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/urtware.svg b/doc/classdiagrams/urtware.svg
index 89676e1..9c27c24 100644
--- a/doc/classdiagrams/urtware.svg
+++ b/doc/classdiagrams/urtware.svg
@@ -1,62 +1,56 @@
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-class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#f1caui93febe6e)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="25" y="647.4531"/><ellipse cx="170.75" cy="663.4531" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M171.5938,670.2031 L169.1406,670.2031 L169.1406,659.9531 L166,659.9531 L166,657.8125 L174.7344,657.8125 L174.7344,659.9531 L171.5938,659.9531 L171.5938,670.2031 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="191.25" y="667.6074">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="26" x2="480" y1="679.4531" y2="679.4531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="26" x2="480" y1="687.4531" y2="687.4531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="31" y="701.6636">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]
-class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#f1caui93febe6e)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="516" y="647.4531"/><ellipse cx="744.25" cy="663.4531" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M745.0938,670.2031 L742.6406,670.2031 L742.6406,659.9531 L739.5,659.9531 L739.5,657.8125 L748.2344,657.8125 L748.2344,659.9531 L745.0938,659.9531 L745.0938,670.2031 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="764.75" y="667.6074">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="517" x2="1129" y1="679.4531" y2="679.4531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="517" x2="1129" y1="687.4531" y2="687.4531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="522" y="701.6636">urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t</text><!--MD5=[d2563153d77472384a15c07b815d639f]
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-class urt_publisher_t--><rect fill="#FEFECE" filter="url(#f1caui93febe6e)" height="128.8281" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="759" x="1168.5" y="613.4531"/><ellipse cx="1497.25" cy="629.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1496.7344,630.0156 Q1494.875,629.3125 1494.2188,628.5469 Q1493.5781,627.7656 1493.5781,626.4531 Q1493.5781,624.7656 1494.6563,623.7969 Q1495.7344,622.8281 1497.6094,622.8281 Q1498.4688,622.8281 1499.3125,623.0313 Q1500.1719,623.2188 1501.0156,623.6094 L1501.0156,626 Q1500.2344,625.4375 1499.4063,625.1563 Q1498.5938,624.8594 1497.7969,624.8594 Q1496.9219,624.8594 1496.4375,625.2188 Q1495.9688,625.5781 1495.9688,626.2344 Q1495.9688,626.75 1496.3125,627.0938 Q1496.6563,627.4219 1497.75,627.8281 L1498.8125,628.2344 Q1500.2969,628.7813 1501,629.6875 Q1501.7188,630.5938 1501.7188,631.9688 Q1501.7188,633.8438 1500.6094,634.7656 Q1499.5,635.6875 1497.25,635.6875 Q1496.3281,635.6875 1495.4063,635.4688 Q1494.4844,635.25 1493.625,634.8281 L1493.625,632.2969 Q1494.5938,632.9844 1495.5156,633.3281 Q1496.4375,633.6719 1497.3281,633.6719 Q1498.2344,633.6719 1498.7344,633.2656 Q1499.2344,632.8438 1499.2344,632.1094 Q1499.2344,631.5469 1498.8906,631.1406 Q1498.5625,630.7188 1497.9375,630.4688 L1496.7344,630.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="1517.75" y="633.6074">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1169.5" x2="1926.5" y1="645.4531" y2="645.4531"/><ellipse cx="1179.5" cy="656.4531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="1188.5" y="659.6636">topic : urt_topic_t*</text><ellipse cx="1179.5" cy="686.0625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="149" x="1188.5" y="689.2729">publishAttempts : uint64_t</text><ellipse cx="1179.5" cy="698.8672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="1188.5" y="702.0776">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1169.5" x2="1466" y1="672.6602" y2="672.6602"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="1466" y="675.9683">URT_CFG_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1630" x2="1926.5" y1="672.6602" y2="672.6602"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1169.5" x2="1926.5" y1="708.6719" y2="708.6719"/><ellipse cx="1179.5" cy="719.6719" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="617" x="1188.5" y="722.8823">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="1179.5" cy="732.4766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="733" x="1188.5" y="735.687">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, n : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[a1b1e66ec52c209a9fa2dab315cd7630]
-class urt_topic_t--><rect fill="#FEFECE" filter="url(#f1caui93febe6e)" height="235.2656" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="1963" y="560.4531"/><ellipse cx="2117.75" cy="576.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2117.2344,577.0156 Q2115.375,576.3125 2114.7188,575.5469 Q2114.0781,574.7656 2114.0781,573.4531 Q2114.0781,571.7656 2115.1563,570.7969 Q2116.2344,569.8281 2118.1094,569.8281 Q2118.9688,569.8281 2119.8125,570.0313 Q2120.6719,570.2188 2121.5156,570.6094 L2121.5156,573 Q2120.7344,572.4375 2119.9063,572.1563 Q2119.0938,571.8594 2118.2969,571.8594 Q2117.4219,571.8594 2116.9375,572.2188 Q2116.4688,572.5781 2116.4688,573.2344 Q2116.4688,573.75 2116.8125,574.0938 Q2117.1563,574.4219 2118.25,574.8281 L2119.3125,575.2344 Q2120.7969,575.7813 2121.5,576.6875 Q2122.2188,577.5938 2122.2188,578.9688 Q2122.2188,580.8438 2121.1094,581.7656 Q2120,582.6875 2117.75,582.6875 Q2116.8281,582.6875 2115.9063,582.4688 Q2114.9844,582.25 2114.125,581.8281 L2114.125,579.2969 Q2115.0938,579.9844 2116.0156,580.3281 Q2116.9375,580.6719 2117.8281,580.6719 Q2118.7344,580.6719 2119.2344,580.2656 Q2119.7344,579.8438 2119.7344,579.1094 Q2119.7344,578.5469 2119.3906,578.1406 Q2119.0625,577.7188 2118.4375,577.4688 L2117.2344,577.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="2138.25" y="580.6074">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1964" x2="2346" y1="592.4531" y2="592.4531"/><ellipse cx="1974" cy="603.4531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="1983" y="606.6636">next : urt_topic_t*</text><ellipse cx="1974" cy="616.2578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="1983" y="619.4683">id : urt_topicid_t</text><ellipse cx="1974" cy="629.0625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="1983" y="632.2729">lock : urt_osMutex_t</text><ellipse cx="1974" cy="641.8672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="1983" y="645.0776">evtSource : urt_osEventSource_t</text><ellipse cx="1974" cy="654.6719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="1983" y="657.8823">numHrtSubscribers : unsigned int</text><ellipse cx="1974" cy="667.4766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="1983" y="670.687">hrtSubscribers : urt_subscriber_t*</text><ellipse cx="1974" cy="680.2813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="209" x="1983" y="683.4917">mandatoryMessage : urt_message_t</text><ellipse cx="1974" cy="693.0859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="1983" y="696.2964">latestMessage : urt_message_t*</text><ellipse cx="1974" cy="722.6953" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="170" x="1983" y="725.9058">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1964" x2="2022.5" y1="709.293" y2="709.293"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="2022.5" y="712.6011">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2287.5" x2="2346" y1="709.293" y2="709.293"/><ellipse cx="1974" cy="752.3047" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="1983" y="755.5151">numDiscardedMessages : uint64_t</text><ellipse cx="1974" cy="765.1094" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="1983" y="768.3198">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1964" x2="2046.5" y1="738.9023" y2="738.9023"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2046.5" y="742.2104">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2263.5" x2="2346" y1="738.9023" y2="738.9023"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1964" x2="2346" y1="774.9141" y2="774.9141"/><ellipse cx="1974" cy="785.9141" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="358" x="1983" y="789.1245">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[4a0cbcfec60c5e893e4ff6f7470d1adc]
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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="2420" y="619.3823">lastMessageTime : urt_osTime_t</text><ellipse cx="2411" cy="645.7813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="2420" y="648.9917">sumLatencies : uint64_t</text><ellipse cx="2411" cy="658.5859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="2420" y="661.7964">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2401" x2="2825.5" y1="632.3789" y2="632.3789"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2825.5" y="635.687">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; 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stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3194.5" x2="3467" y1="674.793" y2="674.793"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2401" x2="3467" y1="710.8047" y2="710.8047"/><ellipse cx="2411" cy="721.8047" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="359" x="2420" y="725.0151">urtSubscriberInit (subscriber : urt_subscriber_t*) : urt_status_t</text><ellipse cx="2411" cy="734.6094" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1042" x="2420" y="737.8198">urtSubscriberSubscribeHrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, rate : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="2411" cy="747.4141" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; 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-class urt_rpc_t--><rect fill="#FEFECE" filter="url(#f1caui93febe6e)" height="86.4141" id="urt_rpc_t" style="stroke: #A80036; stroke-width: 1.5;" width="358" x="3649" y="330.9531"/><ellipse cx="3796.25" cy="346.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3795.7344,347.5156 Q3793.875,346.8125 3793.2188,346.0469 Q3792.5781,345.2656 3792.5781,343.9531 Q3792.5781,342.2656 3793.6563,341.2969 Q3794.7344,340.3281 3796.6094,340.3281 Q3797.4688,340.3281 3798.3125,340.5313 Q3799.1719,340.7188 3800.0156,341.1094 L3800.0156,343.5 Q3799.2344,342.9375 3798.4063,342.6563 Q3797.5938,342.3594 3796.7969,342.3594 Q3795.9219,342.3594 3795.4375,342.7188 Q3794.9688,343.0781 3794.9688,343.7344 Q3794.9688,344.25 3795.3125,344.5938 Q3795.6563,344.9219 3796.75,345.3281 L3797.8125,345.7344 Q3799.2969,346.2813 3800,347.1875 Q3800.7188,348.0938 3800.7188,349.4688 Q3800.7188,351.3438 3799.6094,352.2656 Q3798.5,353.1875 3796.25,353.1875 Q3795.3281,353.1875 3794.4063,352.9688 Q3793.4844,352.75 3792.625,352.3281 L3792.625,349.7969 Q3793.5938,350.4844 3794.5156,350.8281 Q3795.4375,351.1719 3796.3281,351.1719 Q3797.2344,351.1719 3797.7344,350.7656 Q3798.2344,350.3438 3798.2344,349.6094 Q3798.2344,349.0469 3797.8906,348.6406 Q3797.5625,348.2188 3796.9375,347.9688 L3795.7344,347.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="55" x="3816.75" y="351.1074">urt_rpc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3650" x2="4006" y1="362.9531" y2="362.9531"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="3657" y="370.9531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="145" x="3669" y="377.1636">_services : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3650" x2="4006" y1="383.7578" y2="383.7578"/><ellipse cx="3660" cy="394.7578" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="168" x="3669" y="397.9683">urtRpcInit (void) : urt_status_t</text><ellipse cx="3660" cy="407.5625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="332" x="3669" y="410.7729">urtRpcRetrieveService (id : urt_serviceid_t) : urt_service_t*</text><!--MD5=[3226071078d8aeaa18fbafa5359ddee6]
-class urt_servicefunc_t--><rect fill="#FEFECE" filter="url(#f1caui93febe6e)" height="60.8047" id="urt_servicefunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="451" x="3667.5" y="946.9531"/><ellipse cx="3835.75" cy="962.9531" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3839.9844,958.7188 L3834.7031,958.7188 L3834.7031,961.3906 L3839.5,961.3906 L3839.5,963.5469 L3834.7031,963.5469 L3834.7031,968.9531 L3832.2656,968.9531 L3832.2656,956.5625 L3839.9844,956.5625 L3839.9844,958.7188 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="106" x="3856.25" y="967.1074">urt_servicefunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3668.5" x2="4117.5" y1="978.9531" y2="978.9531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3668.5" x2="4117.5" y1="986.9531" y2="986.9531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="439" x="3673.5" y="1001.1636">urt_servicefunc_t (arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[e60e0f8379a14e7a4a292c65add9d735]
-class urt_service_t--><rect fill="#FEFECE" filter="url(#f1caui93febe6e)" height="222.4609" id="urt_service_t" style="stroke: #A80036; stroke-width: 1.5;" width="602" x="3592" y="566.9531"/><ellipse cx="3849.25" cy="582.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3848.7344,583.5156 Q3846.875,582.8125 3846.2188,582.0469 Q3845.5781,581.2656 3845.5781,579.9531 Q3845.5781,578.2656 3846.6563,577.2969 Q3847.7344,576.3281 3849.6094,576.3281 Q3850.4688,576.3281 3851.3125,576.5313 Q3852.1719,576.7188 3853.0156,577.1094 L3853.0156,579.5 Q3852.2344,578.9375 3851.4063,578.6563 Q3850.5938,578.3594 3849.7969,578.3594 Q3848.9219,578.3594 3848.4375,578.7188 Q3847.9688,579.0781 3847.9688,579.7344 Q3847.9688,580.25 3848.3125,580.5938 Q3848.6563,580.9219 3849.75,581.3281 L3850.8125,581.7344 Q3852.2969,582.2813 3853,583.1875 Q3853.7188,584.0938 3853.7188,585.4688 Q3853.7188,587.3438 3852.6094,588.2656 Q3851.5,589.1875 3849.25,589.1875 Q3848.3281,589.1875 3847.4063,588.9688 Q3846.4844,588.75 3845.625,588.3281 L3845.625,585.7969 Q3846.5938,586.4844 3847.5156,586.8281 Q3848.4375,587.1719 3849.3281,587.1719 Q3850.2344,587.1719 3850.7344,586.7656 Q3851.2344,586.3438 3851.2344,585.6094 Q3851.2344,585.0469 3850.8906,584.6406 Q3850.5625,584.2188 3849.9375,583.9688 L3848.7344,583.