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" textLength="304" x="7104" y="1546.312">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="7095" cy="1555.9063" 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="294" x="7104" y="1559.1167">urtThreadSuspend (thread : urt_osThread_t*) : void</text><ellipse cx="7095" cy="1568.7109" 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="335" x="7104" y="1571.9214">urtThreadResume (thread : urt_osThread_t*) : urt_status_t</text><ellipse cx="7095" cy="1581.5156" 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="220" x="7104" y="1584.7261">urtThreadSleep (seconds : float) : void</text><ellipse cx="7095" cy="1594.3203" 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="7104" y="1597.5308">urtThreadSSleep (seconds : urt_delay_t) : void</text><ellipse cx="7095" cy="1607.125" 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="289" x="7104" y="1610.3354">urtThreadMSleep (milliseconds : urt_delay_t) : void</text><ellipse cx="7095" cy="1619.9297" 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="297" x="7104" y="1623.1401">urtThreadUSleep (microseconds : urt_delay_t) : void</text><ellipse cx="7095" cy="1632.7344" 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="1635.9448">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="7095" cy="1645.5391" 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="146" x="7104" y="1648.7495">urtThreadExit (void) : void</text><ellipse cx="7095" cy="1658.3438" 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="518" x="7104" y="1661.5542">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="7095" cy="1671.1484" 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="264" x="7104" y="1674.3589">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="7095" cy="1683.9531" 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="387" x="7104" y="1687.1636">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="7095" cy="1696.7578" 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="237" x="7104" y="1699.9683">urtThreadGetSelf (void) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]

class urt_osEventMask_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="60.8047" id="urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.5;" width="280" x="8169" y="1815.3594"/><ellipse cx="8246.25" cy="1831.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8247.0938,1838.1094 L8244.6406,1838.1094 L8244.6406,1827.8594 L8241.5,1827.8594 L8241.5,1825.7188 L8250.2344,1825.7188 L8250.2344,1827.8594 L8247.0938,1827.8594 L8247.0938,1838.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="8266.75" y="1835.5137">urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8170" x2="8448" y1="1847.3594" y2="1847.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="268" x="8175" y="1861.5698">URT_EVENTMASK_MAXPRIO : urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8170" x2="8448" y1="1868.1641" y2="1868.1641"/><!--MD5=[dc1cc33af288560680c15dec1e56eda0]

class urt_osEventFlags_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="48" id="urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="8656" y="2075.8594"/><ellipse cx="8671" cy="2091.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8671.8438,2098.6094 L8669.3906,2098.6094 L8669.3906,2088.3594 L8666.25,2088.3594 L8666.25,2086.2188 L8674.9844,2086.2188 L8674.9844,2088.3594 L8671.8438,2088.3594 L8671.8438,2098.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="8685" y="2096.0137">urt_osEventFlags_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8657" x2="8805" y1="2107.8594" y2="2107.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8657" x2="8805" y1="2115.8594" y2="2115.8594"/><!--MD5=[e2bbbd64e6979bf7b755747a6c0ba948]

class urt_osEventWait_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="86.4141" id="urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.5;" width="162" x="7972" y="1802.8594"/><ellipse cx="7995.1" cy="1818.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7999.2094,1824.8594 L7991.4906,1824.8594 L7991.4906,1812.4688 L7999.2094,1812.4688 L7999.2094,1814.625 L7993.9438,1814.625 L7993.9438,1817.2969 L7998.7094,1817.2969 L7998.7094,1819.4531 L7993.9438,1819.4531 L7993.9438,1822.7031 L7999.2094,1822.7031 L7999.2094,1824.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="8010.9" y="1823.0137">urt_osEventWait_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7973" x2="8133" y1="1834.8594" y2="1834.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="7978" y="1849.0698">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="7978" y="1861.8745">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="7978" y="1874.6792">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7973" x2="8133" y1="1881.2734" y2="1881.2734"/><!--MD5=[d054ac2eda12ce4b1fe5a18c9be716c1]

class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="8484" y="1802.8594"/><ellipse cx="8659.25" cy="1818.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8660.0938,1825.6094 L8657.6406,1825.6094 L8657.6406,1815.3594 L8654.5,1815.3594 L8654.5,1813.2188 L8663.2344,1813.2188 L8663.2344,1815.3594 L8660.0938,1815.3594 L8660.0938,1825.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="8679.75" y="1823.0137">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8485" x2="8977" y1="1834.8594" y2="1834.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8485" x2="8977" y1="1842.8594" y2="1842.8594"/><ellipse cx="8495" cy="1853.8594" 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="341" x="8504" y="1857.0698">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="8495" cy="1866.6641" 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="458" x="8504" y="1869.8745">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="8495" cy="1879.4688" 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="468" x="8504" y="1882.6792">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]

class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="9013.5" y="1808.8594"/><ellipse cx="9218.25" cy="1824.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9219.0938,1831.6094 L9216.6406,1831.6094 L9216.6406,1821.3594 L9213.5,1821.3594 L9213.5,1819.2188 L9222.2344,1819.2188 L9222.2344,1821.3594 L9219.0938,1821.3594 L9219.0938,1831.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="9238.75" y="1829.0137">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9014.5" x2="9559.5" y1="1840.8594" y2="1840.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="9014.5" x2="9559.5" y1="1848.8594" y2="1848.8594"/><ellipse cx="9024.5" cy="1859.8594" 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="325" x="9033.5" y="1863.0698">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="9024.5" cy="1872.6641" 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="521" x="9033.5" y="1875.8745">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--MD5=[04a3b5a37031e2a4d723f19d8adf86f5]

class urt_events--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="890" x="8286" y="1494.8594"/><ellipse cx="8693.75" cy="1510.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8697.9844,1506.625 L8692.7031,1506.625 L8692.7031,1509.2969 L8697.5,1509.2969 L8697.5,1511.4531 L8692.7031,1511.4531 L8692.7031,1516.8594 L8690.2656,1516.8594 L8690.2656,1504.4688 L8697.9844,1504.4688 L8697.9844,1506.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="8714.25" y="1515.0137">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8287" x2="9175" y1="1526.8594" y2="1526.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8287" x2="9175" y1="1534.8594" y2="1534.8594"/><ellipse cx="8297" 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="864" x="8306" y="1549.0698">urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : urt_status_t</text><ellipse cx="8297" 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="567" x="8306" y="1561.8745">urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : urt_status_t</text><ellipse cx="8297" 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="618" x="8306" y="1574.6792">urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWait_t, timeout : urt_delay_t) : urt_osEventMask_t</text><!--MD5=[89d25e87afdd75480e1ec2bd05524873]

class urt_core_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="196.8516" id="urt_core_t" style="stroke: #A80036; stroke-width: 1.5;" width="515" x="3747.5" y="110.8594"/><ellipse cx="3969.25" cy="126.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3968.7344,127.4219 Q3966.875,126.7188 3966.2188,125.9531 Q3965.5781,125.1719 3965.5781,123.8594 Q3965.5781,122.1719 3966.6563,121.2031 Q3967.7344,120.2344 3969.6094,120.2344 Q3970.4688,120.2344 3971.3125,120.4375 Q3972.1719,120.625 3973.0156,121.0156 L3973.0156,123.4063 Q3972.2344,122.8438 3971.4063,122.5625 Q3970.5938,122.2656 3969.7969,122.2656 Q3968.9219,122.2656 3968.4375,122.625 Q3967.9688,122.9844 3967.9688,123.6406 Q3967.9688,124.1563 3968.3125,124.5 Q3968.6563,124.8281 3969.75,125.2344 L3970.8125,125.6406 Q3972.2969,126.1875 3973,127.0938 Q3973.7188,128 3973.7188,129.375 Q3973.7188,131.25 3972.6094,132.1719 Q3971.5,133.0938 3969.25,133.0938 Q3968.3281,133.0938 3967.4063,132.875 Q3966.4844,132.6563 3965.625,132.2344 L3965.625,129.7031 Q3966.5938,130.3906 3967.5156,130.7344 Q3968.4375,131.0781 3969.3281,131.0781 Q3970.2344,131.0781 3970.7344,130.6719 Q3971.2344,130.25 3971.2344,129.5156 Q3971.2344,128.9531 3970.8906,128.5469 Q3970.5625,128.125 3969.9375,127.875 L3968.7344,127.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="63" x="3989.75" y="131.0137">urt_core_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3748.5" x2="4261.5" y1="142.8594" y2="142.8594"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="3755.5" y="150.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="3767.5" y="157.0698">_nodes : urt_node_t*</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="3755.5" y="163.6641"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="192" x="3767.5" y="169.8745">_evtSource : urt_osEventSource_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="3755.5" y="176.4688"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="3767.5" y="182.6792">_lock : urt_osMutex_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="3755.5" y="206.0781"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="134" x="3767.5" y="212.2886">_pubsub : urt_pubsub_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3748.5" x2="3900" y1="195.6758" y2="195.6758"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="3900" y="198.9839">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4110" x2="4261.5" y1="195.6758" y2="195.6758"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="3755.5" y="235.6875"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="86" x="3767.5" y="241.8979">_rpc : urt_rpc_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3748.5" x2="3912.5" y1="225.2852" y2="225.2852"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="3912.5" y="228.5933">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4097.5" x2="4261.5" y1="225.2852" y2="225.2852"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3748.5" x2="4261.5" y1="248.4922" y2="248.4922"/><ellipse cx="3758.5" cy="259.4922" 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="175" x="3767.5" y="262.7026">urtCoreInit (void) : urt_status_t</text><ellipse cx="3758.5" cy="272.2969" 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="222" x="3767.5" y="275.5073">urtCoreStartNodes (void) : urt_status_t</text><ellipse cx="3758.5" cy="285.1016" 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" textLength="489" x="3767.5" y="288.312">urtCoreSynchronizeNodes (node : urt_node_t*, stage : urt_nodestage_t) : urt_status_t</text><ellipse cx="3758.5" cy="297.9063" 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="220" x="3767.5" y="301.1167">urtCoreStopNodes (void) : urt_status_t</text><!--MD5=[a7dea26996a1231aa68629b332780450]

class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="2487" y="729.3594"/><ellipse cx="2632.75" cy="745.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2633.5938,752.1094 L2631.1406,752.1094 L2631.1406,741.8594 L2628,741.8594 L2628,739.7188 L2636.7344,739.7188 L2636.7344,741.8594 L2633.5938,741.8594 L2633.5938,752.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="2653.25" y="749.5137">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2488" x2="2942" y1="761.3594" y2="761.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2488" x2="2942" y1="769.3594" y2="769.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="2493" y="783.5698">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]

class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="2978" y="729.3594"/><ellipse cx="3206.25" cy="745.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3207.0938,752.1094 L3204.6406,752.1094 L3204.6406,741.8594 L3201.5,741.8594 L3201.5,739.7188 L3210.2344,739.7188 L3210.2344,741.8594 L3207.0938,741.8594 L3207.0938,752.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="3226.75" y="749.5137">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2979" x2="3591" y1="761.3594" y2="761.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2979" x2="3591" y1="769.3594" y2="769.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="2984" y="783.5698">urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t</text><!--MD5=[d2563153d77472384a15c07b815d639f]

class urt_node_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="176.0469" id="urt_node_t" style="stroke: #A80036; stroke-width: 1.5;" width="1104" x="2473" y="367.8594"/><ellipse cx="2987.25" cy="383.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2986.7344,384.4219 Q2984.875,383.7188 2984.2188,382.9531 Q2983.5781,382.1719 2983.5781,380.8594 Q2983.5781,379.1719 2984.6563,378.2031 Q2985.7344,377.2344 2987.6094,377.2344 Q2988.4688,377.2344 2989.3125,377.4375 Q2990.1719,377.625 2991.0156,378.0156 L2991.0156,380.4063 Q2990.2344,379.8438 2989.4063,379.5625 Q2988.5938,379.2656 2987.7969,379.2656 Q2986.9219,379.2656 2986.4375,379.625 Q2985.9688,379.9844 2985.9688,380.6406 Q2985.9688,381.1563 2986.3125,381.5 Q2986.6563,381.8281 2987.75,382.2344 L2988.8125,382.6406 Q2990.2969,383.1875 2991,384.0938 Q2991.7188,385 2991.7188,386.375 Q2991.7188,388.25 2990.6094,389.1719 Q2989.5,390.0938 2987.25,390.0938 Q2986.3281,390.0938 2985.4063,389.875 Q2984.4844,389.6563 2983.625,389.2344 L2983.625,386.7031 Q2984.5938,387.3906 2985.5156,387.7344 Q2986.4375,388.0781 2987.3281,388.0781 Q2988.2344,388.0781 2988.7344,387.6719 Q2989.2344,387.25 2989.2344,386.5156 Q2989.2344,385.9531 2988.8906,385.5469 Q2988.5625,385.125 2987.9375,384.875 L2986.7344,384.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="67" x="3007.75" y="388.0137">urt_node_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2474" x2="3576" y1="399.8594" y2="399.8594"/><ellipse cx="2484" cy="410.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="102" x="2493" y="414.0698">next : urt_node_t*</text><ellipse cx="2484" cy="423.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="2493" y="426.8745">thread : urt_osThread_t*</text><ellipse cx="2484" cy="436.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="2493" y="439.6792">setupcallback : urt_nodeSetupCallback_t*</text><ellipse cx="2484" cy="449.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="117" x="2493" y="452.4839">setupparams : void*</text><ellipse cx="2484" cy="462.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="221" x="2493" y="465.2886">loopcallback : urt_nodeLoopCallback_t*</text><ellipse cx="2484" cy="474.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="109" x="2493" y="478.0933">loopparams : void*</text><ellipse cx="2484" cy="487.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="2493" y="490.8979">stage : urt_nodestage_t</text><ellipse cx="2484" cy="500.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="178" x="2493" y="503.7026">listener : urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2474" x2="3576" y1="510.2969" y2="510.2969"/><rect fill="#F24D5C" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="2481" y="518.2969"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="179" x="2493" y="524.5073">_main : urt_osThreadFunction_t</text><ellipse cx="2484" cy="534.1016" 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" textLength="1078" x="2493" y="537.312">urtNodeInit (node : urt_node_t*, stacksize : size_t, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*) : urt_status_t</text><!--MD5=[e602aa6d45f270ad04f88c9ca5352b33]

class urt_message_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="167.2422" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="451" x="1980.5" y="975.8594"/><ellipse cx="2155.75" cy="991.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2155.2344,992.4219 Q2153.375,991.7188 2152.7188,990.9531 Q2152.0781,990.1719 2152.0781,988.8594 Q2152.0781,987.1719 2153.1563,986.2031 Q2154.2344,985.2344 2156.1094,985.2344 Q2156.9688,985.2344 2157.8125,985.4375 Q2158.6719,985.625 2159.5156,986.0156 L2159.5156,988.4063 Q2158.7344,987.8438 2157.9063,987.5625 Q2157.0938,987.2656 2156.2969,987.2656 Q2155.4219,987.2656 2154.9375,987.625 Q2154.4688,987.9844 2154.4688,988.6406 Q2154.4688,989.1563 2154.8125,989.5 Q2155.1563,989.8281 2156.25,990.2344 L2157.3125,990.6406 Q2158.7969,991.1875 2159.5,992.0938 Q2160.2188,993 2160.2188,994.375 Q2160.2188,996.25 2159.1094,997.1719 Q2158,998.0938 2155.75,998.0938 Q2154.8281,998.0938 2153.9063,997.875 Q2152.9844,997.6563 2152.125,997.2344 L2152.125,994.7031 Q2153.0938,995.3906 2154.0156,995.7344 Q2154.9375,996.0781 2155.8281,996.0781 Q2156.7344,996.0781 2157.2344,995.6719 Q2157.7344,995.25 2157.7344,994.5156 Q2157.7344,993.9531 2157.3906,993.5469 Q2157.0625,993.125 2156.4375,992.875 L2155.2344,992.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="2176.25" y="996.0137">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1981.5" x2="2430.5" y1="1007.8594" y2="1007.8594"/><ellipse cx="1991.5" cy="1018.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="127" x="2000.5" y="1022.0698">next : urt_message_t*</text><ellipse cx="1991.5" cy="1031.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="2000.5" y="1034.8745">payload : void*</text><ellipse cx="1991.5" cy="1044.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="2000.5" y="1047.6792">originTime : urt_osTime_t</text><ellipse cx="1991.5" cy="1057.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="2000.5" y="1060.4839">lock : urt_osMutex_t</text><ellipse cx="1991.5" cy="1070.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="211" x="2000.5" y="1073.2886">numHrtConsumersLeft : unsigned int</text><ellipse cx="1991.5" cy="1082.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="2000.5" y="1086.0933">hrtConsumersLeft : urt_osCondvar_t</text><ellipse cx="1991.5" cy="1112.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="2000.5" y="1115.7026">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1981.5" x2="2097.5" y1="1099.0898" y2="1099.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2097.5" y="1102.3979">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2314.5" x2="2430.5" y1="1099.0898" y2="1099.0898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1981.5" x2="2430.5" y1="1122.2969" y2="1122.2969"/><ellipse cx="1991.5" cy="1133.2969" 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="425" x="2000.5" y="1136.5073">urtMessageInit (message : urt_message_t*, payload : void*) : urt_status_t</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]

class urt_publisher_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="128.8281" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="759" x="1689.5" y="695.3594"/><ellipse cx="2018.25" cy="711.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2017.7344,711.9219 Q2015.875,711.2188 2015.2188,710.4531 Q2014.5781,709.6719 2014.5781,708.3594 Q2014.5781,706.6719 2015.6563,705.7031 Q2016.7344,704.7344 2018.6094,704.7344 Q2019.4688,704.7344 2020.3125,704.9375 Q2021.1719,705.125 2022.0156,705.5156 L2022.0156,707.9063 Q2021.2344,707.3438 2020.4063,707.0625 Q2019.5938,706.7656 2018.7969,706.7656 Q2017.9219,706.7656 2017.4375,707.125 Q2016.9688,707.4844 2016.9688,708.1406 Q2016.9688,708.6563 2017.3125,709 Q2017.6563,709.3281 2018.75,709.7344 L2019.8125,710.1406 Q2021.2969,710.6875 2022,711.5938 Q2022.7188,712.5 2022.7188,713.875 Q2022.7188,715.75 2021.6094,716.6719 Q2020.5,717.5938 2018.25,717.5938 Q2017.3281,717.5938 2016.4063,717.375 Q2015.4844,717.1563 2014.625,716.7344 L2014.625,714.2031 Q2015.5938,714.8906 2016.5156,715.2344 Q2017.4375,715.5781 2018.3281,715.5781 Q2019.2344,715.5781 2019.7344,715.1719 Q2020.2344,714.75 2020.2344,714.0156 Q2020.2344,713.4531 2019.8906,713.0469 Q2019.5625,712.625 2018.9375,712.375 L2017.7344,711.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="2038.75" y="715.5137">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1690.5" x2="2447.5" y1="727.3594" y2="727.3594"/><ellipse cx="1700.5" cy="738.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="1709.5" y="741.5698">topic : urt_topic_t*</text><ellipse cx="1700.5" cy="767.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="149" x="1709.5" y="771.1792">publishAttempts : uint64_t</text><ellipse cx="1700.5" cy="780.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="1709.5" y="783.9839">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1690.5" x2="1987" y1="754.5664" y2="754.5664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="1987" y="757.8745">URT_CFG_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2151" x2="2447.5" y1="754.5664" y2="754.5664"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1690.5" x2="2447.5" y1="790.5781" y2="790.5781"/><ellipse cx="1700.5" cy="801.5781" 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="617" x="1709.5" y="804.7886">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="1700.5" cy="814.3828" 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="733" x="1709.5" y="817.5933">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, n : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[a1b1e66ec52c209a9fa2dab315cd7630]

class urt_topic_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="235.2656" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="1252" y="642.3594"/><ellipse cx="1406.75" cy="658.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1406.2344,658.9219 Q1404.375,658.2188 1403.7188,657.4531 Q1403.0781,656.6719 1403.0781,655.3594 Q1403.0781,653.6719 1404.1563,652.7031 Q1405.2344,651.7344 1407.1094,651.7344 Q1407.9688,651.7344 1408.8125,651.9375 Q1409.6719,652.125 1410.5156,652.5156 L1410.5156,654.9063 Q1409.7344,654.3438 1408.9063,654.0625 Q1408.0938,653.7656 1407.2969,653.7656 Q1406.4219,653.7656 1405.9375,654.125 Q1405.4688,654.4844 1405.4688,655.1406 Q1405.4688,655.6563 1405.8125,656 Q1406.1563,656.3281 1407.25,656.7344 L1408.3125,657.1406 Q1409.7969,657.6875 1410.5,658.5938 Q1411.2188,659.5 1411.2188,660.875 Q1411.2188,662.75 1410.1094,663.6719 Q1409,664.5938 1406.75,664.5938 Q1405.8281,664.5938 1404.9063,664.375 Q1403.9844,664.1563 1403.125,663.7344 L1403.125,661.2031 Q1404.0938,661.8906 1405.0156,662.2344 Q1405.9375,662.5781 1406.8281,662.5781 Q1407.7344,662.5781 1408.2344,662.1719 Q1408.7344,661.75 1408.7344,661.0156 Q1408.7344,660.4531 1408.3906,660.0469 Q1408.0625,659.625 1407.4375,659.375 L1406.2344,658.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="1427.25" y="662.5137">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1253" x2="1635" y1="674.3594" y2="674.3594"/><ellipse cx="1263" cy="685.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="1272" y="688.5698">next : urt_topic_t*</text><ellipse cx="1263" cy="698.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="1272" y="701.3745">id : urt_topicid_t</text><ellipse cx="1263" cy="710.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="1272" y="714.1792">lock : urt_osMutex_t</text><ellipse cx="1263" cy="723.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="1272" y="726.9839">evtSource : urt_osEventSource_t</text><ellipse cx="1263" cy="736.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="1272" y="739.7886">numHrtSubscribers : unsigned int</text><ellipse cx="1263" cy="749.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="1272" y="752.5933">hrtSubscribers : urt_subscriber_t*</text><ellipse cx="1263" cy="762.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="209" x="1272" y="765.3979">mandatoryMessage : urt_message_t</text><ellipse cx="1263" cy="774.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="1272" y="778.2026">latestMessage : urt_message_t*</text><ellipse cx="1263" cy="804.6016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="170" x="1272" y="807.812">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1253" x2="1311.5" y1="791.1992" y2="791.1992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="1311.5" y="794.5073">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1576.5" x2="1635" y1="791.1992" y2="791.1992"/><ellipse cx="1263" cy="834.2109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="1272" y="837.4214">numDiscardedMessages : uint64_t</text><ellipse cx="1263" cy="847.0156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="1272" y="850.2261">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1253" x2="1335.5" y1="820.8086" y2="820.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="1335.5" y="824.1167">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1552.5" x2="1635" y1="820.8086" y2="820.8086"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1253" x2="1635" y1="856.8203" y2="856.8203"/><ellipse cx="1263" cy="867.8203" 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="358" x="1272" y="871.0308">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[4a0cbcfec60c5e893e4ff6f7470d1adc]

class urt_pubsub_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="86.4141" id="urt_pubsub_t" style="stroke: #A80036; stroke-width: 1.5;" width="340" x="1998" y="412.8594"/><ellipse cx="2122.75" cy="428.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2122.2344,429.4219 Q2120.375,428.7188 2119.7188,427.9531 Q2119.0781,427.1719 2119.0781,425.8594 Q2119.0781,424.1719 2120.1563,423.2031 Q2121.2344,422.2344 2123.1094,422.2344 Q2123.9688,422.2344 2124.8125,422.4375 Q2125.6719,422.625 2126.5156,423.0156 L2126.5156,425.4063 Q2125.7344,424.8438 2124.9063,424.5625 Q2124.0938,424.2656 2123.2969,424.2656 Q2122.4219,424.2656 2121.9375,424.625 Q2121.4688,424.9844 2121.4688,425.6406 Q2121.4688,426.1563 2121.8125,426.5 Q2122.1563,426.8281 2123.25,427.2344 L2124.3125,427.6406 Q2125.7969,428.1875 2126.5,429.0938 Q2127.2188,430 2127.2188,431.375 Q2127.2188,433.25 2126.1094,434.1719 Q2125,435.0938 2122.75,435.0938 Q2121.8281,435.0938 2120.9063,434.875 Q2119.9844,434.6563 2119.125,434.2344 L2119.125,431.7031 Q2120.0938,432.3906 2121.0156,432.7344 Q2121.9375,433.0781 2122.8281,433.0781 Q2123.7344,433.0781 2124.2344,432.6719 Q2124.7344,432.25 2124.7344,431.5156 Q2124.7344,430.9531 2124.3906,430.5469 Q2124.0625,430.125 2123.4375,429.875 L2122.2344,429.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="82" x="2143.25" y="433.0137">urt_pubsub_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1999" x2="2337" y1="444.8594" y2="444.8594"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="2006" y="452.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="117" x="2018" y="459.0698">_topics : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1999" x2="2337" y1="465.6641" y2="465.6641"/><ellipse cx="2009" cy="476.6641" 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="190" x="2018" y="479.8745">urtPubsubInit (void) : urt_status_t</text><ellipse cx="2009" cy="489.4688" 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="314" x="2018" y="492.6792">urtPubsubRetrieveTopic (id : urt_topicid_t) : urt_topic_t*</text><!--MD5=[ab7cf431813e3be5d474948fd959cdbf]

