commit 056e40d2b2f23c4c27ddbabb35f45901fbfaf500
Author: Thomas Schöpping <tschoepp@cit-ec.uni-bielefeld.de>
Date:   Fri Feb 21 16:30:22 2020 +0100

    classdiagrams updated

diff --git a/doc/classdiagrams/overview.svg b/doc/classdiagrams/overview.svg
index a3e1f55..df45f30 100644
--- a/doc/classdiagrams/overview.svg
+++ b/doc/classdiagrams/overview.svg
@@ -1,168 +1,161 @@
-<?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; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="537" x="169" y="909.3589">urtSubscriberCalculateUsefulness (subscriber : urt_subscriber_t*, latency : urt_delay_t) : float</text><!--MD5=[82a1b6b26b12edcbd86fa16935c3353e]
-class urt_rtdata_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="73.6094" id="urt_rtdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="231" x="567.5" y="1022.3594"/><ellipse cx="641.75" cy="1038.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M641.2344,1038.9219 Q639.375,1038.2188 638.7188,1037.4531 Q638.0781,1036.6719 638.0781,1035.3594 Q638.0781,1033.6719 639.1563,1032.7031 Q640.2344,1031.7344 642.1094,1031.7344 Q642.9688,1031.7344 643.8125,1031.9375 Q644.6719,1032.125 645.5156,1032.5156 L645.5156,1034.9063 Q644.7344,1034.3438 643.9063,1034.0625 Q643.0938,1033.7656 642.2969,1033.7656 Q641.4219,1033.7656 640.9375,1034.125 Q640.4688,1034.4844 640.4688,1035.1406 Q640.4688,1035.6563 640.8125,1036 Q641.1563,1036.3281 642.25,1036.7344 L643.3125,1037.1406 Q644.7969,1037.6875 645.5,1038.5938 Q646.2188,1039.5 646.2188,1040.875 Q646.2188,1042.75 645.1094,1043.6719 Q644,1044.5938 641.75,1044.5938 Q640.8281,1044.5938 639.9063,1044.375 Q638.9844,1044.1563 638.125,1043.7344 L638.125,1041.2031 Q639.0938,1041.8906 640.0156,1042.2344 Q640.9375,1042.5781 641.8281,1042.5781 Q642.7344,1042.5781 643.2344,1042.1719 Q643.7344,1041.75 643.7344,1041.0156 Q643.7344,1040.4531 643.3906,1040.0469 Q643.0625,1039.625 642.4375,1039.375 L641.2344,1038.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="74" x="662.25" y="1042.5137">urt_rtdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="568.5" x2="797.5" y1="1054.3594" y2="1054.3594"/><ellipse cx="578.5" cy="1065.3594" 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="170" x="587.5" y="1068.5698">class : urt_rtconstraintclass_t</text><ellipse cx="578.5" cy="1078.1641" 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="205" x="587.5" y="1081.3745">params : urt_rtconstraintsparams_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="568.5" x2="797.5" y1="1087.9688" y2="1087.9688"/><!--MD5=[4bd59d3bc50b317c5523bafe6b73a042]
-class urt_rtclass_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="99.2188" id="urt_rtclass_t" style="stroke: #A80036; stroke-width: 1.5;" width="153" x="497.5" y="1202.8594"/><ellipse cx="532.3" cy="1218.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M536.4094,1224.8594 L528.6906,1224.8594 L528.6906,1212.4688 L536.4094,1212.4688 L536.4094,1214.625 L531.1438,1214.625 L531.1438,1217.2969 L535.9094,1217.2969 L535.9094,1219.4531 L531.1438,1219.4531 L531.1438,1222.7031 L536.4094,1222.7031 L536.4094,1224.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="77" x="550.7" y="1223.0137">urt_rtclass_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="498.5" x2="649.5" y1="1234.8594" y2="1234.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="139" x="503.5" y="1249.0698">URT_RTCLASS_HARD = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="134" x="503.5" y="1261.8745">URT_RTCLASS_FIRM = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="139" x="503.5" y="1274.6792">URT_RTCLASS_SOFT = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="503.5" y="1287.4839">URT_RTCLASS_NONE = 3</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="498.5" x2="649.5" y1="1294.0781" y2="1294.0781"/><!--MD5=[7b207cc31d63d27c526f257c1fda2512]
-class urt_rtclassdata_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="99.2188" id="urt_rtclassdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="146" x="686" y="1202.8594"/><ellipse cx="704.6" cy="1218.8594" fill="#7FCF7F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M700.475,1220.7813 L700.475,1212.9688 L702.9281,1212.9688 L702.9281,1221.4063 Q702.9281,1222.3281 703.3969,1222.8594 Q703.8813,1223.3906 704.7094,1223.3906 Q705.5531,1223.3906 706.0219,1222.8594 Q706.4906,1222.3281 706.4906,1221.4063 L706.4906,1212.9688 L708.9438,1212.9688 L708.9438,1220.7813 Q708.9438,1223.3125 707.9438,1224.4531 Q706.9438,1225.5938 704.7094,1225.5938 Q702.4906,1225.5938 701.475,1224.4531 Q700.475,1223.3125 700.475,1220.7813 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="106" x="719.4" y="1223.0137">urt_rtclassdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="687" x2="831" y1="1234.8594" y2="1234.8594"/><ellipse cx="697" cy="1245.8594" 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="120" x="706" y="1249.0698">hrt : urt_hrtparams_t</text><ellipse cx="697" cy="1258.6641" 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="114" x="706" y="1261.8745">frt : urt_frtparams_t</text><ellipse cx="697" cy="1271.4688" 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="116" x="706" y="1274.6792">srt : urt_srtparans_t</text><ellipse cx="697" cy="1284.2734" 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="120" x="706" y="1287.4839">nrt : urt_nrtparams_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="687" x2="831" y1="1294.0781" y2="1294.0781"/><!--MD5=[c57ade65ef97beb73587233399d5250a]
-class urt_hrtdata_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="180.0469" id="urt_hrtdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="299" x="928.5" y="1447.8594"/><ellipse cx="1032.75" cy="1463.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1032.2344,1464.4219 Q1030.375,1463.7188 1029.7188,1462.9531 Q1029.0781,1462.1719 1029.0781,1460.8594 Q1029.0781,1459.1719 1030.1563,1458.2031 Q1031.2344,1457.2344 1033.1094,1457.2344 Q1033.9688,1457.2344 1034.8125,1457.4375 Q1035.6719,1457.625 1036.5156,1458.0156 L1036.5156,1460.4063 Q1035.7344,1459.8438 1034.9063,1459.5625 Q1034.0938,1459.2656 1033.2969,1459.2656 Q1032.4219,1459.2656 1031.9375,1459.625 Q1031.4688,1459.9844 1031.4688,1460.6406 Q1031.4688,1461.1563 1031.8125,1461.5 Q1032.1563,1461.8281 1033.25,1462.2344 L1034.3125,1462.6406 Q1035.7969,1463.1875 1036.5,1464.0938 Q1037.2188,1465 1037.2188,1466.375 Q1037.2188,1468.25 1036.1094,1469.1719 Q1035,1470.0938 1032.75,1470.0938 Q1031.8281,1470.0938 1030.9063,1469.875 Q1029.9844,1469.6563 1029.125,1469.2344 L1029.125,1466.7031 Q1030.0938,1467.3906 1031.0156,1467.7344 Q1031.9375,1468.0781 1032.8281,1468.0781 Q1033.7344,1468.0781 1034.2344,1467.6719 Q1034.7344,1467.25 1034.7344,1466.5156 Q1034.7344,1465.9531 1034.3906,1465.5469 Q1034.0625,1465.125 1033.4375,1464.875 L1032.2344,1464.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="82" x="1053.25" y="1468.0137">urt_hrtdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="929.5" x2="1226.5" y1="1479.8594" y2="1479.8594"/><ellipse cx="939.5" cy="1490.8594" 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="135" x="948.5" y="1494.0698">next : urt_subscriber_t*</text><ellipse cx="939.5" cy="1520.4688" 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="194" x="948.5" y="1523.6792">qosDeadlineTimer : urt_osTimer_t</text><ellipse cx="939.5" cy="1533.2734" 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="157" x="948.5" y="1536.4839">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="929.5" x2="932.5" y1="1507.0664" y2="1507.0664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="932.5" y="1510.3745">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1223.5" x2="1226.5" y1="1507.0664" y2="1507.0664"/><ellipse cx="939.5" cy="1562.8828" 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="150" x="948.5" y="1566.0933">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="929.5" x2="945.5" y1="1549.4805" y2="1549.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="945.5" y="1552.7886">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1210.5" x2="1226.5" y1="1549.4805" y2="1549.4805"/><ellipse cx="939.5" cy="1592.4922" 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="124" x="948.5" y="1595.7026">maxJitter : urt_delay_t</text><ellipse cx="939.5" cy="1605.2969" 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="948.5" y="1608.5073">minLatency : urt_delay_t</text><ellipse cx="939.5" cy="1618.1016" 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="141" x="948.5" y="1621.312">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="929.5" x2="942.5" y1="1579.0898" y2="1579.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="942.5" y="1582.3979">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1213.5" x2="1226.5" y1="1579.0898" y2="1579.0898"/><!--MD5=[72774668522d2286013bfbc0db723956]
-class urt_frtdata_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="167.2422" id="urt_frtdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="299" x="444.5" y="1454.3594"/><ellipse cx="550.75" cy="1470.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M550.2344,1470.9219 Q548.375,1470.2188 547.7188,1469.4531 Q547.0781,1468.6719 547.0781,1467.3594 Q547.0781,1465.6719 548.1563,1464.7031 Q549.2344,1463.7344 551.1094,1463.7344 Q551.9688,1463.7344 552.8125,1463.9375 Q553.6719,1464.125 554.5156,1464.5156 L554.5156,1466.9063 Q553.7344,1466.3438 552.9063,1466.0625 Q552.0938,1465.7656 551.2969,1465.7656 Q550.4219,1465.7656 549.9375,1466.125 Q549.4688,1466.4844 549.4688,1467.1406 Q549.4688,1467.6563 549.8125,1468 Q550.1563,1468.3281 551.25,1468.7344 L552.3125,1469.1406 Q553.7969,1469.6875 554.5,1470.5938 Q555.2188,1471.5 555.2188,1472.875 Q555.2188,1474.75 554.1094,1475.6719 Q553,1476.5938 550.75,1476.5938 Q549.8281,1476.5938 548.9063,1476.375 Q547.9844,1476.1563 547.125,1475.7344 L547.125,1473.2031 Q548.0938,1473.8906 549.0156,1474.2344 Q549.9375,1474.5781 550.8281,1474.5781 Q551.7344,1474.5781 552.2344,1474.1719 Q552.7344,1473.75 552.7344,1473.0156 Q552.7344,1472.4531 552.3906,1472.0469 Q552.0625,1471.625 551.4375,1471.375 L550.2344,1470.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="78" x="571.25" y="1474.5137">urt_frtdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="445.5" x2="742.5" y1="1486.3594" y2="1486.3594"/><ellipse cx="455.5" cy="1514.1641" 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="194" x="464.5" y="1517.3745">qosDeadlineTimer : urt_osTimer_t</text><ellipse cx="455.5" cy="1526.9688" 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="157" x="464.5" y="1530.1792">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="445.5" x2="448.5" y1="1500.7617" y2="1500.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="448.5" y="1504.0698">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="739.5" x2="742.5" y1="1500.7617" y2="1500.7617"/><ellipse cx="455.5" cy="1556.5781" 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="150" x="464.5" y="1559.7886">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="445.5" x2="461.5" y1="1543.1758" y2="1543.1758"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="461.5" y="1546.4839">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="726.5" x2="742.5" y1="1543.1758" y2="1543.1758"/><ellipse cx="455.5" cy="1586.1875" 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="124" x="464.5" y="1589.3979">maxJitter : urt_delay_t</text><ellipse cx="455.5" cy="1598.9922" 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="138" x="464.5" y="1602.2026">minLatency : urt_delay_t</text><ellipse cx="455.5" cy="1611.7969" 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="464.5" y="1615.0073">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="445.5" x2="458.5" y1="1572.7852" y2="1572.7852"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="458.5" y="1576.0933">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="729.5" x2="742.5" y1="1572.7852" y2="1572.7852"/><!--MD5=[ca63c4d42025d7ce195746a6a8d32f3e]
-class urt_nrtdata_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="48" id="urt_nrtdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="114" x="779" y="1513.8594"/><ellipse cx="794" cy="1529.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M793.4844,1530.4219 Q791.625,1529.7188 790.9688,1528.9531 Q790.3281,1528.1719 790.3281,1526.8594 Q790.3281,1525.1719 791.4063,1524.2031 Q792.4844,1523.2344 794.3594,1523.2344 Q795.2188,1523.2344 796.0625,1523.4375 Q796.9219,1523.625 797.7656,1524.0156 L797.7656,1526.4063 Q796.9844,1525.8438 796.1563,1525.5625 Q795.3438,1525.2656 794.5469,1525.2656 Q793.6719,1525.2656 793.1875,1525.625 Q792.7188,1525.9844 792.7188,1526.6406 Q792.7188,1527.1563 793.0625,1527.5 Q793.4063,1527.8281 794.5,1528.2344 L795.5625,1528.6406 Q797.0469,1529.1875 797.75,1530.0938 Q798.4688,1531 798.4688,1532.375 Q798.4688,1534.25 797.3594,1535.1719 Q796.25,1536.0938 794,1536.0938 Q793.0781,1536.0938 792.1563,1535.875 Q791.2344,1535.6563 790.375,1535.2344 L790.375,1532.7031 Q791.3438,1533.3906 792.2656,1533.7344 Q793.1875,1534.0781 794.0781,1534.0781 Q794.9844,1534.0781 795.4844,1533.6719 Q795.9844,1533.25 795.9844,1532.5156 Q795.9844,1531.9531 795.6406,1531.5469 Q795.3125,1531.125 794.6875,1530.875 L793.4844,1530.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="82" x="808" y="1534.0137">urt_nrtdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="780" x2="892" y1="1545.8594" y2="1545.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="780" x2="892" y1="1553.8594" y2="1553.8594"/><!--MD5=[fc7708c915a0148c667d62e1370980fd]
-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]
+<?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="2204px" preserveAspectRatio="none" style="width:12217px;height:2204px;" version="1.1" viewBox="0 0 12217 2204" width="12217px" zoomAndPan="magnify"><defs><filter height="300%" id="f114bu1hjv8qr" 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="6047" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="87" x="6048" y="37.6611">Overview</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="6094.5" y="58.6143"/><!--MD5=[915f6a2b4bff9d90dc7327d570275f1b]
+cluster Configuration--><polygon fill="#FFFFFF" filter="url(#f114bu1hjv8qr)" points="6808.7624,1779.8594,6818.7624,1769.8594,7114.7624,1769.8594,7114.7624,2029.8594,7104.7624,2039.8594,6808.7624,2039.8594,6808.7624,1779.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7104.7624" x2="7113.7624" y1="1779.8594" y2="1770.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="6808.7624" x2="7104.7624" y1="1779.8594" y2="1779.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7104.7624" x2="7104.7624" y1="1779.8594" y2="2039.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="107" x="6904.2624" y="1795.8545">Configuration</text><!--MD5=[1cb8ced355c85ab51f1ab55883ed8585]
+cluster Primitives--><polygon fill="#FFFFFF" filter="url(#f114bu1hjv8qr)" points="5877.7624,1561.8594,5887.7624,1551.8594,7286.7624,1551.8594,7286.7624,1739.8594,7276.7624,1749.8594,5877.7624,1749.8594,5877.7624,1561.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7276.7624" x2="7285.7624" y1="1561.8594" y2="1552.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="5877.7624" x2="7276.7624" y1="1561.8594" y2="1561.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7276.7624" x2="7276.7624" y1="1561.8594" y2="1749.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="77" x="6539.7624" y="1577.8545">Primitives</text><!--MD5=[ba9da179b6f0b3bb0ea21772c5f4ec75]
+cluster OSAL--><polygon fill="#FFFFFF" filter="url(#f114bu1hjv8qr)" points="452.7624,1136.8594,462.7624,1126.8594,5731.7624,1126.8594,5731.7624,1946.8594,5721.7624,1956.8594,452.7624,1956.8594,452.7624,1136.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="5721.7624" x2="5730.7624" y1="1136.8594" y2="1127.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="452.7624" x2="5721.7624" y1="1136.8594" y2="1136.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="5721.7624" x2="5721.7624" y1="1136.8594" y2="1956.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="42" x="3067.2624" y="1152.8545">OSAL</text><!--MD5=[2e45f233f6bb64aa81ebe67fb6de8946]
+cluster condition variable--><rect fill="#FFFFFF" filter="url(#f114bu1hjv8qr)" height="435.5" style="stroke: #000000; stroke-width: 1.5;" width="726" x="4997.7624" y="1278.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="140" x="5290.7624" y="1293.3545">condition variable</text><!--MD5=[c7113df1f710ca294cbd01734aa00974]
+cluster timer--><rect fill="#FFFFFF" filter="url(#f114bu1hjv8qr)" height="429.5" style="stroke: #000000; stroke-width: 1.5;" width="798" x="4180.7624" y="1271.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="4559.2624" y="1286.8545">timer</text><!--MD5=[107bb3f79455a18bd83c75ada1ac7979]
+cluster thread--><rect fill="#FFFFFF" filter="url(#f114bu1hjv8qr)" height="587" style="stroke: #000000; stroke-width: 1.5;" width="1039" x="3133.7624" y="1158.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="3627.2624" y="1173.8545">thread</text><!--MD5=[8d74b40516bd265adb19f202ab81f40d]
+cluster events--><rect fill="#FFFFFF" filter="url(#f114bu1hjv8qr)" height="664" style="stroke: #000000; stroke-width: 1.5;" width="1642" x="1472.7624" y="1284.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="54" x="2266.7624" y="1299.8545">events</text><!--MD5=[4e1a3510868d06a507f098bb08f0dae0]
+cluster Middleware--><polygon fill="#FFFFFF" filter="url(#f114bu1hjv8qr)" points="7348.7624,88.8594,7358.7624,78.8594,12024.7624,78.8594,12024.7624,1723.3594,12014.7624,1733.3594,7348.7624,1733.3594,7348.7624,88.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="12014.7624" x2="12023.7624" y1="88.8594" y2="79.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7348.7624" x2="12014.7624" y1="88.8594" y2="88.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="12014.7624" x2="12014.7624" y1="88.8594" y2="1733.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="91" x="9637.2624" y="104.8545">Middleware</text><!--MD5=[b9de0669a29c7bc934fd916b09c39491]
+cluster node--><rect fill="#FFFFFF" filter="url(#f114bu1hjv8qr)" height="446.5" style="stroke: #000000; stroke-width: 1.5;" width="1138" x="10223.7624" y="474.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="40" x="10772.7624" y="489.8545">node</text><!--MD5=[d74e2ef346f73688f9378f6d3d42598c]
+cluster Publish-Subscribe System--><polygon fill="#FFFFFF" filter="url(#f114bu1hjv8qr)" points="7356.7624,384.8594,7366.7624,374.8594,10215.7624,374.8594,10215.7624,1715.3594,10205.7624,1725.3594,7356.7624,1725.3594,7356.7624,384.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="10205.7624" x2="10214.7624" y1="384.8594" y2="375.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7356.7624" x2="10205.7624" y1="384.8594" y2="384.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="10205.7624" x2="10205.7624" y1="384.8594" y2="1725.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="205" x="8679.7624" y="400.8545">Publish-Subscribe System</text><!--MD5=[16a3bbbe805f94d6e6ce317c08ab945e]
+cluster subscriber--><rect fill="#FFFFFF" filter="url(#f114bu1hjv8qr)" height="1310.5" style="stroke: #000000; stroke-width: 1.5;" width="1638" x="8569.7624" y="406.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="85" x="9346.2624" y="421.8545">subscriber</text><!--MD5=[94ad99421f5a0f525bc1c13a3777c25e]
+cluster real-time constraint data--><rect fill="#FFFFFF" filter="url(#f114bu1hjv8qr)" height="890.5" style="stroke: #000000; stroke-width: 1.5;" width="1622" x="8577.7624" y="818.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="194" x="9291.7624" y="833.8545">real-time constraint data</text><!--MD5=[57c3116dbac3d3a2ea35fece1cdc00f4]
+cluster SRT data--><rect fill="#FFFFFF" filter="url(#f114bu1hjv8qr)" height="410.5" style="stroke: #000000; stroke-width: 1.5;" width="390" x="9801.7624" y="1290.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="69" x="9962.2624" y="1305.8545">SRT data</text><!--MD5=[810d0f07e53ef611b6d803ef30301147]
+cluster Remote Procedure Call System--><polygon fill="#FFFFFF" filter="url(#f114bu1hjv8qr)" points="11380.7624,456.8594,11390.7624,446.8594,12016.7624,446.8594,12016.7624,911.3594,12006.7624,921.3594,11380.7624,921.3594,11380.7624,456.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="12006.7624" x2="12015.7624" y1="456.8594" y2="447.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="11380.7624" x2="12006.7624" y1="456.8594" y2="456.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="12006.7624" x2="12006.7624" y1="456.8594" y2="921.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="244" x="11572.7624" y="472.8545">Remote Procedure Call System</text><!--MD5=[e443ac33c80100c2d54e1f5fe669f6d7]
+class urt_config--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="230.4609" id="urt_config" style="stroke: #A80036; stroke-width: 1.5;" width="290" x="6816.7624" y="1801.8594"/><ellipse cx="6926.5124" cy="1817.8594" fill="#BFBFBF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6929.4812,1823.5 Q6928.903,1823.7969 6928.2624,1823.9375 Q6927.6218,1824.0938 6926.9187,1824.0938 Q6924.4187,1824.0938 6923.0905,1822.4531 Q6921.778,1820.7969 6921.778,1817.6719 Q6921.778,1814.5469 6923.0905,1812.8906 Q6924.4187,1811.2344 6926.9187,1811.2344 Q6927.6218,1811.2344 6928.2624,1811.3906 Q6928.9187,1811.5469 6929.4812,1811.8438 L6929.4812,1814.5625 Q6928.8562,1813.9844 6928.2624,1813.7188 Q6927.6687,1813.4375 6927.0437,1813.4375 Q6925.6999,1813.4375 6925.0124,1814.5156 Q6924.3249,1815.5781 6924.3249,1817.6719 Q6924.3249,1819.7656 6925.0124,1820.8438 Q6925.6999,1821.9063 6927.0437,1821.9063 Q6927.6687,1821.9063 6928.2624,1821.6406 Q6928.8562,1821.3594 6929.4812,1820.7813 L6929.4812,1823.5 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="62" x="6947.0124" y="1822.0137">urt_config</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6817.7624" x2="7105.7624" y1="1833.8594" y2="1833.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="159" x="6822.7624" y="1848.0698">URT_CFG_DELAY_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="169" x="6822.7624" y="1860.8745">URT_CFG_TOPICID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="6822.7624" y="1873.6792">URT_CFG_SERVICEID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="6822.7624" y="1886.4839">URT_CFG_NODESTAGE_WIDTH : int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6817.7624" x2="7105.7624" y1="1893.0781" y2="1893.0781"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="6822.7624" y="1907.2886">URT_CFG_DEBUG_ENABLED : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6817.7624" x2="7105.7624" y1="1913.8828" y2="1913.8828"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="6822.7624" y="1928.0933">URT_CFG_PUBSUB_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="204" x="6822.7624" y="1940.8979">URT_CFG_PUBSUB_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="278" x="6822.7624" y="1953.7026">URT_CFG_PUBSUB_QOS_DEADLINECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="252" x="6822.7624" y="1966.5073">URT_CFG_PUBSUB_QOS_RATECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="6822.7624" y="1979.312">URT_CFG_PUBSUB_QOS_JITTERCHECKS : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6817.7624" x2="7105.7624" y1="1985.9063" y2="1985.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="6822.7624" y="2000.1167">URT_CFG_RPC_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="6822.7624" y="2012.9214">URT_CFG_RPC_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="6822.7624" y="2025.7261">URT_CFG_RPC_QOS_JITTERCHECKS : bool</text><!--MD5=[9f69b6f4e23017059189983d6906a1eb]