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="3869.75" y="587.1074">urt_service_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3593" x2="4193" y1="598.9531" y2="598.9531"/><ellipse cx="3603" cy="609.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="115" x="3612" y="613.1636">next : urt_service_t*</text><ellipse cx="3603" cy="622.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="105" x="3612" y="625.9683">id : urt_serviceid_t</text><ellipse cx="3603" cy="635.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="3612" y="638.7729">lock : urt_osMutex_t</text><ellipse cx="3603" cy="648.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="3612" y="651.5776">callback : urt_servicefunc_t*</text><ellipse cx="3603" cy="677.9766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="137" x="3612" y="681.187">sumDurations : uint64_t</text><ellipse cx="3603" cy="690.7813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="3612" y="693.9917">numCalls : uint64_t</text><ellipse cx="3603" cy="703.5859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="135" x="3612" y="706.7964">numTimeouts : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3593" x2="3798.5" y1="664.5742" y2="664.5742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="3798.5" y="667.8823">URT_CFG_RPC_PROFLING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3987.5" x2="4193" y1="664.5742" y2="664.5742"/><ellipse cx="3603" cy="733.1953" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="143" x="3612" y="736.4058">minDuration : urt_delay_t</text><ellipse cx="3603" cy="746" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="3612" y="749.2104">maxDuration : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3593" x2="3660" y1="719.793" y2="719.793"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="466" x="3660" y="723.1011">URT_CFG_RPC_PROFILING == true &amp;&amp; URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4126" x2="4193" y1="719.793" y2="719.793"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3593" x2="4193" y1="755.8047" y2="755.8047"/><ellipse cx="3603" cy="766.8047" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="576" x="3612" y="770.0151">urtServiceInit(service : urt_service_t*, id : urt_serviceid_t, callback : urt_servicefunc_t*) : urt_status_t</text><ellipse cx="3603" cy="779.6094" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="557" x="3612" y="782.8198">urtServiceCall(service : urt_service_t*, arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[89d25e87afdd75480e1ec2bd05524873]
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stroke-width: 1.5;" x1="1594.5" x2="2107.5" y1="60.9531" y2="60.9531"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="1601.5" y="68.9531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="1613.5" y="75.1636">_nodes : urt_node_t*</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="1601.5" y="81.7578"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="192" x="1613.5" y="87.9683">_evtSource : urt_osEventSource_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="1601.5" y="94.5625"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="1613.5" y="100.7729">_lock : urt_osMutex_t</text><rect fill="none" height="6" style="stroke: #C82930; 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-reverse link urt_topic_t to urt_message_t--><path d="M2154.0046,808.6218 C2151.1263,837.4407 2147.4661,867.2179 2143.5046,893.59 " fill="none" id="urt_topic_t&lt;-urt_message_t-1" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="2155.2702,795.4638,2150.714,801.0532,2154.1211,807.4087,2158.6773,801.8193,2155.2702,795.4638" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2147.0196" y="815.9254">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2137.0089" y="882.8007">1</text><!--MD5=[d97285d52857c028121a6b5bc3935d87]
-reverse link urt_pubsub_t to urt_topic_t--><path d="M1903.7677,426.7208 C1940.6176,463.5707 1991.2892,514.2423 2037.4771,560.4302 " fill="none" id="urt_pubsub_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1894.2329,417.186,1895.6471,424.2571,1902.7182,425.6713,1901.304,418.6002,1894.2329,417.186" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1892.4856" y="437.3161">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2005.1795" y="549.4836">0..1</text><!--MD5=[8d27a615fd5a1da0f7adeab7e6eca6da]
-link urt_pubsub_t to urt_publisher_t--><!--MD5=[05f2c35569573d3273c65d3342945557]
-reverse link urt_service_t to urt_service_t--><path d="M4205.7882,642.7778 C4220.4237,651.6505 4229,663.3756 4229,677.9531 C4229,696.0688 4215.7552,709.7795 4194.0965,719.085 " fill="none" id="urt_service_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="4194.0965,636.8212,4197.6268,643.109,4204.7888,642.2687,4201.2585,635.9808,4194.0965,636.8212" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4202.2006" y="632.592">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="4202.4131" y="717.0409">0..1</text><!--MD5=[586e61fedafd54ae7ea71cebd9f9032a]
-reverse link urt_service_t to urt_servicefunc_t--><path d="M3893,802.0677 C3893,855.1217 3893,912.6003 3893,946.7887 " fill="none" id="urt_service_t&lt;-urt_servicefunc_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3893,789.0502,3889,795.0502,3893,801.0502,3897,795.0502,3893,789.0502" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3884.7188" y="809.4444">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="3866.525" y="936.018">0..1</text><!--MD5=[44e85a81cd85acd5638164304275c8f6]
-reverse link urt_rpc_t to urt_service_t--><path d="M3840.0075,430.1113 C3848.1844,468.354 3859.2845,520.2683 3869.2132,566.7039 " fill="none" id="urt_rpc_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3837.2439,417.186,3834.5869,423.8898,3839.7531,428.9208,3842.4101,422.217,3837.2439,417.186" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3830.0796" y="437.3161">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="3842.8088" y="555.7813">0..1</text><!--MD5=[694e7400eb99f74d44ea388aed89d199]
-reverse link urt_core_t to urt_node_t--><path d="M1580.3284,177.6924 C1450.6746,201.9315 1293.2316,231.6194 1152,258.9531 C1107.2997,267.6043 1060.6748,276.7228 1014.145,285.8846 " fill="none" id="urt_core_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1593.1866,175.2894,1586.5539,172.4598,1581.3908,177.494,1588.0236,180.3236,1593.1866,175.2894" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1577.414" y="173.558">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1026.9387" y="274.7423">0..1</text><!--MD5=[126a576c1462f30ade8ec99c3bc39be3]
-reverse link urt_core_t to urt_pubsub_t--><path d="M1851,239.5861 C1851,271.9439 1851,305.3322 1851,330.7318 " fill="none" id="urt_core_t&lt;-urt_pubsub_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1851,226.2938,1847,232.2938,1851,238.2938,1855,232.2938,1851,226.2938" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1842.7188" y="245.8477">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1825.1625" y="320.0105">0..1</text><!--MD5=[d3daad950a97bef6626a3189265b6c3e]