class urt_subscriber_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="312.0938" id="urt_subscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1068" x="149" y="603.8594"/><ellipse cx="628.25" cy="619.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M627.7344,620.4219 Q625.875,619.7188 625.2188,618.9531 Q624.5781,618.1719 624.5781,616.8594 Q624.5781,615.1719 625.6563,614.2031 Q626.7344,613.2344 628.6094,613.2344 Q629.4688,613.2344 630.3125,613.4375 Q631.1719,613.625 632.0156,614.0156 L632.0156,616.4063 Q631.2344,615.8438 630.4063,615.5625 Q629.5938,615.2656 628.7969,615.2656 Q627.9219,615.2656 627.4375,615.625 Q626.9688,615.9844 626.9688,616.6406 Q626.9688,617.1563 627.3125,617.5 Q627.6563,617.8281 628.75,618.2344 L629.8125,618.6406 Q631.2969,619.1875 632,620.0938 Q632.7188,621 632.7188,622.375 Q632.7188,624.25 631.6094,625.1719 Q630.5,626.0938 628.25,626.0938 Q627.3281,626.0938 626.4063,625.875 Q625.4844,625.6563 624.625,625.2344 L624.625,622.7031 Q625.5938,623.3906 626.5156,623.7344 Q627.4375,624.0781 628.3281,624.0781 Q629.2344,624.0781 629.7344,623.6719 Q630.2344,623.25 630.2344,622.5156 Q630.2344,621.9531 629.8906,621.5469 Q629.5625,621.125 628.9375,620.875 L627.7344,620.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="648.75" y="624.0137">urt_subscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="150" x2="1216" y1="635.8594" y2="635.8594"/><ellipse cx="160" cy="646.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="169" y="650.0698">topic : urt_topic_t*</text><ellipse cx="160" cy="659.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="169" y="662.8745">evtListener : urt_osEventListener_t</text><ellipse cx="160" cy="672.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="191" x="169" y="675.6792">rtconstraints : urt_rtconstaints_t*</text><ellipse cx="160" cy="685.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="175" x="169" y="688.4839">lastMessage : urt_message_t*</text><ellipse cx="160" cy="698.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="169" y="701.2886">lastMessageTime : urt_osTime_t</text><ellipse cx="160" cy="727.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="169" y="730.8979">sumLatencies : uint64_t</text><ellipse cx="160" cy="740.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="169" y="743.7026">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="150" x2="574.5" y1="714.2852" y2="714.2852"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="574.5" y="717.5933">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="791.5" x2="1216" y1="714.2852" y2="714.2852"/><ellipse cx="160" cy="770.1016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="169" y="773.312">minLatency : urt_delay_t</text><ellipse cx="160" cy="782.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="169" y="786.1167">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="150" x2="422.5" y1="756.6992" y2="756.6992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="521" x="422.5" y="760.0073">URT_CFG_PUBSUB_PROFILING == true &amp;&amp; URT_CFG_PUBSUB_QOS_JITTERCHECKS == false</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="943.5" x2="1216" y1="756.6992" y2="756.6992"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="150" x2="1216" y1="792.7109" y2="792.7109"/><ellipse cx="160" cy="803.7109" 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="359" x="169" y="806.9214">urtSubscriberInit (subscriber : urt_subscriber_t*) : urt_status_t</text><ellipse cx="160" cy="816.5156" 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="1042" x="169" y="819.7261">urtSubscriberSubscribeHrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, rate : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="160" cy="829.3203" 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="1040" x="169" y="832.5308">urtSubscriberSubscribeFrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, rate : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="160" cy="842.125" 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="1042" x="169" y="845.3354">urtSubscriberSubscribeSrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_srtusefulnessfunc_t*, cbparams : void*) : urt_status_t</text><ellipse cx="160" cy="854.9297" 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="699" x="169" y="858.1401">urtSubscriberSubscribeNrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="160" cy="867.7344" 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="413" x="169" y="870.9448">urtSubscriberUnsubscribe (subscriber : urt_subscriber_t*) : urt_status_t</text><ellipse cx="160" cy="880.5391" 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="752" x="169" y="883.7495">urtSubscriberFetchNextMessage (subscriber : urt_subscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="160" cy="893.3438" 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="762" x="169" y="896.5542">urtSubscriberFetchLatestMessage (subscriber : urt_subscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="160" cy="906.1484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; 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class urt_srtusefulnessfunc_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="60.8047" id="urt_srtusefulnessfunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="374" x="54" y="1815.3594"/><ellipse cx="163.25" cy="1831.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M167.4844,1827.125 L162.2031,1827.125 L162.2031,1829.7969 L167,1829.7969 L167,1831.9531 L162.2031,1831.9531 L162.2031,1837.3594 L159.7656,1837.3594 L159.7656,1824.9688 L167.4844,1824.9688 L167.4844,1827.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="147" x="183.75" y="1835.5137">urt_srtusefulnessfunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="55" x2="427" y1="1847.3594" y2="1847.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="55" x2="427" y1="1855.3594" y2="1855.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="362" x="60" y="1869.5698">urt_srtusefulnessfunc_t (dt : urt_delay_t, params : void*) : float</text><!--MD5=[4a2daf41193a31389d6311337c2a120f]

class urt_srtdata_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="73.6094" id="urt_srtdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="258" x="131" y="1500.8594"/><ellipse cx="215.25" cy="1516.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M214.7344,1517.4219 Q212.875,1516.7188 212.2188,1515.9531 Q211.5781,1515.1719 211.5781,1513.8594 Q211.5781,1512.1719 212.6563,1511.2031 Q213.7344,1510.2344 215.6094,1510.2344 Q216.4688,1510.2344 217.3125,1510.4375 Q218.1719,1510.625 219.0156,1511.0156 L219.0156,1513.4063 Q218.2344,1512.8438 217.4063,1512.5625 Q216.5938,1512.2656 215.7969,1512.2656 Q214.9219,1512.2656 214.4375,1512.625 Q213.9688,1512.9844 213.9688,1513.6406 Q213.9688,1514.1563 214.3125,1514.5 Q214.6563,1514.8281 215.75,1515.2344 L216.8125,1515.6406 Q218.2969,1516.1875 219,1517.0938 Q219.7188,1518 219.7188,1519.375 Q219.7188,1521.25 218.6094,1522.1719 Q217.5,1523.0938 215.25,1523.0938 Q214.3281,1523.0938 213.4063,1522.875 Q212.4844,1522.6563 211.625,1522.2344 L211.625,1519.7031 Q212.5938,1520.3906 213.5156,1520.7344 Q214.4375,1521.0781 215.3281,1521.0781 Q216.2344,1521.0781 216.7344,1520.6719 Q217.2344,1520.25 217.2344,1519.5156 Q217.2344,1518.9531 216.8906,1518.5469 Q216.5625,1518.125 215.9375,1517.875 L214.7344,1517.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="81" x="235.75" y="1521.0137">urt_srtdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="132" x2="388" y1="1532.8594" y2="1532.8594"/><ellipse cx="142" cy="1543.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="232" x="151" y="1547.0698">usefullnesscb : urt_srtusefulnessfunc_t*</text><ellipse cx="142" cy="1556.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="151" y="1559.8745">cbparams : void*</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="132" x2="388" y1="1566.4688" y2="1566.4688"/><!--MD5=[c49c66e54807645986bdfbce830f97dc]

class urt_rpc_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="86.4141" id="urt_rpc_t" style="stroke: #A80036; stroke-width: 1.5;" width="358" x="3861" y="412.8594"/><ellipse cx="4008.25" cy="428.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4007.7344,429.4219 Q4005.875,428.7188 4005.2188,427.9531 Q4004.5781,427.1719 4004.5781,425.8594 Q4004.5781,424.1719 4005.6563,423.2031 Q4006.7344,422.2344 4008.6094,422.2344 Q4009.4688,422.2344 4010.3125,422.4375 Q4011.1719,422.625 4012.0156,423.0156 L4012.0156,425.4063 Q4011.2344,424.8438 4010.4063,424.5625 Q4009.5938,424.2656 4008.7969,424.2656 Q4007.9219,424.2656 4007.4375,424.625 Q4006.9688,424.9844 4006.9688,425.6406 Q4006.9688,426.1563 4007.3125,426.5 Q4007.6563,426.8281 4008.75,427.2344 L4009.8125,427.6406 Q4011.2969,428.1875 4012,429.0938 Q4012.7188,430 4012.7188,431.375 Q4012.7188,433.25 4011.6094,434.1719 Q4010.5,435.0938 4008.25,435.0938 Q4007.3281,435.0938 4006.4063,434.875 Q4005.4844,434.6563 4004.625,434.2344 L4004.625,431.7031 Q4005.5938,432.3906 4006.5156,432.7344 Q4007.4375,433.0781 4008.3281,433.0781 Q4009.2344,433.0781 4009.7344,432.6719 Q4010.2344,432.25 4010.2344,431.5156 Q4010.2344,430.9531 4009.8906,430.5469 Q4009.5625,430.125 4008.9375,429.875 L4007.7344,429.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="55" x="4028.75" y="433.0137">urt_rpc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3862" x2="4218" y1="444.8594" y2="444.8594"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="3869" y="452.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="145" x="3881" y="459.0698">_services : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3862" x2="4218" y1="465.6641" y2="465.6641"/><ellipse cx="3872" cy="476.6641" 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="168" x="3881" y="479.8745">urtRpcInit (void) : urt_status_t</text><ellipse cx="3872" cy="489.4688" 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="332" x="3881" y="492.6792">urtRpcRetrieveService (id : urt_serviceid_t) : urt_service_t*</text><!--MD5=[3226071078d8aeaa18fbafa5359ddee6]

class urt_servicefunc_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="60.8047" id="urt_servicefunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="451" x="3796.5" y="1028.8594"/><ellipse cx="3964.75" cy="1044.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3968.9844,1040.625 L3963.7031,1040.625 L3963.7031,1043.2969 L3968.5,1043.2969 L3968.5,1045.4531 L3963.7031,1045.4531 L3963.7031,1050.8594 L3961.2656,1050.8594 L3961.2656,1038.4688 L3968.9844,1038.4688 L3968.9844,1040.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="106" x="3985.25" y="1049.0137">urt_servicefunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3797.5" x2="4246.5" y1="1060.8594" y2="1060.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3797.5" x2="4246.5" y1="1068.8594" y2="1068.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="439" x="3802.5" y="1083.0698">urt_servicefunc_t (arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[e60e0f8379a14e7a4a292c65add9d735]

class urt_service_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="222.4609" id="urt_service_t" style="stroke: #A80036; stroke-width: 1.5;" width="602" x="3627" y="648.8594"/><ellipse cx="3884.25" cy="664.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3883.7344,665.4219 Q3881.875,664.7188 3881.2188,663.9531 Q3880.5781,663.1719 3880.5781,661.8594 Q3880.5781,660.1719 3881.6563,659.2031 Q3882.7344,658.2344 3884.6094,658.2344 Q3885.4688,658.2344 3886.3125,658.4375 Q3887.1719,658.625 3888.0156,659.0156 L3888.0156,661.4063 Q3887.2344,660.8438 3886.4063,660.5625 Q3885.5938,660.2656 3884.7969,660.2656 Q3883.9219,660.2656 3883.4375,660.625 Q3882.9688,660.9844 3882.9688,661.6406 Q3882.9688,662.1563 3883.3125,662.5 Q3883.6563,662.8281 3884.75,663.2344 L3885.8125,663.6406 Q3887.2969,664.1875 3888,665.0938 Q3888.7188,666 3888.7188,667.375 Q3888.7188,669.25 3887.6094,670.1719 Q3886.5,671.0938 3884.25,671.0938 Q3883.3281,671.0938 3882.4063,670.875 Q3881.4844,670.6563 3880.625,670.2344 L3880.625,667.7031 Q3881.5938,668.3906 3882.5156,668.7344 Q3883.4375,669.0781 3884.3281,669.0781 Q3885.2344,669.0781 3885.7344,668.6719 Q3886.2344,668.25 3886.2344,667.5156 Q3886.2344,666.9531 3885.8906,666.5469 Q3885.5625,666.125 3884.9375,665.875 L3883.7344,665.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="3904.75" y="669.0137">urt_service_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3628" x2="4228" y1="680.8594" y2="680.8594"/><ellipse cx="3638" cy="691.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="115" x="3647" y="695.0698">next : urt_service_t*</text><ellipse cx="3638" cy="704.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="105" x="3647" y="707.8745">id : urt_serviceid_t</text><ellipse cx="3638" cy="717.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="3647" y="720.6792">lock : urt_osMutex_t</text><ellipse cx="3638" cy="730.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="3647" y="733.4839">callback : urt_servicefunc_t*</text><ellipse cx="3638" cy="759.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="137" x="3647" y="763.0933">sumDurations : uint64_t</text><ellipse cx="3638" cy="772.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="3647" y="775.8979">numCalls : uint64_t</text><ellipse cx="3638" cy="785.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="135" x="3647" y="788.7026">numTimeouts : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3628" x2="3833.5" y1="746.4805" y2="746.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="3833.5" y="749.7886">URT_CFG_RPC_PROFLING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4022.5" x2="4228" y1="746.4805" y2="746.4805"/><ellipse cx="3638" cy="815.1016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="143" x="3647" y="818.312">minDuration : urt_delay_t</text><ellipse cx="3638" cy="827.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="3647" y="831.1167">maxDuration : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3628" x2="3695" y1="801.6992" y2="801.6992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="466" x="3695" y="805.0073">URT_CFG_RPC_PROFILING == true &amp;&amp; URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4161" x2="4228" y1="801.6992" y2="801.6992"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3628" x2="4228" y1="837.7109" y2="837.7109"/><ellipse cx="3638" cy="848.7109" 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="576" x="3647" y="851.9214">urtServiceInit(service : urt_service_t*, id : urt_serviceid_t, callback : urt_servicefunc_t*) : urt_status_t</text><ellipse cx="3638" cy="861.5156" 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="557" x="3647" y="864.7261">urtServiceCall(service : urt_service_t*, arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[5fff9a13948f7f5b5e6ca18c1c7a9716]

link urt_nodestage_t to urt_config--><path d="M10928.8528,1924.1938 C10923.2465,1927.281 10917.6117,1930.1919 10912,1932.8594 C10772.2412,1999.294 10600.7668,2044.5454 10480.2659,2071.008 " fill="none" id="urt_nodestage_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10475.2845,2072.0976,10484.9314,2074.082,10480.169,2071.0292,10483.2219,2066.2668,10475.2845,2072.0976" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7db439499cb1afd557b9be4c8c52b2ba]

link urt_topicid_t to urt_config--><path d="M10330,1925.1818 C10330,1942.4784 10330,1961.1552 10330,1979.6399 " fill="none" id="urt_topicid_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10330,1984.8471,10334,1975.8471,10330,1979.8471,10326,1975.8471,10330,1984.8471" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e851a4e79ca88682282ceaaad2100c63]

link urt_serviceid_t to urt_config--><path d="M10689.9025,1922.2515 C10684.2472,1925.932 10678.59,1929.4919 10673,1932.8594 C10611.7639,1969.7489 10541.1896,2005.2191 10480.0378,2033.9088 " fill="none" id="urt_serviceid_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10475.2779,2036.1372,10485.1249,2035.9438,10479.8062,2034.0172,10481.7328,2028.6985,10475.2779,2036.1372" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[844001065b3bef53527c5dd4ba0c22e5]

link urt_delay_t to urt_config--><path d="M10152.1357,1895.4361 C10173.4142,1919.892 10200.082,1950.5419 10226.2438,1980.6102 " fill="none" id="urt_delay_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10229.764,1984.656,10226.8739,1975.2407,10226.482,1980.8839,10220.8387,1980.492,10229.764,1984.656" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7766572fa0c619a5409829048dc0b6d6]

link urt_osCondvar_t to urt_osCondvarWaitStatus_t--><path d="M4887,1587.6872 C4887,1645.5308 4887,1740.2868 4887,1797.4978 " fill="none" id="urt_osCondvar_t-&gt;urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4887,1802.5732,4891,1793.5732,4887,1797.5732,4883,1793.5732,4887,1802.5732" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9b2507ea88616aeae65e3c4d63560016]

link urt_osCondvar_t to urt_osMutex_t--><path d="M4935.2684,1488.2186 C5001.9844,1424.6895 5129.4139,1320.9884 5263.5,1305.8594 C5287.7351,1303.1249 5678.2649,1303.1249 5702.5,1305.8594 C5710.4281,1306.7539 5713.3337,1305.476 5720,1309.8594 C5785.4639,1352.9052 5834.2355,1430.9585 5861.6686,1483.5995 " fill="none" id="urt_osCondvar_t-&gt;urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="5864.0941,1488.2947,5863.5172,1478.4627,5861.7993,1483.8524,5856.4096,1482.1345,5864.0941,1488.2947" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[83094e108045c8f9585007cdb3b7cb2e]

link urt_osTimer_t to urt_osTimerCallback_t--><path d="M6462,1593.9932 C6462,1656.7318 6462,1756.4721 6462,1809.6616 " fill="none" id="urt_osTimer_t-&gt;urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6462,1814.9737,6466,1805.9737,6462,1809.9737,6458,1805.9737,6462,1814.9737" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8d8c3240b5b2b5edf6544088e583ffa5]

link urt_osThread_t to urt_osThreadPrio_t--><path d="M7294.1841,1707.1767 C7285.8072,1727.4924 7277.5783,1747.449 7270.0884,1765.6135 " fill="none" id="urt_osThread_t-&gt;urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7267.996,1770.688,7275.1248,1763.8924,7269.902,1766.0655,7267.7289,1760.8427,7267.996,1770.688" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d7d1d43fd970fb07a484642bc19fcb13]

link urt_osThread_t to urt_osThreadFunction_t--><path d="M7594.0192,1707.0198 C7606.5504,1716.4082 7618.9425,1725.7337 7631,1734.8594 C7664.7973,1760.4389 7702.673,1789.874 7730.9496,1812.0028 " fill="none" id="urt_osThread_t-&gt;urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7735.0502,1815.2133,7730.4296,1806.5156,7731.1133,1812.1309,7725.4979,1812.8146,7735.0502,1815.2133" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6564761b32ad7eeb5abb8896c72cfca5]

link urt_osThread_t to urt_osThreadTerminateSignal_t--><path d="M7434.3656,1707.1767 C7449.3503,1743.2335 7463.8648,1778.1591 7474.5796,1803.9416 " fill="none" id="urt_osThread_t-&gt;urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7476.5353,1808.6475,7476.7752,1798.8015,7474.6165,1804.0303,7469.3877,1801.8716,7476.5353,1808.6475" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[92ba23225d8de8f8080583fedda5e6f8]

link urt_osThread_t to urt_osThreadState_t--><path d="M7154.6626,1707.0878 C7143.2562,1716.4587 7131.9761,1725.7619 7121,1734.8594 C7106.0837,1747.2228 7090.2979,1760.4629 7075.0454,1773.3377 " fill="none" id="urt_osThread_t-&gt;urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7071.18,1776.6023,7080.6368,1773.851,7074.9999,1773.3761,7075.4749,1767.7392,7071.18,1776.6023" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[78b286ab2177e5f7b31e6e832d821818]

link urt_osThread_t to urt_osTime_t--><path d="M7083.8362,1373.5719 C7010.7801,1341.376 6930.3546,1314.7566 6851.5,1305.8594 C6820.7783,1302.393 5769.2217,1302.393 5738.5,1305.8594 C5633.83,1317.6694 5554.3278,1425.7647 5515.7721,1490.1578 " fill="none" id="urt_osThread_t-&gt;urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="5513.0671,1494.7166,5521.0997,1489.0177,5515.6185,1490.4166,5514.2197,1484.9354,5513.0671,1494.7166" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[659af6ab57e6a38ebfd5c07c5616787c]

link urt_osEventListener_t to urt_osEventFlags_t--><path d="M8731,1888.947 C8731,1940.6304 8731,2025.8733 8731,2070.518 " fill="none" id="urt_osEventListener_t-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8731,2075.7562,8735,2066.7562,8731,2070.7562,8727,2066.7562,8731,2075.7562" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[eac11679f26c499aa1c571e1f795945d]

link urt_osEventSource_t to urt_osEventFlags_t--><path d="M9205.8553,1882.9291 C9092.072,1934.9092 8887.9274,2028.1695 8788.5291,2073.5781 " fill="none" id="urt_osEventSource_t-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8783.8758,2075.7039,8793.7241,2075.6024,8788.4237,2073.6262,8790.3999,2068.3258,8783.8758,2075.7039" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0259cdb10c6c32168d1d17d25519d939]

link urt_events to urt_osEventSource_t--><path d="M8808.8949,1581.0098 C8916.9717,1640.8797 9110.8852,1748.2994 9215.4683,1806.2339 " fill="none" id="urt_events-&gt;urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="9220.0727,1808.7846,9214.1383,1800.9243,9215.699,1806.3617,9210.2617,1807.9223,9220.0727,1808.7846" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0ce043e0e9532fc393f3f8836f5de19a]

link urt_events to urt_osEventListener_t--><path d="M8731,1581.0098 C8731,1637.9005 8731,1737.7263 8731,1797.2294 " fill="none" id="urt_events-&gt;urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8731,1802.5046,8735,1793.5046,8731,1797.5046,8727,1793.5046,8731,1802.5046" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[430bebba9cd89d3ba8f63b2078968bca]

link urt_events to urt_osEventMask_t--><path d="M8671.8784,1581.0098 C8586.8614,1643.0601 8431.8633,1756.1867 8354.8957,1812.362 " fill="none" id="urt_events-&gt;urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8350.8401,1815.3221,8360.4679,1813.2472,8354.8788,1812.3744,8355.7516,1806.7853,8350.8401,1815.3221" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b1b185abc2161e087cab32ae7fdb2c40]

link urt_events to urt_osEventFlags_t--><path d="M8400.3006,1580.8669 C8215.4917,1612.4307 8011.2713,1662.5177 7955,1734.8594 C7927.9849,1769.5896 7927.3532,1898.6299 7955,1932.8594 C8042.0186,2040.5973 8470.7427,2082.1023 8650.9663,2094.9645 " fill="none" id="urt_events-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8655.9634,2095.3183,8647.2684,2090.6926,8650.9759,2094.9651,8646.7034,2098.6726,8655.9634,2095.3183" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[706a1974d1b474cbba7e7b0213f243a1]

link urt_events to urt_osEventWait_t--><path d="M8523.3939,1580.8618 C8407.5017,1611.4029 8264.298,1660.4451 8152,1734.8594 C8126.569,1751.7113 8103.5251,1776.6506 8086.0817,1798.6231 " fill="none" id="urt_events-&gt;urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8082.8904,1802.6888,8091.5939,1798.079,8085.9776,1798.7557,8085.301,1793.1395,8082.8904,1802.6888" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5f656ccbf337bb70e2692ec6599b22aa]

link urt_osCondvar_t to urt_delay_t--><path d="M4966.0473,1587.4103 C5036.4683,1628.4709 5143.8828,1683.7094 5246,1706.8594 C5374.8169,1736.0623 9879.4697,1683.1198 10001,1734.8594 C10029.0634,1746.807 10053.4624,1769.9618 10071.9341,1792.0455 " fill="none" id="urt_osCondvar_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10075.3137,1796.1536,10072.6847,1786.6621,10072.1371,1792.2924,10066.5068,1791.7447,10075.3137,1796.1536" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[2da0e339f7ca878d257c4a5336e8cad5]

link urt_osThread_t to urt_delay_t--><path d="M7644.1776,1639.9536 C7731.0685,1667.0413 7827.9371,1692.6757 7919,1706.8594 C8033.299,1724.6623 9894.7389,1689.1453 10001,1734.8594 C10029.0181,1746.9129 10053.4119,1770.0798 10071.8919,1792.1441 " fill="none" id="urt_osThread_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10075.2732,1796.2482,10072.6375,1786.7586,10072.0938,1792.3892,10066.4631,1791.8456,10075.2732,1796.2482" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4dd831efde278dc905a11b75839a39d0]

link urt_osThread_t to urt_status_t--><path d="M7644.157,1640.0864 C7731.0471,1667.1791 7827.9205,1692.7829 7919,1706.8594 C8057.5855,1728.278 10313.2671,1681.6235 10443,1734.8594 C10475.0328,1748.0041 10503.1606,1774.7065 10523.5796,1798.6269 " fill="none" id="urt_osThread_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10527.0453,1802.7473,10524.3133,1793.2849,10523.8269,1798.9208,10518.191,1798.4344,10527.0453,1802.7473" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8bf77663ad208115c32fd5300d37f092]

link urt_osTimer_t to urt_delay_t--><path d="M6563.3839,1593.9486 C6641.9468,1634.1112 6754.9347,1684.8302 6861,1706.8594 C6946.4031,1724.5972 9920.7966,1700.5705 10001,1734.8594 C10029.0453,1746.8494 10053.4422,1770.0091 10071.9172,1792.085 " fill="none" id="urt_osTimer_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10075.2975,1796.1915,10072.6658,1786.7007,10072.1198,1792.3312,10066.4893,1791.7851,10075.2975,1796.1915" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[97e66fd6906ece822f393f9bfe719297]

link urt_osTimer_t to urt_status_t--><path d="M6563.377,1593.9821 C6641.9362,1634.1623 6754.9226,1684.8886 6861,1706.8594 C6958.4351,1727.0402 10350.8842,1697.2359 10443,1734.8594 C10475.0543,1747.9516 10503.1826,1774.6527 10523.5966,1798.5856 " fill="none" id="urt_osTimer_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10527.0613,1802.7082,10524.3329,1793.2448,10523.8443,1798.8805,10518.2086,1798.3919,10527.0613,1802.7082" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[a4e2abbbace7909006fa5f13364d6021]

link urt_events to urt_delay_t--><path d="M8931.3055,1580.9344 C9116.4487,1619.2786 9399.6236,1674.2097 9648,1706.8594 C9726.0196,1717.1153 9929.775,1701.4042 10001,1734.8594 C10028.2634,1747.6653 10052.3474,1770.5198 10070.8138,1792.1759 " fill="none" id="urt_events-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10074.196,1796.2029,10071.4707,1786.7386,10070.9803,1792.3742,10065.3447,1791.8837,10074.196,1796.2029" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0549e7b45a7543f4046fb7eaa1b75598]

link urt_events to urt_status_t--><path d="M8935.7025,1580.9285 C9134.7621,1620.8969 9446.1855,1678.3746 9719,1706.8594 C9799.0693,1715.2195 10368.9504,1703.274 10443,1734.8594 C10474.728,1748.3928 10502.7586,1774.9556 10523.2016,1798.7031 " fill="none" id="urt_events-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10526.6726,1802.7933,10523.8989,1793.343,10523.4374,1798.981,10517.7994,1798.5194,10526.6726,1802.7933" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[182342162f0b9b45ddce11acc6582c59]

reverse link urt_node_t to urt_node_t--><path d="M3589.4188,433.1216 C3603.8891,439.4262 3612,447.0054 3612,455.8594 C3612,466.9702 3599.2271,476.0738 3577.1426,483.1699 " fill="none" id="urt_node_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3577.1426,428.5489,3581.3689,434.3917,3588.3878,432.7377,3584.1615,426.8949,3577.1426,428.5489" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3584.9634" y="425.1269">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="3585.0759" y="480.516">0..1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]

reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M2913.5084,553.4314 C2849.8668,614.1181 2775.6879,688.1412 2738.3741,729.0158 " fill="none" id="urt_node_t&lt;-urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2923.2197,544.1971,2916.1153,545.4328,2914.5235,552.466,2921.6279,551.2303,2923.2197,544.1971" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2906.7903" y="563.9045">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2734.37" y="718.2081">1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]

reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M2943.6986,547.8631 C2882.9417,609.5267 2802.7378,686.8823 2755.0058,729.0158 " fill="none" id="urt_node_t&lt;-urt_nodeSetupCallback_t-1" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2947.3059,544.1971,2938.1424,547.8068,2943.7991,547.7611,2943.8448,553.4177,2947.3059,544.1971" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b913f036db99e36b937989146817bd94]

reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M3097.3843,554.5545 C3147.397,615.0289 3211.4586,688.393 3250.5424,729.0158 " fill="none" id="urt_node_t&lt;-urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3088.853,544.1971,3089.5803,551.3714,3096.4825,553.4594,3095.7552,546.2851,3088.853,544.1971" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3085.6225" y="563.9045">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3234.6105" y="718.2081">1</text><!--MD5=[b913f036db99e36b937989146817bd94]

reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M3116.5336,548.2318 C3171.3261,609.8348 3235.968,686.9662 3267.174,729.0158 " fill="none" id="urt_node_t&lt;-urt_nodeLoopCallback_t-1" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="3112.9392,544.1971,3115.9392,553.5779,3116.2651,547.9304,3121.9126,548.2564,3112.9392,544.1971" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0c465c1a61dfd99ff8b5568ca35c92d1]

reverse link urt_srtdata_t to urt_srtusefulnessfunc_t--><path d="M256.9062,1588.011 C252.9391,1652.3196 246.1814,1761.8665 242.9,1815.0592 " fill="none" id="urt_srtdata_t&lt;-urt_srtusefulnessfunc_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="257.7082,1575.0114,253.3463,1580.7537,256.9692,1586.9886,261.3311,1581.2463,257.7082,1575.0114" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="248.6661" y="1594.5171">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="216.8169" y="1804.2605">0..1</text><!--MD5=[3f22cd2af9b1d30da63b75b4db75ae6e]

