commit 0de5bed8bd33e082541932f8b108541e40eb193d
Author: Thomas Schöpping <tschoepp@cit-ec.uni-bielefeld.de>
Date:   Wed Jun 17 11:48:16 2020 +0200

    OSAL: Condition variable timeout feature is now optional.
    As a result, urtPublisherPublish() method supports timeout only if condition variables do.

diff --git a/doc/activitydiagrams/publisher/urtPublisherPublish.uml b/doc/activitydiagrams/publisher/urtPublisherPublish.uml
index 87d1a0d..e99e99f 100644
--- a/doc/activitydiagrams/publisher/urtPublisherPublish.uml
+++ b/doc/activitydiagrams/publisher/urtPublisherPublish.uml
@@ -40,6 +40,7 @@ note
   Timestamp to be set for the message.
   -- **timeout** : urt_delay_t --
   Timeout delay in case the message cannot be published.
+  This parameter is only available if ""URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT"" is ""true"".
   ====
   -- **return** : urt_status_t --
   Returns ""URT_STATUS_OK"" on success.
diff --git a/doc/classdiagrams/config.svg b/doc/classdiagrams/config.svg
index 4467300..6baa0d4 100644
--- a/doc/classdiagrams/config.svg
+++ b/doc/classdiagrams/config.svg
@@ -1,5 +1,5 @@
-<?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="346px" preserveAspectRatio="none" style="width:308px;height:346px;" version="1.1" viewBox="0 0 308 346" width="308px" zoomAndPan="magnify"><defs><filter height="300%" id="f19u4eu9l1i7d5" 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="107.5" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="120" x="92" y="37.6611">Configuration</text><!--MD5=[e443ac33c80100c2d54e1f5fe669f6d7]
-class urt_config--><rect fill="#FEFECE" filter="url(#f19u4eu9l1i7d5)" height="286.4844" id="urt_config" style="stroke: #A80036; stroke-width: 1.5;" width="290" x="7" y="48.9063"/><ellipse cx="116.75" cy="64.9063" fill="#BFBFBF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M119.7188,70.5469 Q119.1406,70.8438 118.5,70.9844 Q117.8594,71.1406 117.1563,71.1406 Q114.6563,71.1406 113.3281,69.5 Q112.0156,67.8438 112.0156,64.7188 Q112.0156,61.5938 113.3281,59.9375 Q114.6563,58.2813 117.1563,58.2813 Q117.8594,58.2813 118.5,58.4375 Q119.1563,58.5938 119.7188,58.8906 L119.7188,61.6094 Q119.0938,61.0313 118.5,60.7656 Q117.9063,60.4844 117.2813,60.4844 Q115.9375,60.4844 115.25,61.5625 Q114.5625,62.625 114.5625,64.7188 Q114.5625,66.8125 115.25,67.8906 Q115.9375,68.9531 117.2813,68.9531 Q117.9063,68.9531 118.5,68.6875 Q119.0938,68.4063 119.7188,67.8281 L119.7188,70.5469 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="62" x="137.25" y="69.0605">urt_config</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8" x2="296" y1="80.9063" y2="80.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="159" x="13" y="111.9214">URT_CFG_DELAY_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="13" y="124.7261">URT_CFG_NODESTAGE_WIDTH : int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8" x2="130.5" y1="95.3086" y2="95.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="43" x="130.5" y="98.6167">general</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="173.5" x2="296" y1="95.3086" y2="95.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="13" y="154.3354">URT_CFG_PUBSUB_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="222" x="13" y="167.1401">URT_CFG_PUBSUB_TOPICID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="204" x="13" y="179.9448">URT_CFG_PUBSUB_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="278" x="13" y="192.7495">URT_CFG_PUBSUB_QOS_DEADLINECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="252" x="13" y="205.5542">URT_CFG_PUBSUB_QOS_RATECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="13" y="218.3589">URT_CFG_PUBSUB_QOS_JITTERCHECKS : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8" x2="101.5" y1="137.7227" y2="137.7227"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="101.5" y="141.0308">publish-subscribe</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="202.5" x2="296" y1="137.7227" y2="137.7227"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="13" y="247.9683">URT_CFG_RPC_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="13" y="260.7729">URT_CFG_RPC_SERVICEID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="13" y="273.5776">URT_CFG_RPC_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="253" x="13" y="286.3823">URT_CFG_RPC_QOS_DEADLINECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="13" y="299.187">URT_CFG_RPC_QOS_JITTERCHECKS : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8" x2="85.5" y1="231.3555" y2="231.3555"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="133" x="85.5" y="234.6636">remote procedure calls</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="218.5" x2="296" y1="231.3555" y2="231.3555"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="13" y="328.7964">URT_CFG_DEBUG_ENABLED : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8" x2="134.5" y1="312.1836" y2="312.1836"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="35" x="134.5" y="315.4917">debug</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="169.5" x2="296" y1="312.1836" y2="312.1836"/><!--MD5=[b5773c79a01ac53a242ef73d22f7ce2f]
+<?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="388px" preserveAspectRatio="none" style="width:308px;height:388px;" version="1.1" viewBox="0 0 308 388" width="308px" zoomAndPan="magnify"><defs><filter height="300%" id="f17804n3ly6r2u" 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="107.5" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="120" x="92" y="37.6611">Configuration</text><!--MD5=[e443ac33c80100c2d54e1f5fe669f6d7]
+class urt_config--><rect fill="#FEFECE" filter="url(#f17804n3ly6r2u)" height="328.8984" id="urt_config" style="stroke: #A80036; stroke-width: 1.5;" width="290" x="7" y="48.9063"/><ellipse cx="116.75" cy="64.9063" fill="#BFBFBF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M119.7188,70.5469 Q119.1406,70.8438 118.5,70.9844 Q117.8594,71.1406 117.1563,71.1406 Q114.6563,71.1406 113.3281,69.5 Q112.0156,67.8438 112.0156,64.7188 Q112.0156,61.5938 113.3281,59.9375 Q114.6563,58.2813 117.1563,58.2813 Q117.8594,58.2813 118.5,58.4375 Q119.1563,58.5938 119.7188,58.8906 L119.7188,61.6094 Q119.0938,61.0313 118.5,60.7656 Q117.9063,60.4844 117.2813,60.4844 Q115.9375,60.4844 115.25,61.5625 Q114.5625,62.625 114.5625,64.7188 Q114.5625,66.8125 115.25,67.8906 Q115.9375,68.9531 117.2813,68.9531 Q117.9063,68.9531 118.5,68.6875 Q119.0938,68.4063 119.7188,67.8281 L119.7188,70.5469 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="62" x="137.25" y="69.0605">urt_config</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8" x2="296" y1="80.9063" y2="80.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="159" x="13" y="111.9214">URT_CFG_DELAY_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="13" y="124.7261">URT_CFG_NODESTAGE_WIDTH : int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8" x2="130.5" y1="95.3086" y2="95.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="43" x="130.5" y="98.6167">general</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="173.5" x2="296" y1="95.3086" y2="95.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="13" y="154.3354">URT_CFG_PUBSUB_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="222" x="13" y="167.1401">URT_CFG_PUBSUB_TOPICID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="204" x="13" y="179.9448">URT_CFG_PUBSUB_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="278" x="13" y="192.7495">URT_CFG_PUBSUB_QOS_DEADLINECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="252" x="13" y="205.5542">URT_CFG_PUBSUB_QOS_RATECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="13" y="218.3589">URT_CFG_PUBSUB_QOS_JITTERCHECKS : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8" x2="101.5" y1="137.7227" y2="137.7227"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="101.5" y="141.0308">publish-subscribe</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="202.5" x2="296" y1="137.7227" y2="137.7227"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="13" y="247.9683">URT_CFG_RPC_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="13" y="260.7729">URT_CFG_RPC_SERVICEID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="13" y="273.5776">URT_CFG_RPC_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="253" x="13" y="286.3823">URT_CFG_RPC_QOS_DEADLINECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="13" y="299.187">URT_CFG_RPC_QOS_JITTERCHECKS : bool</text><line style="stroke: #A80036; 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stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8" x2="137" y1="341.793" y2="341.793"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="30" x="137" y="345.1011">OSAL</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="167" x2="296" y1="341.793" y2="341.793"/><!--MD5=[11963f8eace96dd2c1f005da892e932c]
 @startuml
 
 title **µRtWare**\nConfiguration
@@ -35,6 +35,9 @@ title **µRtWare**\nConfiguration
   URT_CFG_RPC_QOS_JITTERCHECKS : bool
   .. debug ..
   URT_CFG_DEBUG_ENABLED : bool
+  .. OSAL ..
+  URT_CFG_OSAL_HEADER : string
+  URT_CFG_OSAL_CONDVAR_TIMEOUT : bool
 }
 
 
diff --git a/doc/classdiagrams/config.uml b/doc/classdiagrams/config.uml
index 9c05832..a5c57a7 100644
--- a/doc/classdiagrams/config.uml
+++ b/doc/classdiagrams/config.uml
@@ -65,6 +65,11 @@ $configuration("urt_config") {
   .. debug ..
     'Selection to en-/disable debug checks.
   URT_CFG_DEBUG_ENABLED : bool
+  .. OSAL ..
+    'OSAL header to be included by µRtWare.
+  URT_CFG_OSAL_HEADER : string
+    'Flag whether condition variables support timeout feature.
+  URT_CFG_OSAL_CONDVAR_TIMEOUT : bool
 }
 
 !endsub
diff --git a/doc/classdiagrams/osal.svg b/doc/classdiagrams/osal.svg
index 66cf369..44164de 100644
--- a/doc/classdiagrams/osal.svg
+++ b/doc/classdiagrams/osal.svg
@@ -1,32 +1,32 @@
-<?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="772px" preserveAspectRatio="none" style="width:5482px;height:772px;" version="1.1" viewBox="0 0 5482 772" width="5482px" zoomAndPan="magnify"><defs><filter height="300%" id="f1yyfxywx3cwk" 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="2704" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="387" x="2555" y="37.6611">Operating System Abstraction Layer (OSAL)</text><!--MD5=[3dab47d3fc3e186ff10f67819eb99ff8]
-cluster time--><rect fill="#FFFFFF" filter="url(#f1yyfxywx3cwk)" height="121" style="stroke: #000000; stroke-width: 1.5;" width="402" x="2133" y="190.4063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="34" x="2317" y="205.4014">time</text><!--MD5=[48ccbfc44b1b031f9b243763d7ad5184]
-cluster mutex--><rect fill="#FFFFFF" filter="url(#f1yyfxywx3cwk)" height="134" style="stroke: #000000; stroke-width: 1.5;" width="314" x="759" y="183.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="49" x="891.5" y="198.9014">mutex</text><!--MD5=[2e45f233f6bb64aa81ebe67fb6de8946]
-cluster condition variable--><rect fill="#FFFFFF" filter="url(#f1yyfxywx3cwk)" height="438" style="stroke: #000000; stroke-width: 1.5;" width="726" x="14" y="183.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="140" x="307" y="198.9014">condition variable</text><!--MD5=[c7113df1f710ca294cbd01734aa00974]
-cluster timer--><rect fill="#FFFFFF" filter="url(#f1yyfxywx3cwk)" height="432" style="stroke: #000000; stroke-width: 1.5;" width="754" x="2553" y="177.4063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="2909.5" y="192.4014">timer</text><!--MD5=[107bb3f79455a18bd83c75ada1ac7979]
-cluster thread--><rect fill="#FFFFFF" filter="url(#f1yyfxywx3cwk)" height="596" style="stroke: #000000; stroke-width: 1.5;" width="1039" x="1081" y="57.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="1574.5" y="72.9014">thread</text><!--MD5=[8d74b40516bd265adb19f202ab81f40d]
-cluster events--><rect fill="#FFFFFF" filter="url(#f1yyfxywx3cwk)" height="571.5" style="stroke: #000000; stroke-width: 1.5;" width="1642" x="3315" y="190.4063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="54" x="4109" y="205.4014">events</text><!--MD5=[b978ecedb6f4da3f32705dc09c84a7d6]
-cluster streams--><rect fill="#FFFFFF" filter="url(#f1yyfxywx3cwk)" height="109" style="stroke: #000000; stroke-width: 1.5;" width="226" x="4965" y="196.4063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="64" x="5046" y="211.4014">streams</text><!--MD5=[62106fc051f244acf17caf792167c8db]
-cluster debug--><rect fill="#FFFFFF" filter="url(#f1yyfxywx3cwk)" height="96" style="stroke: #000000; stroke-width: 1.5;" width="262" x="5209" y="202.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="50" x="5315" y="217.9014">debug</text><!--MD5=[3677786d1f00795918091b0110bfa4af]
-class urt_osTime_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="385" x="2141.5" y="217.4063"/><ellipse cx="2290.25" cy="233.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2291.0938,240.1563 L2288.6406,240.1563 L2288.6406,229.9063 L2285.5,229.9063 L2285.5,227.7656 L2294.2344,227.7656 L2294.2344,229.9063 L2291.0938,229.9063 L2291.0938,240.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="2310.75" y="237.5605">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2142.5" x2="2525.5" y1="249.4063" y2="249.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2142.5" x2="2525.5" y1="257.4063" y2="257.4063"/><ellipse cx="2152.5" cy="268.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="231" x="2161.5" y="271.6167">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="2152.5" cy="281.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="2161.5" y="284.4214">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="2152.5" cy="294.0156" fill="#84BE84" 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="2161.5" y="297.2261">urtTimeAddUs (time : urt_osTime_t*, offset : urt_delay_t) : void</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]
-class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="767" y="210.9063"/><ellipse cx="868.25" cy="226.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M869.0938,233.6563 L866.6406,233.6563 L866.6406,223.4063 L863.5,223.4063 L863.5,221.2656 L872.2344,221.2656 L872.2344,223.4063 L869.0938,223.4063 L869.0938,233.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="888.75" y="231.0605">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="768" x2="1064" y1="242.9063" y2="242.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="768" x2="1064" y1="250.9063" y2="250.9063"/><ellipse cx="778" cy="261.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="245" x="787" y="265.1167">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="778" cy="274.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="253" x="787" y="277.9214">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="778" cy="287.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="787" y="290.7261">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="778" cy="300.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="787" y="303.5308">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--MD5=[52fa11869cb40c93fa7702378ddd839e]
-class urt_osCondvarWaitStatus_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="86.4141" id="urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="242" y="527.9063"/><ellipse cx="288.25" cy="543.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M292.3594,549.9063 L284.6406,549.9063 L284.6406,537.5156 L292.3594,537.5156 L292.3594,539.6719 L287.0938,539.6719 L287.0938,542.3438 L291.8594,542.3438 L291.8594,544.5 L287.0938,544.5 L287.0938,547.75 L292.3594,547.75 L292.3594,549.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="169" x="308.75" y="548.0605">urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="243" x2="511" y1="559.9063" y2="559.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="248" y="574.1167">URT_CONDVAR_WAITSTATUS_SIGNAL = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="248" y="586.9214">URT_CONDVAR_WAITSTATUS_BROADCAST = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="248" y="599.7261">URT_CONDVAR_WAITSTATUS_TIMEOUT = 0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="243" x2="511" y1="606.3203" y2="606.3203"/><!--MD5=[004fc5dee471033e8e4138c1c73f0692]
-class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="99.2188" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="22" y="210.9063"/><ellipse cx="322.25" cy="226.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M323.0938,233.6563 L320.6406,233.6563 L320.6406,223.4063 L317.5,223.4063 L317.5,221.2656 L326.2344,221.2656 L326.2344,223.4063 L323.0938,223.4063 L323.0938,233.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="342.75" y="231.0605">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="23" x2="731" y1="242.9063" y2="242.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="23" x2="731" y1="250.9063" y2="250.9063"/><ellipse cx="33" cy="261.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="283" x="42" y="265.1167">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="33" cy="274.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="301" x="42" y="277.9214">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="33" cy="287.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="324" x="42" y="290.7261">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="33" cy="300.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="684" x="42" y="303.5308">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_osCondvarWaitStatus_t</text><!--MD5=[93799a03260ba286abda700174f4f205]
-class urt_osTimerCallback_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="2787" y="540.4063"/><ellipse cx="2857.75" cy="556.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2858.5938,563.1563 L2856.1406,563.1563 L2856.1406,552.9063 L2853,552.9063 L2853,550.7656 L2861.7344,550.7656 L2861.7344,552.9063 L2858.5938,552.9063 L2858.5938,563.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="2878.25" y="560.5605">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2788" x2="3072" y1="572.4063" y2="572.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2788" x2="3072" y1="580.4063" y2="580.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="2793" y="594.6167">urt_osTimerCallback_t (parameter : void*) : void</text><!--MD5=[0b340d7b925b1eab6a1b7e084f68a7c2]
-class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="112.0234" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="737" x="2561.5" y="204.4063"/><ellipse cx="2883.75" cy="220.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2884.5938,227.1563 L2882.1406,227.1563 L2882.1406,216.9063 L2879,216.9063 L2879,214.7656 L2887.7344,214.7656 L2887.7344,216.9063 L2884.5938,216.9063 L2884.5938,227.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="2904.25" y="224.5605">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2562.5" x2="3297.5" y1="236.4063" y2="236.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2562.5" x2="3297.5" y1="244.4063" y2="244.4063"/><ellipse cx="2572.5" cy="255.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="2581.5" y="258.6167">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="2572.5" cy="268.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="660" x="2581.5" y="271.4214">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void</text><ellipse cx="2572.5" cy="281.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="711" x="2581.5" y="284.2261">urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void</text><ellipse cx="2572.5" cy="293.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="255" x="2581.5" y="297.0308">urtTimerReset (timer : urt_osTimer_t*) : void</text><ellipse cx="2572.5" cy="306.625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="2581.5" y="309.8354">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--MD5=[86c16d91227b9a9ec3b6b9b0285de4e9]
-class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="1089.5" y="495.9063"/><ellipse cx="1125.65" cy="511.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1126.4938,518.6563 L1124.0406,518.6563 L1124.0406,508.4063 L1120.9,508.4063 L1120.9,506.2656 L1129.6344,506.2656 L1129.6344,508.4063 L1126.4938,508.4063 L1126.4938,518.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="1144.35" y="516.0605">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1090.5" x2="1285.5" y1="527.9063" y2="527.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="1095.5" y="542.1167">URT_THREAD_PRIO_LOW_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="1095.5" y="554.9214">URT_THREAD_PRIO_LOW_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="1095.5" y="567.7261">URT_THREAD_PRIO_NORMAL_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="1095.5" y="580.5308">URT_THREAD_PRIO_NORMAL_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="1095.5" y="593.3354">URT_THREAD_PRIO_HIGH_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="1095.5" y="606.1401">URT_THREAD_PRIO_HIGH_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="1095.5" y="618.9448">URT_THREAD_PRIO_RT_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="1095.5" y="631.7495">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1090.5" x2="1285.5" y1="638.3438" y2="638.3438"/><!--MD5=[69d8aab9aa387a2f5052ea3da80e80ea]
-class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="1322" y="540.4063"/><ellipse cx="1369.75" cy="556.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1370.5938,563.1563 L1368.1406,563.1563 L1368.1406,552.9063 L1365,552.9063 L1365,550.7656 L1373.7344,550.7656 L1373.7344,552.9063 L1370.5938,552.9063 L1370.5938,563.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="1390.25" y="560.5605">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1323" x2="1573" y1="572.4063" y2="572.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1323" x2="1573" y1="580.4063" y2="580.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="1328" y="594.6167">urt_osThreadFunction_t (arg : void*) : void</text><!--MD5=[ab5f611d45c3fa10609c33f780d8c3e1]
-class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="1609" y="533.9063"/><ellipse cx="1630.75" cy="549.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1634.8594,555.9063 L1627.1406,555.9063 L1627.1406,543.5156 L1634.8594,543.5156 L1634.8594,545.6719 L1629.5938,545.6719 L1629.5938,548.3438 L1634.3594,548.3438 L1634.3594,550.5 L1629.5938,550.5 L1629.5938,553.75 L1634.8594,553.75 L1634.8594,555.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="1646.25" y="554.0605">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1610" x2="1850" y1="565.9063" y2="565.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="1615" y="580.1167">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="1615" y="592.9214">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1610" x2="1850" y1="599.5156" y2="599.5156"/><!--MD5=[47d14ad2c233fae1b32b8d0a283e820a]
-class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="137.6328" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="1886" y="501.9063"/><ellipse cx="1930.75" cy="517.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1934.8594,523.9063 L1927.1406,523.9063 L1927.1406,511.5156 L1934.8594,511.5156 L1934.8594,513.6719 L1929.5938,513.6719 L1929.5938,516.3438 L1934.3594,516.3438 L1934.3594,518.5 L1929.5938,518.5 L1929.5938,521.75 L1934.8594,521.75 L1934.8594,523.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="1951.25" y="522.0605">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1887" x2="2111" y1="533.9063" y2="533.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="1892" y="548.1167">URT_THREAD_STATE_INACTIVE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="1892" y="560.9214">URT_THREAD_STATE_RUNNING = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="1892" y="573.7261">URT_THREAD_STATE_READY = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="1892" y="586.5308">URT_THREAD_STATE_SLEEPING = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="1892" y="599.3354">URT_THREAD_STATE_SUSPENDED = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="1892" y="612.1401">URT_THREAD_STATE_WAITING = 5</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="1892" y="624.9448">URT_THREAD_STATE_TERMINATED = 6</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1887" x2="2111" y1="631.5391" y2="631.5391"/><!--MD5=[0a16224ede9ffa9bb2d34e085a076e6d]
-class urt_osThread_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="350.5078" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="778" x="1328" y="84.9063"/><ellipse cx="1665.75" cy="100.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1666.5938,107.6563 L1664.1406,107.6563 L1664.1406,97.4063 L1661,97.4063 L1661,95.2656 L1669.7344,95.2656 L1669.7344,97.4063 L1666.5938,97.4063 L1666.5938,107.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="1686.25" y="105.0605">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1329" x2="2105" y1="116.9063" y2="116.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="1334" y="131.1167">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="1334" y="143.9214">URT_THREAD_SSLEP_MAX : unsigned int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="1334" y="156.7261">URT_THREAD_MSLEEP_MAX : unsigned int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="1334" y="169.5308">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1329" x2="2105" y1="176.125" y2="176.125"/><ellipse cx="1339" cy="187.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="248" x="1348" y="190.3354">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1329" x2="2105" y1="196.9297" y2="196.9297"/><ellipse cx="1339" cy="207.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="752" x="1348" y="211.1401">urtThreadInit (memory : void*, size : size_t, prio : urt_osThreadPrio_t, func : urt_osThreadFunction_t*, arg : void*) : urt_osThread_t*</text><ellipse cx="1339" cy="220.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="1348" y="223.9448">urtThreadStart (thread : urt_osThread_t*) : void</text><ellipse cx="1339" cy="233.5391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="1348" y="236.7495">urtThreadYield (void) : void</text><ellipse cx="1339" cy="246.3438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="1348" y="249.5542">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="1339" cy="259.1484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="304" x="1348" y="262.3589">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="1339" cy="271.9531" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="220" x="1348" y="275.1636">urtThreadSleep (seconds : float) : void</text><ellipse cx="1339" cy="284.7578" 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="273" x="1348" y="287.9683">urtThreadSSleep (seconds : unsigned int) : void</text><ellipse cx="1339" cy="297.5625" 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="297" x="1348" y="300.7729">urtThreadMSleep (milliseconds : unsigned int) : void</text><ellipse cx="1339" cy="310.3672" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="1348" y="313.5776">urtThreadUSleep (microseconds : urt_delay_t) : void</text><ellipse cx="1339" cy="323.1719" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="1348" y="326.3823">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="1339" cy="335.9766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="1348" y="339.187">urtThreadExit (void) : void</text><ellipse cx="1339" cy="348.7813" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="518" x="1348" y="351.9917">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="1339" cy="361.5859" 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="264" x="1348" y="364.7964">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="1339" cy="374.3906" 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="387" x="1348" y="377.6011">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="1339" cy="387.1953" 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="237" x="1348" y="390.4058">urtThreadGetSelf (void) : urt_osThread_t*</text><ellipse cx="1339" cy="400" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="1348" y="403.2104">urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="1339" cy="412.8047" 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="371" x="1348" y="416.0151">urtThreadGetSibling (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="1339" cy="425.6094" 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="370" x="1348" y="428.8198">urtThreadGetParent (thread : urt_osThread_t*) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]
-class urt_osEventMask_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="60.8047" id="urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.5;" width="280" x="3323" y="540.4063"/><ellipse cx="3400.25" cy="556.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3401.0938,563.1563 L3398.6406,563.1563 L3398.6406,552.9063 L3395.5,552.9063 L3395.5,550.7656 L3404.2344,550.7656 L3404.2344,552.9063 L3401.0938,552.9063 L3401.0938,563.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="3420.75" y="560.5605">urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3324" x2="3602" y1="572.4063" y2="572.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="268" x="3329" y="586.6167">URT_EVENTMASK_MAXPRIO : urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3324" x2="3602" y1="593.2109" y2="593.2109"/><!--MD5=[dc1cc33af288560680c15dec1e56eda0]
-class urt_osEventFlags_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="48" id="urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="4044" y="705.9063"/><ellipse cx="4059" cy="721.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4059.8438,728.6563 L4057.3906,728.6563 L4057.3906,718.4063 L4054.25,718.4063 L4054.25,716.2656 L4062.9844,716.2656 L4062.9844,718.4063 L4059.8438,718.4063 L4059.8438,728.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="4073" y="726.0605">urt_osEventFlags_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4045" x2="4193" y1="737.9063" y2="737.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4045" x2="4193" y1="745.9063" y2="745.9063"/><!--MD5=[e2bbbd64e6979bf7b755747a6c0ba948]
-class urt_osEventWait_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="86.4141" id="urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.5;" width="162" x="3675" y="527.9063"/><ellipse cx="3698.1" cy="543.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3702.2094,549.9063 L3694.4906,549.9063 L3694.4906,537.5156 L3702.2094,537.5156 L3702.2094,539.6719 L3696.9438,539.6719 L3696.9438,542.3438 L3701.7094,542.3438 L3701.7094,544.5 L3696.9438,544.5 L3696.9438,547.75 L3702.2094,547.75 L3702.2094,549.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="3713.9" y="548.0605">urt_osEventWait_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3676" x2="3836" y1="559.9063" y2="559.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="3681" y="574.1167">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="3681" y="586.9214">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="3681" y="599.7261">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3676" x2="3836" y1="606.3203" y2="606.3203"/><!--MD5=[d054ac2eda12ce4b1fe5a18c9be716c1]
-class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="3872" y="527.9063"/><ellipse cx="4047.25" cy="543.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4048.0938,550.6563 L4045.6406,550.6563 L4045.6406,540.4063 L4042.5,540.4063 L4042.5,538.2656 L4051.2344,538.2656 L4051.2344,540.4063 L4048.0938,540.4063 L4048.0938,550.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="4067.75" y="548.0605">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3873" x2="4365" y1="559.9063" y2="559.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3873" x2="4365" y1="567.9063" y2="567.9063"/><ellipse cx="3883" cy="578.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="341" x="3892" y="582.1167">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="3883" cy="591.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="458" x="3892" y="594.9214">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="3883" cy="604.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="468" x="3892" y="607.7261">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]
-class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="4401.5" y="533.9063"/><ellipse cx="4606.25" cy="549.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4607.0938,556.6563 L4604.6406,556.6563 L4604.6406,546.4063 L4601.5,546.4063 L4601.5,544.2656 L4610.2344,544.2656 L4610.2344,546.4063 L4607.0938,546.4063 L4607.0938,556.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="4626.75" y="554.0605">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4402.5" x2="4947.5" y1="565.9063" y2="565.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4402.5" x2="4947.5" y1="573.9063" y2="573.9063"/><ellipse cx="4412.5" cy="584.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="325" x="4421.5" y="588.1167">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="4412.5" cy="597.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="521" x="4421.5" y="600.9214">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--MD5=[04a3b5a37031e2a4d723f19d8adf86f5]
-class urt_events--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="845" x="3333.5" y="217.4063"/><ellipse cx="3718.75" cy="233.4063" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3722.9844,229.1719 L3717.7031,229.1719 L3717.7031,231.8438 L3722.5,231.8438 L3722.5,234 L3717.7031,234 L3717.7031,239.4063 L3715.2656,239.4063 L3715.2656,227.0156 L3722.9844,227.0156 L3722.9844,229.1719 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="3739.25" y="237.5605">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3334.5" x2="4177.5" y1="249.4063" y2="249.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3334.5" x2="4177.5" y1="257.4063" y2="257.4063"/><ellipse cx="3344.5" cy="268.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="819" x="3353.5" y="271.6167">urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : void</text><ellipse cx="3344.5" cy="281.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="522" x="3353.5" y="284.4214">urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : void</text><ellipse cx="3344.5" cy="294.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="618" x="3353.5" y="297.2261">urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWait_t, timeout : urt_delay_t) : urt_osEventMask_t</text><!--MD5=[0cf29100c96c506429a28b45d347cc92]
-class urt_streams--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="209" x="4973.5" y="223.4063"/><ellipse cx="5036.25" cy="239.4063" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5040.4844,235.1719 L5035.2031,235.1719 L5035.2031,237.8438 L5040,237.8438 L5040,240 L5035.2031,240 L5035.2031,245.4063 L5032.7656,245.4063 L5032.7656,233.0156 L5040.4844,233.0156 L5040.4844,235.1719 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="5056.75" y="243.5605">urt_streams</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4974.5" x2="5181.5" y1="255.4063" y2="255.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4974.5" x2="5181.5" y1="263.4063" y2="263.4063"/><ellipse cx="4984.5" cy="274.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="166" x="4993.5" y="277.6167">urtPrintf(fmt : char*, ... ) : int</text><ellipse cx="4984.5" cy="287.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="4993.5" y="290.4214">urtErrPrintf(fmt : char*, ... ) : int</text><!--MD5=[f106a25c06a671b3918b1a8f37571a4d]
-class urt_debug--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="245" x="5217.5" y="229.9063"/><ellipse cx="5303.75" cy="245.9063" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5307.9844,241.6719 L5302.7031,241.6719 L5302.7031,244.3438 L5307.5,244.3438 L5307.5,246.5 L5302.7031,246.5 L5302.7031,251.9063 L5300.2656,251.9063 L5300.2656,239.5156 L5307.9844,239.5156 L5307.9844,241.6719 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="5324.25" y="250.0605">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5218.5" x2="5461.5" y1="261.9063" y2="261.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5218.5" x2="5461.5" y1="269.9063" y2="269.9063"/><ellipse cx="5228.5" cy="280.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="219" x="5237.5" y="284.1167">urtDebugAssert(condition : bool) : void</text><!--MD5=[7766572fa0c619a5409829048dc0b6d6]
-link urt_osCondvar_t to urt_osCondvarWaitStatus_t--><path d="M377,309.9493 C377,368.2855 377,464.5429 377,522.4176 " fill="none" id="urt_osCondvar_t-&gt;urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="377,527.5507,381,518.5507,377,522.5507,373,518.5507,377,527.5507" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9b2507ea88616aeae65e3c4d63560016]
+<?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="772px" preserveAspectRatio="none" style="width:5482px;height:772px;" version="1.1" viewBox="0 0 5482 772" width="5482px" zoomAndPan="magnify"><defs><filter height="300%" id="f2bgca69xlx2b" 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="2704" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="387" x="2555" y="37.6611">Operating System Abstraction Layer (OSAL)</text><!--MD5=[3dab47d3fc3e186ff10f67819eb99ff8]
+cluster time--><rect fill="#FFFFFF" filter="url(#f2bgca69xlx2b)" height="121" style="stroke: #000000; stroke-width: 1.5;" width="402" x="2133" y="190.4063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="34" x="2317" y="205.4014">time</text><!--MD5=[48ccbfc44b1b031f9b243763d7ad5184]
+cluster mutex--><rect fill="#FFFFFF" filter="url(#f2bgca69xlx2b)" height="134" style="stroke: #000000; stroke-width: 1.5;" width="314" x="759" y="183.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="49" x="891.5" y="198.9014">mutex</text><!--MD5=[2e45f233f6bb64aa81ebe67fb6de8946]
+cluster condition variable--><rect fill="#FFFFFF" filter="url(#f2bgca69xlx2b)" height="457.5" style="stroke: #000000; stroke-width: 1.5;" width="726" x="14" y="164.4063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="140" x="307" y="179.4014">condition variable</text><!--MD5=[c7113df1f710ca294cbd01734aa00974]
+cluster timer--><rect fill="#FFFFFF" filter="url(#f2bgca69xlx2b)" height="432" style="stroke: #000000; stroke-width: 1.5;" width="754" x="2553" y="177.4063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="2909.5" y="192.4014">timer</text><!--MD5=[107bb3f79455a18bd83c75ada1ac7979]
+cluster thread--><rect fill="#FFFFFF" filter="url(#f2bgca69xlx2b)" height="596" style="stroke: #000000; stroke-width: 1.5;" width="1039" x="1081" y="57.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="1574.5" y="72.9014">thread</text><!--MD5=[8d74b40516bd265adb19f202ab81f40d]
+cluster events--><rect fill="#FFFFFF" filter="url(#f2bgca69xlx2b)" height="571.5" style="stroke: #000000; stroke-width: 1.5;" width="1642" x="3315" y="190.4063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="54" x="4109" y="205.4014">events</text><!--MD5=[b978ecedb6f4da3f32705dc09c84a7d6]
+cluster streams--><rect fill="#FFFFFF" filter="url(#f2bgca69xlx2b)" height="109" style="stroke: #000000; stroke-width: 1.5;" width="226" x="4965" y="196.4063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="64" x="5046" y="211.4014">streams</text><!--MD5=[62106fc051f244acf17caf792167c8db]
+cluster debug--><rect fill="#FFFFFF" filter="url(#f2bgca69xlx2b)" height="96" style="stroke: #000000; stroke-width: 1.5;" width="262" x="5209" y="202.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="50" x="5315" y="217.9014">debug</text><!--MD5=[3677786d1f00795918091b0110bfa4af]
+class urt_osTime_t--><rect fill="#FEFECE" filter="url(#f2bgca69xlx2b)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="385" x="2141.5" y="217.4063"/><ellipse cx="2290.25" cy="233.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2291.0938,240.1563 L2288.6406,240.1563 L2288.6406,229.9063 L2285.5,229.9063 L2285.5,227.7656 L2294.2344,227.7656 L2294.2344,229.9063 L2291.0938,229.9063 L2291.0938,240.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="2310.75" y="237.5605">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2142.5" x2="2525.5" y1="249.4063" y2="249.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2142.5" x2="2525.5" y1="257.4063" y2="257.4063"/><ellipse cx="2152.5" cy="268.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="231" x="2161.5" y="271.6167">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="2152.5" cy="281.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="2161.5" y="284.4214">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="2152.5" cy="294.0156" fill="#84BE84" 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="2161.5" y="297.2261">urtTimeAddUs (time : urt_osTime_t*, offset : urt_delay_t) : void</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]
+class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#f2bgca69xlx2b)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="767" y="210.9063"/><ellipse cx="868.25" cy="226.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M869.0938,233.6563 L866.6406,233.6563 L866.6406,223.4063 L863.5,223.4063 L863.5,221.2656 L872.2344,221.2656 L872.2344,223.4063 L869.0938,223.4063 L869.0938,233.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="888.75" y="231.0605">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="768" x2="1064" y1="242.9063" y2="242.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="768" x2="1064" y1="250.9063" y2="250.9063"/><ellipse cx="778" cy="261.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="245" x="787" y="265.1167">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="778" cy="274.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="253" x="787" y="277.9214">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="778" cy="287.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="787" y="290.7261">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="778" cy="300.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="787" y="303.5308">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--MD5=[52fa11869cb40c93fa7702378ddd839e]
+class urt_osCondvarWaitStatus_t--><rect fill="#FEFECE" filter="url(#f2bgca69xlx2b)" height="86.4141" id="urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="242" y="527.9063"/><ellipse cx="288.25" cy="543.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M292.3594,549.9063 L284.6406,549.9063 L284.6406,537.5156 L292.3594,537.5156 L292.3594,539.6719 L287.0938,539.6719 L287.0938,542.3438 L291.8594,542.3438 L291.8594,544.5 L287.0938,544.5 L287.0938,547.75 L292.3594,547.75 L292.3594,549.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="169" x="308.75" y="548.0605">urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="243" x2="511" y1="559.9063" y2="559.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="248" y="574.1167">URT_CONDVAR_WAITSTATUS_SIGNAL = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="248" y="586.9214">URT_CONDVAR_WAITSTATUS_BROADCAST = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="248" y="599.7261">URT_CONDVAR_WAITSTATUS_TIMEOUT = 0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="243" x2="511" y1="606.3203" y2="606.3203"/><!--MD5=[004fc5dee471033e8e4138c1c73f0692]
+class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#f2bgca69xlx2b)" height="137.6328" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="22" y="191.4063"/><ellipse cx="322.25" cy="207.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M323.0938,214.1563 L320.6406,214.1563 L320.6406,203.9063 L317.5,203.9063 L317.5,201.7656 L326.2344,201.7656 L326.2344,203.9063 L323.0938,203.9063 L323.0938,214.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="342.75" y="211.5605">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="23" x2="731" y1="223.4063" y2="223.4063"/><ellipse cx="33" cy="234.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="283" x="42" y="237.6167">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="33" cy="247.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="301" x="42" y="250.4214">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="33" cy="260.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="324" x="42" y="263.2261">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="33" cy="289.625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="559" x="42" y="292.8354">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*) : urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="23" x2="248.5" y1="276.2227" y2="276.2227"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="257" x="248.5" y="279.5308">URT_CFG_OSAL_CONDVAR_TIMEOUT == false</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="505.5" x2="731" y1="276.2227" y2="276.2227"/><ellipse cx="33" cy="319.2344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="684" x="42" y="322.4448">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="23" x2="251" y1="305.832" y2="305.832"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="252" x="251" y="309.1401">URT_CFG_OSAL_CONDVAR_TIMEOUT == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="503" x2="731" y1="305.832" y2="305.832"/><!--MD5=[93799a03260ba286abda700174f4f205]
+class urt_osTimerCallback_t--><rect fill="#FEFECE" filter="url(#f2bgca69xlx2b)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="2787" y="540.4063"/><ellipse cx="2857.75" cy="556.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2858.5938,563.1563 L2856.1406,563.1563 L2856.1406,552.9063 L2853,552.9063 L2853,550.7656 L2861.7344,550.7656 L2861.7344,552.9063 L2858.5938,552.9063 L2858.5938,563.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="2878.25" y="560.5605">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2788" x2="3072" y1="572.4063" y2="572.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2788" x2="3072" y1="580.4063" y2="580.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="2793" y="594.6167">urt_osTimerCallback_t (parameter : void*) : void</text><!--MD5=[0b340d7b925b1eab6a1b7e084f68a7c2]
+class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#f2bgca69xlx2b)" height="112.0234" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="737" x="2561.5" y="204.4063"/><ellipse cx="2883.75" cy="220.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2884.5938,227.1563 L2882.1406,227.1563 L2882.1406,216.9063 L2879,216.9063 L2879,214.7656 L2887.7344,214.7656 L2887.7344,216.9063 L2884.5938,216.9063 L2884.5938,227.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="2904.25" y="224.5605">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2562.5" x2="3297.5" y1="236.4063" y2="236.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2562.5" x2="3297.5" y1="244.4063" y2="244.4063"/><ellipse cx="2572.5" cy="255.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="2581.5" y="258.6167">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="2572.5" cy="268.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="660" x="2581.5" y="271.4214">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void</text><ellipse cx="2572.5" cy="281.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="711" x="2581.5" y="284.2261">urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void</text><ellipse cx="2572.5" cy="293.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="255" x="2581.5" y="297.0308">urtTimerReset (timer : urt_osTimer_t*) : void</text><ellipse cx="2572.5" cy="306.625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="2581.5" y="309.8354">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--MD5=[86c16d91227b9a9ec3b6b9b0285de4e9]
+class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#f2bgca69xlx2b)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="1089.5" y="495.9063"/><ellipse cx="1125.65" cy="511.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1126.4938,518.6563 L1124.0406,518.6563 L1124.0406,508.4063 L1120.9,508.4063 L1120.9,506.2656 L1129.6344,506.2656 L1129.6344,508.4063 L1126.4938,508.4063 L1126.4938,518.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="1144.35" y="516.0605">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1090.5" x2="1285.5" y1="527.9063" y2="527.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="1095.5" y="542.1167">URT_THREAD_PRIO_LOW_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="1095.5" y="554.9214">URT_THREAD_PRIO_LOW_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="1095.5" y="567.7261">URT_THREAD_PRIO_NORMAL_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="1095.5" y="580.5308">URT_THREAD_PRIO_NORMAL_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="1095.5" y="593.3354">URT_THREAD_PRIO_HIGH_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="1095.5" y="606.1401">URT_THREAD_PRIO_HIGH_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="1095.5" y="618.9448">URT_THREAD_PRIO_RT_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="1095.5" y="631.7495">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1090.5" x2="1285.5" y1="638.3438" y2="638.3438"/><!--MD5=[69d8aab9aa387a2f5052ea3da80e80ea]
+class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#f2bgca69xlx2b)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="1322" y="540.4063"/><ellipse cx="1369.75" cy="556.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1370.5938,563.1563 L1368.1406,563.1563 L1368.1406,552.9063 L1365,552.9063 L1365,550.7656 L1373.7344,550.7656 L1373.7344,552.9063 L1370.5938,552.9063 L1370.5938,563.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="1390.25" y="560.5605">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1323" x2="1573" y1="572.4063" y2="572.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1323" x2="1573" y1="580.4063" y2="580.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="1328" y="594.6167">urt_osThreadFunction_t (arg : void*) : void</text><!--MD5=[ab5f611d45c3fa10609c33f780d8c3e1]
+class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#f2bgca69xlx2b)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="1609" y="533.9063"/><ellipse cx="1630.75" cy="549.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1634.8594,555.9063 L1627.1406,555.9063 L1627.1406,543.5156 L1634.8594,543.5156 L1634.8594,545.6719 L1629.5938,545.6719 L1629.5938,548.3438 L1634.3594,548.3438 L1634.3594,550.5 L1629.5938,550.5 L1629.5938,553.75 L1634.8594,553.75 L1634.8594,555.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="1646.25" y="554.0605">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1610" x2="1850" y1="565.9063" y2="565.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="1615" y="580.1167">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="1615" y="592.9214">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1610" x2="1850" y1="599.5156" y2="599.5156"/><!--MD5=[47d14ad2c233fae1b32b8d0a283e820a]
+class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#f2bgca69xlx2b)" height="137.6328" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="1886" y="501.9063"/><ellipse cx="1930.75" cy="517.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1934.8594,523.9063 L1927.1406,523.9063 L1927.1406,511.5156 L1934.8594,511.5156 L1934.8594,513.6719 L1929.5938,513.6719 L1929.5938,516.3438 L1934.3594,516.3438 L1934.3594,518.5 L1929.5938,518.5 L1929.5938,521.75 L1934.8594,521.75 L1934.8594,523.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="1951.25" y="522.0605">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1887" x2="2111" y1="533.9063" y2="533.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="1892" y="548.1167">URT_THREAD_STATE_INACTIVE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="1892" y="560.9214">URT_THREAD_STATE_RUNNING = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="1892" y="573.7261">URT_THREAD_STATE_READY = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="1892" y="586.5308">URT_THREAD_STATE_SLEEPING = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="1892" y="599.3354">URT_THREAD_STATE_SUSPENDED = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="1892" y="612.1401">URT_THREAD_STATE_WAITING = 5</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="1892" y="624.9448">URT_THREAD_STATE_TERMINATED = 6</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1887" x2="2111" y1="631.5391" y2="631.5391"/><!--MD5=[0a16224ede9ffa9bb2d34e085a076e6d]
+class urt_osThread_t--><rect fill="#FEFECE" filter="url(#f2bgca69xlx2b)" height="350.5078" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="778" x="1328" y="84.9063"/><ellipse cx="1665.75" cy="100.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1666.5938,107.6563 L1664.1406,107.6563 L1664.1406,97.4063 L1661,97.4063 L1661,95.2656 L1669.7344,95.2656 L1669.7344,97.4063 L1666.5938,97.4063 L1666.5938,107.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="1686.25" y="105.0605">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1329" x2="2105" y1="116.9063" y2="116.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="1334" y="131.1167">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="1334" y="143.9214">URT_THREAD_SSLEP_MAX : unsigned int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="1334" y="156.7261">URT_THREAD_MSLEEP_MAX : unsigned int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="1334" y="169.5308">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1329" x2="2105" y1="176.125" y2="176.125"/><ellipse cx="1339" cy="187.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="248" x="1348" y="190.3354">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1329" x2="2105" y1="196.9297" y2="196.9297"/><ellipse cx="1339" cy="207.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="752" x="1348" y="211.1401">urtThreadInit (memory : void*, size : size_t, prio : urt_osThreadPrio_t, func : urt_osThreadFunction_t*, arg : void*) : urt_osThread_t*</text><ellipse cx="1339" cy="220.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="1348" y="223.9448">urtThreadStart (thread : urt_osThread_t*) : void</text><ellipse cx="1339" cy="233.5391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="1348" y="236.7495">urtThreadYield (void) : void</text><ellipse cx="1339" cy="246.3438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="1348" y="249.5542">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="1339" cy="259.1484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="304" x="1348" y="262.3589">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="1339" cy="271.9531" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="220" x="1348" y="275.1636">urtThreadSleep (seconds : float) : void</text><ellipse cx="1339" cy="284.7578" 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="273" x="1348" y="287.9683">urtThreadSSleep (seconds : unsigned int) : void</text><ellipse cx="1339" cy="297.5625" 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="297" x="1348" y="300.7729">urtThreadMSleep (milliseconds : unsigned int) : void</text><ellipse cx="1339" cy="310.3672" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="1348" y="313.5776">urtThreadUSleep (microseconds : urt_delay_t) : void</text><ellipse cx="1339" cy="323.1719" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="1348" y="326.3823">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="1339" cy="335.9766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="1348" y="339.187">urtThreadExit (void) : void</text><ellipse cx="1339" cy="348.7813" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="518" x="1348" y="351.9917">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="1339" cy="361.5859" 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="264" x="1348" y="364.7964">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="1339" cy="374.3906" 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="387" x="1348" y="377.6011">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="1339" cy="387.1953" 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="237" x="1348" y="390.4058">urtThreadGetSelf (void) : urt_osThread_t*</text><ellipse cx="1339" cy="400" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="1348" y="403.2104">urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="1339" cy="412.8047" 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="371" x="1348" y="416.0151">urtThreadGetSibling (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="1339" cy="425.6094" 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="370" x="1348" y="428.8198">urtThreadGetParent (thread : urt_osThread_t*) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]
+class urt_osEventMask_t--><rect fill="#FEFECE" filter="url(#f2bgca69xlx2b)" height="60.8047" id="urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.5;" width="280" x="3323" y="540.4063"/><ellipse cx="3400.25" cy="556.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3401.0938,563.1563 L3398.6406,563.1563 L3398.6406,552.9063 L3395.5,552.9063 L3395.5,550.7656 L3404.2344,550.7656 L3404.2344,552.9063 L3401.0938,552.9063 L3401.0938,563.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="3420.75" y="560.5605">urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3324" x2="3602" y1="572.4063" y2="572.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="268" x="3329" y="586.6167">URT_EVENTMASK_MAXPRIO : urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3324" x2="3602" y1="593.2109" y2="593.2109"/><!--MD5=[dc1cc33af288560680c15dec1e56eda0]
+class urt_osEventFlags_t--><rect fill="#FEFECE" filter="url(#f2bgca69xlx2b)" height="48" id="urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="4044" y="705.9063"/><ellipse cx="4059" cy="721.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4059.8438,728.6563 L4057.3906,728.6563 L4057.3906,718.4063 L4054.25,718.4063 L4054.25,716.2656 L4062.9844,716.2656 L4062.9844,718.4063 L4059.8438,718.4063 L4059.8438,728.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="4073" y="726.0605">urt_osEventFlags_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4045" x2="4193" y1="737.9063" y2="737.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4045" x2="4193" y1="745.9063" y2="745.9063"/><!--MD5=[e2bbbd64e6979bf7b755747a6c0ba948]
+class urt_osEventWait_t--><rect fill="#FEFECE" filter="url(#f2bgca69xlx2b)" height="86.4141" id="urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.5;" width="162" x="3675" y="527.9063"/><ellipse cx="3698.1" cy="543.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3702.2094,549.9063 L3694.4906,549.9063 L3694.4906,537.5156 L3702.2094,537.5156 L3702.2094,539.6719 L3696.9438,539.6719 L3696.9438,542.3438 L3701.7094,542.3438 L3701.7094,544.5 L3696.9438,544.5 L3696.9438,547.75 L3702.2094,547.75 L3702.2094,549.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="3713.9" y="548.0605">urt_osEventWait_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3676" x2="3836" y1="559.9063" y2="559.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="3681" y="574.1167">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="3681" y="586.9214">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="3681" y="599.7261">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3676" x2="3836" y1="606.3203" y2="606.3203"/><!--MD5=[d054ac2eda12ce4b1fe5a18c9be716c1]
+class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#f2bgca69xlx2b)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="3872" y="527.9063"/><ellipse cx="4047.25" cy="543.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4048.0938,550.6563 L4045.6406,550.6563 L4045.6406,540.4063 L4042.5,540.4063 L4042.5,538.2656 L4051.2344,538.2656 L4051.2344,540.4063 L4048.0938,540.4063 L4048.0938,550.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="4067.75" y="548.0605">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3873" x2="4365" y1="559.9063" y2="559.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3873" x2="4365" y1="567.9063" y2="567.9063"/><ellipse cx="3883" cy="578.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="341" x="3892" y="582.1167">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="3883" cy="591.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="458" x="3892" y="594.9214">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="3883" cy="604.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="468" x="3892" y="607.7261">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]
+class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#f2bgca69xlx2b)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="4401.5" y="533.9063"/><ellipse cx="4606.25" cy="549.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4607.0938,556.6563 L4604.6406,556.6563 L4604.6406,546.4063 L4601.5,546.4063 L4601.5,544.2656 L4610.2344,544.2656 L4610.2344,546.4063 L4607.0938,546.4063 L4607.0938,556.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="4626.75" y="554.0605">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4402.5" x2="4947.5" y1="565.9063" y2="565.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4402.5" x2="4947.5" y1="573.9063" y2="573.9063"/><ellipse cx="4412.5" cy="584.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="325" x="4421.5" y="588.1167">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="4412.5" cy="597.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="521" x="4421.5" y="600.9214">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--MD5=[04a3b5a37031e2a4d723f19d8adf86f5]
+class urt_events--><rect fill="#FEFECE" filter="url(#f2bgca69xlx2b)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="845" x="3333.5" y="217.4063"/><ellipse cx="3718.75" cy="233.4063" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3722.9844,229.1719 L3717.7031,229.1719 L3717.7031,231.8438 L3722.5,231.8438 L3722.5,234 L3717.7031,234 L3717.7031,239.4063 L3715.2656,239.4063 L3715.2656,227.0156 L3722.9844,227.0156 L3722.9844,229.1719 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="3739.25" y="237.5605">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3334.5" x2="4177.5" y1="249.4063" y2="249.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3334.5" x2="4177.5" y1="257.4063" y2="257.4063"/><ellipse cx="3344.5" cy="268.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="819" x="3353.5" y="271.6167">urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : void</text><ellipse cx="3344.5" cy="281.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="522" x="3353.5" y="284.4214">urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : void</text><ellipse cx="3344.5" cy="294.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="618" x="3353.5" y="297.2261">urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWait_t, timeout : urt_delay_t) : urt_osEventMask_t</text><!--MD5=[0cf29100c96c506429a28b45d347cc92]
+class urt_streams--><rect fill="#FEFECE" filter="url(#f2bgca69xlx2b)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="209" x="4973.5" y="223.4063"/><ellipse cx="5036.25" cy="239.4063" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5040.4844,235.1719 L5035.2031,235.1719 L5035.2031,237.8438 L5040,237.8438 L5040,240 L5035.2031,240 L5035.2031,245.4063 L5032.7656,245.4063 L5032.7656,233.0156 L5040.4844,233.0156 L5040.4844,235.1719 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="5056.75" y="243.5605">urt_streams</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4974.5" x2="5181.5" y1="255.4063" y2="255.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4974.5" x2="5181.5" y1="263.4063" y2="263.4063"/><ellipse cx="4984.5" cy="274.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="166" x="4993.5" y="277.6167">urtPrintf(fmt : char*, ... ) : int</text><ellipse cx="4984.5" cy="287.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="4993.5" y="290.4214">urtErrPrintf(fmt : char*, ... ) : int</text><!--MD5=[f106a25c06a671b3918b1a8f37571a4d]
+class urt_debug--><rect fill="#FEFECE" filter="url(#f2bgca69xlx2b)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="245" x="5217.5" y="229.9063"/><ellipse cx="5303.75" cy="245.9063" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5307.9844,241.6719 L5302.7031,241.6719 L5302.7031,244.3438 L5307.5,244.3438 L5307.5,246.5 L5302.7031,246.5 L5302.7031,251.9063 L5300.2656,251.9063 L5300.2656,239.5156 L5307.9844,239.5156 L5307.9844,241.6719 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="5324.25" y="250.0605">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5218.5" x2="5461.5" y1="261.9063" y2="261.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5218.5" x2="5461.5" y1="269.9063" y2="269.9063"/><ellipse cx="5228.5" cy="280.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="219" x="5237.5" y="284.1167">urtDebugAssert(condition : bool) : void</text><!--MD5=[7766572fa0c619a5409829048dc0b6d6]
+link urt_osCondvar_t to urt_osCondvarWaitStatus_t--><path d="M377,329.7021 C377,388.2809 377,470.7001 377,522.4347 " fill="none" id="urt_osCondvar_t-&gt;urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="377,527.6541,381,518.6541,377,522.6541,373,518.6541,377,527.6541" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9b2507ea88616aeae65e3c4d63560016]
 link urt_osCondvar_t to urt_osMutex_t--><path d="M732.0347,260.4063 C741.9278,260.4063 751.8209,260.4063 761.714,260.4063 " fill="none" id="urt_osCondvar_t-&gt;urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="766.8875,260.4063,757.8875,256.4063,761.8875,260.4063,757.8875,264.4063,766.8875,260.4063" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[83094e108045c8f9585007cdb3b7cb2e]
 link urt_osTimer_t to urt_osTimerCallback_t--><path d="M2930,316.6355 C2930,380.1229 2930,481.527 2930,535.0795 " fill="none" id="urt_osTimer_t-&gt;urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2930,540.1097,2934,531.1097,2930,535.1097,2926,531.1097,2930,540.1097" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8d8c3240b5b2b5edf6544088e583ffa5]
 link urt_osThread_t to urt_osThreadPrio_t--><path d="M1405.8418,436.025 C1371.6683,455.9771 1337.503,476.2167 1305,495.9063 C1300.4181,498.6819 1295.7508,501.5403 1291.0475,504.4461 " fill="none" id="urt_osThread_t-&gt;urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1286.7195,507.127,1296.4769,505.7882,1290.9701,504.494,1292.2642,498.9872,1286.7195,507.127" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d7d1d43fd970fb07a484642bc19fcb13]
@@ -40,7 +40,7 @@ link urt_events to urt_osEventSource_t--><path d="M3883.3002,303.4169 C4062.9667
 link urt_events to urt_osEventListener_t--><path d="M3806.4736,303.58 C3874.3757,361.6616 3994.6674,464.5557 4064.5482,524.3297 " fill="none" id="urt_events-&gt;urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4068.6635,527.8499,4064.4244,518.96,4064.8639,524.5997,4059.2242,525.0393,4068.6635,527.8499" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[430bebba9cd89d3ba8f63b2078968bca]
 link urt_events to urt_osEventMask_t--><path d="M3715.2596,303.58 C3656.4833,365.8668 3549.0751,479.6902 3495.3713,536.6016 " fill="none" id="urt_events-&gt;urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="3491.9126,540.2668,3500.9986,536.4662,3495.3441,536.6302,3495.1801,530.9757,3491.9126,540.2668" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b1b185abc2161e087cab32ae7fdb2c40]
 link urt_events to urt_osEventFlags_t--><path d="M3723.6428,303.49 C3668.6239,382.3567 3570.8784,551.2459 3658,653.9063 C3682.3308,682.5766 3913.2829,709.5873 4038.765,722.3005 " fill="none" id="urt_events-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4043.9214,722.8209,4035.3686,717.9372,4038.9467,722.3187,4034.5652,725.8968,4043.9214,722.8209" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[706a1974d1b474cbba7e7b0213f243a1]
-link urt_events to urt_osEventWait_t--><path d="M3756,303.58 C3756,361.0831 3756,462.5105 3756,522.5309 " fill="none" id="urt_events-&gt;urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="3756,527.8499,3760,518.8499,3756,522.8499,3752,518.8499,3756,527.8499" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[c46e4eed3b250d67081ad1f958672f83]
+link urt_events to urt_osEventWait_t--><path d="M3756,303.58 C3756,361.0831 3756,462.5105 3756,522.5309 " fill="none" id="urt_events-&gt;urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="3756,527.8499,3760,518.8499,3756,522.8499,3752,518.8499,3756,527.8499" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[c53e933e32f0d55325f580d74728bef6]
 @startuml
 