+class urt_nodestage_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="158.4375" id="urt_nodestage_t" style="stroke: #A80036; stroke-width: 1.5;" width="216" x="6608.7624" y="1583.8594"/><ellipse cx="6661.0124" cy="1599.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6661.8562,1606.6094 L6659.403,1606.6094 L6659.403,1596.3594 L6656.2624,1596.3594 L6656.2624,1594.2188 L6664.9968,1594.2188 L6664.9968,1596.3594 L6661.8562,1596.3594 L6661.8562,1606.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="103" x="6681.5124" y="1604.0137">urt_nodestage_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6609.7624" x2="6823.7624" y1="1615.8594" y2="1615.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="6614.7624" y="1646.8745">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6609.7624" x2="6616.2624" y1="1630.2617" y2="1630.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="201" x="6616.2624" y="1633.5698">URT_CFG_NODESTAGE_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6817.2624" x2="6823.7624" y1="1630.2617" y2="1630.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6614.7624" y="1676.4839">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6609.7624" x2="6612.7624" y1="1659.8711" y2="1659.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="6612.7624" y="1663.1792">URT_CFG_NODESTAGE_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6820.7624" x2="6823.7624" y1="1659.8711" y2="1659.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6614.7624" y="1706.0933">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6609.7624" x2="6612.7624" y1="1689.4805" y2="1689.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="6612.7624" y="1692.7886">URT_CFG_NODESTAGE_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6820.7624" x2="6823.7624" y1="1689.4805" y2="1689.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6614.7624" y="1735.7026">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6609.7624" x2="6612.7624" y1="1719.0898" y2="1719.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="6612.7624" y="1722.3979">URT_CFG_NODESTAGE_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6820.7624" x2="6823.7624" y1="1719.0898" y2="1719.0898"/><!--MD5=[a55671f9c3a4eb2d749fd774fc81a82b]
+class urt_topicid_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="158.4375" id="urt_topicid_t" style="stroke: #A80036; stroke-width: 1.5;" width="191" x="6166.2624" y="1583.8594"/><ellipse cx="6219.0124" cy="1599.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6219.8562,1606.6094 L6217.403,1606.6094 L6217.403,1596.3594 L6214.2624,1596.3594 L6214.2624,1594.2188 L6222.9968,1594.2188 L6222.9968,1596.3594 L6219.8562,1596.3594 L6219.8562,1606.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="77" x="6239.5124" y="1604.0137">urt_topicid_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6167.2624" x2="6356.2624" y1="1615.8594" y2="1615.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="6172.2624" y="1646.8745">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6167.2624" x2="6173.7624" y1="1630.2617" y2="1630.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="6173.7624" y="1633.5698">URT_CFG_TOPICID_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6349.7624" x2="6356.2624" y1="1630.2617" y2="1630.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6172.2624" y="1676.4839">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6167.2624" x2="6170.2624" y1="1659.8711" y2="1659.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="6170.2624" y="1663.1792">URT_CFG_TOPICID_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6353.2624" x2="6356.2624" y1="1659.8711" y2="1659.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6172.2624" y="1706.0933">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6167.2624" x2="6170.2624" y1="1689.4805" y2="1689.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="6170.2624" y="1692.7886">URT_CFG_TOPICID_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6353.2624" x2="6356.2624" y1="1689.4805" y2="1689.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6172.2624" y="1735.7026">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6167.2624" x2="6170.2624" y1="1719.0898" y2="1719.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="6170.2624" y="1722.3979">URT_CFG_TOPICID_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6353.2624" x2="6356.2624" y1="1719.0898" y2="1719.0898"/><!--MD5=[4d8326c7af3a397210cbde406c7c860c]
+class urt_serviceid_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="158.4375" id="urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.5;" width="204" x="6859.7624" y="1583.8594"/><ellipse cx="6912.5124" cy="1599.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6913.3562,1606.6094 L6910.903,1606.6094 L6910.903,1596.3594 L6907.7624,1596.3594 L6907.7624,1594.2188 L6916.4968,1594.2188 L6916.4968,1596.3594 L6913.3562,1596.3594 L6913.3562,1606.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="90" x="6933.0124" y="1604.0137">urt_serviceid_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6860.7624" x2="7062.7624" y1="1615.8594" y2="1615.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="6865.7624" y="1646.8745">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6860.7624" x2="6867.2624" y1="1630.2617" y2="1630.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="6867.2624" y="1633.5698">URT_CFG_SERVICEID_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7056.2624" x2="7062.7624" y1="1630.2617" y2="1630.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6865.7624" y="1676.4839">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6860.7624" x2="6863.7624" y1="1659.8711" y2="1659.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="6863.7624" y="1663.1792">URT_CFG_SERVICEID_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7059.7624" x2="7062.7624" y1="1659.8711" y2="1659.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6865.7624" y="1706.0933">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6860.7624" x2="6863.7624" y1="1689.4805" y2="1689.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="6863.7624" y="1692.7886">URT_CFG_SERVICEID_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7059.7624" x2="7062.7624" y1="1689.4805" y2="1689.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6865.7624" y="1735.7026">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6860.7624" x2="6863.7624" y1="1719.0898" y2="1719.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="6863.7624" y="1722.3979">URT_CFG_SERVICEID_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7059.7624" x2="7062.7624" y1="1719.0898" y2="1719.0898"/><!--MD5=[e750dab3ce4ebe0433cc930181355272]
+class urt_status_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="73.6094" id="urt_status_t" style="stroke: #A80036; stroke-width: 1.5;" width="180" x="7098.7624" y="1625.8594"/><ellipse cx="7147.0124" cy="1641.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7147.8562,1648.6094 L7145.403,1648.6094 L7145.403,1638.3594 L7142.2624,1638.3594 L7142.2624,1636.2188 L7150.9968,1636.2188 L7150.9968,1638.3594 L7147.8562,1638.3594 L7147.8562,1648.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="7167.5124" y="1646.0137">urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7099.7624" x2="7277.7624" y1="1657.8594" y2="1657.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="147" x="7104.7624" y="1672.0698">URT_STATUS_OK = 0x0..0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="168" x="7104.7624" y="1684.8745">URT_STATUS_ERROR = 0x8..0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7099.7624" x2="7277.7624" y1="1691.4688" y2="1691.4688"/><!--MD5=[15452fea434e71f16c7de0feaca2b066]
+class urt_delay_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="99.2188" id="urt_delay_t" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="6392.2624" y="1613.3594"/><ellipse cx="6444.5124" cy="1629.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6445.3562,1636.1094 L6442.903,1636.1094 L6442.903,1625.8594 L6439.7624,1625.8594 L6439.7624,1623.7188 L6448.4968,1623.7188 L6448.4968,1625.8594 L6445.3562,1625.8594 L6445.3562,1636.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="68" x="6465.0124" y="1633.5137">urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6393.2624" x2="6572.2624" y1="1645.3594" y2="1645.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6398.2624" y="1676.3745">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6393.2624" x2="6396.2624" y1="1659.7617" y2="1659.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="6396.2624" y="1663.0698">URT_CFG_DELAY_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6569.2624" x2="6572.2624" y1="1659.7617" y2="1659.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6398.2624" y="1705.9839">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6393.2624" x2="6396.2624" y1="1689.3711" y2="1689.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="6396.2624" y="1692.6792">URT_CFG_DELAY_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6569.2624" x2="6572.2624" y1="1689.3711" y2="1689.3711"/><!--MD5=[f106a25c06a671b3918b1a8f37571a4d]
+class urt_debug--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="245" x="5886.2624" y="1632.3594"/><ellipse cx="5972.5124" cy="1648.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5976.7468,1644.125 L5971.4655,1644.125 L5971.4655,1646.7969 L5976.2624,1646.7969 L5976.2624,1648.9531 L5971.4655,1648.9531 L5971.4655,1654.3594 L5969.028,1654.3594 L5969.028,1641.9688 L5976.7468,1641.9688 L5976.7468,1644.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="5993.0124" y="1652.5137">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5887.2624" x2="6130.2624" y1="1664.3594" y2="1664.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5887.2624" x2="6130.2624" y1="1672.3594" y2="1672.3594"/><ellipse cx="5897.2624" cy="1683.3594" 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="5906.2624" y="1686.5698">urtDebugAssert(condition : bool) : void</text><!--MD5=[3677786d1f00795918091b0110bfa4af]
+class urt_osTime_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="425" x="1039.2624" y="1311.8594"/><ellipse cx="1208.0124" cy="1327.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1208.8562,1334.6094 L1206.403,1334.6094 L1206.403,1324.3594 L1203.2624,1324.3594 L1203.2624,1322.2188 L1211.9968,1322.2188 L1211.9968,1324.3594 L1208.8562,1324.3594 L1208.8562,1334.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="1228.5124" y="1332.0137">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1040.2624" x2="1463.2624" y1="1343.8594" y2="1343.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1040.2624" x2="1463.2624" y1="1351.8594" y2="1351.8594"/><ellipse cx="1050.2624" cy="1362.8594" 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="1059.2624" y="1366.0698">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="1050.2624" cy="1375.6641" 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="1059.2624" y="1378.8745">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="1050.2624" cy="1388.4688" 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="1059.2624" y="1391.6792">urtTimeAddUs (time : urt_osTime_t*, offset : uint32_t) : urt_osTime_t*</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]
+class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="705.7624" y="1305.3594"/><ellipse cx="807.0124" cy="1321.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M807.8562,1328.1094 L805.403,1328.1094 L805.403,1317.8594 L802.2624,1317.8594 L802.2624,1315.7188 L810.9968,1315.7188 L810.9968,1317.8594 L807.8562,1317.8594 L807.8562,1328.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="827.5124" y="1325.5137">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="706.7624" x2="1002.7624" y1="1337.3594" y2="1337.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="706.7624" x2="1002.7624" y1="1345.3594" y2="1345.3594"/><ellipse cx="716.7624" cy="1356.3594" 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="725.7624" y="1359.5698">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="716.7624" cy="1369.1641" 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="725.7624" y="1372.3745">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="716.7624" cy="1381.9688" 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="725.7624" y="1385.1792">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="716.7624" cy="1394.7734" 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="725.7624" y="1397.9839">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--MD5=[0cf29100c96c506429a28b45d347cc92]
+class urt_streams--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="209" x="461.2624" y="1317.8594"/><ellipse cx="524.0124" cy="1333.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M528.2468,1329.625 L522.9655,1329.625 L522.9655,1332.2969 L527.7624,1332.2969 L527.7624,1334.4531 L522.9655,1334.4531 L522.9655,1339.8594 L520.528,1339.8594 L520.528,1327.4688 L528.2468,1327.4688 L528.2468,1329.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="544.5124" y="1338.0137">urt_streams</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="462.2624" x2="669.2624" y1="1349.8594" y2="1349.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="462.2624" x2="669.2624" y1="1357.8594" y2="1357.8594"/><ellipse cx="472.2624" cy="1368.8594" 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="481.2624" y="1372.0698">urtPrintf(fmt : char*, ... ) : int</text><ellipse cx="472.2624" cy="1381.6641" 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="481.2624" y="1384.8745">urtErrPrintf(fmt : char*, ... ) : int</text><!--MD5=[52fa11869cb40c93fa7702378ddd839e]
+class urt_osCondvarWaitStatus_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="86.4141" id="urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="5225.7624" y="1619.8594"/><ellipse cx="5272.0124" cy="1635.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5276.1218,1641.8594 L5268.403,1641.8594 L5268.403,1629.4688 L5276.1218,1629.4688 L5276.1218,1631.625 L5270.8562,1631.625 L5270.8562,1634.2969 L5275.6218,1634.2969 L5275.6218,1636.4531 L5270.8562,1636.4531 L5270.8562,1639.7031 L5276.1218,1639.7031 L5276.1218,1641.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="169" x="5292.5124" y="1640.0137">urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5226.7624" x2="5494.7624" y1="1651.8594" y2="1651.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="5231.7624" y="1666.0698">URT_CONDVAR_WAITSTATUS_SIGNAL = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="5231.7624" y="1678.8745">URT_CONDVAR_WAITSTATUS_BROADCAST = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="5231.7624" y="1691.6792">URT_CONDVAR_WAITSTATUS_TIMEOUT = 0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5226.7624" x2="5494.7624" y1="1698.2734" y2="1698.2734"/><!--MD5=[004fc5dee471033e8e4138c1c73f0692]
+class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="99.2188" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="5005.7624" y="1305.3594"/><ellipse cx="5306.0124" cy="1321.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5306.8562,1328.1094 L5304.403,1328.1094 L5304.403,1317.8594 L5301.2624,1317.8594 L5301.2624,1315.7188 L5309.9968,1315.7188 L5309.9968,1317.8594 L5306.8562,1317.8594 L5306.8562,1328.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="5326.5124" y="1325.5137">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5006.7624" x2="5714.7624" y1="1337.3594" y2="1337.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5006.7624" x2="5714.7624" y1="1345.3594" y2="1345.3594"/><ellipse cx="5016.7624" cy="1356.3594" 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="5025.7624" y="1359.5698">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="5016.7624" cy="1369.1641" 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="5025.7624" y="1372.3745">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="5016.7624" cy="1381.9688" 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="5025.7624" y="1385.1792">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="5016.7624" cy="1394.7734" 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="5025.7624" y="1397.9839">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(#f114bu1hjv8qr)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="4436.7624" y="1632.3594"/><ellipse cx="4507.5124" cy="1648.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4508.3562,1655.1094 L4505.903,1655.1094 L4505.903,1644.8594 L4502.7624,1644.8594 L4502.7624,1642.7188 L4511.4968,1642.7188 L4511.4968,1644.8594 L4508.3562,1644.8594 L4508.3562,1655.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="4528.0124" y="1652.5137">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4437.7624" x2="4721.7624" y1="1664.3594" y2="1664.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4437.7624" x2="4721.7624" y1="1672.3594" y2="1672.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="4442.7624" y="1686.5698">urt_osTimerCallback_t (parameter : void*) : void</text><!--MD5=[0b340d7b925b1eab6a1b7e084f68a7c2]
+class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="112.0234" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="782" x="4188.7624" y="1298.8594"/><ellipse cx="4533.5124" cy="1314.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4534.3562,1321.6094 L4531.903,1321.6094 L4531.903,1311.3594 L4528.7624,1311.3594 L4528.7624,1309.2188 L4537.4968,1309.2188 L4537.4968,1311.3594 L4534.3562,1311.3594 L4534.3562,1321.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="4554.0124" y="1319.0137">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4189.7624" x2="4969.7624" y1="1330.8594" y2="1330.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4189.7624" x2="4969.7624" y1="1338.8594" y2="1338.8594"/><ellipse cx="4199.7624" cy="1349.8594" 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="4208.7624" y="1353.0698">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="4199.7624" cy="1362.6641" 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="4208.7624" y="1365.8745">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="4199.7624" cy="1375.4688" 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="4208.7624" y="1378.6792">urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="4199.7624" cy="1388.2734" 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="4208.7624" y="1391.4839">urtTimerReset (timer : urt_osTimer_t*) : urt_status_t</text><ellipse cx="4199.7624" cy="1401.0781" 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="4208.7624" y="1404.2886">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--MD5=[86c16d91227b9a9ec3b6b9b0285de4e9]
+class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="3690.2624" y="1587.8594"/><ellipse cx="3726.4124" cy="1603.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3727.2562,1610.6094 L3724.803,1610.6094 L3724.803,1600.3594 L3721.6624,1600.3594 L3721.6624,1598.2188 L3730.3968,1598.2188 L3730.3968,1600.3594 L3727.2562,1600.3594 L3727.2562,1610.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="3745.1124" y="1608.0137">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3691.2624" x2="3886.2624" y1="1619.8594" y2="1619.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="3696.2624" y="1634.0698">URT_THREAD_PRIO_LOW_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="3696.2624" y="1646.8745">URT_THREAD_PRIO_LOW_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="3696.2624" y="1659.6792">URT_THREAD_PRIO_NORMAL_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="3696.2624" y="1672.4839">URT_THREAD_PRIO_NORMAL_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="3696.2624" y="1685.2886">URT_THREAD_PRIO_HIGH_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="3696.2624" y="1698.0933">URT_THREAD_PRIO_HIGH_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="3696.2624" y="1710.8979">URT_THREAD_PRIO_RT_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="3696.2624" y="1723.7026">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3691.2624" x2="3886.2624" y1="1730.2969" y2="1730.2969"/><!--MD5=[69d8aab9aa387a2f5052ea3da80e80ea]
+class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="3141.7624" y="1632.3594"/><ellipse cx="3189.5124" cy="1648.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3190.3562,1655.1094 L3187.903,1655.1094 L3187.903,1644.8594 L3184.7624,1644.8594 L3184.7624,1642.7188 L3193.4968,1642.7188 L3193.4968,1644.8594 L3190.3562,1644.8594 L3190.3562,1655.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="3210.0124" y="1652.5137">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3142.7624" x2="3392.7624" y1="1664.3594" y2="1664.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3142.7624" x2="3392.7624" y1="1672.3594" y2="1672.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="3147.7624" y="1686.5698">urt_osThreadFunction_t (arg : void*) : void</text><!--MD5=[ab5f611d45c3fa10609c33f780d8c3e1]
+class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="3922.7624" y="1625.8594"/><ellipse cx="3944.5124" cy="1641.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3948.6218,1647.8594 L3940.903,1647.8594 L3940.903,1635.4688 L3948.6218,1635.4688 L3948.6218,1637.625 L3943.3562,1637.625 L3943.3562,1640.2969 L3948.1218,1640.2969 L3948.1218,1642.4531 L3943.3562,1642.4531 L3943.3562,1645.7031 L3948.6218,1645.7031 L3948.6218,1647.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="3960.0124" y="1646.0137">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3923.7624" x2="4163.7624" y1="1657.8594" y2="1657.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="3928.7624" y="1672.0698">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="3928.7624" y="1684.8745">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3923.7624" x2="4163.7624" y1="1691.4688" y2="1691.4688"/><!--MD5=[47d14ad2c233fae1b32b8d0a283e820a]
