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I'd like to draw (pen and pencils) threads interaction in a UML(-like) notation. I don't insist on UML, anything that is obvious to the reader should do.

I started with sequence diagrams, but I don't feel this is the best way to do that. All the time, there would be "action initiators" coming from off-screen which kinda break the SSD idea. I inherited a medium size code base with around 9 - 10 threads each owning a state machine and I'm trying to figure out how it works.

How should I visualize thread interaction?

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The Lawrence Livermore National Laboratory has some good guides on Parallel Computing and Programming. In particular, the guide to Posix Threads has some very well done charts that illustrate how to visualize threads and their interaction.

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