 title **µRtWare**\nOperating System Abstraction Layer (OSAL)
@@ -85,6 +85,9 @@ title **µRtWare**\nOperating System Abstraction Layer (OSAL)
     + {method} urtCondvarInit (condvar : urt_osCondvar_t*) : void
     + {method} urtCondvarSignal (condvar : urt_osCondvar_t*) : void
     + {method} urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void
+    .. URT_CFG_OSAL_CONDVAR_TIMEOUT == false ..
+    + {method} urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*) : urt_osCondvarWaitStatus_t
+    .. URT_CFG_OSAL_CONDVAR_TIMEOUT == true ..
     + {method} urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_osCondvarWaitStatus_t
   }
 }
diff --git a/doc/classdiagrams/osal.uml b/doc/classdiagrams/osal.uml
index 9bf632c..c27cffc 100644
--- a/doc/classdiagrams/osal.uml
+++ b/doc/classdiagrams/osal.uml
@@ -79,7 +79,11 @@ $group("condition variable") {
     + {method} urtCondvarSignal (condvar : urt_osCondvar_t*) : void
       'Signals all threads that are waiting for the condition variable.
     + {method} urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void
+    .. URT_CFG_OSAL_CONDVAR_TIMEOUT == false ..
       'Waits for the condition variable.
+    + {method} urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*) : urt_osCondvarWaitStatus_t
+    .. URT_CFG_OSAL_CONDVAR_TIMEOUT == true ..
+      'Waits for the condition variable with timeout.
     + {method} urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_osCondvarWaitStatus_t
   }
 }
diff --git a/doc/classdiagrams/overview.svg b/doc/classdiagrams/overview.svg
index e82a679..482608e 100644
--- a/doc/classdiagrams/overview.svg
+++ b/doc/classdiagrams/overview.svg
@@ -1,194 +1,194 @@
-<?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="1794px" preserveAspectRatio="none" style="width:18960px;height:1794px;" version="1.1" viewBox="0 0 18960 1794" width="18960px" zoomAndPan="magnify"><defs><filter height="300%" id="f97ds0om13c08" 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="9419.5" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="87" x="9420.5" y="37.6611">Overview</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="9467" y="58.6143"/><!--MD5=[915f6a2b4bff9d90dc7327d570275f1b]
-cluster Configuration--><polygon fill="#FFFFFF" filter="url(#f97ds0om13c08)" points="12199.3643,1466.8594,12209.3643,1456.8594,12505.3643,1456.8594,12505.3643,1772.8594,12495.3643,1782.8594,12199.3643,1782.8594,12199.3643,1466.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="12495.3643" x2="12504.3643" y1="1466.8594" y2="1457.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="12199.3643" x2="12495.3643" y1="1466.8594" y2="1466.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="12495.3643" x2="12495.3643" y1="1466.8594" y2="1782.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="107" x="12294.8643" y="1482.8545">Configuration</text><!--MD5=[1cb8ced355c85ab51f1ab55883ed8585]
-cluster Primitives--><polygon fill="#FFFFFF" filter="url(#f97ds0om13c08)" points="6364.3643,882.3594,6374.3643,872.3594,7776.3643,872.3594,7776.3643,1418.3594,7766.3643,1428.3594,6364.3643,1428.3594,6364.3643,882.3594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7766.3643" x2="7775.3643" y1="882.3594" y2="873.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="6364.3643" x2="7766.3643" y1="882.3594" y2="882.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7766.3643" x2="7766.3643" y1="882.3594" y2="1428.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="77" x="7027.8643" y="898.3545">Primitives</text><!--MD5=[ba9da179b6f0b3bb0ea21772c5f4ec75]
-cluster OSAL--><polygon fill="#FFFFFF" filter="url(#f97ds0om13c08)" points="578.3643,818.8594,588.3643,808.8594,6069.3643,808.8594,6069.3643,1661.8594,6059.3643,1671.8594,578.3643,1671.8594,578.3643,818.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="6059.3643" x2="6068.3643" y1="818.8594" y2="809.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="578.3643" x2="6059.3643" y1="818.8594" y2="818.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="6059.3643" x2="6059.3643" y1="818.8594" y2="1671.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="42" x="3298.8643" y="834.8545">OSAL</text><!--MD5=[3dab47d3fc3e186ff10f67819eb99ff8]
-cluster time--><rect fill="#FFFFFF" filter="url(#f97ds0om13c08)" height="121" style="stroke: #000000; stroke-width: 1.5;" width="402" x="5659.3643" y="973.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="34" x="5843.3643" y="988.3545">time</text><!--MD5=[48ccbfc44b1b031f9b243763d7ad5184]
-cluster mutex--><rect fill="#FFFFFF" filter="url(#f97ds0om13c08)" height="134" style="stroke: #000000; stroke-width: 1.5;" width="314" x="4581.3643" y="966.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="49" x="4713.8643" y="981.8545">mutex</text><!--MD5=[2e45f233f6bb64aa81ebe67fb6de8946]
-cluster condition variable--><rect fill="#FFFFFF" filter="url(#f97ds0om13c08)" height="438" style="stroke: #000000; stroke-width: 1.5;" width="726" x="4914.3643" y="966.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="140" x="5207.3643" y="981.8545">condition variable</text><!--MD5=[c7113df1f710ca294cbd01734aa00974]
-cluster timer--><rect fill="#FFFFFF" filter="url(#f97ds0om13c08)" height="432" style="stroke: #000000; stroke-width: 1.5;" width="754" x="3808.3643" y="960.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="4164.8643" y="975.3545">timer</text><!--MD5=[107bb3f79455a18bd83c75ada1ac7979]
-cluster thread--><rect fill="#FFFFFF" filter="url(#f97ds0om13c08)" height="596" style="stroke: #000000; stroke-width: 1.5;" width="1039" x="2761.3643" y="840.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="3254.8643" y="855.8545">thread</text><!--MD5=[8d74b40516bd265adb19f202ab81f40d]
-cluster events--><rect fill="#FFFFFF" filter="url(#f97ds0om13c08)" height="690.5" style="stroke: #000000; stroke-width: 1.5;" width="1642" x="1100.3643" y="973.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="54" x="1894.3643" y="988.3545">events</text><!--MD5=[b978ecedb6f4da3f32705dc09c84a7d6]
-cluster streams--><rect fill="#FFFFFF" filter="url(#f97ds0om13c08)" height="109" style="stroke: #000000; stroke-width: 1.5;" width="226" x="866.3643" y="979.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="64" x="947.3643" y="994.3545">streams</text><!--MD5=[62106fc051f244acf17caf792167c8db]
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-class urt_osTime_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="385" x="5667.8643" y="1000.3594"/><ellipse cx="5816.6143" cy="1016.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5817.4581,1023.1094 L5815.0049,1023.1094 L5815.0049,1012.8594 L5811.8643,1012.8594 L5811.8643,1010.7188 L5820.5987,1010.7188 L5820.5987,1012.8594 L5817.4581,1012.8594 L5817.4581,1023.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="5837.1143" y="1020.5137">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5668.8643" x2="6051.8643" y1="1032.3594" y2="1032.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5668.8643" x2="6051.8643" y1="1040.3594" y2="1040.3594"/><ellipse cx="5678.8643" cy="1051.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="231" x="5687.8643" y="1054.5698">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="5678.8643" cy="1064.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="5687.8643" y="1067.3745">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="5678.8643" cy="1076.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="359" x="5687.8643" y="1080.1792">urtTimeAddUs (time : urt_osTime_t*, offset : urt_delay_t) : void</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]
-class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="4589.3643" y="993.8594"/><ellipse cx="4690.6143" cy="1009.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4691.4581,1016.6094 L4689.0049,1016.6094 L4689.0049,1006.3594 L4685.8643,1006.3594 L4685.8643,1004.2188 L4694.5987,1004.2188 L4694.5987,1006.3594 L4691.4581,1006.3594 L4691.4581,1016.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="4711.1143" y="1014.0137">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4590.3643" x2="4886.3643" y1="1025.8594" y2="1025.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4590.3643" x2="4886.3643" y1="1033.8594" y2="1033.8594"/><ellipse cx="4600.3643" cy="1044.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="245" x="4609.3643" y="1048.0698">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="4600.3643" cy="1057.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="253" x="4609.3643" y="1060.8745">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="4600.3643" cy="1070.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="4609.3643" y="1073.6792">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="4600.3643" cy="1083.2734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="4609.3643" y="1086.4839">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--MD5=[52fa11869cb40c93fa7702378ddd839e]
-class urt_osCondvarWaitStatus_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="86.4141" id="urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="5142.3643" y="1310.8594"/><ellipse cx="5188.6143" cy="1326.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5192.7237,1332.8594 L5185.0049,1332.8594 L5185.0049,1320.4688 L5192.7237,1320.4688 L5192.7237,1322.625 L5187.4581,1322.625 L5187.4581,1325.2969 L5192.2237,1325.2969 L5192.2237,1327.4531 L5187.4581,1327.4531 L5187.4581,1330.7031 L5192.7237,1330.7031 L5192.7237,1332.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="169" x="5209.1143" y="1331.0137">urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5143.3643" x2="5411.3643" y1="1342.8594" y2="1342.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="5148.3643" y="1357.0698">URT_CONDVAR_WAITSTATUS_SIGNAL = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="5148.3643" y="1369.8745">URT_CONDVAR_WAITSTATUS_BROADCAST = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="5148.3643" y="1382.6792">URT_CONDVAR_WAITSTATUS_TIMEOUT = 0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5143.3643" x2="5411.3643" y1="1389.2734" y2="1389.2734"/><!--MD5=[004fc5dee471033e8e4138c1c73f0692]
-class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="99.2188" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="4922.3643" y="993.8594"/><ellipse cx="5222.6143" cy="1009.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5223.4581,1016.6094 L5221.0049,1016.6094 L5221.0049,1006.3594 L5217.8643,1006.3594 L5217.8643,1004.2188 L5226.5987,1004.2188 L5226.5987,1006.3594 L5223.4581,1006.3594 L5223.4581,1016.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="5243.1143" y="1014.0137">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4923.3643" x2="5631.3643" y1="1025.8594" y2="1025.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4923.3643" x2="5631.3643" y1="1033.8594" y2="1033.8594"/><ellipse cx="4933.3643" cy="1044.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="283" x="4942.3643" y="1048.0698">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4933.3643" cy="1057.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="301" x="4942.3643" y="1060.8745">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4933.3643" cy="1070.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="324" x="4942.3643" y="1073.6792">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4933.3643" cy="1083.2734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="684" x="4942.3643" y="1086.4839">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_osCondvarWaitStatus_t</text><!--MD5=[93799a03260ba286abda700174f4f205]
-class urt_osTimerCallback_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="4042.3643" y="1323.3594"/><ellipse cx="4113.1143" cy="1339.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4113.9581,1346.1094 L4111.5049,1346.1094 L4111.5049,1335.8594 L4108.3643,1335.8594 L4108.3643,1333.7188 L4117.0987,1333.7188 L4117.0987,1335.8594 L4113.9581,1335.8594 L4113.9581,1346.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="4133.6143" y="1343.5137">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4043.3643" x2="4327.3643" y1="1355.3594" y2="1355.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4043.3643" x2="4327.3643" y1="1363.3594" y2="1363.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="4048.3643" y="1377.5698">urt_osTimerCallback_t (parameter : void*) : void</text><!--MD5=[0b340d7b925b1eab6a1b7e084f68a7c2]
-class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="112.0234" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="737" x="3816.8643" y="987.3594"/><ellipse cx="4139.1143" cy="1003.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4139.9581,1010.1094 L4137.5049,1010.1094 L4137.5049,999.8594 L4134.3643,999.8594 L4134.3643,997.7188 L4143.0987,997.7188 L4143.0987,999.8594 L4139.9581,999.8594 L4139.9581,1010.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="4159.6143" y="1007.5137">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3817.8643" x2="4552.8643" y1="1019.3594" y2="1019.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3817.8643" x2="4552.8643" y1="1027.3594" y2="1027.3594"/><ellipse cx="3827.8643" cy="1038.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="3836.8643" y="1041.5698">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="3827.8643" cy="1051.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="660" x="3836.8643" y="1054.3745">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void</text><ellipse cx="3827.8643" cy="1063.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="711" x="3836.8643" y="1067.1792">urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void</text><ellipse cx="3827.8643" cy="1076.7734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="255" x="3836.8643" y="1079.9839">urtTimerReset (timer : urt_osTimer_t*) : void</text><ellipse cx="3827.8643" cy="1089.5781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3836.8643" y="1092.7886">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--MD5=[86c16d91227b9a9ec3b6b9b0285de4e9]
-class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="3317.8643" y="1278.8594"/><ellipse cx="3354.0143" cy="1294.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3354.8581,1301.6094 L3352.4049,1301.6094 L3352.4049,1291.3594 L3349.2643,1291.3594 L3349.2643,1289.2188 L3357.9987,1289.2188 L3357.9987,1291.3594 L3354.8581,1291.3594 L3354.8581,1301.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="3372.7143" y="1299.0137">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3318.8643" x2="3513.8643" y1="1310.8594" y2="1310.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="3323.8643" y="1325.0698">URT_THREAD_PRIO_LOW_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="3323.8643" y="1337.8745">URT_THREAD_PRIO_LOW_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="3323.8643" y="1350.6792">URT_THREAD_PRIO_NORMAL_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="3323.8643" y="1363.4839">URT_THREAD_PRIO_NORMAL_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="3323.8643" y="1376.2886">URT_THREAD_PRIO_HIGH_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="3323.8643" y="1389.0933">URT_THREAD_PRIO_HIGH_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="3323.8643" y="1401.8979">URT_THREAD_PRIO_RT_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="3323.8643" y="1414.7026">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3318.8643" x2="3513.8643" y1="1421.2969" y2="1421.2969"/><!--MD5=[69d8aab9aa387a2f5052ea3da80e80ea]
-class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="2769.3643" y="1323.3594"/><ellipse cx="2817.1143" cy="1339.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2817.9581,1346.1094 L2815.5049,1346.1094 L2815.5049,1335.8594 L2812.3643,1335.8594 L2812.3643,1333.7188 L2821.0987,1333.7188 L2821.0987,1335.8594 L2817.9581,1335.8594 L2817.9581,1346.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="2837.6143" y="1343.5137">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2770.3643" x2="3020.3643" y1="1355.3594" y2="1355.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2770.3643" x2="3020.3643" y1="1363.3594" y2="1363.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="2775.3643" y="1377.5698">urt_osThreadFunction_t (arg : void*) : void</text><!--MD5=[ab5f611d45c3fa10609c33f780d8c3e1]
-class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="3550.3643" y="1316.8594"/><ellipse cx="3572.1143" cy="1332.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3576.2237,1338.8594 L3568.5049,1338.8594 L3568.5049,1326.4688 L3576.2237,1326.4688 L3576.2237,1328.625 L3570.9581,1328.625 L3570.9581,1331.2969 L3575.7237,1331.2969 L3575.7237,1333.4531 L3570.9581,1333.4531 L3570.9581,1336.7031 L3576.2237,1336.7031 L3576.2237,1338.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="3587.6143" y="1337.0137">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3551.3643" x2="3791.3643" y1="1348.8594" y2="1348.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="3556.3643" y="1363.0698">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="3556.3643" y="1375.8745">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3551.3643" x2="3791.3643" y1="1382.4688" y2="1382.4688"/><!--MD5=[47d14ad2c233fae1b32b8d0a283e820a]
-class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="137.6328" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="3056.3643" y="1284.8594"/><ellipse cx="3101.1143" cy="1300.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3105.2237,1306.8594 L3097.5049,1306.8594 L3097.5049,1294.4688 L3105.2237,1294.4688 L3105.2237,1296.625 L3099.9581,1296.625 L3099.9581,1299.2969 L3104.7237,1299.2969 L3104.7237,1301.4531 L3099.9581,1301.4531 L3099.9581,1304.7031 L3105.2237,1304.7031 L3105.2237,1306.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="3121.6143" y="1305.0137">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3057.3643" x2="3281.3643" y1="1316.8594" y2="1316.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="3062.3643" y="1331.0698">URT_THREAD_STATE_INACTIVE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="3062.3643" y="1343.8745">URT_THREAD_STATE_RUNNING = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="3062.3643" y="1356.6792">URT_THREAD_STATE_READY = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="3062.3643" y="1369.4839">URT_THREAD_STATE_SLEEPING = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="3062.3643" y="1382.2886">URT_THREAD_STATE_SUSPENDED = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="3062.3643" y="1395.0933">URT_THREAD_STATE_WAITING = 5</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="3062.3643" y="1407.8979">URT_THREAD_STATE_TERMINATED = 6</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3057.3643" x2="3281.3643" y1="1414.4922" y2="1414.4922"/><!--MD5=[0a16224ede9ffa9bb2d34e085a076e6d]
-class urt_osThread_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="350.5078" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="778" x="3003.3643" y="867.8594"/><ellipse cx="3341.1143" cy="883.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3341.9581,890.6094 L3339.5049,890.6094 L3339.5049,880.3594 L3336.3643,880.3594 L3336.3643,878.2188 L3345.0987,878.2188 L3345.0987,880.3594 L3341.9581,880.3594 L3341.9581,890.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="3361.6143" y="888.0137">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3004.3643" x2="3780.3643" y1="899.8594" y2="899.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="3009.3643" y="914.0698">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="3009.3643" y="926.8745">URT_THREAD_SSLEP_MAX : unsigned int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="3009.3643" y="939.6792">URT_THREAD_MSLEEP_MAX : unsigned int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="3009.3643" y="952.4839">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="3004.3643" x2="3780.3643" y1="959.0781" y2="959.0781"/><ellipse cx="3014.3643" cy="970.0781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="248" x="3023.3643" y="973.2886">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3004.3643" x2="3780.3643" y1="979.8828" y2="979.8828"/><ellipse cx="3014.3643" cy="990.8828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="752" x="3023.3643" y="994.0933">urtThreadInit (memory : void*, size : size_t, prio : urt_osThreadPrio_t, func : urt_osThreadFunction_t*, arg : void*) : urt_osThread_t*</text><ellipse cx="3014.3643" cy="1003.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="3023.3643" y="1006.8979">urtThreadStart (thread : urt_osThread_t*) : void</text><ellipse cx="3014.3643" cy="1016.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="3023.3643" y="1019.7026">urtThreadYield (void) : void</text><ellipse cx="3014.3643" cy="1029.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3023.3643" y="1032.5073">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="3014.3643" cy="1042.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="304" x="3023.3643" y="1045.312">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="3014.3643" cy="1054.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="220" x="3023.3643" y="1058.1167">urtThreadSleep (seconds : float) : void</text><ellipse cx="3014.3643" cy="1067.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="273" x="3023.3643" y="1070.9214">urtThreadSSleep (seconds : unsigned int) : void</text><ellipse cx="3014.3643" cy="1080.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="3023.3643" y="1083.7261">urtThreadMSleep (milliseconds : unsigned int) : void</text><ellipse cx="3014.3643" cy="1093.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="3023.3643" y="1096.5308">urtThreadUSleep (microseconds : urt_delay_t) : void</text><ellipse cx="3014.3643" cy="1106.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3023.3643" y="1109.3354">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="3014.3643" cy="1118.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="3023.3643" y="1122.1401">urtThreadExit (void) : void</text><ellipse cx="3014.3643" cy="1131.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="518" x="3023.3643" y="1134.9448">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="3014.3643" cy="1144.5391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="264" x="3023.3643" y="1147.7495">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="3014.3643" cy="1157.3438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="387" x="3023.3643" y="1160.5542">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="3014.3643" cy="1170.1484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="237" x="3023.3643" y="1173.3589">urtThreadGetSelf (void) : urt_osThread_t*</text><ellipse cx="3014.3643" cy="1182.9531" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="3023.3643" y="1186.1636">urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="3014.3643" cy="1195.7578" 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="371" x="3023.3643" y="1198.9683">urtThreadGetSibling (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="3014.3643" cy="1208.5625" 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="370" x="3023.3643" y="1211.7729">urtThreadGetParent (thread : urt_osThread_t*) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]
-class urt_osEventMask_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="60.8047" id="urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.5;" width="280" x="2454.3643" y="1323.3594"/><ellipse cx="2531.6143" cy="1339.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2532.4581,1346.1094 L2530.0049,1346.1094 L2530.0049,1335.8594 L2526.8643,1335.8594 L2526.8643,1333.7188 L2535.5987,1333.7188 L2535.5987,1335.8594 L2532.4581,1335.8594 L2532.4581,1346.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="2552.1143" y="1343.5137">urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2455.3643" x2="2733.3643" y1="1355.3594" y2="1355.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="268" x="2460.3643" y="1369.5698">URT_EVENTMASK_MAXPRIO : urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2455.3643" x2="2733.3643" y1="1376.1641" y2="1376.1641"/><!--MD5=[dc1cc33af288560680c15dec1e56eda0]
-class urt_osEventFlags_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="48" id="urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="1863.3643" y="1607.8594"/><ellipse cx="1878.3643" cy="1623.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1879.2081,1630.6094 L1876.7549,1630.6094 L1876.7549,1620.3594 L1873.6143,1620.3594 L1873.6143,1618.2188 L1882.3487,1618.2188 L1882.3487,1620.3594 L1879.2081,1620.3594 L1879.2081,1630.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="1892.3643" y="1628.0137">urt_osEventFlags_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1864.3643" x2="2012.3643" y1="1639.8594" y2="1639.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1864.3643" x2="2012.3643" y1="1647.8594" y2="1647.8594"/><!--MD5=[e2bbbd64e6979bf7b755747a6c0ba948]
-class urt_osEventWait_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="86.4141" id="urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.5;" width="162" x="2220.3643" y="1310.8594"/><ellipse cx="2243.4643" cy="1326.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2247.5737,1332.8594 L2239.8549,1332.8594 L2239.8549,1320.4688 L2247.5737,1320.4688 L2247.5737,1322.625 L2242.3081,1322.625 L2242.3081,1325.2969 L2247.0737,1325.2969 L2247.0737,1327.4531 L2242.3081,1327.4531 L2242.3081,1330.7031 L2247.5737,1330.7031 L2247.5737,1332.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="2259.2643" y="1331.0137">urt_osEventWait_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2221.3643" x2="2381.3643" y1="1342.8594" y2="1342.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="2226.3643" y="1357.0698">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="2226.3643" y="1369.8745">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="2226.3643" y="1382.6792">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2221.3643" x2="2381.3643" y1="1389.2734" y2="1389.2734"/><!--MD5=[d054ac2eda12ce4b1fe5a18c9be716c1]
-class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="1691.3643" y="1310.8594"/><ellipse cx="1866.6143" cy="1326.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1867.4581,1333.6094 L1865.0049,1333.6094 L1865.0049,1323.3594 L1861.8643,1323.3594 L1861.8643,1321.2188 L1870.5987,1321.2188 L1870.5987,1323.3594 L1867.4581,1323.3594 L1867.4581,1333.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="1887.1143" y="1331.0137">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1692.3643" x2="2184.3643" y1="1342.8594" y2="1342.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1692.3643" x2="2184.3643" y1="1350.8594" y2="1350.8594"/><ellipse cx="1702.3643" cy="1361.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="341" x="1711.3643" y="1365.0698">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="1702.3643" cy="1374.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="458" x="1711.3643" y="1377.8745">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="1702.3643" cy="1387.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="468" x="1711.3643" y="1390.6792">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]
-class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="1108.8643" y="1316.8594"/><ellipse cx="1313.6143" cy="1332.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1314.4581,1339.6094 L1312.0049,1339.6094 L1312.0049,1329.3594 L1308.8643,1329.3594 L1308.8643,1327.2188 L1317.5987,1327.2188 L1317.5987,1329.3594 L1314.4581,1329.3594 L1314.4581,1339.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="1334.1143" y="1337.0137">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1109.8643" x2="1654.8643" y1="1348.8594" y2="1348.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1109.8643" x2="1654.8643" y1="1356.8594" y2="1356.8594"/><ellipse cx="1119.8643" cy="1367.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="325" x="1128.8643" y="1371.0698">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="1119.8643" cy="1380.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="521" x="1128.8643" y="1383.8745">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--MD5=[04a3b5a37031e2a4d723f19d8adf86f5]
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-class urt_debug--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="245" x="594.8643" y="1012.8594"/><ellipse cx="681.1143" cy="1028.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M685.3487,1024.625 L680.0674,1024.625 L680.0674,1027.2969 L684.8643,1027.2969 L684.8643,1029.4531 L680.0674,1029.4531 L680.0674,1034.8594 L677.6299,1034.8594 L677.6299,1022.4688 L685.3487,1022.4688 L685.3487,1024.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="701.6143" y="1033.0137">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="595.8643" x2="838.8643" y1="1044.8594" y2="1044.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="595.8643" x2="838.8643" y1="1052.8594" y2="1052.8594"/><ellipse cx="605.8643" cy="1063.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="219" x="614.8643" y="1067.0698">urtDebugAssert(condition : bool) : void</text><!--MD5=[89d25e87afdd75480e1ec2bd05524873]
-class urt_core_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="281.6797" id="urt_core_t" style="stroke: #A80036; stroke-width: 1.5;" width="343" x="7791.8643" y="172.3594"/><ellipse cx="7927.6143" cy="188.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7927.0987,188.9219 Q7925.2393,188.2188 7924.5831,187.4531 Q7923.9424,186.6719 7923.9424,185.3594 Q7923.9424,183.6719 7925.0206,182.7031 Q7926.0987,181.7344 7927.9737,181.7344 Q7928.8331,181.7344 7929.6768,181.9375 Q7930.5362,182.125 7931.3799,182.5156 L7931.3799,184.9063 Q7930.5987,184.3438 7929.7706,184.0625 Q7928.9581,183.7656 7928.1612,183.7656 Q7927.2862,183.7656 7926.8018,184.125 Q7926.3331,184.4844 7926.3331,185.1406 Q7926.3331,185.6563 7926.6768,186 Q7927.0206,186.3281 7928.1143,186.7344 L7929.1768,187.1406 Q7930.6612,187.6875 7931.3643,188.5938 Q7932.0831,189.5 7932.0831,190.875 Q7932.0831,192.75 7930.9737,193.6719 Q7929.8643,194.5938 7927.6143,194.5938 Q7926.6924,194.5938 7925.7706,194.375 Q7924.8487,194.1563 7923.9893,193.7344 L7923.9893,191.2031 Q7924.9581,191.8906 7925.8799,192.2344 Q7926.8018,192.5781 7927.6924,192.5781 Q7928.5987,192.5781 7929.0987,192.1719 Q7929.5987,191.75 7929.5987,191.0156 Q7929.5987,190.4531 7929.2549,190.0469 Q7928.9268,189.625 7928.3018,189.375 L7927.0987,188.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="63" x="7948.1143" y="192.5137">urt_core_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7792.8643" x2="8133.8643" y1="204.3594" y2="204.3594"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8643" y="212.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="7811.8643" y="218.5698">_nodes : urt_node_t*</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8643" y="225.1641"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="192" x="7811.8643" y="231.3745">_evtSource : urt_osEventSource_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8643" y="237.9688"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="7811.8643" y="244.1792">_lock : urt_osMutex_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8643" y="250.7734"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="122" x="7811.8643" y="256.9839">_status : urt_status_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8643" y="280.3828"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="117" x="7811.8643" y="286.5933">_topics : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7792.8643" x2="7858.3643" y1="269.9805" y2="269.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7858.3643" y="273.2886">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8068.3643" x2="8133.8643" y1="269.9805" y2="269.9805"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8643" y="309.9922"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="145" x="7811.8643" y="316.2026">_services : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7792.8643" x2="7870.8643" y1="299.5898" y2="299.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="7870.8643" y="302.8979">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8055.8643" x2="8133.8643" y1="299.5898" y2="299.5898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7792.8643" x2="8133.8643" y1="322.7969" y2="322.7969"/><ellipse cx="7802.8643" cy="333.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="130" x="7811.8643" y="337.0073">urtCoreInit (void) : void</text><ellipse cx="7802.8643" cy="346.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="215" x="7811.8643" y="349.812">urtCoreGetStatus (void) : urt_status_t</text><ellipse cx="7802.8643" cy="359.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="177" x="7811.8643" y="362.6167">urtCoreStartNodes (void) : void</text><ellipse cx="7802.8643" cy="372.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="309" x="7811.8643" y="375.4214">urtCoreSynchronize (node : urt_node_t*) : urt_status_t</text><ellipse cx="7802.8643" cy="385.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="317" x="7811.8643" y="388.2261">urtCoreStopNodes (reason : urt_status_t) : urt_status_t</text><ellipse cx="7802.8643" cy="414.625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="273" x="7811.8643" y="417.8354">urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7792.8643" x2="7858.3643" y1="401.2227" y2="401.2227"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7858.3643" y="404.5308">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8068.3643" x2="8133.8643" y1="401.2227" y2="401.2227"/><ellipse cx="7802.8643" cy="444.2344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="313" x="7811.8643" y="447.4448">urtCoreGetService (id : urt_serviceid_t) : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7792.8643" x2="7870.8643" y1="430.832" y2="430.832"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="7870.8643" y="434.1401">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8055.8643" x2="8133.8643" y1="430.832" y2="430.832"/><!--MD5=[a7dea26996a1231aa68629b332780450]
-class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="17424.3643" y="1012.8594"/><ellipse cx="17570.1143" cy="1028.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17570.9581,1035.6094 L17568.5049,1035.6094 L17568.5049,1025.3594 L17565.3643,1025.3594 L17565.3643,1023.2188 L17574.0987,1023.2188 L17574.0987,1025.3594 L17570.9581,1025.3594 L17570.9581,1035.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="17590.6143" y="1033.0137">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="17425.3643" x2="17879.3643" y1="1044.8594" y2="1044.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="17425.3643" x2="17879.3643" y1="1052.8594" y2="1052.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="17430.3643" y="1067.0698">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]
-class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="16775.3643" y="1012.8594"/><ellipse cx="17003.6143" cy="1028.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17004.4581,1035.6094 L17002.0049,1035.6094 L17002.0049,1025.3594 L16998.8643,1025.3594 L16998.8643,1023.2188 L17007.5987,1023.2188 L17007.5987,1025.3594 L17004.4581,1025.3594 L17004.4581,1035.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="17024.1143" y="1033.0137">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="16776.3643" x2="17388.3643" y1="1044.8594" y2="1044.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="16776.3643" x2="17388.3643" y1="1052.8594" y2="1052.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="16781.3643" y="1067.0698">urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t</text><!--MD5=[843db13320bebc2ca47f25c6a57c2ae5]
-class urt_nodeShutdownCallback_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="60.8047" id="urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="518" x="17915.3643" y="1012.8594"/><ellipse cx="18079.6143" cy="1028.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M18080.4581,1035.6094 L18078.0049,1035.6094 L18078.0049,1025.3594 L18074.8643,1025.3594 L18074.8643,1023.2188 L18083.5987,1023.2188 L18083.5987,1025.3594 L18080.4581,1025.3594 L18080.4581,1035.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="181" x="18100.1143" y="1033.0137">urt_nodeShutdownCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="17916.3643" x2="18432.3643" y1="1044.8594" y2="1044.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="17916.3643" x2="18432.3643" y1="1052.8594" y2="1052.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="506" x="17921.3643" y="1067.0698">urt_nodeShutdownCallback_t (node : urt_node_t*, cause : urt_status_t, arg : void*) : void</text><!--MD5=[d2563153d77472384a15c07b815d639f]
-class urt_node_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="231.2656" id="urt_node_t" style="stroke: #A80036; stroke-width: 1.5;" width="1541" x="16778.8643" y="542.3594"/><ellipse cx="17511.6143" cy="558.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17511.0987,558.9219 Q17509.2393,558.2188 17508.5831,557.4531 Q17507.9424,556.6719 17507.9424,555.3594 Q17507.9424,553.6719 17509.0206,552.7031 Q17510.0987,551.7344 17511.9737,551.7344 Q17512.8331,551.7344 17513.6768,551.9375 Q17514.5362,552.125 17515.3799,552.5156 L17515.3799,554.9063 Q17514.5987,554.3438 17513.7706,554.0625 Q17512.9581,553.7656 17512.1612,553.7656 Q17511.2862,553.7656 17510.8018,554.125 Q17510.3331,554.4844 17510.3331,555.1406 Q17510.3331,555.6563 17510.6768,556 Q17511.0206,556.3281 17512.1143,556.7344 L17513.1768,557.1406 Q17514.6612,557.6875 17515.3643,558.5938 Q17516.0831,559.5 17516.0831,560.875 Q17516.0831,562.75 17514.9737,563.6719 Q17513.8643,564.5938 17511.6143,564.5938 Q17510.6924,564.5938 17509.7706,564.375 Q17508.8487,564.1563 17507.9893,563.7344 L17507.9893,561.2031 Q17508.9581,561.8906 17509.8799,562.2344 Q17510.8018,562.5781 17511.6924,562.5781 Q17512.5987,562.5781 17513.0987,562.1719 Q17513.5987,561.75 17513.5987,561.0156 Q17513.5987,560.4531 17513.2549,560.0469 Q17512.9268,559.625 17512.3018,559.375 L17511.0987,558.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="67" x="17532.1143" y="562.5137">urt_node_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="16779.8643" x2="18318.8643" y1="574.3594" y2="574.3594"/><ellipse cx="16789.8643" cy="585.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="102" x="16798.8643" y="588.5698">next : urt_node_t*</text><ellipse cx="16789.8643" cy="598.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="16798.8643" y="601.3745">thread : urt_osThread_t*</text><ellipse cx="16789.8643" cy="610.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="16798.8643" y="614.1792">setupcallback : urt_nodeSetupCallback_t*</text><ellipse cx="16789.8643" cy="623.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="117" x="16798.8643" y="626.9839">setupparams : void*</text><ellipse cx="16789.8643" cy="636.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="221" x="16798.8643" y="639.7886">loopcallback : urt_nodeLoopCallback_t*</text><ellipse cx="16789.8643" cy="649.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="109" x="16798.8643" y="652.5933">loopparams : void*</text><ellipse cx="16789.8643" cy="662.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="281" x="16798.8643" y="665.3979">shutdowncallback : urt_nodeShutdownCallback_t*</text><ellipse cx="16789.8643" cy="674.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="140" x="16798.8643" y="678.2026">shutdownparams : void*</text><ellipse cx="16789.8643" cy="687.7969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="16798.8643" y="691.0073">stage : urt_nodestage_t</text><ellipse cx="16789.8643" cy="700.6016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="178" x="16798.8643" y="703.812">listener : urt_osEventListener_t</text><ellipse cx="16789.8643" cy="730.2109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="88" x="16798.8643" y="733.4214">loops : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16779.8643" x2="17341.3643" y1="716.8086" y2="716.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="416" x="17341.3643" y="720.1167">URT_CFG_PUBSUB_PROFILING == true || URT_CFG_RPC_PROFILING = true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="17757.3643" x2="18318.8643" y1="716.8086" y2="716.8086"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="16779.8643" x2="18318.8643" y1="740.0156" y2="740.0156"/><rect fill="#F24D5C" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="16786.8643" y="748.0156"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="179" x="16798.8643" y="754.2261">_main : urt_osThreadFunction_t</text><ellipse cx="16789.8643" cy="763.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1515" x="16798.8643" y="767.0308">urtNodeInit (node : urt_node_t*, thread : urt_osThread_t*, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*, shutdowncallback : urt_nodeShutdownCallback_t*, shutodwnparams : void*) : void</text><!--MD5=[e602aa6d45f270ad04f88c9ca5352b33]
-class urt_message_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="141.6328" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="406" x="12405.3643" y="1282.8594"/><ellipse cx="12558.1143" cy="1298.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12557.5987,1299.4219 Q12555.7393,1298.7188 12555.0831,1297.9531 Q12554.4424,1297.1719 12554.4424,1295.8594 Q12554.4424,1294.1719 12555.5206,1293.2031 Q12556.5987,1292.2344 12558.4737,1292.2344 Q12559.3331,1292.2344 12560.1768,1292.4375 Q12561.0362,1292.625 12561.8799,1293.0156 L12561.8799,1295.4063 Q12561.0987,1294.8438 12560.2706,1294.5625 Q12559.4581,1294.2656 12558.6612,1294.2656 Q12557.7862,1294.2656 12557.3018,1294.625 Q12556.8331,1294.9844 12556.8331,1295.6406 Q12556.8331,1296.1563 12557.1768,1296.5 Q12557.5206,1296.8281 12558.6143,1297.2344 L12559.6768,1297.6406 Q12561.1612,1298.1875 12561.8643,1299.0938 Q12562.5831,1300 12562.5831,1301.375 Q12562.5831,1303.25 12561.4737,1304.1719 Q12560.3643,1305.0938 12558.1143,1305.0938 Q12557.1924,1305.0938 12556.2706,1304.875 Q12555.3487,1304.6563 12554.4893,1304.2344 L12554.4893,1301.7031 Q12555.4581,1302.3906 12556.3799,1302.7344 Q12557.3018,1303.0781 12558.1924,1303.0781 Q12559.0987,1303.0781 12559.5987,1302.6719 Q12560.0987,1302.25 12560.0987,1301.5156 Q12560.0987,1300.9531 12559.7549,1300.5469 Q12559.4268,1300.125 12558.8018,1299.875 L12557.5987,1299.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="12578.6143" y="1303.0137">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12406.3643" x2="12810.3643" y1="1314.8594" y2="1314.8594"/><ellipse cx="12416.3643" cy="1325.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="127" x="12425.3643" y="1329.0698">next : urt_message_t*</text><ellipse cx="12416.3643" cy="1338.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="12425.3643" y="1341.8745">payload : void*</text><ellipse cx="12416.3643" cy="1351.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="12425.3643" y="1354.6792">originTime : urt_osTime_t</text><ellipse cx="12416.3643" cy="1364.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="211" x="12425.3643" y="1367.4839">numHrtConsumersLeft : unsigned int</text><ellipse cx="12416.3643" cy="1393.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="12425.3643" y="1397.0933">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12406.3643" x2="12499.8643" y1="1380.4805" y2="1380.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12499.8643" y="1383.7886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12716.8643" x2="12810.3643" y1="1380.4805" y2="1380.4805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="12406.3643" x2="12810.3643" y1="1403.6875" y2="1403.6875"/><ellipse cx="12416.3643" cy="1414.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="12425.3643" y="1417.8979">urtMessageInit (message : urt_message_t*, payload : void*) : void</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]