+class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="137.6328" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="3428.7624" y="1593.8594"/><ellipse cx="3473.5124" cy="1609.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3477.6218,1615.8594 L3469.903,1615.8594 L3469.903,1603.4688 L3477.6218,1603.4688 L3477.6218,1605.625 L3472.3562,1605.625 L3472.3562,1608.2969 L3477.1218,1608.2969 L3477.1218,1610.4531 L3472.3562,1610.4531 L3472.3562,1613.7031 L3477.6218,1613.7031 L3477.6218,1615.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="3494.0124" y="1614.0137">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3429.7624" x2="3653.7624" y1="1625.8594" y2="1625.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="3434.7624" y="1640.0698">URT_THREAD_STATE_INACTIVE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="3434.7624" y="1652.8745">URT_THREAD_STATE_RUNNING = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="3434.7624" y="1665.6792">URT_THREAD_STATE_READY = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="3434.7624" y="1678.4839">URT_THREAD_STATE_SLEEPING = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="3434.7624" y="1691.2886">URT_THREAD_STATE_SUSPENDED = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="3434.7624" y="1704.0933">URT_THREAD_STATE_WAITING = 5</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="3434.7624" y="1716.8979">URT_THREAD_STATE_TERMINATED = 6</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3429.7624" x2="3653.7624" y1="1723.4922" y2="1723.4922"/><!--MD5=[0a16224ede9ffa9bb2d34e085a076e6d]
+class urt_osThread_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="337.7031" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="560" x="3551.7624" y="1185.8594"/><ellipse cx="3780.5124" cy="1201.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3781.3562,1208.6094 L3778.903,1208.6094 L3778.903,1198.3594 L3775.7624,1198.3594 L3775.7624,1196.2188 L3784.4968,1196.2188 L3784.4968,1198.3594 L3781.3562,1198.3594 L3781.3562,1208.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="3801.0124" y="1206.0137">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3552.7624" x2="4110.7624" y1="1217.8594" y2="1217.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="3557.7624" y="1232.0698">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="3557.7624" y="1244.8745">URT_THREAD_SSLEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="3557.7624" y="1257.6792">URT_THREAD_MSLEEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="3557.7624" y="1270.4839">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="3552.7624" x2="4110.7624" y1="1277.0781" y2="1277.0781"/><ellipse cx="3562.7624" cy="1288.0781" 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="3571.7624" y="1291.2886">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3552.7624" x2="4110.7624" y1="1297.8828" y2="1297.8828"/><ellipse cx="3562.7624" cy="1308.8828" 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="3571.7624" y="1312.0933">urtThreadInit (memory : void*, size : size_t, func : urt_osThreadFunction_t*) : urt_osThread_t*</text><ellipse cx="3562.7624" cy="1321.6875" 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="3571.7624" y="1324.8979">urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void</text><ellipse cx="3562.7624" cy="1334.4922" 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="3571.7624" y="1337.7026">urtThreadYield (void) : void</text><ellipse cx="3562.7624" cy="1347.2969" 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="3571.7624" y="1350.5073">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="3562.7624" cy="1360.1016" 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="3571.7624" y="1363.312">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="3562.7624" cy="1372.9063" 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="3571.7624" y="1376.1167">urtThreadSuspend (thread : urt_osThread_t*) : void</text><ellipse cx="3562.7624" cy="1385.7109" 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="3571.7624" y="1388.9214">urtThreadResume (thread : urt_osThread_t*) : urt_status_t</text><ellipse cx="3562.7624" cy="1398.5156" 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="3571.7624" y="1401.7261">urtThreadSleep (seconds : float) : void</text><ellipse cx="3562.7624" cy="1411.3203" 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="3571.7624" y="1414.5308">urtThreadSSleep (seconds : urt_delay_t) : void</text><ellipse cx="3562.7624" cy="1424.125" 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="3571.7624" y="1427.3354">urtThreadMSleep (milliseconds : urt_delay_t) : void</text><ellipse cx="3562.7624" cy="1436.9297" 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="3571.7624" y="1440.1401">urtThreadUSleep (microseconds : urt_delay_t) : void</text><ellipse cx="3562.7624" cy="1449.7344" 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="3571.7624" y="1452.9448">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="3562.7624" cy="1462.5391" 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="3571.7624" y="1465.7495">urtThreadExit (void) : void</text><ellipse cx="3562.7624" cy="1475.3438" 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="3571.7624" y="1478.5542">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="3562.7624" cy="1488.1484" 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="3571.7624" y="1491.3589">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="3562.7624" cy="1500.9531" 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="3571.7624" y="1504.1636">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="3562.7624" cy="1513.7578" 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="3571.7624" y="1516.9683">urtThreadGetSelf (void) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]
+class urt_osEventMask_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="60.8047" id="urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.5;" width="280" x="2826.7624" y="1632.3594"/><ellipse cx="2904.0124" cy="1648.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2904.8562,1655.1094 L2902.403,1655.1094 L2902.403,1644.8594 L2899.2624,1644.8594 L2899.2624,1642.7188 L2907.9968,1642.7188 L2907.9968,1644.8594 L2904.8562,1644.8594 L2904.8562,1655.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="2924.5124" y="1652.5137">urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2827.7624" x2="3105.7624" y1="1664.3594" y2="1664.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="268" x="2832.7624" y="1678.5698">URT_EVENTMASK_MAXPRIO : urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2827.7624" x2="3105.7624" y1="1685.1641" y2="1685.1641"/><!--MD5=[dc1cc33af288560680c15dec1e56eda0]
+class urt_osEventFlags_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="48" id="urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="2235.7624" y="1892.8594"/><ellipse cx="2250.7624" cy="1908.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2251.6062,1915.6094 L2249.153,1915.6094 L2249.153,1905.3594 L2246.0124,1905.3594 L2246.0124,1903.2188 L2254.7468,1903.2188 L2254.7468,1905.3594 L2251.6062,1905.3594 L2251.6062,1915.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="2264.7624" y="1913.0137">urt_osEventFlags_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2236.7624" x2="2384.7624" y1="1924.8594" y2="1924.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2236.7624" x2="2384.7624" y1="1932.8594" y2="1932.8594"/><!--MD5=[e2bbbd64e6979bf7b755747a6c0ba948]
+class urt_osEventWait_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="86.4141" id="urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.5;" width="162" x="2629.7624" y="1619.8594"/><ellipse cx="2652.8624" cy="1635.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2656.9718,1641.8594 L2649.253,1641.8594 L2649.253,1629.4688 L2656.9718,1629.4688 L2656.9718,1631.625 L2651.7062,1631.625 L2651.7062,1634.2969 L2656.4718,1634.2969 L2656.4718,1636.4531 L2651.7062,1636.4531 L2651.7062,1639.7031 L2656.9718,1639.7031 L2656.9718,1641.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="2668.6624" y="1640.0137">urt_osEventWait_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2630.7624" x2="2790.7624" y1="1651.8594" y2="1651.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="2635.7624" y="1666.0698">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="2635.7624" y="1678.8745">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="2635.7624" y="1691.6792">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2630.7624" x2="2790.7624" y1="1698.2734" y2="1698.2734"/><!--MD5=[d054ac2eda12ce4b1fe5a18c9be716c1]
+class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="2063.7624" y="1619.8594"/><ellipse cx="2239.0124" cy="1635.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2239.8562,1642.6094 L2237.403,1642.6094 L2237.403,1632.3594 L2234.2624,1632.3594 L2234.2624,1630.2188 L2242.9968,1630.2188 L2242.9968,1632.3594 L2239.8562,1632.3594 L2239.8562,1642.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="2259.5124" y="1640.0137">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2064.7624" x2="2556.7624" y1="1651.8594" y2="1651.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2064.7624" x2="2556.7624" y1="1659.8594" y2="1659.8594"/><ellipse cx="2074.7624" cy="1670.8594" 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="2083.7624" y="1674.0698">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="2074.7624" cy="1683.6641" 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="2083.7624" y="1686.8745">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="2074.7624" cy="1696.4688" 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="2083.7624" y="1699.6792">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]
+class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="1481.2624" y="1625.8594"/><ellipse cx="1686.0124" cy="1641.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1686.8562,1648.6094 L1684.403,1648.6094 L1684.403,1638.3594 L1681.2624,1638.3594 L1681.2624,1636.2188 L1689.9968,1636.2188 L1689.9968,1638.3594 L1686.8562,1638.3594 L1686.8562,1648.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="1706.5124" y="1646.0137">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1482.2624" x2="2027.2624" y1="1657.8594" y2="1657.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1482.2624" x2="2027.2624" y1="1665.8594" y2="1665.8594"/><ellipse cx="1492.2624" cy="1676.8594" 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="1501.2624" y="1680.0698">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="1492.2624" cy="1689.6641" 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="1501.2624" y="1692.8745">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--MD5=[04a3b5a37031e2a4d723f19d8adf86f5]
+class urt_events--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="890" x="2216.7624" y="1311.8594"/><ellipse cx="2624.5124" cy="1327.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2628.7468,1323.625 L2623.4655,1323.625 L2623.4655,1326.2969 L2628.2624,1326.2969 L2628.2624,1328.4531 L2623.4655,1328.4531 L2623.4655,1333.8594 L2621.028,1333.8594 L2621.028,1321.4688 L2628.7468,1321.4688 L2628.7468,1323.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="2645.0124" y="1332.0137">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2217.7624" x2="3105.7624" y1="1343.8594" y2="1343.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2217.7624" x2="3105.7624" y1="1351.8594" y2="1351.8594"/><ellipse cx="2227.7624" cy="1362.8594" 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="2236.7624" y="1366.0698">urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : urt_status_t</text><ellipse cx="2227.7624" cy="1375.6641" 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="2236.7624" y="1378.8745">urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : urt_status_t</text><ellipse cx="2227.7624" cy="1388.4688" 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="2236.7624" y="1391.6792">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(#f114bu1hjv8qr)" height="256.0703" id="urt_core_t" style="stroke: #A80036; stroke-width: 1.5;" width="515" x="7357.2624" y="110.8594"/><ellipse cx="7579.0124" cy="126.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7578.4968,127.4219 Q7576.6374,126.7188 7575.9812,125.9531 Q7575.3405,125.1719 7575.3405,123.8594 Q7575.3405,122.1719 7576.4187,121.2031 Q7577.4968,120.2344 7579.3718,120.2344 Q7580.2312,120.2344 7581.0749,120.4375 Q7581.9343,120.625 7582.778,121.0156 L7582.778,123.4063 Q7581.9968,122.8438 7581.1687,122.5625 Q7580.3562,122.2656 7579.5593,122.2656 Q7578.6843,122.2656 7578.1999,122.625 Q7577.7312,122.9844 7577.7312,123.6406 Q7577.7312,124.1563 7578.0749,124.5 Q7578.4187,124.8281 7579.5124,125.2344 L7580.5749,125.6406 Q7582.0593,126.1875 7582.7624,127.0938 Q7583.4812,128 7583.4812,129.375 Q7583.4812,131.25 7582.3718,132.1719 Q7581.2624,133.0938 7579.0124,133.0938 Q7578.0905,133.0938 7577.1687,132.875 Q7576.2468,132.6563 7575.3874,132.2344 L7575.3874,129.7031 Q7576.3562,130.3906 7577.278,130.7344 Q7578.1999,131.0781 7579.0905,131.0781 Q7579.9968,131.0781 7580.4968,130.6719 Q7580.9968,130.25 7580.9968,129.5156 Q7580.9968,128.9531 7580.653,128.5469 Q7580.3249,128.125 7579.6999,127.875 L7578.4968,127.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="63" x="7599.5124" y="131.0137">urt_core_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7358.2624" x2="7871.2624" y1="142.8594" y2="142.8594"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7365.2624" y="150.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="7377.2624" y="157.0698">_nodes : urt_node_t*</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7365.2624" y="163.6641"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="192" x="7377.2624" y="169.8745">_evtSource : urt_osEventSource_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7365.2624" y="176.4688"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="7377.2624" y="182.6792">_lock : urt_osMutex_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7365.2624" y="206.0781"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="117" x="7377.2624" y="212.2886">_topics : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7358.2624" x2="7509.7624" y1="195.6758" y2="195.6758"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7509.7624" y="198.9839">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7719.7624" x2="7871.2624" y1="195.6758" y2="195.6758"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7365.2624" y="235.6875"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="145" x="7377.2624" y="241.8979">_services : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7358.2624" x2="7522.2624" y1="225.2852" y2="225.2852"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="7522.2624" y="228.5933">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7707.2624" x2="7871.2624" y1="225.2852" y2="225.2852"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7358.2624" x2="7871.2624" y1="248.4922" y2="248.4922"/><ellipse cx="7368.2624" 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="7377.2624" y="262.7026">urtCoreInit (void) : urt_status_t</text><ellipse cx="7368.2624" 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="7377.2624" y="275.5073">urtCoreStartNodes (void) : urt_status_t</text><ellipse cx="7368.2624" 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="7377.2624" y="288.312">urtCoreSynchronizeNodes (node : urt_node_t*, stage : urt_nodestage_t) : urt_status_t</text><ellipse cx="7368.2624" 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="7377.2624" y="301.1167">urtCoreStopNodes (void) : urt_status_t</text><ellipse cx="7368.2624" cy="327.5156" 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="299" x="7377.2624" y="330.7261">urtCoreRetrieveTopic (id : urt_topicid_t) : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7358.2624" x2="7509.7624" y1="314.1133" y2="314.1133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7509.7624" y="317.4214">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7719.7624" x2="7871.2624" y1="314.1133" y2="314.1133"/><ellipse cx="7368.2624" cy="357.125" 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="339" x="7377.2624" y="360.3354">urtCoreRetrieveService (id : urt_serviceid_t) : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7358.2624" x2="7522.2624" y1="343.7227" y2="343.7227"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="7522.2624" y="347.0308">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7707.2624" x2="7871.2624" y1="343.7227" y2="343.7227"/><!--MD5=[a7dea26996a1231aa68629b332780450]
+class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="10880.7624" y="852.3594"/><ellipse cx="11026.5124" cy="868.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11027.3562,875.1094 L11024.903,875.1094 L11024.903,864.8594 L11021.7624,864.8594 L11021.7624,862.7188 L11030.4968,862.7188 L11030.4968,864.8594 L11027.3562,864.8594 L11027.3562,875.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="11047.0124" y="872.5137">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10881.7624" x2="11335.7624" y1="884.3594" y2="884.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="10881.7624" x2="11335.7624" y1="892.3594" y2="892.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="10886.7624" y="906.5698">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]
+class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="10231.7624" y="852.3594"/><ellipse cx="10460.0124" cy="868.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10460.8562,875.1094 L10458.403,875.1094 L10458.403,864.8594 L10455.2624,864.8594 L10455.2624,862.7188 L10463.9968,862.7188 L10463.9968,864.8594 L10460.8562,864.8594 L10460.8562,875.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="10480.5124" y="872.5137">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10232.7624" x2="10844.7624" y1="884.3594" y2="884.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="10232.7624" x2="10844.7624" y1="892.3594" y2="892.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="10237.7624" y="906.5698">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(#f114bu1hjv8qr)" height="176.0469" id="urt_node_t" style="stroke: #A80036; stroke-width: 1.5;" width="1104" x="10231.7624" y="501.8594"/><ellipse cx="10746.0124" cy="517.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10745.4968,518.4219 Q10743.6374,517.7188 10742.9812,516.9531 Q10742.3405,516.1719 10742.3405,514.8594 Q10742.3405,513.1719 10743.4187,512.2031 Q10744.4968,511.2344 10746.3718,511.2344 Q10747.2312,511.2344 10748.0749,511.4375 Q10748.9343,511.625 10749.778,512.0156 L10749.778,514.4063 Q10748.9968,513.8438 10748.1687,513.5625 Q10747.3562,513.2656 10746.5593,513.2656 Q10745.6843,513.2656 10745.1999,513.625 Q10744.7312,513.9844 10744.7312,514.6406 Q10744.7312,515.1563 10745.0749,515.5 Q10745.4187,515.8281 10746.5124,516.2344 L10747.5749,516.6406 Q10749.0593,517.1875 10749.7624,518.0938 Q10750.4812,519 10750.4812,520.375 Q10750.4812,522.25 10749.3718,523.1719 Q10748.2624,524.0938 10746.0124,524.0938 Q10745.0905,524.0938 10744.1687,523.875 Q10743.2468,523.6563 10742.3874,523.2344 L10742.3874,520.7031 Q10743.3562,521.3906 10744.278,521.7344 Q10745.1999,522.0781 10746.0905,522.0781 Q10746.9968,522.0781 10747.4968,521.6719 Q10747.9968,521.25 10747.9968,520.5156 Q10747.9968,519.9531 10747.653,519.5469 Q10747.3249,519.125 10746.6999,518.875 L10745.4968,518.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="67" x="10766.5124" y="522.0137">urt_node_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10232.7624" x2="11334.7624" y1="533.8594" y2="533.8594"/><ellipse cx="10242.7624" cy="544.8594" 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="10251.7624" y="548.0698">next : urt_node_t*</text><ellipse cx="10242.7624" cy="557.6641" 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="10251.7624" y="560.8745">thread : urt_osThread_t*</text><ellipse cx="10242.7624" cy="570.4688" 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="10251.7624" y="573.6792">setupcallback : urt_nodeSetupCallback_t*</text><ellipse cx="10242.7624" cy="583.2734" 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="10251.7624" y="586.4839">setupparams : void*</text><ellipse cx="10242.7624" cy="596.0781" 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="10251.7624" y="599.2886">loopcallback : urt_nodeLoopCallback_t*</text><ellipse cx="10242.7624" cy="608.8828" 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="10251.7624" y="612.0933">loopparams : void*</text><ellipse cx="10242.7624" cy="621.6875" 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="10251.7624" y="624.8979">stage : urt_nodestage_t</text><ellipse cx="10242.7624" cy="634.4922" 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="10251.7624" y="637.7026">listener : urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10232.7624" x2="11334.7624" y1="644.2969" y2="644.2969"/><rect fill="#F24D5C" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="10239.7624" y="652.2969"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="179" x="10251.7624" y="658.5073">_main : urt_osThreadFunction_t</text><ellipse cx="10242.7624" cy="668.1016" 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="10251.7624" y="671.312">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(#f114bu1hjv8qr)" height="154.4375" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="451" x="7364.2624" y="805.8594"/><ellipse cx="7539.5124" cy="821.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7538.9968,822.4219 Q7537.1374,821.7188 7536.4812,820.9531 Q7535.8405,820.1719 7535.8405,818.8594 Q7535.8405,817.1719 7536.9187,816.2031 Q7537.9968,815.2344 7539.8718,815.2344 Q7540.7312,815.2344 7541.5749,815.4375 Q7542.4343,815.625 7543.278,816.0156 L7543.278,818.4063 Q7542.4968,817.8438 7541.6687,817.5625 Q7540.8562,817.2656 7540.0593,817.2656 Q7539.1843,817.2656 7538.6999,817.625 Q7538.2312,817.9844 7538.2312,818.6406 Q7538.2312,819.1563 7538.5749,819.5 Q7538.9187,819.8281 7540.0124,820.2344 L7541.0749,820.6406 Q7542.5593,821.1875 7543.2624,822.0938 Q7543.9812,823 7543.9812,824.375 Q7543.9812,826.25 7542.8718,827.1719 Q7541.7624,828.0938 7539.5124,828.0938 Q7538.5905,828.0938 7537.6687,827.875 Q7536.7468,827.6563 7535.8874,827.2344 L7535.8874,824.7031 Q7536.8562,825.3906 7537.778,825.7344 Q7538.6999,826.0781 7539.5905,826.0781 Q7540.4968,826.0781 7540.9968,825.6719 Q7541.4968,825.25 7541.4968,824.5156 Q7541.4968,823.9531 7541.153,823.5469 Q7540.8249,823.125 7540.1999,822.875 L7538.9968,822.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="7560.0124" y="826.0137">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7365.2624" x2="7814.2624" y1="837.8594" y2="837.8594"/><ellipse cx="7375.2624" cy="848.8594" 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="7384.2624" y="852.0698">next : urt_message_t*</text><ellipse cx="7375.2624" cy="861.6641" 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="7384.2624" y="864.8745">payload : void*</text><ellipse cx="7375.2624" cy="874.4688" 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="7384.2624" y="877.6792">originTime : urt_osTime_t</text><ellipse cx="7375.2624" cy="887.2734" 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="7384.2624" y="890.4839">lock : urt_osMutex_t</text><ellipse cx="7375.2624" cy="900.0781" 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="7384.2624" y="903.2886">numHrtConsumersLeft : unsigned int</text><ellipse cx="7375.2624" cy="929.6875" 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="194" x="7384.2624" y="932.8979">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7365.2624" x2="7481.2624" y1="916.2852" y2="916.2852"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="7481.2624" y="919.5933">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7698.2624" x2="7814.2624" y1="916.2852" y2="916.2852"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7365.2624" x2="7814.2624" y1="939.4922" y2="939.4922"/><ellipse cx="7375.2624" cy="950.4922" 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="425" x="7384.2624" y="953.7026">urtMessageInit (message : urt_message_t*, payload : void*) : urt_status_t</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]