reverse link urt_rtclassdata_t to urt_hrtdata_t--><path d="M845.2541,1303.9197 C871.2017,1308.3304 885.1296,1295.5624 910,1309.8594 C964.6691,1341.2865 1006.7266,1398.448 1035.0879,1447.6718 " fill="none" id="urt_rtclassdata_t&lt;-urt_hrtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="832.404,1300.5253,837.1835,1305.9249,844.0061,1303.5899,839.2266,1298.1902,832.404,1300.5253" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="840.0235" y="1301.591">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1006.5405" y="1436.6525">0..1</text><!--MD5=[a94a8c9c209e194384613684e912df80]

reverse link urt_rtclassdata_t to urt_frtdata_t--><path d="M723.6265,1313.5663 C699.8859,1354.6447 668.3116,1409.2779 642.269,1454.3394 " fill="none" id="urt_rtclassdata_t&lt;-urt_frtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="730.2592,1302.0897,723.7937,1305.283,724.2547,1312.4794,730.7202,1309.286,730.2592,1302.0897" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="717.655" y="1322.1985">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="647.6367" y="1443.2949">0..1</text><!--MD5=[e6a6d7a2212fadf5661857a71d4f05c3]

reverse link urt_rtclassdata_t to urt_srtdata_t--><path d="M673.6235,1300.2126 C671.7477,1300.8036 669.872,1301.3541 668,1301.8594 C638.4877,1309.8253 419.283,1294.2506 393,1309.8594 C322.0775,1351.9784 285.1366,1447.5873 269.4537,1500.6429 " fill="none" id="urt_rtclassdata_t&lt;-urt_srtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="685.9663,1295.7733,678.9666,1294.04,674.6744,1299.8345,681.6741,1301.5679,685.9663,1295.7733" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="670.0222" y="1296.5394">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="273.2751" y="1489.7913">0..1</text><!--MD5=[206fe31eaf8244c7272230bb0ec7137c]

reverse link urt_rtclassdata_t to urt_nrtdata_t--><path d="M775.8738,1314.9238 C792.712,1377.3564 817.7189,1470.0767 829.462,1513.6179 " fill="none" id="urt_rtclassdata_t&lt;-urt_nrtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="772.4124,1302.0897,770.1128,1308.9243,775.5373,1313.6757,777.8368,1306.8411,772.4124,1302.0897" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="765.736" y="1322.1985">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="800.9434" y="1502.964">0..1</text><!--MD5=[1ba55993ff077c77667f6c7be6552d53]

reverse link urt_rtdata_t to urt_rtclass_t--><path d="M655.4885,1108.0724 C639.1214,1137.0528 618.4103,1173.7246 601.964,1202.8451 " fill="none" id="urt_rtdata_t&lt;-urt_rtclass_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="661.9837,1096.5717,655.5502,1099.829,656.0825,1107.0204,662.516,1103.7631,661.9837,1096.5717" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="649.8404" y="1116.0874">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="597.3339" y="1191.8883">1</text><!--MD5=[8318054091d2ecf2336b9e490f482e2a]

reverse link urt_rtdata_t to urt_rtclassdata_t--><path d="M702.4874,1108.847 C713.8508,1137.7041 728.1369,1173.9835 739.5021,1202.8451 " fill="none" id="urt_rtdata_t&lt;-urt_rtclassdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="697.6536,1096.5717,696.1301,1103.62,702.0503,1107.7372,703.5738,1100.6889,697.6536,1096.5717" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="691.4181" y="1116.0874">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="728.1977" y="1191.8883">1</text><!--MD5=[b6ee30948a218449c72edbee7363b5d7]

link urt_subscriber_t to urt_hrtdata_t--><path d="M782.1276,916.1087 C793.8926,936.0191 805.4536,956.2795 816,975.8594 C900.473,1132.6875 985.2064,1321.5779 1034.5713,1435.5606 " fill="none" id="urt_subscriber_t-&gt;urt_hrtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1039.8249,1447.7167,1041.1164,1440.6222,1035.0643,1436.7014,1033.7729,1443.7959,1039.8249,1447.7167" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="762.3478" y="936.1081">0..1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1036.9948" y="1436.7011">1</text><!--MD5=[536025241394544a90bc53fb552f3a08]

reverse link urt_message_t to urt_message_t--><path d="M2443.9841,1034.6182 C2458.0653,1040.534 2466.5,1048.781 2466.5,1059.3594 C2466.5,1072.7656 2452.9528,1082.4276 2431.534,1088.3452 " fill="none" id="urt_message_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2431.534,1030.3736,2435.9223,1036.0957,2442.892,1034.2459,2438.5038,1028.5237,2431.534,1030.3736" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2439.7829" y="1026.1273">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2439.3281" y="1086.1153">0..1</text><!--MD5=[f7eb638a1c2d853c6fb0ae6f53692e50]

reverse link urt_subscriber_t to urt_rtdata_t--><path d="M683,929.6446 C683,964.6077 683,998.0871 683,1022.2733 " fill="none" id="urt_subscriber_t&lt;-urt_rtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="683,916.1883,679,922.1883,683,928.1883,687,922.1883,683,916.1883" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="674.8063" y="936.1916">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="674.2625" y="1011.1679">1</text><!--MD5=[bf7bf5810813e0e9b75d3053dc098443]

reverse link urt_subscriber_t to urt_topic_t--><path d="M1230.5539,759.8594 C1237.6579,759.8594 1244.7619,759.8594 1251.866,759.8594 " fill="none" id="urt_subscriber_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1217.335,759.8594,1223.335,763.8594,1229.335,759.8594,1223.335,755.8594,1217.335,759.8594" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1224.9053" y="756.8211">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1224.1802" y="756.57">0..1</text><!--MD5=[d3b08a81de663c21a5ec062e6c430f2b]

reverse link urt_topic_t to urt_subscriber_t--><path d="M1238.6471,759.8594 C1231.543,759.8594 1224.439,759.8594 1217.335,759.8594 " fill="none" id="urt_topic_t&lt;-urt_subscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1251.866,759.8594,1245.866,755.8594,1239.866,759.8594,1245.866,763.8594,1251.866,759.8594" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1236.2045" y="772.2166">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1225.0178" y="772.032">0..1</text><!--MD5=[67fd999c5486ad1c37ee9b77e12afd1b]

reverse link urt_subscriber_t to urt_message_t--><path d="M1230.1507,917.8191 C1488.9403,973.1085 1783.1151,1012.4421 1980.4589,1035.4477 " fill="none" id="urt_subscriber_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1217.0751,915.0053,1222.0993,920.178,1228.8065,917.5299,1223.7823,912.3571,1217.0751,915.0053" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1224.8117" y="916.456">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1948.6646" y="1031.4821">0..1</text><!--MD5=[54fcf25ad8c5f1d36e678e42d5bfd4cc]

reverse link urt_publisher_t to urt_topic_t--><path d="M1675.8792,759.8594 C1662.6731,759.8594 1649.4669,759.8594 1636.2607,759.8594 " fill="none" id="urt_publisher_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1689.0854,759.8594,1683.0854,755.8594,1677.0854,759.8594,1683.0854,763.8594,1689.0854,759.8594" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1673.2871" y="756.777">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1643.9271" y="756.6307">1</text><!--MD5=[5025b4c4053b8e7c7ca8a657f09f21c0]

link urt_publisher_t to urt_message_t--><path d="M2098.5583,824.4777 C2118.1409,867.2878 2144.0816,923.9975 2165.5676,970.9689 " fill="none" id="urt_publisher_t-&gt;urt_message_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2167.7651,975.7729,2167.6588,965.9246,2165.6852,971.226,2160.3838,969.2524,2167.7651,975.7729" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b2afc1defaa6ed5a86f99c07f8466dd]

reverse link urt_topic_t to urt_topic_t--><path d="M1648.0439,719.1296 C1662.3061,728.4263 1671,742.0029 1671,759.8594 C1671,782.2676 1657.309,797.9358 1636.1039,806.8641 " fill="none" id="urt_topic_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1636.1039,712.8547,1639.5542,719.1868,1646.7262,718.4373,1643.2759,712.1052,1636.1039,712.8547" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1643.7642" y="707.7899">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1644.0767" y="805.4715">0..1</text><!--MD5=[0b5167e958c0ed93ffc0c98ce399b54d]

reverse link urt_topic_t to urt_message_t--><path d="M1596.0295,884.438 C1615.3279,896.0002 1635.2412,906.7668 1655,915.8594 C1757.2499,962.9128 1877.8551,996.9667 1980.1861,1020.0584 " fill="none" id="urt_topic_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1584.7437,877.5451,1587.7793,884.0861,1594.9847,883.7998,1591.9491,877.2588,1584.7437,877.5451" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1585.5038" y="897.6274">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1948.3828" y="1015.5878">1..1</text><!--MD5=[0b5167e958c0ed93ffc0c98ce399b54d]

reverse link urt_topic_t to urt_message_t--><path d="M1630.5617,884.2759 C1650.1418,895.8995 1670.1489,906.7243 1690,915.8594 C1781.6761,958.0469 1888.1075,989.7845 1980.4701,1012.5406 " fill="none" id="urt_topic_t&lt;-urt_message_t-1" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1619.4106,877.5451,1622.4804,884.0701,1629.6842,883.7462,1626.6144,877.2211,1619.4106,877.5451" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1622.3916" y="897.6274">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1964.2214" y="1007.6534">1</text><!--MD5=[d97285d52857c028121a6b5bc3935d87]

reverse link urt_pubsub_t to urt_topic_t--><path d="M1984.8963,480.8411 C1888.3066,498.8102 1769.8739,528.6345 1672,576.8594 C1636.8283,594.1894 1602.1221,617.724 1570.8031,642.1407 " fill="none" id="urt_pubsub_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1997.7704,478.4919,1991.1498,475.634,1985.9654,480.6462,1992.586,483.504,1997.7704,478.4919" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1981.8756" y="476.2381">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1554.1577" y="631.1815">0..1</text><!--MD5=[8d27a615fd5a1da0f7adeab7e6eca6da]

link urt_pubsub_t to urt_publisher_t--><!--MD5=[05f2c35569573d3273c65d3342945557]

reverse link urt_service_t to urt_service_t--><path d="M4240.7882,724.6841 C4255.4237,733.5568 4264,745.2819 4264,759.8594 C4264,777.9751 4250.7552,791.6858 4229.0965,800.9913 " fill="none" id="urt_service_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="4229.0965,718.7275,4232.6268,725.0153,4239.7888,724.1749,4236.2585,717.8871,4229.0965,718.7275" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4237.2006" y="714.4982">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="4237.4131" y="814.3456">0..1</text><!--MD5=[586e61fedafd54ae7ea71cebd9f9032a]

reverse link urt_service_t to urt_servicefunc_t--><path d="M3966.8486,883.6376 C3983.5292,936.7849 4001.6229,994.4344 4012.3758,1028.695 " fill="none" id="urt_service_t&lt;-urt_servicefunc_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3962.8685,870.9565,3960.8488,877.879,3966.462,882.4058,3968.4817,875.4833,3962.8685,870.9565" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3957.0389" y="891.3507">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="3983.9158" y="1017.9243">0..1</text><!--MD5=[44e85a81cd85acd5638164304275c8f6]

reverse link urt_rpc_t to urt_service_t--><path d="M4019.4944,511.5174 C4005.3878,549.8068 3986.1691,601.9718 3968.9865,648.6102 " fill="none" id="urt_rpc_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="4024.0721,499.0923,4018.2445,503.3395,4019.9235,510.3524,4025.7512,506.1052,4024.0721,499.0923" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4012.8961" y="519.2223">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="3972.5465" y="637.6876">0..1</text><!--MD5=[694e7400eb99f74d44ea388aed89d199]

reverse link urt_core_t to urt_node_t--><path d="M3734.434,277.415 C3623.305,305.3674 3493.198,338.0933 3374.9657,367.8323 " fill="none" id="urt_core_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3747.1962,274.2049,3740.4017,271.7893,3735.5587,277.1321,3742.3532,279.5476,3747.1962,274.2049" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3731.4239" y="272.9784">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="3380.0096" y="356.6935">0..1</text><!--MD5=[126a576c1462f30ade8ec99c3bc39be3]

reverse link urt_core_t to urt_pubsub_t--><path d="M3734.3403,222.767 C3356.882,243.1083 2692.2496,285.3478 2457,340.8594 C2387.4938,357.2607 2312.6742,387.407 2256.5805,412.7198 " fill="none" id="urt_core_t&lt;-urt_pubsub_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="3747.3675,222.0675,3741.1616,218.395,3735.3848,222.711,3741.5906,226.3835,3747.3675,222.0675" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3731.6003" y="219.2932">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2244.7855" y="401.6936">0..1</text><!--MD5=[d3daad950a97bef6626a3189265b6c3e]

reverse link urt_core_t to urt_rpc_t--><path d="M4020.9215,321.4924 C4025.5159,353.8502 4030.2567,387.2385 4033.8631,412.6381 " fill="none" id="urt_core_t&lt;-urt_rpc_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="4019.0342,308.2001,4015.9174,314.7028,4020.7212,320.0809,4023.838,313.5782,4019.0342,308.2001" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4011.7397" y="327.7539">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="4007.0859" y="401.9167">0..1</text><!--MD5=[a42c921bb2ae3ef3cd6ba12c97758939]

reverse link urt_core_t to urt_osEventSource_t--><path d="M4275.7133,209.7578 C5300.9831,212.1127 8945.7002,228.3874 10100,340.8594 C10754.9106,404.6722 11520,101.8473 11520,759.8594 C11520,759.8594 11520,759.8594 11520,1059.3594 C11520,1210.8033 11471.117,1457.3808 10835,1706.8594 C10719.8345,1752.0261 9844.5383,1717.9038 9722,1734.8594 C9611.9826,1750.0824 9489.6613,1782.7512 9402.8226,1808.7268 " fill="none" id="urt_core_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="4262.6607,209.7282,4268.6516,213.7418,4274.6607,209.7555,4268.6698,205.7418,4262.6607,209.7282" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4270.4288" y="222.0328">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9414.741" y="1797.8901">1</text><!--MD5=[b9eb8460041bde16ab6e44c28de7b0fc]

reverse link urt_core_t to urt_osMutex_t--><path d="M4275.9722,213.8189 C5576.1247,236.3477 11123.8095,345.7713 11404,576.8594 C11468.6152,630.151 11449,676.1031 11449,759.8594 C11449,759.8594 11449,759.8594 11449,1059.3594 C11449,1359.349 6319.5369,1168.3885 6055,1309.8594 C5982.8094,1348.466 5933.4576,1433.2997 5907.7736,1487.8982 " fill="none" id="urt_core_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="4262.7451,213.5902,4268.675,217.6934,4274.7433,213.7977,4268.8134,209.6946,4262.7451,213.5902" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4270.5157" y="210.5642">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5902.0276" y="1477.2379">1</text><!--MD5=[53eb1ed31b8ffcbb98ca8a87ecf3ad40]

link urt_core_t to urt_status_t--><path d="M4262.5792,209.6087 C5575.6731,211.3946 11468.4594,225.8159 11617,340.8594 C11769.7671,459.1763 11733,566.6324 11733,759.8594 C11733,759.8594 11733,759.8594 11733,1059.3594 C11733,1443.051 11507.0509,1539.0526 11162,1706.8594 C11064.1168,1754.4624 10772.7172,1691.2286 10673,1734.8594 C10641.519,1748.6338 10613.585,1775.0557 10593.1329,1798.666 " fill="none" id="urt_core_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10589.6593,1802.7324,10598.5464,1798.4875,10592.907,1798.9307,10592.4638,1793.2912,10589.6593,1802.7324" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f6f8ae0abb3c85244c8639cf15039f58]

link urt_core_t to urt_nodestage_t--><path d="M4262.5821,209.8093 C5425.7951,212.4533 10160.3955,229.9913 10814,340.8594 C11200.8185,406.4737 11591,367.5154 11591,759.8594 C11591,759.8594 11591,759.8594 11591,1059.3594 C11591,1363.5591 11310.575,1633.0163 11148.7501,1763.1867 " fill="none" id="urt_core_t-&gt;urt_nodestage_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="11144.4737,1766.6165,11153.9972,1764.106,11148.3742,1763.4882,11148.992,1757.8652,11144.4737,1766.6165" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[addb2e74eebae0995b3a6bf162197d46]

reverse link urt_node_t to urt_osThread_t--><path d="M3590.075,542.5315 C3594.399,542.9837 3598.7079,543.4265 3603,543.8594 C3895.2171,573.3335 3973.1492,529.4664 4263,576.8594 C5450.3988,771.0089 5739.9852,894.0042 6869,1309.8594 C6939.8055,1335.9395 7014.534,1367.8972 7083.8699,1399.5394 " fill="none" id="urt_node_t&lt;-urt_osThread_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3577.0597,541.1469,3582.6029,545.7592,3588.9924,542.4164,3583.4492,537.8041,3577.0597,541.1469" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3584.8793" y="539.3083">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="7052.1102" y="1392.7386">0..1</text><!--MD5=[71f626b81c482d35e653d2b548781872]

reverse link urt_node_t to urt_nodestage_t--><path d="M3590.0497,542.8149 C3594.3818,543.1759 3598.6991,543.5242 3603,543.8594 C3654.0609,547.839 10940.2181,542.2822 10978,576.8594 C11057.4412,649.5622 11023,951.6719 11023,1059.3594 C11023,1059.3594 11023,1059.3594 11023,1252.3594 C11023,1436.5914 11029.8256,1652.9026 11033.9449,1766.674 " fill="none" id="urt_node_t&lt;-urt_nodestage_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="3577.0107,541.6949,3582.6464,546.1937,3588.9667,542.7219,3583.331,538.223,3577.0107,541.6949" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3584.8296" y="555.0749">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11025.2945" y="1755.7355">1</text><!--MD5=[ecbb69d8dc7b8a34ff21337736794c2a]

reverse link urt_node_t to urt_osEventListener_t--><path d="M3590.0496,542.8157 C3594.3817,543.1764 3598.6991,543.5245 3603,543.8594 C3655.5151,547.9491 11149.0307,541.4199 11188,576.8594 C11347.4331,721.8512 11236,843.8564 11236,1059.3594 C11236,1059.3594 11236,1059.3594 11236,1252.3594 C11236,1316.5536 11214.4674,1501.6824 10395,1706.8594 C10093.36,1782.3836 9300.2271,1670.544 8996,1734.8594 C8931.3383,1748.5293 8862.6215,1777.7842 8811.3692,1802.8292 " fill="none" id="urt_node_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="3577.0106,541.6964,3582.6465,546.1949,3588.9666,542.7227,3583.3307,538.2242,3577.0106,541.6964" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3585.2797" y="541.0902">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8815.5405" y="1791.8204">1</text><!--MD5=[a052f483eba01ccbd89eefaa281cffa6]

reverse link urt_node_t to urt_osThreadFunction_t--><path d="M3590.0496,542.8155 C3594.3818,543.1762 3598.6991,543.5244 3603,543.8594 C3655.0442,547.9135 11081.4891,541.6181 11120,576.8594 C11278.8885,722.2584 11165,843.9843 11165,1059.3594 C11165,1059.3594 11165,1059.3594 11165,1252.3594 C11165,1986.4754 10303.1099,1598.736 9577,1706.8594 C9485.8804,1720.4278 8005.9994,1704.5611 7919,1734.8594 C7872.5941,1751.0206 7829.2269,1788.3034 7802.2309,1815.2062 " fill="none" id="urt_node_t&lt;-urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3577.0106,541.6959,3582.6464,546.1945,3588.9666,542.7225,3583.3308,538.2238,3577.0106,541.6959" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="3585.2589" y="559.1613">0..*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7799.2285" y="1804.4378">1</text><!--MD5=[0cba389305cd35ebcbacaedacb3fbe88]

link urt_node_t to urt_status_t--><path d="M3577.0107,541.6954 C3585.7305,542.4664 3594.3983,543.1892 3603,543.8594 C3654.5526,547.8762 11010.8536,541.9501 11049,576.8594 C11128.4427,649.5605 11094,951.6719 11094,1059.3594 C11094,1059.3594 11094,1059.3594 11094,1252.3594 C11094,1460.8348 11136.6115,1571.5657 10978,1706.8594 C10926.2167,1751.0299 10734.8774,1706.5093 10673,1734.8594 C10641.9987,1749.0631 10614.2606,1775.2089 10593.7968,1798.5583 " fill="none" id="urt_node_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10590.319,1802.5798,10599.2317,1798.3888,10593.5896,1798.7978,10593.1806,1793.1558,10590.319,1802.5798" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b00c0c61b5ae38465e12763fb588229]

link urt_nodeSetupCallback_t to urt_osEventMask_t--><path d="M2749.3444,790.6217 C2794.2394,828.5796 2877.0794,891.1267 2961,915.8594 C3060.2415,945.1074 10337.1368,902.4069 10410,975.8594 C10462.2712,1028.5534 10449.9437,1080.3019 10410,1142.8594 C10089.3911,1644.9788 9773.1788,1567.3391 9194,1706.8594 C9036.8209,1744.7228 8620.188,1683.1647 8467,1734.8594 C8420.0344,1750.7084 8374.6127,1785.279 8344.6193,1811.6574 " fill="none" id="urt_nodeSetupCallback_t-&gt;urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8340.6739,1815.1585,8350.0605,1812.1767,8344.4137,1811.8398,8344.7506,1806.193,8340.6739,1815.1585" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[aa0b59559007c8ad9b783f6dc5ed8ad9]

link urt_nodeLoopCallback_t to urt_osEventMask_t--><path d="M3331.7053,790.3721 C3392.9043,828.3811 3504.9445,891.3086 3611,915.8594 C3704.9227,937.6016 10484.1257,907.3958 10552,975.8594 C10666.368,1091.2203 10666.0918,1591.2252 10552,1706.8594 C10511.319,1748.0904 8522.109,1717.0285 8467,1734.8594 C8419.6868,1750.1679 8374.1542,1785.0052 8344.2248,1811.5993 " fill="none" id="urt_nodeLoopCallback_t-&gt;urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8340.2891,1815.129,8349.6599,1812.0979,8344.0114,1811.7907,8344.3186,1806.1422,8340.2891,1815.129" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7f2dcdcdb5d5a5f231908f157fd7bf49]

link urt_pubsub_t to urt_status_t--><path d="M2282.9877,498.8882 C2335.2933,516.3659 2398.4619,534.5972 2457,543.8594 C2655.2341,575.2251 4062.4537,569.0024 4263,576.8594 C5007.5821,606.0305 10952,314.2061 10952,1059.3594 C10952,1059.3594 10952,1059.3594 10952,1252.3594 C10952,1463.8567 10967.8838,1565.0194 10811,1706.8594 C10764.5773,1748.8305 10728.3966,1705.7413 10673,1734.8594 C10643.2799,1750.4812 10615.9631,1776.1333 10595.4174,1798.8441 " fill="none" id="urt_pubsub_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10591.9204,1802.7535,10600.9021,1798.7125,10595.254,1799.0269,10594.9396,1793.3788,10591.9204,1802.7535" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b3fa89608aace108b23bbfcd22712ec]

link urt_publisher_t to urt_config--><path d="M2194.6216,824.3625 C2268.8287,858.8635 2365.8287,897.8635 2457,915.8594 C2675.6759,959.0228 10275.8534,888.698 10481,975.8594 C10976.5975,1186.4259 11568.0293,1518.6143 11224,1932.8594 C11131.1843,2044.6187 10709.8752,2081.9976 10480.284,2094.1821 " fill="none" id="urt_publisher_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10475.2336,2094.4477,10484.4313,2097.9693,10480.2267,2094.185,10484.011,2089.9803,10475.2336,2094.4477" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[48a81098d0aa451a4923659bb2bbea3c]

link urt_publisher_t to urt_status_t--><path d="M2195.058,824.5577 C2269.2095,859.0065 2366.0086,897.8894 2457,915.8594 C2563.4199,936.8764 10176.6812,915.7809 10267,975.8594 C10410.6469,1071.4107 10519.5739,1628.3198 10549.6682,1797.2789 " fill="none" id="urt_publisher_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10550.6206,1802.6447,10552.9861,1793.0841,10549.7467,1797.7216,10545.1092,1794.4823,10550.6206,1802.6447" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[c16173558393ca1d9128284d70afa235]

link urt_publisher_t to urt_delay_t--><path d="M2195.0585,824.5553 C2269.2101,859.0033 2366.0093,897.8862 2457,915.8594 C2562.4654,936.6917 10121.2789,899.5491 10197,975.8594 C10420.6851,1201.2852 10220.0489,1639.2135 10139.1911,1791.8374 " fill="none" id="urt_publisher_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10136.8343,1796.2692,10144.5918,1790.2011,10139.182,1791.8546,10137.5285,1786.4448,10136.8343,1796.2692" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3f75a4ca5db56e37c381a718c71f2950]

reverse link urt_topic_t to urt_topicid_t--><path d="M1600.9198,884.2038 C1623.7218,897.1036 1647.725,908.254 1672,915.8594 C1782.7237,950.5495 9934.4679,904.5501 10026,975.8594 C10290.8078,1182.1614 10063.7946,1407.6652 10216,1706.8594 C10226.5426,1727.5833 10240.6038,1748.0172 10255.2427,1766.5747 " fill="none" id="urt_topic_t&lt;-urt_topicid_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1589.47,877.5244,1592.6371,884.0028,1599.8352,883.571,1596.6682,877.0926,1589.47,877.5244" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1590.5329" y="897.6054">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10240.2284" y="1755.8987">1</text><!--MD5=[2ea2859f8de074b5c128ff5997404a58]

reverse link urt_topic_t to urt_osMutex_t--><path d="M1601.2985,884.0358 C1624.0017,896.9214 1647.8772,908.1132 1672,915.8594 C1968.9162,1011.2039 4169.9622,927.2532 4478,975.8594 C4975.7854,1054.4064 5067.4427,1215.89 5564,1301.8594 C5581.1017,1304.8202 5704.7266,1301.6158 5720,1309.8594 C5791.8912,1348.6616 5840.91,1433.4364 5866.3979,1487.9699 " fill="none" id="urt_topic_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1589.8962,877.3682,1593.0564,883.8499,1600.255,883.4258,1597.0948,876.944,1589.8962,877.3682" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1599.9674" y="897.8296">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5855.092" y="1477.3193">1</text><!--MD5=[ee40dc1875ed5325eec4e6c8c8102744]

reverse link urt_topic_t to urt_osEventSource_t--><path d="M1600.9201,884.203 C1623.722,897.1029 1647.7251,908.2535 1672,915.8594 C1782.1664,950.3771 9902.6615,893.9316 9984,975.8594 C10060.1568,1052.5679 10003.4993,1548.1484 9842,1706.8594 C9802.9389,1745.2461 9775.2023,1721.8661 9722,1734.8594 C9624.1379,1758.7598 9514.2091,1786.8211 9429.344,1808.7493 " fill="none" id="urt_topic_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1589.4703,877.5235,1592.6373,884.0019,1599.8355,883.5702,1596.6685,877.0918,1589.4703,877.5235" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1590.5332" y="897.6044">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9445.9865" y="1797.9166">1</text><!--MD5=[f5e2f818dfb7c47ef0a661b061d2efd0]

