AMiRo-OS

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stroke-width: 1.5;" x1="3594.97" x2="3801.97" y1="1148.3594" y2="1148.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3594.97" x2="3801.97" y1="1156.3594" y2="1156.3594"/><ellipse cx="3604.97" cy="1168.2617" fill="#84BE84" 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="3613.97" y="1170.5698">urtPrintf(fmt : char*, ... ) : int</text><ellipse cx="3604.97" cy="1181.0664" fill="#84BE84" 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="3613.97" y="1183.3745">urtErrPrintf(fmt : char*, ... ) : int</text><!--class urt_condvarStatus_t--><rect fill="#FEFECE" filter="url(#f1hivpbyet8yjp)" height="86.4141" id="urt_condvarStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="258" x="4831.47" y="1433.3594"/><ellipse cx="4893.22" cy="1449.3594" fill="#EB937F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4897.3294,1455.3594 L4889.6106,1455.3594 L4889.6106,1442.9688 L4897.3294,1442.9688 L4897.3294,1445.125 L4892.0638,1445.125 L4892.0638,1447.7969 L4896.8294,1447.7969 L4896.8294,1449.9531 L4892.0638,1449.9531 L4892.0638,1453.2031 L4897.3294,1453.2031 L4897.3294,1455.3594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="126" x="4913.72" y="1453.5137">urt_condvarStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4832.47" x2="5088.47" y1="1465.3594" y2="1465.3594"/><ellipse cx="4842.47" cy="1477.2617" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="204" x="4851.47" y="1479.5698">URT_CONDVAR_STATUS_SIGNAL = 0</text><ellipse cx="4842.47" cy="1490.0664" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="232" x="4851.47" y="1492.3745">URT_CONDVAR_STATUS_BROADCAST = 1</text><ellipse cx="4842.47" cy="1502.8711" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="4851.47" y="1505.1792">URT_CONDVAR_STATUS_TIMEOUT = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4832.47" x2="5088.47" y1="1511.7734" y2="1511.7734"/><!--class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#f1hivpbyet8yjp)" height="99.2188" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="671" x="4624.97" y="1103.8594"/><ellipse cx="4905.72" cy="1119.8594" fill="#ADD8E6" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4906.5638,1126.6094 L4904.1106,1126.6094 L4904.1106,1116.3594 L4900.97,1116.3594 L4900.97,1114.2188 L4909.7044,1114.2188 L4909.7044,1116.3594 L4906.5638,1116.3594 L4906.5638,1126.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="4926.22" y="1124.0137">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4625.97" x2="5294.97" y1="1135.8594" y2="1135.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4625.97" x2="5294.97" y1="1143.8594" y2="1143.8594"/><ellipse cx="4635.97" cy="1155.7617" fill="#84BE84" 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="4644.97" y="1158.0698">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4635.97" cy="1168.5664" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="294" x="4644.97" y="1170.8745">urtConvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4635.97" cy="1181.3711" fill="#84BE84" 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="4644.97" y="1183.6792">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4635.97" cy="1194.1758" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="645" x="4644.97" y="1196.4839">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_condvarStatus_t</text><!--class urt_osTimerCallback_t--><rect fill="#FEFECE" filter="url(#f1hivpbyet8yjp)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="3949.47" y="1445.8594"/><ellipse cx="4020.22" cy="1461.8594" fill="#ADD8E6" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4021.0638,1468.6094 L4018.6106,1468.6094 L4018.6106,1458.3594 L4015.47,1458.3594 L4015.47,1456.2188 L4024.2044,1456.2188 L4024.2044,1458.3594 L4021.0638,1458.3594 L4021.0638,1468.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="4040.72" y="1466.0137">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3950.47" x2="4234.47" y1="1477.8594" y2="1477.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3950.47" x2="4234.47" y1="1485.8594" y2="1485.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="3955.47" y="1500.0698">urt_osTimerCallback_t (parameter : void*) : void</text><!--class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#f1hivpbyet8yjp)" height="99.2188" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="731" x="3837.97" y="1103.8594"/><ellipse cx="4157.22" cy="1119.8594" fill="#ADD8E6" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4158.0637,1126.6094 L4155.6106,1126.6094 L4155.6106,1116.3594 L4152.47,1116.3594 L4152.47,1114.2188 L4161.2044,1114.2188 L4161.2044,1116.3594 L4158.0637,1116.3594 L4158.0637,1126.