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/pubsub.svg b/doc/classdiagrams/pubsub.svg
index 03d8f02..c323239 100644
--- a/doc/classdiagrams/pubsub.svg
+++ b/doc/classdiagrams/pubsub.svg
@@ -1,40 +1,37 @@
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-cluster subscriber--><rect fill="#FFFFFF" filter="url(#freyvufthdr8m)" height="1110" style="stroke: #000000; stroke-width: 1.5;" width="1187" x="14" y="168.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="85" x="565" y="183.9014">subscriber</text><!--MD5=[94ad99421f5a0f525bc1c13a3777c25e]
-cluster real-time constraint data--><rect fill="#FFFFFF" filter="url(#freyvufthdr8m)" height="683.5" style="stroke: #000000; stroke-width: 1.5;" width="1171" x="22" y="587.4063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="194" x="510.5" y="602.4014">real-time constraint data</text><!--MD5=[57c3116dbac3d3a2ea35fece1cdc00f4]
-cluster SRT data--><rect fill="#FFFFFF" filter="url(#freyvufthdr8m)" height="283" style="stroke: #000000; stroke-width: 1.5;" width="390" x="487" y="979.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="69" x="647.5" y="994.9014">SRT data</text><!--MD5=[ab7cf431813e3be5d474948fd959cdbf]
-class urt_subscriber_t--><rect fill="#FEFECE" filter="url(#freyvufthdr8m)" height="312.0938" id="urt_subscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1068" x="125" y="195.9063"/><ellipse cx="604.25" cy="211.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M603.7344,212.4688 Q601.875,211.7656 601.2188,211 Q600.5781,210.2188 600.5781,208.9063 Q600.5781,207.2188 601.6563,206.25 Q602.7344,205.2813 604.6094,205.2813 Q605.4688,205.2813 606.3125,205.4844 Q607.1719,205.6719 608.0156,206.0625 L608.0156,208.4531 Q607.2344,207.8906 606.4063,207.6094 Q605.5938,207.3125 604.7969,207.3125 Q603.9219,207.3125 603.4375,207.6719 Q602.9688,208.0313 602.9688,208.6875 Q602.9688,209.2031 603.3125,209.5469 Q603.6563,209.875 604.75,210.2813 L605.8125,210.6875 Q607.2969,211.2344 608,212.1406 Q608.7188,213.0469 608.7188,214.4219 Q608.7188,216.2969 607.6094,217.2188 Q606.5,218.1406 604.25,218.1406 Q603.3281,218.1406 602.4063,217.9219 Q601.4844,217.7031 600.625,217.2813 L600.625,214.75 Q601.5938,215.4375 602.5156,215.7813 Q603.4375,216.125 604.3281,216.125 Q605.2344,216.125 605.7344,215.7188 Q606.2344,215.2969 606.2344,214.5625 Q606.2344,214 605.8906,213.5938 Q605.5625,213.1719 604.9375,212.9219 L603.7344,212.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="624.75" y="216.0605">urt_subscriber_t</text><line style="stroke: #A80036; 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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="145" y="293.3354">lastMessageTime : urt_osTime_t</text><ellipse cx="136" cy="319.7344" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="145" y="322.9448">sumLatencies : uint64_t</text><ellipse cx="136" cy="332.5391" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="145" y="335.7495">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="126" x2="550.5" y1="306.332" y2="306.332"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="550.5" y="309.6401">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; 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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1040" x="145" y="424.5776">urtSubscriberSubscribeFrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, rate : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="136" cy="434.1719" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1042" x="145" y="437.3823">urtSubscriberSubscribeSrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_srtusefulnessfunc_t*, cbparams : void*) : urt_status_t</text><ellipse cx="136" cy="446.9766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="699" x="145" y="450.187">urtSubscriberSubscribeNrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="136" cy="459.7813" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; 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-class urt_srtusefulnessfunc_t--><rect fill="#FEFECE" filter="url(#freyvufthdr8m)" height="60.8047" id="urt_srtusefulnessfunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="374" x="495" y="1193.9063"/><ellipse cx="604.25" cy="1209.9063" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M608.4844,1205.6719 L603.2031,1205.6719 L603.2031,1208.3438 L608,1208.3438 L608,1210.5 L603.2031,1210.5 L603.2031,1215.9063 L600.7656,1215.9063 L600.7656,1203.5156 L608.4844,1203.5156 L608.4844,1205.6719 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="147" x="624.75" y="1214.0605">urt_srtusefulnessfunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="496" x2="868" y1="1225.9063" y2="1225.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="496" x2="868" y1="1233.9063" y2="1233.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="362" x="501" y="1248.1167">urt_srtusefulnessfunc_t (dt : urt_delay_t, params : void*) : float</text><!--MD5=[4a2daf41193a31389d6311337c2a120f]