link urt_topic_t to urt_config--><path d="M1589.4685,877.529 C1615.6176,893.2389 1643.6229,906.9717 1672,915.8594 C1899.4712,987.103 10030.1192,891.3436 10253,975.8594 C10368.453,1019.6389 10984.5267,1642.661 11090,1706.8594 C11118.9754,1724.4958 11141.9148,1706.8171 11161,1734.8594 C11210.5125,1807.6091 11216.7595,1864.7795 11161,1932.8594 C11076.5813,2035.9309 10695.8329,2076.7438 10480.1902,2091.8047 " fill="none" id="urt_topic_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10475.1273,2092.1556,10484.3825,2095.5232,10480.1153,2091.8096,10483.8289,2087.5424,10475.1273,2092.1556" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[a01366c261f16bb61c03de8616a1256c]

reverse link urt_topic_t to urt_osTimer_t--><path d="M1601.2832,884.0834 C1623.9888,896.9614 1647.8691,908.1384 1672,915.8594 C2001.1801,1021.1852 4439.6088,928.7284 4782,975.8594 C5366.5755,1056.3276 5520.9751,1086.1173 6067,1309.8594 C6180.9317,1356.5447 6302.1939,1430.6378 6379.8448,1481.6175 " fill="none" id="urt_topic_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1589.8799,877.4191,1593.0418,883.9,1600.2404,883.4739,1597.0784,876.993,1589.8799,877.4191" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1611.1426" y="897.1721">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6344.3696" y="1470.9225">0..1</text><!--MD5=[23aed2412a22c58889d68b772ca9654f]

link urt_topic_t to urt_status_t--><path d="M1589.4689,877.5279 C1615.6179,893.2379 1643.6231,906.9711 1672,915.8594 C1784.9926,951.2514 10101.6494,905.6584 10197,975.8594 C10231.3247,1001.1306 10408.5849,1670.0054 10430,1706.8594 C10449.8722,1741.0582 10479.4187,1773.8762 10505.1186,1799.0281 " fill="none" id="urt_topic_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10508.8809,1802.6827,10505.2124,1793.5425,10505.2945,1799.1988,10499.6382,1799.2809,10508.8809,1802.6827" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[40d97a101b79fe2b6aede42ee911a5e3]

reverse link urt_message_t to urt_osTime_t--><path d="M2444.5316,1104.3803 C2769.0239,1163.1976 3368.3854,1263.2312 3885,1301.8594 C3904.0167,1303.2813 5240.3714,1302.587 5258,1309.8594 C5349.0972,1347.4401 5423.7984,1439.7243 5462.1291,1494.6744 " fill="none" id="urt_message_t&lt;-urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="2431.6742,1102.0452,2436.8629,1107.053,2443.4811,1104.1895,2438.2924,1099.1817,2431.6742,1102.0452" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2439.2104" y="1100.2648">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5458.3247" y="1483.6409">1</text><!--MD5=[7527c1e2a180419f2ba2182e8f11877d]

reverse link urt_message_t to urt_osMutex_t--><path d="M2444.9373,1087.8259 C2909.1199,1141.6573 3965.5808,1256.9922 4858,1301.8594 C4881.9153,1303.0618 5698.694,1298.9306 5720,1309.8594 C5792.9076,1347.257 5841.7608,1432.8883 5866.9171,1487.9088 " fill="none" id="urt_message_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="2431.7156,1086.2906,2437.2141,1090.956,2443.6355,1087.6748,2438.137,1083.0094,2431.7156,1086.2906" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2439.2531" y="1083.9933">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5864.756" y="1477.25">1</text><!--MD5=[107def0b4b669b7e1be29db2eeb634c8]

reverse link urt_message_t to urt_osCondvar_t--><path d="M2395.6982,1148.1844 C2526.6035,1204.4797 2706.4174,1272.1016 2873,1301.8594 C2918.2563,1309.9439 4483.886,1296.9192 4528,1309.8594 C4647.2026,1344.8257 4764.7879,1432.3143 4831.3925,1488.1835 " fill="none" id="urt_message_t&lt;-urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="2383.583,1142.9466,2387.503,1148.9991,2394.5977,1147.7086,2390.6777,1141.656,2383.583,1142.9466" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2391.0427" y="1163.1211">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4815.0102" y="1477.204">1</text><!--MD5=[2bb9471b6fda5815e085c87a24a67f11]

link urt_message_t to urt_config--><path d="M2431.5848,1074.9522 C2709.0372,1093.6254 3194.4685,1124.6568 3611,1142.8594 C3693.8145,1146.4784 9515.449,1254.3363 9577,1309.8594 C9784.3717,1496.9226 9472.994,1724.5389 9659,1932.8594 C9727.3367,2009.3942 10003.5877,2058.1791 10179.6224,2082.1489 " fill="none" id="urt_message_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10184.801,2082.8508,10176.42,2077.678,10179.8463,2082.1791,10175.3452,2085.6054,10184.801,2082.8508" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[570f5794230ed2cf7946261591bb6cd1]

link urt_message_t to urt_status_t--><path d="M2431.536,1076.196 C2708.9397,1096.1118 3194.3223,1128.3845 3611,1142.8594 C3776.1033,1148.5949 9412.825,1124.0166 9558,1202.8594 C9668.9263,1263.1022 9714.6668,1637.2984 9820,1706.8594 C9877.8215,1745.0441 10379.3492,1707.4738 10443,1734.8594 C10474.565,1748.4402 10502.5017,1774.8558 10522.9342,1798.5112 " fill="none" id="urt_message_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10526.4043,1802.5859,10523.6144,1793.1404,10523.1625,1798.7792,10517.5237,1798.3273,10526.4043,1802.5859" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7cee5aa7c1aa784c863bfc703478827b]

reverse link urt_subscriber_t to urt_osEventListener_t--><path d="M1229.9889,917.1783 C1939.8397,1020.7077 3693.7515,944.8957 4394,975.8594 C4928.101,999.4763 8829.3212,918.9233 9194,1309.8594 C9314.3569,1438.8821 9309.7009,1573.6455 9194,1706.8594 C9164.8606,1740.4095 9038.8447,1723.0675 8996,1734.8594 C8934.6831,1751.7353 8868.7101,1779.3348 8817.9287,1802.7902 " fill="none" id="urt_subscriber_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1217.0299,915.2507,1222.376,920.09,1228.8993,917.0164,1223.5532,912.1771,1217.0299,915.2507" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1224.5959" y="914.3976">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8823.1455" y="1791.7752">1</text><!--MD5=[d78112c1c4e2d668c8a365106ad0148b]

reverse link urt_subscriber_t to urt_osTime_t--><path d="M1230.041,917.0292 C1612.0967,964.2221 3948.6176,863.0141 4263,975.8594 C4375.5643,1016.2635 4366.0624,1091.3552 4474,1142.8594 C4765.0659,1281.7462 4863.7652,1249.5574 5182,1301.8594 C5215.5148,1307.3676 5227.2821,1295.3684 5258,1309.8594 C5346.359,1351.5424 5421.2451,1441.0113 5460.516,1494.6447 " fill="none" id="urt_subscriber_t&lt;-urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1217.0302,915.2491,1222.4326,920.0255,1228.9194,916.8758,1223.5171,912.0994,1217.0302,915.2491" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1224.5962" y="929.6069">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5447.3888" y="1483.9243">1</text><!--MD5=[86ebe93bbfa4ec3b6f23ec8ed904ce0f]

link urt_subscriber_t to urt_config--><path d="M1217.0277,915.2658 C1218.353,915.466 1219.6772,915.6639 1221,915.8594 C1809.4248,1002.8154 5979.9364,945.9672 6574,975.8594 C7703.3033,1032.6838 7991.144,1026.2588 9108,1202.8594 C9319.1767,1236.2513 9425.4905,1159.0102 9577,1309.8594 C9677.7308,1410.1512 9623.4872,1830.3881 9722,1932.8594 C9784.8068,1998.19 10020.7139,2048.8722 10179.5299,2076.5249 " fill="none" id="urt_subscriber_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10184.6759,2077.4175,10176.492,2071.9381,10179.7495,2076.5629,10175.1247,2079.8204,10184.6759,2077.4175" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[52cc257f73bbbb16d4f5605ee05234fd]

reverse link urt_subscriber_t to urt_delay_t--><path d="M1230.006,916.128 C1619.6681,932.1814 9820.5409,901.3882 9913,975.8594 C9978.5646,1028.6684 10074.2005,1619.7408 10101.4831,1796.3298 " fill="none" id="urt_subscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1217.0264,915.2742,1222.7509,919.6594,1229.0005,916.062,1223.2761,911.6767,1217.0264,915.2742" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1224.7616" y="932.1782">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="10074.7385" y="1785.3708">0..2</text><!--MD5=[e382e2d38ad01b25c47e084dc0da57c4]

link urt_subscriber_t to urt_status_t--><path d="M1217.0264,915.2743 C1218.3522,915.4718 1219.6768,915.6668 1221,915.8594 C1341.2358,933.3604 9867.0051,909.8293 9969,975.8594 C10268.8458,1169.9754 10022.979,1485.101 10303,1706.8594 C10352.7447,1746.254 10386.7911,1705.4141 10443,1734.8594 C10472.7418,1750.4398 10500.0598,1776.0897 10520.6007,1798.8095 " fill="none" id="urt_subscriber_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10524.0968,1802.7207,10521.0812,1793.3448,10520.7647,1798.9928,10515.1167,1798.6763,10524.0968,1802.7207" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3efe35f90d26626840318a84096a56c5]

link urt_hrtdata_t to urt_config--><path d="M1227.8623,1561.0791 C1705.9069,1633.8564 3238.1575,1857.1594 4516,1932.8594 C4796.6768,1949.4868 9297.1905,1925.2445 9577,1952.8594 C9788.4456,1973.7273 10028.7512,2025.6652 10179.8516,2061.8502 " fill="none" id="urt_hrtdata_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10184.7422,2063.0234,10176.9237,2057.0342,10179.8802,2061.8569,10175.0574,2064.8134,10184.7422,2063.0234" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ed989009be771aee0dc5ea42e965db70]

reverse link urt_hrtdata_t to urt_osTimer_t--><path d="M1240.8154,1521.9202 C1712.0152,1476.6922 3117.9516,1348.0979 4288.5,1305.8594 C4337.3849,1304.0954 6000.8918,1300.3749 6049.5,1305.8594 C6187.8901,1321.4741 6323.8568,1418.1177 6399.9406,1481.6449 " fill="none" id="urt_hrtdata_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1227.825,1523.1687,1234.1802,1526.5763,1239.77,1522.0206,1233.4148,1518.613,1227.825,1523.1687" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1235.2759" y="1519.1628">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6393.8396" y="1470.9532">0..1</text><!--MD5=[7e23fc46f17d4a9469ac4a553a110c32]

reverse link urt_hrtdata_t to urt_delay_t--><path d="M1240.8024,1549.2435 C1710.4851,1581.4893 3108.5931,1673.2766 4271,1706.8594 C4350.5511,1709.1577 9927.7599,1703.7219 10001,1734.8594 C10030.8165,1747.5356 10056.4922,1772.8717 10075.3191,1796.141 " fill="none" id="urt_hrtdata_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1227.5156,1548.3302,1233.2271,1552.7323,1239.4873,1549.1532,1233.7758,1544.7511,1227.5156,1548.3302" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1235.4312" y="1545.5525">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="10044.8952" y="1785.1555">0..5</text><!--MD5=[84b4ddc626a7a0aa23e58213a3a30632]

link urt_frtdata_t to urt_config--><path d="M656.4669,1621.7873 C684.758,1653.6704 720.8698,1687.0463 761,1706.8594 C1478.4313,2061.0692 1748.5488,1881.4017 2547,1932.8594 C2936.7486,1957.9775 9188.3099,1914.7161 9577,1952.8594 C9788.4571,1973.6103 10028.7599,2025.577 10179.8565,2061.8004 " fill="none" id="urt_frtdata_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10184.747,2062.9748,10176.9299,2056.9837,10179.8852,2061.8072,10175.0618,2064.7625,10184.747,2062.9748" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8b5e0556f8c73fbb24cf4e7733c873ff]

reverse link urt_frtdata_t to urt_osTimer_t--><path d="M629.5604,1442.39 C658.8199,1382.0294 707.1876,1313.9056 778.5,1305.8594 C814.8734,1301.7554 6013.1266,1301.7554 6049.5,1305.8594 C6187.8901,1321.4741 6323.8568,1418.1177 6399.9406,1481.6449 " fill="none" id="urt_frtdata_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="623.9621,1454.3385,630.1299,1450.6024,629.0534,1443.4721,622.8856,1447.2082,623.9621,1454.3385" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="618.2743" y="1443.294">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6366.9146" y="1470.9532">0..1</text><!--MD5=[29efa6d8db454d55b0473550ef148da3]

reverse link urt_frtdata_t to urt_delay_t--><path d="M661.9444,1631.7114 C689.0408,1661.5225 722.8957,1690.8752 761,1706.8594 C879.3433,1756.5027 9882.8498,1684.7582 10001,1734.8594 C10030.8282,1747.508 10056.5046,1772.8424 10075.3289,1796.1177 " fill="none" id="urt_frtdata_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="653.018,1621.6026,653.9911,1628.7477,660.9609,1630.5976,659.9878,1623.4525,653.018,1621.6026" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="649.918" y="1641.7909">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="10072.2814" y="1785.1289">0..5</text><!--MD5=[19bf7f91edc926705d1714d4ed8cf052]

link urt_srtusefulnessfunc_t to urt_delay_t--><path d="M428.1863,1838.4614 C1026.2415,1815.2425 2944.7328,1743.9874 4533.5,1720.8594 C4609.1864,1719.7576 9912.0726,1695.804 9983.5,1720.8594 C10020.1469,1733.7145 10051.1786,1764.3064 10073.2168,1792.0071 " fill="none" id="urt_srtusefulnessfunc_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10076.4027,1796.0707,10073.9976,1786.52,10073.3177,1792.1358,10067.7019,1791.456,10076.4027,1796.0707" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[49d68c01ac8dc0620b1ed1800c01c519]

link urt_rpc_t to urt_status_t--><path d="M4219.007,459.4409 C4852.8104,472.0548 7049.5896,515.202 8863,543.8594 C8897.3043,544.4015 11307.7937,553.5845 11333,576.8594 C11412.1174,649.9144 11378,951.6719 11378,1059.3594 C11378,1059.3594 11378,1059.3594 11378,1252.3594 C11378,1567.0748 11120.5347,1574.5124 10835,1706.8594 C10768.7074,1737.5864 10738.1637,1701.8056 10673,1734.8594 C10642.9393,1750.1075 10615.5138,1775.877 10594.9909,1798.7499 " fill="none" id="urt_rpc_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10591.4992,1802.6879,10600.463,1798.6073,10594.8163,1798.9466,10594.477,1793.3,10591.4992,1802.6879" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e94002b645d3e9bc57281d43facd7112]

link urt_rpc_t to urt_serviceid_t--><path d="M4219.0075,459.4132 C4852.8123,471.9347 7049.5958,514.8123 8863,543.8594 C8896.235,544.3918 11231.4457,554.4554 11256,576.8594 C11335.6476,649.532 11307,951.5399 11307,1059.3594 C11307,1059.3594 11307,1059.3594 11307,1252.3594 C11307,1317.4777 11020.5263,1615.602 10874.8992,1762.9447 " fill="none" id="urt_rpc_t-&gt;urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10871.0589,1766.8283,10880.2314,1763.2414,10874.5746,1763.273,10874.5429,1757.6162,10871.0589,1766.8283" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[85137379eadac9ac066ccd1aa3005a20]

reverse link urt_service_t to urt_serviceid_t--><path d="M4242.4783,764.5029 C5556.0267,784.575 10541.6872,867.7683 10663,975.8594 C10890.2954,1178.3821 10841.7956,1593.1442 10809.2196,1766.7193 " fill="none" id="urt_service_t&lt;-urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="4229.093,764.2986,4235.0312,768.3897,4241.0916,764.4817,4235.1534,760.3906,4229.093,764.2986" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4237.197" y="761.2798">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10802.4383" y="1755.785">1</text><!--MD5=[bfc39859b663e58a9d342532110a4ed9]

reverse link urt_service_t to urt_osMutex_t--><path d="M4242.1666,787.6371 C4626.8127,835.9117 5281.1007,965.796 5720,1309.8594 C5782.556,1358.8985 5832.815,1437.1754 5861.2897,1488.0483 " fill="none" id="urt_service_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="4229.1652,786.0236,4234.6269,790.7321,4241.0738,787.5016,4235.6122,782.793,4229.1652,786.0236" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4237.2712" y="783.5819">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5849.2974" y="1477.4082">1</text><!--MD5=[33249c42c81fffc5b10022c232aa2b33]

link urt_service_t to urt_config--><path d="M4229.0051,762.6518 C5481.2354,775.1566 10243.4129,831.8324 10900,975.8594 C11271.5492,1057.3614 11477.9695,992.7182 11688,1309.8594 C11840.8856,1540.7132 11871.4527,1725.4647 11688,1932.8594 C11608.949,2022.2272 10817.5211,2074.1825 10480.5893,2092.4037 " fill="none" id="urt_service_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10475.1708,2092.696,10484.3733,2096.2052,10480.1635,2092.4266,10483.9422,2088.2168,10475.1708,2092.696" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ac5bbcedbd2eba97f2e594f2b75734f9]

reverse link urt_service_t to urt_delay_t--><path d="M4242.5049,764.6024 C5549.6163,784.9889 10490.403,869.0026 10611,975.8594 C10726.9796,1078.6249 10631.9618,1694.8346 10620,1706.8594 C10556.6891,1770.5041 10298.4401,1697.0913 10217,1734.8594 C10187.9735,1748.3205 10162.596,1773.2518 10143.7471,1796.081 " fill="none" id="urt_service_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="4229.1845,764.3949,4235.1214,768.4879,4241.183,764.5819,4235.2461,760.4889,4229.1845,764.3949" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4237.291" y="776.7771">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="10122.8037" y="1785.4453">0..2</text><!--MD5=[5471b15d17b5493f5e528354308bf7b4]

link urt_service_t to urt_status_t--><path d="M4229.2037,763.6143 C5543.9247,780.7046 10719.3813,855.5372 10836,975.8594 C11069.5838,1216.8611 10726.8666,1654.0796 10601.1477,1798.2969 " fill="none" id="urt_service_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10597.4922,1802.4777,10606.4274,1798.335,10600.7832,1798.7135,10600.4047,1793.0693,10597.4922,1802.4777" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0826203957815bb9ddac9132e239afa7]

link urt_servicefunc_t to urt_delay_t--><path d="M4247.8316,1059.7059 C5257.5131,1061.9554 9319.048,1078.715 9558,1202.8594 C9805.5245,1331.4575 9711.4615,1536.0713 9932,1706.8594 C9958.1666,1727.1232 9973.542,1716.3833 10001,1734.8594 C10024.5273,1750.6906 10046.9999,1772.3177 10065.2935,1792.2779 " fill="none" id="urt_servicefunc_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10068.8956,1796.2456,10065.8077,1786.8933,10065.5348,1792.5436,10059.8845,1792.2707,10068.8956,1796.2456" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3a1e539c88376aaf116c25a44ec54d4f]

link urt_servicefunc_t to urt_status_t--><path d="M4247.8446,1060.9005 C5265.964,1068.3857 9390.3874,1104.6745 9646,1202.8594 C9961.6752,1324.1152 9908.0034,1567.2462 10216,1706.8594 C10308.5855,1748.8279 10351.2559,1691.0822 10443,1734.8594 C10473.6577,1749.4882 10501.2918,1775.5086 10521.7835,1798.6806 " fill="none" id="urt_servicefunc_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10525.2675,1802.6709,10522.3615,1793.2605,10521.9791,1798.9044,10516.3351,1798.522,10525.2675,1802.6709" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9b83926eaf943def5703de2b1cf2c4ec]

  URT_STATUS_WARNING = 0x4..0

  - {field} {static} _pubsub : urt_pubsub_t

  - {field} {static} _rpc : urt_rpc_t

  + {field} hrtConsumersLeft : urt_osCondvar_t

      .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ..

      + {field} qosDeadlineTimer : urt_osTimer_t

      .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ..

    + {field} rtconstraints : urt_rtconstaints_t*

    .. URT_CFG_PUBSUB_PROFILING == true && URT_CFG_PUBSUB_QOS_JITTERCHECKS == false ..

  class urt_pubsub_t <<S,BFAFFF>> {

  - {field} {static} _topics : urt_topic_t*

  __

  + {method} urtPubsubInit (void) : urt_status_t

  + {method} urtPubsubRetrieveTopic (id : urt_topicid_t) : urt_topic_t*

}

  package "service" <<Rectangle>> {

    class urt_servicefunc_t <<F,E0E0E0>> {

    urt_servicefunc_t (arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t

  }

    class urt_service_t <<S,BFAFFF>> {

    + {field} next : urt_service_t*

    + {field} id : urt_serviceid_t

    + {field} lock : urt_osMutex_t

    + {field} callback : urt_servicefunc_t*

    .. URT_CFG_RPC_PROFLING == true ..

    + {field} sumDurations : uint64_t

    + {field} numCalls : uint64_t

    + {field} numTimeouts : uint64_t

    .. URT_CFG_RPC_PROFILING == true && URT_CFG_RPC_QOS_JITTERCHECKS == true ..

    + {field} minDuration : urt_delay_t

    + {field} maxDuration : urt_delay_t

    __

    + {method} urtServiceInit(service : urt_service_t*, id : urt_serviceid_t, callback : urt_servicefunc_t*) : urt_status_t

    + {method} urtServiceCall(service : urt_service_t*, arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t

  }

  class urt_rpc_t <<S,BFAFFF>> {

  - {field} {static} _services : urt_service_t*

  + {method} urtRpcInit (void) : urt_status_t

  + {method} urtRpcRetrieveService (id : urt_serviceid_t) : urt_service_t*

urt_pubsub_t "1" o- - "0..1" urt_topic_t

urt_pubsub_t -[hidden]-> urt_publisher_t

urt_rpc_t "1" o- - "0..1" urt_service_t

urt_core_t "1" *- - "0..1" urt_pubsub_t

urt_core_t "1" *- - "0..1" urt_rpc_t

urt_pubsub_t ..> urt_status_t

urt_rpc_t ..> urt_status_t

urt_rpc_t ..> urt_serviceid_t

urt_pubsub_t ..> urt_status_t

urt_rpc_t ..> urt_status_t

urt_rpc_t ..> urt_serviceid_t

<?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="378px" preserveAspectRatio="none" style="width:718px;height:378px;" version="1.1" viewBox="0 0 718 378" width="718px" zoomAndPan="magnify"><defs><filter height="300%" id="fbkdx6pnpy5u4" 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="318.5" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="88" x="319" y="37.6611">Primitives</text><!--MD5=[9f69b6f4e23017059189983d6906a1eb]

class urt_nodestage_t--><rect fill="#FEFECE" filter="url(#fbkdx6pnpy5u4)" height="158.4375" id="urt_nodestage_t" style="stroke: #A80036; stroke-width: 1.5;" width="216" x="6" y="49.9063"/><ellipse cx="58.25" cy="65.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M59.0938,72.6563 L56.6406,72.6563 L56.6406,62.4063 L53.5,62.4063 L53.5,60.2656 L62.2344,60.2656 L62.2344,62.4063 L59.0938,62.4063 L59.0938,72.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="103" x="78.75" y="70.0605">urt_nodestage_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7" x2="221" y1="81.9063" y2="81.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="12" y="112.9214">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7" x2="13.5" y1="96.3086" y2="96.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="201" x="13.5" y="99.6167">URT_CFG_NODESTAGE_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="214.5" x2="221" y1="96.3086" y2="96.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="12" y="142.5308">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7" x2="10" y1="125.918" y2="125.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="10" y="129.2261">URT_CFG_NODESTAGE_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="218" x2="221" y1="125.918" y2="125.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="12" y="172.1401">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7" x2="10" y1="155.5273" y2="155.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="10" y="158.8354">URT_CFG_NODESTAGE_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="218" x2="221" y1="155.5273" y2="155.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="12" y="201.7495">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7" x2="10" y1="185.1367" y2="185.1367"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="10" y="188.4448">URT_CFG_NODESTAGE_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="218" x2="221" y1="185.1367" y2="185.1367"/><!--MD5=[a55671f9c3a4eb2d749fd774fc81a82b]

class urt_topicid_t--><rect fill="#FEFECE" filter="url(#fbkdx6pnpy5u4)" height="158.4375" id="urt_topicid_t" style="stroke: #A80036; stroke-width: 1.5;" width="191" x="257.5" y="49.9063"/><ellipse cx="310.25" cy="65.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M311.0938,72.6563 L308.6406,72.6563 L308.6406,62.4063 L305.5,62.4063 L305.5,60.2656 L314.2344,60.2656 L314.2344,62.4063 L311.0938,62.4063 L311.0938,72.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="77" x="330.75" y="70.0605">urt_topicid_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="258.5" x2="447.5" y1="81.9063" y2="81.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="263.5" y="112.9214">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="258.5" x2="265" y1="96.3086" y2="96.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="265" y="99.6167">URT_CFG_TOPICID_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="441" x2="447.5" y1="96.3086" y2="96.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="263.5" y="142.5308">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="258.5" x2="261.5" y1="125.918" y2="125.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="261.5" y="129.2261">URT_CFG_TOPICID_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="444.5" x2="447.5" y1="125.918" y2="125.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="263.5" y="172.1401">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="258.5" x2="261.5" y1="155.5273" y2="155.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="261.5" y="158.8354">URT_CFG_TOPICID_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="444.5" x2="447.5" y1="155.5273" y2="155.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="263.5" y="201.7495">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="258.5" x2="261.5" y1="185.1367" y2="185.1367"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="261.5" y="188.4448">URT_CFG_TOPICID_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="444.5" x2="447.5" y1="185.1367" y2="185.1367"/><!--MD5=[4d8326c7af3a397210cbde406c7c860c]

class urt_serviceid_t--><rect fill="#FEFECE" filter="url(#fbkdx6pnpy5u4)" height="158.4375" id="urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.5;" width="204" x="484" y="49.9063"/><ellipse cx="536.75" cy="65.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M537.5938,72.6563 L535.1406,72.6563 L535.1406,62.4063 L532,62.4063 L532,60.2656 L540.7344,60.2656 L540.7344,62.4063 L537.5938,62.4063 L537.5938,72.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="90" x="557.25" y="70.0605">urt_serviceid_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="485" x2="687" y1="81.9063" y2="81.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="490" y="112.9214">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="485" x2="491.5" y1="96.3086" y2="96.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="491.5" y="99.6167">URT_CFG_SERVICEID_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="680.5" x2="687" y1="96.3086" y2="96.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="490" y="142.5308">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="485" x2="488" y1="125.918" y2="125.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="488" y="129.2261">URT_CFG_SERVICEID_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="684" x2="687" y1="125.918" y2="125.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="490" y="172.1401">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="485" x2="488" y1="155.5273" y2="155.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="488" y="158.8354">URT_CFG_SERVICEID_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="684" x2="687" y1="155.5273" y2="155.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="490" y="201.7495">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="485" x2="488" y1="185.1367" y2="185.1367"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="488" y="188.4448">URT_CFG_SERVICEID_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="684" x2="687" y1="185.1367" y2="185.1367"/><!--MD5=[e750dab3ce4ebe0433cc930181355272]

class urt_status_t--><rect fill="#FEFECE" filter="url(#fbkdx6pnpy5u4)" height="86.4141" id="urt_status_t" style="stroke: #A80036; stroke-width: 1.5;" width="194" x="17" y="274.4063"/><ellipse cx="72.25" cy="290.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M73.0938,297.1563 L70.6406,297.1563 L70.6406,286.9063 L67.5,286.9063 L67.5,284.7656 L76.2344,284.7656 L76.2344,286.9063 L73.0938,286.9063 L73.0938,297.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="92.75" y="294.5605">urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="18" x2="210" y1="306.4063" y2="306.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="147" x="23" y="320.6167">URT_STATUS_OK = 0x0..0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="23" y="333.4214">URT_STATUS_WARNING = 0x4..0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="168" x="23" y="346.2261">URT_STATUS_ERROR = 0x8..0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="18" x2="210" y1="352.8203" y2="352.8203"/><!--MD5=[15452fea434e71f16c7de0feaca2b066]

class urt_delay_t--><rect fill="#FEFECE" filter="url(#fbkdx6pnpy5u4)" height="99.2188" id="urt_delay_t" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="246.5" y="267.9063"/><ellipse cx="298.75" cy="283.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M299.5938,290.6563 L297.1406,290.6563 L297.1406,280.4063 L294,280.4063 L294,278.2656 L302.7344,278.2656 L302.7344,280.4063 L299.5938,280.4063 L299.5938,290.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="68" x="319.25" y="288.0605">urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="247.5" x2="426.5" y1="299.9063" y2="299.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="252.5" y="330.9214">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="247.5" x2="250.5" y1="314.3086" y2="314.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="250.5" y="317.6167">URT_CFG_DELAY_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="423.5" x2="426.5" y1="314.3086" y2="314.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="252.5" y="360.5308">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="247.5" x2="250.5" y1="343.918" y2="343.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="250.5" y="347.2261">URT_CFG_DELAY_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="423.5" x2="426.5" y1="343.918" y2="343.918"/><!--MD5=[f106a25c06a671b3918b1a8f37571a4d]

class urt_debug--><rect fill="#FEFECE" filter="url(#fbkdx6pnpy5u4)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="245" x="462.5" y="286.9063"/><ellipse cx="548.75" cy="302.9063" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M552.9844,298.6719 L547.7031,298.6719 L547.7031,301.3438 L552.5,301.3438 L552.5,303.5 L547.7031,303.5 L547.7031,308.9063 L545.2656,308.9063 L545.2656,296.5156 L552.9844,296.5156 L552.9844,298.6719 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="569.25" y="307.0605">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="463.5" x2="706.5" y1="318.9063" y2="318.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="463.5" x2="706.5" y1="326.9063" y2="326.9063"/><ellipse cx="473.5" cy="337.9063" 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="482.5" y="341.1167">urtDebugAssert(condition : bool) : void</text><!--MD5=[f9393016d83893cc69adca47e14d25aa]

link urt_delay_t to urt_debug--><!--MD5=[8ba44c420f44eb37d42ac56f2cffc170]

