int main(void)
{
    SystemInit();
    Foo_Init();
    Bar_Init();
    Baz_Init();
    // and so on
    for(;;) {
        Foo_Run(); //< module that "Bar" depends on
        Bar_Run(); //< critical module
        if (Bar_IsReady()) {
           Baz_Run(); //< "normal" module
           // and all other "normal" modules
        }
    }
}

##</code><code>##

int main(void)
{
    SystemInit();
    Foo_Init();
    Bar_Init();
    Baz_Init();
    Abc_Init();
    // and so on
    for(;;) {
        Foo_Run(); //< module that "Bar" depends on
        Bar_Run(); //< critical module
        if (!Abc_IsDone()) {
           Abc_Run();
        }
        if (Bar_IsReady()) {
           Baz_Run(); //< "normal" module
           // and all other "normal" modules
        }
    }
}