AMiRo-OS

<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="1441px" preserveAspectRatio="none" style="width:4669px;height:1441px;" version="1.1" viewBox="0 0 4669 1441" width="4669px" zoomAndPan="magnify"><defs><filter height="300%" id="f1rbvtu6dodgxm" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="2292.5" y="16.708">µRtWare</text><!--MD5=[b9de0669a29c7bc934fd916b09c39491]

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]

class urt_subscriber_t--><rect fill="#FEFECE" filter="url(#f1rbvtu6dodgxm)" height="312.0938" id="urt_subscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1068" x="1254" y="351.9531"/><ellipse cx="1733.25" cy="367.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1732.7344,368.5156 Q1730.875,367.8125 1730.2188,367.0469 Q1729.5781,366.2656 1729.5781,364.9531 Q1729.5781,363.2656 1730.6563,362.2969 Q1731.7344,361.3281 1733.6094,361.3281 Q1734.4688,361.3281 1735.3125,361.5313 Q1736.1719,361.7188 1737.0156,362.1094 L1737.0156,364.5 Q1736.2344,363.9375 1735.4063,363.6563 Q1734.5938,363.3594 1733.7969,363.3594 Q1732.9219,363.3594 1732.4375,363.7188 Q1731.9688,364.0781 1731.9688,364.7344 Q1731.9688,365.25 1732.3125,365.5938 Q1732.6563,365.9219 1733.75,366.3281 L1734.8125,366.7344 Q1736.2969,367.2813 1737,368.1875 Q1737.7188,369.0938 1737.7188,370.4688 Q1737.7188,372.3438 1736.6094,373.2656 Q1735.5,374.1875 1733.25,374.1875 Q1732.3281,374.1875 1731.4063,373.9688 Q1730.4844,373.75 1729.625,373.3281 L1729.625,370.7969 Q1730.5938,371.4844 1731.5156,371.8281 Q1732.4375,372.1719 1733.3281,372.1719 Q1734.2344,372.1719 1734.7344,371.7656 Q1735.2344,371.3438 1735.2344,370.6094 Q1735.2344,370.0469 1734.8906,369.6406 Q1734.5625,369.2188 1733.9375,368.9688 L1732.7344,368.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="1753.75" y="372.1074">urt_subscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1255" x2="2321" y1="383.9531" y2="383.9531"/><ellipse cx="1265" cy="394.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="1274" y="398.1636">topic : urt_topic_t*</text><ellipse cx="1265" cy="407.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="1274" y="410.9683">evtListener : urt_osEventListener_t</text><ellipse cx="1265" cy="420.5625" 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="112" x="1274" y="423.7729">rtdata : urt_rtdata_t</text><ellipse cx="1265" cy="433.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="175" x="1274" y="436.5776">lastMessage : urt_message_t*</text><ellipse cx="1265" cy="446.1719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="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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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]

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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; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3157.5" x2="3321.5" y1="143.3789" y2="143.3789"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="3321.5" y="146.687">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3506.5" x2="3670.5" y1="143.3789" y2="143.3789"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3157.5" x2="3670.5" y1="166.5859" y2="166.5859"/><ellipse cx="3167.5" cy="177.5859" 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="175" x="3176.5" y="180.7964">urtCoreInit (void) : urt_status_t</text><ellipse cx="3167.5" cy="190.3906" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="222" x="3176.5" y="193.6011">urtCoreStartNodes (void) : urt_status_t</text><ellipse cx="3167.5" cy="203.1953" 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="489" x="3176.5" y="206.4058">urtCoreSynchronizeNodes (node : urt_node_t*, stage : urt_nodestage_t) : urt_status_t</text><ellipse cx="3167.5" cy="216" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="220" x="3176.5" y="219.2104">urtCoreStopNodes (void) : urt_status_t</text><ellipse cx="3167.5" cy="245.6094" 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="299" x="3176.5" y="248.8198">urtCoreRetrieveTopic (id : urt_topicid_t) : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3157.5" x2="3309" y1="232.207" y2="232.207"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="3309" y="235.5151">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; 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reverse link urt_node_t to urt_node_t--><path d="M3978.4188,480.9635 C3992.8891,488.447 4001,497.4435 4001,507.9531 C4001,521.1416 3988.2271,531.9474 3966.1426,540.3705 " fill="none" id="urt_node_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3966.1426,475.5357,3970.0126,481.6204,3977.1177,480.3883,3973.2477,474.3037,3966.1426,475.5357" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3973.9634" y="472.0419">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="3974.0759" y="537.7884">0..1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]

reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M3297.2531,605.0008 C3233.7575,662.3825 3160.7993,731.2314 3123.0193,770.1561 " fill="none" id="urt_node_t&lt;-urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3306.9508,596.2601,3299.8159,597.3059,3298.0371,604.2942,3305.172,603.2484,3306.9508,596.2601" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3290.1016" y="615.9651">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3119.3545" y="759.3581">1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]

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reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M3487.2376,606.4171 C3535.1834,663.5114 3595.475,731.5511 3633.1071,770.1561 " fill="none" id="urt_node_t&lt;-urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3478.7425,596.2601,3479.5236,603.4288,3486.4413,605.465,3485.6602,598.2963,3478.7425,596.2601" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3475.5829" y="615.9651">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3617.0854" y="759.3581">1</text><!--MD5=[b913f036db99e36b937989146817bd94]

reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M3506.5028,600.0815 C3558.9932,658.3993 3619.841,730.1124 3649.9796,770.1561 " fill="none" id="urt_node_t&lt;-urt_nodeLoopCallback_t-1" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="3503.0578,596.2601,3506.113,605.6231,3506.4057,599.9739,3512.0549,600.2665,3503.0578,596.2601" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0c465c1a61dfd99ff8b5568ca35c92d1]

reverse link urt_srtdata_t to urt_srtusefulnessfunc_t--><path d="M2092.5955,1237.4523 C2096.1293,1269.3446 2100.5801,1309.5133 2103.592,1336.6963 " fill="none" id="urt_srtdata_t&lt;-urt_srtusefulnessfunc_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2091.144,1224.3528,2087.8292,1230.7569,2092.4657,1236.2798,2095.7805,1229.8757,2091.144,1224.3528" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2083.167" y="1243.6173">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2076.4141" y="1325.9066">0..1</text><!--MD5=[3f22cd2af9b1d30da63b75b4db75ae6e]

reverse link urt_rtclassdata_t to urt_hrtdata_t--><path d="M1995.297,1040.0604 C2123.8884,1088.5033 2170.7904,1061.0452 2306,1096.9531 C2307.2696,1097.2903 2308.5419,1097.6306 2309.8167,1097.9739 " fill="none" id="urt_rtclassdata_t&lt;-urt_hrtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1983.0096,1035.2973,1987.1582,1041.1956,1994.1983,1039.6347,1990.0497,1033.7365,1983.0096,1035.2973" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1990.9512" y="1036.5203">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2277.855" y="1092.1779">0..1</text><!--MD5=[a94a8c9c209e194384613684e912df80]

reverse link urt_rtclassdata_t to urt_frtdata_t--><path d="M1825.0133,1033.8881 C1822.9927,1034.9255 1820.986,1035.9486 1819,1036.9531 C1770.545,1061.4609 1717.3487,1086.9504 1668.4801,1109.814 " fill="none" id="urt_rtclassdata_t&lt;-urt_frtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1836.6931,1027.8175,1829.5245,1027.0354,1826.0455,1033.3517,1833.214,1034.1339,1836.6931,1027.8175" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1821.0832" y="1028.1153">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1659.4899" y="1098.7992">0..1</text><!--MD5=[e6a6d7a2212fadf5661857a71d4f05c3]