  URT_STATUS_WARNING = 0x4..0

  URT_STATUS_WARNING = 0x4..0

<?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="1289px" preserveAspectRatio="none" style="width:2454px;height:1289px;" version="1.1" viewBox="0 0 2454 1289" width="2454px" zoomAndPan="magnify"><defs><filter height="300%" id="freyvufthdr8m" 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="1185.5" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="225" x="1117.5" y="37.6611">Publish-Subscribe System</text><!--MD5=[16a3bbbe805f94d6e6ce317c08ab945e]

cluster subscriber--><rect fill="#FFFFFF" filter="url(#freyvufthdr8m)" height="1110" style="stroke: #000000; stroke-width: 1.5;" width="1187" x="14" y="168.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="85" x="565" y="183.9014">subscriber</text><!--MD5=[94ad99421f5a0f525bc1c13a3777c25e]

cluster real-time constraint data--><rect fill="#FFFFFF" filter="url(#freyvufthdr8m)" height="683.5" style="stroke: #000000; stroke-width: 1.5;" width="1171" x="22" y="587.4063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="194" x="510.5" y="602.4014">real-time constraint data</text><!--MD5=[57c3116dbac3d3a2ea35fece1cdc00f4]

cluster SRT data--><rect fill="#FFFFFF" filter="url(#freyvufthdr8m)" height="283" style="stroke: #000000; stroke-width: 1.5;" width="390" x="487" y="979.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="69" x="647.5" y="994.9014">SRT data</text><!--MD5=[ab7cf431813e3be5d474948fd959cdbf]

class urt_subscriber_t--><rect fill="#FEFECE" filter="url(#freyvufthdr8m)" height="312.0938" id="urt_subscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1068" x="125" y="195.9063"/><ellipse cx="604.25" cy="211.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M603.7344,212.4688 Q601.875,211.7656 601.2188,211 Q600.5781,210.2188 600.5781,208.9063 Q600.5781,207.2188 601.6563,206.25 Q602.7344,205.2813 604.6094,205.2813 Q605.4688,205.2813 606.3125,205.4844 Q607.1719,205.6719 608.0156,206.0625 L608.0156,208.4531 Q607.2344,207.8906 606.4063,207.6094 Q605.5938,207.3125 604.7969,207.3125 Q603.9219,207.3125 603.4375,207.6719 Q602.9688,208.0313 602.9688,208.6875 Q602.9688,209.2031 603.3125,209.5469 Q603.6563,209.875 604.75,210.2813 L605.8125,210.6875 Q607.2969,211.2344 608,212.1406 Q608.7188,213.0469 608.7188,214.4219 Q608.7188,216.2969 607.6094,217.2188 Q606.5,218.1406 604.25,218.1406 Q603.3281,218.1406 602.4063,217.9219 Q601.4844,217.7031 600.625,217.2813 L600.625,214.75 Q601.5938,215.4375 602.5156,215.7813 Q603.4375,216.125 604.3281,216.125 Q605.2344,216.125 605.7344,215.7188 Q606.2344,215.2969 606.2344,214.5625 Q606.2344,214 605.8906,213.5938 Q605.5625,213.1719 604.9375,212.9219 L603.7344,212.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="624.75" y="216.0605">urt_subscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="126" x2="1192" y1="227.9063" y2="227.9063"/><ellipse cx="136" cy="238.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="145" y="242.1167">topic : urt_topic_t*</text><ellipse cx="136" cy="251.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="145" y="254.9214">evtListener : urt_osEventListener_t</text><ellipse cx="136" cy="264.5156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="191" x="145" y="267.7261">rtconstraints : urt_rtconstaints_t*</text><ellipse cx="136" cy="277.3203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="175" x="145" y="280.5308">lastMessage : urt_message_t*</text><ellipse cx="136" cy="290.125" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="145" y="293.3354">lastMessageTime : urt_osTime_t</text><ellipse cx="136" cy="319.7344" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="145" y="322.9448">sumLatencies : uint64_t</text><ellipse cx="136" cy="332.5391" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="145" y="335.7495">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="126" x2="550.5" y1="306.332" y2="306.332"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="550.5" y="309.6401">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="767.5" x2="1192" y1="306.332" y2="306.332"/><ellipse cx="136" cy="362.1484" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="145" y="365.3589">minLatency : urt_delay_t</text><ellipse cx="136" cy="374.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="145" y="378.1636">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="126" x2="398.5" y1="348.7461" y2="348.7461"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="521" x="398.5" y="352.0542">URT_CFG_PUBSUB_PROFILING == true &amp;&amp; URT_CFG_PUBSUB_QOS_JITTERCHECKS == false</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="919.5" x2="1192" y1="348.7461" y2="348.7461"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="126" x2="1192" y1="384.7578" y2="384.7578"/><ellipse cx="136" cy="395.7578" 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="359" x="145" y="398.9683">urtSubscriberInit (subscriber : urt_subscriber_t*) : urt_status_t</text><ellipse cx="136" cy="408.5625" 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="1042" x="145" y="411.7729">urtSubscriberSubscribeHrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, rate : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="136" cy="421.3672" 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="1040" x="145" y="424.5776">urtSubscriberSubscribeFrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, rate : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="136" cy="434.1719" 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="1042" x="145" y="437.3823">urtSubscriberSubscribeSrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_srtusefulnessfunc_t*, cbparams : void*) : urt_status_t</text><ellipse cx="136" cy="446.9766" 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="699" x="145" y="450.187">urtSubscriberSubscribeNrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="136" cy="459.7813" 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="413" x="145" y="462.9917">urtSubscriberUnsubscribe (subscriber : urt_subscriber_t*) : urt_status_t</text><ellipse cx="136" cy="472.5859" 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="752" x="145" y="475.7964">urtSubscriberFetchNextMessage (subscriber : urt_subscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="136" cy="485.3906" 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="762" x="145" y="488.6011">urtSubscriberFetchLatestMessage (subscriber : urt_subscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="136" cy="498.1953" 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="537" x="145" y="501.4058">urtSubscriberCalculateUsefulness (subscriber : urt_subscriber_t*, latency : urt_delay_t) : float</text><!--MD5=[82a1b6b26b12edcbd86fa16935c3353e]

class urt_rtdata_t--><rect fill="#FEFECE" filter="url(#freyvufthdr8m)" height="73.6094" id="urt_rtdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="231" x="543.5" y="614.4063"/><ellipse cx="617.75" cy="630.4063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M617.2344,630.9688 Q615.375,630.2656 614.7188,629.5 Q614.0781,628.7188 614.0781,627.4063 Q614.0781,625.7188 615.1563,624.75 Q616.2344,623.7813 618.1094,623.7813 Q618.9688,623.7813 619.8125,623.9844 Q620.6719,624.1719 621.5156,624.5625 L621.5156,626.9531 Q620.7344,626.3906 619.9063,626.1094 Q619.0938,625.8125 618.2969,625.8125 Q617.4219,625.8125 616.9375,626.1719 Q616.4688,626.5313 616.4688,627.1875 Q616.4688,627.7031 616.8125,628.0469 Q617.1563,628.375 618.25,628.7813 L619.3125,629.1875 Q620.7969,629.7344 621.5,630.6406 Q622.2188,631.5469 622.2188,632.9219 Q622.2188,634.7969 621.1094,635.7188 Q620,636.6406 617.75,636.6406 Q616.8281,636.6406 615.9063,636.4219 Q614.9844,636.2031 614.125,635.7813 L614.125,633.25 Q615.0938,633.9375 616.0156,634.2813 Q616.9375,634.625 617.8281,634.625 Q618.7344,634.625 619.2344,634.2188 Q619.7344,633.7969 619.7344,633.0625 Q619.7344,632.5 619.3906,632.0938 Q619.0625,631.6719 618.4375,631.4219 L617.2344,630.9688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="74" x="638.25" y="634.5605">urt_rtdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="544.5" x2="773.5" y1="646.4063" y2="646.4063"/><ellipse cx="554.5" cy="657.4063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="170" x="563.5" y="660.6167">class : urt_rtconstraintclass_t</text><ellipse cx="554.5" cy="670.2109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="205" x="563.5" y="673.4214">params : urt_rtconstraintsparams_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="544.5" x2="773.5" y1="680.0156" y2="680.0156"/><!--MD5=[4bd59d3bc50b317c5523bafe6b73a042]

class urt_rtclass_t--><rect fill="#FEFECE" filter="url(#freyvufthdr8m)" height="99.2188" id="urt_rtclass_t" style="stroke: #A80036; stroke-width: 1.5;" width="153" x="408.5" y="794.9063"/><ellipse cx="443.3" cy="810.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M447.4094,816.9063 L439.6906,816.9063 L439.6906,804.5156 L447.4094,804.5156 L447.4094,806.6719 L442.1438,806.6719 L442.1438,809.3438 L446.9094,809.3438 L446.9094,811.5 L442.1438,811.5 L442.1438,814.75 L447.4094,814.75 L447.4094,816.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="77" x="461.7" y="815.0605">urt_rtclass_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="409.5" x2="560.5" y1="826.9063" y2="826.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="139" x="414.5" y="841.1167">URT_RTCLASS_HARD = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="134" x="414.5" y="853.9214">URT_RTCLASS_FIRM = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="139" x="414.5" y="866.7261">URT_RTCLASS_SOFT = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="414.5" y="879.5308">URT_RTCLASS_NONE = 3</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="409.5" x2="560.5" y1="886.125" y2="886.125"/><!--MD5=[7b207cc31d63d27c526f257c1fda2512]

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class urt_hrtdata_t--><rect fill="#FEFECE" filter="url(#freyvufthdr8m)" height="180.0469" id="urt_hrtdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="299" x="885.5" y="953.9063"/><ellipse cx="989.75" cy="969.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M989.2344,970.4688 Q987.375,969.7656 986.7188,969 Q986.0781,968.2188 986.0781,966.9063 Q986.0781,965.2188 987.1563,964.25 Q988.2344,963.2813 990.1094,963.2813 Q990.9688,963.2813 991.8125,963.4844 Q992.6719,963.6719 993.5156,964.0625 L993.5156,966.4531 Q992.7344,965.8906 991.9063,965.6094 Q991.0938,965.3125 990.2969,965.3125 Q989.4219,965.3125 988.9375,965.6719 Q988.4688,966.0313 988.4688,966.6875 Q988.4688,967.2031 988.8125,967.5469 Q989.1563,967.875 990.25,968.2813 L991.3125,968.6875 Q992.7969,969.2344 993.5,970.1406 Q994.2188,971.0469 994.2188,972.4219 Q994.2188,974.2969 993.1094,975.2188 Q992,976.1406 989.75,976.1406 Q988.8281,976.1406 987.9063,975.9219 Q986.9844,975.7031 986.125,975.2813 L986.125,972.75 Q987.0938,973.4375 988.0156,973.7813 Q988.9375,974.125 989.8281,974.125 Q990.7344,974.125 991.2344,973.7188 Q991.7344,973.2969 991.7344,972.5625 Q991.7344,972 991.3906,971.5938 Q991.0625,971.1719 990.4375,970.9219 L989.2344,970.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="82" x="1010.25" y="974.0605">urt_hrtdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="886.5" x2="1183.5" y1="985.9063" y2="985.9063"/><ellipse cx="896.5" cy="996.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="135" x="905.5" y="1000.1167">next : urt_subscriber_t*</text><ellipse cx="896.5" cy="1026.5156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="905.5" y="1029.7261">qosDeadlineTimer : urt_osTimer_t</text><ellipse cx="896.5" cy="1039.3203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="905.5" y="1042.5308">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="886.5" x2="889.5" y1="1013.1133" y2="1013.1133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="889.5" y="1016.4214">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1180.5" x2="1183.5" y1="1013.1133" y2="1013.1133"/><ellipse cx="896.5" cy="1068.9297" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="905.5" y="1072.1401">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="886.5" x2="902.5" y1="1055.5273" y2="1055.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="902.5" y="1058.8354">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1167.5" x2="1183.5" y1="1055.5273" y2="1055.5273"/><ellipse cx="896.5" cy="1098.5391" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="905.5" y="1101.7495">maxJitter : urt_delay_t</text><ellipse cx="896.5" cy="1111.3438" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="905.5" y="1114.5542">minLatency : urt_delay_t</text><ellipse cx="896.5" cy="1124.1484" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="905.5" y="1127.3589">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="886.5" x2="899.5" y1="1085.1367" y2="1085.1367"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="899.5" y="1088.4448">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1170.5" x2="1183.5" y1="1085.1367" y2="1085.1367"/><!--MD5=[72774668522d2286013bfbc0db723956]

class urt_frtdata_t--><rect fill="#FEFECE" filter="url(#freyvufthdr8m)" height="167.2422" id="urt_frtdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="299" x="30.5" y="960.4063"/><ellipse cx="136.75" cy="976.4063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M136.2344,976.9688 Q134.375,976.2656 133.7188,975.5 Q133.0781,974.7188 133.0781,973.4063 Q133.0781,971.7188 134.1563,970.75 Q135.2344,969.7813 137.1094,969.7813 Q137.9688,969.7813 138.8125,969.9844 Q139.6719,970.1719 140.5156,970.5625 L140.5156,972.9531 Q139.7344,972.3906 138.9063,972.1094 Q138.0938,971.8125 137.2969,971.8125 Q136.4219,971.8125 135.9375,972.1719 Q135.4688,972.5313 135.4688,973.1875 Q135.4688,973.7031 135.8125,974.0469 Q136.1563,974.375 137.25,974.7813 L138.3125,975.1875 Q139.7969,975.7344 140.5,976.6406 Q141.2188,977.5469 141.2188,978.9219 Q141.2188,980.7969 140.1094,981.7188 Q139,982.6406 136.75,982.6406 Q135.8281,982.6406 134.9063,982.4219 Q133.9844,982.2031 133.125,981.7813 L133.125,979.25 Q134.0938,979.9375 135.0156,980.2813 Q135.9375,980.625 136.8281,980.625 Q137.7344,980.625 138.2344,980.2188 Q138.7344,979.7969 138.7344,979.0625 Q138.7344,978.5 138.3906,978.0938 Q138.0625,977.6719 137.4375,977.4219 L136.2344,976.9688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="78" x="157.25" y="980.5605">urt_frtdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="31.5" x2="328.5" y1="992.4063" y2="992.4063"/><ellipse cx="41.5" cy="1020.2109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="50.5" y="1023.4214">qosDeadlineTimer : urt_osTimer_t</text><ellipse cx="41.5" cy="1033.0156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="50.5" y="1036.2261">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="31.5" x2="34.5" y1="1006.8086" y2="1006.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="34.5" y="1010.1167">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="325.5" x2="328.5" y1="1006.8086" y2="1006.8086"/><ellipse cx="41.5" cy="1062.625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="50.5" y="1065.8354">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="31.5" x2="47.5" y1="1049.2227" y2="1049.2227"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="47.5" y="1052.5308">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="312.5" x2="328.5" y1="1049.2227" y2="1049.2227"/><ellipse cx="41.5" cy="1092.2344" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="50.5" y="1095.4448">maxJitter : urt_delay_t</text><ellipse cx="41.5" cy="1105.0391" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="50.5" y="1108.2495">minLatency : urt_delay_t</text><ellipse cx="41.5" cy="1117.8438" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="50.5" y="1121.0542">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="31.5" x2="44.5" y1="1078.832" y2="1078.832"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="44.5" y="1082.1401">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="315.5" x2="328.5" y1="1078.832" y2="1078.832"/><!--MD5=[ca63c4d42025d7ce195746a6a8d32f3e]

class urt_nrtdata_t--><rect fill="#FEFECE" filter="url(#freyvufthdr8m)" height="48" id="urt_nrtdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="114" x="365" y="1019.9063"/><ellipse cx="380" cy="1035.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M379.4844,1036.4688 Q377.625,1035.7656 376.9688,1035 Q376.3281,1034.2188 376.3281,1032.9063 Q376.3281,1031.2188 377.4063,1030.25 Q378.4844,1029.2813 380.3594,1029.2813 Q381.2188,1029.2813 382.0625,1029.4844 Q382.9219,1029.6719 383.7656,1030.0625 L383.7656,1032.4531 Q382.9844,1031.8906 382.1563,1031.6094 Q381.3438,1031.3125 380.5469,1031.3125 Q379.6719,1031.3125 379.1875,1031.6719 Q378.7188,1032.0313 378.7188,1032.6875 Q378.7188,1033.2031 379.0625,1033.5469 Q379.4063,1033.875 380.5,1034.2813 L381.5625,1034.6875 Q383.0469,1035.2344 383.75,1036.1406 Q384.4688,1037.0469 384.4688,1038.4219 Q384.4688,1040.2969 383.3594,1041.2188 Q382.25,1042.1406 380,1042.1406 Q379.0781,1042.1406 378.1563,1041.9219 Q377.2344,1041.7031 376.375,1041.2813 L376.375,1038.75 Q377.3438,1039.4375 378.2656,1039.7813 Q379.1875,1040.125 380.0781,1040.125 Q380.9844,1040.125 381.4844,1039.7188 Q381.9844,1039.2969 381.9844,1038.5625 Q381.9844,1038 381.6406,1037.5938 Q381.3125,1037.1719 380.6875,1036.9219 L379.4844,1036.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="82" x="394" y="1040.0605">urt_nrtdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="366" x2="478" y1="1051.9063" y2="1051.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="366" x2="478" y1="1059.9063" y2="1059.9063"/><!--MD5=[fc7708c915a0148c667d62e1370980fd]

class urt_srtusefulnessfunc_t--><rect fill="#FEFECE" filter="url(#freyvufthdr8m)" height="60.8047" id="urt_srtusefulnessfunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="374" x="495" y="1193.9063"/><ellipse cx="604.25" cy="1209.9063" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M608.4844,1205.6719 L603.2031,1205.6719 L603.2031,1208.3438 L608,1208.3438 L608,1210.5 L603.2031,1210.5 L603.2031,1215.9063 L600.7656,1215.9063 L600.7656,1203.5156 L608.4844,1203.5156 L608.4844,1205.6719 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="147" x="624.75" y="1214.0605">urt_srtusefulnessfunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="496" x2="868" y1="1225.9063" y2="1225.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="496" x2="868" y1="1233.9063" y2="1233.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="362" x="501" y="1248.1167">urt_srtusefulnessfunc_t (dt : urt_delay_t, params : void*) : float</text><!--MD5=[4a2daf41193a31389d6311337c2a120f]

class urt_srtdata_t--><rect fill="#FEFECE" filter="url(#freyvufthdr8m)" height="73.6094" id="urt_srtdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="258" x="547" y="1006.9063"/><ellipse cx="631.25" cy="1022.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M630.7344,1023.4688 Q628.875,1022.7656 628.2188,1022 Q627.5781,1021.2188 627.5781,1019.9063 Q627.5781,1018.2188 628.6563,1017.25 Q629.7344,1016.2813 631.6094,1016.2813 Q632.4688,1016.2813 633.3125,1016.4844 Q634.1719,1016.6719 635.0156,1017.0625 L635.0156,1019.4531 Q634.2344,1018.8906 633.4063,1018.6094 Q632.5938,1018.3125 631.7969,1018.3125 Q630.9219,1018.3125 630.4375,1018.6719 Q629.9688,1019.0313 629.9688,1019.6875 Q629.9688,1020.2031 630.3125,1020.5469 Q630.6563,1020.875 631.75,1021.2813 L632.8125,1021.6875 Q634.2969,1022.2344 635,1023.1406 Q635.7188,1024.0469 635.7188,1025.4219 Q635.7188,1027.2969 634.6094,1028.2188 Q633.5,1029.1406 631.25,1029.1406 Q630.3281,1029.1406 629.4063,1028.9219 Q628.4844,1028.7031 627.625,1028.2813 L627.625,1025.75 Q628.5938,1026.4375 629.5156,1026.7813 Q630.4375,1027.125 631.3281,1027.125 Q632.2344,1027.125 632.7344,1026.7188 Q633.2344,1026.2969 633.2344,1025.5625 Q633.2344,1025 632.8906,1024.5938 Q632.5625,1024.1719 631.9375,1023.9219 L630.7344,1023.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="81" x="651.75" y="1027.0605">urt_srtdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="548" x2="804" y1="1038.9063" y2="1038.9063"/><ellipse cx="558" cy="1049.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="232" x="567" y="1053.1167">usefullnesscb : urt_srtusefulnessfunc_t*</text><ellipse cx="558" cy="1062.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="567" y="1065.9214">cbparams : void*</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="548" x2="804" y1="1072.5156" y2="1072.5156"/><!--MD5=[e602aa6d45f270ad04f88c9ca5352b33]

class urt_message_t--><rect fill="#FEFECE" filter="url(#freyvufthdr8m)" height="167.2422" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="451" x="1685.5" y="567.9063"/><ellipse cx="1860.75" cy="583.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1860.2344,584.4688 Q1858.375,583.7656 1857.7188,583 Q1857.0781,582.2188 1857.0781,580.9063 Q1857.0781,579.2188 1858.1563,578.25 Q1859.2344,577.2813 1861.1094,577.2813 Q1861.9688,577.2813 1862.8125,577.4844 Q1863.6719,577.6719 1864.5156,578.0625 L1864.5156,580.4531 Q1863.7344,579.8906 1862.9063,579.6094 Q1862.0938,579.3125 1861.2969,579.3125 Q1860.4219,579.3125 1859.9375,579.6719 Q1859.4688,580.0313 1859.4688,580.6875 Q1859.4688,581.2031 1859.8125,581.5469 Q1860.1563,581.875 1861.25,582.2813 L1862.3125,582.6875 Q1863.7969,583.2344 1864.5,584.1406 Q1865.2188,585.0469 1865.2188,586.4219 Q1865.2188,588.2969 1864.1094,589.2188 Q1863,590.1406 1860.75,590.1406 Q1859.8281,590.1406 1858.9063,589.9219 Q1857.9844,589.7031 1857.125,589.2813 L1857.125,586.75 Q1858.0938,587.4375 1859.0156,587.7813 Q1859.9375,588.125 1860.8281,588.125 Q1861.7344,588.125 1862.2344,587.7188 Q1862.7344,587.2969 1862.7344,586.5625 Q1862.7344,586 1862.3906,585.5938 Q1862.0625,585.1719 1861.4375,584.9219 L1860.2344,584.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="1881.25" y="588.0605">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1686.5" x2="2135.5" y1="599.9063" y2="599.9063"/><ellipse cx="1696.5" cy="610.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="127" x="1705.5" y="614.1167">next : urt_message_t*</text><ellipse cx="1696.5" cy="623.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="1705.5" y="626.9214">payload : void*</text><ellipse cx="1696.5" cy="636.5156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="1705.5" y="639.7261">originTime : urt_osTime_t</text><ellipse cx="1696.5" cy="649.3203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="1705.5" y="652.5308">lock : urt_osMutex_t</text><ellipse cx="1696.5" cy="662.125" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="211" x="1705.5" y="665.3354">numHrtConsumersLeft : unsigned int</text><ellipse cx="1696.5" cy="674.9297" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="1705.5" y="678.1401">hrtConsumersLeft : urt_osCondvar_t</text><ellipse cx="1696.5" cy="704.5391" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="1705.5" y="707.7495">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1686.5" x2="1802.5" y1="691.1367" y2="691.1367"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="1802.5" y="694.4448">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2019.5" x2="2135.5" y1="691.1367" y2="691.1367"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1686.5" x2="2135.5" y1="714.3438" y2="714.3438"/><ellipse cx="1696.5" cy="725.3438" 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="425" x="1705.5" y="728.5542">urtMessageInit (message : urt_message_t*, payload : void*) : urt_status_t</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]

