AMiRo-OS

<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="2234px" preserveAspectRatio="none" style="width:11883px;height:2234px;" version="1.1" viewBox="0 0 11883 2234" width="11883px" zoomAndPan="magnify"><defs><filter height="300%" id="f1f8akzzk460ac" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="5872" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="87" x="5873" y="37.6611">Overview</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="5919.5" y="58.6143"/><!--MD5=[915f6a2b4bff9d90dc7327d570275f1b]

cluster Configuration--><polygon fill="#FFFFFF" filter="url(#f1f8akzzk460ac)" points="10177,1962.8594,10187,1952.8594,10483,1952.8594,10483,2212.8594,10473,2222.8594,10177,2222.8594,10177,1962.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="10473" x2="10482" y1="1962.8594" y2="1953.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="10177" x2="10473" y1="1962.8594" y2="1962.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="10473" x2="10473" y1="1962.8594" y2="2222.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="107" x="10272.5" y="1978.8545">Configuration</text><!--MD5=[1cb8ced355c85ab51f1ab55883ed8585]

cluster Primitives--><polygon fill="#FFFFFF" filter="url(#f1f8akzzk460ac)" points="9730,1744.8594,9740,1734.8594,11153,1734.8594,11153,1922.8594,11143,1932.8594,9730,1932.8594,9730,1744.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="11143" x2="11152" y1="1744.8594" y2="1735.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="9730" x2="11143" y1="1744.8594" y2="1744.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="11143" x2="11143" y1="1744.8594" y2="1932.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="77" x="10399" y="1760.8545">Primitives</text><!--MD5=[ba9da179b6f0b3bb0ea21772c5f4ec75]

cluster OSAL--><polygon fill="#FFFFFF" filter="url(#f1f8akzzk460ac)" points="4279,1319.8594,4289,1309.8594,9577,1309.8594,9577,2129.8594,9567,2139.8594,4279,2139.8594,4279,1319.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="9567" x2="9576" y1="1319.8594" y2="1310.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="4279" x2="9567" y1="1319.8594" y2="1319.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="9567" x2="9567" y1="1319.8594" y2="2139.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="42" x="6903" y="1335.8545">OSAL</text><!--MD5=[2e45f233f6bb64aa81ebe67fb6de8946]

cluster condition variable--><rect fill="#FFFFFF" filter="url(#f1f8akzzk460ac)" height="435.5" style="stroke: #000000; stroke-width: 1.5;" width="726" x="4524" y="1461.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="140" x="4817" y="1476.3545">condition variable</text><!--MD5=[c7113df1f710ca294cbd01734aa00974]

cluster timer--><rect fill="#FFFFFF" filter="url(#f1f8akzzk460ac)" height="429.5" style="stroke: #000000; stroke-width: 1.5;" width="798" x="6063" y="1454.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="6441.5" y="1469.8545">timer</text><!--MD5=[107bb3f79455a18bd83c75ada1ac7979]

cluster thread--><rect fill="#FFFFFF" filter="url(#f1f8akzzk460ac)" height="587" style="stroke: #000000; stroke-width: 1.5;" width="1039" x="6869" y="1341.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="7362.5" y="1356.8545">thread</text><!--MD5=[8d74b40516bd265adb19f202ab81f40d]

cluster events--><rect fill="#FFFFFF" filter="url(#f1f8akzzk460ac)" height="664" style="stroke: #000000; stroke-width: 1.5;" width="1642" x="7927" y="1467.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="54" x="8721" y="1482.8545">events</text><!--MD5=[4e1a3510868d06a507f098bb08f0dae0]

cluster Middleware--><polygon fill="#FFFFFF" filter="url(#f1f8akzzk460ac)" points="14,88.8594,24,78.8594,4271,78.8594,4271,1906.3594,4261,1916.3594,14,1916.3594,14,88.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="4261" x2="4270" y1="88.8594" y2="79.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="14" x2="4261" y1="88.8594" y2="88.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="4261" x2="4261" y1="88.8594" y2="1916.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="91" x="2093" y="104.8545">Middleware</text><!--MD5=[b9de0669a29c7bc934fd916b09c39491]

cluster node--><rect fill="#FFFFFF" filter="url(#f1f8akzzk460ac)" height="457.5" style="stroke: #000000; stroke-width: 1.5;" width="1138" x="2465" y="340.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="40" x="3014" y="355.8545">node</text><!--MD5=[d74e2ef346f73688f9378f6d3d42598c]