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-class urt_topic_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="260.875" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="11441.3643" y="527.3594"/><ellipse cx="11596.1143" cy="543.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11595.5987,543.9219 Q11593.7393,543.2188 11593.0831,542.4531 Q11592.4424,541.6719 11592.4424,540.3594 Q11592.4424,538.6719 11593.5206,537.7031 Q11594.5987,536.7344 11596.4737,536.7344 Q11597.3331,536.7344 11598.1768,536.9375 Q11599.0362,537.125 11599.8799,537.5156 L11599.8799,539.9063 Q11599.0987,539.3438 11598.2706,539.0625 Q11597.4581,538.7656 11596.6612,538.7656 Q11595.7862,538.7656 11595.3018,539.125 Q11594.8331,539.4844 11594.8331,540.1406 Q11594.8331,540.6563 11595.1768,541 Q11595.5206,541.3281 11596.6143,541.7344 L11597.6768,542.1406 Q11599.1612,542.6875 11599.8643,543.5938 Q11600.5831,544.5 11600.5831,545.875 Q11600.5831,547.75 11599.4737,548.6719 Q11598.3643,549.5938 11596.1143,549.5938 Q11595.1924,549.5938 11594.2706,549.375 Q11593.3487,549.1563 11592.4893,548.7344 L11592.4893,546.2031 Q11593.4581,546.8906 11594.3799,547.2344 Q11595.3018,547.5781 11596.1924,547.5781 Q11597.0987,547.5781 11597.5987,547.1719 Q11598.0987,546.75 11598.0987,546.0156 Q11598.0987,545.4531 11597.7549,545.0469 Q11597.4268,544.625 11596.8018,544.375 L11595.5987,543.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="11616.6143" y="547.5137">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11442.3643" x2="11824.3643" y1="559.3594" y2="559.3594"/><ellipse cx="11452.3643" cy="570.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="11461.3643" y="573.5698">next : urt_topic_t*</text><ellipse cx="11452.3643" cy="583.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="11461.3643" y="586.3745">id : urt_topicid_t</text><ellipse cx="11452.3643" cy="595.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="11461.3643" y="599.1792">lock : urt_osMutex_t</text><ellipse cx="11452.3643" cy="608.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="11461.3643" y="611.9839">evtSource : urt_osEventSource_t</text><ellipse cx="11452.3643" cy="621.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="11461.3643" y="624.7886">numHrtSubscribers : unsigned int</text><ellipse cx="11452.3643" cy="634.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="11461.3643" y="637.5933">hrtReleased : urt_osCondvar_t</text><ellipse cx="11452.3643" cy="647.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="209" x="11461.3643" y="650.3979">mandatoryMessage : urt_message_t</text><ellipse cx="11452.3643" cy="659.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="11461.3643" y="663.2026">latestMessage : urt_message_t*</text><ellipse cx="11452.3643" cy="689.6016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="212" x="11461.3643" y="692.812">hrtSubscribers : urt_hrtsubscriber_t*</text><ellipse cx="11452.3643" cy="702.4063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="170" x="11461.3643" y="705.6167">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11442.3643" x2="11500.8643" y1="676.1992" y2="676.1992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="11500.8643" y="679.5073">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11765.8643" x2="11824.3643" y1="676.1992" y2="676.1992"/><ellipse cx="11452.3643" cy="732.0156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="11461.3643" y="735.2261">numMessagesPublished : uint64_t</text><ellipse cx="11452.3643" cy="744.8203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="11461.3643" y="748.0308">numMessagesDiscarded : uint64_t</text><ellipse cx="11452.3643" cy="757.625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="11461.3643" y="760.8354">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11442.3643" x2="11524.8643" y1="718.6133" y2="718.6133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="11524.8643" y="721.9214">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11741.8643" x2="11824.3643" y1="718.6133" y2="718.6133"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11442.3643" x2="11824.3643" y1="767.4297" y2="767.4297"/><ellipse cx="11452.3643" cy="778.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="358" x="11461.3643" y="781.6401">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[50a042e24f957794dab9ba3ea8701c50]
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stroke-width: 1.5;" x1="13835.3643" x2="14877.3643" y1="593.3594" y2="593.3594"/><ellipse cx="13845.3643" cy="604.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="13854.3643" y="607.5698">usefulnesscb : urt_usefulness_f*</text><ellipse cx="13845.3643" cy="617.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="13854.3643" y="620.3745">cbparams : void*</text><ellipse cx="13845.3643" cy="646.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="13854.3643" y="649.9839">minLatency : urt_delay_t</text><ellipse cx="13845.3643" cy="659.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="13854.3643" y="662.7886">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13835.3643" x2="14247.8643" y1="633.3711" y2="633.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="14247.8643" y="636.6792">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="14464.8643" x2="14877.3643" y1="633.3711" y2="633.3711"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="13835.3643" x2="14877.3643" y1="669.3828" y2="669.3828"/><ellipse cx="13845.3643" cy="680.3828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="13854.3643" y="683.5933">urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void</text><ellipse cx="13845.3643" cy="693.1875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1018" x="13854.3643" y="696.3979">urtSrtSubscriberSubscribe (subscriber : urt_srtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_usefulness_f*, cbparams : void*) : urt_status_t</text><ellipse cx="13845.3643" cy="705.9922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="13854.3643" y="709.2026">urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="13845.3643" cy="718.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="13854.3643" y="722.0073">urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="13845.3643" cy="731.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="13854.3643" y="734.812">urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float</text><ellipse cx="13845.3643" cy="744.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="13854.3643" y="747.6167">urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t</text><!--MD5=[17838fb05fe219fd399839979ec8a4a4]
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stroke-width: 1.5;" x1="15770.3643" x2="16742.3643" y1="576.8594" y2="576.8594"/><ellipse cx="15780.3643" cy="604.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="15789.3643" y="607.8745">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15770.3643" x2="16110.8643" y1="591.2617" y2="591.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="16110.8643" y="594.5698">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16401.8643" x2="16742.3643" y1="591.2617" y2="591.2617"/><ellipse cx="15780.3643" cy="634.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="15789.3643" y="637.4839">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15770.3643" x2="16120.8643" y1="620.8711" y2="620.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="16120.8643" y="624.1792">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16391.8643" x2="16742.3643" y1="620.8711" y2="620.8711"/><ellipse cx="15780.3643" cy="663.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="15789.3643" y="667.0933">minLatency : urt_delay_t</text><ellipse cx="15780.3643" cy="676.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="15789.3643" y="679.8979">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15770.3643" x2="16002.3643" y1="650.4805" y2="650.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="508" x="16002.3643" y="653.7886">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ||  URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16510.3643" x2="16742.3643" y1="650.4805" y2="650.4805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="15770.3643" x2="16742.3643" y1="686.4922" y2="686.4922"/><ellipse cx="15780.3643" cy="697.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="342" x="15789.3643" y="700.7026">urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : void</text><ellipse cx="15780.3643" cy="710.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="948" x="15789.3643" y="713.5073">urtFrtSubscriberSubscribe (subscriber : urt_frtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="15780.3643" cy="723.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="780" x="15789.3643" y="726.312">urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="15780.3643" cy="735.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="790" x="15789.3643" y="739.1167">urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="15780.3643" cy="748.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="540" x="15789.3643" y="751.9214">urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool</text><ellipse cx="15780.3643" cy="761.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="441" x="15789.3643" y="764.7261">urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t</text><!--MD5=[104dc879e5721421b987fcc467bc3a1d]
-class urt_hrtsubscriber_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="268.875" id="urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="12697.3643" y="523.3594"/><ellipse cx="13175.6143" cy="539.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M13175.0987,539.9219 Q13173.2393,539.2188 13172.5831,538.4531 Q13171.9424,537.6719 13171.9424,536.3594 Q13171.9424,534.6719 13173.0206,533.7031 Q13174.0987,532.7344 13175.9737,532.7344 Q13176.8331,532.7344 13177.6768,532.9375 Q13178.5362,533.125 13179.3799,533.5156 L13179.3799,535.9063 Q13178.5987,535.3438 13177.7706,535.0625 Q13176.9581,534.7656 13176.1612,534.7656 Q13175.2862,534.7656 13174.8018,535.125 Q13174.3331,535.4844 13174.3331,536.1406 Q13174.3331,536.6563 13174.6768,537 Q13175.0206,537.3281 13176.1143,537.7344 L13177.1768,538.1406 Q13178.6612,538.6875 13179.3643,539.5938 Q13180.0831,540.5 13180.0831,541.875 Q13180.0831,543.75 13178.9737,544.6719 Q13177.8643,545.5938 13175.6143,545.5938 Q13174.6924,545.5938 13173.7706,545.375 Q13172.8487,545.1563 13171.9893,544.7344 L13171.9893,542.2031 Q13172.9581,542.8906 13173.8799,543.2344 Q13174.8018,543.5781 13175.6924,543.5781 Q13176.5987,543.5781 13177.0987,543.1719 Q13177.5987,542.75 13177.5987,542.0156 Q13177.5987,541.4531 13177.2549,541.0469 Q13176.9268,540.625 13176.3018,540.375 L13175.0987,539.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="13196.1143" y="543.5137">urt_hrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12698.3643" x2="13780.3643" y1="555.3594" y2="555.3594"/><ellipse cx="12708.3643" cy="566.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="151" x="12717.3643" y="569.5698">next : urt_hrtsubscriber_t*</text><ellipse cx="12708.3643" cy="595.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="12717.3643" y="599.1792">deadlineOffset : urt_delay_t</text><ellipse cx="12708.3643" cy="608.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="12717.3643" y="611.9839">qosDeadlineTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12698.3643" x2="13093.8643" y1="582.5664" y2="582.5664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="13093.8643" y="585.8745">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13384.8643" x2="13780.3643" y1="582.5664" y2="582.5664"/><ellipse cx="12708.3643" cy="638.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="12717.3643" y="641.5933">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12698.3643" x2="13103.8643" y1="624.9805" y2="624.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="13103.8643" y="628.2886">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13374.8643" x2="13780.3643" y1="624.9805" y2="624.9805"/><ellipse cx="12708.3643" cy="667.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="12717.3643" y="671.2026">minLatency : urt_delay_t</text><ellipse cx="12708.3643" cy="680.7969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="12717.3643" y="684.0073">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12698.3643" x2="12987.3643" y1="654.5898" y2="654.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="12987.3643" y="657.8979">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13491.3643" x2="13780.3643" y1="654.5898" y2="654.5898"/><ellipse cx="12708.3643" cy="710.4063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="12717.3643" y="713.6167">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12698.3643" x2="13106.8643" y1="697.0039" y2="697.0039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="13106.8643" y="700.312">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13371.8643" x2="13780.3643" y1="697.0039" y2="697.0039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="12698.3643" x2="13780.3643" y1="720.2109" y2="720.2109"/><ellipse cx="12708.3643" cy="731.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="12717.3643" y="734.4214">urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : void</text><ellipse cx="12708.3643" cy="744.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1058" x="12717.3643" y="747.2261">urtHrtSubscriberSubscribe (subscriber : urt_hrtsubscriber_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="12708.3643" cy="756.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="12717.3643" y="760.0308">urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="12708.3643" cy="769.625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="12717.3643" y="772.8354">urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="12708.3643" cy="782.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="12717.3643" y="785.6401">urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t</text><!--MD5=[e60e0f8379a14e7a4a292c65add9d735]
-class urt_service_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="269.6797" id="urt_service_t" style="stroke: #A80036; stroke-width: 1.5;" width="596" x="8150.3643" y="522.8594"/><ellipse cx="8404.6143" cy="538.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8404.0987,539.4219 Q8402.2393,538.7188 8401.5831,537.9531 Q8400.9424,537.1719 8400.9424,535.8594 Q8400.9424,534.1719 8402.0206,533.2031 Q8403.0987,532.2344 8404.9737,532.2344 Q8405.8331,532.2344 8406.6768,532.4375 Q8407.5362,532.625 8408.3799,533.0156 L8408.3799,535.4063 Q8407.5987,534.8438 8406.7706,534.5625 Q8405.9581,534.2656 8405.1612,534.2656 Q8404.2862,534.2656 8403.8018,534.625 Q8403.3331,534.9844 8403.3331,535.6406 Q8403.3331,536.1563 8403.6768,536.5 Q8404.0206,536.8281 8405.1143,537.2344 L8406.1768,537.6406 Q8407.6612,538.1875 8408.3643,539.0938 Q8409.0831,540 8409.0831,541.375 Q8409.0831,543.25 8407.9737,544.1719 Q8406.8643,545.0938 8404.6143,545.0938 Q8403.6924,545.0938 8402.7706,544.875 Q8401.8487,544.6563 8400.9893,544.2344 L8400.9893,541.7031 Q8401.9581,542.3906 8402.8799,542.7344 Q8403.8018,543.0781 8404.6924,543.0781 Q8405.5987,543.0781 8406.0987,542.6719 Q8406.5987,542.25 8406.5987,541.5156 Q8406.5987,540.9531 8406.2549,540.5469 Q8405.9268,540.125 8405.3018,539.875 L8404.0987,539.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="8425.1143" y="543.0137">urt_service_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8151.3643" x2="8745.3643" y1="554.8594" y2="554.8594"/><ellipse cx="8161.3643" cy="565.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="115" x="8170.3643" y="569.0698">next : urt_service_t*</text><ellipse cx="8161.3643" cy="578.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="105" x="8170.3643" y="581.8745">id : urt_serviceid_t</text><ellipse cx="8161.3643" cy="591.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="8170.3643" y="594.6792">lock : urt_osMutex_t</text><ellipse cx="8161.3643" cy="604.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="8170.3643" y="607.4839">requestQueue_front : urt_baserequest_t*</text><ellipse cx="8161.3643" cy="617.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="8170.3643" y="620.2886">requestQueue_hrtBack : urt_hrtrequest_t*</text><ellipse cx="8161.3643" cy="629.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="256" x="8170.3643" y="633.0933">requestQueue_fsrtBack : urt_baserequest_t*</text><ellipse cx="8161.3643" cy="642.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="8170.3643" y="645.8979">requestQueue_back : urt_baserequest_t*</text><ellipse cx="8161.3643" cy="655.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="8170.3643" y="658.7026">evtSource : urt_osEventSource_t</text><ellipse cx="8161.3643" cy="668.2969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="8170.3643" y="671.5073">evtListener : urt_osEventListener_t</text><ellipse cx="8161.3643" cy="697.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="8170.3643" y="701.1167">numCalls : uint64_t</text><ellipse cx="8161.3643" cy="710.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="8170.3643" y="713.9214">numOwnershipLost : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8151.3643" x2="8352.3643" y1="684.5039" y2="684.5039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="8352.3643" y="687.812">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8544.3643" x2="8745.3643" y1="684.5039" y2="684.5039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8151.3643" x2="8745.3643" y1="720.5156" y2="720.5156"/><ellipse cx="8161.3643" cy="731.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="412" x="8170.3643" y="734.7261">urtServiceInit (service : urt_service_t*, id : urt_serviceid_t) : urt_status_t</text><ellipse cx="8161.3643" cy="744.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="549" x="8170.3643" y="747.5308">urtServiceDispatch (service : urt_service_t*, payload : void*, bytes : size_t) : urt_baserequest_t*</text><ellipse cx="8161.3643" cy="757.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="552" x="8170.3643" y="760.3354">urtServiceAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="8161.3643" cy="769.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="8170.3643" y="773.1401">urtServiceTryAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="8161.3643" cy="782.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="365" x="8170.3643" y="785.9448">urtServiceRespond (request : urt_baserequest_t*) : urt_status_t</text><!--MD5=[7294e1cfaeb111bef046bc5d07a96458]
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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="8819.3643" y="656.2886">submissionTime : urt_osTime_t</text><ellipse cx="8810.3643" cy="665.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="8819.3643" y="669.0933">payload : void*</text><ellipse cx="8810.3643" cy="678.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="8819.3643" y="681.8979">evtSource : urt_osEventSource_t</text><ellipse cx="8810.3643" cy="691.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="8819.3643" y="694.7026">evtListener : urt_osEventListener_t</text><ellipse cx="8810.3643" cy="721.1016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="8819.3643" y="724.312">sumLatencies : uint64_t</text><ellipse cx="8810.3643" cy="733.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="8819.3643" y="737.1167">numCalls : uint64_t</text><ellipse cx="8810.3643" cy="746.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="108" x="8819.3643" y="749.9214">numFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8800.3643" x2="8815.3643" y1="707.6992" y2="707.6992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="8815.3643" y="711.0073">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; 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+cluster streams--><rect fill="#FFFFFF" filter="url(#fagms9f8d8o9c)" height="109" style="stroke: #000000; stroke-width: 1.5;" width="226" x="866.3567" y="989.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="64" x="947.3567" y="1004.3545">streams</text><!--MD5=[62106fc051f244acf17caf792167c8db]
+cluster debug--><rect fill="#FFFFFF" filter="url(#fagms9f8d8o9c)" height="96" style="stroke: #000000; stroke-width: 1.5;" width="262" x="586.3567" y="995.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="50" x="692.3567" y="1010.8545">debug</text><!--MD5=[4e1a3510868d06a507f098bb08f0dae0]
+cluster Middleware--><polygon fill="#FFFFFF" filter="url(#fagms9f8d8o9c)" points="7784.3567,88.8594,7794.3567,78.8594,18449.3567,78.8594,18449.3567,1440.8594,18439.3567,1450.8594,7784.3567,1450.8594,7784.3567,88.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="18439.3567" x2="18448.3567" y1="88.8594" y2="79.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7784.3567" x2="18439.3567" y1="88.8594" y2="88.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="18439.3567" x2="18439.3567" y1="88.8594" y2="1450.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="91" x="13067.3567" y="104.8545">Middleware</text><!--MD5=[b9de0669a29c7bc934fd916b09c39491]
+cluster node--><rect fill="#FFFFFF" filter="url(#fagms9f8d8o9c)" height="566.5" style="stroke: #000000; stroke-width: 1.5;" width="1674" x="16767.3567" y="525.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="40" x="17584.3567" y="540.3545">node</text><!--MD5=[d74e2ef346f73688f9378f6d3d42598c]
+cluster Publish-Subscribe System--><polygon fill="#FFFFFF" filter="url(#fagms9f8d8o9c)" points="11433.3567,484.3594,11443.3567,474.3594,16759.3567,474.3594,16759.3567,1432.8594,16749.3567,1442.8594,11433.3567,1442.8594,11433.3567,484.3594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="16749.3567" x2="16758.3567" y1="484.3594" y2="475.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="11433.3567" x2="16749.3567" y1="484.3594" y2="484.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="16749.3567" x2="16749.3567" y1="484.3594" y2="1442.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="205" x="13989.8567" y="500.3545">Publish-Subscribe System</text><!--MD5=[16a3bbbe805f94d6e6ce317c08ab945e]
+cluster subscriber--><rect fill="#FFFFFF" filter="url(#fagms9f8d8o9c)" height="622" style="stroke: #000000; stroke-width: 1.5;" width="4062" x="12689.3567" y="506.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="85" x="14677.8567" y="521.3545">subscriber</text><!--MD5=[810d0f07e53ef611b6d803ef30301147]
+cluster Remote Procedure Call System--><polygon fill="#FFFFFF" filter="url(#fagms9f8d8o9c)" points="8142.3567,120.8594,8152.3567,110.8594,11425.3567,110.8594,11425.3567,800.8594,11415.3567,810.8594,8142.3567,810.8594,8142.3567,120.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="11415.3567" x2="11424.3567" y1="120.8594" y2="111.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="8142.3567" x2="11415.3567" y1="120.8594" y2="120.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="11415.3567" x2="11415.3567" y1="120.8594" y2="810.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="244" x="9657.8567" y="136.8545">Remote Procedure Call System</text><!--MD5=[ecaf13b018fb9788c80013f5b3634b61]
+cluster request--><rect fill="#FFFFFF" filter="url(#fagms9f8d8o9c)" height="632" style="stroke: #000000; stroke-width: 1.5;" width="2645" x="8772.3567" y="142.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="62" x="10063.8567" y="157.8545">request</text><!--MD5=[e443ac33c80100c2d54e1f5fe669f6d7]
+class urt_config--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="328.8984" id="urt_config" style="stroke: #A80036; stroke-width: 1.5;" width="290" x="12207.3567" y="1498.8594"/><ellipse cx="12317.1067" cy="1514.8594" fill="#BFBFBF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12320.0755,1520.5 Q12319.4973,1520.7969 12318.8567,1520.9375 Q12318.2161,1521.0938 12317.513,1521.0938 Q12315.013,1521.0938 12313.6848,1519.4531 Q12312.3723,1517.7969 12312.3723,1514.6719 Q12312.3723,1511.5469 12313.6848,1509.8906 Q12315.013,1508.2344 12317.513,1508.2344 Q12318.2161,1508.2344 12318.8567,1508.3906 Q12319.513,1508.5469 12320.0755,1508.8438 L12320.0755,1511.5625 Q12319.4505,1510.9844 12318.8567,1510.7188 Q12318.263,1510.4375 12317.638,1510.4375 Q12316.2942,1510.4375 12315.6067,1511.5156 Q12314.9192,1512.5781 12314.9192,1514.6719 Q12314.9192,1516.7656 12315.6067,1517.8438 Q12316.2942,1518.9063 12317.638,1518.9063 Q12318.263,1518.9063 12318.8567,1518.6406 Q12319.4505,1518.3594 12320.0755,1517.7813 L12320.0755,1520.5 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="62" x="12337.6067" y="1519.0137">urt_config</text><line style="stroke: #A80036; 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+class urt_usefulness_f--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="60.8047" id="urt_usefulness_f" style="stroke: #A80036; stroke-width: 1.5;" width="334" x="6918.3567" y="1022.8594"/><ellipse cx="7030.1067" cy="1038.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7034.3411,1034.625 L7029.0598,1034.625 L7029.0598,1037.2969 L7033.8567,1037.2969 L7033.8567,1039.4531 L7029.0598,1039.4531 L7029.0598,1044.8594 L7026.6223,1044.8594 L7026.6223,1032.4688 L7034.3411,1032.4688 L7034.3411,1034.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="7050.6067" y="1043.0137">urt_usefulness_f</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6919.3567" x2="7251.3567" y1="1054.8594" y2="1054.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6919.3567" x2="7251.3567" y1="1062.8594" y2="1062.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="322" x="6924.3567" y="1077.0698">urt_usefulness_f (dt : urt_delay_t, params : void*) : float</text><!--MD5=[3677786d1f00795918091b0110bfa4af]
+class urt_osTime_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="385" x="5667.8567" y="1010.3594"/><ellipse cx="5816.6067" cy="1026.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5817.4505,1033.1094 L5814.9973,1033.1094 L5814.9973,1022.8594 L5811.8567,1022.8594 L5811.8567,1020.7188 L5820.5911,1020.7188 L5820.5911,1022.8594 L5817.4505,1022.8594 L5817.4505,1033.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="5837.1067" y="1030.5137">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5668.8567" x2="6051.8567" y1="1042.3594" y2="1042.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5668.8567" x2="6051.8567" y1="1050.3594" y2="1050.3594"/><ellipse cx="5678.8567" cy="1061.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="231" x="5687.8567" y="1064.5698">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="5678.8567" cy="1074.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="5687.8567" y="1077.3745">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="5678.8567" cy="1086.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="359" x="5687.8567" y="1090.1792">urtTimeAddUs (time : urt_osTime_t*, offset : urt_delay_t) : void</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]
+class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="4589.3567" y="1003.8594"/><ellipse cx="4690.6067" cy="1019.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4691.4505,1026.6094 L4688.9973,1026.6094 L4688.9973,1016.3594 L4685.8567,1016.3594 L4685.8567,1014.2188 L4694.5911,1014.2188 L4694.5911,1016.3594 L4691.4505,1016.3594 L4691.4505,1026.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="4711.1067" y="1024.0137">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4590.3567" x2="4886.3567" y1="1035.8594" y2="1035.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4590.3567" x2="4886.3567" y1="1043.8594" y2="1043.8594"/><ellipse cx="4600.3567" cy="1054.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="245" x="4609.3567" y="1058.0698">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="4600.3567" cy="1067.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="253" x="4609.3567" y="1070.8745">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="4600.3567" cy="1080.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="4609.3567" y="1083.6792">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="4600.3567" cy="1093.2734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="4609.3567" y="1096.4839">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--MD5=[52fa11869cb40c93fa7702378ddd839e]
+class urt_osCondvarWaitStatus_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="86.4141" id="urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="5142.3567" y="1320.8594"/><ellipse cx="5188.6067" cy="1336.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5192.7161,1342.8594 L5184.9973,1342.8594 L5184.9973,1330.4688 L5192.7161,1330.4688 L5192.7161,1332.625 L5187.4505,1332.625 L5187.4505,1335.2969 L5192.2161,1335.2969 L5192.2161,1337.4531 L5187.4505,1337.4531 L5187.4505,1340.7031 L5192.7161,1340.7031 L5192.7161,1342.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="169" x="5209.1067" y="1341.0137">urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5143.3567" x2="5411.3567" y1="1352.8594" y2="1352.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="5148.3567" y="1367.0698">URT_CONDVAR_WAITSTATUS_SIGNAL = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="5148.3567" y="1379.8745">URT_CONDVAR_WAITSTATUS_BROADCAST = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="5148.3567" y="1392.6792">URT_CONDVAR_WAITSTATUS_TIMEOUT = 0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5143.3567" x2="5411.3567" y1="1399.2734" y2="1399.2734"/><!--MD5=[004fc5dee471033e8e4138c1c73f0692]
+class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="137.6328" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="4922.3567" y="984.3594"/><ellipse cx="5222.6067" cy="1000.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5223.4505,1007.1094 L5220.9973,1007.1094 L5220.9973,996.8594 L5217.8567,996.8594 L5217.8567,994.7188 L5226.5911,994.7188 L5226.5911,996.8594 L5223.4505,996.8594 L5223.4505,1007.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="5243.1067" y="1004.5137">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4923.3567" x2="5631.3567" y1="1016.3594" y2="1016.3594"/><ellipse cx="4933.3567" cy="1027.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="283" x="4942.3567" y="1030.5698">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4933.3567" cy="1040.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="301" x="4942.3567" y="1043.3745">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4933.3567" cy="1052.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="324" x="4942.3567" y="1056.1792">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4933.3567" cy="1082.5781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="559" x="4942.3567" y="1085.7886">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*) : urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4923.3567" x2="5148.8567" y1="1069.1758" y2="1069.1758"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="257" x="5148.8567" y="1072.4839">URT_CFG_OSAL_CONDVAR_TIMEOUT == false</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5405.8567" x2="5631.3567" y1="1069.1758" y2="1069.1758"/><ellipse cx="4933.3567" cy="1112.1875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="684" x="4942.3567" y="1115.3979">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4923.3567" x2="5151.3567" y1="1098.7852" y2="1098.7852"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="252" x="5151.3567" y="1102.0933">URT_CFG_OSAL_CONDVAR_TIMEOUT == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5403.3567" x2="5631.3567" y1="1098.7852" y2="1098.7852"/><!--MD5=[93799a03260ba286abda700174f4f205]
+class urt_osTimerCallback_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="4042.3567" y="1333.3594"/><ellipse cx="4113.1067" cy="1349.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4113.9505,1356.1094 L4111.4973,1356.1094 L4111.4973,1345.8594 L4108.3567,1345.8594 L4108.3567,1343.7188 L4117.0911,1343.7188 L4117.0911,1345.8594 L4113.9505,1345.8594 L4113.9505,1356.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="4133.6067" y="1353.5137">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4043.3567" x2="4327.3567" y1="1365.3594" y2="1365.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4043.3567" x2="4327.3567" y1="1373.3594" y2="1373.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="4048.3567" y="1387.5698">urt_osTimerCallback_t (parameter : void*) : void</text><!--MD5=[0b340d7b925b1eab6a1b7e084f68a7c2]
+class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="112.0234" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="737" x="3816.8567" y="997.3594"/><ellipse cx="4139.1067" cy="1013.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4139.9505,1020.1094 L4137.4973,1020.1094 L4137.4973,1009.8594 L4134.3567,1009.8594 L4134.3567,1007.7188 L4143.0911,1007.7188 L4143.0911,1009.8594 L4139.9505,1009.8594 L4139.9505,1020.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="4159.6067" y="1017.5137">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3817.8567" x2="4552.8567" y1="1029.3594" y2="1029.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3817.8567" x2="4552.8567" y1="1037.3594" y2="1037.3594"/><ellipse cx="3827.8567" cy="1048.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="3836.8567" y="1051.5698">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="3827.8567" cy="1061.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="660" x="3836.8567" y="1064.3745">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void</text><ellipse cx="3827.8567" cy="1073.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="711" x="3836.8567" y="1077.1792">urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void</text><ellipse cx="3827.8567" cy="1086.7734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="255" x="3836.8567" y="1089.9839">urtTimerReset (timer : urt_osTimer_t*) : void</text><ellipse cx="3827.8567" cy="1099.5781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3836.8567" y="1102.7886">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--MD5=[86c16d91227b9a9ec3b6b9b0285de4e9]
+class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="3317.8567" y="1288.8594"/><ellipse cx="3354.0067" cy="1304.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3354.8505,1311.6094 L3352.3973,1311.6094 L3352.3973,1301.3594 L3349.2567,1301.3594 L3349.2567,1299.2188 L3357.9911,1299.2188 L3357.9911,1301.3594 L3354.8505,1301.3594 L3354.8505,1311.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="3372.7067" y="1309.0137">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3318.8567" x2="3513.8567" y1="1320.8594" y2="1320.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="3323.8567" y="1335.0698">URT_THREAD_PRIO_LOW_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="3323.8567" y="1347.8745">URT_THREAD_PRIO_LOW_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="3323.8567" y="1360.6792">URT_THREAD_PRIO_NORMAL_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="3323.8567" y="1373.4839">URT_THREAD_PRIO_NORMAL_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="3323.8567" y="1386.2886">URT_THREAD_PRIO_HIGH_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="3323.8567" y="1399.0933">URT_THREAD_PRIO_HIGH_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="3323.8567" y="1411.8979">URT_THREAD_PRIO_RT_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="3323.8567" y="1424.7026">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3318.8567" x2="3513.8567" y1="1431.2969" y2="1431.2969"/><!--MD5=[69d8aab9aa387a2f5052ea3da80e80ea]
+class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="2769.3567" y="1333.3594"/><ellipse cx="2817.1067" cy="1349.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2817.9505,1356.1094 L2815.4973,1356.1094 L2815.4973,1345.8594 L2812.3567,1345.8594 L2812.3567,1343.7188 L2821.0911,1343.7188 L2821.0911,1345.8594 L2817.9505,1345.8594 L2817.9505,1356.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="2837.6067" y="1353.5137">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2770.3567" x2="3020.3567" y1="1365.3594" y2="1365.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2770.3567" x2="3020.3567" y1="1373.3594" y2="1373.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="2775.3567" y="1387.5698">urt_osThreadFunction_t (arg : void*) : void</text><!--MD5=[ab5f611d45c3fa10609c33f780d8c3e1]
+class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="3550.3567" y="1326.8594"/><ellipse cx="3572.1067" cy="1342.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3576.2161,1348.8594 L3568.4973,1348.8594 L3568.4973,1336.4688 L3576.2161,1336.4688 L3576.2161,1338.625 L3570.9505,1338.625 L3570.9505,1341.2969 L3575.7161,1341.2969 L3575.7161,1343.4531 L3570.9505,1343.4531 L3570.9505,1346.7031 L3576.2161,1346.7031 L3576.2161,1348.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="3587.6067" y="1347.0137">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3551.3567" x2="3791.3567" y1="1358.8594" y2="1358.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="3556.3567" y="1373.0698">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="3556.3567" y="1385.8745">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3551.3567" x2="3791.3567" y1="1392.4688" y2="1392.4688"/><!--MD5=[47d14ad2c233fae1b32b8d0a283e820a]
+class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="137.6328" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="3056.3567" y="1294.8594"/><ellipse cx="3101.1067" cy="1310.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3105.2161,1316.8594 L3097.4973,1316.8594 L3097.4973,1304.4688 L3105.2161,1304.4688 L3105.2161,1306.625 L3099.9505,1306.625 L3099.9505,1309.2969 L3104.7161,1309.2969 L3104.7161,1311.4531 L3099.9505,1311.4531 L3099.9505,1314.7031 L3105.2161,1314.7031 L3105.2161,1316.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="3121.6067" y="1315.0137">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3057.3567" x2="3281.3567" y1="1326.8594" y2="1326.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="3062.3567" y="1341.0698">URT_THREAD_STATE_INACTIVE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="3062.3567" y="1353.8745">URT_THREAD_STATE_RUNNING = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="3062.3567" y="1366.6792">URT_THREAD_STATE_READY = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="3062.3567" y="1379.4839">URT_THREAD_STATE_SLEEPING = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="3062.3567" y="1392.2886">URT_THREAD_STATE_SUSPENDED = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="3062.3567" y="1405.0933">URT_THREAD_STATE_WAITING = 5</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="3062.3567" y="1417.8979">URT_THREAD_STATE_TERMINATED = 6</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3057.3567" x2="3281.3567" y1="1424.4922" y2="1424.4922"/><!--MD5=[0a16224ede9ffa9bb2d34e085a076e6d]
+class urt_osThread_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="350.5078" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="778" x="3003.3567" y="877.8594"/><ellipse cx="3341.1067" cy="893.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3341.9505,900.6094 L3339.4973,900.6094 L3339.4973,890.3594 L3336.3567,890.3594 L3336.3567,888.2188 L3345.0911,888.2188 L3345.0911,890.3594 L3341.9505,890.3594 L3341.9505,900.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="3361.6067" y="898.0137">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3004.3567" x2="3780.3567" y1="909.8594" y2="909.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="3009.3567" y="924.0698">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="3009.3567" y="936.8745">URT_THREAD_SSLEP_MAX : unsigned int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="3009.3567" y="949.6792">URT_THREAD_MSLEEP_MAX : unsigned int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="3009.3567" y="962.4839">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="3004.3567" x2="3780.3567" y1="969.0781" y2="969.0781"/><ellipse cx="3014.3567" cy="980.0781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="248" x="3023.3567" y="983.2886">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3004.3567" x2="3780.3567" y1="989.8828" y2="989.8828"/><ellipse cx="3014.3567" cy="1000.8828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="752" x="3023.3567" y="1004.0933">urtThreadInit (memory : void*, size : size_t, prio : urt_osThreadPrio_t, func : urt_osThreadFunction_t*, arg : void*) : urt_osThread_t*</text><ellipse cx="3014.3567" cy="1013.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="3023.3567" y="1016.8979">urtThreadStart (thread : urt_osThread_t*) : void</text><ellipse cx="3014.3567" cy="1026.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="3023.3567" y="1029.7026">urtThreadYield (void) : void</text><ellipse cx="3014.3567" cy="1039.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3023.3567" y="1042.5073">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="3014.3567" cy="1052.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="304" x="3023.3567" y="1055.312">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="3014.3567" cy="1064.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="220" x="3023.3567" y="1068.1167">urtThreadSleep (seconds : float) : void</text><ellipse cx="3014.3567" cy="1077.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="273" x="3023.3567" y="1080.9214">urtThreadSSleep (seconds : unsigned int) : void</text><ellipse cx="3014.3567" cy="1090.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="3023.3567" y="1093.7261">urtThreadMSleep (milliseconds : unsigned int) : void</text><ellipse cx="3014.3567" cy="1103.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="3023.3567" y="1106.5308">urtThreadUSleep (microseconds : urt_delay_t) : void</text><ellipse cx="3014.3567" cy="1116.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3023.3567" y="1119.3354">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="3014.3567" cy="1128.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="3023.3567" y="1132.1401">urtThreadExit (void) : void</text><ellipse cx="3014.3567" cy="1141.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="518" x="3023.3567" y="1144.9448">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="3014.3567" cy="1154.5391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="264" x="3023.3567" y="1157.7495">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="3014.3567" cy="1167.3438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="387" x="3023.3567" y="1170.5542">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="3014.3567" cy="1180.1484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="237" x="3023.3567" y="1183.3589">urtThreadGetSelf (void) : urt_osThread_t*</text><ellipse cx="3014.3567" cy="1192.9531" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="3023.3567" y="1196.1636">urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="3014.3567" cy="1205.7578" 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="371" x="3023.3567" y="1208.9683">urtThreadGetSibling (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="3014.3567" cy="1218.5625" 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="370" x="3023.3567" y="1221.7729">urtThreadGetParent (thread : urt_osThread_t*) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]