+class urt_publisher_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="128.8281" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="759" x="7802.2624" y="525.3594"/><ellipse cx="8131.0124" cy="541.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8130.4968,541.9219 Q8128.6374,541.2188 8127.9812,540.4531 Q8127.3405,539.6719 8127.3405,538.3594 Q8127.3405,536.6719 8128.4187,535.7031 Q8129.4968,534.7344 8131.3718,534.7344 Q8132.2312,534.7344 8133.0749,534.9375 Q8133.9343,535.125 8134.778,535.5156 L8134.778,537.9063 Q8133.9968,537.3438 8133.1687,537.0625 Q8132.3562,536.7656 8131.5593,536.7656 Q8130.6843,536.7656 8130.1999,537.125 Q8129.7312,537.4844 8129.7312,538.1406 Q8129.7312,538.6563 8130.0749,539 Q8130.4187,539.3281 8131.5124,539.7344 L8132.5749,540.1406 Q8134.0593,540.6875 8134.7624,541.5938 Q8135.4812,542.5 8135.4812,543.875 Q8135.4812,545.75 8134.3718,546.6719 Q8133.2624,547.5938 8131.0124,547.5938 Q8130.0905,547.5938 8129.1687,547.375 Q8128.2468,547.1563 8127.3874,546.7344 L8127.3874,544.2031 Q8128.3562,544.8906 8129.278,545.2344 Q8130.1999,545.5781 8131.0905,545.5781 Q8131.9968,545.5781 8132.4968,545.1719 Q8132.9968,544.75 8132.9968,544.0156 Q8132.9968,543.4531 8132.653,543.0469 Q8132.3249,542.625 8131.6999,542.375 L8130.4968,541.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="8151.5124" y="545.5137">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7803.2624" x2="8560.2624" y1="557.3594" y2="557.3594"/><ellipse cx="7813.2624" cy="568.3594" 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="7822.2624" y="571.5698">topic : urt_topic_t*</text><ellipse cx="7813.2624" cy="597.9688" 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="7822.2624" y="601.1792">publishAttempts : uint64_t</text><ellipse cx="7813.2624" cy="610.7734" 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="7822.2624" y="613.9839">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7803.2624" x2="8099.7624" y1="584.5664" y2="584.5664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="8099.7624" y="587.8745">URT_CFG_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8263.7624" x2="8560.2624" y1="584.5664" y2="584.5664"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7803.2624" x2="8560.2624" y1="620.5781" y2="620.5781"/><ellipse cx="7813.2624" cy="631.5781" 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="7822.2624" y="634.7886">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="7813.2624" cy="644.3828" 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="7822.2624" y="647.5933">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(#f114bu1hjv8qr)" height="248.0703" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="7364.7624" y="465.8594"/><ellipse cx="7519.5124" cy="481.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7518.9968,482.4219 Q7517.1374,481.7188 7516.4812,480.9531 Q7515.8405,480.1719 7515.8405,478.8594 Q7515.8405,477.1719 7516.9187,476.2031 Q7517.9968,475.2344 7519.8718,475.2344 Q7520.7312,475.2344 7521.5749,475.4375 Q7522.4343,475.625 7523.278,476.0156 L7523.278,478.4063 Q7522.4968,477.8438 7521.6687,477.5625 Q7520.8562,477.2656 7520.0593,477.2656 Q7519.1843,477.2656 7518.6999,477.625 Q7518.2312,477.9844 7518.2312,478.6406 Q7518.2312,479.1563 7518.5749,479.5 Q7518.9187,479.8281 7520.0124,480.2344 L7521.0749,480.6406 Q7522.5593,481.1875 7523.2624,482.0938 Q7523.9812,483 7523.9812,484.375 Q7523.9812,486.25 7522.8718,487.1719 Q7521.7624,488.0938 7519.5124,488.0938 Q7518.5905,488.0938 7517.6687,487.875 Q7516.7468,487.6563 7515.8874,487.2344 L7515.8874,484.7031 Q7516.8562,485.3906 7517.778,485.7344 Q7518.6999,486.0781 7519.5905,486.0781 Q7520.4968,486.0781 7520.9968,485.6719 Q7521.4968,485.25 7521.4968,484.5156 Q7521.4968,483.9531 7521.153,483.5469 Q7520.8249,483.125 7520.1999,482.875 L7518.9968,482.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="7540.0124" y="486.0137">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7365.7624" x2="7747.7624" y1="497.8594" y2="497.8594"/><ellipse cx="7375.7624" cy="508.8594" 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="101" x="7384.7624" y="512.0698">next : urt_topic_t*</text><ellipse cx="7375.7624" cy="521.6641" 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="91" x="7384.7624" y="524.8745">id : urt_topicid_t</text><ellipse cx="7375.7624" cy="534.4688" 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="7384.7624" y="537.6792">lock : urt_osMutex_t</text><ellipse cx="7375.7624" cy="547.2734" 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="186" x="7384.7624" y="550.4839">evtSource : urt_osEventSource_t</text><ellipse cx="7375.7624" cy="560.0781" 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="193" x="7384.7624" y="563.2886">numHrtSubscribers : unsigned int</text><ellipse cx="7375.7624" cy="572.8828" 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="196" x="7384.7624" y="576.0933">hrtSubscribers : urt_subscriber_t*</text><ellipse cx="7375.7624" cy="585.6875" 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="173" x="7384.7624" y="588.8979">hrtReleased : urt_osCondvar_t</text><ellipse cx="7375.7624" cy="598.4922" 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="209" x="7384.7624" y="601.7026">mandatoryMessage : urt_message_t</text><ellipse cx="7375.7624" cy="611.2969" 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="7384.7624" y="614.5073">latestMessage : urt_message_t*</text><ellipse cx="7375.7624" cy="640.9063" 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="170" x="7384.7624" y="644.1167">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7365.7624" x2="7424.2624" y1="627.5039" y2="627.5039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="7424.2624" y="630.812">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7689.2624" x2="7747.7624" y1="627.5039" y2="627.5039"/><ellipse cx="7375.7624" cy="670.5156" 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="197" x="7384.7624" y="673.7261">numDiscardedMessages : uint64_t</text><ellipse cx="7375.7624" cy="683.3203" 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="176" x="7384.7624" y="686.5308">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7365.7624" x2="7448.2624" y1="657.1133" y2="657.1133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="7448.2624" y="660.4214">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7665.2624" x2="7747.7624" y1="657.1133" y2="657.1133"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7365.7624" x2="7747.7624" y1="693.125" y2="693.125"/><ellipse cx="7375.7624" cy="704.125" 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="358" x="7384.7624" y="707.3354">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[ab7cf431813e3be5d474948fd959cdbf]
+class urt_subscriber_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="312.0938" id="urt_subscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1068" x="8596.7624" y="433.8594"/><ellipse cx="9076.0124" cy="449.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9075.4968,450.4219 Q9073.6374,449.7188 9072.9812,448.9531 Q9072.3405,448.1719 9072.3405,446.8594 Q9072.3405,445.1719 9073.4187,444.2031 Q9074.4968,443.2344 9076.3718,443.2344 Q9077.2312,443.2344 9078.0749,443.4375 Q9078.9343,443.625 9079.778,444.0156 L9079.778,446.4063 Q9078.9968,445.8438 9078.1687,445.5625 Q9077.3562,445.2656 9076.5593,445.2656 Q9075.6843,445.2656 9075.1999,445.625 Q9074.7312,445.9844 9074.7312,446.6406 Q9074.7312,447.1563 9075.0749,447.5 Q9075.4187,447.8281 9076.5124,448.2344 L9077.5749,448.6406 Q9079.0593,449.1875 9079.7624,450.0938 Q9080.4812,451 9080.4812,452.375 Q9080.4812,454.25 9079.3718,455.1719 Q9078.2624,456.0938 9076.0124,456.0938 Q9075.0905,456.0938 9074.1687,455.875 Q9073.2468,455.6563 9072.3874,455.2344 L9072.3874,452.7031 Q9073.3562,453.3906 9074.278,453.7344 Q9075.1999,454.0781 9076.0905,454.0781 Q9076.9968,454.0781 9077.4968,453.6719 Q9077.9968,453.25 9077.9968,452.5156 Q9077.9968,451.9531 9077.653,451.5469 Q9077.3249,451.125 9076.6999,450.875 L9075.4968,450.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="9096.5124" y="454.0137">urt_subscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8597.7624" x2="9663.7624" y1="465.8594" y2="465.8594"/><ellipse cx="8607.7624" cy="476.8594" 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="8616.7624" y="480.0698">topic : urt_topic_t*</text><ellipse cx="8607.7624" cy="489.6641" 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="8616.7624" y="492.8745">evtListener : urt_osEventListener_t</text><ellipse cx="8607.7624" cy="502.4688" 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="112" x="8616.7624" y="505.6792">rtdata : urt_rtdata_t</text><ellipse cx="8607.7624" cy="515.2734" 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="8616.7624" y="518.4839">lastMessage : urt_message_t*</text><ellipse cx="8607.7624" cy="528.0781" 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="8616.7624" y="531.2886">lastMessageTime : urt_osTime_t</text><ellipse cx="8607.7624" cy="557.6875" 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="8616.7624" y="560.8979">sumLatencies : uint64_t</text><ellipse cx="8607.7624" cy="570.4922" 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="8616.7624" y="573.7026">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8597.7624" x2="9022.2624" y1="544.2852" y2="544.2852"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="9022.2624" y="547.5933">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9239.2624" x2="9663.7624" y1="544.2852" y2="544.2852"/><ellipse cx="8607.7624" cy="600.1016" 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="8616.7624" y="603.312">minLatency : urt_delay_t</text><ellipse cx="8607.7624" cy="612.9063" 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="8616.7624" y="616.1167">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8597.7624" x2="9022.2624" y1="586.6992" y2="586.6992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="9022.2624" y="590.0073">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9239.2624" x2="9663.7624" y1="586.6992" y2="586.6992"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8597.7624" x2="9663.7624" y1="622.7109" y2="622.7109"/><ellipse cx="8607.7624" cy="633.7109" 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="8616.7624" y="636.9214">urtSubscriberInit (subscriber : urt_subscriber_t*) : urt_status_t</text><ellipse cx="8607.7624" cy="646.5156" 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="8616.7624" y="649.7261">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="8607.7624" cy="659.3203" 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="8616.7624" y="662.5308">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="8607.7624" cy="672.125" 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="8616.7624" y="675.3354">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="8607.7624" cy="684.9297" 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="8616.7624" y="688.1401">urtSubscriberSubscribeNrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="8607.7624" cy="697.7344" 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="8616.7624" y="700.9448">urtSubscriberUnsubscribe (subscriber : urt_subscriber_t*) : urt_status_t</text><ellipse cx="8607.7624" cy="710.5391" 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="8616.7624" y="713.7495">urtSubscriberFetchNextMessage (subscriber : urt_subscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="8607.7624" cy="723.3438" 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="8616.7624" y="726.5542">urtSubscriberFetchLatestMessage (subscriber : urt_subscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="8607.7624" cy="736.1484" 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="537" x="8616.7624" y="739.3589">urtSubscriberCalculateUsefulness (subscriber : urt_subscriber_t*, latency : urt_delay_t) : float</text><!--MD5=[82a1b6b26b12edcbd86fa16935c3353e]
+class urt_rtdata_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="73.6094" id="urt_rtdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="231" x="9015.2624" y="845.8594"/><ellipse cx="9089.5124" cy="861.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9088.9968,862.4219 Q9087.1374,861.7188 9086.4812,860.9531 Q9085.8405,860.1719 9085.8405,858.8594 Q9085.8405,857.1719 9086.9187,856.2031 Q9087.9968,855.2344 9089.8718,855.2344 Q9090.7312,855.2344 9091.5749,855.4375 Q9092.4343,855.625 9093.278,856.0156 L9093.278,858.4063 Q9092.4968,857.8438 9091.6687,857.5625 Q9090.8562,857.2656 9090.0593,857.2656 Q9089.1843,857.2656 9088.6999,857.625 Q9088.2312,857.9844 9088.2312,858.6406 Q9088.2312,859.1563 9088.5749,859.5 Q9088.9187,859.8281 9090.0124,860.2344 L9091.0749,860.6406 Q9092.5593,861.1875 9093.2624,862.0938 Q9093.9812,863 9093.9812,864.375 Q9093.9812,866.25 9092.8718,867.1719 Q9091.7624,868.0938 9089.5124,868.0938 Q9088.5905,868.0938 9087.6687,867.875 Q9086.7468,867.6563 9085.8874,867.2344 L9085.8874,864.7031 Q9086.8562,865.3906 9087.778,865.7344 Q9088.6999,866.0781 9089.5905,866.0781 Q9090.4968,866.0781 9090.9968,865.6719 Q9091.4968,865.25 9091.4968,864.5156 Q9091.4968,863.9531 9091.153,863.5469 Q9090.8249,863.125 9090.1999,862.875 L9088.9968,862.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="74" x="9110.0124" y="866.0137">urt_rtdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9016.2624" x2="9245.2624" y1="877.8594" y2="877.8594"/><ellipse cx="9026.2624" cy="888.8594" 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="170" x="9035.2624" y="892.0698">class : urt_rtconstraintclass_t</text><ellipse cx="9026.2624" cy="901.6641" 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="205" x="9035.2624" y="904.8745">params : urt_rtconstraintsparams_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9016.2624" x2="9245.2624" y1="911.4688" y2="911.4688"/><!--MD5=[4bd59d3bc50b317c5523bafe6b73a042]
+class urt_rtclass_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="99.2188" id="urt_rtclass_t" style="stroke: #A80036; stroke-width: 1.5;" width="153" x="8988.2624" y="1019.8594"/><ellipse cx="9023.0624" cy="1035.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9027.1718,1041.8594 L9019.453,1041.8594 L9019.453,1029.4688 L9027.1718,1029.4688 L9027.1718,1031.625 L9021.9061,1031.625 L9021.9061,1034.2969 L9026.6718,1034.2969 L9026.6718,1036.4531 L9021.9061,1036.4531 L9021.9061,1039.7031 L9027.1718,1039.7031 L9027.1718,1041.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="77" x="9041.4624" y="1040.0137">urt_rtclass_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8989.2624" x2="9140.2624" y1="1051.8594" y2="1051.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="139" x="8994.2624" y="1066.0698">URT_RTCLASS_HARD = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="134" x="8994.2624" y="1078.8745">URT_RTCLASS_FIRM = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="139" x="8994.2624" y="1091.6792">URT_RTCLASS_SOFT = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="8994.2624" y="1104.4839">URT_RTCLASS_NONE = 3</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8989.2624" x2="9140.2624" y1="1111.0781" y2="1111.0781"/><!--MD5=[7b207cc31d63d27c526f257c1fda2512]
+class urt_rtclassdata_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="99.2188" id="urt_rtclassdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="146" x="9176.7624" y="1019.8594"/><ellipse cx="9195.3624" cy="1035.8594" fill="#7FCF7F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9191.2374,1037.7813 L9191.2374,1029.9688 L9193.6905,1029.9688 L9193.6905,1038.4063 Q9193.6905,1039.3281 9194.1593,1039.8594 Q9194.6437,1040.3906 9195.4718,1040.3906 Q9196.3155,1040.3906 9196.7843,1039.8594 Q9197.253,1039.3281 9197.253,1038.4063 L9197.253,1029.9688 L9199.7062,1029.9688 L9199.7062,1037.7813 Q9199.7062,1040.3125 9198.7062,1041.4531 Q9197.7062,1042.5938 9195.4718,1042.5938 Q9193.253,1042.5938 9192.2374,1041.4531 Q9191.2374,1040.3125 9191.2374,1037.7813 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="106" x="9210.1624" y="1040.0137">urt_rtclassdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9177.7624" x2="9321.7624" y1="1051.8594" y2="1051.8594"/><ellipse cx="9187.7624" cy="1062.8594" 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="120" x="9196.7624" y="1066.0698">hrt : urt_hrtparams_t</text><ellipse cx="9187.7624" cy="1075.6641" 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="114" x="9196.7624" y="1078.8745">frt : urt_frtparams_t</text><ellipse cx="9187.7624" cy="1088.4688" 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="116" x="9196.7624" y="1091.6792">srt : urt_srtparans_t</text><ellipse cx="9187.7624" cy="1101.2734" 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="120" x="9196.7624" y="1104.4839">nrt : urt_nrtparams_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9177.7624" x2="9321.7624" y1="1111.0781" y2="1111.0781"/><!--MD5=[c57ade65ef97beb73587233399d5250a]
+class urt_hrtdata_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="180.0469" id="urt_hrtdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="512" x="9281.7624" y="1264.8594"/><ellipse cx="9492.5124" cy="1280.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9491.9968,1281.4219 Q9490.1374,1280.7188 9489.4812,1279.9531 Q9488.8405,1279.1719 9488.8405,1277.8594 Q9488.8405,1276.1719 9489.9187,1275.2031 Q9490.9968,1274.2344 9492.8718,1274.2344 Q9493.7312,1274.2344 9494.5749,1274.4375 Q9495.4343,1274.625 9496.278,1275.0156 L9496.278,1277.4063 Q9495.4968,1276.8438 9494.6687,1276.5625 Q9493.8562,1276.2656 9493.0593,1276.2656 Q9492.1843,1276.2656 9491.6999,1276.625 Q9491.2312,1276.9844 9491.2312,1277.6406 Q9491.2312,1278.1563 9491.5749,1278.5 Q9491.9187,1278.8281 9493.0124,1279.2344 L9494.0749,1279.6406 Q9495.5593,1280.1875 9496.2624,1281.0938 Q9496.9812,1282 9496.9812,1283.375 Q9496.9812,1285.25 9495.8718,1286.1719 Q9494.7624,1287.0938 9492.5124,1287.0938 Q9491.5905,1287.0938 9490.6687,1286.875 Q9489.7468,1286.6563 9488.8874,1286.2344 L9488.8874,1283.7031 Q9489.8562,1284.3906 9490.778,1284.7344 Q9491.6999,1285.0781 9492.5905,1285.0781 Q9493.4968,1285.0781 9493.9968,1284.6719 Q9494.4968,1284.25 9494.4968,1283.5156 Q9494.4968,1282.9531 9494.153,1282.5469 Q9493.8249,1282.125 9493.1999,1281.875 L9491.9968,1281.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="82" x="9513.0124" y="1285.0137">urt_hrtdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9282.7624" x2="9792.7624" y1="1296.8594" y2="1296.8594"/><ellipse cx="9292.7624" cy="1307.8594" 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="135" x="9301.7624" y="1311.0698">next : urt_subscriber_t*</text><ellipse cx="9292.7624" cy="1337.4688" 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="194" x="9301.7624" y="1340.6792">qosDeadlineTimer : urt_osTimer_t</text><ellipse cx="9292.7624" cy="1350.2734" 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="157" x="9301.7624" y="1353.4839">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9282.7624" x2="9392.2624" y1="1324.0664" y2="1324.0664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="9392.2624" y="1327.3745">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9683.2624" x2="9792.7624" y1="1324.0664" y2="1324.0664"/><ellipse cx="9292.7624" cy="1379.8828" 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="150" x="9301.7624" y="1383.0933">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9282.7624" x2="9405.2624" y1="1366.4805" y2="1366.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="9405.2624" y="1369.7886">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9670.2624" x2="9792.7624" y1="1366.4805" y2="1366.4805"/><ellipse cx="9292.7624" cy="1409.4922" 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="124" x="9301.7624" y="1412.7026">maxJitter : urt_delay_t</text><ellipse cx="9292.7624" cy="1422.2969" 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="9301.7624" y="1425.5073">minLatency : urt_delay_t</text><ellipse cx="9292.7624" cy="1435.1016" 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="141" x="9301.7624" y="1438.312">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9282.7624" x2="9285.7624" y1="1396.0898" y2="1396.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="9285.7624" y="1399.3979">URT_CFG_PUBSUB_PROFILING == true || URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9789.7624" x2="9792.7624" y1="1396.0898" y2="1396.0898"/><!--MD5=[72774668522d2286013bfbc0db723956]