-class urt_srtdata_t--><rect fill="#FEFECE" filter="url(#freyvufthdr8m)" height="73.6094" id="urt_srtdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="258" x="547" y="1006.9063"/><ellipse cx="631.25" cy="1022.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M630.7344,1023.4688 Q628.875,1022.7656 628.2188,1022 Q627.5781,1021.2188 627.5781,1019.9063 Q627.5781,1018.2188 628.6563,1017.25 Q629.7344,1016.2813 631.6094,1016.2813 Q632.4688,1016.2813 633.3125,1016.4844 Q634.1719,1016.6719 635.0156,1017.0625 L635.0156,1019.4531 Q634.2344,1018.8906 633.4063,1018.6094 Q632.5938,1018.3125 631.7969,1018.3125 Q630.9219,1018.3125 630.4375,1018.6719 Q629.9688,1019.0313 629.9688,1019.6875 Q629.9688,1020.2031 630.3125,1020.5469 Q630.6563,1020.875 631.75,1021.2813 L632.8125,1021.6875 Q634.2969,1022.2344 635,1023.1406 Q635.7188,1024.0469 635.7188,1025.4219 Q635.7188,1027.2969 634.6094,1028.2188 Q633.5,1029.1406 631.25,1029.1406 Q630.3281,1029.1406 629.4063,1028.9219 Q628.4844,1028.7031 627.625,1028.2813 L627.625,1025.75 Q628.5938,1026.4375 629.5156,1026.7813 Q630.4375,1027.125 631.3281,1027.125 Q632.2344,1027.125 632.7344,1026.7188 Q633.2344,1026.2969 633.2344,1025.5625 Q633.2344,1025 632.8906,1024.5938 Q632.5625,1024.1719 631.9375,1023.9219 L630.7344,1023.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="81" x="651.75" y="1027.0605">urt_srtdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="548" x2="804" y1="1038.9063" y2="1038.9063"/><ellipse cx="558" cy="1049.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="232" x="567" y="1053.1167">usefullnesscb : urt_srtusefulnessfunc_t*</text><ellipse cx="558" cy="1062.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="567" y="1065.9214">cbparams : void*</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="548" x2="804" y1="1072.5156" y2="1072.5156"/><!--MD5=[e602aa6d45f270ad04f88c9ca5352b33]
-class urt_message_t--><rect fill="#FEFECE" filter="url(#freyvufthdr8m)" height="167.2422" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="451" x="1685.5" y="567.9063"/><ellipse cx="1860.75" cy="583.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1860.2344,584.4688 Q1858.375,583.7656 1857.7188,583 Q1857.0781,582.2188 1857.0781,580.9063 Q1857.0781,579.2188 1858.1563,578.25 Q1859.2344,577.2813 1861.1094,577.2813 Q1861.9688,577.2813 1862.8125,577.4844 Q1863.6719,577.6719 1864.5156,578.0625 L1864.5156,580.4531 Q1863.7344,579.8906 1862.9063,579.6094 Q1862.0938,579.3125 1861.2969,579.3125 Q1860.4219,579.3125 1859.9375,579.6719 Q1859.4688,580.0313 1859.4688,580.6875 Q1859.4688,581.2031 1859.8125,581.5469 Q1860.1563,581.875 1861.25,582.2813 L1862.3125,582.6875 Q1863.7969,583.2344 1864.5,584.1406 Q1865.2188,585.0469 1865.2188,586.4219 Q1865.2188,588.2969 1864.1094,589.2188 Q1863,590.1406 1860.75,590.1406 Q1859.8281,590.1406 1858.9063,589.9219 Q1857.9844,589.7031 1857.125,589.2813 L1857.125,586.75 Q1858.0938,587.4375 1859.0156,587.7813 Q1859.9375,588.125 1860.8281,588.125 Q1861.7344,588.125 1862.2344,587.7188 Q1862.7344,587.2969 1862.7344,586.5625 Q1862.7344,586 1862.3906,585.5938 Q1862.0625,585.1719 1861.4375,584.9219 L1860.2344,584.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="1881.25" y="588.0605">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1686.5" x2="2135.5" y1="599.9063" y2="599.9063"/><ellipse cx="1696.5" cy="610.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="127" x="1705.5" y="614.1167">next : urt_message_t*</text><ellipse cx="1696.5" cy="623.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="1705.5" y="626.9214">payload : void*</text><ellipse cx="1696.5" cy="636.5156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="1705.5" y="639.7261">originTime : urt_osTime_t</text><ellipse cx="1696.5" cy="649.3203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="1705.5" y="652.5308">lock : urt_osMutex_t</text><ellipse cx="1696.5" cy="662.125" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="211" x="1705.5" y="665.3354">numHrtConsumersLeft : unsigned int</text><ellipse cx="1696.5" cy="674.9297" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="1705.5" y="678.1401">hrtConsumersLeft : urt_osCondvar_t</text><ellipse cx="1696.5" cy="704.5391" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="1705.5" y="707.7495">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1686.5" x2="1802.5" y1="691.1367" y2="691.1367"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="1802.5" y="694.4448">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2019.5" x2="2135.5" y1="691.1367" y2="691.1367"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1686.5" x2="2135.5" y1="714.3438" y2="714.3438"/><ellipse cx="1696.5" cy="725.3438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="425" x="1705.5" y="728.5542">urtMessageInit (message : urt_message_t*, payload : void*) : urt_status_t</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]