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+cluster node--><rect fill="#FFFFFF" filter="url(#f1rbvtu6dodgxm)" height="446.5" style="stroke: #000000; stroke-width: 1.5;" width="1138" x="2854" y="392.9531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="40" x="3403" y="407.9482">node</text><!--MD5=[d74e2ef346f73688f9378f6d3d42598c]
+cluster Publish-Subscribe System--><polygon fill="#FFFFFF" filter="url(#f1rbvtu6dodgxm)" points="14,302.9531,24,292.9531,2846,292.9531,2846,1419.9531,2836,1429.9531,14,1429.9531,14,302.9531" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="2836" x2="2845" y1="302.9531" y2="293.9531"/><line style="stroke: #000000; stroke-width: 1.5;" x1="14" x2="2836" y1="302.9531" y2="302.9531"/><line style="stroke: #000000; stroke-width: 1.5;" x1="2836" x2="2836" y1="302.9531" y2="1429.9531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="205" x="1323.5" y="318.9482">Publish-Subscribe System</text><!--MD5=[16a3bbbe805f94d6e6ce317c08ab945e]
+cluster subscriber--><rect fill="#FFFFFF" filter="url(#f1rbvtu6dodgxm)" height="1097" style="stroke: #000000; stroke-width: 1.5;" width="1611" x="1227" y="324.9531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="85" x="1990" y="339.9482">subscriber</text><!--MD5=[94ad99421f5a0f525bc1c13a3777c25e]
+cluster real-time constraint data--><rect fill="#FFFFFF" filter="url(#f1rbvtu6dodgxm)" height="677" style="stroke: #000000; stroke-width: 1.5;" width="1595" x="1235" y="736.9531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="194" x="1935.5" y="751.9482">real-time constraint data</text><!--MD5=[57c3116dbac3d3a2ea35fece1cdc00f4]
+cluster SRT data--><rect fill="#FFFFFF" filter="url(#f1rbvtu6dodgxm)" height="283" style="stroke: #000000; stroke-width: 1.5;" width="390" x="1912" y="1122.9531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="69" x="2072.5" y="1137.9482">SRT data</text><!--MD5=[810d0f07e53ef611b6d803ef30301147]
+cluster Remote Procedure Call System--><polygon fill="#FFFFFF" filter="url(#f1rbvtu6dodgxm)" points="4011,374.9531,4021,364.9531,4647,364.9531,4647,829.4531,4637,839.4531,4011,839.4531,4011,374.9531" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="4637" x2="4646" y1="374.9531" y2="365.9531"/><line style="stroke: #000000; stroke-width: 1.5;" x1="4011" x2="4637" y1="374.9531" y2="374.9531"/><line style="stroke: #000000; stroke-width: 1.5;" x1="4637" x2="4637" y1="374.9531" y2="839.4531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="244" x="4203" y="390.9482">Remote Procedure Call System</text><!--MD5=[a7dea26996a1231aa68629b332780450]
+class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#f1rbvtu6dodgxm)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="2870" y="770.4531"/><ellipse cx="3015.75" cy="786.4531" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3016.5938,793.2031 L3014.1406,793.2031 L3014.1406,782.9531 L3011,782.9531 L3011,780.8125 L3019.7344,780.8125 L3019.7344,782.9531 L3016.5938,782.9531 L3016.5938,793.2031 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="3036.25" y="790.6074">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2871" x2="3325" y1="802.4531" y2="802.4531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2871" x2="3325" y1="810.4531" y2="810.4531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="2876" y="824.6636">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]
+class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#f1rbvtu6dodgxm)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="3361" y="770.4531"/><ellipse cx="3589.25" cy="786.4531" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3590.0938,793.2031 L3587.6406,793.2031 L3587.6406,782.9531 L3584.5,782.9531 L3584.5,780.8125 L3593.2344,780.8125 L3593.2344,782.9531 L3590.0938,782.9531 L3590.0938,793.2031 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="3609.75" y="790.6074">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3362" x2="3974" y1="802.4531" y2="802.4531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3362" x2="3974" y1="810.4531" y2="810.4531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="3367" y="824.6636">urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t</text><!--MD5=[d2563153d77472384a15c07b815d639f]
+class urt_node_t--><rect fill="#FEFECE" filter="url(#f1rbvtu6dodgxm)" height="176.0469" id="urt_node_t" style="stroke: #A80036; stroke-width: 1.5;" width="1104" x="2862" y="419.9531"/><ellipse cx="3376.25" cy="435.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3375.7344,436.5156 Q3373.875,435.8125 3373.2188,435.0469 Q3372.5781,434.2656 3372.5781,432.9531 Q3372.5781,431.2656 3373.6563,430.2969 Q3374.7344,429.3281 3376.6094,429.3281 Q3377.4688,429.3281 3378.3125,429.5313 Q3379.1719,429.7188 3380.0156,430.1094 L3380.0156,432.5 Q3379.2344,431.9375 3378.4063,431.6563 Q3377.5938,431.3594 3376.7969,431.3594 Q3375.9219,431.3594 3375.4375,431.7188 Q3374.9688,432.0781 3374.9688,432.7344 Q3374.9688,433.25 3375.3125,433.5938 Q3375.6563,433.9219 3376.75,434.3281 L3377.8125,434.7344 Q3379.2969,435.2813 3380,436.1875 Q3380.7188,437.0938 3380.7188,438.4688 Q3380.7188,440.3438 3379.6094,441.2656 Q3378.5,442.1875 3376.25,442.1875 Q3375.3281,442.1875 3374.4063,441.9688 Q3373.4844,441.75 3372.625,441.3281 L3372.625,438.7969 Q3373.5938,439.4844 3374.5156,439.8281 Q3375.4375,440.1719 3376.3281,440.1719 Q3377.2344,440.1719 3377.7344,439.7656 Q3378.2344,439.3438 3378.2344,438.6094 Q3378.2344,438.0469 3377.8906,437.6406 Q3377.5625,437.2188 3376.9375,436.9688 L3375.7344,436.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="67" x="3396.75" y="440.1074">urt_node_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2863" x2="3965" y1="451.9531" y2="451.9531"/><ellipse cx="2873" cy="462.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="102" x="2882" y="466.1636">next : urt_node_t*</text><ellipse cx="2873" cy="475.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="2882" y="478.9683">thread : urt_osThread_t*</text><ellipse cx="2873" cy="488.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="2882" y="491.7729">setupcallback : urt_nodeSetupCallback_t*</text><ellipse cx="2873" cy="501.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="117" x="2882" y="504.5776">setupparams : void*</text><ellipse cx="2873" cy="514.1719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="221" x="2882" y="517.3823">loopcallback : urt_nodeLoopCallback_t*</text><ellipse cx="2873" cy="526.9766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="109" x="2882" y="530.187">loopparams : void*</text><ellipse cx="2873" cy="539.7813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="2882" y="542.9917">stage : urt_nodestage_t</text><ellipse cx="2873" cy="552.5859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="178" x="2882" y="555.7964">listener : urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2863" x2="3965" y1="562.3906" y2="562.3906"/><rect fill="#F24D5C" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="2870" y="570.3906"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="179" x="2882" y="576.6011">_main : urt_osThreadFunction_t</text><ellipse cx="2873" cy="586.1953" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1078" x="2882" y="589.4058">urtNodeInit (node : urt_node_t*, stacksize : size_t, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*) : urt_status_t</text><!--MD5=[e602aa6d45f270ad04f88c9ca5352b33]