+class urt_frtdata_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="154.4375" id="urt_frtdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="512" x="8585.7624" y="1277.8594"/><ellipse cx="8798.5124" cy="1293.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8797.9968,1294.4219 Q8796.1374,1293.7188 8795.4812,1292.9531 Q8794.8405,1292.1719 8794.8405,1290.8594 Q8794.8405,1289.1719 8795.9187,1288.2031 Q8796.9968,1287.2344 8798.8718,1287.2344 Q8799.7312,1287.2344 8800.5749,1287.4375 Q8801.4343,1287.625 8802.278,1288.0156 L8802.278,1290.4063 Q8801.4968,1289.8438 8800.6687,1289.5625 Q8799.8562,1289.2656 8799.0593,1289.2656 Q8798.1843,1289.2656 8797.6999,1289.625 Q8797.2312,1289.9844 8797.2312,1290.6406 Q8797.2312,1291.1563 8797.5749,1291.5 Q8797.9187,1291.8281 8799.0124,1292.2344 L8800.0749,1292.6406 Q8801.5593,1293.1875 8802.2624,1294.0938 Q8802.9812,1295 8802.9812,1296.375 Q8802.9812,1298.25 8801.8718,1299.1719 Q8800.7624,1300.0938 8798.5124,1300.0938 Q8797.5905,1300.0938 8796.6687,1299.875 Q8795.7468,1299.6563 8794.8874,1299.2344 L8794.8874,1296.7031 Q8795.8562,1297.3906 8796.778,1297.7344 Q8797.6999,1298.0781 8798.5905,1298.0781 Q8799.4968,1298.0781 8799.9968,1297.6719 Q8800.4968,1297.25 8800.4968,1296.5156 Q8800.4968,1295.9531 8800.153,1295.5469 Q8799.8249,1295.125 8799.1999,1294.875 L8797.9968,1294.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="78" x="8819.0124" y="1298.0137">urt_frtdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8586.7624" x2="9096.7624" y1="1309.8594" y2="1309.8594"/><ellipse cx="8596.7624" cy="1337.6641" 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="157" x="8605.7624" y="1340.8745">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8586.7624" x2="8696.2624" y1="1324.2617" y2="1324.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="8696.2624" y="1327.5698">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8987.2624" x2="9096.7624" y1="1324.2617" y2="1324.2617"/><ellipse cx="8596.7624" cy="1367.2734" 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="150" x="8605.7624" y="1370.4839">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8586.7624" x2="8709.2624" y1="1353.8711" y2="1353.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="8709.2624" y="1357.1792">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8974.2624" x2="9096.7624" y1="1353.8711" y2="1353.8711"/><ellipse cx="8596.7624" cy="1396.8828" 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="124" x="8605.7624" y="1400.0933">maxJitter : urt_delay_t</text><ellipse cx="8596.7624" cy="1409.6875" 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="138" x="8605.7624" y="1412.8979">minLatency : urt_delay_t</text><ellipse cx="8596.7624" cy="1422.4922" 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="141" x="8605.7624" y="1425.7026">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8586.7624" x2="8589.7624" y1="1383.4805" y2="1383.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="8589.7624" y="1386.7886">URT_CFG_PUBSUB_PROFILING == true || URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9093.7624" x2="9096.7624" y1="1383.4805" y2="1383.4805"/><!--MD5=[ca63c4d42025d7ce195746a6a8d32f3e]
+class urt_nrtdata_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="48" id="urt_nrtdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="114" x="9132.7624" y="1330.8594"/><ellipse cx="9147.7624" cy="1346.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9147.2468,1347.4219 Q9145.3874,1346.7188 9144.7312,1345.9531 Q9144.0905,1345.1719 9144.0905,1343.8594 Q9144.0905,1342.1719 9145.1687,1341.2031 Q9146.2468,1340.2344 9148.1218,1340.2344 Q9148.9812,1340.2344 9149.8249,1340.4375 Q9150.6843,1340.625 9151.528,1341.0156 L9151.528,1343.4063 Q9150.7468,1342.8438 9149.9187,1342.5625 Q9149.1062,1342.2656 9148.3093,1342.2656 Q9147.4343,1342.2656 9146.9499,1342.625 Q9146.4812,1342.9844 9146.4812,1343.6406 Q9146.4812,1344.1563 9146.8249,1344.5 Q9147.1687,1344.8281 9148.2624,1345.2344 L9149.3249,1345.6406 Q9150.8093,1346.1875 9151.5124,1347.0938 Q9152.2312,1348 9152.2312,1349.375 Q9152.2312,1351.25 9151.1218,1352.1719 Q9150.0124,1353.0938 9147.7624,1353.0938 Q9146.8405,1353.0938 9145.9187,1352.875 Q9144.9968,1352.6563 9144.1374,1352.2344 L9144.1374,1349.7031 Q9145.1062,1350.3906 9146.028,1350.7344 Q9146.9499,1351.0781 9147.8405,1351.0781 Q9148.7468,1351.0781 9149.2468,1350.6719 Q9149.7468,1350.25 9149.7468,1349.5156 Q9149.7468,1348.9531 9149.403,1348.5469 Q9149.0749,1348.125 9148.4499,1347.875 L9147.2468,1347.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="82" x="9161.7624" y="1351.0137">urt_nrtdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9133.7624" x2="9245.7624" y1="1362.8594" y2="1362.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="9133.7624" x2="9245.7624" y1="1370.8594" y2="1370.8594"/><!--MD5=[fc7708c915a0148c667d62e1370980fd]
+class urt_srtusefulnessfunc_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="60.8047" id="urt_srtusefulnessfunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="374" x="9809.7624" y="1632.3594"/><ellipse cx="9919.0124" cy="1648.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9923.2468,1644.125 L9917.9655,1644.125 L9917.9655,1646.7969 L9922.7624,1646.7969 L9922.7624,1648.9531 L9917.9655,1648.9531 L9917.9655,1654.3594 L9915.528,1654.3594 L9915.528,1641.9688 L9923.2468,1641.9688 L9923.2468,1644.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="147" x="9939.5124" y="1652.5137">urt_srtusefulnessfunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9810.7624" x2="10182.7624" y1="1664.3594" y2="1664.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="9810.7624" x2="10182.7624" y1="1672.3594" y2="1672.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="362" x="9815.7624" y="1686.5698">urt_srtusefulnessfunc_t (dt : urt_delay_t, params : void*) : float</text><!--MD5=[4a2daf41193a31389d6311337c2a120f]
+class urt_srtdata_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="73.6094" id="urt_srtdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="258" x="9847.7624" y="1317.8594"/><ellipse cx="9932.0124" cy="1333.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9931.4968,1334.4219 Q9929.6374,1333.7188 9928.9812,1332.9531 Q9928.3405,1332.1719 9928.3405,1330.8594 Q9928.3405,1329.1719 9929.4187,1328.2031 Q9930.4968,1327.2344 9932.3718,1327.2344 Q9933.2312,1327.2344 9934.0749,1327.4375 Q9934.9343,1327.625 9935.778,1328.0156 L9935.778,1330.4063 Q9934.9968,1329.8438 9934.1687,1329.5625 Q9933.3562,1329.2656 9932.5593,1329.2656 Q9931.6843,1329.2656 9931.1999,1329.625 Q9930.7312,1329.9844 9930.7312,1330.6406 Q9930.7312,1331.1563 9931.0749,1331.5 Q9931.4187,1331.8281 9932.5124,1332.2344 L9933.5749,1332.6406 Q9935.0593,1333.1875 9935.7624,1334.0938 Q9936.4812,1335 9936.4812,1336.375 Q9936.4812,1338.25 9935.3718,1339.1719 Q9934.2624,1340.0938 9932.0124,1340.0938 Q9931.0905,1340.0938 9930.1687,1339.875 Q9929.2468,1339.6563 9928.3874,1339.2344 L9928.3874,1336.7031 Q9929.3562,1337.3906 9930.278,1337.7344 Q9931.1999,1338.0781 9932.0905,1338.0781 Q9932.9968,1338.0781 9933.4968,1337.6719 Q9933.9968,1337.25 9933.9968,1336.5156 Q9933.9968,1335.9531 9933.653,1335.5469 Q9933.3249,1335.125 9932.6999,1334.875 L9931.4968,1334.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="81" x="9952.5124" y="1338.0137">urt_srtdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9848.7624" x2="10104.7624" y1="1349.8594" y2="1349.8594"/><ellipse cx="9858.7624" cy="1360.8594" 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="9867.7624" y="1364.0698">usefullnesscb : urt_srtusefulnessfunc_t*</text><ellipse cx="9858.7624" cy="1373.6641" 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="9867.7624" y="1376.8745">cbparams : void*</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9848.7624" x2="10104.7624" y1="1383.4688" y2="1383.4688"/><!--MD5=[3226071078d8aeaa18fbafa5359ddee6]
+class urt_servicefunc_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="60.8047" id="urt_servicefunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="451" x="11388.2624" y="852.3594"/><ellipse cx="11556.5124" cy="868.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11560.7468,864.125 L11555.4655,864.125 L11555.4655,866.7969 L11560.2624,866.7969 L11560.2624,868.9531 L11555.4655,868.9531 L11555.4655,874.3594 L11553.028,874.3594 L11553.028,861.9688 L11560.7468,861.9688 L11560.7468,864.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="106" x="11577.0124" y="872.5137">urt_servicefunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11389.2624" x2="11838.2624" y1="884.3594" y2="884.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11389.2624" x2="11838.2624" y1="892.3594" y2="892.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="439" x="11394.2624" y="906.5698">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(#f114bu1hjv8qr)" height="222.4609" id="urt_service_t" style="stroke: #A80036; stroke-width: 1.5;" width="602" x="11388.7624" y="478.8594"/><ellipse cx="11646.0124" cy="494.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11645.4968,495.4219 Q11643.6374,494.7188 11642.9812,493.9531 Q11642.3405,493.1719 11642.3405,491.8594 Q11642.3405,490.1719 11643.4187,489.2031 Q11644.4968,488.2344 11646.3718,488.2344 Q11647.2312,488.2344 11648.0749,488.4375 Q11648.9343,488.625 11649.778,489.0156 L11649.778,491.4063 Q11648.9968,490.8438 11648.1687,490.5625 Q11647.3562,490.2656 11646.5593,490.2656 Q11645.6843,490.2656 11645.1999,490.625 Q11644.7312,490.9844 11644.7312,491.6406 Q11644.7312,492.1563 11645.0749,492.5 Q11645.4187,492.8281 11646.5124,493.2344 L11647.5749,493.6406 Q11649.0593,494.1875 11649.7624,495.0938 Q11650.4812,496 11650.4812,497.375 Q11650.4812,499.25 11649.3718,500.1719 Q11648.2624,501.0938 11646.0124,501.0938 Q11645.0905,501.0938 11644.1687,500.875 Q11643.2468,500.6563 11642.3874,500.2344 L11642.3874,497.7031 Q11643.3562,498.3906 11644.278,498.7344 Q11645.1999,499.0781 11646.0905,499.0781 Q11646.9968,499.0781 11647.4968,498.6719 Q11647.9968,498.25 11647.9968,497.5156 Q11647.9968,496.9531 11647.653,496.5469 Q11647.3249,496.125 11646.6999,495.875 L11645.4968,495.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="11666.5124" y="499.0137">urt_service_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11389.7624" x2="11989.7624" y1="510.8594" y2="510.8594"/><ellipse cx="11399.7624" cy="521.8594" 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="11408.7624" y="525.0698">next : urt_service_t*</text><ellipse cx="11399.7624" cy="534.6641" 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="11408.7624" y="537.8745">id : urt_serviceid_t</text><ellipse cx="11399.7624" cy="547.4688" 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="11408.7624" y="550.6792">lock : urt_osMutex_t</text><ellipse cx="11399.7624" cy="560.2734" 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="11408.7624" y="563.4839">callback : urt_servicefunc_t*</text><ellipse cx="11399.7624" cy="589.8828" 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="11408.7624" y="593.0933">sumDurations : uint64_t</text><ellipse cx="11399.7624" cy="602.6875" 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="11408.7624" y="605.8979">numCalls : uint64_t</text><ellipse cx="11399.7624" cy="615.4922" 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="11408.7624" y="618.7026">numTimeouts : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11389.7624" x2="11595.2624" y1="576.4805" y2="576.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="11595.2624" y="579.7886">URT_CFG_RPC_PROFLING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11784.2624" x2="11989.7624" y1="576.4805" y2="576.4805"/><ellipse cx="11399.7624" cy="645.1016" 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="11408.7624" y="648.312">minDuration : urt_delay_t</text><ellipse cx="11399.7624" cy="657.9063" 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="11408.7624" y="661.1167">maxDuration : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11389.7624" x2="11462.7624" y1="631.6992" y2="631.6992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="454" x="11462.7624" y="635.0073">URT_CFG_RPC_PROFILING == true || URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11916.7624" x2="11989.7624" y1="631.6992" y2="631.6992"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11389.7624" x2="11989.7624" y1="667.7109" y2="667.7109"/><ellipse cx="11399.7624" cy="678.7109" 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="11408.7624" y="681.9214">urtServiceInit(service : urt_service_t*, id : urt_serviceid_t, callback : urt_servicefunc_t*) : urt_status_t</text><ellipse cx="11399.7624" cy="691.5156" 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="11408.7624" y="694.7261">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="M6793.2742,1742.1818 C6810.3857,1759.9219 6828.8977,1779.1139 6847.1738,1798.0614 " 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="6850.8254,1801.8471,6847.4565,1792.5923,6847.3543,1798.2483,6841.6984,1798.1461,6850.8254,1801.8471" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7db439499cb1afd557b9be4c8c52b2ba]
+link urt_topicid_t to urt_config--><path d="M6357.5807,1740.3363 C6363.2665,1743.758 6369.0134,1746.9633 6374.7624,1749.8594 C6514.8764,1820.4428 6689.2887,1865.245 6811.4464,1890.4761 " 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="6816.4959,1891.514,6808.4857,1885.7836,6811.5983,1890.5071,6806.8748,1893.6197,6816.4959,1891.514" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e851a4e79ca88682282ceaaad2100c63]
+link urt_serviceid_t to urt_config--><path d="M6961.7624,1742.1818 C6961.7624,1759.4784 6961.7624,1778.1552 6961.7624,1796.6399 " 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="6961.7624,1801.8471,6965.7624,1792.8471,6961.7624,1796.8471,6957.7624,1792.8471,6961.7624,1801.8471" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[844001065b3bef53527c5dd4ba0c22e5]
+link urt_delay_t to urt_config--><path d="M6539.339,1712.4045 C6555.6566,1725.4588 6573.8943,1738.9338 6591.7624,1749.8594 C6660.9024,1792.1353 6742.582,1830.1266 6811.5864,1859.1527 " 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="6816.5324,1861.2271,6809.7796,1854.0577,6811.9215,1859.2934,6806.6857,1861.4352,6816.5324,1861.2271" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7766572fa0c619a5409829048dc0b6d6]
+link urt_osCondvar_t to urt_osCondvarWaitStatus_t--><path d="M5360.7624,1404.6872 C5360.7624,1462.5308 5360.7624,1557.2868 5360.7624,1614.4978 " 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="5360.7624,1619.5732,5364.7624,1610.5732,5360.7624,1614.5732,5356.7624,1610.5732,5360.7624,1619.5732" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9b2507ea88616aeae65e3c4d63560016]
+link urt_osCondvar_t to urt_osMutex_t--><path d="M5310.1437,1305.3481 C5240.2882,1241.9649 5107.2411,1138.4276 4969.2624,1122.8594 C4942.1429,1119.7995 1066.382,1119.7995 1039.2624,1122.8594 C951.0478,1132.8127 897.9434,1234.6974 872.6871,1300.0978 " 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="870.7697,1305.1327,877.7108,1298.1455,872.5492,1300.46,870.2346,1295.2984,870.7697,1305.1327" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[83094e108045c8f9585007cdb3b7cb2e]
+link urt_osTimer_t to urt_osTimerCallback_t--><path d="M4579.7624,1410.9932 C4579.7624,1473.7318 4579.7624,1573.4721 4579.7624,1626.6616 " 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="4579.7624,1631.9737,4583.7624,1622.9737,4579.7624,1626.9737,4575.7624,1622.9737,4579.7624,1631.9737" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8d8c3240b5b2b5edf6544088e583ffa5]
+link urt_osThread_t to urt_osThreadPrio_t--><path d="M3808.124,1524.1767 C3805.2877,1544.4924 3802.5016,1564.449 3799.9656,1582.6135 " 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="3799.2572,1587.688,3804.4633,1579.3276,3799.9486,1582.736,3796.5402,1578.2213,3799.2572,1587.688" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d7d1d43fd970fb07a484642bc19fcb13]
+link urt_osThread_t to urt_osThreadFunction_t--><path d="M3551.6491,1475.7886 C3504.0228,1499.2895 3455.7694,1525.0211 3411.7624,1551.8594 C3374.2612,1574.73 3334.9809,1605.5348 3306.9364,1628.8902 " 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="3302.8818,1632.2802,3312.3521,1629.5759,3306.7177,1629.073,3307.2206,1623.4385,3302.8818,1632.2802" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6564761b32ad7eeb5abb8896c72cfca5]
+link urt_osThread_t to urt_osThreadTerminateSignal_t--><path d="M3948.3055,1524.1767 C3973.2268,1560.3831 3997.363,1595.4489 4015.1305,1621.262 " 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="4018.1491,1625.6475,4016.3411,1615.966,4015.3142,1621.5288,4009.7513,1620.5019,4018.1491,1625.6475" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[92ba23225d8de8f8080583fedda5e6f8]
+link urt_osThread_t to urt_osThreadState_t--><path d="M3672.3403,1524.1767 C3650.6238,1547.2412 3629.3431,1569.8428 3610.4726,1589.8845 " 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="3606.7312,1593.8581,3615.8131,1590.0476,3610.1588,1590.2178,3609.9886,1584.5635,3606.7312,1593.8581" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[78b286ab2177e5f7b31e6e832d821818]
+link urt_osThread_t to urt_osTime_t--><path d="M3551.4946,1236.9424 C3418.8912,1188.5876 3256.7309,1139.9497 3105.2624,1122.8594 C3060.5738,1117.8171 1530.9511,1117.8171 1486.2624,1122.8594 C1384.7005,1134.3187 1310.7769,1242.5523 1275.3152,1307.0613 " 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="1272.8286,1311.6284,1280.6452,1305.6366,1275.2194,1307.237,1273.619,1301.8113,1272.8286,1311.6284" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[659af6ab57e6a38ebfd5c07c5616787c]
+link urt_osEventListener_t to urt_osEventFlags_t--><path d="M2310.7624,1705.947 C2310.7624,1757.6304 2310.7624,1842.8733 2310.7624,1887.518 " 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="2310.7624,1892.7562,2314.7624,1883.7562,2310.7624,1887.7562,2306.7624,1883.7562,2310.7624,1892.7562" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[eac11679f26c499aa1c571e1f795945d]
+link urt_osEventSource_t to urt_osEventFlags_t--><path d="M1835.9071,1699.9291 C1949.6905,1751.9092 2153.835,1845.1695 2253.2333,1890.5781 " 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="2257.8866,1892.7039,2251.3625,1885.3258,2253.3387,1890.6262,2248.0383,1892.6024,2257.8866,1892.7039" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0259cdb10c6c32168d1d17d25519d939]
+link urt_events to urt_osEventSource_t--><path d="M2564.1398,1397.8685 C2474.3749,1435.8985 2336.8017,1490.3908 2212.7624,1523.8594 C2140.5259,1543.3504 2118.967,1532.2501 2046.7624,1551.8594 C1977.0202,1570.8 1900.7671,1600.0974 1843.6775,1623.8378 " 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="1838.9087,1625.8265,1848.7549,1626.0544,1843.5235,1623.9021,1845.6759,1618.6707,1838.9087,1625.8265" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0ce043e0e9532fc393f3f8836f5de19a]
+link urt_events to urt_osEventListener_t--><path d="M2612.5878,1398.0098 C2547.0099,1455.554 2431.372,1557.0254 2363.8632,1616.2639 " 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="2359.8868,1619.7531,2369.2899,1616.8236,2363.645,1616.4553,2364.0134,1610.8104,2359.8868,1619.7531" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[430bebba9cd89d3ba8f63b2078968bca]
+link urt_events to urt_osEventMask_t--><path d="M2704.4925,1398.0098 C2765.6139,1459.7324 2876.7812,1571.9931 2932.7052,1628.4672 " 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="2936.3079,1632.1053,2932.8174,1622.8957,2932.7897,1628.5525,2927.1329,1628.5248,2936.3079,1632.1053" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b1b185abc2161e087cab32ae7fdb2c40]
+link urt_events to urt_osEventFlags_t--><path d="M2650.2222,1398.1156 C2639.7905,1437.9151 2624.3402,1498.6533 2612.7624,1551.8594 C2593.7275,1639.3356 2626.0601,1675.8015 2575.7624,1749.8594 C2529.0866,1818.5847 2443.7473,1864.7573 2382.5122,1890.8197 " 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="2377.7765,1892.8158,2387.6235,1893.006,2382.3839,1890.8737,2384.5162,1885.6341,2377.7765,1892.8158" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[706a1974d1b474cbba7e7b0213f243a1]
+link urt_events to urt_osEventWait_t--><path d="M2668.6273,1398.0098 C2677.6781,1454.9005 2693.5595,1554.7263 2703.0259,1614.2294 " 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="2703.8651,1619.5046,2706.4011,1609.9878,2703.0794,1614.5667,2698.5005,1611.245,2703.8651,1619.5046" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5f656ccbf337bb70e2692ec6599b22aa]
+link urt_osCondvar_t to urt_delay_t--><path d="M5465.5674,1404.5021 C5555.6705,1444.5889 5690.2435,1498.374 5813.7624,1523.8594 C5936.0093,1549.0824 6261.0183,1500.4516 6374.7624,1551.8594 C6402.3257,1564.3169 6426.52,1587.2611 6444.9835,1609.0696 " 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="6448.3639,1613.1257,6445.6747,1603.6511,6445.1628,1609.2847,6439.5291,1608.7728,6448.3639,1613.1257" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[2da0e339f7ca878d257c4a5336e8cad5]
+link urt_osThread_t to urt_delay_t--><path d="M4111.8614,1505.5658 C4132.1109,1512.7506 4152.5284,1518.9845 4172.7624,1523.8594 C4291.7025,1552.5149 6262.3602,1503.5521 6374.7624,1551.8594 C6402.7849,1563.9027 6427.1793,1587.0684 6445.6584,1609.1345 " 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="6449.0396,1613.239,6446.4045,1603.7492,6445.8605,1609.3798,6440.2298,1608.8358,6449.0396,1613.239" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4dd831efde278dc905a11b75839a39d0]
+link urt_osThread_t to urt_status_t--><path d="M4111.8441,1505.638 C4132.0977,1512.8054 4152.5209,1519.0158 4172.7624,1523.8594 C4329.9436,1561.4713 6933.3259,1487.9285 7081.7624,1551.8594 C7114.878,1566.1221 7142.7696,1596.1091 7161.7656,1621.323 " 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="7164.9724,1625.6471,7162.8242,1616.0354,7161.994,1621.631,7156.3984,1620.8008,7164.9724,1625.6471" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8bf77663ad208115c32fd5300d37f092]
+link urt_osTimer_t to urt_delay_t--><path d="M4685.0481,1411.0186 C4765.8776,1450.934 4881.608,1501.3048 4989.7624,1523.8594 C5140.4412,1555.2821 6233.5777,1490.554 6374.7624,1551.8594 C6402.7396,1564.0077 6427.1287,1587.1853 6445.6162,1609.2322 " 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="6448.9991,1613.3327,6446.357,1603.8448,6445.8171,1609.4759,6440.1861,1608.936,6448.9991,1613.3327" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[97e66fd6906ece822f393f9bfe719297]
+link urt_osTimer_t to urt_status_t--><path d="M4684.5818,1411.0236 C4765.4072,1451.083 4881.343,1501.6356 4989.7624,1523.8594 C5103.6276,1547.1995 6975.0967,1505.6811 7081.7624,1551.8594 C7114.8511,1566.1843 7142.7441,1596.168 7161.7475,1621.3649 " 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="7164.9557,1625.6859,7162.802,1616.0754,7161.975,1621.6715,7156.3789,1620.8445,7164.9557,1625.6859" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[a4e2abbbace7909006fa5f13364d6021]
+link urt_events to urt_delay_t--><path d="M2751.6297,1398.0313 C2843.2765,1439.5313 2990.7811,1499.4428 3125.7624,1523.8594 C3214.5745,1539.9245 6291.7698,1516.3927 6374.7624,1551.8594 C6402.8095,1563.8452 6427.2067,1587.0044 6445.6813,1609.0811 " 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="6449.0616,1613.1877,6446.4303,1603.6968,6445.884,1609.3272,6440.2536,1608.7809,6449.0616,1613.1877" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0549e7b45a7543f4046fb7eaa1b75598]
+link urt_events to urt_status_t--><path d="M2751.1926,1397.8806 C2842.8014,1439.4219 2990.5514,1499.5087 3125.7624,1523.8594 C3233.9142,1543.3369 6980.7786,1508.5185 7081.7624,1551.8594 C7114.8961,1566.0799 7142.7867,1596.0691 7161.7778,1621.2946 " 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="7164.9838,1625.6207,7162.8389,1616.0082,7162.0068,1621.6035,7156.4115,1620.7714,7164.9838,1625.6207" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[182342162f0b9b45ddce11acc6582c59]
