="First SM",weight=10]
    start -> end [label="No config"]

    action_next_sync [shape=point,label=""]
    action_next_sync -> action_check_assignment [label="No PDOs"]
    action_next_sync -> action_pdo_mapping [label="First PDO",weight=10]
    action_next_sync -> end [label="No more SMs"]

    action_pdo_mapping [shape=point,label=""]
    action_pdo_mapping -> read_mapping [label="Unknown"]
    action_pdo_mapping -> action_check_mapping [weight=10]

    read_mapping
    read_mapping -> action_check_mapping

    action_check_mapping [shape=point,label=""]
    action_check_mapping -> action_next_pdo_mapping
    action_check_mapping -> mapping [weight=10]

    mapping
    mapping -> action_next_pdo_mapping [weight=10]

    action_next_pdo_mapping [shape=point,label=""]
    action_next_pdo_mapping -> action_check_assignment [weight=10]
    action_next_pdo_mapping -> action_pdo_mapping [label="Next PDO"]

    action_check_assignment [shape=point,label=""]
    action_check_assignment -> action_next_sync [label="Assign ok"]
    action_check_assignment -> zero_pdo_count [weight=10]

    zero_pdo_count
    zero_pdo_count -> action_next_sync [label="No PDOs"]
    zero_pdo_count -> action_assign_pdo [label="First PDO", weight=10]

    action_assign_pdo [shape=point,label=""]
    action_assign_pdo -> assign_pdo [weight=10]

    assign_pdo
    assign_pdo -> set_pdo_count [label="No more PDOs", weight=10]
    assign_pdo -> action_assign_pdo [label="Next PDO"]

    set_pdo_count
    set_pdo_count -> action_next_sync
}