cluster Publish-Subscribe System--><polygon fill="#FFFFFF" filter="url(#f1f8akzzk460ac)" points="22,390.8594,32,380.8594,2457,380.8594,2457,1898.3594,2447,1908.3594,22,1908.3594,22,390.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="2447" x2="2456" y1="390.8594" y2="381.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="22" x2="2447" y1="390.8594" y2="390.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="2447" x2="2447" y1="390.8594" y2="1908.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="205" x="1133" y="406.8545">Publish-Subscribe System</text><!--MD5=[16a3bbbe805f94d6e6ce317c08ab945e]

cluster subscriber--><rect fill="#FFFFFF" filter="url(#f1f8akzzk460ac)" height="1323.5" style="stroke: #000000; stroke-width: 1.5;" width="1214" x="30" y="576.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="85" x="594.5" y="591.8545">subscriber</text><!--MD5=[94ad99421f5a0f525bc1c13a3777c25e]

cluster real-time constraint data--><rect fill="#FFFFFF" filter="url(#f1f8akzzk460ac)" height="897" style="stroke: #000000; stroke-width: 1.5;" width="1198" x="38" y="995.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="194" x="540" y="1010.3545">real-time constraint data</text><!--MD5=[57c3116dbac3d3a2ea35fece1cdc00f4]

cluster SRT data--><rect fill="#FFFFFF" filter="url(#f1f8akzzk460ac)" height="410.5" style="stroke: #000000; stroke-width: 1.5;" width="390" x="46" y="1473.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="69" x="206.5" y="1488.8545">SRT data</text><!--MD5=[810d0f07e53ef611b6d803ef30301147]

cluster Remote Procedure Call System--><polygon fill="#FFFFFF" filter="url(#f1f8akzzk460ac)" points="3611,390.8594,3621,380.8594,4263,380.8594,4263,1095.8594,4253,1105.8594,3611,1105.8594,3611,390.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="4253" x2="4262" y1="390.8594" y2="381.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="3611" x2="4253" y1="390.8594" y2="390.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="4253" x2="4253" y1="390.8594" y2="1105.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="244" x="3811" y="406.8545">Remote Procedure Call System</text><!--MD5=[7579d5565d2521d5936cec86ed3dadee]

cluster service--><rect fill="#FFFFFF" filter="url(#f1f8akzzk460ac)" height="476" style="stroke: #000000; stroke-width: 1.5;" width="636" x="3619" y="621.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="58" x="3908" y="636.8545">service</text><!--MD5=[e443ac33c80100c2d54e1f5fe669f6d7]

class urt_config--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="230.4609" id="urt_config" style="stroke: #A80036; stroke-width: 1.5;" width="290" x="10185" y="1984.8594"/><ellipse cx="10294.75" cy="2000.8594" fill="#BFBFBF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10297.7188,2006.5 Q10297.1406,2006.7969 10296.5,2006.9375 Q10295.8594,2007.0938 10295.1563,2007.0938 Q10292.6563,2007.0938 10291.3281,2005.4531 Q10290.0156,2003.7969 10290.0156,2000.6719 Q10290.0156,1997.5469 10291.3281,1995.8906 Q10292.6563,1994.2344 10295.1563,1994.2344 Q10295.8594,1994.2344 10296.5,1994.3906 Q10297.1563,1994.5469 10297.7188,1994.8438 L10297.7188,1997.5625 Q10297.0938,1996.9844 10296.5,1996.7188 Q10295.9063,1996.4375 10295.2813,1996.4375 Q10293.9375,1996.4375 10293.25,1997.5156 Q10292.5625,1998.5781 10292.5625,2000.6719 Q10292.5625,2002.7656 10293.25,2003.8438 Q10293.9375,2004.9063 10295.2813,2004.9063 Q10295.9063,2004.9063 10296.5,2004.6406 Q10297.0938,2004.3594 10297.7188,2003.7813 L10297.7188,2006.5 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="62" x="10315.25" y="2005.0137">urt_config</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10186" x2="10474" y1="2016.8594" y2="2016.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="159" x="10191" y="2031.0698">URT_CFG_DELAY_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="169" x="10191" y="2043.8745">URT_CFG_TOPICID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="10191" y="2056.6792">URT_CFG_SERVICEID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="10191" y="2069.4839">URT_CFG_NODESTAGE_WIDTH : int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10186" x2="10474" y1="2076.0781" y2="2076.0781"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="10191" y="2090.2886">URT_CFG_DEBUG_ENABLED : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10186" x2="10474" y1="2096.8828" y2="2096.8828"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="10191" y="2111.0933">URT_CFG_PUBSUB_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="204" x="10191" y="2123.8979">URT_CFG_PUBSUB_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="278" x="10191" y="2136.7026">URT_CFG_PUBSUB_QOS_DEADLINECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="252" x="10191" y="2149.5073">URT_CFG_PUBSUB_QOS_RATECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="10191" y="2162.312">URT_CFG_PUBSUB_QOS_JITTERCHECKS : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10186" x2="10474" y1="2168.9063" y2="2168.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="10191" y="2183.1167">URT_CFG_RPC_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="10191" y="2195.9214">URT_CFG_RPC_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="10191" y="2208.7261">URT_CFG_RPC_QOS_JITTERCHECKS : bool</text><!--MD5=[9f69b6f4e23017059189983d6906a1eb]