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="4177.72" y="1124.0137">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3838.97" x2="4567.97" y1="1135.8594" y2="1135.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3838.97" x2="4567.97" y1="1143.8594" y2="1143.8594"/><ellipse cx="3848.97" cy="1155.7617" fill="#84BE84" 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="3857.97" y="1158.0698">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="3848.97" cy="1168.5664" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="705" x="3857.97" y="1170.8745">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="3848.97" cy="1181.3711" fill="#84BE84" 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="3857.97" y="1183.6792">urtTimerReset (timer : urt_osTimer_t*) : urt_status_t</text><ellipse cx="3848.97" cy="1194.1758" fill="#84BE84" 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="3857.97" y="1196.4839">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#f1hivpbyet8yjp)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="211" x="5639.97" y="1401.3594"/><ellipse cx="5682.42" cy="1417.3594" fill="#ADD8E6" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5683.2638,1424.1094 L5680.8106,1424.1094 L5680.8106,1413.8594 L5677.67,1413.8594 L5677.67,1411.7188 L5686.4044,1411.7188 L5686.4044,1413.8594 L5683.2638,1413.8594 L5683.2638,1424.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="5702.52" y="1421.5137">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5640.97" x2="5849.97" y1="1433.3594" y2="1433.3594"/><ellipse cx="5650.97" cy="1445.2617" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="5659.97" y="1447.5698">URT_THREAD_PRIO_LOW_MIN</text><ellipse cx="5650.97" cy="1458.0664" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="5659.97" y="1460.3745">URT_THREAD_PRIO_LOW_MAX</text><ellipse cx="5650.97" cy="1470.8711" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="5659.97" y="1473.1792">URT_THREAD_PRIO_NORMAL_MIN</text><ellipse cx="5650.97" cy="1483.6758" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="5659.97" y="1485.9839">URT_THREAD_PRIO_NORMAL_MAX</text><ellipse cx="5650.97" cy="1496.4805" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="5659.97" y="1498.7886">URT_THREAD_PRIO_HIGH_MIN</text><ellipse cx="5650.97" cy="1509.2852" fill="none" 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="5659.97" y="1511.5933">URT_THREAD_PRIO_HIGH_MAX</text><ellipse cx="5650.97" cy="1522.0898" fill="none" 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="5659.97" y="1524.3979">URT_THREAD_PRIO_RT_MIN</text><ellipse cx="5650.97" cy="1534.8945" fill="none" 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="5659.97" y="1537.2026">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5640.97" x2="5849.97" y1="1543.7969" y2="1543.7969"/><!--class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#f1hivpbyet8yjp)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="5352.47" y="1445.8594"/><ellipse cx="5400.22" cy="1461.8594" fill="#ADD8E6" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5401.0638,1468.6094 L5398.6106,1468.6094 L5398.6106,1458.3594 L5395.47,1458.3594 L5395.47,1456.2188 L5404.2044,1456.2188 L5404.2044,1458.3594 L5401.0638,1458.3594 L5401.0638,1468.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="5420.72" y="1466.0137">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5353.47" x2="5603.47" y1="1477.8594" y2="1477.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5353.47" x2="5603.47" y1="1485.8594" y2="1485.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="5358.47" y="1500.0698">urt_osThreadFunction_t (arg : void*) : void</text><!--class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#f1hivpbyet8yjp)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="6147.47" y="1439.3594"/><ellipse cx="6169.22" cy="1455.3594" fill="#EB937F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6173.3294,1461.3594 L6165.6106,1461.3594 L6165.6106,1448.9688 L6173.3294,1448.9688 L6173.3294,1451.125 L6168.0638,1451.125 L6168.0638,1453.7969 L6172.8294,1453.7969 L6172.8294,1455.9531 L6168.0638,1455.9531 L6168.0638,1459.2031 L6173.3294,1459.2031 L6173.3294,1461.3594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="6184.72" y="1459.5137">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6148.47" x2="6388.47" y1="1471.3594" y2="1471.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="6153.47" y="1485.5698">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="6153.47" y="1498.3745">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6148.47" x2="6388.47" y1="1504.9688" y2="1504.9688"/><!