-class urt_publisher_t--><rect fill="#FEFECE" filter="url(#freyvufthdr8m)" height="128.8281" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="759" x="1228.5" y="287.4063"/><ellipse cx="1557.25" cy="303.4063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1556.7344,303.9688 Q1554.875,303.2656 1554.2188,302.5 Q1553.5781,301.7188 1553.5781,300.4063 Q1553.5781,298.7188 1554.6563,297.75 Q1555.7344,296.7813 1557.6094,296.7813 Q1558.4688,296.7813 1559.3125,296.9844 Q1560.1719,297.1719 1561.0156,297.5625 L1561.0156,299.9531 Q1560.2344,299.3906 1559.4063,299.1094 Q1558.5938,298.8125 1557.7969,298.8125 Q1556.9219,298.8125 1556.4375,299.1719 Q1555.9688,299.5313 1555.9688,300.1875 Q1555.9688,300.7031 1556.3125,301.0469 Q1556.6563,301.375 1557.75,301.7813 L1558.8125,302.1875 Q1560.2969,302.7344 1561,303.6406 Q1561.7188,304.5469 1561.7188,305.9219 Q1561.7188,307.7969 1560.6094,308.7188 Q1559.5,309.6406 1557.25,309.6406 Q1556.3281,309.6406 1555.4063,309.4219 Q1554.4844,309.2031 1553.625,308.7813 L1553.625,306.25 Q1554.5938,306.9375 1555.5156,307.2813 Q1556.4375,307.625 1557.3281,307.625 Q1558.2344,307.625 1558.7344,307.2188 Q1559.2344,306.7969 1559.2344,306.0625 Q1559.2344,305.5 1558.8906,305.0938 Q1558.5625,304.6719 1557.9375,304.4219 L1556.7344,303.9688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="1577.75" y="307.5605">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1229.5" x2="1986.5" y1="319.4063" y2="319.4063"/><ellipse cx="1239.5" cy="330.4063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="1248.5" y="333.6167">topic : urt_topic_t*</text><ellipse cx="1239.5" cy="360.0156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="149" x="1248.5" y="363.2261">publishAttempts : uint64_t</text><ellipse cx="1239.5" cy="372.8203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="1248.5" y="376.0308">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1229.5" x2="1526" y1="346.6133" y2="346.6133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="1526" y="349.9214">URT_CFG_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1690" x2="1986.5" y1="346.6133" y2="346.6133"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1229.5" x2="1986.5" y1="382.625" y2="382.625"/><ellipse cx="1239.5" cy="393.625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="617" x="1248.5" y="396.8354">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="1239.5" cy="406.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="733" x="1248.5" y="409.6401">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, n : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[a1b1e66ec52c209a9fa2dab315cd7630]
-class urt_topic_t--><rect fill="#FEFECE" filter="url(#freyvufthdr8m)" height="235.2656" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="2023" y="234.4063"/><ellipse cx="2177.75" cy="250.4063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2177.2344,250.9688 Q2175.375,250.2656 2174.7188,249.5 Q2174.0781,248.7188 2174.0781,247.4063 Q2174.0781,245.7188 2175.1563,244.75 Q2176.2344,243.7813 2178.1094,243.7813 Q2178.9688,243.7813 2179.8125,243.9844 Q2180.6719,244.1719 2181.5156,244.5625 L2181.5156,246.9531 Q2180.7344,246.3906 2179.9063,246.1094 Q2179.0938,245.8125 2178.2969,245.8125 Q2177.4219,245.8125 2176.9375,246.1719 Q2176.4688,246.5313 2176.4688,247.1875 Q2176.4688,247.7031 2176.8125,248.0469 Q2177.1563,248.375 2178.25,248.7813 L2179.3125,249.1875 Q2180.7969,249.7344 2181.5,250.6406 Q2182.2188,251.5469 2182.2188,252.9219 Q2182.2188,254.7969 2181.1094,255.7188 Q2180,256.6406 2177.75,256.6406 Q2176.8281,256.6406 2175.9063,256.4219 Q2174.9844,256.2031 2174.125,255.7813 L2174.125,253.25 Q2175.0938,253.9375 2176.0156,254.2813 Q2176.9375,254.625 2177.8281,254.625 Q2178.7344,254.625 2179.2344,254.2188 Q2179.7344,253.7969 2179.7344,253.0625 Q2179.7344,252.5 2179.3906,252.0938 Q2179.0625,251.6719 2178.4375,251.4219 L2177.2344,250.9688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="2198.25" y="254.5605">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2024" x2="2406" y1="266.4063" y2="266.4063"/><ellipse cx="2034" cy="277.4063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="2043" y="280.6167">next : urt_topic_t*</text><ellipse cx="2034" cy="290.2109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="2043" y="293.4214">id : urt_topicid_t</text><ellipse cx="2034" cy="303.0156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="2043" y="306.2261">lock : urt_osMutex_t</text><ellipse cx="2034" cy="315.8203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="2043" y="319.0308">evtSource : urt_osEventSource_t</text><ellipse cx="2034" cy="328.625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="2043" y="331.8354">numHrtSubscribers : unsigned int</text><ellipse cx="2034" cy="341.4297" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="2043" y="344.6401">hrtSubscribers : urt_subscriber_t*</text><ellipse cx="2034" cy="354.2344" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="209" x="2043" y="357.4448">mandatoryMessage : urt_message_t</text><ellipse cx="2034" cy="367.0391" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="2043" y="370.2495">latestMessage : urt_message_t*</text><ellipse cx="2034" cy="396.6484" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="170" x="2043" y="399.8589">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2024" x2="2082.5" y1="383.2461" y2="383.2461"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="2082.5" y="386.5542">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2347.5" x2="2406" y1="383.2461" y2="383.2461"/><ellipse