+class urt_message_t--><rect fill="#FEFECE" filter="url(#f1rbvtu6dodgxm)" height="154.4375" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="451" x="750.5" y="723.9531"/><ellipse cx="925.75" cy="739.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M925.2344,740.5156 Q923.375,739.8125 922.7188,739.0469 Q922.0781,738.2656 922.0781,736.9531 Q922.0781,735.2656 923.1563,734.2969 Q924.2344,733.3281 926.1094,733.3281 Q926.9688,733.3281 927.8125,733.5313 Q928.6719,733.7188 929.5156,734.1094 L929.5156,736.5 Q928.7344,735.9375 927.9063,735.6563 Q927.0938,735.3594 926.2969,735.3594 Q925.4219,735.3594 924.9375,735.7188 Q924.4688,736.0781 924.4688,736.7344 Q924.4688,737.25 924.8125,737.5938 Q925.1563,737.9219 926.25,738.3281 L927.3125,738.7344 Q928.7969,739.2813 929.5,740.1875 Q930.2188,741.0938 930.2188,742.4688 Q930.2188,744.3438 929.1094,745.2656 Q928,746.1875 925.75,746.1875 Q924.8281,746.1875 923.9063,745.9688 Q922.9844,745.75 922.125,745.3281 L922.125,742.7969 Q923.0938,743.4844 924.0156,743.8281 Q924.9375,744.1719 925.8281,744.1719 Q926.7344,744.1719 927.2344,743.7656 Q927.7344,743.3438 927.7344,742.6094 Q927.7344,742.0469 927.3906,741.6406 Q927.0625,741.2188 926.4375,740.9688 L925.2344,740.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="946.25" y="744.1074">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="751.5" x2="1200.5" y1="755.9531" y2="755.9531"/><ellipse cx="761.5" cy="766.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="127" x="770.5" y="770.1636">next : urt_message_t*</text><ellipse cx="761.5" cy="779.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="770.5" y="782.9683">payload : void*</text><ellipse cx="761.5" cy="792.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="770.5" y="795.7729">originTime : urt_osTime_t</text><ellipse cx="761.5" cy="805.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="770.5" y="808.5776">lock : urt_osMutex_t</text><ellipse cx="761.5" cy="818.1719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="211" x="770.5" y="821.3823">numHrtConsumersLeft : unsigned int</text><ellipse cx="761.5" cy="847.7813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="770.5" y="850.9917">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="751.5" x2="867.5" y1="834.3789" y2="834.3789"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="867.5" y="837.687">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1084.5" x2="1200.5" y1="834.3789" y2="834.3789"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="751.5" x2="1200.5" y1="857.5859" y2="857.5859"/><ellipse cx="761.5" cy="868.5859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="425" x="770.5" y="871.7964">urtMessageInit (message : urt_message_t*, payload : void*) : urt_status_t</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]
+class urt_publisher_t--><rect fill="#FEFECE" filter="url(#f1rbvtu6dodgxm)" height="128.8281" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="759" x="22.5" y="443.4531"/><ellipse cx="351.25" cy="459.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M350.7344,460.0156 Q348.875,459.3125 348.2188,458.5469 Q347.5781,457.7656 347.5781,456.4531 Q347.5781,454.7656 348.6563,453.7969 Q349.7344,452.8281 351.6094,452.8281 Q352.4688,452.8281 353.3125,453.0313 Q354.1719,453.2188 355.0156,453.6094 L355.0156,456 Q354.2344,455.4375 353.4063,455.1563 Q352.5938,454.8594 351.7969,454.8594 Q350.9219,454.8594 350.4375,455.2188 Q349.9688,455.5781 349.9688,456.2344 Q349.9688,456.75 350.3125,457.0938 Q350.6563,457.4219 351.75,457.8281 L352.8125,458.2344 Q354.2969,458.7813 355,459.6875 Q355.7188,460.5938 355.7188,461.9688 Q355.7188,463.8438 354.6094,464.7656 Q353.5,465.6875 351.25,465.6875 Q350.3281,465.6875 349.4063,465.4688 Q348.4844,465.25 347.625,464.8281 L347.625,462.2969 Q348.5938,462.9844 349.5156,463.3281 Q350.4375,463.6719 351.3281,463.6719 Q352.2344,463.6719 352.7344,463.2656 Q353.2344,462.8438 353.2344,462.1094 Q353.2344,461.5469 352.8906,461.1406 Q352.5625,460.7188 351.9375,460.4688 L350.7344,460.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="371.75" y="463.6074">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="23.5" x2="780.5" y1="475.4531" y2="475.4531"/><ellipse cx="33.5" cy="486.4531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="42.5" y="489.6636">topic : urt_topic_t*</text><ellipse cx="33.5" cy="516.0625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="149" x="42.5" y="519.2729">publishAttempts : uint64_t</text><ellipse cx="33.5" cy="528.8672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="42.5" y="532.0776">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="23.5" x2="320" y1="502.6602" y2="502.6602"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="320" y="505.9683">URT_CFG_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="484" x2="780.5" y1="502.6602" y2="502.6602"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="23.5" x2="780.5" y1="538.6719" y2="538.6719"/><ellipse cx="33.5" cy="549.6719" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="617" x="42.5" y="552.8823">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="33.5" cy="562.4766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="733" x="42.5" y="565.687">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, n : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[a1b1e66ec52c209a9fa2dab315cd7630]
+class urt_topic_t--><rect fill="#FEFECE" filter="url(#f1rbvtu6dodgxm)" height="248.0703" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="817" y="383.9531"/><ellipse cx="971.75" cy="399.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M971.2344,400.5156 Q969.375,399.8125 968.7188,399.0469 Q968.0781,398.2656 968.0781,396.9531 Q968.0781,395.2656 969.1563,394.2969 Q970.2344,393.3281 972.1094,393.3281 Q972.9688,393.3281 973.8125,393.5313 Q974.6719,393.7188 975.5156,394.1094 L975.5156,396.5 Q974.7344,395.9375 973.9063,395.6563 Q973.0938,395.3594 972.2969,395.3594 Q971.4219,395.3594 970.9375,395.7188 Q970.4688,396.0781 970.4688,396.7344 Q970.4688,397.25 970.8125,397.5938 Q971.1563,397.9219 972.25,398.3281 L973.3125,398.7344 Q974.7969,399.2813 975.5,400.1875 Q976.2188,401.0938 976.2188,402.4688 Q976.2188,404.3438 975.1094,405.2656 Q974,406.1875 971.75,406.1875 Q970.8281,406.1875 969.9063,405.9688 Q968.9844,405.75 968.125,405.3281 L968.125,402.7969 Q969.0938,403.4844 970.0156,403.8281 Q970.9375,404.1719 971.8281,404.1719 Q972.7344,404.1719 973.2344,403.7656 Q973.7344,403.3438 973.7344,402.6094 Q973.7344,402.0469 973.3906,401.6406 Q973.0625,401.2188 972.4375,400.9688 L971.2344,400.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="992.25" y="404.1074">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="818" x2="1200" y1="415.9531" y2="415.9531"/><ellipse cx="828" cy="426.9531" 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="101" x="837" y="430.1636">next : urt_topic_t*</text><ellipse cx="828" cy="439.