+reverse link urt_node_t to urt_node_t--><path d="M11348.1812,562.8698 C11362.6515,570.3533 11370.7624,579.3498 11370.7624,589.8594 C11370.7624,603.0479 11357.9895,613.8537 11335.9051,622.2768 " fill="none" id="urt_node_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="11335.9051,557.442,11339.7752,563.5266,11346.8802,562.2945,11343.0102,556.2098,11335.9051,557.442" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11343.7259" y="553.9481">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="11343.8384" y="619.6947">0..1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]
+reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M10879.7105,687.2608 C10941.686,744.5714 11019.128,813.2176 11066.4068,852.0624 " fill="none" id="urt_node_t&lt;-urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="10869.9036,678.1664,10871.5831,685.1792,10878.7024,686.3261,10877.0229,679.3133,10869.9036,678.1664" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10868.4492" y="697.8713">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11048.846" y="841.2644">1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]
+reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M10898.1911,681.6388 C10964.8995,740.0192 11043.3577,811.9388 11083.2793,852.0624 " 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="10894.2189,678.1664,10898.3625,687.1012,10897.9834,681.457,10903.6275,681.078,10894.2189,678.1664" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b913f036db99e36b937989146817bd94]
+reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M10689.3089,688.3234 C10640.0189,745.4177 10584.4339,813.4574 10556.319,852.0624 " fill="none" id="urt_node_t&lt;-urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="10698.1118,678.1664,10691.1594,680.0807,10690.2525,687.2345,10697.2049,685.3202,10698.1118,678.1664" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10682.9678" y="697.8713">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10551.115" y="841.2644">1</text><!--MD5=[b913f036db99e36b937989146817bd94]
+reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M10719.0833,682.3372 C10672.2905,740.5917 10611.1742,812.0987 10573.1915,852.0624 " 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="10722.4271,678.1664,10713.6767,682.6863,10719.2996,682.0675,10719.9184,687.6904,10722.4271,678.1664" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0c465c1a61dfd99ff8b5568ca35c92d1]
+reverse link urt_srtdata_t to urt_srtusefulnessfunc_t--><path d="M9980.019,1405.011 C9984.1949,1469.3196 9991.3084,1578.8665 9994.7624,1632.0592 " fill="none" id="urt_srtdata_t&lt;-urt_srtusefulnessfunc_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="9979.1749,1392.0114,9975.5721,1398.258,9979.9525,1403.9862,9983.5553,1397.7396,9979.1749,1392.0114" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9970.912" y="1411.5171">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="9967.8749" y="1621.2605">0..1</text><!--MD5=[3f22cd2af9b1d30da63b75b4db75ae6e]
+reverse link urt_rtclassdata_t to urt_hrtdata_t--><path d="M9309.2131,1128.294 C9348.9295,1167.6656 9401.9328,1220.2088 9446.8969,1264.7826 " fill="none" id="urt_rtclassdata_t&lt;-urt_hrtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9299.9282,1119.0897,9301.3732,1126.1545,9308.4504,1127.5379,9307.0054,1120.4731,9299.9282,1119.0897" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9298.4203" y="1139.1985">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="9414.3784" y="1253.7724">0..1</text><!--MD5=[a94a8c9c209e194384613684e912df80]
+reverse link urt_rtclassdata_t to urt_frtdata_t--><path d="M9164.6226,1116.6787 C9162.6639,1117.44 9160.7089,1118.1685 9158.7624,1118.8594 C9140.4431,1125.3616 9133.3584,1118.5975 9115.7624,1126.8594 C9038.3191,1163.2219 8964.6106,1226.8045 8913.1888,1277.6025 " fill="none" id="urt_rtclassdata_t&lt;-urt_frtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9176.6629,1111.6292,9169.5828,1110.2609,9165.5967,1116.2701,9172.6768,1117.6384,9176.6629,1111.6292" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9160.712" y="1112.2773">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="8894.6672" y="1266.8418">0..1</text><!--MD5=[e6a6d7a2212fadf5661857a71d4f05c3]
+reverse link urt_rtclassdata_t to urt_srtdata_t--><path d="M9336.1201,1073.3858 C9490.5845,1081.2198 9802.0094,1100.1199 9843.7624,1126.8594 C9913.0322,1171.2211 9950.5503,1265.4668 9966.7876,1317.832 " fill="none" id="urt_rtclassdata_t&lt;-urt_srtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9323.0248,1072.7291,9328.8169,1077.0246,9335.0097,1073.3303,9329.2177,1069.0347,9323.0248,1072.7291" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9330.9925" y="1069.3656">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="9938.736" y="1306.7374">0..1</text><!--MD5=[206fe31eaf8244c7272230bb0ec7137c]
+reverse link urt_rtclassdata_t to urt_nrtdata_t--><path d="M9236.6141,1131.9238 C9223.4934,1194.3564 9204.0075,1287.0767 9194.857,1330.6179 " fill="none" id="urt_rtclassdata_t&lt;-urt_nrtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9239.3112,1119.0897,9234.1627,1124.1387,9236.8432,1130.8331,9241.9917,1125.7841,9239.3112,1119.0897" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9229.279" y="1139.1985">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="9169.1738" y="1319.964">0..1</text><!--MD5=[1ba55993ff077c77667f6c7be6552d53]
+reverse link urt_rtdata_t to urt_rtclass_t--><path d="M9113.2112,932.4551 C9103.6567,959.4536 9091.871,992.7572 9082.3162,1019.7568 " fill="none" id="urt_rtdata_t&lt;-urt_rtclass_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9117.565,920.1522,9111.7925,924.474,9113.5616,931.4647,9119.3342,927.1429,9117.565,920.1522" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9106.8242" y="939.3996">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9076.2222" y="1008.7876">1</text><!--MD5=[8318054091d2ecf2336b9e490f482e2a]
+reverse link urt_rtdata_t to urt_rtclassdata_t--><path d="M9161.7086,931.3591 C9179.0572,958.5483 9200.651,992.3907 9218.1125,1019.7568 " fill="none" id="urt_rtdata_t&lt;-urt_rtclassdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9154.5579,920.1522,9154.4133,927.3618,9161.0127,930.2683,9161.1573,923.0586,9154.5579,920.1522" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9149.7128" y="939.3996">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9205.0992" y="1008.7876">1</text><!--MD5=[b6ee30948a218449c72edbee7363b5d7]
+link urt_subscriber_t to urt_hrtdata_t--><path d="M9229.2109,746.089 C9241.1211,766.0481 9252.9023,786.3257 9263.7624,805.8594 C9348.7893,958.7933 9437.5126,1141.502 9490.1809,1252.8081 " fill="none" id="urt_subscriber_t-&gt;urt_hrtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="9495.7926,1264.6859,9496.8461,1257.5521,9490.6664,1253.8359,9489.6128,1260.9696,9495.7926,1264.6859" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="9209.3982" y="766.0875">0..1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9483.9857" y="1253.6677">1</text><!--MD5=[536025241394544a90bc53fb552f3a08]
+reverse link urt_message_t to urt_message_t--><path d="M7827.7465,858.8913 C7841.8277,864.6222 7850.2624,872.6116 7850.2624,882.8594 C7850.2624,895.8467 7836.7153,905.2067 7815.2965,910.9394 " fill="none" id="urt_message_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="7815.2965,854.7794,7819.7394,860.4593,7826.6911,858.5427,7822.2483,852.8628,7815.2965,854.7794" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7823.5454" y="866.1012">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="7823.0906" y="908.6766">0..1</text><!--MD5=[f7eb638a1c2d853c6fb0ae6f53692e50]
+reverse link urt_subscriber_t to urt_rtdata_t--><path d="M9130.7624,759.2614 C9130.7624,791.8323 9130.7624,822.8546 9130.7624,845.6724 " fill="none" id="urt_subscriber_t&lt;-urt_rtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9130.7624,746.2243,9126.7624,752.2243,9130.7624,758.2243,9134.7624,752.2243,9130.7624,746.2243" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9122.5687" y="766.2293">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9122.0499" y="834.826">1</text><!--MD5=[bf7bf5810813e0e9b75d3053dc098443]
+reverse link urt_subscriber_t to urt_topic_t--><path d="M8805.7338,429.1279 C8731.8372,401.8838 8652.35,379.5572 8575.2624,370.8594 C8532.5888,366.0445 7844.9361,366.0445 7802.2624,370.8594 C7794.3344,371.7539 7791.8006,371.1019 7784.7624,374.8594 C7741.207,398.113 7699.8801,431.8981 7664.6752,465.8258 " fill="none" id="urt_subscriber_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8818.0219,433.7221,8813.8027,427.8741,8806.7818,429.5196,8811.001,435.3675,8818.0219,433.7221" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8794.6798" y="422.8637">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="7646.5199" y="454.8792">0..1</text><!--MD5=[d3b08a81de663c21a5ec062e6c430f2b]
+reverse link urt_topic_t to urt_subscriber_t--><path d="M7674.3094,456.6922 C7707.324,425.9123 7745.1202,396.0238 7784.7624,374.8594 C7791.8006,371.1019 7794.3344,371.7539 7802.2624,370.8594 C7844.9361,366.0445 8532.5888,366.0445 8575.2624,370.8594 C8656.6415,380.0415 8740.6947,404.4119 8818.0219,433.7221 " fill="none" id="urt_topic_t&lt;-urt_subscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="7664.6752,465.8258,7671.7815,464.6006,7673.3837,457.5698,7666.2775,458.7949,7664.6752,465.8258" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7671.4949" y="454.8792">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="8803.4548" y="422.8637">0..1</text><!--MD5=[67fd999c5486ad1c37ee9b77e12afd1b]
+reverse link urt_subscriber_t to urt_message_t--><path d="M8583.6925,747.7584 C8318.5097,803.1451 8016.5263,840.4056 7815.4633,861.5814 " fill="none" id="urt_subscriber_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8596.6911,745.0226,8589.9959,742.3441,8584.9484,747.494,8591.6436,750.1726,8596.6911,745.0226" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8580.9546" y="746.4738">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="7823.2629" y="857.699">0..1</text><!--MD5=[54fcf25ad8c5f1d36e678e42d5bfd4cc]
+reverse link urt_publisher_t to urt_topic_t--><path d="M7788.6417,589.8594 C7775.4355,589.8594 7762.2293,589.8594 7749.0232,589.8594 " fill="none" id="urt_publisher_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="7801.8478,589.8594,7795.8478,585.8594,7789.8478,589.8594,7795.8478,593.8594,7801.8478,589.8594" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7786.0495" y="586.777">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7756.6896" y="586.6345">1</text><!--MD5=[5025b4c4053b8e7c7ca8a657f09f21c0]
+link urt_publisher_t to urt_message_t--><path d="M8051.1127,654.5222 C7962.461,698.3988 7844.6742,756.6953 7750.3063,803.4011 " 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="7745.5472,805.7565,7755.3876,805.3492,7750.0284,803.5386,7751.839,798.1793,7745.5472,805.7565" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b2afc1defaa6ed5a86f99c07f8466dd]
+reverse link urt_topic_t to urt_topic_t--><path d="M7760.8063,549.9497 C7775.0685,559.0592 7783.7624,572.3624 7783.7624,589.8594 C7783.7624,611.8164 7770.0714,627.1692 7748.8664,635.9177 " fill="none" id="urt_topic_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="7748.8664,543.8011,7752.3694,550.1042,7759.5349,549.295,7756.032,542.9918,7748.8664,543.8011" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7756.5267" y="538.7771">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="7756.8392" y="634.492">0..1</text><!--MD5=[0b5167e958c0ed93ffc0c98ce399b54d]
+reverse link urt_topic_t to urt_message_t--><path d="M7559.5113,727.2769 C7562.4123,754.1823 7565.9348,781.4978 7569.6679,805.5747 " fill="none" id="urt_topic_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="7558.1389,714.1178,7554.7828,720.5003,7559.3836,726.053,7562.7397,719.6705,7558.1389,714.1178" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7549.9872" y="733.8038">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="7542.7092" y="794.8114">1..1</text><!--MD5=[0b5167e958c0ed93ffc0c98ce399b54d]
+reverse link urt_topic_t to urt_message_t--><path d="M7585.7164,727.2769 C7588.8837,754.1823 7591.4879,781.4978 7593.1182,805.5747 " fill="none" id="urt_topic_t&lt;-urt_message_t-1" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7584.1182,714.1178,7580.8709,720.5563,7585.5652,726.0302,7588.8125,719.5917,7584.1182,714.1178" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7577.4685" y="733.8038">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7585.0588" y="794.8114">1</text><!--MD5=[05f2c35569573d3273c65d3342945557]
+reverse link urt_service_t to urt_service_t--><path d="M12002.5507,555.3923 C12017.1861,564.0864 12025.7624,575.5754 12025.7624,589.8594 C12025.7624,607.6104 12012.5176,621.045 11990.8589,630.1631 " fill="none" id="urt_service_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="11990.8589,549.5557,11994.4406,555.8144,12001.5954,554.9154,11998.0137,548.6567,11990.8589,549.5557" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11998.963" y="545.3484">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="11999.1755" y="628.097">0..1</text><!--MD5=[586e61fedafd54ae7ea71cebd9f9032a]
+reverse link urt_service_t to urt_servicefunc_t--><path d="M11657.5961,713.8691 C11644.4183,764.6729 11630.2817,819.1732 11621.7302,852.1416 " fill="none" id="urt_service_t&lt;-urt_servicefunc_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="11660.9217,701.0479,11655.5434,705.8514,11657.9088,712.6635,11663.2871,707.86,11660.9217,701.0479" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11650.6126" y="721.4485">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="11596.8986" y="841.3599">0..1</text><!--MD5=[694e7400eb99f74d44ea388aed89d199]
+reverse link urt_core_t to urt_node_t--><path d="M7885.689,242.4411 C8458.7974,251.7451 9777.2467,282.746 10215.7624,374.8594 C10346.5522,402.3327 10487.0696,455.3064 10595.62,501.7942 " fill="none" id="urt_core_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="7872.2904,242.2254,7878.2252,246.3215,7884.2888,242.4187,7878.3541,238.3226,7872.2904,242.2254" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7880.0545" y="254.6158">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="10554.4203" y="490.6521">0..1</text><!--MD5=[250695c91040478b50550bc37a8775c7]
+reverse link urt_core_t to urt_topic_t--><path d="M7591.4377,380.0144 C7586.7461,408.4065 7581.8483,438.0467 7577.2617,465.8037 " fill="none" id="urt_core_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7593.5769,367.0684,7588.6522,372.3359,7591.6204,378.9078,7596.5451,373.6403,7593.5769,367.0684" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7584.1209" y="386.9828">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="7553.7796" y="454.8558">0..1</text><!--MD5=[8d0a227ec56585cdbc167f8316b34b64]
+reverse link urt_core_t to urt_service_t--><path d="M7885.744,240.1033 C8692.2686,245.0008 11041.6637,268.3473 11369.7624,374.8594 C11437.8786,396.9722 11504.9572,438.1602 11559.9659,478.6145 " fill="none" id="urt_core_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7872.5213,240.0238,7878.4971,244.0598,7884.5211,240.096,7878.5453,236.06,7872.5213,240.0238" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7880.2923" y="236.9035">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="11526.4389" y="467.6922">0..1</text><!--MD5=[a42c921bb2ae3ef3cd6ba12c97758939]
+reverse link urt_core_t to urt_osEventSource_t--><path d="M7343.7222,240.9268 C6265.9822,249.7254 2315.8461,287.6678 1761.7624,374.8594 C978.9934,498.0373 52.7624,90.4578 52.7624,882.8594 C52.7624,882.8594 52.7624,882.8594 52.7624,1069.3594 C52.7624,1271.5959 -65.7755,1378.4335 74.7624,1523.8594 C170.2544,1622.6726 1029.8612,1651.3128 1481.0118,1659.5595 " fill="none" id="urt_core_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7357.0471,240.8184,7351.0147,236.8674,7345.0475,240.9162,7351.0799,244.8672,7357.0471,240.8184" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7341.2774" y="237.7217">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1465.634" y="1671.7449">1</text><!--MD5=[b9eb8460041bde16ab6e44c28de7b0fc]
+reverse link urt_core_t to urt_osMutex_t--><path d="M7343.8548,248.5646 C6775.2774,269.682 5473.6793,322.1509 5032.7624,374.8594 C3231.8579,590.1448 2556.5455,160.3989 1021.7624,1126.8594 C953.2552,1169.9988 903.6828,1252.2447 877.0964,1305.2654 " fill="none" id="urt_core_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7357.1486,248.0716,7351.0045,244.2967,7345.1568,248.5164,7351.301,252.2912,7357.1486,248.0716" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7341.3819" y="260.6355">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="880.7996" y="1294.2974">1</text><!--MD5=[53eb1ed31b8ffcbb98ca8a87ecf3ad40]
+link urt_core_t to urt_status_t--><path d="M7872.6189,242.0068 C8805.2442,253.994 11952.1108,299.9327 12024.7624,374.8594 C12205.7545,561.5192 12200.4142,768.1657 12024.7624,959.8594 C11887.8484,1109.2776 10410.2077,1109.5233 10207.7624,1118.8594 C10162.3102,1120.9555 8614.465,1118.3755 8569.7624,1126.8594 C8045.1767,1226.4185 7463.1599,1517.0292 7261.8934,1623.3253 " 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="7257.2101,1625.8018,7267.0361,1625.1305,7261.6301,1623.4644,7263.2963,1618.0585,7257.2101,1625.8018" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f6f8ae0abb3c85244c8639cf15039f58]
+link urt_core_t to urt_nodestage_t--><path d="M7357.0872,241.5184 C6877.5332,248.8133 5885.592,275.8282 5765.7624,374.8594 C5612.8512,501.2305 5675.7646,609.1988 5649.7624,805.8594 C5631.4946,944.0241 5567.5173,1023.0855 5668.7624,1118.8594 C5689.1444,1138.1399 5773.9213,1108.0763 5794.7624,1126.8594 C5927.6844,1246.6556 5727.3525,1405.7352 5861.7624,1523.8594 C5922.6502,1577.3697 6515.4939,1521.7708 6590.7624,1551.8594 C6607.8356,1558.6844 6624.144,1568.8838 6639.0282,1580.3808 " 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="6643.188,1583.6562,6638.5915,1574.9457,6639.2596,1580.5629,6633.6424,1581.2311,6643.188,1583.6562" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e894174e7ccaed139fbaaa0f9b9ae8dc]
+link urt_core_t to urt_topicid_t--><path d="M7356.9625,247.8624 C6837.0426,267.2205 5706.8828,315.8673 5646.7624,374.8594 C5410.3835,606.8023 5379.1315,877.3829 5605.7624,1118.8594 C5624.9625,1139.3171 5711.1069,1107.8723 5731.7624,1126.8594 C5863.0904,1247.579 5660.3221,1402.1813 5790.7624,1523.8594 C5849.1144,1578.2915 6076.1375,1518.7925 6148.7624,1551.8594 C6164.1857,1558.8818 6178.7315,1568.9554 6191.9287,1580.2044 " fill="none" id="urt_core_t-&gt;urt_topicid_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6195.9805,1583.7311,6191.8181,1574.805,6192.2091,1580.4484,6186.5657,1580.8393,6195.9805,1583.7311" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[972bd788fc5a0ee0badfa994920a3622]
+link urt_core_t to urt_serviceid_t--><path d="M7357.2024,277.0979 C6884.0204,353.1821 5906.4736,539.4691 5707.7624,805.8594 C5623.357,919.0125 5650.2495,1032.2986 5761.7624,1118.8594 C5780.0728,1133.0726 5847.4015,1112.7117 5865.7624,1126.8594 C6013.7318,1240.8747 5853.3534,1413.0825 6003.7624,1523.8594 C6078.8654,1579.1731 6756.5633,1516.2256 6842.7624,1551.8594 C6859.2296,1558.6668 6874.8058,1568.8573 6888.9305,1580.3508 " fill="none" id="urt_core_t-&gt;urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6892.8755,1583.6254,6888.5053,1574.7992,6889.0283,1580.4318,6883.3956,1580.9548,6892.8755,1583.6254" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[addb2e74eebae0995b3a6bf162197d46]
+reverse link urt_node_t to urt_osThread_t--><path d="M10505.1273,681.4617 C10413.9339,707.3665 10311.4624,732.2071 10215.7624,745.8594 C10108.3648,761.1805 6402.9331,748.6443 6310.7624,805.8594 C6177.8522,888.3637 6283.1375,1037.1085 6149.7624,1118.8594 C6126.3516,1133.2088 4199.0212,1118.8314 4172.7624,1126.8594 C4128.6652,1140.341 4085.0601,1161.5888 4044.5191,1185.8116 " fill="none" id="urt_node_t&lt;-urt_osThread_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="10517.6292,677.8838,10510.7602,675.689,10506.0924,681.1855,10512.9614,683.3803,10517.6292,677.8838" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10487.2588" y="697.8648">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="4029.6159" y="1174.8884">0..1</text><!--MD5=[71f626b81c482d35e653d2b548781872]
+reverse link urt_node_t to urt_nodestage_t--><path d="M10504.4858,681.5252 C10413.4485,707.3596 10311.2301,732.143 10215.7624,745.8594 C10025.6853,773.1689 6922.7979,704.3973 6759.7624,805.8594 C6481.7704,978.8626 6479.3632,1217.4403 6594.7624,1523.8594 C6602.8537,1545.344 6615.942,1565.6704 6630.6049,1583.8096 " fill="none" id="urt_node_t&lt;-urt_nodestage_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="10517.2555,677.874,10510.387,675.6777,10505.7179,681.1731,10512.5864,683.3694,10517.2555,677.874" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10495.5166" y="697.8542">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6614.2935" y="1572.8836">1</text><!--MD5=[ecbb69d8dc7b8a34ff21337736794c2a]
+reverse link urt_node_t to urt_osEventListener_t--><path d="M10505.1324,681.4973 C10413.9392,707.4041 10311.4666,732.2369 10215.7624,745.8594 C9768.0043,809.5931 6597.2251,778.8257 6145.7624,805.8594 C5493.1168,844.9401 5334.5044,907.8401 4682.7624,959.8594 C3387.6247,1063.2318 3062.4334,1079.8546 1763.7624,1118.8594 C1753.9056,1119.1554 350.7157,1119.8668 343.7624,1126.8594 C219.3493,1251.9754 220.0278,1398.0724 343.7624,1523.8594 C376.9213,1557.5682 1999.4834,1542.1618 2045.7624,1551.8594 C2110.4484,1565.4141 2179.1644,1594.673 2230.4101,1619.7487 " fill="none" id="urt_node_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="10517.6343,677.9191,10510.7653,675.7245,10506.0975,681.2211,10512.9666,683.4157,10517.6343,677.9191" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10433.6608" y="697.6555">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2218.2415" y="1608.7271">1</text><!--MD5=[a052f483eba01ccbd89eefaa281cffa6]
+reverse link urt_node_t to urt_osThreadFunction_t--><path d="M10505.13,681.4811 C10413.9368,707.3869 10311.4647,732.2233 10215.7624,745.8594 C10105.9424,761.5071 6315.7135,745.3169 6222.7624,805.8594 C6094.4525,889.4325 6207.6379,1036.1611 6078.7624,1118.8594 C6062.2982,1129.4244 458.5854,1113.0168 444.7624,1126.8594 C320.086,1251.713 320.6513,1398.4438 444.7624,1523.8594 C497.0905,1576.7374 3052.4297,1527.6187 3122.7624,1551.8594 C3169.2201,1567.8713 3212.5763,1605.1856 3239.5558,1632.1365 " fill="none" id="urt_node_t&lt;-urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="10517.632,677.903,10510.763,675.7083,10506.0952,681.2048,10512.9642,683.3995,10517.632,677.903" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="10471.6407" y="697.8856">0..*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3224.9132" y="1621.3537">1</text><!--MD5=[0cba389305cd35ebcbacaedacb3fbe88]