cx="2034" cy="426.2578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="2043" y="429.4683">numDiscardedMessages : uint64_t</text><ellipse cx="2034" cy="439.0625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="2043" y="442.2729">numSubscribers : unsigned int</text><line style="stroke: #A80036; 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-reverse link urt_topic_t to urt_message_t--><path d="M2099.6725,478.6867 C2069.5781,508.7043 2037.4647,539.9832 2008.3874,567.5432 " fill="none" id="urt_topic_t&lt;-urt_message_t-1" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="2108.9417,469.417,2101.8707,470.8314,2100.4567,477.9025,2107.5277,476.4881,2108.9417,469.417" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2093.5472" y="489.8785">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2008.4129" y="556.7538">1</text><!--MD5=[d97285d52857c028121a6b5bc3935d87]
-reverse link urt_pubsub_t to urt_topic_t--><path d="M1975.286,144.3591 C1985.2833,152.5111 1995.4565,160.8946 2005,168.9063 C2029.9082,189.8163 2056.2217,212.369 2081.4833,234.2583 " fill="none" id="urt_pubsub_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1964.9651,135.973,1967.0992,142.861,1974.2783,143.5403,1972.1441,136.6522,1964.9651,135.973" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1965.2406" y="156.3917">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2048.1611" y="223.3036">0..1</text><!--MD5=[8d27a615fd5a1da0f7adeab7e6eca6da]
-link urt_pubsub_t to urt_publisher_t--><!--MD5=[03e1ce0617834bbc75157765c9899346]
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+cluster subscriber--><rect fill="#FFFFFF" filter="url(#fcvax0xwujy06)" height="1097" style="stroke: #000000; stroke-width: 1.5;" width="1611" x="14" y="97.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="85" x="777" y="112.9014">subscriber</text><!--MD5=[94ad99421f5a0f525bc1c13a3777c25e]
+cluster real-time constraint data--><rect fill="#FFFFFF" filter="url(#fcvax0xwujy06)" height="677" style="stroke: #000000; stroke-width: 1.5;" width="1595" x="22" y="509.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="194" x="722.5" y="524.9014">real-time constraint data</text><!--MD5=[57c3116dbac3d3a2ea35fece1cdc00f4]
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+class urt_nrtdata_t--><rect fill="#FEFECE" filter="url(#fcvax0xwujy06)" height="48" id="urt_nrtdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="114" x="577" y="935.9063"/><ellipse cx="592" cy="951.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M591.4844,952.4688 Q589.625,951.7656 588.9688,951 Q588.3281,950.2188 588.3281,948.9063 Q588.3281,947.2188 589.4063,946.25 Q590.4844,945.2813 592.3594,945.2813 Q593.2188,945.2813 594.0625,945.4844 Q594.9219,945.6719 595.7656,946.0625 L595.7656,948.4531 Q594.9844,947.8906 594.1563,947.6094 Q593.3438,947.3125 592.5469,947.3125 Q591.6719,947.3125 591.1875,947.6719 Q590.7188,948.0313 590.7188,948.6875 Q590.7188,949.2031 591.0625,949.5469 Q591.4063,949.875 592.5,950.2813 L593.5625,950.6875 Q595.0469,951.2344 595.75,952.1406 Q596.4688,953.0469 596.4688,954.4219 Q596.4688,956.2969 595.3594,957.2188 Q594.25,958.1406 592,958.1406 Q591.0781,958.1406 590.1563,957.9219 Q589.2344,957.7031 588.375,957.2813 L588.375,954.75 Q589.3438,955.4375 590.2656,955.7813 Q591.1875,956.125 592.0781,956.125 Q592.9844,956.125 593.4844,955.7188 Q593.9844,955.2969 593.9844,954.5625 Q593.9844,954 593.6406,953.5938 Q593.3125,953.1719 592.6875,952.9219 L591.4844,952.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="82" x="606" y="956.0605">urt_nrtdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="578" x2="690" y1="967.9063" y2="967.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="578" x2="690" y1="975.9063" y2="975.9063"/><!--MD5=[fc7708c915a0148c667d62e1370980fd]
+class urt_srtusefulnessfunc_t--><rect fill="#FEFECE" filter="url(#fcvax0xwujy06)" height="60.8047" id="urt_srtusefulnessfunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="374" x="707" y="1109.9063"/><ellipse cx="816.25" cy="1125.9063" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M820.4844,1121.6719 L815.2031,1121.6719 L815.2031,1124.3438 L820,1124.3438 L820,1126.5 L815.2031,1126.5 L815.2031,1131.9063 L812.7656,1131.9063 L812.7656,1119.5156 L820.4844,1119.5156 L820.4844,1121.6719 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="147" x="836.75" y="1130.0605">urt_srtusefulnessfunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="708" x2="1080" y1="1141.9063" y2="1141.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="708" x2="1080" y1="1149.9063" y2="1149.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="362" x="713" y="1164.1167">urt_srtusefulnessfunc_t (dt : urt_delay_t, params : void*) : float</text><!--MD5=[4a2daf41193a31389d6311337c2a120f]