+class urt_osEventMask_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="60.8047" id="urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.5;" width="280" x="2454.3567" y="1333.3594"/><ellipse cx="2531.6067" cy="1349.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2532.4505,1356.1094 L2529.9973,1356.1094 L2529.9973,1345.8594 L2526.8567,1345.8594 L2526.8567,1343.7188 L2535.5911,1343.7188 L2535.5911,1345.8594 L2532.4505,1345.8594 L2532.4505,1356.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="2552.1067" y="1353.5137">urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2455.3567" x2="2733.3567" y1="1365.3594" y2="1365.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="268" x="2460.3567" y="1379.5698">URT_EVENTMASK_MAXPRIO : urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2455.3567" x2="2733.3567" y1="1386.1641" y2="1386.1641"/><!--MD5=[dc1cc33af288560680c15dec1e56eda0]
+class urt_osEventFlags_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="48" id="urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="1863.3567" y="1639.3594"/><ellipse cx="1878.3567" cy="1655.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1879.2005,1662.1094 L1876.7473,1662.1094 L1876.7473,1651.8594 L1873.6067,1651.8594 L1873.6067,1649.7188 L1882.3411,1649.7188 L1882.3411,1651.8594 L1879.2005,1651.8594 L1879.2005,1662.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="1892.3567" y="1659.5137">urt_osEventFlags_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1864.3567" x2="2012.3567" y1="1671.3594" y2="1671.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1864.3567" x2="2012.3567" y1="1679.3594" y2="1679.3594"/><!--MD5=[e2bbbd64e6979bf7b755747a6c0ba948]
+class urt_osEventWait_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="86.4141" id="urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.5;" width="162" x="2220.3567" y="1320.8594"/><ellipse cx="2243.4567" cy="1336.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2247.5661,1342.8594 L2239.8473,1342.8594 L2239.8473,1330.4688 L2247.5661,1330.4688 L2247.5661,1332.625 L2242.3004,1332.625 L2242.3004,1335.2969 L2247.0661,1335.2969 L2247.0661,1337.4531 L2242.3004,1337.4531 L2242.3004,1340.7031 L2247.5661,1340.7031 L2247.5661,1342.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="2259.2567" y="1341.0137">urt_osEventWait_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2221.3567" x2="2381.3567" y1="1352.8594" y2="1352.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="2226.3567" y="1367.0698">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="2226.3567" y="1379.8745">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="2226.3567" y="1392.6792">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2221.3567" x2="2381.3567" y1="1399.2734" y2="1399.2734"/><!--MD5=[d054ac2eda12ce4b1fe5a18c9be716c1]
+class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="1691.3567" y="1320.8594"/><ellipse cx="1866.6067" cy="1336.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1867.4505,1343.6094 L1864.9973,1343.6094 L1864.9973,1333.3594 L1861.8567,1333.3594 L1861.8567,1331.2188 L1870.5911,1331.2188 L1870.5911,1333.3594 L1867.4505,1333.3594 L1867.4505,1343.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="1887.1067" y="1341.0137">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1692.3567" x2="2184.3567" y1="1352.8594" y2="1352.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1692.3567" x2="2184.3567" y1="1360.8594" y2="1360.8594"/><ellipse cx="1702.3567" cy="1371.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="341" x="1711.3567" y="1375.0698">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="1702.3567" cy="1384.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="458" x="1711.3567" y="1387.8745">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="1702.3567" cy="1397.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="468" x="1711.3567" y="1400.6792">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]
+class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="1108.8567" y="1326.8594"/><ellipse cx="1313.6067" cy="1342.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1314.4505,1349.6094 L1311.9973,1349.6094 L1311.9973,1339.3594 L1308.8567,1339.3594 L1308.8567,1337.2188 L1317.5911,1337.2188 L1317.5911,1339.3594 L1314.4505,1339.3594 L1314.4505,1349.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="1334.1067" y="1347.0137">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1109.8567" x2="1654.8567" y1="1358.8594" y2="1358.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1109.8567" x2="1654.8567" y1="1366.8594" y2="1366.8594"/><ellipse cx="1119.8567" cy="1377.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="325" x="1128.8567" y="1381.0698">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="1119.8567" cy="1390.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="521" x="1128.8567" y="1393.8745">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--MD5=[04a3b5a37031e2a4d723f19d8adf86f5]
+class urt_events--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="845" x="1883.8567" y="1010.3594"/><ellipse cx="2269.1067" cy="1026.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2273.3411,1022.125 L2268.0598,1022.125 L2268.0598,1024.7969 L2272.8567,1024.7969 L2272.8567,1026.9531 L2268.0598,1026.9531 L2268.0598,1032.3594 L2265.6223,1032.3594 L2265.6223,1019.9688 L2273.3411,1019.9688 L2273.3411,1022.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="2289.6067" y="1030.5137">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1884.8567" x2="2727.8567" y1="1042.3594" y2="1042.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1884.8567" x2="2727.8567" y1="1050.3594" y2="1050.3594"/><ellipse cx="1894.8567" cy="1061.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="819" x="1903.8567" y="1064.5698">urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : void</text><ellipse cx="1894.8567" cy="1074.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="522" x="1903.8567" y="1077.3745">urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : void</text><ellipse cx="1894.8567" cy="1086.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="618" x="1903.8567" y="1090.1792">urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWait_t, timeout : urt_delay_t) : urt_osEventMask_t</text><!--MD5=[0cf29100c96c506429a28b45d347cc92]
+class urt_streams--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="209" x="874.8567" y="1016.3594"/><ellipse cx="937.6067" cy="1032.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M941.8411,1028.125 L936.5598,1028.125 L936.5598,1030.7969 L941.3567,1030.7969 L941.3567,1032.9531 L936.5598,1032.9531 L936.5598,1038.3594 L934.1223,1038.3594 L934.1223,1025.9688 L941.8411,1025.9688 L941.8411,1028.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="958.1067" y="1036.5137">urt_streams</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="875.8567" x2="1082.8567" y1="1048.3594" y2="1048.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="875.8567" x2="1082.8567" y1="1056.3594" y2="1056.3594"/><ellipse cx="885.8567" cy="1067.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="166" x="894.8567" y="1070.5698">urtPrintf(fmt : char*, ... ) : int</text><ellipse cx="885.8567" cy="1080.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="894.8567" y="1083.3745">urtErrPrintf(fmt : char*, ... ) : int</text><!--MD5=[f106a25c06a671b3918b1a8f37571a4d]
+class urt_debug--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="245" x="594.8567" y="1022.8594"/><ellipse cx="681.1067" cy="1038.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M685.3411,1034.625 L680.0598,1034.625 L680.0598,1037.2969 L684.8567,1037.2969 L684.8567,1039.4531 L680.0598,1039.4531 L680.0598,1044.8594 L677.6223,1044.8594 L677.6223,1032.4688 L685.3411,1032.4688 L685.3411,1034.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="701.6067" y="1043.0137">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="595.8567" x2="838.8567" y1="1054.8594" y2="1054.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="595.8567" x2="838.8567" y1="1062.8594" y2="1062.8594"/><ellipse cx="605.8567" cy="1073.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="219" x="614.8567" y="1077.0698">urtDebugAssert(condition : bool) : void</text><!--MD5=[89d25e87afdd75480e1ec2bd05524873]
+class urt_core_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="307.2891" id="urt_core_t" style="stroke: #A80036; stroke-width: 1.5;" width="343" x="7791.8567" y="159.3594"/><ellipse cx="7927.6067" cy="175.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7927.0911,175.9219 Q7925.2317,175.2188 7924.5755,174.4531 Q7923.9348,173.6719 7923.9348,172.3594 Q7923.9348,170.6719 7925.013,169.7031 Q7926.0911,168.7344 7927.9661,168.7344 Q7928.8255,168.7344 7929.6692,168.9375 Q7930.5286,169.125 7931.3723,169.5156 L7931.3723,171.9063 Q7930.5911,171.3438 7929.763,171.0625 Q7928.9505,170.7656 7928.1536,170.7656 Q7927.2786,170.7656 7926.7942,171.125 Q7926.3255,171.4844 7926.3255,172.1406 Q7926.3255,172.6563 7926.6692,173 Q7927.013,173.3281 7928.1067,173.7344 L7929.1692,174.1406 Q7930.6536,174.6875 7931.3567,175.5938 Q7932.0755,176.5 7932.0755,177.875 Q7932.0755,179.75 7930.9661,180.6719 Q7929.8567,181.5938 7927.6067,181.5938 Q7926.6848,181.5938 7925.763,181.375 Q7924.8411,181.1563 7923.9817,180.7344 L7923.9817,178.2031 Q7924.9505,178.8906 7925.8723,179.2344 Q7926.7942,179.5781 7927.6848,179.5781 Q7928.5911,179.5781 7929.0911,179.1719 Q7929.5911,178.75 7929.5911,178.0156 Q7929.5911,177.4531 7929.2473,177.0469 Q7928.9192,176.625 7928.2942,176.375 L7927.0911,175.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="63" x="7948.1067" y="179.5137">urt_core_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7792.8567" x2="8133.8567" y1="191.3594" y2="191.3594"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8567" y="199.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="7811.8567" y="205.5698">_nodes : urt_node_t*</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8567" y="212.1641"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="192" x="7811.8567" y="218.3745">_evtSource : urt_osEventSource_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8567" y="224.9688"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="7811.8567" y="231.1792">_lock : urt_osMutex_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8567" y="237.7734"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="122" x="7811.8567" y="243.9839">_status : urt_status_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8567" y="267.3828"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="117" x="7811.8567" y="273.5933">_topics : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7792.8567" x2="7858.3567" y1="256.9805" y2="256.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7858.3567" y="260.2886">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8068.3567" x2="8133.8567" y1="256.9805" y2="256.9805"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8567" y="296.9922"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="145" x="7811.8567" y="303.2026">_services : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7792.8567" x2="7870.8567" y1="286.5898" y2="286.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="7870.8567" y="289.8979">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8055.8567" x2="8133.8567" y1="286.5898" y2="286.5898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7792.8567" x2="8133.8567" y1="309.7969" y2="309.7969"/><ellipse cx="7802.8567" cy="320.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="130" x="7811.8567" y="324.0073">urtCoreInit (void) : void</text><ellipse cx="7802.8567" cy="333.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="215" x="7811.8567" y="336.812">urtCoreGetStatus (void) : urt_status_t</text><ellipse cx="7802.8567" cy="346.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="177" x="7811.8567" y="349.6167">urtCoreStartNodes (void) : void</text><ellipse cx="7802.8567" cy="359.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="309" x="7811.8567" y="362.4214">urtCoreSynchronize (node : urt_node_t*) : urt_status_t</text><ellipse cx="7802.8567" cy="372.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="317" x="7811.8567" y="375.2261">urtCoreStopNodes (reason : urt_status_t) : urt_status_t</text><ellipse cx="7802.8567" cy="384.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="300" x="7811.8567" y="388.0308">urtCoreGetEventSource(void) : urt_osEventSource_t*</text><ellipse cx="7802.8567" cy="397.625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="7811.8567" y="400.8354">urtCoreGetMutex(void) : urt_osMutex_t*</text><ellipse cx="7802.8567" cy="427.2344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="273" x="7811.8567" y="430.4448">urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7792.8567" x2="7858.3567" y1="413.832" y2="413.832"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7858.3567" y="417.1401">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; 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+class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="17424.3567" y="1022.8594"/><ellipse cx="17570.1067" cy="1038.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17570.9505,1045.6094 L17568.4973,1045.6094 L17568.4973,1035.3594 L17565.3567,1035.3594 L17565.3567,1033.2188 L17574.0911,1033.2188 L17574.0911,1035.3594 L17570.9505,1035.3594 L17570.9505,1045.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="17590.6067" y="1043.0137">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="17425.3567" x2="17879.3567" y1="1054.8594" y2="1054.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="17425.3567" x2="17879.3567" y1="1062.8594" y2="1062.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="17430.3567" y="1077.0698">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]
+class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="16775.3567" y="1022.8594"/><ellipse cx="17003.6067" cy="1038.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17004.4505,1045.6094 L17001.9973,1045.6094 L17001.9973,1035.3594 L16998.8567,1035.3594 L16998.8567,1033.2188 L17007.5911,1033.2188 L17007.5911,1035.3594 L17004.4505,1035.3594 L17004.4505,1045.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="17024.1067" y="1043.0137">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="16776.3567" x2="17388.3567" y1="1054.8594" y2="1054.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="16776.3567" x2="17388.3567" y1="1062.8594" y2="1062.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="16781.3567" y="1077.0698">urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t</text><!--MD5=[843db13320bebc2ca47f25c6a57c2ae5]
+class urt_nodeShutdownCallback_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="60.8047" id="urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="518" x="17915.3567" y="1022.8594"/><ellipse cx="18079.6067" cy="1038.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M18080.4505,1045.6094 L18077.9973,1045.6094 L18077.9973,1035.3594 L18074.8567,1035.3594 L18074.8567,1033.2188 L18083.5911,1033.2188 L18083.5911,1035.3594 L18080.4505,1035.3594 L18080.4505,1045.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="181" x="18100.1067" y="1043.0137">urt_nodeShutdownCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="17916.3567" x2="18432.3567" y1="1054.8594" y2="1054.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="17916.3567" x2="18432.3567" y1="1062.8594" y2="1062.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="506" x="17921.3567" y="1077.0698">urt_nodeShutdownCallback_t (node : urt_node_t*, cause : urt_status_t, arg : void*) : void</text><!--MD5=[d2563153d77472384a15c07b815d639f]
+class urt_node_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="231.2656" id="urt_node_t" style="stroke: #A80036; stroke-width: 1.5;" width="1541" x="16778.8567" y="552.3594"/><ellipse cx="17511.6067" cy="568.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17511.0911,568.9219 Q17509.2317,568.2188 17508.5755,567.4531 Q17507.9348,566.6719 17507.9348,565.3594 Q17507.9348,563.6719 17509.013,562.7031 Q17510.0911,561.7344 17511.9661,561.7344 Q17512.8255,561.7344 17513.6692,561.9375 Q17514.5286,562.125 17515.3723,562.5156 L17515.3723,564.9063 Q17514.5911,564.3438 17513.763,564.0625 Q17512.9505,563.7656 17512.1536,563.7656 Q17511.2786,563.7656 17510.7942,564.125 Q17510.3255,564.4844 17510.3255,565.1406 Q17510.3255,565.6563 17510.6692,566 Q17511.013,566.3281 17512.1067,566.7344 L17513.1692,567.1406 Q17514.6536,567.6875 17515.3567,568.5938 Q17516.0755,569.5 17516.0755,570.875 Q17516.0755,572.75 17514.9661,573.6719 Q17513.8567,574.5938 17511.6067,574.5938 Q17510.6848,574.5938 17509.763,574.375 Q17508.8411,574.1563 17507.9817,573.7344 L17507.9817,571.2031 Q17508.9505,571.8906 17509.8723,572.2344 Q17510.7942,572.5781 17511.6848,572.5781 Q17512.5911,572.5781 17513.0911,572.1719 Q17513.5911,571.75 17513.5911,571.0156 Q17513.5911,570.4531 17513.2473,570.0469 Q17512.9192,569.625 17512.2942,569.375 L17511.0911,568.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="67" x="17532.1067" y="572.5137">urt_node_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="16779.8567" x2="18318.8567" y1="584.3594" y2="584.3594"/><ellipse cx="16789.8567" cy="595.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="102" x="16798.8567" y="598.5698">next : urt_node_t*</text><ellipse cx="16789.8567" cy="608.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="16798.8567" y="611.3745">thread : urt_osThread_t*</text><ellipse cx="16789.8567" cy="620.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="16798.8567" y="624.1792">setupcallback : urt_nodeSetupCallback_t*</text><ellipse cx="16789.8567" cy="633.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="117" x="16798.8567" y="636.9839">setupparams : void*</text><ellipse cx="16789.8567" cy="646.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="221" x="16798.8567" y="649.7886">loopcallback : urt_nodeLoopCallback_t*</text><ellipse cx="16789.8567" cy="659.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="109" x="16798.8567" y="662.5933">loopparams : void*</text><ellipse cx="16789.8567" cy="672.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="281" x="16798.8567" y="675.3979">shutdowncallback : urt_nodeShutdownCallback_t*</text><ellipse cx="16789.8567" cy="684.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="140" x="16798.8567" y="688.2026">shutdownparams : void*</text><ellipse cx="16789.8567" cy="697.7969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="16798.8567" y="701.0073">stage : urt_nodestage_t</text><ellipse cx="16789.8567" cy="710.6016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="178" x="16798.8567" y="713.812">listener : urt_osEventListener_t</text><ellipse cx="16789.8567" cy="740.2109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="88" x="16798.8567" y="743.4214">loops : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16779.8567" x2="17341.3567" y1="726.8086" y2="726.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="416" x="17341.3567" y="730.1167">URT_CFG_PUBSUB_PROFILING == true || URT_CFG_RPC_PROFILING = true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="17757.3567" x2="18318.8567" y1="726.8086" y2="726.8086"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="16779.8567" x2="18318.8567" y1="750.0156" y2="750.0156"/><rect fill="#F24D5C" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="16786.8567" y="758.0156"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="179" x="16798.8567" y="764.2261">_main : urt_osThreadFunction_t</text><ellipse cx="16789.8567" cy="773.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1515" x="16798.8567" y="777.0308">urtNodeInit (node : urt_node_t*, thread : urt_osThread_t*, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*, shutdowncallback : urt_nodeShutdownCallback_t*, shutodwnparams : void*) : void</text><!--MD5=[e602aa6d45f270ad04f88c9ca5352b33]
+class urt_message_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="141.6328" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="406" x="12405.3567" y="1292.8594"/><ellipse cx="12558.1067" cy="1308.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12557.5911,1309.4219 Q12555.7317,1308.7188 12555.0755,1307.9531 Q12554.4348,1307.1719 12554.4348,1305.8594 Q12554.4348,1304.1719 12555.513,1303.2031 Q12556.5911,1302.2344 12558.4661,1302.2344 Q12559.3255,1302.2344 12560.1692,1302.4375 Q12561.0286,1302.625 12561.8723,1303.0156 L12561.8723,1305.4063 Q12561.0911,1304.8438 12560.263,1304.5625 Q12559.4505,1304.2656 12558.6536,1304.2656 Q12557.7786,1304.2656 12557.2942,1304.625 Q12556.8255,1304.9844 12556.8255,1305.6406 Q12556.8255,1306.1563 12557.1692,1306.5 Q12557.513,1306.8281 12558.6067,1307.2344 L12559.6692,1307.6406 Q12561.1536,1308.1875 12561.8567,1309.0938 Q12562.5755,1310 12562.5755,1311.375 Q12562.5755,1313.25 12561.4661,1314.1719 Q12560.3567,1315.0938 12558.1067,1315.0938 Q12557.1848,1315.0938 12556.263,1314.875 Q12555.3411,1314.6563 12554.4817,1314.2344 L12554.4817,1311.7031 Q12555.4505,1312.3906 12556.3723,1312.7344 Q12557.2942,1313.0781 12558.1848,1313.0781 Q12559.0911,1313.0781 12559.5911,1312.6719 Q12560.0911,1312.25 12560.0911,1311.5156 Q12560.0911,1310.9531 12559.7473,1310.5469 Q12559.4192,1310.125 12558.7942,1309.875 L12557.5911,1309.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="12578.6067" y="1313.0137">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12406.3567" x2="12810.3567" y1="1324.8594" y2="1324.8594"/><ellipse cx="12416.3567" cy="1335.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="127" x="12425.3567" y="1339.0698">next : urt_message_t*</text><ellipse cx="12416.3567" cy="1348.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="12425.3567" y="1351.8745">payload : void*</text><ellipse cx="12416.3567" cy="1361.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="12425.3567" y="1364.6792">originTime : urt_osTime_t</text><ellipse cx="12416.3567" cy="1374.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="211" x="12425.3567" y="1377.4839">numHrtConsumersLeft : unsigned int</text><ellipse cx="12416.3567" cy="1403.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="12425.3567" y="1407.0933">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12406.3567" x2="12499.8567" y1="1390.4805" y2="1390.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12499.8567" y="1393.7886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12716.8567" x2="12810.3567" y1="1390.4805" y2="1390.4805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="12406.3567" x2="12810.3567" y1="1413.6875" y2="1413.6875"/><ellipse cx="12416.3567" cy="1424.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="12425.3567" y="1427.8979">urtMessageInit (message : urt_message_t*, payload : void*) : void</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]
+class urt_publisher_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="196.0469" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="783" x="11878.8567" y="569.8594"/><ellipse cx="12219.6067" cy="585.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12219.0911,586.4219 Q12217.2317,585.7188 12216.5755,584.9531 Q12215.9348,584.1719 12215.9348,582.8594 Q12215.9348,581.1719 12217.013,580.2031 Q12218.0911,579.2344 12219.9661,579.2344 Q12220.8255,579.2344 12221.6692,579.4375 Q12222.5286,579.625 12223.3723,580.0156 L12223.3723,582.4063 Q12222.5911,581.8438 12221.763,581.5625 Q12220.9505,581.2656 12220.1536,581.2656 Q12219.2786,581.2656 12218.7942,581.625 Q12218.3255,581.9844 12218.3255,582.6406 Q12218.3255,583.1563 12218.6692,583.5 Q12219.013,583.8281 12220.1067,584.2344 L12221.1692,584.6406 Q12222.6536,585.1875 12223.3567,586.0938 Q12224.0755,587 12224.0755,588.375 Q12224.0755,590.25 12222.9661,591.1719 Q12221.8567,592.0938 12219.6067,592.0938 Q12218.6848,592.0938 12217.763,591.875 Q12216.8411,591.6563 12215.9817,591.2344 L12215.9817,588.7031 Q12216.9505,589.3906 12217.8723,589.7344 Q12218.7942,590.0781 12219.6848,590.0781 Q12220.5911,590.0781 12221.0911,589.6719 Q12221.5911,589.25 12221.5911,588.5156 Q12221.5911,587.9531 12221.2473,587.5469 Q12220.9192,587.125 12220.2942,586.875 L12219.0911,586.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="12240.1067" y="590.0137">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11879.8567" x2="12660.8567" y1="601.8594" y2="601.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="289" x="11884.8567" y="616.0698">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT : bool</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11879.8567" x2="12660.8567" y1="622.6641" y2="622.6641"/><ellipse cx="11889.8567" cy="633.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="11898.8567" y="636.8745">topic : urt_topic_t*</text><ellipse cx="11889.8567" cy="663.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="149" x="11898.8567" y="666.4839">publishAttempts : uint64_t</text><ellipse cx="11889.8567" cy="676.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="11898.8567" y="679.2886">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11879.8567" x2="12161.8567" y1="649.8711" y2="649.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12161.8567" y="653.1792">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12378.8567" x2="12660.8567" y1="649.8711" y2="649.8711"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11879.8567" x2="12660.8567" y1="685.8828" y2="685.8828"/><ellipse cx="11889.8567" cy="696.8828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="572" x="11898.8567" y="700.0933">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void</text><ellipse cx="11889.8567" cy="726.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="632" x="11898.8567" y="729.7026">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t) : urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11879.8567" x2="12116.8567" y1="713.0898" y2="713.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="307" x="12116.8567" y="716.3979">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == false</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12423.8567" x2="12660.8567" y1="713.0898" y2="713.0898"/><ellipse cx="11889.8567" cy="756.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="757" x="11898.8567" y="759.312">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11879.8567" x2="12119.3567" y1="742.6992" y2="742.6992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="302" x="12119.3567" y="746.0073">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12421.3567" x2="12660.8567" y1="742.6992" y2="742.6992"/><!--MD5=[a1b1e66ec52c209a9fa2dab315cd7630]
+class urt_topic_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="260.875" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="11441.3567" y="537.3594"/><ellipse cx="11596.1067" cy="553.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11595.5911,553.9219 Q11593.7317,553.2188 11593.0755,552.4531 Q11592.4348,551.6719 11592.4348,550.3594 Q11592.4348,548.6719 11593.513,547.7031 Q11594.5911,546.7344 11596.4661,546.7344 Q11597.3255,546.7344 11598.1692,546.9375 Q11599.0286,547.125 11599.8723,547.5156 L11599.8723,549.9063 Q11599.0911,549.3438 11598.263,549.0625 Q11597.4505,548.7656 11596.6536,548.7656 Q11595.7786,548.7656 11595.2942,549.125 Q11594.8255,549.4844 11594.8255,550.1406 Q11594.8255,550.6563 11595.1692,551 Q11595.513,551.3281 11596.6067,551.7344 L11597.6692,552.1406 Q11599.1536,552.6875 11599.8567,553.5938 Q11600.5755,554.5 11600.5755,555.875 Q11600.5755,557.75 11599.4661,558.6719 Q11598.3567,559.5938 11596.1067,559.5938 Q11595.1848,559.5938 11594.263,559.375 Q11593.3411,559.1563 11592.4817,558.7344 L11592.4817,556.2031 Q11593.4505,556.8906 11594.3723,557.2344 Q11595.2942,557.5781 11596.1848,557.5781 Q11597.0911,557.5781 11597.5911,557.1719 Q11598.0911,556.75 11598.0911,556.0156 Q11598.0911,555.4531 11597.7473,555.0469 Q11597.4192,554.625 11596.7942,554.375 L11595.5911,553.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="11616.6067" y="557.5137">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11442.3567" x2="11824.3567" y1="569.3594" y2="569.3594"/><ellipse cx="11452.3567" cy="580.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="11461.3567" y="583.5698">next : urt_topic_t*</text><ellipse cx="11452.3567" cy="593.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="11461.3567" y="596.3745">id : urt_topicid_t</text><ellipse cx="11452.3567" cy="605.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="11461.3567" y="609.1792">lock : urt_osMutex_t</text><ellipse cx="11452.3567" cy="618.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="11461.3567" y="621.9839">evtSource : urt_osEventSource_t</text><ellipse cx="11452.3567" cy="631.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="11461.3567" y="634.7886">numHrtSubscribers : unsigned int</text><ellipse cx="11452.3567" cy="644.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="11461.3567" y="647.5933">hrtReleased : urt_osCondvar_t</text><ellipse cx="11452.3567" cy="657.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="209" x="11461.3567" y="660.3979">mandatoryMessage : urt_message_t</text><ellipse cx="11452.3567" cy="669.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="11461.3567" y="673.2026">latestMessage : urt_message_t*</text><ellipse cx="11452.3567" cy="699.6016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="212" x="11461.3567" y="702.812">hrtSubscribers : urt_hrtsubscriber_t*</text><ellipse cx="11452.3567" cy="712.4063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="170" x="11461.3567" y="715.6167">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11442.3567" x2="11500.8567" y1="686.1992" y2="686.1992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="11500.8567" y="689.5073">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11765.8567" x2="11824.3567" y1="686.1992" y2="686.1992"/><ellipse cx="11452.3567" cy="742.0156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="11461.3567" y="745.2261">numMessagesPublished : uint64_t</text><ellipse cx="11452.3567" cy="754.8203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="11461.3567" y="758.0308">numMessagesDiscarded : uint64_t</text><ellipse cx="11452.3567" cy="767.625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="11461.3567" y="770.8354">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11442.3567" x2="11524.8567" y1="728.6133" y2="728.6133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="11524.8567" y="731.9214">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11741.8567" x2="11824.3567" y1="728.6133" y2="728.6133"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11442.3567" x2="11824.3567" y1="777.4297" y2="777.4297"/><ellipse cx="11452.3567" cy="788.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="358" x="11461.3567" y="791.6401">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[50a042e24f957794dab9ba3ea8701c50]
+class urt_basesubscriber_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="133.6328" id="urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="225" x="12769.8567" y="986.3594"/><ellipse cx="12812.3067" cy="1002.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12811.7911,1002.9219 Q12809.9317,1002.2188 12809.2755,1001.4531 Q12808.6348,1000.6719 12808.6348,999.3594 Q12808.6348,997.6719 12809.713,996.7031 Q12810.7911,995.7344 12812.6661,995.7344 Q12813.5255,995.7344 12814.3692,995.9375 Q12815.2286,996.125 12816.0723,996.5156 L12816.0723,998.9063 Q12815.2911,998.3438 12814.463,998.0625 Q12813.6505,997.7656 12812.8536,997.7656 Q12811.9786,997.7656 12811.4942,998.125 Q12811.0255,998.4844 12811.0255,999.1406 Q12811.0255,999.6563 12811.3692,1000 Q12811.713,1000.3281 12812.8067,1000.7344 L12813.8692,1001.1406 Q12815.3536,1001.6875 12816.0567,1002.5938 Q12816.7755,1003.5 12816.7755,1004.875 Q12816.7755,1006.75 12815.6661,1007.6719 Q12814.5567,1008.5938 12812.3067,1008.5938 Q12811.3848,1008.5938 12810.463,1008.375 Q12809.5411,1008.1563 12808.6817,1007.7344 L12808.6817,1005.2031 Q12809.6505,1005.8906 12810.5723,1006.2344 Q12811.4942,1006.5781 12812.3848,1006.5781 Q12813.2911,1006.5781 12813.7911,1006.1719 Q12814.2911,1005.75 12814.2911,1005.0156 Q12814.2911,1004.4531 12813.9473,1004.0469 Q12813.6192,1003.625 12812.9942,1003.375 L12811.7911,1002.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="132" x="12832.4067" y="1006.5137">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12770.8567" x2="12993.8567" y1="1018.3594" y2="1018.3594"/><ellipse cx="12780.8567" cy="1029.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="12789.8567" y="1032.5698">topic : urt_topic_t*</text><ellipse cx="12780.8567" cy="1042.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="12789.8567" y="1045.3745">evtListener : urt_osEventListener_t</text><ellipse cx="12780.8567" cy="1054.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="175" x="12789.8567" y="1058.1792">lastMessage : urt_message_t*</text><ellipse cx="12780.8567" cy="1067.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="12789.8567" y="1070.9839">lastMessageTime : urt_osTime_t</text><ellipse cx="12780.8567" cy="1097.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="12789.8567" y="1100.5933">sumLatencies : uint64_t</text><ellipse cx="12780.8567" cy="1110.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="12789.8567" y="1113.3979">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12770.8567" x2="12773.8567" y1="1083.9805" y2="1083.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12773.8567" y="1087.2886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12990.8567" x2="12993.8567" y1="1083.9805" y2="1083.9805"/><!--MD5=[9ff46073dd541e50679ef35e851c67d6]
+class urt_nrtsubscriber_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="154.4375" id="urt_nrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="821" x="14913.8567" y="590.8594"/><ellipse cx="15260.6067" cy="606.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M15260.0911,607.4219 Q15258.2317,606.7188 15257.5755,605.9531 Q15256.9348,605.1719 15256.9348,603.8594 Q15256.9348,602.1719 15258.013,601.2031 Q15259.0911,600.2344 15260.9661,600.2344 Q15261.8255,600.2344 15262.6692,600.4375 Q15263.5286,600.625 15264.3723,601.0156 L15264.3723,603.4063 Q15263.5911,602.8438 15262.763,602.5625 Q15261.9505,602.2656 15261.1536,602.2656 Q15260.2786,602.2656 15259.7942,602.625 Q15259.3255,602.9844 15259.3255,603.6406 Q15259.3255,604.1563 15259.6692,604.5 Q15260.013,604.8281 15261.1067,605.2344 L15262.1692,605.6406 Q15263.6536,606.1875 15264.3567,607.0938 Q15265.0755,608 15265.0755,609.375 Q15265.0755,611.25 15263.9661,612.1719 Q15262.8567,613.0938 15260.6067,613.0938 Q15259.6848,613.0938 15258.763,612.875 Q15257.8411,612.6563 15256.9817,612.2344 L15256.9817,609.7031 Q15257.9505,610.3906 15258.8723,610.7344 Q15259.7942,611.0781 15260.6848,611.0781 Q15261.5911,611.0781 15262.0911,610.6719 Q15262.5911,610.25 15262.5911,609.5156 Q15262.5911,608.9531 15262.2473,608.5469 Q15261.9192,608.125 15261.2942,607.875 L15260.0911,607.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="15281.1067" y="611.0137">urt_nrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="14914.8567" x2="15733.8567" y1="622.8594" y2="622.8594"/><ellipse cx="14924.8567" cy="650.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="14933.8567" y="653.8745">minLatency : urt_delay_t</text><ellipse cx="14924.8567" cy="663.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="14933.8567" y="666.6792">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="14914.8567" x2="15215.8567" y1="637.2617" y2="637.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="15215.8567" y="640.5698">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15432.8567" x2="15733.8567" y1="637.2617" y2="637.2617"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="14914.8567" x2="15733.8567" y1="673.2734" y2="673.2734"/><ellipse cx="14924.8567" cy="684.2734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="14933.8567" y="687.4839">urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : void</text><ellipse cx="14924.8567" cy="697.0781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="715" x="14933.8567" y="700.2886">urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="14924.8567" cy="709.8828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="14933.8567" y="713.0933">urtNrtSubscriberFetchNextMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="14924.8567" cy="722.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="14933.8567" y="725.8979">urtNrtSubscriberFetchLatestMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="14924.8567" cy="735.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="14933.8567" y="738.7026">urtNrtSubscriberUnsubscribe (subscriber : urt_nrtsubscriber_t*) : urt_status_t</text><!--MD5=[5c7929572d87ccc448d875bea5da0fb1]
+class urt_srtsubscriber_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="192.8516" id="urt_srtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1044" x="13834.3567" y="571.3594"/><ellipse cx="14293.1067" cy="587.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M14292.5911,587.9219 Q14290.7317,587.2188 14290.0755,586.4531 Q14289.4348,585.6719 14289.4348,584.3594 Q14289.4348,582.6719 14290.513,581.7031 Q14291.5911,580.7344 14293.4661,580.7344 Q14294.3255,580.7344 14295.1692,580.9375 Q14296.0286,581.125 14296.8723,581.5156 L14296.8723,583.9063 Q14296.0911,583.3438 14295.263,583.0625 Q14294.4505,582.7656 14293.6536,582.7656 Q14292.7786,582.7656 14292.2942,583.125 Q14291.8255,583.4844 14291.8255,584.1406 Q14291.8255,584.6563 14292.1692,585 Q14292.513,585.3281 14293.6067,585.7344 L14294.6692,586.1406 Q14296.1536,586.6875 14296.8567,587.5938 Q14297.5755,588.5 14297.5755,589.875 Q14297.5755,591.75 14296.4661,592.6719 Q14295.3567,593.5938 14293.1067,593.5938 Q14292.1848,593.5938 14291.263,593.375 Q14290.3411,593.1563 14289.4817,592.7344 L14289.4817,590.2031 Q14290.4505,590.8906 14291.3723,591.2344 Q14292.2942,591.5781 14293.1848,591.5781 Q14294.0911,591.5781 14294.5911,591.1719 Q14295.0911,590.75 14295.0911,590.0156 Q14295.0911,589.4531 14294.7473,589.0469 Q14294.4192,588.625 14293.7942,588.375 L14292.5911,587.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="14313.6067" y="591.5137">urt_srtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="13835.3567" x2="14877.3567" y1="603.3594" y2="603.3594"/><ellipse cx="13845.3567" cy="614.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="13854.3567" y="617.5698">usefulnesscb : urt_usefulness_f*</text><ellipse cx="13845.3567" cy="627.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="13854.3567" y="630.3745">cbparams : void*</text><ellipse cx="13845.3567" cy="656.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="13854.3567" y="659.9839">minLatency : urt_delay_t</text><ellipse cx="13845.3567" cy="669.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="13854.3567" y="672.7886">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13835.3567" x2="14247.8567" y1="643.3711" y2="643.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="14247.8567" y="646.6792">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="14464.8567" x2="14877.3567" y1="643.3711" y2="643.3711"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="13835.3567" x2="14877.3567" y1="679.3828" y2="679.3828"/><ellipse cx="13845.3567" cy="690.3828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="13854.3567" y="693.5933">urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void</text><ellipse cx="13845.3567" cy="703.1875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1018" x="13854.3567" y="706.3979">urtSrtSubscriberSubscribe (subscriber : urt_srtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_usefulness_f*, cbparams : void*) : urt_status_t</text><ellipse cx="13845.3567" cy="715.9922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="13854.3567" y="719.2026">urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="13845.3567" cy="728.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="13854.3567" y="732.0073">urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="13845.3567" cy="741.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="13854.3567" y="744.812">urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float</text><ellipse cx="13845.3567" cy="754.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="13854.3567" y="757.6167">urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t</text><!--MD5=[17838fb05fe219fd399839979ec8a4a4]