class urt_publisher_t--><rect fill="#FEFECE" filter="url(#freyvufthdr8m)" height="128.8281" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="759" x="1228.5" y="287.4063"/><ellipse cx="1557.25" cy="303.4063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1556.7344,303.9688 Q1554.875,303.2656 1554.2188,302.5 Q1553.5781,301.7188 1553.5781,300.4063 Q1553.5781,298.7188 1554.6563,297.75 Q1555.7344,296.7813 1557.6094,296.7813 Q1558.4688,296.7813 1559.3125,296.9844 Q1560.1719,297.1719 1561.0156,297.5625 L1561.0156,299.9531 Q1560.2344,299.3906 1559.4063,299.1094 Q1558.5938,298.8125 1557.7969,298.8125 Q1556.9219,298.8125 1556.4375,299.1719 Q1555.9688,299.5313 1555.9688,300.1875 Q1555.9688,300.7031 1556.3125,301.0469 Q1556.6563,301.375 1557.75,301.7813 L1558.8125,302.1875 Q1560.2969,302.7344 1561,303.6406 Q1561.7188,304.5469 1561.7188,305.9219 Q1561.7188,307.7969 1560.6094,308.7188 Q1559.5,309.6406 1557.25,309.6406 Q1556.3281,309.6406 1555.4063,309.4219 Q1554.4844,309.2031 1553.625,308.7813 L1553.625,306.25 Q1554.5938,306.9375 1555.5156,307.2813 Q1556.4375,307.625 1557.3281,307.625 Q1558.2344,307.625 1558.7344,307.2188 Q1559.2344,306.7969 1559.2344,306.0625 Q1559.2344,305.5 1558.8906,305.0938 Q1558.5625,304.6719 1557.9375,304.4219 L1556.7344,303.9688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="1577.75" y="307.5605">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1229.5" x2="1986.5" y1="319.4063" y2="319.4063"/><ellipse cx="1239.5" cy="330.4063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="1248.5" y="333.6167">topic : urt_topic_t*</text><ellipse cx="1239.5" cy="360.0156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="149" x="1248.5" y="363.2261">publishAttempts : uint64_t</text><ellipse cx="1239.5" cy="372.8203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="1248.5" y="376.0308">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1229.5" x2="1526" y1="346.6133" y2="346.6133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="1526" y="349.9214">URT_CFG_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1690" x2="1986.5" y1="346.6133" y2="346.6133"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1229.5" x2="1986.5" y1="382.625" y2="382.625"/><ellipse cx="1239.5" cy="393.625" 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="617" x="1248.5" y="396.8354">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="1239.5" cy="406.4297" 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="733" x="1248.5" y="409.6401">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, n : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[a1b1e66ec52c209a9fa2dab315cd7630]

class urt_topic_t--><rect fill="#FEFECE" filter="url(#freyvufthdr8m)" height="235.2656" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="2023" y="234.4063"/><ellipse cx="2177.75" cy="250.4063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2177.2344,250.9688 Q2175.375,250.2656 2174.7188,249.5 Q2174.0781,248.7188 2174.0781,247.4063 Q2174.0781,245.7188 2175.1563,244.75 Q2176.2344,243.7813 2178.1094,243.7813 Q2178.9688,243.7813 2179.8125,243.9844 Q2180.6719,244.1719 2181.5156,244.5625 L2181.5156,246.9531 Q2180.7344,246.3906 2179.9063,246.1094 Q2179.0938,245.8125 2178.2969,245.8125 Q2177.4219,245.8125 2176.9375,246.1719 Q2176.4688,246.5313 2176.4688,247.1875 Q2176.4688,247.7031 2176.8125,248.0469 Q2177.1563,248.375 2178.25,248.7813 L2179.3125,249.1875 Q2180.7969,249.7344 2181.5,250.6406 Q2182.2188,251.5469 2182.2188,252.9219 Q2182.2188,254.7969 2181.1094,255.7188 Q2180,256.6406 2177.75,256.6406 Q2176.8281,256.6406 2175.9063,256.4219 Q2174.9844,256.2031 2174.125,255.7813 L2174.125,253.25 Q2175.0938,253.9375 2176.0156,254.2813 Q2176.9375,254.625 2177.8281,254.625 Q2178.7344,254.625 2179.2344,254.2188 Q2179.7344,253.7969 2179.7344,253.0625 Q2179.7344,252.5 2179.3906,252.0938 Q2179.0625,251.6719 2178.4375,251.4219 L2177.2344,250.9688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="2198.25" y="254.5605">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2024" x2="2406" y1="266.4063" y2="266.4063"/><ellipse cx="2034" cy="277.4063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="2043" y="280.6167">next : urt_topic_t*</text><ellipse cx="2034" cy="290.2109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="2043" y="293.4214">id : urt_topicid_t</text><ellipse cx="2034" cy="303.0156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="2043" y="306.2261">lock : urt_osMutex_t</text><ellipse cx="2034" cy="315.8203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="2043" y="319.0308">evtSource : urt_osEventSource_t</text><ellipse cx="2034" cy="328.625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="2043" y="331.8354">numHrtSubscribers : unsigned int</text><ellipse cx="2034" cy="341.4297" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="2043" y="344.6401">hrtSubscribers : urt_subscriber_t*</text><ellipse cx="2034" cy="354.2344" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="209" x="2043" y="357.4448">mandatoryMessage : urt_message_t</text><ellipse cx="2034" cy="367.0391" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="2043" y="370.2495">latestMessage : urt_message_t*</text><ellipse cx="2034" cy="396.6484" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="170" x="2043" y="399.8589">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2024" x2="2082.5" y1="383.2461" y2="383.2461"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="2082.5" y="386.5542">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2347.5" x2="2406" y1="383.2461" y2="383.2461"/><ellipse cx="2034" cy="426.2578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="2043" y="429.4683">numDiscardedMessages : uint64_t</text><ellipse cx="2034" cy="439.0625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="2043" y="442.2729">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2024" x2="2106.5" y1="412.8555" y2="412.8555"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2106.5" y="416.1636">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2323.5" x2="2406" y1="412.8555" y2="412.8555"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2024" x2="2406" y1="448.8672" y2="448.8672"/><ellipse cx="2034" cy="459.8672" 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="358" x="2043" y="463.0776">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[4a0cbcfec60c5e893e4ff6f7470d1adc]

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reverse link urt_srtdata_t to urt_srtusefulnessfunc_t--><path d="M677.6786,1094.4055 C678.7388,1126.2978 680.074,1166.4665 680.9776,1193.6495 " fill="none" id="urt_srtdata_t&lt;-urt_srtusefulnessfunc_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="677.2432,1081.306,673.4448,1087.4356,677.642,1093.2993,681.4404,1087.1697,677.2432,1081.306" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="668.8038" y="1100.5704">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="654.2917" y="1182.8597">0..1</text><!--MD5=[3f22cd2af9b1d30da63b75b4db75ae6e]

reverse link urt_rtclassdata_t to urt_hrtdata_t--><path d="M754.8564,897.9971 C807.0268,924.986 826.8226,926.0487 881,953.9063 C882.377,954.6143 883.7589,955.329 885.1451,956.0499 " fill="none" id="urt_rtclassdata_t&lt;-urt_hrtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="743.2084,891.8255,746.6374,898.1691,753.8119,897.4438,750.3829,891.1001,743.2084,891.8255" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="751.1705" y="893.0046">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="853.3053" y="948.5">0..1</text><!--MD5=[a94a8c9c209e194384613684e912df80]

reverse link urt_rtclassdata_t to urt_frtdata_t--><path d="M584.8747,891.5076 C582.9088,892.3367 580.9489,893.1377 579,893.9063 C479.9223,932.9784 446.1535,915.027 347,953.9063 C341.3275,956.1306 335.6026,958.5034 329.8627,960.9916 " fill="none" id="urt_rtclassdata_t&lt;-urt_frtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="596.9835,886.1016,589.874,884.895,586.0259,890.9936,593.1354,892.2001,596.9835,886.1016" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="581.0412" y="903.2373">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="337.7029" y="953.6763">0..1</text><!--MD5=[e6a6d7a2212fadf5661857a71d4f05c3]

reverse link urt_rtclassdata_t to urt_srtdata_t--><path d="M671.8862,907.1239 C672.8719,939.8959 674.0444,978.8833 674.885,1006.8335 " fill="none" id="urt_rtclassdata_t&lt;-urt_srtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="671.4909,893.9771,667.6732,900.0947,671.8518,905.9717,675.6696,899.8541,671.4909,893.9771" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="663.1381" y="914.0636">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="648.4669" y="995.7305">0..1</text><!--MD5=[206fe31eaf8244c7272230bb0ec7137c]

reverse link urt_rtclassdata_t to urt_nrtdata_t--><path d="M585.4021,891.6732 C540.168,917.3505 491.9408,945.5363 483,953.9063 C462.6059,972.9984 445.4046,1000.0958 434.5206,1019.5613 " fill="none" id="urt_rtclassdata_t&lt;-urt_nrtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="596.8121,885.2126,589.6201,884.6882,586.3698,891.1253,593.5619,891.6497,596.8121,885.2126" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="580.8521" y="885.7098">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="410.6475" y="1008.8821">0..1</text><!--MD5=[1ba55993ff077c77667f6c7be6552d53]

reverse link urt_rtdata_t to urt_rtclass_t--><path d="M616.4694,698.5811 C590.1329,727.7934 556.3603,765.2538 529.6398,794.892 " fill="none" id="urt_rtdata_t&lt;-urt_rtclass_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="625.451,688.6186,618.4625,690.3965,617.4158,697.5312,624.4043,695.7533,625.451,688.6186" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="611.2319" y="708.1343">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="527.3548" y="783.9352">1</text><!--MD5=[8318054091d2ecf2336b9e490f482e2a]

reverse link urt_rtdata_t to urt_rtclassdata_t--><path d="M661.8649,701.6721 C663.5023,730.4012 665.5477,766.2892 667.1779,794.892 " fill="none" id="urt_rtdata_t&lt;-urt_rtclassdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="661.1209,688.6186,657.4689,694.8365,661.8038,700.5991,665.4559,694.3812,661.1209,688.6186" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="652.8097" y="708.1343">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="658.2185" y="783.9352">1</text><!--MD5=[b6ee30948a218449c72edbee7363b5d7]

link urt_subscriber_t to urt_hrtdata_t--><path d="M757.1009,507.9369 C769.0998,527.975 780.9972,548.3262 792,567.9063 C863.2331,694.6689 938.3163,844.6106 985.8417,941.8491 " fill="none" id="urt_subscriber_t-&gt;urt_hrtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="991.6423,953.7358,992.6057,946.5893,986.3796,942.9513,985.4161,950.0978,991.6423,953.7358" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="737.2714" y="527.9257">0..1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="979.7205" y="942.7179">1</text><!--MD5=[536025241394544a90bc53fb552f3a08]

reverse link urt_message_t to urt_message_t--><path d="M2148.9841,626.6651 C2163.0653,632.5809 2171.5,640.8279 2171.5,651.4063 C2171.5,664.8125 2157.9528,674.4745 2136.534,680.3921 " fill="none" id="urt_message_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2136.534,622.4205,2140.9223,628.1426,2147.892,626.2928,2143.5038,620.5706,2136.534,622.4205" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2144.7829" y="618.1742">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2144.3281" y="678.1622">0..1</text><!--MD5=[f7eb638a1c2d853c6fb0ae6f53692e50]

reverse link urt_subscriber_t to urt_rtdata_t--><path d="M659,521.6915 C659,556.6546 659,590.134 659,614.3202 " fill="none" id="urt_subscriber_t&lt;-urt_rtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="659,508.2352,655,514.2352,659,520.2352,663,514.2352,659,508.2352" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="650.8063" y="528.2385">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="650.2625" y="603.2147">1</text><!--MD5=[bf7bf5810813e0e9b75d3053dc098443]

reverse link urt_subscriber_t to urt_topic_t--><path d="M1062.1443,192.074 C1117.2957,175.7185 1173.77,161.7151 1228.5,152.4063 C1270.0697,145.3358 1948.0357,137.5537 1987.5,152.4063 C2033.7152,169.7996 2076.6641,201.3176 2112.5145,234.2424 " fill="none" id="urt_subscriber_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1049.6549,195.8242,1056.5518,197.9297,1061.1479,192.3731,1054.251,190.2677,1049.6549,195.8242" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1060.3835" y="184.9686">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2081.1803" y="223.2868">0..1</text><!--MD5=[d3b08a81de663c21a5ec062e6c430f2b]

reverse link urt_topic_t to urt_subscriber_t--><path d="M2102.6826,225.4115 C2068.9204,195.7683 2029.563,168.2369 1987.5,152.4063 C1948.0357,137.5537 1270.0697,145.3358 1228.5,152.4063 C1169.6308,162.4191 1108.7434,177.8635 1049.6549,195.8242 " fill="none" id="urt_topic_t&lt;-urt_subscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2112.5145,234.2424,2110.7236,227.2573,2103.587,226.2238,2105.3778,233.2089,2112.5145,234.2424" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2106.2053" y="223.2868">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1069.1585" y="184.9686">0..1</text><!--MD5=[67fd999c5486ad1c37ee9b77e12afd1b]

reverse link urt_subscriber_t to urt_message_t--><path d="M1205.9919,506.684 C1207.6637,507.093 1209.3331,507.5005 1211,507.9063 C1368.5987,546.275 1547.8131,582.8837 1685.4523,609.5215 " fill="none" id="urt_subscriber_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1193.128,503.5187,1197.9984,508.8365,1204.7804,506.3861,1199.91,501.0683,1193.128,503.5187" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1200.6954" y="502.6124">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1653.6578" y="604.9661">0..1</text><!--MD5=[54fcf25ad8c5f1d36e678e42d5bfd4cc]

reverse link urt_publisher_t to urt_topic_t--><path d="M2000.8249,351.9063 C2008.1324,351.9063 2015.44,351.9063 2022.7475,351.9063 " fill="none" id="urt_publisher_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1987.6714,351.9063,1993.6714,355.9063,1999.6714,351.9063,1993.6714,347.9063,1987.6714,351.9063" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1995.4647" y="348.8239">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2007.0814" y="348.6776">1</text><!--MD5=[5025b4c4053b8e7c7ca8a657f09f21c0]

link urt_publisher_t to urt_message_t--><path d="M1673.3734,416.5246 C1717.0338,459.6806 1774.9844,516.9619 1822.7266,564.1526 " fill="none" id="urt_publisher_t-&gt;urt_message_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1826.4367,567.8198,1822.8477,558.6481,1822.8807,564.3048,1817.2239,564.3378,1826.4367,567.8198" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b2afc1defaa6ed5a86f99c07f8466dd]

reverse link urt_topic_t to urt_topic_t--><path d="M2419.0439,316.6436 C2433.3061,324.6924 2442,336.4466 2442,351.9063 C2442,371.3067 2428.309,384.8718 2407.1039,392.6016 " fill="none" id="urt_topic_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2407.1039,311.2109,2410.9085,317.3366,2418.0264,316.1807,2414.2218,310.0549,2407.1039,311.2109" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2414.7642" y="306.3925">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2415.0767" y="390.9626">0..1</text><!--MD5=[0b5167e958c0ed93ffc0c98ce399b54d]

reverse link urt_topic_t to urt_message_t--><path d="M2073.6989,478.6867 C2042.8769,508.7043 2011.4724,539.9832 1984.5402,567.5432 " fill="none" id="urt_topic_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2083.24,469.417,2076.1493,470.729,2074.6332,477.779,2081.724,476.4669,2083.24,469.417" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2066.1186" y="489.8785">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1965.8288" y="556.7538">1..1</text><!--MD5=[0b5167e958c0ed93ffc0c98ce399b54d]

reverse link urt_topic_t to urt_message_t--><path d="M2099.6725,478.6867 C2069.5781,508.7043 2037.4647,539.9832 2008.3874,567.5432 " fill="none" id="urt_topic_t&lt;-urt_message_t-1" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="2108.9417,469.417,2101.8707,470.8314,2100.4567,477.9025,2107.5277,476.4881,2108.9417,469.417" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2093.5472" y="489.8785">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2008.4129" y="556.7538">1</text><!--MD5=[d97285d52857c028121a6b5bc3935d87]

reverse link urt_pubsub_t to urt_topic_t--><path d="M1975.286,144.3591 C1985.2833,152.5111 1995.4565,160.8946 2005,168.9063 C2029.9082,189.8163 2056.2217,212.369 2081.4833,234.2583 " fill="none" id="urt_pubsub_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1964.9651,135.973,1967.0992,142.861,1974.2783,143.5403,1972.1441,136.6522,1964.9651,135.973" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1965.2406" y="156.3917">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2048.1611" y="223.3036">0..1</text><!--MD5=[8d27a615fd5a1da0f7adeab7e6eca6da]

link urt_pubsub_t to urt_publisher_t--><!--MD5=[03e1ce0617834bbc75157765c9899346]

  + {field} hrtConsumersLeft : urt_osCondvar_t

      .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ..

      + {field} qosDeadlineTimer : urt_osTimer_t

      .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ..

    + {field} rtconstraints : urt_rtconstaints_t*

    .. URT_CFG_PUBSUB_PROFILING == true && URT_CFG_PUBSUB_QOS_JITTERCHECKS == false ..

  class urt_pubsub_t <<S,BFAFFF>> {

  - {field} {static} _topics : urt_topic_t*

  __

  + {method} urtPubsubInit (void) : urt_status_t

  + {method} urtPubsubRetrieveTopic (id : urt_topicid_t) : urt_topic_t*

}

urt_pubsub_t "1" o- - "0..1" urt_topic_t

urt_pubsub_t -[hidden]-> urt_publisher_t

    'Condition variable to inform waiting publishers when the message is available again.

  + {field} hrtConsumersLeft : urt_osCondvar_t

      .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ..

        'QoS Timer to detect missed deadlines.

      + {field} qosDeadlineTimer : urt_osTimer_t

      .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ..

    + {field} rtconstraints : urt_rtconstaints_t*

    .. URT_CFG_PUBSUB_PROFILING == true && URT_CFG_PUBSUB_QOS_JITTERCHECKS == false ..

/' Publish-Subscribe core structure. '/

$structure("urt_pubsub_t") {

    'List of topics ordered by their identifiers.

  - {field} {static} _topics : urt_topic_t*

  __

    'Initializes the urt_core_t object.

  + {method} urtPubsubInit (void) : urt_status_t

    'Retrieves a topic given an identifier.

  + {method} urtPubsubRetrieveTopic (id : urt_topicid_t) : urt_topic_t*

}

urt_pubsub_t "1" o-- "0..1" urt_topic_t

urt_pubsub_t -[hidden]-> urt_publisher_t

<?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="557px" preserveAspectRatio="none" style="width:671px;height:557px;" version="1.1" viewBox="0 0 671 557" width="671px" zoomAndPan="magnify"><defs><filter height="300%" id="fh228s0d9ux2n" 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="294" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="277" x="200" y="37.6611">Remote Procedure Call System</text><!--MD5=[7579d5565d2521d5936cec86ed3dadee]

cluster service--><rect fill="#FFFFFF" filter="url(#fh228s0d9ux2n)" height="378" style="stroke: #000000; stroke-width: 1.5;" width="636" x="14" y="168.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="58" x="303" y="183.9014">service</text><!--MD5=[3226071078d8aeaa18fbafa5359ddee6]

class urt_servicefunc_t--><rect fill="#FEFECE" filter="url(#fh228s0d9ux2n)" height="60.8047" id="urt_servicefunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="451" x="97.5" y="477.9063"/><ellipse cx="265.75" cy="493.9063" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M269.9844,489.6719 L264.7031,489.6719 L264.7031,492.3438 L269.5,492.3438 L269.5,494.5 L264.7031,494.5 L264.7031,499.9063 L262.2656,499.9063 L262.2656,487.5156 L269.9844,487.5156 L269.9844,489.6719 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="106" x="286.25" y="498.0605">urt_servicefunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="98.5" x2="547.5" y1="509.9063" y2="509.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="98.5" x2="547.5" y1="517.9063" y2="517.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="439" x="103.5" y="532.1167">urt_servicefunc_t (arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[e60e0f8379a14e7a4a292c65add9d735]

class urt_service_t--><rect fill="#FEFECE" filter="url(#fh228s0d9ux2n)" height="222.4609" id="urt_service_t" style="stroke: #A80036; stroke-width: 1.5;" width="602" x="22" y="195.9063"/><ellipse cx="279.25" cy="211.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M278.7344,212.4688 Q276.875,211.7656 276.2188,211 Q275.5781,210.2188 275.5781,208.9063 Q275.5781,207.2188 276.6563,206.25 Q277.7344,205.2813 279.6094,205.2813 Q280.4688,205.2813 281.3125,205.4844 Q282.1719,205.6719 283.0156,206.0625 L283.0156,208.4531 Q282.2344,207.8906 281.4063,207.6094 Q280.5938,207.3125 279.7969,207.3125 Q278.9219,207.3125 278.4375,207.6719 Q277.9688,208.0313 277.9688,208.6875 Q277.9688,209.2031 278.3125,209.5469 Q278.6563,209.875 279.75,210.2813 L280.8125,210.6875 Q282.2969,211.2344 283,212.1406 Q283.7188,213.0469 283.7188,214.4219 Q283.7188,216.2969 282.6094,217.2188 Q281.5,218.1406 279.25,218.1406 Q278.3281,218.1406 277.4063,217.9219 Q276.4844,217.7031 275.625,217.2813 L275.625,214.75 Q276.5938,215.4375 277.5156,215.7813 Q278.4375,216.125 279.3281,216.125 Q280.2344,216.125 280.7344,215.7188 Q281.2344,215.2969 281.2344,214.5625 Q281.2344,214 280.8906,213.5938 Q280.5625,213.1719 279.9375,212.9219 L278.7344,212.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="299.75" y="216.0605">urt_service_t</text><line style="stroke: #A80036; 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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="137" x="42" y="310.1401">sumDurations : uint64_t</text><ellipse cx="33" cy="319.7344" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="42" y="322.9448">numCalls : uint64_t</text><ellipse cx="33" cy="332.5391" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="135" x="42" y="335.7495">numTimeouts : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="23" x2="228.5" y1="293.5273" y2="293.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="228.5" y="296.8354">URT_CFG_RPC_PROFLING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="417.5" x2="623" y1="293.5273" y2="293.5273"/><ellipse cx="33" cy="362.1484" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="143" x="42" y="365.3589">minDuration : urt_delay_t</text><ellipse cx="33" cy="374.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="42" y="378.1636">maxDuration : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="23" x2="90" y1="348.7461" y2="348.7461"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="466" x="90" y="352.0542">URT_CFG_RPC_PROFILING == true &amp;&amp; URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="556" x2="623" y1="348.7461" y2="348.7461"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="23" x2="623" y1="384.7578" y2="384.7578"/><ellipse cx="33" cy="395.7578" 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="576" x="42" y="398.9683">urtServiceInit(service : urt_service_t*, id : urt_serviceid_t, callback : urt_servicefunc_t*) : urt_status_t</text><ellipse cx="33" cy="408.5625" 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="557" x="42" y="411.7729">urtServiceCall(service : urt_service_t*, arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[c49c66e54807645986bdfbce830f97dc]

class urt_rpc_t--><rect fill="#FEFECE" filter="url(#fh228s0d9ux2n)" height="86.4141" id="urt_rpc_t" style="stroke: #A80036; stroke-width: 1.5;" width="358" x="144" y="49.9063"/><ellipse cx="291.25" cy="65.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M290.7344,66.4688 Q288.875,65.7656 288.2188,65 Q287.5781,64.2188 287.5781,62.9063 Q287.5781,61.2188 288.6563,60.25 Q289.7344,59.2813 291.6094,59.2813 Q292.4688,59.2813 293.3125,59.4844 Q294.1719,59.6719 295.0156,60.0625 L295.0156,62.4531 Q294.2344,61.8906 293.4063,61.6094 Q292.5938,61.3125 291.7969,61.3125 Q290.9219,61.3125 290.4375,61.6719 Q289.9688,62.0313 289.9688,62.6875 Q289.9688,63.2031 290.3125,63.5469 Q290.6563,63.875 291.75,64.2813 L292.8125,64.6875 Q294.2969,65.2344 295,66.1406 Q295.7188,67.0469 295.7188,68.4219 Q295.7188,70.2969 294.6094,71.2188 Q293.5,72.1406 291.25,72.1406 Q290.3281,72.1406 289.4063,71.9219 Q288.4844,71.7031 287.625,71.2813 L287.625,68.75 Q288.5938,69.4375 289.5156,69.7813 Q290.4375,70.125 291.3281,70.125 Q292.2344,70.125 292.7344,69.7188 Q293.2344,69.2969 293.2344,68.5625 Q293.2344,68 292.8906,67.5938 Q292.5625,67.1719 291.9375,66.9219 L290.7344,66.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="55" x="311.75" y="70.0605">urt_rpc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="145" x2="501" y1="81.9063" y2="81.9063"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="152" y="89.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="145" x="164" y="96.1167">_services : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="145" x2="501" y1="102.7109" y2="102.7109"/><ellipse cx="155" cy="113.7109" 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="168" x="164" y="116.9214">urtRpcInit (void) : urt_status_t</text><ellipse cx="155" cy="126.5156" 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="332" x="164" y="129.7261">urtRpcRetrieveService (id : urt_serviceid_t) : urt_service_t*</text><!--MD5=[05f2c35569573d3273c65d3342945557]

reverse link urt_service_t to urt_service_t--><path d="M636.6339,283.6478 C650.7535,289.5599 659,297.3127 659,306.9063 C659,319.0644 645.7552,328.2663 624.0965,334.5116 " fill="none" id="urt_service_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="624.0965,279.301,628.4551,285.0457,635.4344,283.2319,631.0758,277.4872,624.0965,279.301" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="632.2006" y="275.431">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="632.4131" y="332.1081">0..1</text><!--MD5=[586e61fedafd54ae7ea71cebd9f9032a]

reverse link urt_service_t to urt_servicefunc_t--><path d="M323,431.053 C323,448.3835 323,464.7364 323,477.9027 " fill="none" id="urt_service_t&lt;-urt_servicefunc_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="323,417.971,319,423.971,323,429.971,327,423.971,323,417.971" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="314.7188" y="438.3629">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="296.375" y="466.6923">0..1</text><!--MD5=[44e85a81cd85acd5638164304275c8f6]

reverse link urt_rpc_t to urt_service_t--><path d="M323,149.2193 C323,163.6126 323,179.5972 323,195.709 " fill="none" id="urt_rpc_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="323,135.955,319,141.955,323,147.955,327,141.955,323,135.955" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="314.3375" y="156.3707">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="298.1938" y="184.7898">0..1</text><!--MD5=[d55314fac70b0ef172f327e6a48316f4]

  package "service" <<Rectangle>> {

    class urt_servicefunc_t <<F,E0E0E0>> {

    urt_servicefunc_t (arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t

  }

    class urt_service_t <<S,BFAFFF>> {

    + {field} next : urt_service_t*

    + {field} id : urt_serviceid_t

    + {field} lock : urt_osMutex_t

    + {field} callback : urt_servicefunc_t*

    .. URT_CFG_RPC_PROFLING == true ..

    + {field} sumDurations : uint64_t

    + {field} numCalls : uint64_t

    + {field} numTimeouts : uint64_t

    .. URT_CFG_RPC_PROFILING == true && URT_CFG_RPC_QOS_JITTERCHECKS == true ..

    + {field} minDuration : urt_delay_t

    + {field} maxDuration : urt_delay_t

    __

    + {method} urtServiceInit(service : urt_service_t*, id : urt_serviceid_t, callback : urt_servicefunc_t*) : urt_status_t

    + {method} urtServiceCall(service : urt_service_t*, arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t

  }

  class urt_rpc_t <<S,BFAFFF>> {

  - {field} {static} _services : urt_service_t*

  + {method} urtRpcInit (void) : urt_status_t

  + {method} urtRpcRetrieveService (id : urt_serviceid_t) : urt_service_t*

urt_rpc_t "1" o- - "0..1" urt_service_t

$group("service") {

  /' Function type to be called when executing an RPC. '/

  $function("urt_servicefunc_t") {

    urt_servicefunc_t (arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t

  }

  /' Service structure type. '/

  $structure("urt_service_t") {

      'Pointer to the next service in a list.