+class urt_srtdata_t--><rect fill="#FEFECE" filter="url(#fcvax0xwujy06)" height="73.6094" id="urt_srtdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="258" x="765" y="922.9063"/><ellipse cx="849.25" cy="938.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M848.7344,939.4688 Q846.875,938.7656 846.2188,938 Q845.5781,937.2188 845.5781,935.9063 Q845.5781,934.2188 846.6563,933.25 Q847.7344,932.2813 849.6094,932.2813 Q850.4688,932.2813 851.3125,932.4844 Q852.1719,932.6719 853.0156,933.0625 L853.0156,935.4531 Q852.2344,934.8906 851.4063,934.6094 Q850.5938,934.3125 849.7969,934.3125 Q848.9219,934.3125 848.4375,934.6719 Q847.9688,935.0313 847.9688,935.6875 Q847.9688,936.2031 848.3125,936.5469 Q848.6563,936.875 849.75,937.2813 L850.8125,937.6875 Q852.2969,938.2344 853,939.1406 Q853.7188,940.0469 853.7188,941.4219 Q853.7188,943.2969 852.6094,944.2188 Q851.5,945.1406 849.25,945.1406 Q848.3281,945.1406 847.4063,944.9219 Q846.4844,944.7031 845.625,944.2813 L845.625,941.75 Q846.5938,942.4375 847.5156,942.7813 Q848.4375,943.125 849.3281,943.125 Q850.2344,943.125 850.7344,942.7188 Q851.2344,942.2969 851.2344,941.5625 Q851.2344,941 850.8906,940.5938 Q850.5625,940.1719 849.9375,939.9219 L848.7344,939.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="81" x="869.75" y="943.0605">urt_srtdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="766" x2="1022" y1="954.9063" y2="954.9063"/><ellipse cx="776" cy="965.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="232" x="785" y="969.1167">usefullnesscb : urt_srtusefulnessfunc_t*</text><ellipse cx="776" cy="978.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="785" y="981.9214">cbparams : void*</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="766" x2="1022" y1="988.5156" y2="988.5156"/><!--MD5=[e602aa6d45f270ad04f88c9ca5352b33]
+class urt_message_t--><rect fill="#FEFECE" filter="url(#fcvax0xwujy06)" height="154.4375" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="451" x="2099.5" y="496.9063"/><ellipse cx="2274.75" cy="512.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2274.2344,513.4688 Q2272.375,512.7656 2271.7188,512 Q2271.0781,511.2188 2271.0781,509.9063 Q2271.0781,508.2188 2272.1563,507.25 Q2273.2344,506.2813 2275.1094,506.2813 Q2275.9688,506.2813 2276.8125,506.4844 Q2277.6719,506.6719 2278.5156,507.0625 L2278.5156,509.4531 Q2277.7344,508.8906 2276.9063,508.6094 Q2276.0938,508.3125 2275.2969,508.3125 Q2274.4219,508.3125 2273.9375,508.6719 Q2273.4688,509.0313 2273.4688,509.6875 Q2273.4688,510.2031 2273.8125,510.5469 Q2274.1563,510.875 2275.25,511.2813 L2276.3125,511.6875 Q2277.7969,512.2344 2278.5,513.1406 Q2279.2188,514.0469 2279.2188,515.4219 Q2279.2188,517.2969 2278.1094,518.2188 Q2277,519.1406 2274.75,519.1406 Q2273.8281,519.1406 2272.9063,518.9219 Q2271.9844,518.7031 2271.125,518.2813 L2271.125,515.75 Q2272.0938,516.4375 2273.0156,516.7813 Q2273.9375,517.125 2274.8281,517.125 Q2275.7344,517.125 2276.2344,516.7188 Q2276.7344,516.2969 2276.7344,515.5625 Q2276.7344,515 2276.3906,514.5938 Q2276.0625,514.1719 2275.4375,513.9219 L2274.2344,513.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="2295.25" y="517.0605">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2100.5" x2="2549.5" y1="528.9063" y2="528.9063"/><ellipse cx="2110.5" cy="539.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="127" x="2119.5" y="543.1167">next : urt_message_t*</text><ellipse cx="2110.5" cy="552.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="2119.5" y="555.9214">payload : void*</text><ellipse cx="2110.5" cy="565.5156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="2119.5" y="568.7261">originTime : urt_osTime_t</text><ellipse cx="2110.5" cy="578.3203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="2119.5" y="581.5308">lock : urt_osMutex_t</text><ellipse cx="2110.5" cy="591.125" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="211" x="2119.5" y="594.3354">numHrtConsumersLeft : unsigned int</text><ellipse cx="2110.5" cy="620.7344" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="2119.5" y="623.9448">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2100.5" x2="2216.5" y1="607.332" y2="607.332"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2216.5" y="610.6401">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2433.5" x2="2549.5" y1="607.332" y2="607.332"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2100.5" x2="2549.5" y1="630.5391" y2="630.5391"/><ellipse cx="2110.5" cy="641.5391" 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="425" x="2119.5" y="644.7495">urtMessageInit (message : urt_message_t*, payload : void*) : urt_status_t</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]