--class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#f1hivpbyet8yjp)" height="124.8281" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="5886.47" y="1413.8594"/><ellipse cx="5931.22" cy="1429.8594" fill="#EB937F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5935.3294,1435.8594 L5927.6106,1435.8594 L5927.6106,1423.4688 L5935.3294,1423.4688 L5935.3294,1425.625 L5930.0638,1425.625 L5930.0638,1428.2969 L5934.8294,1428.2969 L5934.8294,1430.4531 L5930.0638,1430.4531 L5930.0638,1433.7031 L5935.3294,1433.7031 L5935.3294,1435.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="5951.72" y="1434.0137">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5887.47" x2="6111.47" y1="1445.8594" y2="1445.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="5892.47" y="1460.0698">URT_THREAD_STATE_RUNNING = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="5892.47" y="1472.8745">URT_THREAD_STATE_READY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="5892.47" y="1485.6792">URT_THREAD_STATE_SLEEPING = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="5892.47" y="1498.4839">URT_THREAD_STATE_SUSPENDED = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="5892.47" y="1511.2886">URT_THREAD_STATE_WAITING = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="5892.47" y="1524.0933">URT_THREAD_STATE_TERMINATED = 5</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5887.47" x2="6111.47" y1="1530.6875" y2="1530.6875"/><!--class urt_osThread_t--><rect fill="#FEFECE" filter="url(#f1hivpbyet8yjp)" height="376.1172" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="560" x="5465.47" y="965.3594"/><ellipse cx="5694.22" cy="981.3594" fill="#ADD8E6" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5695.0638,988.1094 L5692.6106,988.1094 L5692.6106,977.8594 L5689.47,977.8594 L5689.47,975.7188 L5698.2044,975.7188 L5698.2044,977.8594 L5695.0638,977.8594 L5695.0638,988.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="5714.72" y="985.5137">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5466.47" x2="6024.47" y1="997.3594" y2="997.3594"/><ellipse cx="5476.47" cy="1009.2617" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="5485.47" y="1011.5698">URT_THREAD_SLEEP_MAX : float</text><ellipse cx="5476.47" cy="1022.0664" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="5485.47" y="1024.3745">URT_THREAD_SSLEP_MAX : unsigned int</text><ellipse cx="5476.47" cy="1034.8711" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="5485.47" y="1037.1792">URT_THREAD_MSLEEP_MAX : unsigned int</text><ellipse cx="5476.47" cy="1047.6758" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="232" x="5485.47" y="1049.9839">URT_THREAD_USLEEP_MAX : unisgned int</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5466.47" x2="6024.47" y1="1056.5781" y2="1056.5781"/><ellipse cx="5476.47" cy="1068.4805" fill="#84BE84" 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="5485.47" y="1070.7886">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5466.47" x2="6024.47" y1="1077.3828" y2="1077.3828"/><ellipse cx="5476.47" cy="1089.2852" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="534" x="5485.47" y="1091.5933">urtThreadInit (memory : void*, size : size_t, func : urt_osThreadFunction_t*) : urt_osThread_t*</text><ellipse cx="5476.47" cy="1102.0898" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="490" x="5485.47" y="1104.3979">urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void</text><ellipse cx="5476.47" cy="1114.8945" fill="#84BE84" 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="5485.47" y="1117.2026">urtThreadYield (void) : void</text><ellipse cx="5476.47" cy="1127.6992" 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="220" x="5485.47" y="1181.2261">urtThreadSleep (seconds : float) : void</text><ellipse cx="5476.47" cy="1191.7227" fill="#84BE84" 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="5485.47" y="1194.0308">urtThreadSSleep (seconds : usnigned int) : void</text><ellipse cx="5476.47" cy="1204.5273" fill="#84BE84" 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="5485.47" y="1206.8354">urtThreadMSleep (milliseconds : unsigned int) : void</text><ellipse cx="5476.47" cy="1217.332" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="305" x="5485.47" y="1219.6401">urtThreadUSleep (microseconds : unsigned int) : void</text><ellipse cx="5476.47" cy="1230.1367" 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="521" x="7003.97" y="1506.3745">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--class urt_events--><rect fill="#FEFECE" filter="url(#f1hivpbyet8yjp)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="735" x="6444.97" y="1110.3594"/><ellipse cx="6775.22" cy="1126.3594" fill="#FFFFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6779.4544,1122.125 L6774.1731,1122.125 L6774.1731,1124.7969 L6778.97,1124.7969 L6778.97,1126.9531 L6774.1731,1126.9531 L6774.1731,1132.3594 L6771.7356,1132.3594 L6771.7356,1119.9688 L6779.4544,1119.9688 L6779.4544,1122.