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="837" y="442.9683">id : urt_topicid_t</text><ellipse cx="828" cy="452.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="837" y="455.7729">lock : urt_osMutex_t</text><ellipse cx="828" cy="465.3672" 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="186" x="837" y="468.5776">evtSource : urt_osEventSource_t</text><ellipse cx="828" cy="478.1719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="837" y="481.3823">numHrtSubscribers : unsigned int</text><ellipse cx="828" cy="490.9766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="837" y="494.187">hrtSubscribers : urt_subscriber_t*</text><ellipse cx="828" cy="503.7813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="837" y="506.9917">hrtReleased : urt_osCondvar_t</text><ellipse cx="828" cy="516.5859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="209" x="837" y="519.7964">mandatoryMessage : urt_message_t</text><ellipse cx="828" cy="529.3906" fill="none" 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="837" y="532.6011">latestMessage : urt_message_t*</text><ellipse cx="828" cy="559" fill="none" 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="837" y="562.2104">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="818" x2="876.5" y1="545.5977" y2="545.5977"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="876.5" y="548.9058">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1141.5" x2="1200" y1="545.5977" y2="545.5977"/><ellipse cx="828" cy="588.6094" fill="none" 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="837" y="591.8198">numDiscardedMessages : uint64_t</text><ellipse cx="828" cy="601.4141" fill="none" 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="837" y="604.6245">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="818" x2="900.5" y1="575.207" y2="575.207"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="900.5" y="578.5151">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1117.5" x2="1200" y1="575.207" y2="575.207"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="818" x2="1200" y1="611.2188" y2="611.2188"/><ellipse cx="828" cy="622.2188" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="358" x="837" y="625.4292">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[ab7cf431813e3be5d474948fd959cdbf]
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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="1274" y="449.3823">lastMessageTime : urt_osTime_t</text><ellipse cx="1265" cy="475.7813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="1274" y="478.9917">sumLatencies : uint64_t</text><ellipse cx="1265" cy="488.5859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="1274" y="491.7964">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1255" x2="1679.5" y1="462.3789" y2="462.3789"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="1679.5" y="465.687">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1896.5" x2="2321" y1="462.3789" y2="462.3789"/><ellipse cx="1265" cy="518.1953" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="1274" y="521.4058">minLatency : urt_delay_t</text><ellipse cx="1265" cy="531" fill="none" 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="1274" y="534.2104">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1255" x2="1679.5" y1="504.793" y2="504.793"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="1679.5" y="508.1011">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1896.5" x2="2321" y1="504.793" y2="504.793"/><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="1042" x="1274" y="593.4292">urtSubscriberSubscribeSrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_srtusefulnessfunc_t*, cbparams : void*) : urt_status_t</text><ellipse cx="1265" cy="603.0234" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="699" x="1274" y="606.2339">urtSubscriberSubscribeNrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="1265" cy="615.8281" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="413" x="1274" y="619.0386">urtSubscriberUnsubscribe (subscriber : urt_subscriber_t*) : urt_status_t</text><ellipse cx="1265" cy="628.6328" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="752" x="1274" y="631.8433">urtSubscriberFetchNextMessage (subscriber : urt_subscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="1265" cy="641.4375" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="762" x="1274" y="644.6479">urtSubscriberFetchLatestMessage (subscriber : urt_subscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="1265" cy="654.2422" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="537" x="1274" y="657.4526">urtSubscriberCalculateUsefulness (subscriber : urt_subscriber_t*, latency : urt_delay_t) : float</text><!--MD5=[82a1b6b26b12edcbd86fa16935c3353e]
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+class urt_nrtdata_t--><rect fill="#FEFECE" filter="url(#f1rbvtu6dodgxm)" height="48" id="urt_nrtdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="114" x="1790" y="1162.9531"/><ellipse cx="1805" cy="1178.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1804.4844,1179.5156 Q1802.625,1178.8125 1801.9688,1178.0469 Q1801.3281,1177.2656 1801.3281,1175.9531 Q1801.3281,1174.2656 1802.4063,1173.2969 Q1803.4844,1172.3281 1805.3594,1172.3281 Q1806.2188,1172.3281 1807.0625,1172.5313 Q1807.9219,1172.7188 1808.7656,1173.1094 L1808.7656,1175.5 Q1807.9844,1174.9375 1807.1563,1174.6563 Q1806.3438,1174.3594 1805.5469,1174.3594 Q1804.6719,1174.3594 1804.1875,1174.7188 Q1803.7188,1175.0781 1803.7188,1175.7344 Q1803.7188,1176.25 1804.0625,1176.5938 Q1804.4063,1176.9219 1805.5,1177.3281 L1806.5625,1177.7344 Q1808.0469,1178.2813 1808.75,1179.1875 Q1809.4688,1180.0938 1809.4688,1181.4688 Q1809.4688,1183.3438 1808.3594,1184.2656 Q1807.25,1185.1875 1805,1185.1875 Q1804.0781,1185.1875 1803.1563,1184.9688 Q1802.2344,1184.75 1801.375,1184.3281 L1801.375,1181.7969 Q1802.3438,1182.4844 1803.2656,1182.8281 Q1804.1875,1183.1719 1805.0781,1183.1719 Q1805.9844,1183.1719 1806.4844,1182.7656 Q1806.9844,1182.3438 1806.9844,1181.6094 Q1806.9844,1181.0469 1806.6406,1180.6406 Q1806.3125,1180.2188 1805.6875,1179.9688 L1804.4844,1179.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="82" x="1819" y="1183.1074">urt_nrtdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1791" x2="1903" y1="1194.9531" y2="1194.9531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1791" x2="1903" y1="1202.9531" y2="1202.9531"/><!--MD5=[fc7708c915a0148c667d62e1370980fd]
+class urt_srtusefulnessfunc_t--><rect fill="#FEFECE" filter="url(#f1rbvtu6dodgxm)" height="60.8047" id="urt_srtusefulnessfunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="374" x="1920" y="1336.9531"/><ellipse cx="2029.25" cy="1352.9531" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2033.4844,1348.7188 L2028.2031,1348.7188 L2028.2031,1351.3906 L2033,1351.3906 L2033,1353.5469 L2028.2031,1353.5469 L2028.2031,1358.9531 L2025.7656,1358.9531 L2025.7656,1346.5625 L2033.4844,1346.5625 L2033.4844,1348.7188 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="147" x="2049.75" y="1357.1074">urt_srtusefulnessfunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1921" x2="2293" y1="1368.9531" y2="1368.9531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1921" x2="2293" y1="1376.9531" y2="1376.9531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="362" x="1926" y="1391.1636">urt_srtusefulnessfunc_t (dt : urt_delay_t, params : void*) : float</text><!--MD5=[4a2daf41193a31389d6311337c2a120f]