+class urt_frtsubscriber_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="226.4609" id="urt_frtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="974" x="15769.3567" y="554.8594"/><ellipse cx="16194.6067" cy="570.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M16194.0911,571.4219 Q16192.2317,570.7188 16191.5755,569.9531 Q16190.9348,569.1719 16190.9348,567.8594 Q16190.9348,566.1719 16192.013,565.2031 Q16193.0911,564.2344 16194.9661,564.2344 Q16195.8255,564.2344 16196.6692,564.4375 Q16197.5286,564.625 16198.3723,565.0156 L16198.3723,567.4063 Q16197.5911,566.8438 16196.763,566.5625 Q16195.9505,566.2656 16195.1536,566.2656 Q16194.2786,566.2656 16193.7942,566.625 Q16193.3255,566.9844 16193.3255,567.6406 Q16193.3255,568.1563 16193.6692,568.5 Q16194.013,568.8281 16195.1067,569.2344 L16196.1692,569.6406 Q16197.6536,570.1875 16198.3567,571.0938 Q16199.0755,572 16199.0755,573.375 Q16199.0755,575.25 16197.9661,576.1719 Q16196.8567,577.0938 16194.6067,577.0938 Q16193.6848,577.0938 16192.763,576.875 Q16191.8411,576.6563 16190.9817,576.2344 L16190.9817,573.7031 Q16191.9505,574.3906 16192.8723,574.7344 Q16193.7942,575.0781 16194.6848,575.0781 Q16195.5911,575.0781 16196.0911,574.6719 Q16196.5911,574.25 16196.5911,573.5156 Q16196.5911,572.9531 16196.2473,572.5469 Q16195.9192,572.125 16195.2942,571.875 L16194.0911,571.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="16215.1067" y="575.0137">urt_frtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="15770.3567" x2="16742.3567" y1="586.8594" y2="586.8594"/><ellipse cx="15780.3567" cy="614.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="15789.3567" y="617.8745">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15770.3567" x2="16110.8567" y1="601.2617" y2="601.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="16110.8567" y="604.5698">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16401.8567" x2="16742.3567" y1="601.2617" y2="601.2617"/><ellipse cx="15780.3567" cy="644.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="15789.3567" y="647.4839">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15770.3567" x2="16120.8567" y1="630.8711" y2="630.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="16120.8567" y="634.1792">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16391.8567" x2="16742.3567" y1="630.8711" y2="630.8711"/><ellipse cx="15780.3567" cy="673.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="15789.3567" y="677.0933">minLatency : urt_delay_t</text><ellipse cx="15780.3567" cy="686.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="15789.3567" y="689.8979">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15770.3567" x2="16002.3567" y1="660.4805" y2="660.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="508" x="16002.3567" y="663.7886">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ||  URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16510.3567" x2="16742.3567" y1="660.4805" y2="660.4805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="15770.3567" x2="16742.3567" y1="696.4922" y2="696.4922"/><ellipse cx="15780.3567" cy="707.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="342" x="15789.3567" y="710.7026">urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : void</text><ellipse cx="15780.3567" cy="720.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="948" x="15789.3567" y="723.5073">urtFrtSubscriberSubscribe (subscriber : urt_frtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="15780.3567" cy="733.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="780" x="15789.3567" y="736.312">urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="15780.3567" cy="745.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="790" x="15789.3567" y="749.1167">urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="15780.3567" cy="758.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="540" x="15789.3567" y="761.9214">urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool</text><ellipse cx="15780.3567" cy="771.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="441" x="15789.3567" y="774.7261">urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t</text><!--MD5=[104dc879e5721421b987fcc467bc3a1d]
+class urt_hrtsubscriber_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="268.875" id="urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="12697.3567" y="533.3594"/><ellipse cx="13175.6067" cy="549.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M13175.0911,549.9219 Q13173.2317,549.2188 13172.5755,548.4531 Q13171.9348,547.6719 13171.9348,546.3594 Q13171.9348,544.6719 13173.013,543.7031 Q13174.0911,542.7344 13175.9661,542.7344 Q13176.8255,542.7344 13177.6692,542.9375 Q13178.5286,543.125 13179.3723,543.5156 L13179.3723,545.9063 Q13178.5911,545.3438 13177.763,545.0625 Q13176.9505,544.7656 13176.1536,544.7656 Q13175.2786,544.7656 13174.7942,545.125 Q13174.3255,545.4844 13174.3255,546.1406 Q13174.3255,546.6563 13174.6692,547 Q13175.013,547.3281 13176.1067,547.7344 L13177.1692,548.1406 Q13178.6536,548.6875 13179.3567,549.5938 Q13180.0755,550.5 13180.0755,551.875 Q13180.0755,553.75 13178.9661,554.6719 Q13177.8567,555.5938 13175.6067,555.5938 Q13174.6848,555.5938 13173.763,555.375 Q13172.8411,555.1563 13171.9817,554.7344 L13171.9817,552.2031 Q13172.9505,552.8906 13173.8723,553.2344 Q13174.7942,553.5781 13175.6848,553.5781 Q13176.5911,553.5781 13177.0911,553.1719 Q13177.5911,552.75 13177.5911,552.0156 Q13177.5911,551.4531 13177.2473,551.0469 Q13176.9192,550.625 13176.2942,550.375 L13175.0911,549.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="13196.1067" y="553.5137">urt_hrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12698.3567" x2="13780.3567" y1="565.3594" y2="565.3594"/><ellipse cx="12708.3567" cy="576.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="151" x="12717.3567" y="579.5698">next : urt_hrtsubscriber_t*</text><ellipse cx="12708.3567" cy="605.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="12717.3567" y="609.1792">deadlineOffset : urt_delay_t</text><ellipse cx="12708.3567" cy="618.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="12717.3567" y="621.9839">qosDeadlineTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12698.3567" x2="13093.8567" y1="592.5664" y2="592.5664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="13093.8567" y="595.8745">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13384.8567" x2="13780.3567" y1="592.5664" y2="592.5664"/><ellipse cx="12708.3567" cy="648.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="12717.3567" y="651.5933">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12698.3567" x2="13103.8567" y1="634.9805" y2="634.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="13103.8567" y="638.2886">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13374.8567" x2="13780.3567" y1="634.9805" y2="634.9805"/><ellipse cx="12708.3567" cy="677.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="12717.3567" y="681.2026">minLatency : urt_delay_t</text><ellipse cx="12708.3567" cy="690.7969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="12717.3567" y="694.0073">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12698.3567" x2="12987.3567" y1="664.5898" y2="664.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="12987.3567" y="667.8979">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13491.3567" x2="13780.3567" y1="664.5898" y2="664.5898"/><ellipse cx="12708.3567" cy="720.4063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="12717.3567" y="723.6167">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12698.3567" x2="13106.8567" y1="707.0039" y2="707.0039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="13106.8567" y="710.312">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13371.8567" x2="13780.3567" y1="707.0039" y2="707.0039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="12698.3567" x2="13780.3567" y1="730.2109" y2="730.2109"/><ellipse cx="12708.3567" cy="741.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="12717.3567" y="744.4214">urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : void</text><ellipse cx="12708.3567" cy="754.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1058" x="12717.3567" y="757.2261">urtHrtSubscriberSubscribe (subscriber : urt_hrtsubscriber_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="12708.3567" cy="766.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="12717.3567" y="770.0308">urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="12708.3567" cy="779.625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="12717.3567" y="782.8354">urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="12708.3567" cy="792.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="12717.3567" y="795.6401">urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t</text><!--MD5=[e60e0f8379a14e7a4a292c65add9d735]
+class urt_service_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="269.6797" id="urt_service_t" style="stroke: #A80036; stroke-width: 1.5;" width="596" x="8150.3567" y="532.8594"/><ellipse cx="8404.6067" cy="548.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8404.0911,549.4219 Q8402.2317,548.7188 8401.5755,547.9531 Q8400.9348,547.1719 8400.9348,545.8594 Q8400.9348,544.1719 8402.013,543.2031 Q8403.0911,542.2344 8404.9661,542.2344 Q8405.8255,542.2344 8406.6692,542.4375 Q8407.5286,542.625 8408.3723,543.0156 L8408.3723,545.4063 Q8407.5911,544.8438 8406.763,544.5625 Q8405.9505,544.2656 8405.1536,544.2656 Q8404.2786,544.2656 8403.7942,544.625 Q8403.3255,544.9844 8403.3255,545.6406 Q8403.3255,546.1563 8403.6692,546.5 Q8404.013,546.8281 8405.1067,547.2344 L8406.1692,547.6406 Q8407.6536,548.1875 8408.3567,549.0938 Q8409.0755,550 8409.0755,551.375 Q8409.0755,553.25 8407.9661,554.1719 Q8406.8567,555.0938 8404.6067,555.0938 Q8403.6848,555.0938 8402.763,554.875 Q8401.8411,554.6563 8400.9817,554.2344 L8400.9817,551.7031 Q8401.9505,552.3906 8402.8723,552.7344 Q8403.7942,553.0781 8404.6848,553.0781 Q8405.5911,553.0781 8406.0911,552.6719 Q8406.5911,552.25 8406.5911,551.5156 Q8406.5911,550.9531 8406.2473,550.5469 Q8405.9192,550.125 8405.2942,549.875 L8404.0911,549.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="8425.1067" y="553.0137">urt_service_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8151.3567" x2="8745.3567" y1="564.8594" y2="564.8594"/><ellipse cx="8161.3567" cy="575.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="115" x="8170.3567" y="579.0698">next : urt_service_t*</text><ellipse cx="8161.3567" cy="588.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="105" x="8170.3567" y="591.8745">id : urt_serviceid_t</text><ellipse cx="8161.3567" cy="601.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="8170.3567" y="604.6792">lock : urt_osMutex_t</text><ellipse cx="8161.3567" cy="614.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="8170.3567" y="617.4839">requestQueue_front : urt_baserequest_t*</text><ellipse cx="8161.3567" cy="627.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="8170.3567" y="630.2886">requestQueue_hrtBack : urt_hrtrequest_t*</text><ellipse cx="8161.3567" cy="639.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="256" x="8170.3567" y="643.0933">requestQueue_fsrtBack : urt_baserequest_t*</text><ellipse cx="8161.3567" cy="652.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="8170.3567" y="655.8979">requestQueue_back : urt_baserequest_t*</text><ellipse cx="8161.3567" cy="665.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="8170.3567" y="668.7026">evtSource : urt_osEventSource_t</text><ellipse cx="8161.3567" cy="678.2969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="8170.3567" y="681.5073">evtListener : urt_osEventListener_t</text><ellipse cx="8161.3567" cy="707.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="8170.3567" y="711.1167">numCalls : uint64_t</text><ellipse cx="8161.3567" cy="720.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="8170.3567" y="723.9214">numOwnershipLost : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8151.3567" x2="8352.3567" y1="694.5039" y2="694.5039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="8352.3567" y="697.812">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8544.3567" x2="8745.3567" y1="694.5039" y2="694.5039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8151.3567" x2="8745.3567" y1="730.5156" y2="730.5156"/><ellipse cx="8161.3567" cy="741.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="412" x="8170.3567" y="744.7261">urtServiceInit (service : urt_service_t*, id : urt_serviceid_t) : urt_status_t</text><ellipse cx="8161.3567" cy="754.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="549" x="8170.3567" y="757.5308">urtServiceDispatch (service : urt_service_t*, payload : void*, bytes : size_t) : urt_baserequest_t*</text><ellipse cx="8161.3567" cy="767.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="552" x="8170.3567" y="770.3354">urtServiceAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="8161.3567" cy="779.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="8170.3567" y="783.1401">urtServiceTryAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="8161.3567" cy="792.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="365" x="8170.3567" y="795.9448">urtServiceRespond (request : urt_baserequest_t*) : urt_status_t</text><!--MD5=[7294e1cfaeb111bef046bc5d07a96458]
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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="8819.3567" y="666.2886">submissionTime : urt_osTime_t</text><ellipse cx="8810.3567" cy="675.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="8819.3567" y="679.0933">payload : void*</text><ellipse cx="8810.3567" cy="688.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="8819.3567" y="691.8979">evtSource : urt_osEventSource_t</text><ellipse cx="8810.3567" cy="701.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="8819.3567" y="704.7026">evtListener : urt_osEventListener_t</text><ellipse cx="8810.3567" cy="731.1016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="8819.3567" y="734.312">sumLatencies : uint64_t</text><ellipse cx="8810.3567" cy="743.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="8819.3567" y="747.1167">numCalls : uint64_t</text><ellipse cx="8810.3567" cy="756.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="108" x="8819.3567" y="759.9214">numFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8800.3567" x2="8815.3567" y1="717.6992" y2="717.6992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="8815.3567" y="721.0073">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; 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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="9496.8567" y="357.8979">urtSrtRequestRelease (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9487.8567" cy="367.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="505" x="9496.8567" y="370.7026">urtSrtRequestSubmit (request : urt_srtrequest_t*, service : urt_service_t*) : urt_status_t</text><ellipse cx="9487.8567" cy="380.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="9496.8567" y="383.5073">urtSrtRequestRetrieve (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9487.8567" cy="393.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="649" x="9496.8567" y="396.312">urtSrtCalculateUsefulness (request : urt_srtrequest_t*, usefulnesscb : urt_usefulness_f, cbparams : void*) : float</text><!--MD5=[240977dbca9212fa5365c87da90aa051]
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stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10754.3567" x2="10854.3567" y1="283.9805" y2="283.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="454" x="10854.3567" y="287.2886">URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11308.3567" x2="11408.3567" y1="283.9805" y2="283.9805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="10754.3567" x2="11408.3567" y1="319.9922" y2="319.9922"/><ellipse cx="10764.3567" cy="330.9922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="292" x="10773.3567" y="334.2026">urtFrtRequestInit (request : urt_frtrequest_t*) : void</text><ellipse cx="10764.3567" cy="343.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="362" x="10773.3567" y="347.0073">urtFrtRequestAcquire (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="10764.3567" cy="356.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; 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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="366" x="10773.3567" y="398.2261">urtFrtRequestRetrieve (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="10764.3567" cy="407.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="318" x="10773.3567" y="411.0308">urtDrtCalculateValidity (request : urt_frtrequest_t) : bool</text><ellipse cx="10764.3567" cy="437.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="419" x="10773.3567" y="440.6401">urtFrtRequestGetMaxJitter(request : urt_frtrequest_t*) : urt_delay_t* const</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10754.3567" x2="10958.3567" y1="424.0273" y2="424.0273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="10958.3567" y="427.3354">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; 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stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9338.3567" x2="9440.8567" y1="305.0898" y2="305.0898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8781.8567" x2="9440.8567" y1="341.1016" y2="341.1016"/><ellipse cx="8791.8567" cy="352.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="8800.8567" y="355.312">urtHrtRequestInit (request : urt_hrtrequest_t*) : void</text><ellipse cx="8791.8567" cy="364.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="367" x="8800.8567" y="368.1167">urtHrtRequestAcquire (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8791.8567" cy="377.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="385" x="8800.8567" y="380.9214">urtHrtRequestTryAcquire (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8791.8567" cy="390.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="8800.8567" y="393.7261">urtHrtRequestRelease (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8791.8567" cy="403.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="635" x="8800.8567" y="406.5308">urtHrtRequestSubmit (request : urt_hrtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t</text><ellipse cx="8791.8567" cy="416.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="8800.8567" y="419.3354">urtHrtRequestRetrieve (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8791.8567" cy="445.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="424" x="8800.8567" y="448.9448">urtHrtRequestGetMaxJitter(request : urt_hrtrequest_t*) : urt_delay_t* const</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8781.8567" x2="8988.3567" y1="432.332" y2="432.332"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="8988.3567" y="435.6401">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9234.3567" x2="9440.8567" y1="432.332" y2="432.332"/><!--MD5=[e0c5ef58bc626bdfda028ecb031e1681]
+link urt_usefulness_f to urt_delay_t--><path d="M7061.2103,1083.8832 C7028.808,1122.8908 6967.6168,1190.0036 6901.3567,1228.8594 C6792.7887,1292.5252 6651.1762,1329.0539 6558.7972,1347.6751 " fill="none" id="urt_usefulness_f-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6553.8863,1348.6575,6563.4961,1350.8142,6558.7891,1347.6766,6561.9267,1342.9697,6553.8863,1348.6575" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5fff9a13948f7f5b5e6ca18c1c7a9716]
+link urt_nodestage_t to urt_config--><path d="M7432.5177,1132.6352 C7453.4417,1168.1699 7483.1221,1206.9399 7521.3567,1228.8594 C7936.976,1467.1293 11430.9797,1625.1237 12202.1368,1657.2859 " fill="none" id="urt_nodestage_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12207.1916,1657.4966,12198.366,1653.1251,12202.1959,1657.2883,12198.0328,1661.1182,12207.1916,1657.4966" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7db439499cb1afd557b9be4c8c52b2ba]
+link urt_topicid_t to urt_config--><path d="M6808.6036,1132.8 C6832.5,1166.8365 6864.314,1204.3224 6901.3567,1228.8594 C7206.8396,1431.2103 7333.5627,1392.8011 7695.3567,1450.8594 C8593.7959,1595.0349 11506.7752,1649.8802 12202.2436,1661.091 " fill="none" id="urt_topicid_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12207.3099,1661.1725,12198.3755,1657.028,12202.3105,1661.0919,12198.2466,1665.0269,12207.3099,1661.1725" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e851a4e79ca88682282ceaaad2100c63]
+link urt_serviceid_t to urt_config--><path d="M6538.9886,1132.5672 C6561.9686,1164.7914 6591.0147,1200.9361 6622.3567,1228.8594 C6766.4,1357.1907 6810.3982,1396.0167 6995.3567,1450.8594 C7506.0098,1602.275 11386.2925,1652.8077 12202.1285,1661.8099 " fill="none" id="urt_serviceid_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12207.1783,1661.8655,12198.223,1657.7665,12202.1786,1661.8103,12198.1347,1665.766,12207.1783,1661.8655" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[844001065b3bef53527c5dd4ba0c22e5]
+link urt_delay_t to urt_config--><path d="M6554.0064,1403.4771 C6599.4319,1421.3994 6655.8262,1440.7882 6708.3567,1450.8594 C7261.0921,1556.8306 11361.7803,1643.6379 12202.1405,1660.4237 " fill="none" id="urt_delay_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12207.3407,1660.5275,12198.4224,1656.3485,12202.3417,1660.4276,12198.2626,1664.3469,12207.3407,1660.5275" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7766572fa0c619a5409829048dc0b6d6]
+link urt_osCondvar_t to urt_osCondvarWaitStatus_t--><path d="M5277.3567,1122.6552 C5277.3567,1181.234 5277.3567,1263.6532 5277.3567,1315.3878 " fill="none" id="urt_osCondvar_t-&gt;urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="5277.3567,1320.6072,5281.3567,1311.6072,5277.3567,1315.6072,5273.3567,1311.6072,5277.3567,1320.6072" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9b2507ea88616aeae65e3c4d63560016]
+link urt_osCondvar_t to urt_osMutex_t--><path d="M4922.22,1053.3594 C4912.3878,1053.3594 4902.5556,1053.3594 4892.7234,1053.3594 " fill="none" id="urt_osCondvar_t-&gt;urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4887.5818,1053.3594,4896.5818,1057.3594,4892.5818,1053.3594,4896.5818,1049.3594,4887.5818,1053.3594" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[83094e108045c8f9585007cdb3b7cb2e]
+link urt_osTimer_t to urt_osTimerCallback_t--><path d="M4185.3567,1109.5886 C4185.3567,1173.076 4185.3567,1274.4801 4185.3567,1328.0326 " fill="none" id="urt_osTimer_t-&gt;urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4185.3567,1333.0628,4189.3567,1324.0628,4185.3567,1328.0628,4181.3567,1324.0628,4185.3567,1333.0628" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8d8c3240b5b2b5edf6544088e583ffa5]
+link urt_osThread_t to urt_osThreadPrio_t--><path d="M3405.9347,1229.0242 C3407.3957,1247.926 3408.8249,1266.4169 3410.1338,1283.3499 " fill="none" id="urt_osThread_t-&gt;urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="3410.536,1288.5536,3413.8303,1279.272,3410.1506,1283.5685,3405.8541,1279.8887,3410.536,1288.5536" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d7d1d43fd970fb07a484642bc19fcb13]
+link urt_osThread_t to urt_osThreadFunction_t--><path d="M3111.1799,1229.0242 C3048.8767,1267.948 2989.3623,1305.1296 2948.6705,1330.5517 " fill="none" id="urt_osThread_t-&gt;urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2944.2982,1333.2833,2954.0504,1331.9069,2948.5386,1330.634,2949.8115,1325.1222,2944.2982,1333.2833" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6564761b32ad7eeb5abb8896c72cfca5]
+link urt_osThread_t to urt_osThreadTerminateSignal_t--><path d="M3550.2005,1229.0242 C3581.8002,1264.1917 3612.122,1297.9369 3634.5275,1322.8721 " fill="none" id="urt_osThread_t-&gt;urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="3638.0545,1326.7972,3635.0145,1317.4292,3634.7126,1323.078,3629.0638,1322.7762,3638.0545,1326.7972" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[92ba23225d8de8f8080583fedda5e6f8]
+link urt_osThread_t to urt_osThreadState_t--><path d="M3266.1949,1229.0242 C3250.7111,1250.5835 3235.6111,1271.6083 3222.1176,1290.3964 " fill="none" id="urt_osThread_t-&gt;urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="3219.0841,1294.6202,3227.5832,1289.6437,3222.0009,1290.5591,3221.0855,1284.9768,3219.0841,1294.6202" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[78b286ab2177e5f7b31e6e832d821818]
+link urt_osThread_t to urt_osTime_t--><path d="M3629.6412,877.7821 C3688.1225,846.8992 3752.7452,822.206 3817.8567,814.8594 C3842.8785,812.0362 5605.8349,812.0362 5630.8567,814.8594 C5733.4596,826.4362 5805.0954,939.2631 5838.6866,1005.5008 " fill="none" id="urt_osThread_t-&gt;urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="5841.0393,1010.1874,5840.5762,1000.3494,5838.796,1005.7188,5833.4266,1003.9386,5841.0393,1010.1874" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[659af6ab57e6a38ebfd5c07c5616787c]
+link urt_osEventListener_t to urt_osEventFlags_t--><path d="M1938.3567,1407.0894 C1938.3567,1468.9523 1938.3567,1581.1002 1938.3567,1634.1054 " fill="none" id="urt_osEventListener_t-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1938.3567,1639.3529,1942.3567,1630.3529,1938.3567,1634.3529,1934.3567,1630.3529,1938.3567,1639.3529" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[eac11679f26c499aa1c571e1f795945d]
+link urt_osEventSource_t to urt_osEventFlags_t--><path d="M1451.0909,1400.8844 C1564.7774,1462.1237 1789.2883,1583.0609 1888.8321,1636.682 " fill="none" id="urt_osEventSource_t-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1893.4769,1639.184,1887.4504,1631.3942,1889.075,1636.8127,1883.6564,1638.4373,1893.4769,1639.184" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0259cdb10c6c32168d1d17d25519d939]
+link urt_events to urt_osEventSource_t--><path d="M2178.3639,1096.37 C1997.7199,1157.0734 1670.7187,1266.9586 1497.3943,1325.2023 " fill="none" id="urt_events-&gt;urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1492.5658,1326.8248,1502.3712,1327.7493,1497.3053,1325.2319,1499.8226,1320.1661,1492.5658,1326.8248" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0ce043e0e9532fc393f3f8836f5de19a]
+link urt_events to urt_osEventListener_t--><path d="M2255.1879,1096.5331 C2186.3505,1154.6147 2064.4019,1257.5088 1993.5586,1317.2828 " fill="none" id="urt_events-&gt;urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1989.3866,1320.803,1998.8447,1318.0562,1993.208,1317.5786,1993.6856,1311.9419,1989.3866,1320.803" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[430bebba9cd89d3ba8f63b2078968bca]
+link urt_events to urt_osEventMask_t--><path d="M2346.4019,1096.5331 C2404.0599,1158.6956 2509.3292,1272.1891 2562.2212,1329.2132 " fill="none" id="urt_events-&gt;urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2565.9375,1333.2199,2562.7497,1323.9012,2562.5372,1329.5541,2556.8844,1329.3416,2565.9375,1333.2199" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b1b185abc2161e087cab32ae7fdb2c40]
+link urt_events to urt_osEventFlags_t--><path d="M2336.3735,1096.3772 C2386.0586,1173.4042 2473.0473,1337.4138 2400.3567,1450.8594 C2315.9613,1582.5724 2127.0687,1633.7575 2018.7621,1652.7897 " fill="none" id="urt_events-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2013.6663,1653.6719,2023.2168,1656.0779,2018.593,1652.8189,2021.852,1648.1952,2013.6663,1653.6719" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[706a1974d1b474cbba7e7b0213f243a1]
+link urt_events to urt_osEventWait_t--><path d="M2305.6615,1096.5331 C2304.7355,1154.0362 2303.1022,1255.4636 2302.1357,1315.484 " fill="none" id="urt_events-&gt;urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2302.0501,1320.803,2306.1946,1311.8686,2302.1307,1315.8036,2298.1956,1311.7397,2302.0501,1320.803" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ea4c3dac10af85084086a365fe38a187]
+link urt_osTime_t to urt_delay_t--><path d="M5905.1381,1096.6128 C5947.4415,1135.5534 6014.1201,1192.1462 6080.3567,1228.8594 C6172.5249,1279.9458 6287.6284,1317.3981 6367.4657,1339.7221 " fill="none" id="urt_osTime_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6372.6728,1341.1707,6365.0742,1334.9048,6367.8557,1339.8305,6362.93,1342.612,6372.6728,1341.1707" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5f656ccbf337bb70e2692ec6599b22aa]
+link urt_osCondvar_t to urt_delay_t--><path d="M5401.9842,1122.3882 C5473.1185,1159.0674 5565.0677,1202.0017 5651.3567,1228.8594 C5902.8547,1307.1389 6213.1219,1342.6791 6367.1646,1356.4451 " fill="none" id="urt_osCondvar_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6372.5781,1356.9256,6363.9671,1352.1454,6367.5977,1356.4834,6363.2596,1360.1141,6372.5781,1356.9256" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[2da0e339f7ca878d257c4a5336e8cad5]
+link urt_osThread_t to urt_delay_t--><path d="M3781.383,1224.3641 C3787.7263,1225.9533 3794.0536,1227.4543 3800.3567,1228.8594 C4201.3956,1318.2612 5238.266,1263.3554 5648.3567,1288.8594 C5908.8698,1305.061 6215.1562,1336.6287 6367.387,1353.1679 " fill="none" id="urt_osThread_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6372.737,1353.7499,6364.2225,1348.7998,6367.7663,1353.209,6363.3571,1356.7528,6372.737,1353.7499" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8bf77663ad208115c32fd5300d37f092]
+link urt_osTimer_t to urt_delay_t--><path d="M4282.6054,1109.5556 C4358.969,1150.6167 4469.415,1203.3935 4573.3567,1228.8594 C4805.7444,1285.7947 5409.7466,1271.2273 5648.3567,1288.8594 C5908.6634,1308.0948 6215.0396,1338.3424 6367.3376,1353.8939 " fill="none" id="urt_osTimer_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6372.69,1354.4409,6364.1434,1349.5464,6367.7159,1353.9324,6363.3299,1357.505,6372.69,1354.4409" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[a4e2abbbace7909006fa5f13364d6021]
+link urt_events to urt_delay_t--><path d="M2389.7386,1096.4521 C2477.5397,1139.3206 2621.1234,1202.4088 2753.3567,1228.8594 C3068.8428,1291.966 5327.1297,1270.7732 5648.3567,1288.8594 C5908.9604,1303.5323 6215.2074,1335.7652 6367.4086,1352.8021 " fill="none" id="urt_events-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6372.7576,1353.4017,6364.2592,1348.424,6367.7887,1352.8447,6363.368,1356.3742,6372.7576,1353.4017" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[182342162f0b9b45ddce11acc6582c59]
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+link urt_srtrequest_t to urt_baserequest_t--><path d="M9611.4881,402.8907 C9561.9437,424.237 9508.9257,446.5473 9459.3567,466.3594 C9318.1371,522.803 9154.2243,582.2964 9042.7216,621.8784 " fill="none" id="urt_srtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="9044.7551,628.5842,9023.5656,628.6657,9040.0795,615.3881,9044.7551,628.5842" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[90efd84e0f70286880ba110c49a1e8f8]
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+link urt_frtrequest_t to urt_baserequest_t--><path d="M10795.8901,447.5065 C10775.646,454.5687 10755.3411,460.962 10735.3567,466.3594 C10414.7985,552.9368 9406.9889,632.1156 9043.6176,658.5453 " fill="none" id="urt_frtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="9043.9046,665.5427,9023.4511,660.006,9042.8932,651.5793,9043.9046,665.5427" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[836450d5c472e7b2344319739fa0d5d1]
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+link urt_hrtrequest_t to urt_baserequest_t--><path d="M9030.7296,455.9726 C9012.9107,487.6011 8994.2385,520.7443 8977.0945,551.1749 " fill="none" id="urt_hrtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="8983.1106,554.7575,8967.195,568.7465,8970.9132,547.8856,8983.1106,554.7575" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[189d7bd823f9a098ae8eb3eaa3789ee1]
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+link urt_nodeLoopCallback_t to urt_osEventMask_t--><path d="M17041.8125,1084.0943 C16983.2048,1126.4037 16869.7045,1200.5653 16759.3567,1228.8594 C16382.4891,1325.4915 3132.8236,1202.9997 2753.3567,1288.8594 C2716.9054,1297.107 2678.9475,1314.6237 2649.2638,1330.6555 " fill="none" id="urt_nodeLoopCallback_t-&gt;urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2644.5723,1333.2141,2654.3888,1332.4165,2648.9619,1330.8201,2650.5584,1325.3932,2644.5723,1333.2141" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b3fa89608aace108b23bbfcd22712ec]
+link urt_publisher_t to urt_config--><path d="M12222.9164,766.0058 C12216.4702,783.2568 12210.8704,801.3123 12207.3567,818.8594 C12152.2051,1094.2807 12124.5116,1182.4656 12207.3567,1450.8594 C12211.854,1465.4292 12217.7306,1479.8923 12224.5387,1494.018 " fill="none" id="urt_publisher_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12226.8826,1498.7952,12226.5092,1488.9534,12224.6801,1494.3064,12219.3271,1492.4773,12226.8826,1498.7952" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[48a81098d0aa451a4923659bb2bbea3c]
+link urt_publisher_t to urt_status_t--><path d="M12030.4687,765.9391 C11975.7613,784.2927 11917.2585,800.8401 11861.3567,810.8594 C11813.6641,819.4074 11473.7701,816.9113 11425.3567,818.8594 C9985.8805,876.783 8240.8581,1007.8506 7773.3341,1043.9826 " fill="none" id="urt_publisher_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7768.2307,1044.3772,7777.5124,1047.6712,7773.2158,1043.9916,7776.8954,1039.6951,7768.2307,1044.3772" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[c16173558393ca1d9128284d70afa235]
+link urt_publisher_t to urt_delay_t--><path d="M12019.4092,765.9445 C11967.7742,783.1834 11913.302,799.2832 11861.3567,810.8594 C10083.9031,1206.9725 9596.9521,1043.4702 7785.3567,1228.8594 C7325.9401,1275.8737 6776.6979,1331.9051 6558.9978,1354.1069 " fill="none" id="urt_publisher_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6553.9172,1354.6251,6563.2767,1357.6911,6558.8914,1354.1177,6562.4648,1349.7324,6553.9172,1354.6251" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3f75a4ca5db56e37c381a718c71f2950]
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+reverse link urt_topic_t to urt_osMutex_t--><path d="M11445.8491,803.5578 C11439.0605,806.2725 11432.2214,808.7227 11425.3567,810.8594 C11403.7441,817.5866 4926.4844,808.5037 4906.3567,818.8594 C4831.2075,857.5238 4782.133,947.1091 4757.411,1003.6828 " fill="none" id="urt_topic_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11458.0086,798.3964,11450.9226,797.0588,11446.9626,803.0852,11454.0485,804.4228,11458.0086,798.3964" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11448.1025" y="818.451">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4760.653" y="992.7032">1</text><!--MD5=[ee40dc1875ed5325eec4e6c8c8102744]
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+reverse link urt_message_t to urt_osTime_t--><path d="M12392.1457,1361.1184 C11325.0318,1347.3456 6658.8822,1284.1713 6356.3567,1228.8594 C6211.0193,1202.2868 6051.3292,1139.2307 5953.4447,1096.4025 " fill="none" id="urt_message_t&lt;-urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="12405.2998,1361.2881,12399.3519,1357.211,12393.3008,1361.1333,12399.2487,1365.2103,12405.2998,1361.2881" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12389.2116" y="1357.9713">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5960.1999" y="1116.8173">1</text><!--MD5=[2bb9471b6fda5815e085c87a24a67f11]
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+link urt_srtrequest_t to urt_status_t--><path d="M9644.2759,402.9505 C9587.1253,428.683 9521.9622,453.2795 9459.3567,466.3594 C9445.0747,469.3433 7368.654,464.0228 7358.3567,474.3594 C7252.8065,580.3123 7255.2296,702.5466 7358.3567,810.8594 C7370.8604,823.9918 7505.9319,809.3264 7521.3567,818.8594 C7555.8722,840.191 7582.1611,874.0391 7601.8327,909.4557 " fill="none" id="urt_srtrequest_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7604.4425,914.2346,7603.6396,904.4185,7602.0461,909.8463,7596.6183,908.2528,7604.4425,914.2346" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4360c48b38d2a92e1c3ebeee4ab98bfc]
+link urt_srtrequest_t to urt_usefulness_f--><path d="M9644.2771,402.9561 C9587.1266,428.6889 9521.9632,453.2843 9459.3567,466.3594 C9444.4831,469.4657 7283.6181,465.3854 7271.3567,474.3594 C7180.0601,541.1787 7111.2671,901.9089 7091.2839,1017.617 " fill="none" id="urt_srtrequest_t-&gt;urt_usefulness_f" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7090.4251,1022.6132,7095.8921,1014.421,7091.2722,1017.6855,7088.0078,1013.0656,7090.4251,1022.6132" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e590cea536a036f5956f75e03ef95bbf]
+reverse link urt_frtrequest_t to urt_delay_t--><path d="M10791.6011,451.5302 C10772.8278,457.346 10753.9837,462.3866 10735.3567,466.3594 C10695.2449,474.9145 7821.3452,461.6295 7782.3567,474.3594 C7540.5358,553.315 7560.9561,731.2282 7319.3567,810.8594 C7306.6403,815.0507 6364.7851,809.3525 6355.3567,818.8594 C6227.0419,948.2435 6295.0399,1056.9094 6355.3567,1228.8594 C6364.0002,1253.5001 6379.2422,1276.9845 6395.5994,1297.2527 " fill="none" id="urt_frtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="10804.2523,447.4923,10797.3201,445.506,10792.8205,451.141,10799.7526,453.1273,10804.2523,447.4923" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10780.8794" y="467.3391">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6362.8759" y="1286.2308">0..4</text><!--MD5=[b1f137a561f49721d911648e5542119f]
+link urt_frtrequest_t to urt_config--><path d="M11409.4454,313.5244 C12864.0433,317.2389 18665.2104,340.439 18796.3567,474.3594 C18948.1847,629.3989 18947.2491,1294.9091 18796.3567,1450.8594 C18683.2621,1567.7449 13461.2763,1647.5838 12502.6823,1661.2677 " fill="none" id="urt_frtrequest_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12497.45,1661.3423,12506.5062,1665.2133,12502.4495,1661.2708,12506.3919,1657.2141,12497.45,1661.3423" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d63fe507f799090eb2c242d7ab41013e]
+link urt_frtrequest_t to urt_status_t--><path d="M10804.2503,447.483 C10781.3126,455.0177 10758.1717,461.4891 10735.3567,466.3594 C10700.0276,473.9012 8167.0359,458.9614 8134.3567,474.3594 C7944.3186,563.9028 7803.2815,769.2989 7724.6408,909.7405 " fill="none" id="urt_frtrequest_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7722.101,914.2924,7729.9793,908.382,7724.5372,909.9261,7722.9932,904.484,7722.101,914.2924" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bea47d1dd6f09b5135df7519b40184db]
+reverse link urt_hrtrequest_t to urt_delay_t--><path d="M8804.7766,459.5425 C8795.6113,462.0599 8786.4596,464.3446 8777.3567,466.3594 C8687.9636,486.1453 7219.5661,458.7103 7129.3567,474.3594 C6675.2933,553.1282 6417.6438,442.7353 6151.3567,818.8594 C6046.0644,967.5822 6051.3096,1076.5587 6151.3567,1228.8594 C6200.0441,1302.9756 6299.0549,1336.5953 6372.5468,1351.7238 " fill="none" id="urt_hrtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8817.2798,455.9692,8810.4116,453.772,8805.7418,459.2668,8812.61,461.464,8817.2798,455.9692" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8802.3227" y="475.8136">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6340.9967" y="1347.3599">0..4</text><!--MD5=[50bfbddabe3b6f3afe991f5d307785f8]
+reverse link urt_hrtrequest_t to urt_osTimer_t--><path d="M8804.778,459.5488 C8795.6123,462.0643 8786.4602,464.347 8777.3567,466.3594 C8727.3144,477.4219 6983.4644,470.5359 6932.3567,474.3594 C5875.7441,553.4076 5570.73,461.1929 4573.3567,818.8594 C4454.6302,861.4357 4332.5072,942.5965 4257.7626,997.3525 " fill="none" id="urt_hrtrequest_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8817.2817,455.9778,8810.4139,453.7793,8805.7431,459.2733,8812.6109,461.4717,8817.2817,455.9778" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8765.5019" y="472.9969">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="4245.7584" y="986.2896">0,1</text><!--MD5=[2663060494b35c1af191cf8ba65e9057]
+link urt_hrtrequest_t to urt_config--><path d="M9417.439,455.9078 C9431.4541,459.9017 9445.4661,463.4255 9459.3567,466.3594 C9474.6275,469.5848 18436.6381,465.3131 18449.3567,474.3594 C18587.7046,572.7621 18663.911,1087.8533 18569.3567,1228.8594 C18424.6069,1444.7207 18282.362,1395.8141 18028.3567,1450.8594 C17475.0575,1570.7645 13346.8688,1646.5478 12502.8231,1660.8794 " fill="none" id="urt_hrtrequest_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12497.6002,1660.968,12506.6669,1664.8144,12502.5995,1660.883,12506.5309,1656.8156,12497.6002,1660.968" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3d55577c6a64a095d4d92af2794b0aa7]
+link urt_hrtrequest_t to urt_status_t--><path d="M8817.2788,455.9647 C8803.9404,459.9238 8790.5969,463.427 8777.3567,466.3594 C8766.7728,468.7035 7224.0024,466.6744 7216.3567,474.3594 C7110.8763,580.3818 7112.0006,703.7302 7216.3567,810.8594 C7228.1842,823.0012 7506.8372,810.1132 7521.3567,818.8594 C7556.3048,839.9112 7582.77,873.8889 7602.473,909.5237 " fill="none" id="urt_hrtrequest_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7605.0861,914.3326,7604.3034,904.5149,7602.6987,909.9394,7597.2742,908.3347,7605.0861,914.3326" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[85137379eadac9ac066ccd1aa3005a20]
+reverse link urt_service_t to urt_serviceid_t--><path d="M8137.4194,724.9461 C7948.4358,756.8679 7701.8431,793.6122 7481.3567,810.8594 C7457.5673,812.7203 6642.9393,806.7864 6622.3567,818.8594 C6565.3286,852.3101 6530.4703,920.0506 6510.6604,974.1611 " fill="none" id="urt_service_t&lt;-urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8150.354,722.7537,8143.7699,719.8127,8138.5228,724.7591,8145.1069,727.7001,8150.354,722.7537" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8134.3321" y="721.0855">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6504.3478" y="963.2214">1</text><!--MD5=[bfc39859b663e58a9d342532110a4ed9]
+reverse link urt_service_t to urt_osMutex_t--><path d="M8137.1063,705.0397 C7827.4048,740.102 7338.3272,790.2582 6913.3567,810.8594 C6899.4355,811.5343 4918.7414,812.4659 4906.3567,818.8594 C4831.261,857.6274 4782.1694,947.1797 4757.4296,1003.7189 " fill="none" id="urt_service_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8150.3398,703.5383,8143.9271,700.2402,8138.4163,704.8911,8144.829,708.1892,8150.3398,703.5383" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8134.3175" y="701.3597">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4757.5313" y="993.1122">1</text><!--MD5=[1bad46d95b358cb94878caad932de3eb]
+reverse link urt_service_t to urt_osEventSource_t--><path d="M8137.2067,670.6276 C6642.6946,684.28 270.218,746.6891 199.3567,818.8594 C71.6907,948.8837 78.0304,1092.9003 199.3567,1228.8594 C258.8834,1295.5654 778.2088,1333.7659 1108.7016,1351.5246 " fill="none" id="urt_service_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8150.2541,670.5085,8144.2178,666.5635,8138.2546,670.6182,8144.2909,674.5632,8150.2541,670.5085" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8134.2295" y="682.851">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1092.4587" y="1363.4557">1</text><!--MD5=[7ece8bae7b00261083263672987da7c8]
+reverse link urt_service_t to urt_osEventListener_t--><path d="M8136.8391,670.7043 C6653.1941,684.6104 372.2583,747.6501 302.3567,818.8594 C174.7058,948.8985 176.3544,1097.2222 302.3567,1228.8594 C355.0746,1283.9348 1598.0882,1276.7303 1673.3567,1288.8594 C1718.3195,1296.1049 1766.5093,1308.3415 1809.3003,1320.852 " fill="none" id="urt_service_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8150.0607,670.5805,8144.0235,666.6369,8138.0612,670.693,8144.0985,674.6365,8150.0607,670.5805" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8134.031" y="667.5264">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1780.0944" y="1309.8468">1</text><!--MD5=[33249c42c81fffc5b10022c232aa2b33]
+link urt_service_t to urt_config--><path d="M8741.9799,802.9239 C8749.4847,805.668 8756.9522,808.3191 8764.3567,810.8594 C9914.9206,1205.5896 10241.187,1172.7388 11425.3567,1450.8594 C11699.0622,1515.1434 12018.7903,1587.9268 12202.2195,1629.4613 " fill="none" id="urt_service_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12207.3365,1630.6198,12199.442,1624.7311,12202.4599,1629.5156,12197.6754,1632.5336,12207.3365,1630.6198" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5471b15d17b5493f5e528354308bf7b4]
+link urt_service_t to urt_status_t--><path d="M8169.7459,802.9593 C8033.7989,868.8808 7877.4184,944.7106 7772.691,995.4936 " fill="none" id="urt_service_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7768.0547,997.7417,7777.8981,997.4138,7772.5536,995.56,7774.4074,990.2155,7768.0547,997.7417" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b2f59d034e476980071d9eb9dfdeb03d]
 @startuml
 