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="6795.72" y="1130.5137">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6445.97" x2="7178.97" y1="1142.3594" y2="1142.3594"/><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="211" x="3088.97" y="801.7886">numHrtConsumersLeft : unsigned int</text><ellipse cx="3079.97" cy="812.2852" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="3088.97" y="814.5933">hrtConsumersLeft : urt_osCondvar_t</text><ellipse cx="3079.97" cy="841.8945" fill="none" 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="3088.97" y="844.2026">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="3069.97" x2="3250.97" y1="827.5898" y2="827.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="87" x="3250.97" y="830.8979">evaluation data</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="3337.97" x2="3518.97" y1="827.5898" y2="827.5898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3069.97" x2="3518.97" y1="850.7969" y2="850.7969"/><ellipse cx="3079.97" cy="862.6992" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="425" x="3088.97" y="865.0073">urtMessageInit (message : urt_message_t*, payload : void*) : urt_status_t</text><!--class urt_subscriber_t--><rect fill="#FEFECE" filter="url(#f1hivpbyet8yjp)" height="244.0703" id="urt_subscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="851" x="2387.97" y="122.3594"/><ellipse cx="2758.72" cy="138.3594" fill="#D3D3D3" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2758.2044,138.9219 Q2756.345,138.2188 2755.6966,137.4453 Q2755.0481,136.6719 2755.0481,135.3594 Q2755.0481,133.6719 2756.1263,132.7031 Q2757.2044,131.7344 2759.0794,131.7344 Q2759.9388,131.7344 2760.7903,131.9297 Q2761.6419,132.125 2762.4856,132.5156 L2762.4856,134.9063 Q2761.7044,134.3438 2760.8841,134.0547 Q2760.0638,133.7656 2759.2669,133.7656 Q2758.3919,133.7656 2757.9153,134.125 Q2757.4388,134.4844 2757.4388,135.1406 Q2757.4388,135.6563 2757.7825,135.9922 Q2758.1263,136.3281 2759.22,136.7344 L2760.2825,137.1406 Q2761.7669,137.6875 2762.4778,138.5938 Q2763.1888,139.5 2763.1888,140.875 Q2763.1888,142.75 2762.0794,143.6719 Q2760.97,144.5938 2758.72,144.5938 Q2757.7981,144.5938 2756.8763,144.375 Q2755.9544,144.1563 2755.095,143.7344 L2755.095,141.2031 Q2756.0638,141.8906 2756.9856,142.2344 Q2757.9075,142.5781 2758.7981,142.5781 Q2759.7044,142.5781 2760.2044,142.1641 Q2760.7044,141.75 2760.7044,141.0156 Q2760.7044,140.4531 2760.3684,140.0391 Q2760.0325,139.625 2759.4075,139.375 L2758.2044,138.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="2779.22" y="142.5137">urt_subscriber_t</text><line style="stroke: #A80036; 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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="175" x="2407.97" y="219.7886">lastMessage : urt_message_t*</text><ellipse cx="2398.97" cy="230.2852" fill="none" 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="2407.97" y="232.5933">lastMessageTime : urt_osTime_t</text><ellipse cx="2398.97" cy="259.8945" fill="none" 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="2407.97" y="262.2026">minLatency : urt_delay_t</text><ellipse cx="2398.97" cy="272.6992" fill="none" 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="2407.97" y="275.0073">maxLatency : urt_delay_t</text><ellipse cx="2398.97" cy="285.5039" fill="none" 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="2407.97" y="287.812">sumLatencies : uint64_t</text><ellipse cx="2398.97" cy="298.3086" fill="none" 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="2407.97" y="300.6167">numMessagesReceived : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="2388.97" x2="2769.97" y1="245.5898" y2="245.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="87" x="2769.97" y="248.8979">evaluation data</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="2856.97" x2="3237.97" y1="245.5898" y2="245.5898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2388.97" x2="3237.97" y1="307.2109" y2="307.2109"/><ellipse cx="2398.97" cy="319.1133" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; 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@startuml