+link urt_node_t to urt_status_t--><path d="M10516.8928,677.942 C10422.8019,705.0328 10315.5895,731.4852 10215.7624,745.8594 C10123.9994,759.0725 6943.726,739.7173 6878.7624,805.8594 C6655.1543,1033.5242 6669.0986,1283.2914 6878.7624,1523.8594 C6908.6822,1558.1893 7041.1704,1531.2193 7081.7624,1551.8594 C7113.3387,1567.9152 7140.8635,1597.0357 7160.0869,1621.4219 " 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="7163.339,1625.6032,7160.9709,1616.0433,7160.2693,1621.6564,7154.6561,1620.9548,7163.339,1625.6032" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b00c0c61b5ae38465e12763fb588229]
+link urt_nodeSetupCallback_t to urt_osEventMask_t--><path d="M11031.5352,913.4289 C10983.9832,930.6576 10921.3094,950.5435 10863.7624,959.8594 C10064.7216,1089.2115 8019.3554,881.8604 7221.7624,1019.8594 C6532.916,1139.0432 6420.9475,1406.6493 5731.7624,1523.8594 C5589.0259,1548.1347 3263.6427,1507.6772 3125.7624,1551.8594 C3078.0519,1567.1477 3032.08,1602.172 3001.9485,1628.8198 " 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="2997.987,1632.3559,3007.3649,1629.3468,3001.7171,1629.0263,3002.0376,1623.3785,2997.987,1632.3559" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[aa0b59559007c8ad9b783f6dc5ed8ad9]
+link urt_nodeLoopCallback_t to urt_osEventMask_t--><path d="M10432.8246,913.457 C10368.3626,930.5792 10284.0182,950.3447 10207.7624,959.8594 C9536.1721,1043.6565 7838.5225,982.3915 7162.7624,1019.8594 C6679.7215,1046.6419 6562.028,1096.4935 6078.7624,1118.8594 C6068.9916,1119.3116 451.6739,1119.9381 444.7624,1126.8594 C320.086,1251.713 320.7381,1398.358 444.7624,1523.8594 C490.9429,1570.5898 2747.2681,1531.5906 2809.7624,1551.8594 C2856.8647,1567.1361 2902.095,1601.9785 2931.8076,1628.5824 " 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="2935.7146,1632.1134,2931.7195,1623.1112,2932.0051,1628.7608,2926.3554,1629.0464,2935.7146,1632.1134" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b3fa89608aace108b23bbfcd22712ec]
+link urt_publisher_t to urt_config--><path d="M8050.651,654.4871 C7974.9052,688.4514 7876.6866,726.8787 7784.7624,745.8594 C7685.3058,766.3954 6034.84,739.7352 5957.7624,805.8594 C5796.8048,943.9436 5679.0575,1589.4363 5817.7624,1749.8594 C5881.9562,1824.1045 6515.8935,1882.3858 6811.4728,1905.7552 " 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="6816.6637,1906.1648,6808.0064,1901.469,6811.6792,1905.7713,6807.3769,1909.4442,6816.6637,1906.1648" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[48a81098d0aa451a4923659bb2bbea3c]
+link urt_publisher_t to urt_status_t--><path d="M8050.6417,654.4418 C7974.8929,688.3916 7876.6743,726.8196 7784.7624,745.8594 C7689.0705,765.6823 6094.6747,735.5898 6026.7624,805.8594 C5979.1975,855.0754 6001.4477,896.2685 6026.7624,959.8594 C6064.5534,1054.7907 6120.8524,1047.1374 6184.7624,1126.8594 C6317.9189,1292.9601 6267.0455,1419.7954 6452.7624,1523.8594 C6574.8227,1592.2542 6954.2424,1494.2818 7081.7624,1551.8594 C7114.5091,1566.6451 7142.3333,1596.4439 7161.3938,1621.4463 " 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="7164.6131,1625.7336,7162.4076,1616.1348,7161.6108,1621.7353,7156.0104,1620.9385,7164.6131,1625.7336" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[c16173558393ca1d9128284d70afa235]
+link urt_publisher_t to urt_delay_t--><path d="M8050.6466,654.4658 C7974.8995,688.4234 7876.6808,726.851 7784.7624,745.8594 C7687.1063,766.0543 6060.0883,734.1762 5990.7624,805.8594 C5943.1807,855.0592 5977.5649,892.6994 5990.7624,959.8594 C6005.4831,1034.7703 6000.3591,1066.335 6055.7624,1118.8594 C6063.6168,1126.3056 6070.9186,1119.4022 6078.7624,1126.8594 C6216.7555,1258.0491 6093.5255,1401.9267 6239.7624,1523.8594 C6286.8259,1563.101 6321.0399,1522.3848 6374.7624,1551.8594 C6400.6154,1566.0435 6424.1389,1588.447 6442.584,1609.424 " 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="6445.9684,1613.3219,6443.0881,1603.9036,6442.6903,1609.5465,6437.0474,1609.1486,6445.9684,1613.3219" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3f75a4ca5db56e37c381a718c71f2950]
+reverse link urt_topic_t to urt_topicid_t--><path d="M7351.5359,598.7254 C6892.737,620.6495 5815.6673,684.6153 5707.7624,805.8594 C5613.9124,911.3112 5657.5743,1023.6085 5761.7624,1118.8594 C5772.9008,1129.0423 5782.1254,1118.6096 5794.7624,1126.8594 C5980.6257,1248.1961 5929.5045,1379.0941 6097.7624,1523.8594 C6117.364,1540.7242 6128.0107,1536.432 6148.7624,1551.8594 C6161.6729,1561.4574 6174.5837,1572.4651 6186.8205,1583.7372 " fill="none" id="urt_topic_t&lt;-urt_topicid_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7364.5945,598.1048,7358.4114,594.3941,7352.608,598.6744,7358.7912,602.3851,7364.5945,598.1048" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7348.9317" y="610.7879">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6171.543" y="1572.8045">1</text><!--MD5=[2ea2859f8de074b5c128ff5997404a58]
+reverse link urt_topic_t to urt_osMutex_t--><path d="M7351.391,598.6308 C6838.5036,622.1485 5531.1474,692.6127 5371.7624,805.8594 C5309.2733,850.2594 5291.3231,1077.5293 5226.7624,1118.8594 C5202.1689,1134.6036 1047.7941,1113.6277 1021.7624,1126.8594 C948.4986,1164.0989 899.614,1250.2148 874.5706,1305.3054 " fill="none" id="urt_topic_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7364.4738,598.0332,7358.2975,594.3112,7352.4863,598.5808,7358.6626,602.3028,7364.4738,598.0332" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7348.8063" y="595.1276">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="868.7936" y="1294.343">1</text><!--MD5=[ee40dc1875ed5325eec4e6c8c8102744]
+reverse link urt_topic_t to urt_osEventSource_t--><path d="M7350.938,603.8719 C6159.6605,685.0875 200.2911,1092.9559 168.7624,1126.8594 C48.6048,1256.0677 49.5682,1393.7618 168.7624,1523.8594 C255.4411,1618.467 1050.8039,1648.9597 1481.171,1658.5729 " fill="none" id="urt_topic_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7364.3064,602.9606,7358.0482,599.378,7352.3342,603.7768,7358.5924,607.3594,7364.3064,602.9606" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7348.6323" y="615.8334">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1464.93" y="1655.2976">1</text><!--MD5=[f5e2f818dfb7c47ef0a661b061d2efd0]
+link urt_topic_t to urt_config--><path d="M7713.4607,713.8898 C7736.3358,726.8802 7760.4177,738.1387 7784.7624,745.8594 C7896.935,781.4338 11934.7251,725.5737 12020.7624,805.8594 C12106.6829,886.036 12042.7624,951.8408 12042.7624,1069.3594 C12042.7624,1069.3594 12042.7624,1069.3594 12042.7624,1354.8594 C12042.7624,2192.5722 11030.2614,1640.1586 10199.7624,1749.8594 C9590.6343,1830.3192 7665.7414,1894.9948 7112.0813,1912.2967 " 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="7106.8346,1912.4606,7115.9551,1916.1776,7111.8322,1912.3044,7115.7053,1908.1815,7106.8346,1912.4606" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[a01366c261f16bb61c03de8616a1256c]
+reverse link urt_topic_t to urt_osTimer_t--><path d="M7351.3546,599.9383 C6853.7063,625.9116 5612.9795,700.5454 5458.7624,805.8594 C5329.5759,894.0803 5430.2334,1035.6516 5297.7624,1118.8594 C5283.2677,1127.9638 5006.274,1122.3476 4989.7624,1126.8594 C4862.8783,1161.5307 4732.913,1243.1969 4654.2519,1298.7649 " fill="none" id="urt_topic_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7364.416,599.2589,7358.2163,595.576,7352.4322,599.8823,7358.6319,603.5652,7364.416,599.2589" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7348.8186" y="596.4857">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="4638.2584" y="1287.6907">0..1</text><!--MD5=[23aed2412a22c58889d68b772ca9654f]
+link urt_topic_t to urt_status_t--><path d="M7364.5215,598.569 C6919.7044,620.6879 5849.2407,685.9501 5742.7624,805.8594 C5697.3161,857.0382 5718.3639,895.9114 5742.7624,959.8594 C5776.5368,1048.3811 5799.5887,1077.3598 5884.7624,1118.8594 C5909.3862,1130.8569 5983.6192,1113.9221 6007.7624,1126.8594 C6203.4074,1231.6964 6113.6359,1421.8355 6310.7624,1523.8594 C6463.0246,1602.6634 6925.2183,1481.9468 7081.7624,1551.8594 C7114.5693,1566.5109 7142.3906,1596.3163 7161.4347,1621.3553 " 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="7164.651,1625.6491,7162.4569,1616.0477,7161.6534,1621.6472,7156.0539,1620.8438,7164.651,1625.6491" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[40d97a101b79fe2b6aede42ee911a5e3]
+reverse link urt_message_t to urt_osTime_t--><path d="M7351.2322,902.6942 C7148.5887,923.265 6876.4308,960.8176 6784.7624,1019.8594 C6740.0961,1048.6281 6764.6731,1093.9174 6717.7624,1118.8594 C6685.5775,1135.9719 1502.2533,1112.4694 1468.7624,1126.8594 C1381.1508,1164.5034 1312.1529,1256.7646 1277.1003,1311.6937 " fill="none" id="urt_message_t&lt;-urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7364.1717,901.3941,7357.8018,898.0141,7352.2318,902.5939,7358.6017,905.974,7364.1717,901.3941" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7347.9208" y="898.8521">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1272.501" y="1300.6633">1</text><!--MD5=[7527c1e2a180419f2ba2182e8f11877d]
+reverse link urt_message_t to urt_osMutex_t--><path d="M7351.307,908.0781 C7173.7915,929.7578 6926.4419,966.1207 6713.7624,1019.8594 C6585.7904,1052.1947 6563.8388,1096.4418 6433.7624,1118.8594 C6415.2438,1122.0509 1038.5161,1118.3481 1021.7624,1126.8594 C948.4907,1164.0834 899.6085,1250.2041 874.5678,1305.2998 " fill="none" id="urt_message_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7364.2335,906.5103,7357.7955,903.2619,7352.3208,907.9553,7358.7588,911.2037,7364.2335,906.5103" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7347.9848" y="919.6912">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="877.9154" y="1294.3366">1</text><!--MD5=[107def0b4b669b7e1be29db2eeb634c8]
+reverse link urt_message_t to urt_osCondvar_t--><path d="M7351.0207,914.1379 C7228.168,935.1361 7077.7382,968.5818 6949.7624,1019.8594 C6871.7877,1051.1025 6867.4512,1089.4609 6788.7624,1118.8594 C6437.7399,1250.0031 6011.1105,1308.441 5716.0713,1334.3772 " fill="none" id="urt_message_t&lt;-urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7363.9579,911.9551,7357.376,909.0091,7352.1252,913.9517,7358.7071,916.8976,7363.9579,911.9551" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7348.4174" y="909.7256">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5723.3698" y="1330.8748">1</text><!--MD5=[2bb9471b6fda5815e085c87a24a67f11]
+link urt_message_t to urt_config--><path d="M7381.4601,959.8654 C7331.2674,978.984 7277.9412,999.766 7228.7624,1019.8594 C6712.176,1230.9257 6616.1208,1373.3383 6078.7624,1523.8594 C6033.6399,1536.4988 5900.6188,1516.5935 5869.7624,1551.8594 C5811.8154,1618.0874 5812.4331,1683.0961 5869.7624,1749.8594 C5930.3739,1820.4449 6526.4973,1879.9731 6811.4903,1904.6524 " 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="6816.4968,1905.0852,6807.8747,1900.325,6811.5154,1904.6546,6807.1858,1908.2953,6816.4968,1905.0852" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[570f5794230ed2cf7946261591bb6cd1]
+link urt_message_t to urt_status_t--><path d="M7393.2621,959.9159 C7361.833,976.9976 7331.0508,996.964 7304.7624,1019.8594 C7261.7243,1057.3427 7252.5154,1072.9557 7233.7624,1126.8594 C7172.7805,1302.1463 7179.3623,1528.3173 7185.357,1620.7201 " 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="7185.6959,1625.8162,7189.0895,1616.5704,7185.3639,1620.8272,7181.1071,1617.1016,7185.6959,1625.8162" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7cee5aa7c1aa784c863bfc703478827b]
+reverse link urt_subscriber_t to urt_osEventListener_t--><path d="M8583.7931,747.1847 C7972.5612,836.8365 6468.6439,780.559 5867.7624,805.8594 C3629.8657,900.0872 3076.0452,1034.2976 837.7624,1118.8594 C829.4621,1119.173 245.5965,1120.9468 239.7624,1126.8594 C177.7986,1189.6578 177.8653,1460.9952 239.7624,1523.8594 C274.9638,1559.6108 1996.6514,1541.5926 2045.7624,1551.8594 C2110.4548,1565.3835 2179.1706,1594.6435 2230.4146,1619.7274 " fill="none" id="urt_subscriber_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8596.7316,745.2446,8590.2048,742.1786,8584.8643,747.0241,8591.3911,750.0901,8596.7316,745.2446" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8580.9963" y="762.1477">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2208.9717" y="1608.7024">1</text><!--MD5=[d78112c1c4e2d668c8a365106ad0148b]
+reverse link urt_subscriber_t to urt_osTime_t--><path d="M8583.7555,746.6618 C8344.948,766.4169 6077.2479,729.8242 5955.7624,805.8594 C5823.1577,888.8539 5928.2272,1037.2551 5794.7624,1118.8594 C5769.132,1134.5306 1496.3622,1114.9953 1468.7624,1126.8594 C1381.1569,1164.5176 1312.1568,1256.7736 1277.1022,1311.698 " fill="none" id="urt_subscriber_t&lt;-urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8596.7314,745.2431,8590.3322,741.9189,8584.8025,746.5474,8591.2017,749.8715,8596.7314,745.2431" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8581.1653" y="759.6008">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1281.7782" y="1300.6683">1</text><!--MD5=[86ebe93bbfa4ec3b6f23ec8ed904ce0f]
+link urt_subscriber_t to urt_config--><path d="M9665.0574,678.6417 C9840.0761,704.519 10035.7841,730.0557 10215.7624,745.8594 C10318.366,754.8689 11991.1249,738.1757 12068.7624,805.8594 C12158.3158,883.9312 12113.7624,950.5528 12113.7624,1069.3594 C12113.7624,1069.3594 12113.7624,1069.3594 12113.7624,1354.8594 C12113.7624,1825.2885 11597.6965,1684.9826 11131.7624,1749.8594 C10331.7571,1861.2524 7762.1353,1905.2881 7112.2182,1914.7989 " 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="7107.0098,1914.875,7116.0674,1918.7429,7112.0093,1914.8018,7115.9503,1910.7437,7107.0098,1914.875" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[52cc257f73bbbb16d4f5605ee05234fd]
+reverse link urt_subscriber_t to urt_delay_t--><path d="M8583.6668,746.598 C8368.1576,762.7875 6421.0915,718.2318 6335.7624,805.8594 C6259.8691,883.7971 6169.7898,951.8294 6381.7624,1523.8594 C6393.8377,1556.4457 6415.8393,1588.1598 6436.232,1613.0469 " fill="none" id="urt_subscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8596.7302,745.2356,8590.3476,741.8796,8584.795,746.4805,8591.1776,749.8365,8596.7302,745.2356" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8581.1641" y="744.3823">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6404.367" y="1602.4066">0..2</text><!--MD5=[e382e2d38ad01b25c47e084dc0da57c4]
+link urt_subscriber_t to urt_status_t--><path d="M8596.7301,745.2345 C8595.4062,745.4451 8594.0837,745.6534 8592.7624,745.8594 C8471.3509,764.7902 6467.4641,717.8005 6381.7624,805.8594 C6224.4423,967.5066 6610.1048,1487.6392 6665.7624,1523.8594 C6743.42,1574.3965 6997.7562,1512.7743 7081.7624,1551.8594 C7114.2243,1566.9628 7141.9755,1596.5874 7161.0762,1621.4349 " 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="7164.3036,1625.6956,7162.058,1616.1061,7161.2846,1621.7099,7155.6809,1620.9365,7164.3036,1625.6956" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3efe35f90d26626840318a84096a56c5]
+link urt_hrtdata_t to urt_config--><path d="M9414.9285,1444.8919 C9369.6949,1474.1846 9316.7685,1504.1854 9264.7624,1523.8594 C8490.6669,1816.702 7487.4517,1892.3933 7112.159,1911.0541 " 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="7106.953,1911.3113,7116.1394,1914.8623,7111.9469,1911.0646,7115.7447,1906.8721,7106.953,1911.3113" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ed989009be771aee0dc5ea42e965db70]
+reverse link urt_hrtdata_t to urt_osTimer_t--><path d="M9462.1032,1254.5335 C9409.5674,1196.3343 9333.6592,1132.6076 9247.2624,1122.8594 C9218.0037,1119.5581 5036.5212,1119.5581 5007.2624,1122.8594 C4865.033,1138.9073 4723.7352,1235.4104 4644.4872,1298.7933 " fill="none" id="urt_hrtdata_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9470.9838,1264.5671,9470.0025,1257.4231,9463.0306,1255.5812,9464.0119,1262.7252,9470.9838,1264.5671" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9457.3436" y="1253.8446">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="4654.3176" y="1287.7228">0..1</text><!--MD5=[7e23fc46f17d4a9469ac4a553a110c32]
+reverse link urt_hrtdata_t to urt_delay_t--><path d="M9412.4613,1452.2014 C9368.2452,1480.9971 9316.5822,1508.8242 9264.7624,1523.8594 C9122.1364,1565.2416 6728.4036,1493.6883 6591.7624,1551.8594 C6561.8177,1564.6075 6535.9129,1589.9478 6516.8794,1613.2014 " fill="none" id="urt_hrtdata_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9423.5378,1444.8668,9416.3267,1444.8443,9413.5325,1451.492,9420.7436,1451.5145,9423.5378,1444.8668" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9405.7473" y="1465.0121">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6495.9896" y="1602.2244">0..5</text><!--MD5=[84b4ddc626a7a0aa23e58213a3a30632]
+link urt_frtdata_t to urt_config--><path d="M8585.2803,1431.5312 C8187.1436,1550.5487 7432.8887,1776.0227 7112.1639,1871.899 " 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="7107.0061,1873.4408,7116.7747,1874.6954,7111.7966,1872.0086,7114.4833,1867.0305,7107.0061,1873.4408" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8b5e0556f8c73fbb24cf4e7733c873ff]
+reverse link urt_frtdata_t to urt_osTimer_t--><path d="M8572.8147,1300.5869 C8273.2875,1243.1299 7773.9892,1156.2246 7339.2624,1122.8594 C7306.9685,1120.3808 5039.4471,1119.228 5007.2624,1122.8594 C4865.033,1138.9073 4723.7352,1235.4104 4644.4872,1298.7933 " fill="none" id="urt_frtdata_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8585.5971,1303.0443,8580.4602,1297.9834,8573.8129,1300.7786,8578.9498,1305.8395,8585.5971,1303.0443" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8569.8734" y="1298.3457">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="4627.2426" y="1287.7228">0..1</text><!--MD5=[29efa6d8db454d55b0473550ef148da3]
+reverse link urt_frtdata_t to urt_delay_t--><path d="M8572.4457,1385.7377 C8237.8775,1423.1569 7649.3709,1485.8972 7143.7624,1523.8594 C7082.5226,1528.4574 6647.7723,1526.6731 6591.7624,1551.8594 C6562.3263,1565.0962 6536.6205,1590.162 6517.5766,1613.1291 " fill="none" id="urt_frtdata_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8585.7182,1384.2516,8579.3104,1380.9441,8573.7927,1385.5869,8580.2006,1388.8944,8585.7182,1384.2516" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8569.9981" y="1381.9639">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6524.1598" y="1602.1419">0..5</text><!--MD5=[19bf7f91edc926705d1714d4ed8cf052]
+link urt_srtusefulnessfunc_t to urt_delay_t--><path d="M9960.0912,1632.3377 C9920.5549,1601.5895 9854.3598,1556.1548 9788.2624,1537.8594 C9745.7097,1526.081 6650.9263,1523.2445 6609.2624,1537.8594 C6572.4686,1550.766 6541.1916,1581.3587 6518.9425,1609.0468 " 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="6515.7258,1613.1084,6524.4493,1608.5366,6518.8301,1609.1888,6518.1779,1603.5697,6515.7258,1613.1084" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[85137379eadac9ac066ccd1aa3005a20]
+reverse link urt_service_t to urt_serviceid_t--><path d="M11484.0219,706.3017 C11447.007,722.524 11408.0087,736.7428 11369.7624,745.8594 C11257.1824,772.6947 7295.5458,735.3596 7203.7624,805.8594 C6959.0056,993.8597 6948.8126,1409.7719 6956.1926,1583.835 " fill="none" id="urt_service_t&lt;-urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11495.9665,700.9682,11488.857,699.762,11485.0092,705.8607,11492.1187,707.0669,11495.9665,700.9682" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11482.6215" y="721.3632">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6947.3104" y="1572.9114">1</text><!--MD5=[bfc39859b663e58a9d342532110a4ed9]
+reverse link urt_service_t to urt_osMutex_t--><path d="M11484.0375,706.3671 C11447.0208,722.5821 11408.0179,736.7814 11369.7624,745.8594 C11107.7944,808.0241 6776.2536,712.3717 6523.7624,805.8594 C6320.4957,881.1212 6353.4335,1044.6984 6149.7624,1118.8594 C6116.3005,1131.0436 1053.5108,1110.7288 1021.7624,1126.8594 C948.4923,1164.0864 899.6096,1250.2062 874.5683,1305.3009 " fill="none" id="urt_service_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11495.9826,701.0357,11488.8733,699.8284,11485.0245,705.9266,11492.1339,707.1338,11495.9826,701.0357" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11474.0762" y="721.4355">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="868.791" y="1294.3379">1</text><!--MD5=[33249c42c81fffc5b10022c232aa2b33]
+link urt_service_t to urt_config--><path d="M11990.7922,689.0092 C12042.252,718.854 12089.6941,757.1056 12122.7624,805.8594 C12189.9151,904.865 12163.0689,1488.2759 12139.7624,1523.8594 C12002.8069,1732.9584 11868.4391,1694.1738 11624.7624,1749.8594 C11176.903,1852.2053 7861.3035,1904.2999 7111.9742,1914.8374 " 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="7106.7899,1914.9102,7115.8452,1918.7833,7111.7894,1914.8399,7115.7328,1910.7841,7106.7899,1914.9102" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ac5bbcedbd2eba97f2e594f2b75734f9]
+reverse link urt_service_t to urt_delay_t--><path d="M11484.0254,706.3163 C11447.0101,722.537 11408.0107,736.7514 11369.7624,745.8594 C11137.2949,801.2163 7279.3303,692.8695 7068.7624,805.8594 C6730.8702,987.1711 6549.8698,1459.0116 6498.3558,1613.267 " fill="none" id="urt_service_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11495.9701,700.9833,11488.8606,699.7769,11485.0126,705.8755,11492.1221,707.0819,11495.9701,700.9833" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11442.2306" y="721.9753">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6474.8611" y="1602.2992">0..2</text><!--MD5=[5471b15d17b5493f5e528354308bf7b4]
+link urt_service_t to urt_status_t--><path d="M11495.9624,700.9509 C11455.4532,719.3706 11412.1452,735.7451 11369.7624,745.8594 C11152.4509,797.7187 7540.6924,691.5064 7348.7624,805.8594 C7067.0206,973.7228 7147.5911,1471.3857 7178.9873,1620.299 " 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="7180.0827,1625.448,7182.1224,1615.8126,7179.0423,1620.5574,7174.2975,1617.4773,7180.0827,1625.448" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0826203957815bb9ddac9132e239afa7]
+link urt_servicefunc_t to urt_delay_t--><path d="M11537.1387,913.3652 C11489.7541,930.6294 11427.2076,950.5747 11369.7624,959.8594 C11147.4012,995.7989 7519.5151,923.8333 7315.7624,1019.8594 C7259.2914,1046.4735 7256.6022,1073.161 7224.7624,1126.8594 C7128.4016,1289.374 7225.2438,1412.2985 7072.7624,1523.8594 C6986.3509,1587.0812 6689.249,1507.5838 6591.7624,1551.8594 C6564.0978,1564.4239 6539.6981,1587.3811 6521.0362,1609.1705 " 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="6517.6189,1613.2227,6526.4788,1608.9213,6520.8423,1609.4004,6520.3632,1603.7639,6517.6189,1613.2227" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3a1e539c88376aaf116c25a44ec54d4f]
+link urt_servicefunc_t to urt_status_t--><path d="M11536.5732,913.4264 C11489.2464,930.5957 11426.9574,950.4206 11369.7624,959.8594 C10755.703,1061.1965 9191.2567,986.9487 8569.7624,1019.8594 C8288.0422,1034.7776 7513.4973,937.0737 7304.7624,1126.8594 C7172.0828,1247.4942 7275.9083,1349.8046 7232.7624,1523.8594 C7224.5924,1556.8182 7212.9025,1593.4042 7203.6252,1620.7654 " 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="7201.9224,1625.764,7208.6108,1618.5345,7203.5347,1621.031,7201.0381,1615.9549,7201.9224,1625.764" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6c5378378aee407f5bd50309d3bc22f2]
 @startuml
 