+class urt_publisher_t--><rect fill="#FEFECE" filter="url(#fcvax0xwujy06)" height="128.8281" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="759" x="1642.5" y="216.4063"/><ellipse cx="1971.25" cy="232.4063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1970.7344,232.9688 Q1968.875,232.2656 1968.2188,231.5 Q1967.5781,230.7188 1967.5781,229.4063 Q1967.5781,227.7188 1968.6563,226.75 Q1969.7344,225.7813 1971.6094,225.7813 Q1972.4688,225.7813 1973.3125,225.9844 Q1974.1719,226.1719 1975.0156,226.5625 L1975.0156,228.9531 Q1974.2344,228.3906 1973.4063,228.1094 Q1972.5938,227.8125 1971.7969,227.8125 Q1970.9219,227.8125 1970.4375,228.1719 Q1969.9688,228.5313 1969.9688,229.1875 Q1969.9688,229.7031 1970.3125,230.0469 Q1970.6563,230.375 1971.75,230.7813 L1972.8125,231.1875 Q1974.2969,231.7344 1975,232.6406 Q1975.7188,233.5469 1975.7188,234.9219 Q1975.7188,236.7969 1974.6094,237.7188 Q1973.5,238.6406 1971.25,238.6406 Q1970.3281,238.6406 1969.4063,238.4219 Q1968.4844,238.2031 1967.625,237.7813 L1967.625,235.25 Q1968.5938,235.9375 1969.5156,236.2813 Q1970.4375,236.625 1971.3281,236.625 Q1972.2344,236.625 1972.7344,236.2188 Q1973.2344,235.7969 1973.2344,235.0625 Q1973.2344,234.5 1972.8906,234.0938 Q1972.5625,233.6719 1971.9375,233.4219 L1970.7344,232.9688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="1991.75" y="236.5605">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1643.5" x2="2400.5" y1="248.4063" y2="248.4063"/><ellipse cx="1653.5" cy="259.4063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="1662.5" y="262.6167">topic : urt_topic_t*</text><ellipse cx="1653.5" cy="289.0156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="149" x="1662.5" y="292.2261">publishAttempts : uint64_t</text><ellipse cx="1653.5" cy="301.8203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="1662.5" y="305.0308">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1643.5" x2="1940" y1="275.6133" y2="275.6133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="1940" y="278.9214">URT_CFG_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2104" x2="2400.5" y1="275.6133" y2="275.6133"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1643.5" x2="2400.5" y1="311.625" y2="311.625"/><ellipse cx="1653.5" cy="322.625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="617" x="1662.5" y="325.8354">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="1653.5" cy="335.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="733" x="1662.5" y="338.6401">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, n : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[a1b1e66ec52c209a9fa2dab315cd7630]
+class urt_topic_t--><rect fill="#FEFECE" filter="url(#fcvax0xwujy06)" height="248.0703" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="2437" y="156.9063"/><ellipse cx="2591.75" cy="172.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2591.2344,173.4688 Q2589.375,172.7656 2588.7188,172 Q2588.0781,171.2188 2588.0781,169.9063 Q2588.0781,168.2188 2589.1563,167.25 Q2590.2344,166.2813 2592.1094,166.2813 Q2592.9688,166.2813 2593.8125,166.4844 Q2594.6719,166.6719 2595.5156,167.0625 L2595.5156,169.4531 Q2594.7344,168.8906 2593.9063,168.6094 Q2593.0938,168.3125 2592.2969,168.3125 Q2591.4219,168.3125 2590.9375,168.6719 Q2590.4688,169.0313 2590.4688,169.6875 Q2590.4688,170.2031 2590.8125,170.5469 Q2591.1563,170.875 2592.25,171.2813 L2593.3125,171.6875 Q2594.7969,172.2344 2595.5,173.1406 Q2596.2188,174.0469 2596.2188,175.4219 Q2596.2188,177.2969 2595.1094,178.2188 Q2594,179.1406 2591.75,179.1406 Q2590.8281,179.1406 2589.9063,178.9219 Q2588.9844,178.7031 2588.125,178.2813 L2588.125,175.75 Q2589.0938,176.4375 2590.0156,176.7813 Q2590.9375,177.125 2591.8281,177.125 Q2592.7344,177.125 2593.2344,176.7188 Q2593.7344,176.2969 2593.7344,175.5625 Q2593.7344,175 2593.3906,174.5938 Q2593.0625,174.1719 2592.4375,173.9219 L2591.2344,173.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="2612.25" y="177.0605">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2438" x2="2820" y1="188.9063" y2="188.9063"/><ellipse cx="2448" cy="199.9063" 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="101" x="2457" y="203.1167">next : urt_topic_t*</text><ellipse cx="2448" cy="212.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="2457" y="215.9214">id : urt_topicid_t</text><ellipse cx="2448" cy="225.5156" 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="113" x="2457" y="228.7261">lock : urt_osMutex_t</text><ellipse cx="2448" cy="238.3203" 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="186" x="2457" y="241.5308">evtSource : urt_osEventSource_t</text><ellipse cx="2448" cy="251.125" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="2457" y="254.3354">numHrtSubscribers : unsigned int</text><ellipse cx="2448" cy="263.9297" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="2457" y="267.1401">hrtSubscribers : urt_subscriber_t*</text><ellipse cx="2448" cy="276.7344" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="2457" y="279.9448">hrtReleased : urt_osCondvar_t</text><ellipse cx="2448" cy="289.5391" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="209" x="2457" y="292.7495">mandatoryMessage : urt_message_t</text><ellipse cx="2448" cy="302.3438" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="2457" y="305.5542">latestMessage : urt_message_t*</text><ellipse cx="2448" cy="331.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="170" x="2457" y="335.1636">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2438" x2="2496.5" y1="318.5508" y2="318.5508"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="2496.5" y="321.8589">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2761.5" x2="2820" y1="318.5508" y2="318.5508"/><ellipse cx="2448" cy="361.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="2457" y="364.7729">numDiscardedMessages : uint64_t</text><ellipse cx="2448" cy="374.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="2457" y="377.5776">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2438" x2="2520.5" y1="348.1602" y2="348.1602"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2520.5" y="351.4683">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2737.5" x2="2820" y1="348.1602" y2="348.1602"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2438" x2="2820" y1="384.1719" y2="384.1719"/><ellipse cx="2448" cy="395.1719" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="358" x="2457" y="398.3823">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[0c465c1a61dfd99ff8b5568ca35c92d1]