title **µRtWare**\nOverview\n

class urt_config <<(C,grey)>> {

  + URT_CFG_DEBUG : bool

  + URT_CFG_DELAY_WIDTH

  + URT_CFG_TOPICID_WIDTH

  + URT_CFG_NODESTAGE_WIDTH

}

package "primitives" {

  class urt_delay_t <<(T,lightblue)>> {

    .. either ..

    uint32_t

    .. or ..

    uint64_t

  }

  urt_delay_t ..> urt_config

  enum urt_status_t {

    URT_STATUS_OK = 0

    URT_STATUS_WARNING = 1

    URT_STATUS_ERROR = -1

  }

  class urt_topicid_t <<(T,lightblue)>> {

    uin8_t

    .. or ..

    uint16_t

    .. or ..

    uint32_t

    .. or ..

    uint64_t

  }

  urt_topicid_t ..> urt_config

  class urt_nodestage_t <<T,lightblue>> {

    uin8_t

    .. or ..

    uint16_t

    .. or ..

    uint32_t

    .. or ..

    uint64_t

  }

  urt_nodestage_t ..> urt_config

} 

package "OSAL" {

  class urt_osTime_t <<(T,lightblue)>> {

    + urtTime2Us (t : urt_osTime_t*) : uint64_t

    + urtTimeNow (void) : urt_osTime_t

  }

  class urt_osMutex_t <<(T,lightblue)>> {

    + urtMutexInit (mutex : urt_osMutex_t*) : void

    + urtMutexLock (mutex : urt_osMutex_t*) : void

    + urtMutexTryLock (mutex : urt_osMutex_t*) : bool

    + urtMutexUnlock (mutex : urt_osMutex_t*) : void

  }

  package "condition variable" {

    enum urt_condvarStatus_t {

      + URT_CONDVAR_STATUS_SIGNAL = 0

      + URT_CONDVAR_STATUS_BROADCAST = 1

      + URT_CONDVAR_STATUS_TIMEOUT = 2

    }

    class urt_osCondvar_t <<(T,lightblue)>> {

      + urtCondvarInit (condvar : urt_osCondvar_t*) : void

      + urtConvarSignal (condvar : urt_osCondvar_t*) : void

      + urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void

      + urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_condvarStatus_t

    }

    urt_osCondvar_t ..> urt_osMutex_t

    urt_osCondvar_t ..> urt_delay_t

    urt_osCondvar_t ..> urt_condvarStatus_t

  } 

  package "timer" {

    class urt_osTimerCallback_t <<(T,lightblue)>> {

      urt_osTimerCallback_t (parameter : void*) : void

    }

    class urt_osTimer_t <<(T,lightblue)>> {

      + urtTimerInit (timer : urt_osTimer_t*) : void

      + urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t

      + urtTimerReset (timer : urt_osTimer_t*) : urt_status_t

      + urtTimerIsArmed (timer : urt_osTimer_t*) : bool

    }

    urt_osTimer_t ..> urt_delay_t

    urt_osTimer_t ..> urt_status_t

    urt_osTimer_t ..> urt_osTimerCallback_t

  } 

  package "thread" {

    class urt_osThreadPrio_t <<(T,lightblue)>> {

      + URT_THREAD_PRIO_LOW_MIN

      + URT_THREAD_PRIO_LOW_MAX

      + URT_THREAD_PRIO_NORMAL_MIN

      + URT_THREAD_PRIO_NORMAL_MAX

      + URT_THREAD_PRIO_HIGH_MIN

      + URT_THREAD_PRIO_HIGH_MAX

      + URT_THREAD_PRIO_RT_MIN

      + URT_THREAD_PRIO_RT_MAX

    }

    class urt_osThreadFunction_t <<(T,lightblue)>> {

      urt_osThreadFunction_t (arg : void*) : void

    }

    enum urt_osThreadTerminateSignal_t {

      URT_THREAD_TERMINATE_REQUEST = 15

      URT_THREAD_TERMINATE_KILL = 9

    }

    enum urt_osThreadState_t {

      URT_THREAD_STATE_RUNNING = 0

      URT_THREAD_STATE_READY = 1

      URT_THREAD_STATE_SLEEPING = 2

      URT_THREAD_STATE_SUSPENDED = 3

      URT_THREAD_STATE_WAITING = 4

      URT_THREAD_STATE_TERMINATED = 5

    }

    class urt_osThread_t <<(T,lightblue)>> {

      + URT_THREAD_SLEEP_MAX : float

      + URT_THREAD_SSLEP_MAX : unsigned int

      + URT_THREAD_MSLEEP_MAX : unsigned int

      + URT_THREAD_USLEEP_MAX : unisgned int

      __

      + URT_THREAD_MEMORY (varname, stacksize)

      ..

      + urtThreadInit (memory : void*, size : size_t, func : urt_osThreadFunction_t*) : urt_osThread_t*

      + urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void

      + urtThreadYield (void) : void

      + urtThreadGetPriority (void) : urt_osThreadPrio_t

      + urtThreadSetPriority (prio : urt_osThreadPrio_t) : void

      + urtThreadSuspend (thread : urt_osThread_t*) : void

      + urtThreadResume (thread : urt_osThread_t*) : urt_status_t

      + urtThreadSleep (seconds : float) : void

      + urtThreadSSleep (seconds : usnigned int) : void

      + urtThreadMSleep (milliseconds : unsigned int) : void

      + urtThreadUSleep (microseconds : unsigned int) : void

      + urtThreadSleepUntil (time : urt_osTime_t) : void

      + urtThreadExit (void) : void

      + urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void

      + urtThreadJoin (thread : urt_osThread_t*) : int

      + urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t

      + urtThreadGetSelf (void) : urt_osThread_t*

      + urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*

      + urtThreadGetSibling (thread : urt_osThread_t*) : urt_osThread_t*

      + urtThreadGetParent (thread : urt_osThread_t) : urt_osThread_t*

    }

    urt_osThread_t ..> urt_osThreadPrio_t

    urt_osThread_t ..> urt_osThreadFunction_t

    urt_osThread_t ..> urt_osTime_t

    urt_osThread_t ..> urt_osThreadTerminateSignal_t

    urt_osThread_t ..> urt_osThreadState_t

    urt_osThread_t ..> urt_status_t

  } 

  package "events" {

    class urt_osEventMask_t <<(T,lightblue)>> {

      + URT_EVENTMASK_MAXPRIO : urt_osEventMask_t

    }

    class urt_osEventFlags_t <<(T,lightblue)>>

    enum urt_osEventWaitType_t {

      URT_EVENT_WAIT_ONE = 0

      URT_EVENT_WAIT_ANY = 1

      URT_EVENT_WAIT_ALL = 2

    }

    class urt_osEventListener_t <<(T,lightblue)>> {

      + urtEventListenerInit (listener : urt_osEventListener_t*) : void

      + urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t

      + urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t

    }

    urt_osEventListener_t ..> urt_osEventFlags_t

    class urt_osEventSource_t <<(T,lightblue)>> {

      + urtEventSourceInit (source : urt_osEventSource_t*) : void

      + urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void

    }

    urt_osEventSource_t ..> urt_osEventFlags_t

    class urt_events <<(F,white)>> {

      + urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t) : urt_status_t

      + urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : urt_status_t

      + urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWaitType_t, timeout : urt_delay_t) : urt_osEventMask_t