class urt_nodestage_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="158.4375" id="urt_nodestage_t" style="stroke: #A80036; stroke-width: 1.5;" width="216" x="10929" y="1766.8594"/><ellipse cx="10981.25" cy="1782.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10982.0938,1789.6094 L10979.6406,1789.6094 L10979.6406,1779.3594 L10976.5,1779.3594 L10976.5,1777.2188 L10985.2344,1777.2188 L10985.2344,1779.3594 L10982.0938,1779.3594 L10982.0938,1789.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="103" x="11001.75" y="1787.0137">urt_nodestage_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10930" x2="11144" y1="1798.8594" y2="1798.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="10935" y="1829.8745">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10930" x2="10936.5" y1="1813.2617" y2="1813.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="201" x="10936.5" y="1816.5698">URT_CFG_NODESTAGE_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11137.5" x2="11144" y1="1813.2617" y2="1813.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="10935" y="1859.4839">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10930" x2="10933" y1="1842.8711" y2="1842.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="10933" y="1846.1792">URT_CFG_NODESTAGE_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11141" x2="11144" y1="1842.8711" y2="1842.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="10935" y="1889.0933">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10930" x2="10933" y1="1872.4805" y2="1872.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="10933" y="1875.7886">URT_CFG_NODESTAGE_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11141" x2="11144" y1="1872.4805" y2="1872.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="10935" y="1918.7026">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10930" x2="10933" y1="1902.0898" y2="1902.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="10933" y="1905.3979">URT_CFG_NODESTAGE_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11141" x2="11144" y1="1902.0898" y2="1902.0898"/><!--MD5=[a55671f9c3a4eb2d749fd774fc81a82b]

class urt_topicid_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="158.4375" id="urt_topicid_t" style="stroke: #A80036; stroke-width: 1.5;" width="191" x="10234.5" y="1766.8594"/><ellipse cx="10287.25" cy="1782.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10288.0938,1789.6094 L10285.6406,1789.6094 L10285.6406,1779.3594 L10282.5,1779.3594 L10282.5,1777.2188 L10291.2344,1777.2188 L10291.2344,1779.3594 L10288.0938,1779.3594 L10288.0938,1789.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="77" x="10307.75" y="1787.0137">urt_topicid_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10235.5" x2="10424.5" y1="1798.8594" y2="1798.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="10240.5" y="1829.8745">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10235.5" x2="10242" y1="1813.2617" y2="1813.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="10242" y="1816.5698">URT_CFG_TOPICID_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10418" x2="10424.5" y1="1813.2617" y2="1813.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="10240.5" y="1859.4839">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10235.5" x2="10238.5" y1="1842.8711" y2="1842.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="10238.5" y="1846.1792">URT_CFG_TOPICID_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10421.5" x2="10424.5" y1="1842.8711" y2="1842.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="10240.5" y="1889.0933">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10235.5" x2="10238.5" y1="1872.4805" y2="1872.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="10238.5" y="1875.7886">URT_CFG_TOPICID_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10421.5" x2="10424.5" y1="1872.4805" y2="1872.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="10240.5" y="1918.7026">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10235.5" x2="10238.5" y1="1902.0898" y2="1902.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="10238.5" y="1905.3979">URT_CFG_TOPICID_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10421.5" x2="10424.5" y1="1902.0898" y2="1902.0898"/><!--MD5=[4d8326c7af3a397210cbde406c7c860c]