reverse link urt_rtclassdata_t to urt_srtdata_t--><path d="M1962.9469,1047.1306 C1992.5584,1080.5062 2028.5389,1121.0605 2054.1083,1149.8803 " fill="none" id="urt_rtclassdata_t&lt;-urt_srtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1953.9802,1037.024,1954.97,1044.1669,1961.9441,1046.0004,1960.9543,1038.8576,1953.9802,1037.024" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1951.6024" y="1057.1105">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2021.8314" y="1138.7774">0..1</text><!--MD5=[206fe31eaf8244c7272230bb0ec7137c]

reverse link urt_rtclassdata_t to urt_nrtdata_t--><path d="M1890.3632,1049.6363 C1878.2731,1087.9215 1863.4526,1134.8532 1854.6423,1162.7525 " fill="none" id="urt_rtclassdata_t&lt;-urt_nrtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1894.346,1037.024,1888.7248,1041.5409,1890.7323,1048.467,1896.3535,1043.9501,1894.346,1037.024" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1883.5822" y="1057.1105">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1829.5256" y="1151.7132">0..1</text><!--MD5=[1ba55993ff077c77667f6c7be6552d53]

reverse link urt_rtdata_t to urt_rtclass_t--><path d="M1771.1226,850.9157 C1762.0246,877.8486 1750.8351,910.973 1741.7558,937.8505 " fill="none" id="urt_rtdata_t&lt;-urt_rtclass_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1775.4024,838.2459,1769.6925,842.6502,1771.5619,849.6148,1777.2718,845.2105,1775.4024,838.2459" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1764.7572" y="857.4934">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1735.5496" y="926.8813">1</text><!--MD5=[8318054091d2ecf2336b9e490f482e2a]

reverse link urt_rtdata_t to urt_rtclassdata_t--><path d="M1819.7263,849.4528 C1837.5123,876.642 1859.6505,910.4844 1877.5522,937.8505 " fill="none" id="urt_rtdata_t&lt;-urt_rtclassdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1812.3953,838.2459,1812.3325,845.4568,1818.9645,848.2881,1819.0273,841.0773,1812.3953,838.2459" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1807.6458" y="857.4934">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1864.4267" y="926.8813">1</text><!--MD5=[b6ee30948a218449c72edbee7363b5d7]

link urt_subscriber_t to urt_hrtdata_t--><path d="M1966.9771,664.1555 C2116.4912,794.644 2325.1235,976.728 2452.5906,1087.9749 " fill="none" id="urt_subscriber_t-&gt;urt_hrtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2462.7651,1096.8548,2460.8748,1089.8959,2453.7241,1088.9643,2455.6144,1095.9232,2462.7651,1096.8548" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1951.0651" y="684.1527">0..1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2445.8847" y="1085.8429">1</text><!--MD5=[536025241394544a90bc53fb552f3a08]

reverse link urt_message_t to urt_message_t--><path d="M1213.9841,776.985 C1228.0653,782.7159 1236.5,790.7053 1236.5,800.9531 C1236.5,813.9404 1222.9528,823.3004 1201.534,829.0331 " fill="none" id="urt_message_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1201.534,772.8731,1205.9769,778.553,1212.9286,776.6365,1208.4858,770.9566,1201.534,772.8731" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1209.7829" y="768.6559">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1209.3281" y="826.7703">0..1</text><!--MD5=[f7eb638a1c2d853c6fb0ae6f53692e50]

reverse link urt_subscriber_t to urt_rtdata_t--><path d="M1788,677.3551 C1788,709.926 1788,740.9483 1788,763.7661 " fill="none" id="urt_subscriber_t&lt;-urt_rtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1788,664.318,1784,670.318,1788,676.318,1792,670.318,1788,664.318" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1779.8063" y="684.3231">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1779.2875" y="752.9198">1</text><!--MD5=[bf7bf5810813e0e9b75d3053dc098443]