    + {field} next : urt_service_t*

      'Identifier of the service.

    + {field} id : urt_serviceid_t

      'Mutex lock for exclusive access.'

    + {field} lock : urt_osMutex_t

      'Callback function to be executed by the service.

    + {field} callback : urt_servicefunc_t*

    .. URT_CFG_RPC_PROFLING == true ..

      'Sum of all durations.

    + {field} sumDurations : uint64_t

      'Number of executed calls.

    + {field} numCalls : uint64_t

      'Number of failed calls due to timeout.

    + {field} numTimeouts : uint64_t

    .. URT_CFG_RPC_PROFILING == true && URT_CFG_RPC_QOS_JITTERCHECKS == true ..

      'Minimum duration ever detected (to calculate jitter).

    + {field} minDuration : urt_delay_t

      'Maximum duration ever detected (to calculate jitter).

    + {field} maxDuration : urt_delay_t

    __

      'Initializes a urt_service_t object.

    + {method} urtServiceInit(service : urt_service_t*, id : urt_serviceid_t, callback : urt_servicefunc_t*) : urt_status_t

      'Executes an RPC with given arguments and return parameters as well as a timout, in case the RPC may delay execution significantly.

    + {method} urtServiceCall(service : urt_service_t*, arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t

  }

/' RPC core type. '/

$structure("urt_rpc_t") {

    'List of services ordered by their (initial) priority.

  - {field} {static} _services : urt_service_t*

    'Initializes the urt_core_t object.

  + {method} urtRpcInit (void) : urt_status_t

    'Retrieves a topic given an identifier.

  + {method} urtRpcRetrieveService (id : urt_serviceid_t) : urt_service_t*

urt_rpc_t "1" o-- "0..1" urt_service_t

<?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="1624px" preserveAspectRatio="none" style="width:4250px;height:1624px;" version="1.1" viewBox="0 0 4250 1624" width="4250px" zoomAndPan="magnify"><defs><filter height="300%" id="f1caui93febe6e" 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="2082.5" y="16.708">µRtWare</text><!--MD5=[b9de0669a29c7bc934fd916b09c39491]

cluster node--><rect fill="#FFFFFF" filter="url(#f1caui93febe6e)" height="457.5" style="stroke: #000000; stroke-width: 1.5;" width="1138" x="14" y="258.9531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="40" x="563" y="273.9482">node</text><!--MD5=[d74e2ef346f73688f9378f6d3d42598c]

cluster Publish-Subscribe System--><polygon fill="#FFFFFF" filter="url(#f1caui93febe6e)" points="1160,308.9531,1170,298.9531,3568,298.9531,3568,1602.9531,3558,1612.9531,1160,1612.9531,1160,308.9531" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="3558" x2="3567" y1="308.9531" y2="299.9531"/><line style="stroke: #000000; stroke-width: 1.5;" x1="1160" x2="3558" y1="308.9531" y2="308.9531"/><line style="stroke: #000000; stroke-width: 1.5;" x1="3558" x2="3558" y1="308.9531" y2="1612.9531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="205" x="2257.5" y="324.9482">Publish-Subscribe System</text><!--MD5=[16a3bbbe805f94d6e6ce317c08ab945e]

cluster subscriber--><rect fill="#FFFFFF" filter="url(#f1caui93febe6e)" height="1110" style="stroke: #000000; stroke-width: 1.5;" width="1187" x="2373" y="494.9531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="85" x="2924" y="509.9482">subscriber</text><!--MD5=[94ad99421f5a0f525bc1c13a3777c25e]

cluster real-time constraint data--><rect fill="#FFFFFF" filter="url(#f1caui93febe6e)" height="683.5" style="stroke: #000000; stroke-width: 1.5;" width="1171" x="2381" y="913.4531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="194" x="2869.5" y="928.4482">real-time constraint data</text><!--MD5=[57c3116dbac3d3a2ea35fece1cdc00f4]

cluster SRT data--><rect fill="#FFFFFF" filter="url(#f1caui93febe6e)" height="283" style="stroke: #000000; stroke-width: 1.5;" width="390" x="2846" y="1305.9531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="69" x="3006.5" y="1320.9482">SRT data</text><!--MD5=[810d0f07e53ef611b6d803ef30301147]

cluster Remote Procedure Call System--><polygon fill="#FFFFFF" filter="url(#f1caui93febe6e)" points="3576,308.9531,3586,298.9531,4228,298.9531,4228,1013.9531,4218,1023.9531,3576,1023.9531,3576,308.9531" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="4218" x2="4227" y1="308.9531" y2="299.9531"/><line style="stroke: #000000; stroke-width: 1.5;" x1="3576" x2="4218" y1="308.9531" y2="308.9531"/><line style="stroke: #000000; stroke-width: 1.5;" x1="4218" x2="4218" y1="308.9531" y2="1023.9531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="244" x="3776" y="324.9482">Remote Procedure Call System</text><!--MD5=[7579d5565d2521d5936cec86ed3dadee]

cluster service--><rect fill="#FFFFFF" filter="url(#f1caui93febe6e)" height="476" style="stroke: #000000; stroke-width: 1.5;" width="636" x="3584" y="539.9531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="58" x="3873" y="554.9482">service</text><!--MD5=[a7dea26996a1231aa68629b332780450]

class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#f1caui93febe6e)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="25" y="647.4531"/><ellipse cx="170.75" cy="663.4531" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M171.5938,670.2031 L169.1406,670.2031 L169.1406,659.9531 L166,659.9531 L166,657.8125 L174.7344,657.8125 L174.7344,659.9531 L171.5938,659.9531 L171.5938,670.2031 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="191.25" y="667.6074">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="26" x2="480" y1="679.4531" y2="679.4531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="26" x2="480" y1="687.4531" y2="687.4531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="31" y="701.6636">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]

class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#f1caui93febe6e)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="516" y="647.4531"/><ellipse cx="744.25" cy="663.4531" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M745.0938,670.2031 L742.6406,670.2031 L742.6406,659.9531 L739.5,659.9531 L739.5,657.8125 L748.2344,657.8125 L748.2344,659.9531 L745.0938,659.9531 L745.0938,670.2031 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="764.75" y="667.6074">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="517" x2="1129" y1="679.4531" y2="679.4531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="517" x2="1129" y1="687.4531" y2="687.4531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="522" y="701.6636">urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t</text><!--MD5=[d2563153d77472384a15c07b815d639f]

class urt_node_t--><rect fill="#FEFECE" filter="url(#f1caui93febe6e)" height="176.0469" id="urt_node_t" style="stroke: #A80036; stroke-width: 1.5;" width="1104" x="22" y="285.9531"/><ellipse cx="536.25" cy="301.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M535.7344,302.5156 Q533.875,301.8125 533.2188,301.0469 Q532.5781,300.2656 532.5781,298.9531 Q532.5781,297.2656 533.6563,296.2969 Q534.7344,295.3281 536.6094,295.3281 Q537.4688,295.3281 538.3125,295.5313 Q539.1719,295.7188 540.0156,296.1094 L540.0156,298.5 Q539.2344,297.9375 538.4063,297.6563 Q537.5938,297.3594 536.7969,297.3594 Q535.9219,297.3594 535.4375,297.7188 Q534.9688,298.0781 534.9688,298.7344 Q534.9688,299.25 535.3125,299.5938 Q535.6563,299.9219 536.75,300.3281 L537.8125,300.7344 Q539.2969,301.2813 540,302.1875 Q540.7188,303.0938 540.7188,304.4688 Q540.7188,306.3438 539.6094,307.2656 Q538.5,308.1875 536.25,308.1875 Q535.3281,308.1875 534.4063,307.9688 Q533.4844,307.75 532.625,307.3281 L532.625,304.7969 Q533.5938,305.4844 534.5156,305.8281 Q535.4375,306.1719 536.3281,306.1719 Q537.2344,306.1719 537.7344,305.7656 Q538.2344,305.3438 538.2344,304.6094 Q538.2344,304.0469 537.8906,303.6406 Q537.5625,303.2188 536.9375,302.9688 L535.7344,302.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="67" x="556.75" y="306.1074">urt_node_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="23" x2="1125" y1="317.9531" y2="317.9531"/><ellipse cx="33" cy="328.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="102" x="42" y="332.1636">next : urt_node_t*</text><ellipse cx="33" cy="341.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="42" y="344.9683">thread : urt_osThread_t*</text><ellipse cx="33" cy="354.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="42" y="357.7729">setupcallback : urt_nodeSetupCallback_t*</text><ellipse cx="33" cy="367.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="117" x="42" y="370.5776">setupparams : void*</text><ellipse cx="33" cy="380.1719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="221" x="42" y="383.3823">loopcallback : urt_nodeLoopCallback_t*</text><ellipse cx="33" cy="392.9766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="109" x="42" y="396.187">loopparams : void*</text><ellipse cx="33" cy="405.7813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="42" y="408.9917">stage : urt_nodestage_t</text><ellipse cx="33" cy="418.5859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="178" x="42" y="421.7964">listener : urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="23" x2="1125" y1="428.3906" y2="428.3906"/><rect fill="#F24D5C" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="30" y="436.3906"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="179" x="42" y="442.6011">_main : urt_osThreadFunction_t</text><ellipse cx="33" cy="452.1953" 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="1078" x="42" y="455.4058">urtNodeInit (node : urt_node_t*, stacksize : size_t, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*) : urt_status_t</text><!--MD5=[e602aa6d45f270ad04f88c9ca5352b33]

class urt_message_t--><rect fill="#FEFECE" filter="url(#f1caui93febe6e)" height="167.2422" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="451" x="1896.5" y="893.9531"/><ellipse cx="2071.75" cy="909.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2071.2344,910.5156 Q2069.375,909.8125 2068.7188,909.0469 Q2068.0781,908.2656 2068.0781,906.9531 Q2068.0781,905.2656 2069.1563,904.2969 Q2070.2344,903.3281 2072.1094,903.3281 Q2072.9688,903.3281 2073.8125,903.5313 Q2074.6719,903.7188 2075.5156,904.1094 L2075.5156,906.5 Q2074.7344,905.9375 2073.9063,905.6563 Q2073.0938,905.3594 2072.2969,905.3594 Q2071.4219,905.3594 2070.9375,905.7188 Q2070.4688,906.0781 2070.4688,906.7344 Q2070.4688,907.25 2070.8125,907.5938 Q2071.1563,907.9219 2072.25,908.3281 L2073.3125,908.7344 Q2074.7969,909.2813 2075.5,910.1875 Q2076.2188,911.0938 2076.2188,912.4688 Q2076.2188,914.3438 2075.1094,915.2656 Q2074,916.1875 2071.75,916.1875 Q2070.8281,916.1875 2069.9063,915.9688 Q2068.9844,915.75 2068.125,915.3281 L2068.125,912.7969 Q2069.0938,913.4844 2070.0156,913.8281 Q2070.9375,914.1719 2071.8281,914.1719 Q2072.7344,914.1719 2073.2344,913.7656 Q2073.7344,913.3438 2073.7344,912.6094 Q2073.7344,912.0469 2073.3906,911.6406 Q2073.0625,911.2188 2072.4375,910.9688 L2071.2344,910.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="2092.25" y="914.1074">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1897.5" x2="2346.5" y1="925.9531" y2="925.9531"/><ellipse cx="1907.5" cy="936.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="127" x="1916.5" y="940.1636">next : urt_message_t*</text><ellipse cx="1907.5" cy="949.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="1916.5" y="952.9683">payload : void*</text><ellipse cx="1907.5" cy="962.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="1916.5" y="965.7729">originTime : urt_osTime_t</text><ellipse cx="1907.5" cy="975.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="1916.5" y="978.5776">lock : urt_osMutex_t</text><ellipse cx="1907.5" cy="988.1719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="211" x="1916.5" y="991.3823">numHrtConsumersLeft : unsigned int</text><ellipse cx="1907.5" cy="1000.9766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="1916.5" y="1004.187">hrtConsumersLeft : urt_osCondvar_t</text><ellipse cx="1907.5" cy="1030.5859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="1916.5" y="1033.7964">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1897.5" x2="2013.5" y1="1017.1836" y2="1017.1836"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2013.5" y="1020.4917">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2230.5" x2="2346.5" y1="1017.1836" y2="1017.1836"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1897.5" x2="2346.5" y1="1040.3906" y2="1040.3906"/><ellipse cx="1907.5" cy="1051.3906" 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="425" x="1916.5" y="1054.6011">urtMessageInit (message : urt_message_t*, payload : void*) : urt_status_t</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]

class urt_publisher_t--><rect fill="#FEFECE" filter="url(#f1caui93febe6e)" height="128.8281" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="759" x="1168.5" y="613.4531"/><ellipse cx="1497.25" cy="629.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1496.7344,630.0156 Q1494.875,629.3125 1494.2188,628.5469 Q1493.5781,627.7656 1493.5781,626.4531 Q1493.5781,624.7656 1494.6563,623.7969 Q1495.7344,622.8281 1497.6094,622.8281 Q1498.4688,622.8281 1499.3125,623.0313 Q1500.1719,623.2188 1501.0156,623.6094 L1501.0156,626 Q1500.2344,625.4375 1499.4063,625.1563 Q1498.5938,624.8594 1497.7969,624.8594 Q1496.9219,624.8594 1496.4375,625.2188 Q1495.9688,625.5781 1495.9688,626.2344 Q1495.9688,626.75 1496.3125,627.0938 Q1496.6563,627.4219 1497.75,627.8281 L1498.8125,628.2344 Q1500.2969,628.7813 1501,629.6875 Q1501.7188,630.5938 1501.7188,631.9688 Q1501.7188,633.8438 1500.6094,634.7656 Q1499.5,635.6875 1497.25,635.6875 Q1496.3281,635.6875 1495.4063,635.4688 Q1494.4844,635.25 1493.625,634.8281 L1493.625,632.2969 Q1494.5938,632.9844 1495.5156,633.3281 Q1496.4375,633.6719 1497.3281,633.6719 Q1498.2344,633.6719 1498.7344,633.2656 Q1499.2344,632.8438 1499.2344,632.1094 Q1499.2344,631.5469 1498.8906,631.1406 Q1498.5625,630.7188 1497.9375,630.4688 L1496.7344,630.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="1517.75" y="633.6074">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1169.5" x2="1926.5" y1="645.4531" y2="645.4531"/><ellipse cx="1179.5" cy="656.4531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="1188.5" y="659.6636">topic : urt_topic_t*</text><ellipse cx="1179.5" cy="686.0625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="149" x="1188.5" y="689.2729">publishAttempts : uint64_t</text><ellipse cx="1179.5" cy="698.8672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="1188.5" y="702.0776">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1169.5" x2="1466" y1="672.6602" y2="672.6602"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="1466" y="675.9683">URT_CFG_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1630" x2="1926.5" y1="672.6602" y2="672.6602"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1169.5" x2="1926.5" y1="708.6719" y2="708.6719"/><ellipse cx="1179.5" cy="719.6719" 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="617" x="1188.5" y="722.8823">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="1179.5" cy="732.4766" 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="733" x="1188.5" y="735.687">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, n : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[a1b1e66ec52c209a9fa2dab315cd7630]

class urt_topic_t--><rect fill="#FEFECE" filter="url(#f1caui93febe6e)" height="235.2656" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="1963" y="560.4531"/><ellipse cx="2117.75" cy="576.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2117.2344,577.0156 Q2115.375,576.3125 2114.7188,575.5469 Q2114.0781,574.7656 2114.0781,573.4531 Q2114.0781,571.7656 2115.1563,570.7969 Q2116.2344,569.8281 2118.1094,569.8281 Q2118.9688,569.8281 2119.8125,570.0313 Q2120.6719,570.2188 2121.5156,570.6094 L2121.5156,573 Q2120.7344,572.4375 2119.9063,572.1563 Q2119.0938,571.8594 2118.2969,571.8594 Q2117.4219,571.8594 2116.9375,572.2188 Q2116.4688,572.5781 2116.4688,573.2344 Q2116.4688,573.75 2116.8125,574.0938 Q2117.1563,574.4219 2118.25,574.8281 L2119.3125,575.2344 Q2120.7969,575.7813 2121.5,576.6875 Q2122.2188,577.5938 2122.2188,578.9688 Q2122.2188,580.8438 2121.1094,581.7656 Q2120,582.6875 2117.75,582.6875 Q2116.8281,582.6875 2115.9063,582.4688 Q2114.9844,582.25 2114.125,581.8281 L2114.125,579.2969 Q2115.0938,579.9844 2116.0156,580.3281 Q2116.9375,580.6719 2117.8281,580.6719 Q2118.7344,580.6719 2119.2344,580.2656 Q2119.7344,579.8438 2119.7344,579.1094 Q2119.7344,578.5469 2119.3906,578.1406 Q2119.0625,577.7188 2118.4375,577.4688 L2117.2344,577.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="2138.25" y="580.6074">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1964" x2="2346" y1="592.4531" y2="592.4531"/><ellipse cx="1974" cy="603.4531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="1983" y="606.6636">next : urt_topic_t*</text><ellipse cx="1974" cy="616.2578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="1983" y="619.4683">id : urt_topicid_t</text><ellipse cx="1974" cy="629.0625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="1983" y="632.2729">lock : urt_osMutex_t</text><ellipse cx="1974" cy="641.8672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="1983" y="645.0776">evtSource : urt_osEventSource_t</text><ellipse cx="1974" cy="654.6719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="1983" y="657.8823">numHrtSubscribers : unsigned int</text><ellipse cx="1974" cy="667.4766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="1983" y="670.687">hrtSubscribers : urt_subscriber_t*</text><ellipse cx="1974" cy="680.2813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="209" x="1983" y="683.4917">mandatoryMessage : urt_message_t</text><ellipse cx="1974" cy="693.0859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="1983" y="696.2964">latestMessage : urt_message_t*</text><ellipse cx="1974" cy="722.6953" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="170" x="1983" y="725.9058">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1964" x2="2022.5" y1="709.293" y2="709.293"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="2022.5" y="712.6011">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2287.5" x2="2346" y1="709.293" y2="709.293"/><ellipse cx="1974" cy="752.3047" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="1983" y="755.5151">numDiscardedMessages : uint64_t</text><ellipse cx="1974" cy="765.1094" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="1983" y="768.3198">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1964" x2="2046.5" y1="738.9023" y2="738.9023"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2046.5" y="742.2104">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2263.5" x2="2346" y1="738.9023" y2="738.9023"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1964" x2="2346" y1="774.9141" y2="774.9141"/><ellipse cx="1974" cy="785.9141" 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="358" x="1983" y="789.1245">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[4a0cbcfec60c5e893e4ff6f7470d1adc]

class urt_pubsub_t--><rect fill="#FEFECE" filter="url(#f1caui93febe6e)" height="86.4141" id="urt_pubsub_t" style="stroke: #A80036; stroke-width: 1.5;" width="340" x="1681" y="330.9531"/><ellipse cx="1805.75" cy="346.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1805.2344,347.5156 Q1803.375,346.8125 1802.7188,346.0469 Q1802.0781,345.2656 1802.0781,343.9531 Q1802.0781,342.2656 1803.1563,341.2969 Q1804.2344,340.3281 1806.1094,340.3281 Q1806.9688,340.3281 1807.8125,340.5313 Q1808.6719,340.7188 1809.5156,341.1094 L1809.5156,343.5 Q1808.7344,342.9375 1807.9063,342.6563 Q1807.0938,342.3594 1806.2969,342.3594 Q1805.4219,342.3594 1804.9375,342.7188 Q1804.4688,343.0781 1804.4688,343.7344 Q1804.4688,344.25 1804.8125,344.5938 Q1805.1563,344.9219 1806.25,345.3281 L1807.3125,345.7344 Q1808.7969,346.2813 1809.5,347.1875 Q1810.2188,348.0938 1810.2188,349.4688 Q1810.2188,351.3438 1809.1094,352.2656 Q1808,353.1875 1805.75,353.1875 Q1804.8281,353.1875 1803.9063,352.9688 Q1802.9844,352.75 1802.125,352.3281 L1802.125,349.7969 Q1803.0938,350.4844 1804.0156,350.8281 Q1804.9375,351.1719 1805.8281,351.1719 Q1806.7344,351.1719 1807.2344,350.7656 Q1807.7344,350.3438 1807.7344,349.6094 Q1807.7344,349.0469 1807.3906,348.6406 Q1807.0625,348.2188 1806.4375,347.9688 L1805.2344,347.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="82" x="1826.25" y="351.1074">urt_pubsub_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1682" x2="2020" y1="362.9531" y2="362.9531"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="1689" y="370.9531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="117" x="1701" y="377.1636">_topics : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1682" x2="2020" y1="383.7578" y2="383.7578"/><ellipse cx="1692" cy="394.7578" 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="190" x="1701" y="397.9683">urtPubsubInit (void) : urt_status_t</text><ellipse cx="1692" cy="407.5625" 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="314" x="1701" y="410.7729">urtPubsubRetrieveTopic (id : urt_topicid_t) : urt_topic_t*</text><!--MD5=[ab7cf431813e3be5d474948fd959cdbf]

class urt_subscriber_t--><rect fill="#FEFECE" filter="url(#f1caui93febe6e)" height="312.0938" id="urt_subscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1068" x="2400" y="521.9531"/><ellipse cx="2879.25" cy="537.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2878.7344,538.5156 Q2876.875,537.8125 2876.2188,537.0469 Q2875.5781,536.2656 2875.5781,534.9531 Q2875.5781,533.2656 2876.6563,532.2969 Q2877.7344,531.3281 2879.6094,531.3281 Q2880.4688,531.3281 2881.3125,531.5313 Q2882.1719,531.7188 2883.0156,532.1094 L2883.0156,534.5 Q2882.2344,533.9375 2881.4063,533.6563 Q2880.5938,533.3594 2879.7969,533.3594 Q2878.9219,533.3594 2878.4375,533.7188 Q2877.9688,534.0781 2877.9688,534.7344 Q2877.9688,535.25 2878.3125,535.5938 Q2878.6563,535.9219 2879.75,536.3281 L2880.8125,536.7344 Q2882.2969,537.2813 2883,538.1875 Q2883.7188,539.0938 2883.7188,540.4688 Q2883.7188,542.3438 2882.6094,543.2656 Q2881.5,544.1875 2879.25,544.1875 Q2878.3281,544.1875 2877.4063,543.9688 Q2876.4844,543.75 2875.625,543.3281 L2875.625,540.7969 Q2876.5938,541.4844 2877.5156,541.8281 Q2878.4375,542.1719 2879.3281,542.1719 Q2880.2344,542.1719 2880.7344,541.7656 Q2881.2344,541.3438 2881.2344,540.6094 Q2881.2344,540.0469 2880.8906,539.6406 Q2880.5625,539.2188 2879.9375,538.9688 L2878.7344,538.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="2899.75" y="542.1074">urt_subscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2401" x2="3467" y1="553.9531" y2="553.9531"/><ellipse cx="2411" cy="564.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="2420" y="568.1636">topic : urt_topic_t*</text><ellipse cx="2411" cy="577.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="2420" y="580.9683">evtListener : urt_osEventListener_t</text><ellipse cx="2411" cy="590.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="191" x="2420" y="593.7729">rtconstraints : urt_rtconstaints_t*</text><ellipse cx="2411" cy="603.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="175" x="2420" y="606.5776">lastMessage : urt_message_t*</text><ellipse cx="2411" cy="616.1719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="2420" y="619.3823">lastMessageTime : urt_osTime_t</text><ellipse cx="2411" cy="645.7813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="2420" y="648.9917">sumLatencies : uint64_t</text><ellipse cx="2411" cy="658.5859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="2420" y="661.7964">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2401" x2="2825.5" y1="632.3789" y2="632.3789"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2825.5" y="635.687">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3042.5" x2="3467" y1="632.3789" y2="632.3789"/><ellipse cx="2411" cy="688.1953" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="2420" y="691.4058">minLatency : urt_delay_t</text><ellipse cx="2411" cy="701" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="2420" y="704.2104">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2401" x2="2673.5" y1="674.793" y2="674.793"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="521" x="2673.5" y="678.1011">URT_CFG_PUBSUB_PROFILING == true &amp;&amp; URT_CFG_PUBSUB_QOS_JITTERCHECKS == false</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3194.5" x2="3467" y1="674.793" y2="674.793"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2401" x2="3467" y1="710.8047" y2="710.8047"/><ellipse cx="2411" cy="721.8047" 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="359" x="2420" y="725.0151">urtSubscriberInit (subscriber : urt_subscriber_t*) : urt_status_t</text><ellipse cx="2411" cy="734.6094" 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="1042" x="2420" y="737.8198">urtSubscriberSubscribeHrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, rate : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="2411" cy="747.4141" 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="1040" x="2420" y="750.6245">urtSubscriberSubscribeFrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, rate : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="2411" cy="760.2188" 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="1042" x="2420" y="763.4292">urtSubscriberSubscribeSrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_srtusefulnessfunc_t*, cbparams : void*) : urt_status_t</text><ellipse cx="2411" cy="773.0234" 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="699" x="2420" y="776.2339">urtSubscriberSubscribeNrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="2411" cy="785.8281" 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="413" x="2420" y="789.0386">urtSubscriberUnsubscribe (subscriber : urt_subscriber_t*) : urt_status_t</text><ellipse cx="2411" cy="798.6328" 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="752" x="2420" y="801.8433">urtSubscriberFetchNextMessage (subscriber : urt_subscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="2411" cy="811.4375" 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="762" x="2420" y="814.6479">urtSubscriberFetchLatestMessage (subscriber : urt_subscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="2411" cy="824.2422" 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="537" x="2420" y="827.4526">urtSubscriberCalculateUsefulness (subscriber : urt_subscriber_t*, latency : urt_delay_t) : float</text><!--MD5=[82a1b6b26b12edcbd86fa16935c3353e]