class urt_serviceid_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="158.4375" id="urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.5;" width="204" x="10690" y="1766.8594"/><ellipse cx="10742.75" cy="1782.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10743.5938,1789.6094 L10741.1406,1789.6094 L10741.1406,1779.3594 L10738,1779.3594 L10738,1777.2188 L10746.7344,1777.2188 L10746.7344,1779.3594 L10743.5938,1779.3594 L10743.5938,1789.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="90" x="10763.25" y="1787.0137">urt_serviceid_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10691" x2="10893" y1="1798.8594" y2="1798.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="10696" y="1829.8745">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10691" x2="10697.5" y1="1813.2617" y2="1813.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="10697.5" y="1816.5698">URT_CFG_SERVICEID_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10886.5" x2="10893" y1="1813.2617" y2="1813.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="10696" y="1859.4839">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10691" x2="10694" y1="1842.8711" y2="1842.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="10694" y="1846.1792">URT_CFG_SERVICEID_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10890" x2="10893" y1="1842.8711" y2="1842.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="10696" y="1889.0933">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10691" x2="10694" y1="1872.4805" y2="1872.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="10694" y="1875.7886">URT_CFG_SERVICEID_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10890" x2="10893" y1="1872.4805" y2="1872.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="10696" y="1918.7026">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10691" x2="10694" y1="1902.0898" y2="1902.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="10694" y="1905.3979">URT_CFG_SERVICEID_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10890" x2="10893" y1="1902.0898" y2="1902.0898"/><!--MD5=[e750dab3ce4ebe0433cc930181355272]

class urt_status_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="86.4141" id="urt_status_t" style="stroke: #A80036; stroke-width: 1.5;" width="194" x="10461" y="1802.8594"/><ellipse cx="10516.25" cy="1818.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10517.0938,1825.6094 L10514.6406,1825.6094 L10514.6406,1815.3594 L10511.5,1815.3594 L10511.5,1813.2188 L10520.2344,1813.2188 L10520.2344,1815.3594 L10517.0938,1815.3594 L10517.0938,1825.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="10536.75" y="1823.0137">urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10462" x2="10654" y1="1834.8594" y2="1834.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="147" x="10467" y="1849.0698">URT_STATUS_OK = 0x0..0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="10467" y="1861.8745">URT_STATUS_WARNING = 0x4..0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="168" x="10467" y="1874.6792">URT_STATUS_ERROR = 0x8..0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10462" x2="10654" y1="1881.2734" y2="1881.2734"/><!--MD5=[15452fea434e71f16c7de0feaca2b066]

class urt_delay_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="99.2188" id="urt_delay_t" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="10018.5" y="1796.3594"/><ellipse cx="10070.75" cy="1812.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10071.5938,1819.1094 L10069.1406,1819.1094 L10069.1406,1808.8594 L10066,1808.8594 L10066,1806.7188 L10074.7344,1806.7188 L10074.7344,1808.8594 L10071.5938,1808.8594 L10071.5938,1819.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="68" x="10091.25" y="1816.5137">urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10019.5" x2="10198.5" y1="1828.3594" y2="1828.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="10024.5" y="1859.3745">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10019.5" x2="10022.5" y1="1842.7617" y2="1842.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="10022.5" y="1846.0698">URT_CFG_DELAY_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10195.5" x2="10198.5" y1="1842.7617" y2="1842.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="10024.5" y="1888.9839">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10019.5" x2="10022.5" y1="1872.3711" y2="1872.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="10022.5" y="1875.6792">URT_CFG_DELAY_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10195.5" x2="10198.5" y1="1872.3711" y2="1872.3711"/><!--MD5=[f106a25c06a671b3918b1a8f37571a4d]