    }

    urt_events ..> urt_osEventSource_t

    urt_events ..> urt_osEventListener_t

    urt_events ..> urt_osEventMask_t

    urt_events ..> urt_status_t

    urt_events ..> urt_osEventWaitType_t

    urt_events ..> urt_delay_t

  } 

    class urt_streams <<(F,white)>> {

      + urtPrintf(fmt : char*, ... ) : int

      + urtErrPrintf(fmt : char*, ... ) : int

    }

} 

package "middleware" {

  class urt_debug <<(F,white)>> {

    + urtDebugAssert(condition : bool) : void

  }

  urt_debug ..> urt_config

  package "real-time class" {

    class urt_rtclass_t <<(S,lightgrey)>> {

      + class : urt_rtclasstype_t

      + params : urt_rtclassparams_t

    }

    urt_rtclass_t "1" *- - "1" urt_rtclasstype_t

    urt_rtclass_t "1" *- - "1" urt_rtclassparams_t

    enum urt_rtclasstype_t {

      URT_RTCLASS_HARD = 0

      URT_RTCLASS_FIRM = 1

      URT_RTCLASS_SOFT = 2

      URT_RTCLASS_NONE = 3

    }

    class urt_rtclassparams_t <<(U,lightgreen)>> {

      + hrt : urt_hrtparams_t

      + frt : urt_frtparams_t

      + srt : urt_srtparans_t

      + nrt : urt_nrtparams_t

    }

    urt_rtclassparams_t "1" *- - "0..1" urt_hrtparams_t

    urt_rtclassparams_t "1" *- - "0..1" urt_frtparams_t

    urt_rtclassparams_t "1" *- - "0..1" urt_srtparams_t

    urt_rtclassparams_t "1" *- - "0..1" urt_nrtparams_t

    class urt_hrtparams_t <<(S,lightgrey)>> {

      + deadlineOffset : urt_delay_t

      + expectedRate : urt_delay_t

      + qosTimer : urt_osTimer_t

    }

    urt_hrtparams_t ..> urt_delay_t

    urt_hrtparams_t "1" *- - "1" urt_osTimer_t

    class urt_frtparams_t <<(S,lightgrey)>> {

      + deadlineOffset : urt_delay_t

      + expectedRate : urt_delay_t

      + qosTimer : urt_osTimer_t

      + callback : urt_osTimerCallback_t

      + cbparams : void*

    }

    urt_frtparams_t ..> urt_delay_t

    urt_frtparams_t "1" *- - "1" urt_osTimer_t

    urt_frtparams_t "1" *- - "1" urt_osTimerCallback_t

    class urt_srtparams_t <<(S,lightgrey)>> {

      + *usefulness (dt : urt_delay_t, params : void*) : float

      + params : void*

    }

    urt_srtparams_t ..> urt_delay_t

    class urt_nrtparams_t <<(S,lightgrey)>> {

    }

  } 

  class urt_message_t <<(S,lightgrey)>> {

    + next : urt_message_t*

    + payload : void*

    + originTime : urt_osTime_t

    + lock : urt_osMutex_t

    + numHrtConsumersLeft : unsigned int

    + hrtConsumersLeft : urt_osCondvar_t

    - - evaluation data - -

    + numConsumersLeft : unsigned int

    __

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

  }

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

  urt_message_t "1" *- - "1" urt_osTime_t

  urt_message_t "1" *- - "1" urt_osMutex_t

  urt_message_t "1" *- - "1" urt_osCondvar_t

  class urt_subscriber_t <<(S,lightgrey)>> {