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reverse link urt_publisher_t to urt_topic_t--><path d="M794.8249,507.9531 C802.1324,507.9531 809.44,507.9531 816.7475,507.9531 " fill="none" id="urt_publisher_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="781.6714,507.9531,787.6714,511.9531,793.6714,507.9531,787.6714,503.9531,781.6714,507.9531" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="789.4647" y="504.8708">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="801.0814" y="504.7283">1</text><!--MD5=[5025b4c4053b8e7c7ca8a657f09f21c0]

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@startuml

title **µRtWare**

  class urt_core_t <<S,BFAFFF>> {

  - {field} {static} _nodes : urt_node_t*

  - {field} {static} _evtSource : urt_osEventSource_t

  - {field} {static} _lock : urt_osMutex_t

  .. URT_CFG_PUBSUB_ENABLED == true ..

  - {field} {static} _topics : urt_topic_t*

  .. URT_CFG_RPC_ENABLED == true ..

  - {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>> {

    class urt_nodeSetupCallback_t <<T,00CFFF>> {

    urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t

  }

    class urt_nodeLoopCallback_t <<T,00CFFF>> {

    urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t

  }

    class urt_node_t <<S,BFAFFF>> {

    + {field} next : urt_node_t*

    + {field} thread : urt_osThread_t*

    + {field} setupcallback : urt_nodeSetupCallback_t*

    + {field} setupparams : void*

    + {field} loopcallback : urt_nodeLoopCallback_t*

    + {field} loopparams : void*

    + {field} stage : urt_nodestage_t

    + {field} listener : urt_osEventListener_t

    __

    - {method} {static} _main : urt_osThreadFunction_t

    + {method} urtNodeInit (node : urt_node_t*, stacksize : size_t, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*) : urt_status_t

  }

} 

  package "Publish-Subscribe System" <<Node>> {

  class urt_message_t <<S,BFAFFF>> {

  + {field} next : urt_message_t*

  + {field} payload : void*

  + {field} originTime : urt_osTime_t

  + {field} lock : urt_osMutex_t

  + {field} numHrtConsumersLeft : unsigned int

  .. URT_CFG_PUBSUB_PROFILING == true ..

  + {field} numConsumersLeft : unsigned int

  __

  + {method} urtMessageInit (message : urt_message_t*, payload : void*) : urt_status_t

}

  package "subscriber" <<Rectangle>> {

    package "real-time constraint data" <<Rectangle>> {

      class urt_rtdata_t <<S,BFAFFF>> {

      + {field} class : urt_rtconstraintclass_t

      + {field} params : urt_rtconstraintsparams_t

    }

      class urt_rtclass_t <<E,FF7F3F>> {

      URT_RTCLASS_HARD = 0

      URT_RTCLASS_FIRM = 1

      URT_RTCLASS_SOFT = 2

      URT_RTCLASS_NONE = 3

    }

      class urt_rtclassdata_t <<U,7FCF7F>> {

      + {field} hrt : urt_hrtparams_t

      + {field} frt : urt_frtparams_t

      + {field} srt : urt_srtparans_t

      + {field} nrt : urt_nrtparams_t

    }

      class urt_hrtdata_t <<S,BFAFFF>> {

      + {field} next : urt_subscriber_t*

      .. 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_PROFILING == true || URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ..

      + {field} maxJitter : urt_delay_t

      + {field} minLatency : urt_delay_t

      + {field} maxLatency : urt_delay_t

    }

      class urt_frtdata_t <<S,BFAFFF>> {

      .. URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true ..

      + {field} deadlineOffset : urt_delay_t

      .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..

      + {field} expectedRate : urt_delay_t

      .. 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

    }

      package "SRT data" <<Rectangle>> {

        class urt_srtusefulnessfunc_t <<F,E0E0E0>> {

        urt_srtusefulnessfunc_t (dt : urt_delay_t, params : void*) : float

      }

        class urt_srtdata_t <<S,BFAFFF>> {

        + {field} usefullnesscb : urt_srtusefulnessfunc_t*

        + {field} cbparams : void*

      }

    } 

      class urt_nrtdata_t <<S,BFAFFF>> {

    }

  } 

    class urt_subscriber_t <<S,BFAFFF>> {

    + {field} topic : urt_topic_t*

    + {field} evtListener : urt_osEventListener_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 ..