class urt_debug--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="245" x="9738.5" y="1815.3594"/><ellipse cx="9824.75" cy="1831.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9828.9844,1827.125 L9823.7031,1827.125 L9823.7031,1829.7969 L9828.5,1829.7969 L9828.5,1831.9531 L9823.7031,1831.9531 L9823.7031,1837.3594 L9821.2656,1837.3594 L9821.2656,1824.9688 L9828.9844,1824.9688 L9828.9844,1827.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="9845.25" y="1835.5137">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9739.5" x2="9982.5" y1="1847.3594" y2="1847.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="9739.5" x2="9982.5" y1="1855.3594" y2="1855.3594"/><ellipse cx="9749.5" cy="1866.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="219" x="9758.5" y="1869.5698">urtDebugAssert(condition : bool) : void</text><!--MD5=[3677786d1f00795918091b0110bfa4af]

class urt_osTime_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="425" x="5277.5" y="1494.8594"/><ellipse cx="5446.25" cy="1510.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5447.0938,1517.6094 L5444.6406,1517.6094 L5444.6406,1507.3594 L5441.5,1507.3594 L5441.5,1505.2188 L5450.2344,1505.2188 L5450.2344,1507.3594 L5447.0938,1507.3594 L5447.0938,1517.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="5466.75" y="1515.0137">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5278.5" x2="5701.5" y1="1526.8594" y2="1526.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5278.5" x2="5701.5" y1="1534.8594" y2="1534.8594"/><ellipse cx="5288.5" cy="1545.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="231" x="5297.5" y="1549.0698">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="5288.5" cy="1558.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="5297.5" y="1561.8745">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="5288.5" cy="1571.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="399" x="5297.5" y="1574.6792">urtTimeAddUs (time : urt_osTime_t*, offset : uint32_t) : urt_osTime_t*</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]

class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="5738" y="1488.3594"/><ellipse cx="5839.25" cy="1504.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5840.0938,1511.1094 L5837.6406,1511.1094 L5837.6406,1500.8594 L5834.5,1500.8594 L5834.5,1498.7188 L5843.2344,1498.7188 L5843.2344,1500.8594 L5840.0938,1500.8594 L5840.0938,1511.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="5859.75" y="1508.5137">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5739" x2="6035" y1="1520.3594" y2="1520.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5739" x2="6035" y1="1528.3594" y2="1528.3594"/><ellipse cx="5749" cy="1539.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="245" x="5758" y="1542.5698">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="5749" cy="1552.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="253" x="5758" y="1555.3745">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="5749" cy="1564.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="5758" y="1568.1792">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="5749" cy="1577.7734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="5758" y="1580.9839">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--MD5=[0cf29100c96c506429a28b45d347cc92]

class urt_streams--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="209" x="4287.5" y="1500.8594"/><ellipse cx="4350.25" cy="1516.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4354.4844,1512.625 L4349.2031,1512.625 L4349.2031,1515.2969 L4354,1515.2969 L4354,1517.4531 L4349.2031,1517.4531 L4349.2031,1522.8594 L4346.7656,1522.8594 L4346.7656,1510.4688 L4354.4844,1510.4688 L4354.4844,1512.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="4370.75" y="1521.0137">urt_streams</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4288.5" x2="4495.5" y1="1532.8594" y2="1532.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4288.5" x2="4495.5" y1="1540.8594" y2="1540.8594"/><ellipse cx="4298.5" cy="1551.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="166" x="4307.5" y="1555.0698">urtPrintf(fmt : char*, ... ) : int</text><ellipse cx="4298.5" cy="1564.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="4307.5" y="1567.8745">urtErrPrintf(fmt : char*, ... ) : int</text><!--MD5=[52fa11869cb40c93fa7702378ddd839e]

class urt_osCondvarWaitStatus_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="86.4141" id="urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="4752" y="1802.8594"/><ellipse cx="4798.25" cy="1818.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4802.3594,1824.8594 L4794.6406,1824.8594 L4794.6406,1812.4688 L4802.3594,1812.4688 L4802.3594,1814.625 L4797.0938,1814.625 L4797.0938,1817.2969 L4801.8594,1817.2969 L4801.8594,1819.4531 L4797.0938,1819.4531 L4797.0938,1822.7031 L4802.3594,1822.7031 L4802.3594,1824.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="169" x="4818.75" y="1823.0137">urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4753" x2="5021" y1="1834.8594" y2="1834.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="4758" y="1849.0698">URT_CONDVAR_WAITSTATUS_SIGNAL = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="4758" y="1861.8745">URT_CONDVAR_WAITSTATUS_BROADCAST = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="4758" y="1874.6792">URT_CONDVAR_WAITSTATUS_TIMEOUT = 0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4753" x2="5021" y1="1881.2734" y2="1881.2734"/><!--MD5=[004fc5dee471033e8e4138c1c73f0692]