 title **µRtWare**\nOverview\n
@@ -226,6 +226,9 @@ title **µRtWare**\nOverview\n
   URT_CFG_RPC_QOS_JITTERCHECKS : bool
   .. debug ..
   URT_CFG_DEBUG_ENABLED : bool
+  .. OSAL ..
+  URT_CFG_OSAL_HEADER : string
+  URT_CFG_OSAL_CONDVAR_TIMEOUT : bool
 }
 
 }
@@ -332,6 +335,9 @@ title **µRtWare**\nOverview\n
     + {method} urtCondvarInit (condvar : urt_osCondvar_t*) : void
     + {method} urtCondvarSignal (condvar : urt_osCondvar_t*) : void
     + {method} urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void
+    .. URT_CFG_OSAL_CONDVAR_TIMEOUT == false ..
+    + {method} urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*) : urt_osCondvarWaitStatus_t
+    .. URT_CFG_OSAL_CONDVAR_TIMEOUT == true ..
     + {method} urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_osCondvarWaitStatus_t
   }
 }
@@ -474,6 +480,8 @@ title **µRtWare**\nOverview\n
   + {method} urtCoreStartNodes (void) : void
   + {method} urtCoreSynchronize (node : urt_node_t*) : urt_status_t
   + {method} urtCoreStopNodes (reason : urt_status_t) : urt_status_t
+  + {method} urtCoreGetEventSource(void) : urt_osEventSource_t*
+  + {method} urtCoreGetMutex(void) : urt_osMutex_t*
   .. URT_CFG_PUBSUB_ENABLED == true ..
   + {method} urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*
   .. URT_CFG_RPC_ENABLED == true ..
@@ -602,12 +610,17 @@ title **µRtWare**\nOverview\n
 } 
 