    + {field} minLatency : urt_delay_t

    + {field} maxLatency : urt_delay_t

    __

    + {method} urtSubscriberInit (subscriber : urt_subscriber_t*) : urt_status_t

    + {method} 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

    + {method} 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

    + {method} urtSubscriberSubscribeSrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_srtusefulnessfunc_t*, cbparams : void*) : urt_status_t

    + {method} urtSubscriberSubscribeNrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t

    + {method} urtSubscriberUnsubscribe (subscriber : urt_subscriber_t*) : urt_status_t

    + {method} urtSubscriberFetchNextMessage (subscriber : urt_subscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t

    + {method} urtSubscriberFetchLatestMessage (subscriber : urt_subscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t

    + {method} urtSubscriberCalculateUsefulness (subscriber : urt_subscriber_t*, latency : urt_delay_t) : float

  }

} 

  class urt_publisher_t <<S,BFAFFF>> {

  + {field} topic : urt_topic_t*

  .. URT_CFG_PROFILING == true ..

  + {field} publishAttempts : uint64_t

  + {field} publishFails : uint64_t

  __

  + {method} urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t

  + {method} urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, n : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t

}

  class urt_topic_t <<S,BFAFFF>> {

  + {field} next : urt_topic_t*

  + {field} id : urt_topicid_t

  + {field} lock : urt_osMutex_t

  + {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 ..

  + {field} qosRateTimer : urt_osTimer_t

  .. URT_CFG_PUBSUB_PROFILING == true ..

  + {field} numDiscardedMessages : uint64_t

  + {field} numSubscribers : unsigned int

  __

  + {method} urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t

}

}

  package "Remote Procedure Call System" <<Node>> {

  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

}

}

urt_node_t "1" o- - "0..1" urt_node_t

urt_node_t "1" o- - "1" urt_nodeSetupCallback_t

urt_node_t <.. urt_nodeSetupCallback_t

urt_node_t "1" o- - "1" urt_nodeLoopCallback_t

urt_node_t <.. urt_nodeLoopCallback_t

urt_srtdata_t "1" o- - "0..1" urt_srtusefulnessfunc_t

urt_rtclassdata_t "1" *- - "0..1" urt_hrtdata_t

urt_rtclassdata_t "1" *- - "0..1" urt_frtdata_t

urt_rtclassdata_t "1" *- - "0..1" urt_srtdata_t

urt_rtclassdata_t "1" *- - "0..1" urt_nrtdata_t

urt_rtdata_t "1" *- - "1" urt_rtclass_t

urt_rtdata_t "1" *- - "1" urt_rtclassdata_t

urt_hrtdata_t "1" o-up- "0..1" urt_subscriber_t

urt_message_t "1" o- - "0..1" urt_message_t

urt_subscriber_t "1" *- - "1" urt_rtdata_t

urt_subscriber_t "1" o- "0..1" urt_topic_t

urt_subscriber_t "1" o- - "0..1" urt_message_t

urt_publisher_t "1" o- "1" urt_topic_t

urt_publisher_t ..> urt_message_t

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

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_service_t "1" o- - "0..1" urt_service_t

urt_service_t "1" o- - "0..1" urt_servicefunc_t

urt_core_t "1" o- - "0..1" urt_node_t

urt_core_t "1" *- - "0..1" urt_topic_t

urt_core_t "1" *- - "0..1" urt_service_t

@enduml

PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)

(GPL source distribution)

Java Runtime: OpenJDK Runtime Environment

JVM: OpenJDK 64-Bit Server VM

Java Version: 11.0.6+10-post-Ubuntu-1ubuntu118.04.1

Operating System: Linux

Default Encoding: UTF-8

Language: en

Country: US

--></g></svg>