+reverse link urt_srtdata_t to urt_srtusefulnessfunc_t--><path d="M894,1010.4055 C894,1042.2978 894,1082.4665 894,1109.6495 " fill="none" id="urt_srtdata_t&lt;-urt_srtusefulnessfunc_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="894,997.3059,890,1003.3059,894,1009.3059,898,1003.3059,894,997.3059" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="885.3625" y="1016.5704">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="867.525" y="1098.8597">0..1</text><!--MD5=[3f22cd2af9b1d30da63b75b4db75ae6e]
+reverse link urt_rtclassdata_t to urt_hrtdata_t--><path d="M978.9046,813.8557 C1020.5186,834.7068 1062.0203,853.0824 1102.757,869.8507 " fill="none" id="urt_rtclassdata_t&lt;-urt_hrtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="967.1648,807.9082,970.7094,814.188,977.8694,813.3313,974.3248,807.0515,967.1648,807.9082" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="975.1224" y="809.0958">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1065.2351" y="861.8895">0..1</text><!--MD5=[a94a8c9c209e194384613684e912df80]
+reverse link urt_rtclassdata_t to urt_frtdata_t--><path d="M808.804,807.574 C806.8622,808.3811 804.9259,809.1601 803,809.9063 C698.8684,850.2537 666.3325,839.0675 559,869.9063 C544.7306,874.0061 530.0908,878.3686 515.3595,882.8772 " fill="none" id="urt_rtclassdata_t&lt;-urt_frtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="820.7605,802.2989,813.6564,801.0612,809.7816,807.1427,816.8857,808.3804,820.7605,802.2989" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="804.7952" y="802.9081">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="512.0766" y="871.8728">0..1</text><!--MD5=[e6a6d7a2212fadf5661857a71d4f05c3]
+reverse link urt_rtclassdata_t to urt_srtdata_t--><path d="M894,823.1239 C894,855.8959 894,894.8833 894,922.8335 " fill="none" id="urt_rtclassdata_t&lt;-urt_srtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="894,809.9771,890,815.9771,894,821.9771,898,815.9771,894,809.9771" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="885.4375" y="830.0636">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="867.7875" y="911.7305">0..1</text><!--MD5=[206fe31eaf8244c7272230bb0ec7137c]
+reverse link urt_rtclassdata_t to urt_nrtdata_t--><path d="M809.2125,806.7769 C755.6531,836.1145 696.2749,868.7443 695,869.9063 C674.2134,888.8516 656.9593,916.2319 646.1673,935.8103 " fill="none" id="urt_rtclassdata_t&lt;-urt_nrtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="820.8831,800.386,813.6993,799.7595,810.358,806.1497,817.5418,806.7762,820.8831,800.386" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="804.9304" y="817.3448">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="622.2102" y="924.7977">0..1</text><!--MD5=[1ba55993ff077c77667f6c7be6552d53]
+reverse link urt_rtdata_t to urt_rtclass_t--><path d="M847.6864,620.5954 C820.4218,648.0811 785.9556,682.8267 758.2037,710.8037 " fill="none" id="urt_rtdata_t&lt;-urt_rtclass_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="857.0071,611.1991,849.9418,612.6418,848.5561,619.7185,855.6214,618.2758,857.0071,611.1991" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="842.4739" y="630.4465">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="756.5605" y="699.8344">1</text><!--MD5=[8318054091d2ecf2336b9e490f482e2a]
+reverse link urt_rtdata_t to urt_rtclassdata_t--><path d="M894,624.2365 C894,651.1028 894,684.0484 894,710.8037 " fill="none" id="urt_rtdata_t&lt;-urt_rtclassdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="894,611.1991,890,617.1991,894,623.1991,898,617.1991,894,611.1991" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="885.3625" y="630.4465">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="885.4375" y="699.8344">1</text><!--MD5=[b6ee30948a218449c72edbee7363b5d7]
+link urt_subscriber_t to urt_hrtdata_t--><path d="M1137.4134,437.1087 C1190.6444,566.194 1264.6968,745.7712 1310.6943,857.3149 " fill="none" id="urt_subscriber_t-&gt;urt_hrtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1315.7464,869.5663,1317.1568,862.4944,1311.1715,858.4726,1309.761,865.5444,1315.7464,869.5663" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1115.9522" y="457.1058">0..1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1304.459" y="858.8399">1</text><!--MD5=[536025241394544a90bc53fb552f3a08]