+class urt_srtdata_t--><rect fill="#FEFECE" filter="url(#f1rbvtu6dodgxm)" height="73.6094" id="urt_srtdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="258" x="1958" y="1149.9531"/><ellipse cx="2042.25" cy="1165.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2041.7344,1166.5156 Q2039.875,1165.8125 2039.2188,1165.0469 Q2038.5781,1164.2656 2038.5781,1162.9531 Q2038.5781,1161.2656 2039.6563,1160.2969 Q2040.7344,1159.3281 2042.6094,1159.3281 Q2043.4688,1159.3281 2044.3125,1159.5313 Q2045.1719,1159.7188 2046.0156,1160.1094 L2046.0156,1162.5 Q2045.2344,1161.9375 2044.4063,1161.6563 Q2043.5938,1161.3594 2042.7969,1161.3594 Q2041.9219,1161.3594 2041.4375,1161.7188 Q2040.9688,1162.0781 2040.9688,1162.7344 Q2040.9688,1163.25 2041.3125,1163.5938 Q2041.6563,1163.9219 2042.75,1164.3281 L2043.8125,1164.7344 Q2045.2969,1165.2813 2046,1166.1875 Q2046.7188,1167.0938 2046.7188,1168.4688 Q2046.7188,1170.3438 2045.6094,1171.2656 Q2044.5,1172.1875 2042.25,1172.1875 Q2041.3281,1172.1875 2040.4063,1171.9688 Q2039.4844,1171.75 2038.625,1171.3281 L2038.625,1168.7969 Q2039.5938,1169.4844 2040.5156,1169.8281 Q2041.4375,1170.1719 2042.3281,1170.1719 Q2043.2344,1170.1719 2043.7344,1169.7656 Q2044.2344,1169.3438 2044.2344,1168.6094 Q2044.2344,1168.0469 2043.8906,1167.6406 Q2043.5625,1167.2188 2042.9375,1166.9688 L2041.7344,1166.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="81" x="2062.75" y="1170.1074">urt_srtdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1959" x2="2215" y1="1181.9531" y2="1181.9531"/><ellipse cx="1969" cy="1192.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="232" x="1978" y="1196.1636">usefullnesscb : urt_srtusefulnessfunc_t*</text><ellipse cx="1969" cy="1205.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="1978" y="1208.9683">cbparams : void*</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1959" x2="2215" y1="1215.5625" y2="1215.5625"/><!--MD5=[3226071078d8aeaa18fbafa5359ddee6]
+class urt_servicefunc_t--><rect fill="#FEFECE" filter="url(#f1rbvtu6dodgxm)" height="60.8047" id="urt_servicefunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="451" x="4094.5" y="770.4531"/><ellipse cx="4262.75" cy="786.4531" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4266.9844,782.2188 L4261.7031,782.2188 L4261.7031,784.8906 L4266.5,784.8906 L4266.5,787.0469 L4261.7031,787.0469 L4261.7031,792.4531 L4259.2656,792.4531 L4259.2656,780.0625 L4266.9844,780.0625 L4266.9844,782.2188 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="106" x="4283.25" y="790.6074">urt_servicefunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4095.5" x2="4544.5" y1="802.4531" y2="802.4531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4095.5" x2="4544.5" y1="810.4531" y2="810.4531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="439" x="4100.5" y="824.6636">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(#f1rbvtu6dodgxm)" height="222.4609" id="urt_service_t" style="stroke: #A80036; stroke-width: 1.5;" width="602" x="4019" y="396.9531"/><ellipse cx="4276.25" cy="412.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4275.7344,413.5156 Q4273.875,412.8125 4273.2188,412.0469 Q4272.5781,411.2656 4272.5781,409.9531 Q4272.5781,408.2656 4273.6563,407.2969 Q4274.7344,406.3281 4276.6094,406.3281 Q4277.4688,406.3281 4278.3125,406.5313 Q4279.1719,406.7188 4280.0156,407.1094 L4280.0156,409.5 Q4279.2344,408.9375 4278.4063,408.6563 Q4277.5938,408.3594 4276.7969,408.3594 Q4275.9219,408.3594 4275.4375,408.7188 Q4274.9688,409.0781 4274.9688,409.7344 Q4274.9688,410.25 4275.3125,410.5938 Q4275.6563,410.9219 4276.75,411.3281 L4277.8125,411.7344 Q4279.2969,412.2813 4280,413.1875 Q4280.7188,414.0938 4280.7188,415.4688 Q4280.7188,417.3438 4279.6094,418.2656 Q4278.5,419.1875 4276.25,419.1875 Q4275.3281,419.1875 4274.4063,418.9688 Q4273.4844,418.75 4272.625,418.3281 L4272.625,415.7969 Q4273.5938,416.4844 4274.5156,416.8281 Q4275.4375,417.1719 4276.3281,417.1719 Q4277.2344,417.1719 4277.7344,416.7656 Q4278.2344,416.3438 4278.2344,415.6094 Q4278.2344,415.0469 4277.8906,414.6406 Q4277.5625,414.2188 4276.9375,413.9688 L4275.7344,413.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="4296.75" y="417.1074">urt_service_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4020" x2="4620" y1="428.9531" y2="428.9531"/><ellipse cx="4030" cy="439.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="115" x="4039" y="443.1636">next : urt_service_t*</text><ellipse cx="4030" cy="452.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="105" x="4039" y="455.9683">id : urt_serviceid_t</text><ellipse cx="4030" cy="465.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="4039" y="468.7729">lock : urt_osMutex_t</text><ellipse cx="4030" cy="478.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="4039" y="481.5776">callback : urt_servicefunc_t*</text><ellipse cx="4030" cy="507.9766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="137" x="4039" y="511.187">sumDurations : uint64_t</text><ellipse cx="4030" cy="520.7813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="4039" y="523.9917">numCalls : uint64_t</text><ellipse cx="4030" cy="533.5859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="135" x="4039" y="536.7964">numTimeouts : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4020" x2="4225.5" y1="494.5742" y2="494.5742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="4225.5" y="497.8823">URT_CFG_RPC_PROFLING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4414.5" x2="4620" y1="494.5742" y2="494.5742"/><ellipse cx="4030" cy="563.1953" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="143" x="4039" y="566.4058">minDuration : urt_delay_t</text><ellipse cx="4030" cy="576" fill="none" 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="4039" y="579.2104">maxDuration : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4020" x2="4093" y1="549.793" y2="549.793"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="454" x="4093" y="553.1011">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="4547" x2="4620" y1="549.793" y2="549.793"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4020" x2="4620" y1="585.8047" y2="585.8047"/><ellipse cx="4030" cy="596.8047" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="576" x="4039" y="600.0151">urtServiceInit(service : urt_service_t*, id : urt_serviceid_t, callback : urt_servicefunc_t*) : urt_status_t</text><ellipse cx="4030" cy="609.6094" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="557" x="4039" y="612.8198">urtServiceCall(service : urt_service_t*, arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[89d25e87afdd75480e1ec2bd05524873]