class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="99.2188" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="4532" y="1488.3594"/><ellipse cx="4832.25" cy="1504.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4833.0938,1511.1094 L4830.6406,1511.1094 L4830.6406,1500.8594 L4827.5,1500.8594 L4827.5,1498.7188 L4836.2344,1498.7188 L4836.2344,1500.8594 L4833.0938,1500.8594 L4833.0938,1511.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="4852.75" y="1508.5137">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4533" x2="5241" y1="1520.3594" y2="1520.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4533" x2="5241" y1="1528.3594" y2="1528.3594"/><ellipse cx="4543" cy="1539.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="283" x="4552" y="1542.5698">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4543" cy="1552.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="301" x="4552" y="1555.3745">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4543" cy="1564.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="324" x="4552" y="1568.1792">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4543" cy="1577.7734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="684" x="4552" y="1580.9839">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_osCondvarWaitStatus_t</text><!--MD5=[93799a03260ba286abda700174f4f205]

class urt_osTimerCallback_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="6319" y="1815.3594"/><ellipse cx="6389.75" cy="1831.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6390.5938,1838.1094 L6388.1406,1838.1094 L6388.1406,1827.8594 L6385,1827.8594 L6385,1825.7188 L6393.7344,1825.7188 L6393.7344,1827.8594 L6390.5938,1827.8594 L6390.5938,1838.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="6410.25" y="1835.5137">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6320" x2="6604" y1="1847.3594" y2="1847.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6320" x2="6604" y1="1855.3594" y2="1855.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="6325" y="1869.5698">urt_osTimerCallback_t (parameter : void*) : void</text><!--MD5=[0b340d7b925b1eab6a1b7e084f68a7c2]

class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="112.0234" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="782" x="6071" y="1481.8594"/><ellipse cx="6415.75" cy="1497.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6416.5938,1504.6094 L6414.1406,1504.6094 L6414.1406,1494.3594 L6411,1494.3594 L6411,1492.2188 L6419.7344,1492.2188 L6419.7344,1494.3594 L6416.5938,1494.3594 L6416.5938,1504.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="6436.25" y="1502.0137">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6072" x2="6852" y1="1513.8594" y2="1513.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6072" x2="6852" y1="1521.8594" y2="1521.8594"/><ellipse cx="6082" cy="1532.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="6091" y="1536.0698">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="6082" cy="1545.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="705" x="6091" y="1548.8745">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="6082" cy="1558.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="756" x="6091" y="1561.6792">urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="6082" cy="1571.2734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="300" x="6091" y="1574.4839">urtTimerReset (timer : urt_osTimer_t*) : urt_status_t</text><ellipse cx="6082" cy="1584.0781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="6091" y="1587.2886">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--MD5=[86c16d91227b9a9ec3b6b9b0285de4e9]

class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="7138.5" y="1770.8594"/><ellipse cx="7174.65" cy="1786.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7175.4938,1793.6094 L7173.0406,1793.6094 L7173.0406,1783.3594 L7169.9,1783.3594 L7169.9,1781.2188 L7178.6344,1781.2188 L7178.6344,1783.3594 L7175.4938,1783.3594 L7175.4938,1793.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="7193.35" y="1791.0137">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7139.5" x2="7334.5" y1="1802.8594" y2="1802.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="7144.5" y="1817.0698">URT_THREAD_PRIO_LOW_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="7144.5" y="1829.8745">URT_THREAD_PRIO_LOW_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="7144.5" y="1842.6792">URT_THREAD_PRIO_NORMAL_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="7144.5" y="1855.4839">URT_THREAD_PRIO_NORMAL_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="7144.5" y="1868.2886">URT_THREAD_PRIO_HIGH_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="7144.5" y="1881.0933">URT_THREAD_PRIO_HIGH_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="7144.5" y="1893.8979">URT_THREAD_PRIO_RT_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="7144.5" y="1906.7026">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7139.5" x2="7334.5" y1="1913.2969" y2="1913.2969"/><!--MD5=[69d8aab9aa387a2f5052ea3da80e80ea]