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class urt_srtusefulnessfunc_t--><rect fill="#FEFECE" filter="url(#f1caui93febe6e)" height="60.8047" id="urt_srtusefulnessfunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="374" x="2854" y="1519.9531"/><ellipse cx="2963.25" cy="1535.9531" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2967.4844,1531.7188 L2962.2031,1531.7188 L2962.2031,1534.3906 L2967,1534.3906 L2967,1536.5469 L2962.2031,1536.5469 L2962.2031,1541.9531 L2959.7656,1541.9531 L2959.7656,1529.5625 L2967.4844,1529.5625 L2967.4844,1531.7188 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="147" x="2983.75" y="1540.1074">urt_srtusefulnessfunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2855" x2="3227" y1="1551.9531" y2="1551.9531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2855" x2="3227" y1="1559.9531" y2="1559.9531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="362" x="2860" y="1574.1636">urt_srtusefulnessfunc_t (dt : urt_delay_t, params : void*) : float</text><!--MD5=[4a2daf41193a31389d6311337c2a120f]

class urt_srtdata_t--><rect fill="#FEFECE" filter="url(#f1caui93febe6e)" height="73.6094" id="urt_srtdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="258" x="2892" y="1332.9531"/><ellipse cx="2976.25" cy="1348.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2975.7344,1349.5156 Q2973.875,1348.8125 2973.2188,1348.0469 Q2972.5781,1347.2656 2972.5781,1345.9531 Q2972.5781,1344.2656 2973.6563,1343.2969 Q2974.7344,1342.3281 2976.6094,1342.3281 Q2977.4688,1342.3281 2978.3125,1342.5313 Q2979.1719,1342.7188 2980.0156,1343.1094 L2980.0156,1345.5 Q2979.2344,1344.9375 2978.4063,1344.6563 Q2977.5938,1344.3594 2976.7969,1344.3594 Q2975.9219,1344.3594 2975.4375,1344.7188 Q2974.9688,1345.0781 2974.9688,1345.7344 Q2974.9688,1346.25 2975.3125,1346.5938 Q2975.6563,1346.9219 2976.75,1347.3281 L2977.8125,1347.7344 Q2979.2969,1348.2813 2980,1349.1875 Q2980.7188,1350.0938 2980.7188,1351.4688 Q2980.7188,1353.3438 2979.6094,1354.2656 Q2978.5,1355.1875 2976.25,1355.1875 Q2975.3281,1355.1875 2974.4063,1354.9688 Q2973.4844,1354.75 2972.625,1354.3281 L2972.625,1351.7969 Q2973.5938,1352.4844 2974.5156,1352.8281 Q2975.4375,1353.1719 2976.3281,1353.1719 Q2977.2344,1353.1719 2977.7344,1352.7656 Q2978.2344,1352.3438 2978.2344,1351.6094 Q2978.2344,1351.0469 2977.8906,1350.6406 Q2977.5625,1350.2188 2976.9375,1349.9688 L2975.7344,1349.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="81" x="2996.75" y="1353.1074">urt_srtdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2893" x2="3149" y1="1364.9531" y2="1364.9531"/><ellipse cx="2903" cy="1375.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="232" x="2912" y="1379.1636">usefullnesscb : urt_srtusefulnessfunc_t*</text><ellipse cx="2903" cy="1388.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="2912" y="1391.9683">cbparams : void*</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2893" x2="3149" y1="1398.5625" y2="1398.5625"/><!--MD5=[c49c66e54807645986bdfbce830f97dc]

class urt_rpc_t--><rect fill="#FEFECE" filter="url(#f1caui93febe6e)" height="86.4141" id="urt_rpc_t" style="stroke: #A80036; stroke-width: 1.5;" width="358" x="3649" y="330.9531"/><ellipse cx="3796.25" cy="346.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3795.7344,347.5156 Q3793.875,346.8125 3793.2188,346.0469 Q3792.5781,345.2656 3792.5781,343.9531 Q3792.5781,342.2656 3793.6563,341.2969 Q3794.7344,340.3281 3796.6094,340.3281 Q3797.4688,340.3281 3798.3125,340.5313 Q3799.1719,340.7188 3800.0156,341.1094 L3800.0156,343.5 Q3799.2344,342.9375 3798.4063,342.6563 Q3797.5938,342.3594 3796.7969,342.3594 Q3795.9219,342.3594 3795.4375,342.7188 Q3794.9688,343.0781 3794.9688,343.7344 Q3794.9688,344.25 3795.3125,344.5938 Q3795.6563,344.9219 3796.75,345.3281 L3797.8125,345.7344 Q3799.2969,346.2813 3800,347.1875 Q3800.7188,348.0938 3800.7188,349.4688 Q3800.7188,351.3438 3799.6094,352.2656 Q3798.5,353.1875 3796.25,353.1875 Q3795.3281,353.1875 3794.4063,352.9688 Q3793.4844,352.75 3792.625,352.3281 L3792.625,349.7969 Q3793.5938,350.4844 3794.5156,350.8281 Q3795.4375,351.1719 3796.3281,351.1719 Q3797.2344,351.1719 3797.7344,350.7656 Q3798.2344,350.3438 3798.2344,349.6094 Q3798.2344,349.0469 3797.8906,348.6406 Q3797.5625,348.2188 3796.9375,347.9688 L3795.7344,347.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="55" x="3816.75" y="351.1074">urt_rpc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3650" x2="4006" y1="362.9531" y2="362.9531"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="3657" y="370.9531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="145" x="3669" y="377.1636">_services : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3650" x2="4006" y1="383.7578" y2="383.7578"/><ellipse cx="3660" cy="394.7578" 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="168" x="3669" y="397.9683">urtRpcInit (void) : urt_status_t</text><ellipse cx="3660" cy="407.5625" 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="332" x="3669" y="410.7729">urtRpcRetrieveService (id : urt_serviceid_t) : urt_service_t*</text><!--MD5=[3226071078d8aeaa18fbafa5359ddee6]

class urt_servicefunc_t--><rect fill="#FEFECE" filter="url(#f1caui93febe6e)" height="60.8047" id="urt_servicefunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="451" x="3667.5" y="946.9531"/><ellipse cx="3835.75" cy="962.9531" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3839.9844,958.7188 L3834.7031,958.7188 L3834.7031,961.3906 L3839.5,961.3906 L3839.5,963.5469 L3834.7031,963.5469 L3834.7031,968.9531 L3832.2656,968.9531 L3832.2656,956.5625 L3839.9844,956.5625 L3839.9844,958.7188 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="106" x="3856.25" y="967.1074">urt_servicefunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3668.5" x2="4117.5" y1="978.9531" y2="978.9531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3668.5" x2="4117.5" y1="986.9531" y2="986.9531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="439" x="3673.5" y="1001.1636">urt_servicefunc_t (arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[e60e0f8379a14e7a4a292c65add9d735]

class urt_service_t--><rect fill="#FEFECE" filter="url(#f1caui93febe6e)" height="222.4609" id="urt_service_t" style="stroke: #A80036; stroke-width: 1.5;" width="602" x="3592" y="566.9531"/><ellipse cx="3849.25" cy="582.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3848.7344,583.5156 Q3846.875,582.8125 3846.2188,582.0469 Q3845.5781,581.2656 3845.5781,579.9531 Q3845.5781,578.2656 3846.6563,577.2969 Q3847.7344,576.3281 3849.6094,576.3281 Q3850.4688,576.3281 3851.3125,576.5313 Q3852.1719,576.7188 3853.0156,577.1094 L3853.0156,579.5 Q3852.2344,578.9375 3851.4063,578.6563 Q3850.5938,578.3594 3849.7969,578.3594 Q3848.9219,578.3594 3848.4375,578.7188 Q3847.9688,579.0781 3847.9688,579.7344 Q3847.9688,580.25 3848.3125,580.5938 Q3848.6563,580.9219 3849.75,581.3281 L3850.8125,581.7344 Q3852.2969,582.2813 3853,583.1875 Q3853.7188,584.0938 3853.7188,585.4688 Q3853.7188,587.3438 3852.6094,588.2656 Q3851.5,589.1875 3849.25,589.1875 Q3848.3281,589.1875 3847.4063,588.9688 Q3846.4844,588.75 3845.625,588.3281 L3845.625,585.7969 Q3846.5938,586.4844 3847.5156,586.8281 Q3848.4375,587.1719 3849.3281,587.1719 Q3850.2344,587.1719 3850.7344,586.7656 Q3851.2344,586.3438 3851.2344,585.6094 Q3851.2344,585.0469 3850.8906,584.6406 Q3850.5625,584.2188 3849.9375,583.9688 L3848.7344,583.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="3869.75" y="587.1074">urt_service_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3593" x2="4193" y1="598.9531" y2="598.9531"/><ellipse cx="3603" cy="609.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="115" x="3612" y="613.1636">next : urt_service_t*</text><ellipse cx="3603" cy="622.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="105" x="3612" y="625.9683">id : urt_serviceid_t</text><ellipse cx="3603" cy="635.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="3612" y="638.7729">lock : urt_osMutex_t</text><ellipse cx="3603" cy="648.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="3612" y="651.5776">callback : urt_servicefunc_t*</text><ellipse cx="3603" cy="677.9766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="137" x="3612" y="681.187">sumDurations : uint64_t</text><ellipse cx="3603" cy="690.7813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="3612" y="693.9917">numCalls : uint64_t</text><ellipse cx="3603" cy="703.5859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="135" x="3612" y="706.7964">numTimeouts : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3593" x2="3798.5" y1="664.5742" y2="664.5742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="3798.5" y="667.8823">URT_CFG_RPC_PROFLING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3987.5" x2="4193" y1="664.5742" y2="664.5742"/><ellipse cx="3603" cy="733.1953" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="143" x="3612" y="736.4058">minDuration : urt_delay_t</text><ellipse cx="3603" cy="746" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="3612" y="749.2104">maxDuration : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3593" x2="3660" y1="719.793" y2="719.793"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="466" x="3660" y="723.1011">URT_CFG_RPC_PROFILING == true &amp;&amp; URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4126" x2="4193" y1="719.793" y2="719.793"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3593" x2="4193" y1="755.8047" y2="755.8047"/><ellipse cx="3603" cy="766.8047" 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="576" x="3612" y="770.0151">urtServiceInit(service : urt_service_t*, id : urt_serviceid_t, callback : urt_servicefunc_t*) : urt_status_t</text><ellipse cx="3603" cy="779.6094" 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="557" x="3612" y="782.8198">urtServiceCall(service : urt_service_t*, arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[89d25e87afdd75480e1ec2bd05524873]

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reverse link urt_node_t to urt_node_t--><path d="M1138.4188,351.2153 C1152.8891,357.5199 1161,365.0991 1161,373.9531 C1161,385.0639 1148.2271,394.1675 1126.1426,401.2636 " fill="none" id="urt_node_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1126.1426,346.6426,1130.3689,352.4854,1137.3878,350.8314,1133.1615,344.9886,1126.1426,346.6426" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1133.9634" y="343.2206">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1134.0759" y="398.6097">0..1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]

reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M459.3833,471.1515 C393.4561,531.9077 316.3626,606.151 277.4902,647.1095 " fill="none" id="urt_node_t&lt;-urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="469.0233,462.2908,461.899,463.4062,460.1884,470.4115,467.3128,469.2961,469.0233,462.2908" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="452.3392" y="481.9982">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="273.7163" y="636.3019">1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]

reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M489.3695,465.9568 C426.3813,527.6204 343.3784,604.976 294.1218,647.1095 " fill="none" id="urt_node_t&lt;-urt_nodeSetupCallback_t-1" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="493.1095,462.2908,483.8822,465.7343,489.5388,465.7908,489.4822,471.4474,493.1095,462.2908" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b913f036db99e36b937989146817bd94]

reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M642.8131,472.6482 C690.6376,533.1226 752.0445,606.4867 789.6584,647.1095 " fill="none" id="urt_node_t&lt;-urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="634.6566,462.2908,635.2263,469.4794,642.081,471.7184,641.5113,464.5298,634.6566,462.2908" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="631.1714" y="481.9982">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="773.9567" y="636.3019">1</text><!--MD5=[b913f036db99e36b937989146817bd94]

reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M662.1912,466.3255 C714.7546,527.9285 776.6055,605.0599 806.2901,647.1095 " fill="none" id="urt_node_t&lt;-urt_nodeLoopCallback_t-1" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="658.7428,462.2908,661.5494,471.7313,661.9913,466.0918,667.6309,466.5337,658.7428,462.2908" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0c465c1a61dfd99ff8b5568ca35c92d1]

reverse link urt_srtdata_t to urt_srtusefulnessfunc_t--><path d="M3026.5955,1420.4523 C3030.1293,1452.3446 3034.5801,1492.5133 3037.592,1519.6963 " fill="none" id="urt_srtdata_t&lt;-urt_srtusefulnessfunc_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3025.144,1407.3528,3021.8292,1413.7569,3026.4657,1419.2798,3029.7805,1412.8757,3025.144,1407.3528" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3017.167" y="1426.6173">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="3010.4141" y="1508.9066">0..1</text><!--MD5=[3f22cd2af9b1d30da63b75b4db75ae6e]

reverse link urt_rtclassdata_t to urt_hrtdata_t--><path d="M3053.3837,1223.5976 C3130.7011,1256.936 3161.6812,1245.0635 3241,1279.9531 C3242.1284,1280.4494 3243.2588,1280.9522 3244.391,1281.4611 " fill="none" id="urt_rtclassdata_t&lt;-urt_hrtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="3041.0974,1218.0935,3044.9377,1224.197,3052.0487,1222.9996,3048.2084,1216.8961,3041.0974,1218.0935" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3049.0481" y="1219.2955">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="3212.5631" y="1273.8805">0..1</text><!--MD5=[a94a8c9c209e194384613684e912df80]

reverse link urt_rtclassdata_t to urt_frtdata_t--><path d="M2883.1418,1217.1585 C2881.0827,1218.115 2879.0333,1219.0481 2877,1219.9531 C2803.7992,1252.5322 2780.3044,1247.6078 2707,1279.9531 C2700.9455,1282.6246 2694.8117,1285.428 2688.6478,1288.3264 " fill="none" id="urt_rtclassdata_t&lt;-urt_frtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="2894.9979,1211.459,2887.8572,1210.4536,2884.1827,1216.6583,2891.3234,1217.6637,2894.9979,1211.459" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2879.0571" y="1211.9768">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2696.4776" y="1281.0736">0..1</text><!--MD5=[e6a6d7a2212fadf5661857a71d4f05c3]

reverse link urt_rtclassdata_t to urt_srtdata_t--><path d="M2984.5458,1232.7341 C2993.2761,1265.596 3003.6927,1304.8059 3011.1511,1332.8803 " fill="none" id="urt_rtclassdata_t&lt;-urt_srtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="2981.1692,1220.024,2978.8439,1226.8499,2984.2504,1231.6217,2986.5757,1224.7958,2981.1692,1220.024" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2974.4586" y="1240.1105">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2983.1227" y="1321.7774">0..1</text><!--MD5=[206fe31eaf8244c7272230bb0ec7137c]

reverse link urt_rtclassdata_t to urt_nrtdata_t--><path d="M2894.5293,1228.6517 C2876.4828,1244.4347 2857.8192,1262.1156 2842,1279.9531 C2823.7146,1300.5715 2806.4453,1326.9451 2794.9806,1345.8032 " fill="none" id="urt_rtclassdata_t&lt;-urt_nrtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="2904.4696,1220.0896,2897.313,1220.9746,2895.3774,1227.9211,2902.534,1227.0361,2904.4696,1220.0896" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2886.9731" y="1240.1853">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2771.4881" y="1334.7768">0..1</text><!--MD5=[1ba55993ff077c77667f6c7be6552d53]

reverse link urt_rtdata_t to urt_rtclass_t--><path d="M2896.7915,1025.011 C2873.9802,1054.1672 2844.8263,1091.43 2821.7392,1120.9388 " fill="none" id="urt_rtdata_t&lt;-urt_rtclass_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="2904.8857,1014.6654,2898.0381,1016.9261,2897.4913,1024.1165,2904.3388,1021.8558,2904.8857,1014.6654" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2891.4011" y="1034.1811">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2818.6244" y="1109.982">1</text><!--MD5=[8318054091d2ecf2336b9e490f482e2a]

reverse link urt_rtdata_t to urt_rtclassdata_t--><path d="M2942.8551,1027.7189 C2947.9162,1056.448 2954.2384,1092.336 2959.2773,1120.9388 " fill="none" id="urt_rtdata_t&lt;-urt_rtclassdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="2940.5555,1014.6654,2937.6571,1021.2684,2942.6374,1026.4834,2945.5358,1019.8805,2940.5555,1014.6654" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2932.9788" y="1034.1811">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2949.4882" y="1109.982">1</text><!--MD5=[b6ee30948a218449c72edbee7363b5d7]

link urt_subscriber_t to urt_hrtdata_t--><path d="M3037.8065,834.1142 C3126.2411,967.1506 3250.7259,1154.419 3326.6904,1268.696 " fill="none" id="urt_subscriber_t-&gt;urt_hrtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3333.8875,1279.523,3333.8971,1272.3119,3327.2444,1269.5296,3327.2348,1276.7407,3333.8875,1279.523" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="3018.2534" y="854.1094">0..1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3320.7785" y="1268.7895">1</text><!--MD5=[536025241394544a90bc53fb552f3a08]

reverse link urt_message_t to urt_message_t--><path d="M2359.9841,952.7119 C2374.0653,958.6277 2382.5,966.8747 2382.5,977.4531 C2382.5,990.8593 2368.9528,1000.5213 2347.534,1006.4389 " fill="none" id="urt_message_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2347.534,948.4673,2351.9223,954.1895,2358.892,952.3396,2354.5038,946.6175,2347.534,948.4673" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2355.7829" y="944.221">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2355.3281" y="1004.209">0..1</text><!--MD5=[f7eb638a1c2d853c6fb0ae6f53692e50]

reverse link urt_subscriber_t to urt_rtdata_t--><path d="M2934,847.7383 C2934,882.7014 2934,916.1808 2934,940.367 " fill="none" id="urt_subscriber_t&lt;-urt_rtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="2934,834.282,2930,840.282,2934,846.282,2938,840.282,2934,834.282" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2925.8063" y="854.2853">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2925.2625" y="929.2616">1</text><!--MD5=[bf7bf5810813e0e9b75d3053dc098443]

reverse link urt_subscriber_t to urt_topic_t--><path d="M2386.6352,677.9531 C2373.4526,677.9531 2360.27,677.9531 2347.0874,677.9531 " fill="none" id="urt_subscriber_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2399.8178,677.9531,2393.8178,673.9531,2387.8178,677.9531,2393.8178,681.9531,2399.8178,677.9531" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2384.2496" y="674.9148">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2355.0596" y="674.7245">0..1</text><!--MD5=[d3b08a81de663c21a5ec062e6c430f2b]

reverse link urt_topic_t to urt_subscriber_t--><path d="M2360.27,677.9531 C2373.4526,677.9531 2386.6352,677.9531 2399.8178,677.9531 " fill="none" id="urt_topic_t&lt;-urt_subscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2347.0874,677.9531,2353.0874,681.9531,2359.0874,677.9531,2353.0874,673.9531,2347.0874,677.9531" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2354.7471" y="690.3104">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2368.1371" y="690.1258">0..1</text><!--MD5=[67fd999c5486ad1c37ee9b77e12afd1b]

reverse link urt_subscriber_t to urt_message_t--><path d="M2498.8513,838.4544 C2446.6731,857.6999 2395.1403,876.7074 2347.7239,894.1966 " fill="none" id="urt_subscriber_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2511.0547,833.9533,2504.0412,832.2768,2499.7961,838.106,2506.8096,839.7825,2511.0547,833.9533" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2482.3745" y="853.9407">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2355.5242" y="888.2838">0..1</text><!--MD5=[54fcf25ad8c5f1d36e678e42d5bfd4cc]

reverse link urt_publisher_t to urt_topic_t--><path d="M1940.8249,677.9531 C1948.1324,677.9531 1955.44,677.9531 1962.7475,677.9531 " fill="none" id="urt_publisher_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1927.6714,677.9531,1933.6714,681.9531,1939.6714,677.9531,1933.6714,673.9531,1927.6714,677.9531" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1935.4647" y="674.8708">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1947.0814" y="674.7245">1</text><!--MD5=[5025b4c4053b8e7c7ca8a657f09f21c0]

link urt_publisher_t to urt_message_t--><path d="M1671.8428,742.5714 C1755.2984,786.1166 1866.3158,844.043 1957.2179,891.4736 " fill="none" id="urt_publisher_t-&gt;urt_message_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1961.8043,893.8666,1955.6756,886.157,1957.3715,891.5536,1951.9748,893.2495,1961.8043,893.8666" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b2afc1defaa6ed5a86f99c07f8466dd]

reverse link urt_topic_t to urt_topic_t--><path d="M2359.0439,637.2233 C2373.3061,646.52 2382,660.0966 2382,677.9531 C2382,700.3613 2368.309,716.0295 2347.1039,724.9578 " fill="none" id="urt_topic_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2347.1039,630.9484,2350.5542,637.2805,2357.7262,636.531,2354.2759,630.199,2347.1039,630.9484" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2354.7642" y="625.8836">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2355.0767" y="723.5653">0..1</text><!--MD5=[0b5167e958c0ed93ffc0c98ce399b54d]

reverse link urt_topic_t to urt_message_t--><path d="M2127.9449,808.6218 C2124.4889,837.4407 2121.5662,867.2179 2119.6574,893.59 " fill="none" id="urt_topic_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2129.5686,795.4638,2124.8639,800.9288,2128.0989,807.3735,2132.8037,801.9085,2129.5686,795.4638" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2119.5912" y="815.9254">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2094.4248" y="882.8007">1..1</text><!--MD5=[0b5167e958c0ed93ffc0c98ce399b54d]

reverse link urt_topic_t to urt_message_t--><path d="M2154.0046,808.6218 C2151.1263,837.4407 2147.4661,867.2179 2143.5046,893.59 " fill="none" id="urt_topic_t&lt;-urt_message_t-1" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="2155.2702,795.4638,2150.714,801.0532,2154.1211,807.4087,2158.6773,801.8193,2155.2702,795.4638" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2147.0196" y="815.9254">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2137.0089" y="882.8007">1</text><!--MD5=[d97285d52857c028121a6b5bc3935d87]

reverse link urt_pubsub_t to urt_topic_t--><path d="M1903.7677,426.7208 C1940.6176,463.5707 1991.2892,514.2423 2037.4771,560.4302 " fill="none" id="urt_pubsub_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1894.2329,417.186,1895.6471,424.2571,1902.7182,425.6713,1901.304,418.6002,1894.2329,417.186" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1892.4856" y="437.3161">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2005.1795" y="549.4836">0..1</text><!--MD5=[8d27a615fd5a1da0f7adeab7e6eca6da]

link urt_pubsub_t to urt_publisher_t--><!--MD5=[05f2c35569573d3273c65d3342945557]

reverse link urt_service_t to urt_service_t--><path d="M4205.7882,642.7778 C4220.4237,651.6505 4229,663.3756 4229,677.9531 C4229,696.0688 4215.7552,709.7795 4194.0965,719.085 " fill="none" id="urt_service_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="4194.0965,636.8212,4197.6268,643.109,4204.7888,642.2687,4201.2585,635.9808,4194.0965,636.8212" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4202.2006" y="632.592">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="4202.4131" y="717.0409">0..1</text><!--MD5=[586e61fedafd54ae7ea71cebd9f9032a]

reverse link urt_service_t to urt_servicefunc_t--><path d="M3893,802.0677 C3893,855.1217 3893,912.6003 3893,946.7887 " fill="none" id="urt_service_t&lt;-urt_servicefunc_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3893,789.0502,3889,795.0502,3893,801.0502,3897,795.0502,3893,789.0502" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3884.7188" y="809.4444">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="3866.525" y="936.018">0..1</text><!--MD5=[44e85a81cd85acd5638164304275c8f6]

reverse link urt_rpc_t to urt_service_t--><path d="M3840.0075,430.1113 C3848.1844,468.354 3859.2845,520.2683 3869.2132,566.7039 " fill="none" id="urt_rpc_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3837.2439,417.186,3834.5869,423.8898,3839.7531,428.9208,3842.4101,422.217,3837.2439,417.186" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3830.0796" y="437.3161">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="3842.8088" y="555.7813">0..1</text><!--MD5=[694e7400eb99f74d44ea388aed89d199]

reverse link urt_core_t to urt_node_t--><path d="M1580.3284,177.6924 C1450.6746,201.9315 1293.2316,231.6194 1152,258.9531 C1107.2997,267.6043 1060.6748,276.7228 1014.145,285.8846 " fill="none" id="urt_core_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1593.1866,175.2894,1586.5539,172.4598,1581.3908,177.494,1588.0236,180.3236,1593.1866,175.2894" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1577.414" y="173.558">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1026.9387" y="274.7423">0..1</text><!--MD5=[126a576c1462f30ade8ec99c3bc39be3]

reverse link urt_core_t to urt_pubsub_t--><path d="M1851,239.5861 C1851,271.9439 1851,305.3322 1851,330.7318 " fill="none" id="urt_core_t&lt;-urt_pubsub_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1851,226.2938,1847,232.2938,1851,238.2938,1855,232.2938,1851,226.2938" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1842.7188" y="245.8477">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1825.1625" y="320.0105">0..1</text><!--MD5=[d3daad950a97bef6626a3189265b6c3e]

reverse link urt_core_t to urt_rpc_t--><path d="M2121.8688,136.5188 C2536.5475,152.3569 3308.7951,190.1256 3576,258.9531 C3637.9383,274.9074 3703.5368,305.3241 3752.2745,330.8697 " fill="none" id="urt_core_t&lt;-urt_rpc_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="2108.792,136.0221,2114.6358,140.247,2120.7833,136.4777,2114.9395,132.2528,2108.792,136.0221" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2116.5639" y="133.1249">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="3714.2932" y="319.8525">0..1</text><!--MD5=[1a7d90abfae25345a6c43983ff1c319b]

  - {field} {static} _pubsub : urt_pubsub_t

  - {field} {static} _rpc : urt_rpc_t

  + {field} hrtConsumersLeft : urt_osCondvar_t

      .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ..

      + {field} qosDeadlineTimer : urt_osTimer_t

      .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ..

    + {field} rtconstraints : urt_rtconstaints_t*

    .. URT_CFG_PUBSUB_PROFILING == true && URT_CFG_PUBSUB_QOS_JITTERCHECKS == false ..

  class urt_pubsub_t <<S,BFAFFF>> {

  - {field} {static} _topics : urt_topic_t*

  __

  + {method} urtPubsubInit (void) : urt_status_t

  + {method} urtPubsubRetrieveTopic (id : urt_topicid_t) : urt_topic_t*

}

  package "service" <<Rectangle>> {

    class urt_servicefunc_t <<F,E0E0E0>> {

    urt_servicefunc_t (arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t

  }

    class urt_service_t <<S,BFAFFF>> {

    + {field} next : urt_service_t*

    + {field} id : urt_serviceid_t

    + {field} lock : urt_osMutex_t

    + {field} callback : urt_servicefunc_t*

    .. URT_CFG_RPC_PROFLING == true ..

    + {field} sumDurations : uint64_t

    + {field} numCalls : uint64_t

    + {field} numTimeouts : uint64_t

    .. URT_CFG_RPC_PROFILING == true && URT_CFG_RPC_QOS_JITTERCHECKS == true ..

    + {field} minDuration : urt_delay_t

    + {field} maxDuration : urt_delay_t

    __

    + {method} urtServiceInit(service : urt_service_t*, id : urt_serviceid_t, callback : urt_servicefunc_t*) : urt_status_t

    + {method} urtServiceCall(service : urt_service_t*, arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t

  }

  class urt_rpc_t <<S,BFAFFF>> {

  - {field} {static} _services : urt_service_t*

  + {method} urtRpcInit (void) : urt_status_t

  + {method} urtRpcRetrieveService (id : urt_serviceid_t) : urt_service_t*

urt_pubsub_t "1" o- - "0..1" urt_topic_t

urt_pubsub_t -[hidden]-> urt_publisher_t

urt_rpc_t "1" o- - "0..1" urt_service_t

urt_core_t "1" *- - "0..1" urt_pubsub_t

urt_core_t "1" *- - "0..1" urt_rpc_t

  - {field} {static} _pubsub : urt_pubsub_t

  - {field} {static} _rpc : urt_rpc_t

urt_core_t "1" *-- "0..1" urt_pubsub_t

urt_core_t "1" *-- "0..1" urt_rpc_t