+class urt_core_t--><rect fill="#FEFECE" filter="url(#f1rbvtu6dodgxm)" height="256.0703" id="urt_core_t" style="stroke: #A80036; stroke-width: 1.5;" width="515" x="3156.5" y="28.9531"/><ellipse cx="3378.25" cy="44.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3377.7344,45.5156 Q3375.875,44.8125 3375.2188,44.0469 Q3374.5781,43.2656 3374.5781,41.9531 Q3374.5781,40.2656 3375.6563,39.2969 Q3376.7344,38.3281 3378.6094,38.3281 Q3379.4688,38.3281 3380.3125,38.5313 Q3381.1719,38.7188 3382.0156,39.1094 L3382.0156,41.5 Q3381.2344,40.9375 3380.4063,40.6563 Q3379.5938,40.3594 3378.7969,40.3594 Q3377.9219,40.3594 3377.4375,40.7188 Q3376.9688,41.0781 3376.9688,41.7344 Q3376.9688,42.25 3377.3125,42.5938 Q3377.6563,42.9219 3378.75,43.3281 L3379.8125,43.7344 Q3381.2969,44.2813 3382,45.1875 Q3382.7188,46.0938 3382.7188,47.4688 Q3382.7188,49.3438 3381.6094,50.2656 Q3380.5,51.1875 3378.25,51.1875 Q3377.3281,51.1875 3376.4063,50.9688 Q3375.4844,50.75 3374.625,50.3281 L3374.625,47.7969 Q3375.5938,48.4844 3376.5156,48.8281 Q3377.4375,49.1719 3378.3281,49.1719 Q3379.2344,49.1719 3379.7344,48.7656 Q3380.2344,48.3438 3380.2344,47.6094 Q3380.2344,47.0469 3379.8906,46.6406 Q3379.5625,46.2188 3378.9375,45.9688 L3377.7344,45.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="63" x="3398.75" y="49.1074">urt_core_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3157.5" x2="3670.5" y1="60.9531" y2="60.9531"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="3164.5" y="68.9531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="3176.5" y="75.1636">_nodes : urt_node_t*</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="3164.5" y="81.7578"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="192" x="3176.5" y="87.9683">_evtSource : urt_osEventSource_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="3164.5" y="94.5625"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="3176.5" y="100.7729">_lock : urt_osMutex_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="3164.5" y="124.1719"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="117" x="3176.5" y="130.3823">_topics : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3157.5" x2="3309" y1="113.7695" y2="113.7695"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="3309" y="117.0776">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3519" x2="3670.5" y1="113.7695" y2="113.7695"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="3164.5" y="153.7813"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="145" x="3176.5" y="159.9917">_services : urt_service_t*</text><line style="stroke: #A80036; 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+reverse link urt_topic_t to urt_message_t--><path d="M980.7947,645.3706 C977.6351,672.276 975.0046,699.5915 973.3143,723.6684 " fill="none" id="urt_topic_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="982.3865,632.2115,977.6949,637.6878,980.9455,644.1247,985.637,638.6485,982.3865,632.2115" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="972.6167" y="651.8975">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="947.9605" y="712.9052">1..1</text><!--MD5=[0b5167e958c0ed93ffc0c98ce399b54d]
+reverse link urt_topic_t to urt_message_t--><path d="M1006.9999,645.3706 C1004.1065,672.276 1000.5577,699.5915 996.7645,723.6684 " fill="none" id="urt_topic_t&lt;-urt_message_t-1" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1008.3658,632.2115,1003.7677,637.7664,1007.1268,644.1474,1011.7249,638.5925,1008.3658,632.2115" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1000.0979" y="651.8975">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="990.31" y="712.9052">1</text><!--MD5=[05f2c35569573d3273c65d3342945557]
+reverse link urt_service_t to urt_service_t--><path d="M4632.7882,473.486 C4647.4237,482.1801 4656,493.6691 4656,507.9531 C4656,525.7041 4642.7552,539.1387 4621.0965,548.2568 " fill="none" id="urt_service_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="4621.0965,467.6494,4624.6781,473.9082,4631.833,473.0093,4628.2514,466.7505,4621.0965,467.6494" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4629.2006" y="463.4422">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="4629.4131" y="546.1907">0..1</text><!--MD5=[586e61fedafd54ae7ea71cebd9f9032a]
+reverse link urt_service_t to urt_servicefunc_t--><path d="M4320,632.2858 C4320,682.9975 4320,737.3367 4320,770.2353 " fill="none" id="urt_service_t&lt;-urt_servicefunc_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="4320,619.1416,4316,625.1416,4320,631.1416,4324,625.1416,4320,619.1416" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4311.7188" y="639.5423">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="4293.525" y="759.4536">0..1</text><!--MD5=[694e7400eb99f74d44ea388aed89d199]
+reverse link urt_core_t to urt_node_t--><path d="M3414,298.3868 C3414,339.4358 3414,383.0706 3414,419.8362 " fill="none" id="urt_core_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3414,285.1621,3410,291.1621,3414,297.1621,3418,291.1621,3414,285.1621" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3405.7688" y="305.0765">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="3389.0063" y="408.9884">0..1</text><!--MD5=[250695c91040478b50550bc37a8775c7]
+reverse link urt_core_t to urt_topic_t--><path d="M3143.0912,162.8691 C2594.5177,176.4214 1389.7388,214.7476 1219,292.9531 C1174.1713,313.4865 1133.8232,348.1574 1100.7563,383.7304 " fill="none" id="urt_core_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="3156.3271,162.5438,3150.2306,158.6925,3144.3307,162.8388,3150.4272,166.6901,3156.3271,162.5438" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3140.5587" y="159.555">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1081.6164" y="372.7724">0..1</text><!--MD5=[8d0a227ec56585cdbc167f8316b34b64]
+reverse link urt_core_t to urt_service_t--><path d="M3684.694,198.4163 C3786.2037,219.4381 3900.9032,249.9035 4000,292.9531 C4062.1554,319.9546 4125.2013,359.2292 4178.7107,396.8449 " fill="none" id="urt_core_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="3671.744,195.7706,3676.8219,200.8907,3683.5011,198.1727,3678.4233,193.0526,3671.744,195.7706" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3679.5145" y="193.7682">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="4144.4116" y="385.9318">0..1</text><!--MD5=[a10441da5a087837729000420a7aa5a0]
 @startuml
 
 title **µRtWare**
@@ -78,14 +72,18 @@ title **µRtWare**
   - {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>> {
@@ -120,7 +118,6 @@ title **µRtWare**
   + {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
   __
@@ -155,7 +152,7 @@ title **µRtWare**
       + {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
@@ -163,11 +160,10 @@ title **µRtWare**
 
       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
@@ -191,13 +187,13 @@ title **µRtWare**
     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
     __
@@ -230,6 +226,7 @@ title **µRtWare**
   + {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 ..
@@ -241,45 +238,29 @@ title **µRtWare**
   + {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
 }
 
 }
@@ -320,20 +301,15 @@ 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
 
 
 