 title **µRtWare**\nOverview\n
@@ -239,7 +232,6 @@ title **µRtWare**\nOverview\n
 
   class urt_status_t <<T,00CFFF>> {
   URT_STATUS_OK = 0x0..0
-  URT_STATUS_WARNING = 0x4..0
   URT_STATUS_ERROR = 0x8..0
 }
 
@@ -405,14 +397,18 @@ title **µRtWare**\nOverview\n
   - {field} {static} _evtSource : urt_osEventSource_t
   - {field} {static} _lock : urt_osMutex_t
   .. URT_CFG_PUBSUB_ENABLED == true ..
-  - {field} {static} _pubsub : urt_pubsub_t
+  - {field} {static} _topics : urt_topic_t*
   .. URT_CFG_RPC_ENABLED == true ..
-  - {field} {static} _rpc : urt_rpc_t
+  - {field} {static} _services : urt_service_t*
   __
   + {method} urtCoreInit (void) : urt_status_t
   + {method} urtCoreStartNodes (void) : urt_status_t
   + {method} urtCoreSynchronizeNodes (node : urt_node_t*, stage : urt_nodestage_t) : urt_status_t
   + {method} urtCoreStopNodes (void) : urt_status_t
+  .. URT_CFG_PUBSUB_ENABLED == true ..
+  + {method} urtCoreRetrieveTopic (id : urt_topicid_t) : urt_topic_t*
+  .. URT_CFG_RPC_ENABLED == true ..
+  + {method} urtCoreRetrieveService (id : urt_serviceid_t) : urt_service_t*
 }
 
   package "node" <<Rectangle>> {
@@ -447,7 +443,6 @@ title **µRtWare**\nOverview\n
   + {field} originTime : urt_osTime_t
   + {field} lock : urt_osMutex_t
   + {field} numHrtConsumersLeft : unsigned int
-  + {field} hrtConsumersLeft : urt_osCondvar_t
   .. URT_CFG_PUBSUB_PROFILING == true ..
   + {field} numConsumersLeft : unsigned int
   __
@@ -482,7 +477,7 @@ title **µRtWare**\nOverview\n
       + {field} deadlineOffset : urt_delay_t
       .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..
       + {field} expectedRate : urt_delay_t
-      .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ..
+      .. URT_CFG_PUBSUB_PROFILING == true || URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ..
       + {field} maxJitter : urt_delay_t
       + {field} minLatency : urt_delay_t
       + {field} maxLatency : urt_delay_t
@@ -490,11 +485,10 @@ title **µRtWare**\nOverview\n
 
       class urt_frtdata_t <<S,BFAFFF>> {
       .. URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true ..
-      + {field} qosDeadlineTimer : urt_osTimer_t
       + {field} deadlineOffset : urt_delay_t
       .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..
       + {field} expectedRate : urt_delay_t
-      .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ..
+      .. URT_CFG_PUBSUB_PROFILING == true || URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ..
       + {field} maxJitter : urt_delay_t
       + {field} minLatency : urt_delay_t
       + {field} maxLatency : urt_delay_t
@@ -518,13 +512,13 @@ title **µRtWare**\nOverview\n
     class urt_subscriber_t <<S,BFAFFF>> {
     + {field} topic : urt_topic_t*
     + {field} evtListener : urt_osEventListener_t
-    + {field} rtconstraints : urt_rtconstaints_t*
+    + {field} rtdata : urt_rtdata_t
     + {field} lastMessage : urt_message_t*
     + {field} lastMessageTime : urt_osTime_t
     .. URT_CFG_PUBSUB_PROFILING == true ..
     + {field} sumLatencies : uint64_t
     + {field} numMessagesReceived : uint64_t
-    .. URT_CFG_PUBSUB_PROFILING == true && URT_CFG_PUBSUB_QOS_JITTERCHECKS == false ..
+    .. URT_CFG_PUBSUB_PROFILING == true ..
     + {field} minLatency : urt_delay_t
     + {field} maxLatency : urt_delay_t
     __
@@ -557,6 +551,7 @@ title **µRtWare**\nOverview\n
   + {field} evtSource : urt_osEventSource_t
   + {field} numHrtSubscribers : unsigned int
   + {field} hrtSubscribers : urt_subscriber_t*
+  + {field} hrtReleased : urt_osCondvar_t
   + {field} mandatoryMessage : urt_message_t
   + {field} latestMessage : urt_message_t*
   .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..
@@ -568,45 +563,29 @@ title **µRtWare**\nOverview\n
   + {method} urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t
 }
 
-  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 "Remote Procedure Call System" <<Node>> {
 
-  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_servicefunc_t <<F,E0E0E0>> {
+  urt_servicefunc_t (arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t
 }
 
-  class urt_rpc_t <<S,BFAFFF>> {
-  - {field} {static} _services : urt_service_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} urtRpcInit (void) : urt_status_t
-  + {method} urtRpcRetrieveService (id : urt_serviceid_t) : urt_service_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
 }
 
 }
@@ -684,25 +663,22 @@ urt_topic_t "1" o- "0..1" urt_subscriber_t
 urt_topic_t "1" o- - "1..1" urt_message_t
 urt_topic_t "1" *- - "1" urt_message_t
 
-urt_pubsub_t "1" o- - "0..1" urt_topic_t
-urt_pubsub_t -[hidden]-> urt_publisher_t
-
 
 
 urt_service_t "1" o- - "0..1" urt_service_t
 urt_service_t "1" o- - "0..1" urt_servicefunc_t
 
-urt_rpc_t "1" o- - "0..1" urt_service_t
-
 
 urt_core_t "1" o- - "0..1" urt_node_t
-urt_core_t "1" *- - "0..1" urt_pubsub_t
-urt_core_t "1" *- - "0..1" urt_rpc_t
+urt_core_t "1" *- - "0..1" urt_topic_t
+urt_core_t "1" *- - "0..1" urt_service_t
 
 urt_core_t "1" *- - "1" urt_osEventSource_t
 urt_core_t "1" *- - "1" urt_osMutex_t
 urt_core_t ..> urt_status_t
 urt_core_t ..> urt_nodestage_t
+urt_core_t ..> urt_topicid_t
+urt_core_t ..> urt_serviceid_t
 urt_node_t "1" o- - "0..1" urt_osThread_t
 urt_node_t "1" *- - "1" urt_nodestage_t
 urt_node_t "1" *- - "1" urt_osEventListener_t
@@ -710,7 +686,6 @@ urt_node_t "0..*" o- - "1" urt_osThreadFunction_t
 urt_node_t ..> urt_status_t
 urt_nodeSetupCallback_t ..> urt_osEventMask_t
 urt_nodeLoopCallback_t ..> urt_osEventMask_t
-urt_pubsub_t ..> urt_status_t
 urt_publisher_t ..> urt_config
 urt_publisher_t ..> urt_status_t
 urt_publisher_t ..> urt_delay_t
@@ -737,8 +712,6 @@ urt_frtdata_t ..> urt_config
 urt_frtdata_t "1" *- - "0..1" urt_osTimer_t
 urt_frtdata_t "1" *- - "0..5" urt_delay_t
 urt_srtusefulnessfunc_t ..> urt_delay_t
-urt_rpc_t ..> urt_status_t
-urt_rpc_t ..> urt_serviceid_t
 urt_service_t "1" *- - "1" urt_serviceid_t
 urt_service_t "1" *- - "1" urt_osMutex_t
 urt_service_t ..> urt_config