   class urt_publisher_t <<S,BFAFFF>> {
+  URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT : bool
+  __
   + {field} topic : urt_topic_t*
   .. URT_CFG_PUBSUB_PROFILING == true ..
   + {field} publishAttempts : uint64_t
   + {field} publishFails : uint64_t
   __
   + {method} urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void
+  .. URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == false ..
+  + {method} urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t) : urt_status_t
+  .. URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == true ..
   + {method} urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t
 }
 
diff --git a/doc/classdiagrams/pubsub.svg b/doc/classdiagrams/pubsub.svg
index 55076e6..ad3a82c 100644
--- a/doc/classdiagrams/pubsub.svg
+++ b/doc/classdiagrams/pubsub.svg
@@ -1,13 +1,13 @@
-<?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="797px" preserveAspectRatio="none" style="width:5337px;height:797px;" version="1.1" viewBox="0 0 5337 797" width="5337px" zoomAndPan="magnify"><defs><filter height="300%" id="fb4h1to9ntmzd" 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="2627.5" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="225" x="2559.5" y="37.6611">Publish-Subscribe System</text><!--MD5=[16a3bbbe805f94d6e6ce317c08ab945e]
-cluster subscriber--><rect fill="#FFFFFF" filter="url(#fb4h1to9ntmzd)" height="498" style="stroke: #000000; stroke-width: 1.5;" width="4063" x="1253.5" y="94.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="85" x="3242.5" y="109.9014">subscriber</text><!--MD5=[50a042e24f957794dab9ba3ea8701c50]
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stroke-width: 1.5;" x1="2271.5" x2="3313.5" y1="191.9063" y2="191.9063"/><ellipse cx="2281.5" cy="202.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="2290.5" y="206.1167">usefulnesscb : urt_usefulness_f*</text><ellipse cx="2281.5" cy="215.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="2290.5" y="218.9214">cbparams : void*</text><ellipse cx="2281.5" cy="245.3203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="2290.5" y="248.5308">minLatency : urt_delay_t</text><ellipse cx="2281.5" cy="258.125" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="2290.5" y="261.3354">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2271.5" x2="2684" y1="231.918" y2="231.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2684" y="235.2261">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2901" x2="3313.5" y1="231.918" y2="231.918"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2271.5" x2="3313.5" y1="267.9297" y2="267.9297"/><ellipse cx="2281.5" cy="278.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="2290.5" y="282.1401">urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void</text><ellipse cx="2281.5" cy="291.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1018" x="2290.5" y="294.9448">urtSrtSubscriberSubscribe (subscriber : urt_srtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_usefulness_f*, cbparams : void*) : urt_status_t</text><ellipse cx="2281.5" cy="304.5391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="2290.5" y="307.7495">urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="2281.5" cy="317.3438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="2290.5" y="320.5542">urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="2281.5" cy="330.1484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="2290.5" y="333.3589">urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float</text><ellipse cx="2281.5" cy="342.9531" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="2290.5" y="346.1636">urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t</text><!--MD5=[17838fb05fe219fd399839979ec8a4a4]
-class urt_frtsubscriber_t--><rect fill="#FEFECE" filter="url(#fb4h1to9ntmzd)" height="226.4609" id="urt_frtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="974" x="1261.5" y="143.4063"/><ellipse cx="1686.75" cy="159.4063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1686.2344,159.9688 Q1684.375,159.2656 1683.7188,158.5 Q1683.0781,157.7188 1683.0781,156.4063 Q1683.0781,154.7188 1684.1563,153.75 Q1685.2344,152.7813 1687.1094,152.7813 Q1687.9688,152.7813 1688.8125,152.9844 Q1689.6719,153.1719 1690.5156,153.5625 L1690.5156,155.9531 Q1689.7344,155.3906 1688.9063,155.1094 Q1688.0938,154.8125 1687.2969,154.8125 Q1686.4219,154.8125 1685.9375,155.1719 Q1685.4688,155.5313 1685.4688,156.1875 Q1685.4688,156.7031 1685.8125,157.0469 Q1686.1563,157.375 1687.25,157.7813 L1688.3125,158.1875 Q1689.7969,158.7344 1690.5,159.6406 Q1691.2188,160.5469 1691.2188,161.9219 Q1691.2188,163.7969 1690.1094,164.7188 Q1689,165.6406 1686.75,165.6406 Q1685.8281,165.6406 1684.9063,165.4219 Q1683.9844,165.2031 1683.125,164.7813 L1683.125,162.25 Q1684.0938,162.9375 1685.0156,163.2813 Q1685.9375,163.625 1686.8281,163.625 Q1687.7344,163.625 1688.2344,163.2188 Q1688.7344,162.7969 1688.7344,162.0625 Q1688.7344,161.5 1688.3906,161.0938 Q1688.0625,160.6719 1687.4375,160.4219 L1686.2344,159.9688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="1707.25" y="163.5605">urt_frtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1262.5" x2="2234.5" y1="175.4063" y2="175.4063"/><ellipse cx="1272.5" cy="203.2109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="1281.5" y="206.4214">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1262.5" x2="1603" y1="189.8086" y2="189.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="1603" y="193.1167">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1894" x2="2234.5" y1="189.8086" y2="189.8086"/><ellipse cx="1272.5" cy="232.8203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="1281.5" y="236.0308">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1262.5" x2="1613" y1="219.418" y2="219.418"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="1613" y="222.7261">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1884" x2="2234.5" y1="219.418" y2="219.418"/><ellipse cx="1272.5" cy="262.4297" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="1281.5" y="265.6401">minLatency : urt_delay_t</text><ellipse cx="1272.5" cy="275.2344" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="1281.5" y="278.4448">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1262.5" x2="1494.5" y1="249.0273" y2="249.0273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="508" x="1494.5" y="252.3354">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ||  URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2002.5" x2="2234.5" y1="249.0273" y2="249.0273"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1262.5" x2="2234.5" y1="285.0391" y2="285.0391"/><ellipse cx="1272.5" cy="296.0391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="342" x="1281.5" y="299.2495">urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : void</text><ellipse cx="1272.5" cy="308.8438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="948" x="1281.5" y="312.0542">urtFrtSubscriberSubscribe (subscriber : urt_frtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="1272.5" cy="321.6484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="780" x="1281.5" y="324.8589">urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="1272.5" cy="334.4531" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="790" x="1281.5" y="337.6636">urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="1272.5" cy="347.2578" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="540" x="1281.5" y="350.4683">urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool</text><ellipse cx="1272.5" cy="360.0625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="441" x="1281.5" y="363.2729">urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t</text><!--MD5=[104dc879e5721421b987fcc467bc3a1d]
-class urt_hrtsubscriber_t--><rect fill="#FEFECE" filter="url(#fb4h1to9ntmzd)" height="268.875" id="urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="4206.5" y="121.9063"/><ellipse cx="4684.75" cy="137.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4684.2344,138.4688 Q4682.375,137.7656 4681.7188,137 Q4681.0781,136.2188 4681.0781,134.9063 Q4681.0781,133.2188 4682.1563,132.25 Q4683.2344,131.2813 4685.1094,131.2813 Q4685.9688,131.2813 4686.8125,131.4844 Q4687.6719,131.6719 4688.5156,132.0625 L4688.5156,134.4531 Q4687.7344,133.8906 4686.9063,133.6094 Q4686.0938,133.3125 4685.2969,133.3125 Q4684.4219,133.3125 4683.9375,133.6719 Q4683.4688,134.0313 4683.4688,134.6875 Q4683.4688,135.2031 4683.8125,135.5469 Q4684.1563,135.875 4685.25,136.2813 L4686.3125,136.6875 Q4687.7969,137.2344 4688.5,138.1406 Q4689.2188,139.0469 4689.2188,140.4219 Q4689.2188,142.2969 4688.1094,143.2188 Q4687,144.1406 4684.75,144.1406 Q4683.8281,144.1406 4682.9063,143.9219 Q4681.9844,143.7031 4681.125,143.2813 L4681.125,140.75 Q4682.0938,141.4375 4683.0156,141.7813 Q4683.9375,142.125 4684.8281,142.125 Q4685.7344,142.125 4686.2344,141.7188 Q4686.7344,141.2969 4686.7344,140.5625 Q4686.7344,140 4686.3906,139.5938 Q4686.0625,139.1719 4685.4375,138.9219 L4684.2344,138.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="4705.25" y="142.0605">urt_hrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4207.5" x2="5289.5" y1="153.9063" y2="153.9063"/><ellipse cx="4217.5" cy="164.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="151" x="4226.5" y="168.1167">next : urt_hrtsubscriber_t*</text><ellipse cx="4217.5" cy="194.5156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="4226.5" y="197.7261">deadlineOffset : urt_delay_t</text><ellipse cx="4217.5" cy="207.3203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="4226.5" y="210.5308">qosDeadlineTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4207.5" x2="4603" y1="181.1133" y2="181.1133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="4603" y="184.4214">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4894" x2="5289.5" y1="181.1133" y2="181.1133"/><ellipse cx="4217.5" cy="236.9297" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="4226.5" y="240.1401">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4207.5" x2="4613" y1="223.5273" y2="223.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="4613" y="226.8354">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4884" x2="5289.5" y1="223.5273" y2="223.5273"/><ellipse cx="4217.5" cy="266.5391" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="4226.5" y="269.7495">minLatency : urt_delay_t</text><ellipse cx="4217.5" cy="279.3438" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="4226.5" y="282.5542">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4207.5" x2="4496.5" y1="253.1367" y2="253.1367"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="4496.5" y="256.4448">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5000.5" x2="5289.5" y1="253.1367" y2="253.1367"/><ellipse cx="4217.5" cy="308.9531" 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="150" x="4226.5" y="312.1636">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4207.5" x2="4616" y1="295.5508" y2="295.5508"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="4616" y="298.8589">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4881" x2="5289.5" y1="295.5508" y2="295.5508"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4207.5" x2="5289.5" y1="318.7578" y2="318.7578"/><ellipse cx="4217.5" cy="329.7578" 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="347" x="4226.5" y="332.9683">urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : void</text><ellipse cx="4217.5" cy="342.5625" 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="1058" x="4226.5" y="345.7729">urtHrtSubscriberSubscribe (subscriber : urt_hrtsubscriber_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="4217.5" cy="355.3672" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="4226.5" y="358.5776">urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4217.5" cy="368.1719" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="4226.5" y="371.3823">urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4217.5" cy="380.9766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="4226.5" y="384.187">urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t</text><!--MD5=[e602aa6d45f270ad04f88c9ca5352b33]
-class urt_message_t--><rect fill="#FEFECE" filter="url(#fb4h1to9ntmzd)" height="141.6328" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="406" x="813.5" y="644.9063"/><ellipse cx="966.25" cy="660.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M965.7344,661.4688 Q963.875,660.7656 963.2188,660 Q962.5781,659.2188 962.5781,657.9063 Q962.5781,656.2188 963.6563,655.25 Q964.7344,654.2813 966.6094,654.2813 Q967.4688,654.2813 968.3125,654.4844 Q969.1719,654.6719 970.0156,655.0625 L970.0156,657.4531 Q969.2344,656.8906 968.4063,656.6094 Q967.5938,656.3125 966.7969,656.3125 Q965.9219,656.3125 965.4375,656.6719 Q964.9688,657.0313 964.9688,657.6875 Q964.9688,658.2031 965.3125,658.5469 Q965.6563,658.875 966.75,659.2813 L967.8125,659.6875 Q969.2969,660.2344 970,661.1406 Q970.7188,662.0469 970.7188,663.4219 Q970.7188,665.2969 969.6094,666.2188 Q968.5,667.1406 966.25,667.1406 Q965.3281,667.1406 964.4063,666.9219 Q963.4844,666.7031 962.625,666.2813 L962.625,663.75 Q963.5938,664.4375 964.5156,664.7813 Q965.4375,665.125 966.3281,665.125 Q967.2344,665.125 967.7344,664.7188 Q968.2344,664.2969 968.2344,663.5625 Q968.2344,663 967.8906,662.5938 Q967.5625,662.1719 966.9375,661.9219 L965.7344,661.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="986.75" y="665.0605">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="814.5" x2="1218.5" y1="676.9063" y2="676.9063"/><ellipse cx="824.5" cy="687.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="127" x="833.5" y="691.1167">next : urt_message_t*</text><ellipse cx="824.5" cy="700.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="833.5" y="703.9214">payload : void*</text><ellipse cx="824.5" cy="713.5156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="833.5" y="716.7261">originTime : urt_osTime_t</text><ellipse cx="824.5" cy="726.3203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="211" x="833.5" y="729.5308">numHrtConsumersLeft : unsigned int</text><ellipse cx="824.5" cy="755.9297" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="833.5" y="759.1401">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="814.5" x2="908" y1="742.5273" y2="742.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="908" y="745.8354">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1125" x2="1218.5" y1="742.5273" y2="742.5273"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="814.5" x2="1218.5" y1="765.7344" y2="765.7344"/><ellipse cx="824.5" cy="776.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="833.5" y="779.9448">urtMessageInit (message : urt_message_t*, payload : void*) : void</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]
-class urt_publisher_t--><rect fill="#FEFECE" filter="url(#fb4h1to9ntmzd)" height="128.8281" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="783" x="6" y="191.9063"/><ellipse cx="346.75" cy="207.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M346.2344,208.4688 Q344.375,207.7656 343.7188,207 Q343.0781,206.2188 343.0781,204.9063 Q343.0781,203.2188 344.1563,202.25 Q345.2344,201.2813 347.1094,201.2813 Q347.9688,201.2813 348.8125,201.4844 Q349.6719,201.6719 350.5156,202.0625 L350.5156,204.4531 Q349.7344,203.8906 348.9063,203.6094 Q348.0938,203.3125 347.2969,203.3125 Q346.4219,203.3125 345.9375,203.6719 Q345.4688,204.0313 345.4688,204.6875 Q345.4688,205.2031 345.8125,205.5469 Q346.1563,205.875 347.25,206.2813 L348.3125,206.6875 Q349.7969,207.2344 350.5,208.1406 Q351.2188,209.0469 351.2188,210.4219 Q351.2188,212.2969 350.1094,213.2188 Q349,214.1406 346.75,214.1406 Q345.8281,214.1406 344.9063,213.9219 Q343.9844,213.7031 343.125,213.2813 L343.125,210.75 Q344.0938,211.4375 345.0156,211.7813 Q345.9375,212.125 346.8281,212.125 Q347.7344,212.125 348.2344,211.7188 Q348.7344,211.2969 348.7344,210.5625 Q348.7344,210 348.3906,209.5938 Q348.0625,209.1719 347.4375,208.9219 L346.2344,208.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="367.25" y="212.0605">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7" x2="788" y1="223.9063" y2="223.9063"/><ellipse cx="17" cy="234.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="26" y="238.1167">topic : urt_topic_t*</text><ellipse cx="17" cy="264.5156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="149" x="26" y="267.7261">publishAttempts : uint64_t</text><ellipse cx="17" cy="277.3203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="26" y="280.5308">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7" x2="289" y1="251.1133" y2="251.1133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="289" y="254.4214">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="506" x2="788" y1="251.1133" y2="251.1133"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7" x2="788" y1="287.125" y2="287.125"/><ellipse cx="17" cy="298.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="572" x="26" y="301.3354">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void</text><ellipse cx="17" cy="310.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="757" x="26" y="314.1401">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : 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(#fb4h1to9ntmzd)" height="260.875" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="824.5" y="125.9063"/><ellipse cx="979.25" cy="141.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M978.7344,142.4688 Q976.875,141.7656 976.2188,141 Q975.5781,140.2188 975.5781,138.9063 Q975.5781,137.2188 976.6563,136.25 Q977.7344,135.2813 979.6094,135.2813 Q980.4688,135.2813 981.3125,135.4844 Q982.1719,135.6719 983.0156,136.0625 L983.0156,138.4531 Q982.2344,137.8906 981.4063,137.6094 Q980.5938,137.3125 979.7969,137.3125 Q978.9219,137.3125 978.4375,137.6719 Q977.9688,138.0313 977.9688,138.6875 Q977.9688,139.2031 978.3125,139.5469 Q978.6563,139.875 979.75,140.2813 L980.8125,140.6875 Q982.2969,141.2344 983,142.1406 Q983.7188,143.0469 983.7188,144.4219 Q983.7188,146.2969 982.6094,147.2188 Q981.5,148.1406 979.25,148.1406 Q978.3281,148.1406 977.4063,147.9219 Q976.4844,147.7031 975.625,147.2813 L975.625,144.75 Q976.5938,145.4375 977.5156,145.7813 Q978.4375,146.125 979.3281,146.125 Q980.2344,146.125 980.7344,145.7188 Q981.2344,145.2969 981.2344,144.5625 Q981.2344,144 980.8906,143.5938 Q980.5625,143.1719 979.9375,142.9219 L978.7344,142.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="999.75" y="146.0605">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="825.5" x2="1207.5" y1="157.9063" y2="157.9063"/><ellipse cx="835.5" cy="168.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="844.5" y="172.1167">next : urt_topic_t*</text><ellipse cx="835.5" cy="181.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="844.5" y="184.9214">id : urt_topicid_t</text><ellipse cx="835.5" cy="194.5156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="844.5" y="197.7261">lock : urt_osMutex_t</text><ellipse cx="835.5" cy="207.3203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="844.5" y="210.5308">evtSource : urt_osEventSource_t</text><ellipse cx="835.5" cy="220.125" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="844.5" y="223.3354">numHrtSubscribers : unsigned int</text><ellipse cx="835.5" cy="232.9297" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="844.5" y="236.1401">hrtReleased : urt_osCondvar_t</text><ellipse cx="835.5" cy="245.7344" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="209" x="844.5" y="248.9448">mandatoryMessage : urt_message_t</text><ellipse cx="835.5" cy="258.5391" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="844.5" y="261.7495">latestMessage : urt_message_t*</text><ellipse cx="835.5" cy="288.1484" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="212" x="844.5" y="291.3589">hrtSubscribers : urt_hrtsubscriber_t*</text><ellipse cx="835.5" cy="300.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="170" x="844.5" y="304.1636">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="825.5" x2="884" y1="274.7461" y2="274.7461"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="884" y="278.0542">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1149" x2="1207.5" y1="274.7461" y2="274.7461"/><ellipse cx="835.5" cy="330.5625" 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="195" x="844.5" y="333.7729">numMessagesPublished : uint64_t</text><ellipse cx="835.5" cy="343.3672" 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="197" x="844.5" y="346.5776">numMessagesDiscarded : uint64_t</text><ellipse cx="835.5" cy="356.1719" 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="176" x="844.5" y="359.3823">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="825.5" x2="908" y1="317.1602" y2="317.1602"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="908" y="320.4683">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1125" x2="1207.5" y1="317.1602" y2="317.1602"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="825.5" x2="1207.5" y1="365.9766" y2="365.9766"/><ellipse cx="835.5" cy="376.9766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="358" x="844.5" y="380.187">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[536025241394544a90bc53fb552f3a08]
+<?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="797px" preserveAspectRatio="none" style="width:5337px;height:797px;" version="1.1" viewBox="0 0 5337 797" width="5337px" zoomAndPan="magnify"><defs><filter height="300%" id="fvsjqt0klpekf" 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="2627.5" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="225" x="2559.5" y="37.6611">Publish-Subscribe System</text><!--MD5=[16a3bbbe805f94d6e6ce317c08ab945e]
+cluster subscriber--><rect fill="#FFFFFF" filter="url(#fvsjqt0klpekf)" height="498" style="stroke: #000000; stroke-width: 1.5;" width="4063" x="1253.5" y="94.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="85" x="3242.5" y="109.9014">subscriber</text><!--MD5=[50a042e24f957794dab9ba3ea8701c50]
+class urt_basesubscriber_t--><rect fill="#FEFECE" filter="url(#fvsjqt0klpekf)" height="133.6328" id="urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="225" x="2680" y="450.9063"/><ellipse cx="2722.45" cy="466.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2721.9344,467.4688 Q2720.075,466.7656 2719.4188,466 Q2718.7781,465.2188 2718.7781,463.9063 Q2718.7781,462.2188 2719.8563,461.25 Q2720.9344,460.2813 2722.8094,460.2813 Q2723.6688,460.2813 2724.5125,460.4844 Q2725.3719,460.6719 2726.2156,461.0625 L2726.2156,463.4531 Q2725.4344,462.8906 2724.6063,462.6094 Q2723.7938,462.3125 2722.9969,462.3125 Q2722.1219,462.3125 2721.6375,462.6719 Q2721.1688,463.0313 2721.1688,463.6875 Q2721.1688,464.2031 2721.5125,464.5469 Q2721.8563,464.875 2722.95,465.2813 L2724.0125,465.6875 Q2725.4969,466.2344 2726.2,467.1406 Q2726.9188,468.0469 2726.9188,469.4219 Q2726.9188,471.2969 2725.8094,472.2188 Q2724.7,473.1406 2722.45,473.1406 Q2721.5281,473.1406 2720.6063,472.9219 Q2719.6844,472.7031 2718.825,472.2813 L2718.825,469.75 Q2719.7938,470.4375 2720.7156,470.7813 Q2721.6375,471.125 2722.5281,471.125 Q2723.4344,471.125 2723.9344,470.7188 Q2724.4344,470.2969 2724.4344,469.5625 Q2724.4344,469 2724.0906,468.5938 Q2723.7625,468.1719 2723.1375,467.9219 L2721.9344,467.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="132" x="2742.55" y="471.0605">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2681" x2="2904" y1="482.9063" y2="482.9063"/><ellipse cx="2691" cy="493.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="2700" y="497.1167">topic : urt_topic_t*</text><ellipse cx="2691" cy="506.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="2700" y="509.9214">evtListener : urt_osEventListener_t</text><ellipse cx="2691" cy="519.5156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="175" x="2700" y="522.7261">lastMessage : urt_message_t*</text><ellipse cx="2691" cy="532.3203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="2700" y="535.5308">lastMessageTime : urt_osTime_t</text><ellipse cx="2691" cy="561.9297" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="2700" y="565.1401">sumLatencies : uint64_t</text><ellipse cx="2691" cy="574.7344" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="2700" y="577.9448">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2681" x2="2684" y1="548.5273" y2="548.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2684" y="551.8354">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2901" x2="2904" y1="548.5273" y2="548.5273"/><!--MD5=[9ff46073dd541e50679ef35e851c67d6]
+class urt_nrtsubscriber_t--><rect fill="#FEFECE" filter="url(#fvsjqt0klpekf)" height="154.4375" id="urt_nrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="821" x="3350" y="179.4063"/><ellipse cx="3696.75" cy="195.4063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3696.2344,195.9688 Q3694.375,195.2656 3693.7188,194.5 Q3693.0781,193.7188 3693.0781,192.4063 Q3693.0781,190.7188 3694.1563,189.75 Q3695.2344,188.7813 3697.1094,188.7813 Q3697.9688,188.7813 3698.8125,188.9844 Q3699.6719,189.1719 3700.5156,189.5625 L3700.5156,191.9531 Q3699.7344,191.3906 3698.9063,191.1094 Q3698.0938,190.8125 3697.2969,190.8125 Q3696.4219,190.8125 3695.9375,191.1719 Q3695.4688,191.5313 3695.4688,192.1875 Q3695.4688,192.7031 3695.8125,193.0469 Q3696.1563,193.375 3697.25,193.7813 L3698.3125,194.1875 Q3699.7969,194.7344 3700.5,195.6406 Q3701.2188,196.5469 3701.2188,197.9219 Q3701.2188,199.7969 3700.1094,200.7188 Q3699,201.6406 3696.75,201.6406 Q3695.8281,201.6406 3694.9063,201.4219 Q3693.9844,201.2031 3693.125,200.7813 L3693.125,198.25 Q3694.0938,198.9375 3695.0156,199.2813 Q3695.9375,199.625 3696.8281,199.625 Q3697.7344,199.625 3698.2344,199.2188 Q3698.7344,198.7969 3698.7344,198.0625 Q3698.7344,197.5 3698.3906,197.0938 Q3698.0625,196.6719 3697.4375,196.4219 L3696.2344,195.9688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="3717.25" y="199.5605">urt_nrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3351" x2="4170" y1="211.4063" y2="211.4063"/><ellipse cx="3361" cy="239.2109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="3370" y="242.4214">minLatency : urt_delay_t</text><ellipse cx="3361" cy="252.0156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="3370" y="255.2261">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3351" x2="3652" y1="225.8086" y2="225.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="3652" y="229.1167">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3869" x2="4170" y1="225.8086" y2="225.8086"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3351" x2="4170" y1="261.8203" y2="261.8203"/><ellipse cx="3361" cy="272.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="3370" y="276.0308">urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : void</text><ellipse cx="3361" cy="285.625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="715" x="3370" y="288.8354">urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="3361" cy="298.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="3370" y="301.6401">urtNrtSubscriberFetchNextMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="3361" cy="311.2344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="3370" y="314.4448">urtNrtSubscriberFetchLatestMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="3361" cy="324.0391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="3370" y="327.2495">urtNrtSubscriberUnsubscribe (subscriber : urt_nrtsubscriber_t*) : urt_status_t</text><!--MD5=[5c7929572d87ccc448d875bea5da0fb1]
+class urt_srtsubscriber_t--><rect fill="#FEFECE" filter="url(#fvsjqt0klpekf)" height="192.8516" id="urt_srtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1044" x="2270.5" y="159.9063"/><ellipse cx="2729.25" cy="175.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2728.7344,176.4688 Q2726.875,175.7656 2726.2188,175 Q2725.5781,174.2188 2725.5781,172.9063 Q2725.5781,171.2188 2726.6563,170.25 Q2727.7344,169.2813 2729.6094,169.2813 Q2730.4688,169.2813 2731.3125,169.4844 Q2732.1719,169.6719 2733.0156,170.0625 L2733.0156,172.4531 Q2732.2344,171.8906 2731.4063,171.6094 Q2730.5938,171.3125 2729.7969,171.3125 Q2728.9219,171.3125 2728.4375,171.6719 Q2727.9688,172.0313 2727.9688,172.6875 Q2727.9688,173.2031 2728.3125,173.5469 Q2728.6563,173.875 2729.75,174.2813 L2730.8125,174.6875 Q2732.2969,175.2344 2733,176.1406 Q2733.7188,177.0469 2733.7188,178.4219 Q2733.7188,180.2969 2732.6094,181.2188 Q2731.5,182.1406 2729.25,182.1406 Q2728.3281,182.1406 2727.4063,181.9219 Q2726.4844,181.7031 2725.625,181.2813 L2725.625,178.75 Q2726.5938,179.4375 2727.5156,179.7813 Q2728.4375,180.125 2729.3281,180.125 Q2730.2344,180.125 2730.7344,179.7188 Q2731.2344,179.2969 2731.2344,178.5625 Q2731.2344,178 2730.8906,177.5938 Q2730.5625,177.1719 2729.9375,176.9219 L2728.7344,176.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="2749.75" y="180.0605">urt_srtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2271.5" x2="3313.5" y1="191.9063" y2="191.9063"/><ellipse cx="2281.5" cy="202.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="2290.5" y="206.1167">usefulnesscb : urt_usefulness_f*</text><ellipse cx="2281.5" cy="215.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="2290.5" y="218.9214">cbparams : void*</text><ellipse cx="2281.5" cy="245.3203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="2290.5" y="248.5308">minLatency : urt_delay_t</text><ellipse cx="2281.5" cy="258.125" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="2290.5" y="261.3354">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2271.5" x2="2684" y1="231.918" y2="231.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2684" y="235.2261">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2901" x2="3313.5" y1="231.918" y2="231.918"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2271.5" x2="3313.5" y1="267.9297" y2="267.9297"/><ellipse cx="2281.5" cy="278.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="2290.5" y="282.1401">urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void</text><ellipse cx="2281.5" cy="291.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1018" x="2290.5" y="294.9448">urtSrtSubscriberSubscribe (subscriber : urt_srtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_usefulness_f*, cbparams : void*) : urt_status_t</text><ellipse cx="2281.5" cy="304.5391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="2290.5" y="307.7495">urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="2281.5" cy="317.3438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="2290.5" y="320.5542">urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="2281.5" cy="330.1484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="2290.5" y="333.3589">urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float</text><ellipse cx="2281.5" cy="342.9531" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="2290.5" y="346.1636">urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t</text><!--MD5=[17838fb05fe219fd399839979ec8a4a4]
+class urt_frtsubscriber_t--><rect fill="#FEFECE" filter="url(#fvsjqt0klpekf)" height="226.4609" id="urt_frtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="974" x="1261.5" y="143.4063"/><ellipse cx="1686.75" cy="159.4063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1686.2344,159.9688 Q1684.375,159.2656 1683.7188,158.5 Q1683.0781,157.7188 1683.0781,156.4063 Q1683.0781,154.7188 1684.1563,153.75 Q1685.2344,152.7813 1687.1094,152.7813 Q1687.9688,152.7813 1688.8125,152.9844 Q1689.6719,153.1719 1690.5156,153.5625 L1690.5156,155.9531 Q1689.7344,155.3906 1688.9063,155.1094 Q1688.0938,154.8125 1687.2969,154.8125 Q1686.4219,154.8125 1685.9375,155.1719 Q1685.4688,155.5313 1685.4688,156.1875 Q1685.4688,156.7031 1685.8125,157.0469 Q1686.1563,157.375 1687.25,157.7813 L1688.3125,158.1875 Q1689.7969,158.7344 1690.5,159.6406 Q1691.2188,160.5469 1691.2188,161.9219 Q1691.2188,163.7969 1690.1094,164.7188 Q1689,165.6406 1686.75,165.6406 Q1685.8281,165.6406 1684.9063,165.4219 Q1683.9844,165.2031 1683.125,164.7813 L1683.125,162.25 Q1684.0938,162.9375 1685.0156,163.2813 Q1685.9375,163.625 1686.8281,163.625 Q1687.7344,163.625 1688.2344,163.2188 Q1688.7344,162.7969 1688.7344,162.0625 Q1688.7344,161.5 1688.3906,161.0938 Q1688.0625,160.6719 1687.4375,160.4219 L1686.2344,159.9688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="1707.25" y="163.5605">urt_frtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1262.5" x2="2234.5" y1="175.4063" y2="175.4063"/><ellipse cx="1272.5" cy="203.2109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="1281.5" y="206.4214">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1262.5" x2="1603" y1="189.8086" y2="189.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="1603" y="193.1167">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1894" x2="2234.5" y1="189.8086" y2="189.8086"/><ellipse cx="1272.5" cy="232.8203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="1281.5" y="236.0308">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1262.5" x2="1613" y1="219.418" y2="219.418"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="1613" y="222.7261">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1884" x2="2234.5" y1="219.418" y2="219.418"/><ellipse cx="1272.5" cy="262.4297" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="1281.5" y="265.6401">minLatency : urt_delay_t</text><ellipse cx="1272.5" cy="275.2344" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="1281.5" y="278.4448">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1262.5" x2="1494.5" y1="249.0273" y2="249.0273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="508" x="1494.5" y="252.3354">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ||  URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2002.5" x2="2234.5" y1="249.0273" y2="249.0273"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1262.5" x2="2234.5" y1="285.0391" y2="285.0391"/><ellipse cx="1272.5" cy="296.0391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="342" x="1281.5" y="299.2495">urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : void</text><ellipse cx="1272.5" cy="308.8438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="948" x="1281.5" y="312.0542">urtFrtSubscriberSubscribe (subscriber : urt_frtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="1272.5" cy="321.6484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="780" x="1281.5" y="324.8589">urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="1272.5" cy="334.4531" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="790" x="1281.5" y="337.6636">urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="1272.5" cy="347.2578" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="540" x="1281.5" y="350.4683">urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool</text><ellipse cx="1272.5" cy="360.0625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="441" x="1281.5" y="363.2729">urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t</text><!--MD5=[104dc879e5721421b987fcc467bc3a1d]
+class urt_hrtsubscriber_t--><rect fill="#FEFECE" filter="url(#fvsjqt0klpekf)" height="268.875" id="urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="4206.5" y="121.9063"/><ellipse cx="4684.75" cy="137.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4684.2344,138.4688 Q4682.375,137.7656 4681.7188,137 Q4681.0781,136.2188 4681.0781,134.9063 Q4681.0781,133.2188 4682.1563,132.25 Q4683.2344,131.2813 4685.1094,131.2813 Q4685.9688,131.2813 4686.8125,131.4844 Q4687.6719,131.6719 4688.5156,132.0625 L4688.5156,134.4531 Q4687.7344,133.8906 4686.9063,133.6094 Q4686.0938,133.3125 4685.2969,133.3125 Q4684.4219,133.3125 4683.9375,133.6719 Q4683.4688,134.0313 4683.4688,134.6875 Q4683.4688,135.2031 4683.8125,135.5469 Q4684.1563,135.875 4685.25,136.2813 L4686.3125,136.6875 Q4687.7969,137.2344 4688.5,138.1406 Q4689.2188,139.0469 4689.2188,140.4219 Q4689.2188,142.2969 4688.1094,143.2188 Q4687,144.1406 4684.75,144.1406 Q4683.8281,144.1406 4682.9063,143.9219 Q4681.9844,143.7031 4681.125,143.2813 L4681.125,140.75 Q4682.0938,141.4375 4683.0156,141.7813 Q4683.9375,142.125 4684.8281,142.125 Q4685.7344,142.125 4686.2344,141.7188 Q4686.7344,141.2969 4686.7344,140.5625 Q4686.7344,140 4686.3906,139.5938 Q4686.0625,139.1719 4685.4375,138.9219 L4684.2344,138.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="4705.25" y="142.0605">urt_hrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4207.5" x2="5289.5" y1="153.9063" y2="153.9063"/><ellipse cx="4217.5" cy="164.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="151" x="4226.5" y="168.1167">next : urt_hrtsubscriber_t*</text><ellipse cx="4217.5" cy="194.5156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="4226.5" y="197.7261">deadlineOffset : urt_delay_t</text><ellipse cx="4217.5" cy="207.3203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="4226.5" y="210.5308">qosDeadlineTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4207.5" x2="4603" y1="181.1133" y2="181.1133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="4603" y="184.4214">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4894" x2="5289.5" y1="181.1133" y2="181.1133"/><ellipse cx="4217.5" cy="236.9297" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="4226.5" y="240.1401">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4207.5" x2="4613" y1="223.5273" y2="223.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="4613" y="226.8354">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4884" x2="5289.5" y1="223.5273" y2="223.5273"/><ellipse cx="4217.5" cy="266.5391" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="4226.5" y="269.7495">minLatency : urt_delay_t</text><ellipse cx="4217.5" cy="279.3438" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="4226.5" y="282.5542">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4207.5" x2="4496.5" y1="253.1367" y2="253.1367"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="4496.5" y="256.4448">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5000.5" x2="5289.5" y1="253.1367" y2="253.1367"/><ellipse cx="4217.5" cy="308.9531" 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="150" x="4226.5" y="312.1636">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4207.5" x2="4616" y1="295.5508" y2="295.5508"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="4616" y="298.8589">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4881" x2="5289.5" y1="295.5508" y2="295.5508"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4207.5" x2="5289.5" y1="318.7578" y2="318.7578"/><ellipse cx="4217.5" cy="329.7578" 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="347" x="4226.5" y="332.9683">urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : void</text><ellipse cx="4217.5" cy="342.5625" 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="1058" x="4226.5" y="345.7729">urtHrtSubscriberSubscribe (subscriber : urt_hrtsubscriber_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="4217.5" cy="355.3672" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="4226.5" y="358.5776">urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4217.5" cy="368.1719" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="4226.5" y="371.3823">urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4217.5" cy="380.9766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="4226.5" y="384.187">urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t</text><!--MD5=[e602aa6d45f270ad04f88c9ca5352b33]
+class urt_message_t--><rect fill="#FEFECE" filter="url(#fvsjqt0klpekf)" height="141.6328" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="406" x="813.5" y="644.9063"/><ellipse cx="966.25" cy="660.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M965.7344,661.4688 Q963.875,660.7656 963.2188,660 Q962.5781,659.2188 962.5781,657.9063 Q962.5781,656.2188 963.6563,655.25 Q964.7344,654.2813 966.6094,654.2813 Q967.4688,654.2813 968.3125,654.4844 Q969.1719,654.6719 970.0156,655.0625 L970.0156,657.4531 Q969.2344,656.8906 968.4063,656.6094 Q967.5938,656.3125 966.7969,656.3125 Q965.9219,656.3125 965.4375,656.6719 Q964.9688,657.0313 964.9688,657.6875 Q964.9688,658.2031 965.3125,658.5469 Q965.6563,658.875 966.75,659.2813 L967.8125,659.6875 Q969.2969,660.2344 970,661.1406 Q970.7188,662.0469 970.7188,663.4219 Q970.7188,665.2969 969.6094,666.2188 Q968.5,667.1406 966.25,667.1406 Q965.3281,667.1406 964.4063,666.9219 Q963.4844,666.7031 962.625,666.2813 L962.625,663.75 Q963.5938,664.4375 964.5156,664.7813 Q965.4375,665.125 966.3281,665.125 Q967.2344,665.125 967.7344,664.7188 Q968.2344,664.2969 968.2344,663.5625 Q968.2344,663 967.8906,662.5938 Q967.5625,662.1719 966.9375,661.9219 L965.7344,661.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="986.75" y="665.0605">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="814.5" x2="1218.5" y1="676.9063" y2="676.9063"/><ellipse cx="824.5" cy="687.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="127" x="833.5" y="691.1167">next : urt_message_t*</text><ellipse cx="824.5" cy="700.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="833.5" y="703.9214">payload : void*</text><ellipse cx="824.5" cy="713.5156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="833.5" y="716.7261">originTime : urt_osTime_t</text><ellipse cx="824.5" cy="726.3203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="211" x="833.5" y="729.5308">numHrtConsumersLeft : unsigned int</text><ellipse cx="824.5" cy="755.9297" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="833.5" y="759.1401">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="814.5" x2="908" y1="742.5273" y2="742.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="908" y="745.8354">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1125" x2="1218.5" y1="742.5273" y2="742.5273"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="814.5" x2="1218.5" y1="765.7344" y2="765.7344"/><ellipse cx="824.5" cy="776.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="833.5" y="779.9448">urtMessageInit (message : urt_message_t*, payload : void*) : void</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]
+class urt_publisher_t--><rect fill="#FEFECE" filter="url(#fvsjqt0klpekf)" height="196.0469" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="783" x="6" y="158.4063"/><ellipse cx="346.75" cy="174.4063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M346.2344,174.9688 Q344.375,174.2656 343.7188,173.5 Q343.0781,172.7188 343.0781,171.4063 Q343.0781,169.7188 344.1563,168.75 Q345.2344,167.7813 347.1094,167.7813 Q347.9688,167.7813 348.8125,167.9844 Q349.6719,168.1719 350.5156,168.5625 L350.5156,170.9531 Q349.7344,170.3906 348.9063,170.1094 Q348.0938,169.8125 347.2969,169.8125 Q346.4219,169.8125 345.9375,170.1719 Q345.4688,170.5313 345.4688,171.1875 Q345.4688,171.7031 345.8125,172.0469 Q346.1563,172.375 347.25,172.7813 L348.3125,173.1875 Q349.7969,173.7344 350.5,174.6406 Q351.2188,175.5469 351.2188,176.9219 Q351.2188,178.7969 350.1094,179.7188 Q349,180.6406 346.75,180.6406 Q345.8281,180.6406 344.9063,180.4219 Q343.9844,180.2031 343.125,179.7813 L343.125,177.25 Q344.0938,177.9375 345.0156,178.2813 Q345.9375,178.625 346.8281,178.625 Q347.7344,178.625 348.2344,178.2188 Q348.7344,177.7969 348.7344,177.0625 Q348.7344,176.5 348.3906,176.0938 Q348.0625,175.6719 347.4375,175.4219 L346.2344,174.9688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="367.25" y="178.5605">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7" x2="788" y1="190.4063" y2="190.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="289" x="12" y="204.6167">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT : bool</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7" x2="788" y1="211.2109" y2="211.2109"/><ellipse cx="17" cy="222.2109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="26" y="225.4214">topic : urt_topic_t*</text><ellipse cx="17" cy="251.8203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="149" x="26" y="255.0308">publishAttempts : uint64_t</text><ellipse cx="17" cy="264.625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="26" y="267.8354">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7" x2="289" y1="238.418" y2="238.418"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="289" y="241.7261">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="506" x2="788" y1="238.418" y2="238.418"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7" x2="788" y1="274.4297" y2="274.4297"/><ellipse cx="17" cy="285.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="572" x="26" y="288.6401">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void</text><ellipse cx="17" cy="315.0391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="632" x="26" y="318.2495">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t) : urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7" x2="244" y1="301.6367" y2="301.6367"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="307" x="244" y="304.9448">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == false</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="551" x2="788" y1="301.6367" y2="301.6367"/><ellipse cx="17" cy="344.6484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="757" x="26" y="347.8589">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7" x2="246.5" y1="331.2461" y2="331.2461"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="302" x="246.5" y="334.5542">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="548.5" x2="788" y1="331.2461" y2="331.2461"/><!--MD5=[a1b1e66ec52c209a9fa2dab315cd7630]
+class urt_topic_t--><rect fill="#FEFECE" filter="url(#fvsjqt0klpekf)" height="260.875" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="824.5" y="125.9063"/><ellipse cx="979.25" cy="141.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M978.7344,142.4688 Q976.875,141.7656 976.2188,141 Q975.5781,140.2188 975.5781,138.9063 Q975.5781,137.2188 976.6563,136.25 Q977.7344,135.2813 979.6094,135.2813 Q980.4688,135.2813 981.3125,135.4844 Q982.1719,135.6719 983.0156,136.0625 L983.0156,138.4531 Q982.2344,137.8906 981.4063,137.6094 Q980.5938,137.3125 979.7969,137.3125 Q978.9219,137.3125 978.4375,137.6719 Q977.9688,138.0313 977.9688,138.6875 Q977.9688,139.2031 978.3125,139.5469 Q978.6563,139.875 979.75,140.2813 L980.8125,140.6875 Q982.2969,141.2344 983,142.1406 Q983.7188,143.0469 983.7188,144.4219 Q983.7188,146.2969 982.6094,147.2188 Q981.5,148.1406 979.25,148.1406 Q978.3281,148.1406 977.4063,147.9219 Q976.4844,147.7031 975.625,147.2813 L975.625,144.75 Q976.5938,145.4375 977.5156,145.7813 Q978.4375,146.125 979.3281,146.125 Q980.2344,146.125 980.7344,145.7188 Q981.2344,145.2969 981.2344,144.5625 Q981.2344,144 980.8906,143.5938 Q980.5625,143.1719 979.9375,142.9219 L978.7344,142.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="999.75" y="146.0605">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="825.5" x2="1207.5" y1="157.9063" y2="157.9063"/><ellipse cx="835.5" cy="168.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="844.5" y="172.1167">next : urt_topic_t*</text><ellipse cx="835.5" cy="181.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="844.5" y="184.9214">id : urt_topicid_t</text><ellipse cx="835.5" cy="194.5156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="844.5" y="197.7261">lock : urt_osMutex_t</text><ellipse cx="835.5" cy="207.3203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="844.5" y="210.5308">evtSource : urt_osEventSource_t</text><ellipse cx="835.5" cy="220.125" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="844.5" y="223.3354">numHrtSubscribers : unsigned int</text><ellipse cx="835.5" cy="232.9297" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="844.5" y="236.1401">hrtReleased : urt_osCondvar_t</text><ellipse cx="835.5" cy="245.7344" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="209" x="844.5" y="248.9448">mandatoryMessage : urt_message_t</text><ellipse cx="835.5" cy="258.5391" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="844.5" y="261.7495">latestMessage : urt_message_t*</text><ellipse cx="835.5" cy="288.1484" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="212" x="844.5" y="291.3589">hrtSubscribers : urt_hrtsubscriber_t*</text><ellipse cx="835.5" cy="300.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="170" x="844.5" y="304.1636">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="825.5" x2="884" y1="274.7461" y2="274.7461"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="884" y="278.0542">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1149" x2="1207.5" y1="274.7461" y2="274.7461"/><ellipse cx="835.5" cy="330.5625" 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="195" x="844.5" y="333.7729">numMessagesPublished : uint64_t</text><ellipse cx="835.5" cy="343.3672" 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="197" x="844.5" y="346.5776">numMessagesDiscarded : uint64_t</text><ellipse cx="835.5" cy="356.1719" 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="176" x="844.5" y="359.3823">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="825.5" x2="908" y1="317.1602" y2="317.1602"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="908" y="320.4683">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1125" x2="1207.5" y1="317.1602" y2="317.1602"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="825.5" x2="1207.5" y1="365.9766" y2="365.9766"/><ellipse cx="835.5" cy="376.9766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="358" x="844.5" y="380.187">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[536025241394544a90bc53fb552f3a08]
 reverse link urt_message_t to urt_message_t--><path d="M1232.0028,689.5133 C1246.0209,695.6657 1254.5,704.4634 1254.5,715.9063 C1254.5,730.4083 1240.8815,740.6616 1219.6293,746.6663 " fill="none" id="urt_message_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1219.6293,685.1463,1223.956,690.9151,1230.9452,689.14,1226.6185,683.3712,1219.6293,685.1463" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1227.7203" y="680.7284">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="1227.2886" y="744.578">0,1</text><!--MD5=[aa8990705afdbad14c7f998fe04b6f05]
 reverse link urt_basesubscriber_t to urt_message_t--><path d="M2666.4993,531.9537 C2363.0553,565.7836 1589.5394,652.0201 1219.5884,693.2647 " fill="none" id="urt_basesubscriber_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2679.718,530.4799,2673.3117,527.1695,2667.7919,531.8097,2674.1982,535.1202,2679.718,530.4799" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2663.8717" y="527.9045">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="1227.2463" y="704.7964">0,1</text><!--MD5=[0585cd4928de92ce6927d9c389eadd29]
 link urt_nrtsubscriber_t to urt_basesubscriber_t--><path d="M3526.2283,333.4389 C3463.5669,353.1064 3395.689,373.5723 3332.5,390.9063 C3194.3193,428.812 3034.3631,465.5535 2924.6129,489.6812 " fill="none" id="urt_nrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="2926.0966,496.5221,2905.0621,493.9626,2923.1016,482.8462,2926.0966,496.5221" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6d81edfa5aa102b898ad487ae19b49f9]
@@ -15,11 +15,11 @@ link urt_srtsubscriber_t to urt_basesubscriber_t--><path d="M2792.5,353.0363 C27
 link urt_frtsubscriber_t to urt_basesubscriber_t--><path d="M2169.1729,369.427 C2197.6878,376.7857 2225.9994,384.0058 2253.5,390.9063 C2391.7604,425.5991 2550.6746,462.7076 2659.9377,487.7957 " fill="none" id="urt_frtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="2661.8156,481.0446,2679.7455,492.337,2658.687,494.6905,2661.8156,481.0446" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[1ea71f2b33e56ab0ac5545988c1af396]
 link urt_hrtsubscriber_t to urt_basesubscriber_t--><path d="M4206.3442,387.8991 C4200.3691,388.9284 4194.4195,389.9315 4188.5,390.9063 C3728.3838,466.6802 3174.9618,500.1722 2925.6847,512.2261 " fill="none" id="urt_hrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="2925.7015,519.2331,2905.3912,513.1923,2925.0356,505.249,2925.7015,519.2331" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ea2ec5c5272e65289dabade75a749f58]
 reverse link urt_hrtsubscriber_t to urt_hrtsubscriber_t--><path d="M5302.8399,232.1588 C5317.3539,238.8647 5325.5,246.9473 5325.5,256.4063 C5325.5,268.2764 5312.6717,277.9788 5290.5292,285.5136 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="5290.5292,227.299,5294.6414,233.2226,5301.691,231.7052,5297.5788,225.7815,5290.5292,227.299" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5298.2077" y="223.8529">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="5298.2921" y="282.8861">0,1</text><!--MD5=[54fcf25ad8c5f1d36e678e42d5bfd4cc]
-reverse link urt_publisher_t to urt_topic_t--><path d="M802.3622,256.4063 C809.6684,256.4063 816.9747,256.4063 824.2809,256.4063 " fill="none" id="urt_publisher_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="789.2109,256.4063,795.2109,260.4063,801.2109,256.4063,795.2109,252.4063,789.2109,256.4063" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="797.2488" y="253.3239">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="808.6161" y="253.1852">1</text><!--MD5=[5025b4c4053b8e7c7ca8a657f09f21c0]
-link urt_publisher_t to urt_message_t--><path d="M484.5477,321.0241 C598.2489,405.4275 796.8827,552.8786 916.5977,641.7462 " fill="none" id="urt_publisher_t-&gt;urt_message_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="920.8228,644.8826,915.9805,636.3063,916.8081,641.9023,911.2121,642.7298,920.8228,644.8826" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b2afc1defaa6ed5a86f99c07f8466dd]
+reverse link urt_publisher_t to urt_topic_t--><path d="M802.3622,256.4063 C809.6684,256.4063 816.9747,256.4063 824.2809,256.4063 " fill="none" id="urt_publisher_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="789.2109,256.4063,795.2109,260.4063,801.2109,256.4063,795.2109,252.4063,789.2109,256.4063" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="797.2488" y="253.3217">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="808.6161" y="253.1852">1</text><!--MD5=[5025b4c4053b8e7c7ca8a657f09f21c0]
+link urt_publisher_t to urt_message_t--><path d="M529.5318,354.417 C645.3911,440.4224 811.3639,563.6284 916.516,641.6855 " fill="none" id="urt_publisher_t-&gt;urt_message_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="920.5419,644.6741,915.6996,636.0978,916.5272,641.6938,910.9312,642.5213,920.5419,644.6741" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b2afc1defaa6ed5a86f99c07f8466dd]
 reverse link urt_topic_t to urt_topic_t--><path d="M1220.5439,220.8703 C1234.8061,228.9814 1243.5,240.8267 1243.5,256.4063 C1243.5,275.9571 1229.809,289.6274 1208.6039,297.4171 " fill="none" id="urt_topic_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1208.6039,215.3954,1212.3907,221.5322,1219.5119,220.3971,1215.7251,214.2603,1208.6039,215.3954" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1216.2642" y="210.5724">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="1216.4986" y="295.798">0,1</text><!--MD5=[ed3fb6de0913094c41bd74c175d366df]
 reverse link urt_topic_t to urt_hrtsubscriber_t--><path d="M1163.0785,118.0086 C1193.9801,96.2116 1227.9195,76.9316 1263,64.9063 C1339.4129,38.7124 4091.2552,52.0293 4171,64.9063 C4247.3838,77.2405 4327.3368,98.1948 4402.5629,121.8264 " fill="none" id="urt_topic_t&lt;-urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1152.278,125.8156,1159.4839,125.5424,1162.0033,118.7857,1154.7973,119.0589,1152.278,125.8156" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1151.8964" y="114.9065">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="4361.9853" y="110.6867">0,1</text><!--MD5=[0b5167e958c0ed93ffc0c98ce399b54d]
-reverse link urt_topic_t to urt_message_t--><path d="M1016.5,400.3211 C1016.5,481.6692 1016.5,579.7848 1016.5,644.7927 " fill="none" id="urt_topic_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1016.5,387.1584,1012.5,393.1584,1016.5,399.1584,1020.5,393.1584,1016.5,387.1584" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1008.2813" y="406.793">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1008.0875" y="633.7783">1</text><!--MD5=[24f93dcf9afeb4dd37451f1adf8ffc7a]
+reverse link urt_topic_t to urt_message_t--><path d="M1016.5,400.3211 C1016.5,481.6692 1016.5,579.7848 1016.5,644.7927 " fill="none" id="urt_topic_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1016.5,387.1584,1012.5,393.1584,1016.5,399.1584,1020.5,393.1584,1016.5,387.1584" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1008.2813" y="406.793">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1008.0875" y="633.7783">1</text><!--MD5=[3963fa39dea3a9aae9fd717b2dc4370c]
 @startuml
 