class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="7648" y="1815.3594"/><ellipse cx="7695.75" cy="1831.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7696.5938,1838.1094 L7694.1406,1838.1094 L7694.1406,1827.8594 L7691,1827.8594 L7691,1825.7188 L7699.7344,1825.7188 L7699.7344,1827.8594 L7696.5938,1827.8594 L7696.5938,1838.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="7716.25" y="1835.5137">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7649" x2="7899" y1="1847.3594" y2="1847.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7649" x2="7899" y1="1855.3594" y2="1855.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="7654" y="1869.5698">urt_osThreadFunction_t (arg : void*) : void</text><!--MD5=[ab5f611d45c3fa10609c33f780d8c3e1]

class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="7371" y="1808.8594"/><ellipse cx="7392.75" cy="1824.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7396.8594,1830.8594 L7389.1406,1830.8594 L7389.1406,1818.4688 L7396.8594,1818.4688 L7396.8594,1820.625 L7391.5938,1820.625 L7391.5938,1823.2969 L7396.3594,1823.2969 L7396.3594,1825.4531 L7391.5938,1825.4531 L7391.5938,1828.7031 L7396.8594,1828.7031 L7396.8594,1830.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="7408.25" y="1829.0137">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7372" x2="7612" y1="1840.8594" y2="1840.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="7377" y="1855.0698">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="7377" y="1867.8745">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7372" x2="7612" y1="1874.4688" y2="1874.4688"/><!--MD5=[47d14ad2c233fae1b32b8d0a283e820a]

class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="137.6328" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="6877" y="1776.8594"/><ellipse cx="6921.75" cy="1792.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6925.8594,1798.8594 L6918.1406,1798.8594 L6918.1406,1786.4688 L6925.8594,1786.4688 L6925.8594,1788.625 L6920.5938,1788.625 L6920.5938,1791.2969 L6925.3594,1791.2969 L6925.3594,1793.4531 L6920.5938,1793.4531 L6920.5938,1796.7031 L6925.8594,1796.7031 L6925.8594,1798.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="6942.25" y="1797.0137">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6878" x2="7102" y1="1808.8594" y2="1808.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="6883" y="1823.0698">URT_THREAD_STATE_INACTIVE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="6883" y="1835.8745">URT_THREAD_STATE_RUNNING = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="6883" y="1848.6792">URT_THREAD_STATE_READY = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="6883" y="1861.4839">URT_THREAD_STATE_SLEEPING = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="6883" y="1874.2886">URT_THREAD_STATE_SUSPENDED = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="6883" y="1887.0933">URT_THREAD_STATE_WAITING = 5</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="6883" y="1899.8979">URT_THREAD_STATE_TERMINATED = 6</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6878" x2="7102" y1="1906.4922" y2="1906.4922"/><!--MD5=[0a16224ede9ffa9bb2d34e085a076e6d]

class urt_osThread_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="337.7031" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="560" x="7084" y="1368.8594"/><ellipse cx="7312.75" cy="1384.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7313.5938,1391.6094 L7311.1406,1391.6094 L7311.1406,1381.3594 L7308,1381.3594 L7308,1379.2188 L7316.7344,1379.2188 L7316.7344,1381.3594 L7313.5938,1381.3594 L7313.5938,1391.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="7333.25" y="1389.0137">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7085" x2="7643" y1="1400.8594" y2="1400.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="7090" y="1415.0698">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="7090" y="1427.8745">URT_THREAD_SSLEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="7090" y="1440.6792">URT_THREAD_MSLEEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="7090" y="1453.4839">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="7085" x2="7643" y1="1460.0781" y2="1460.0781"/><ellipse cx="7095" cy="1471.0781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="248" x="7104" y="1474.2886">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7085" x2="7643" y1="1480.8828" y2="1480.8828"/><ellipse cx="7095" cy="1491.8828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="534" x="7104" y="1495.0933">urtThreadInit (memory : void*, size : size_t, func : urt_osThreadFunction_t*) : urt_osThread_t*</text><ellipse cx="7095" cy="1504.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="490" x="7104" y="1507.8979">urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void</text><ellipse cx="7095" cy="1517.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="7104" y="1520.7026">urtThreadYield (void) : void</text><ellipse cx="7095" cy="1530.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="7104" y="1533.5073">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="7095" cy="1543.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs&q