+reverse link urt_message_t to urt_message_t--><path d="M2562.9841,549.9382 C2577.0653,555.6691 2585.5,563.6585 2585.5,573.9063 C2585.5,586.8936 2571.9528,596.2536 2550.534,601.9863 " fill="none" id="urt_message_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2550.534,545.8263,2554.9769,551.5061,2561.9286,549.5896,2557.4858,543.9097,2550.534,545.8263" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2558.7829" y="541.609">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2558.3281" y="599.7234">0..1</text><!--MD5=[f7eb638a1c2d853c6fb0ae6f53692e50]
+reverse link urt_subscriber_t to urt_rtdata_t--><path d="M970.5661,448.5774 C950.2829,481.7785 930.905,513.4976 916.7184,536.7193 " fill="none" id="urt_subscriber_t&lt;-urt_rtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="977.4733,437.2712,970.9319,440.306,971.2173,447.5114,977.7587,444.4766,977.4733,437.2712" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="964.6525" y="457.2762">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="921.4776" y="525.8729">1</text><!--MD5=[bf7bf5810813e0e9b75d3053dc098443]
+reverse link urt_subscriber_t to urt_topic_t--><path d="M1443.869,120.6256 C1508.9537,98.7617 1576.8737,79.7773 1642.5,67.9063 C1725.4866,52.8951 2323.0658,36.9195 2401.5,67.9063 C2449.4308,86.8421 2493.1887,121.174 2529.2434,156.8237 " fill="none" id="urt_subscriber_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1431.3218,124.8878,1438.2895,126.7454,1442.6841,121.0281,1435.7164,119.1705,1431.3218,124.8878" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1440.4843" y="114.0352">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2498.4332" y="145.8741">0..1</text><!--MD5=[d3b08a81de663c21a5ec062e6c430f2b]
+reverse link urt_topic_t to urt_subscriber_t--><path d="M2519.7796,147.6708 C2485.637,115.387 2445.3118,85.2149 2401.5,67.9063 C2323.0658,36.9195 1725.4866,52.8951 1642.5,67.9063 C1572.6442,80.5422 1500.1894,101.2384 1431.3218,124.8878 " fill="none" id="urt_topic_t&lt;-urt_subscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2529.2434,156.8237,2527.7113,149.7772,2520.6176,148.4812,2522.1497,155.5277,2529.2434,156.8237" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2523.4082" y="145.8741">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1449.2593" y="114.0352">0..1</text><!--MD5=[67fd999c5486ad1c37ee9b77e12afd1b]
+reverse link urt_subscriber_t to urt_message_t--><path d="M1619.9866,435.7061 C1621.6602,436.1079 1623.3314,436.5078 1625,436.9063 C1782.4864,474.5039 1961.7033,509.4335 2099.3717,534.613 " fill="none" id="urt_subscriber_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1607.1098,432.5943,1612.0023,437.8918,1618.774,435.4132,1613.8815,430.1156,1607.1098,432.5943" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1614.677" y="431.6891">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2067.5745" y="530.1394">0..1</text><!--MD5=[54fcf25ad8c5f1d36e678e42d5bfd4cc]
+reverse link urt_publisher_t to urt_topic_t--><path d="M2414.8249,280.9063 C2422.1324,280.9063 2429.44,280.9063 2436.7475,280.9063 " fill="none" id="urt_publisher_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2401.6714,280.9063,2407.6714,284.9063,2413.6714,280.9063,2407.6714,276.9063,2401.6714,280.9063" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2409.4647" y="277.8239">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2421.0814" y="277.6814">1</text><!--MD5=[5025b4c4053b8e7c7ca8a657f09f21c0]
+link urt_publisher_t to urt_message_t--><path d="M2088.8697,345.569 C2133.7958,389.0124 2193.341,446.5925 2241.3957,493.0612 " 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="2245.1276,496.6699,2241.4382,487.5381,2241.5332,493.1942,2235.8772,493.2891,2245.1276,496.6699" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b2afc1defaa6ed5a86f99c07f8466dd]
+reverse link urt_topic_t to urt_topic_t--><path d="M2833.0439,240.9965 C2847.3061,250.106 2856,263.4093 2856,280.9063 C2856,302.8633 2842.309,318.2161 2821.1039,326.9646 " fill="none" id="urt_topic_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2821.1039,234.8479,2824.6069,241.1511,2831.7724,240.3418,2828.2695,234.0387,2821.1039,234.8479" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2828.7642" y="229.8239">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2829.0767" y="325.5388">0..1</text><!--MD5=[0b5167e958c0ed93ffc0c98ce399b54d]
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 @startuml
 
 title **µRtWare**\nPublish-Subscribe System
@@ -57,7 +54,6 @@ title **µRtWare**\nPublish-Subscribe System
   + {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
   __
@@ -92,7 +88,7 @@ title **µRtWare**\nPublish-Subscribe System
       + {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
@@ -100,11 +96,10 @@ title **µRtWare**\nPublish-Subscribe System
 
       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
@@ -128,13 +123,13 @@ title **µRtWare**\nPublish-Subscribe System
     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
     __
@@ -167,6 +162,7 @@ title **µRtWare**\nPublish-Subscribe System
   + {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 ..
@@ -178,13 +174,6 @@ title **µRtWare**\nPublish-Subscribe System
   + {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*
-}
-
 
 
 
@@ -214,9 +203,6 @@ 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
-
 
 
 @enduml