 title **µRtWare**\nPublish-Subscribe System
@@ -124,12 +124,17 @@ title **µRtWare**\nPublish-Subscribe System
 } 
 
   class urt_publisher_t <<S,BFAFFF>> {
+  URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT : bool
+  __
   + {field} topic : urt_topic_t*
   .. URT_CFG_PUBSUB_PROFILING == true ..
   + {field} publishAttempts : uint64_t
   + {field} publishFails : uint64_t
   __
   + {method} urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void
+  .. URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == false ..
+  + {method} urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t) : urt_status_t
+  .. URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == true ..
   + {method} urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t
 }
 
diff --git a/doc/classdiagrams/pubsub.uml b/doc/classdiagrams/pubsub.uml
index 335ba07..8215492 100644
--- a/doc/classdiagrams/pubsub.uml
+++ b/doc/classdiagrams/pubsub.uml
@@ -177,6 +177,9 @@ $group("subscriber") {
 
 /' Publisher type. '/
 $structure("urt_publisher_t") {
+  'Flag, whether the publish() method supports timeout.
+  URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT : bool
+  __
     'Pointer to the topic for publishing.
   + {field} topic : urt_topic_t*
   .. URT_CFG_PUBSUB_PROFILING == true ..
@@ -187,7 +190,11 @@ $structure("urt_publisher_t") {
   __
     'Initializes a urt_publisher_t object and contributes an optional list of messages.
   + {method} urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void
+  .. URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == false ..
     'Publishes a message via the associated topic.
+  + {method} urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t) : urt_status_t
+  .. URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == true ..
+    'Publishes a message via the associated topic with timeout.
   + {method} urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t
 }
 
diff --git a/templates/urtwareconf.h b/templates/urtwareconf.h
index 0b67cdd..0ff28a3 100644
--- a/templates/urtwareconf.h
+++ b/templates/urtwareconf.h
@@ -110,4 +110,12 @@ along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 #define URT_CFG_OSAL_HEADER                     <custom_urtosal.h>
 
+/**
+ * @brief   Flag to enable timeout functionality for condition variables.
+ * @details If the OS supports this feature, urtPublisherPublish() can be called
+            with a timeout. Otherwise it will block indefinitely under certain
+            conditions.
+ */
+#define URT_CFG_OSAL_CONDVAR_TIMEOUT            false
+
 #endif /* HELLOWORLD_URTWARECONF_H */
diff --git a/urt_osal.h b/urt_osal.h
index fec90ef..0ae0ca6 100644
--- a/urt_osal.h
+++ b/urt_osal.h
@@ -187,7 +187,7 @@ extern "C" {
   void urtCondvarBroadcast(urt_osCondvar_t* condvar);
 #endif /* !defined(urtCondvarBroadcast) */
 
-#if !defined(urtCondvarWait) || defined(__DOXYGEN__)
+#if (!defined(urtCondvarWait) && (URT_CFG_OSAL_CONDVAR_TIMEOUT == true)) || defined(__DOXYGEN__)
   /**
    * @brief   Wait for a condition variable to be signaled or timeout.
    *
@@ -201,7 +201,9 @@ extern "C" {
    * @return
    */
   urt_osCondvarWaitStatus_t urtCondvarWait(urt_osCondvar_t* condvar, urt_osMutex_t* mutex, urt_delay_t timeout);
-#endif /* !defined(urtCondvarWait) */
+#else /* !defined(urtCondvarWait) && (URT_CFG_OSAL_CONDVAR_TIMEOUT == true) */
+  urt_osCondvarWaitStatus_t urtCondvarWait(urt_osCondvar_t* condvar, urt_osMutex_t* mutex);
+#endif /* !defined(urtCondvarWait) && (URT_CFG_OSAL_CONDVAR_TIMEOUT == true) */
 
 #if defined(__cplusplus)
 }