    + next : urt_subscriber_t*

    + topic : urt_topic_t*

    + evtListener : urt_osEventListener_t

    + rtclass : urt_rtclass_t

    + lastMessage : urt_message_t*

    + lastMessageTime : urt_osTime_t

    - - evaluation data - -

    + minLatency : urt_delay_t

    + maxLatency : urt_delay_t

    + sumLatencies : uint64_t

    + numMessagesReceived : unsigned int

    __

    + urtSubscriberInit (subscriber : urt_subscriber_t*) : urt_status_t

    + urtSubscriberSubscribe (subscriber : urt_subscriber_t*, topic : urt_topic_t*, rtclass : urt_rtclass_t*, messages : urt_messages_t*) : urt_status_t

    + urtSubscriberUnsubscribe (subscriber : urt_subscriber_t*) : urt_status_t

    + urtSubscriberFetchMessage (subscriber : urt_subscriber_t*, payload : void*, bytes : size_t, latest : bool) : urt_status_t

  }

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

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

  urt_subscriber_t "1" *- - "1" urt_osEventListener_t

  urt_subscriber_t "1" *- - "1" urt_rtclass_t

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

  urt_subscriber_t "1" *- - "1" urt_osTime_t

  urt_subscriber_t "1" *- - "2" urt_delay_t

  urt_subscriber_t ..> urt_status_t

  urt_subscriber_t ..> urt_topicid_t

  class urt_publisher_t <<(S,lightgrey)>> {

    + topic : urt_topic_t*

    - - evaluation data - -

    + publishAttempts : unsigned int

    + publishFails : unsigned int

    __

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

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

  }

  urt_publisher_t "1" o- - "1" urt_topic_t

  urt_publisher_t ..> urt_message_t

  urt_publisher_t ..> urt_osTime_t

  urt_publisher_t ..> urt_delay_t

  urt_publisher_t ..> urt_status_t

  class urt_topic_t <<(S,lightgrey)>> {

    + next : urt_topic_t*

    + lock : urt_osMutex_t

    + evtSource : urt_osEventSource_t

    + numHrtSubscribers : unsigned int

    + hrtSubscribers : urt_subscriber_t*

    + qosTimer : urt_osTimer_t

    + mandatoryMessage : urt_message_t

    + latestMessage : urt_message_t*

    + id : urt_topicid_t

    - - evaluation data - -

    + numDiscardedMessages : unsigned int

    + numSubscribers : unsigned int

    __

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

  }

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

  urt_topic_t "1" *- - "1" urt_osMutex_t

  urt_topic_t "1" *- - "1" urt_osEventSource_t

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

  urt_topic_t "1" *- - "1" urt_osTimer_t

  urt_topic_t "1" o- - "1..*" urt_message_t

  urt_topic_t "1" *- - "1" urt_message_t

  urt_topic_t "1" *- - "1" urt_topicid_t

  urt_topic_t ..> urt_osTime_t

  urt_topic_t ..> urt_status_t

  class urt_core_t <<(S,lightgrey)>> {

    - {static} _nodes : urt_node_t*

    - {static} _topics : urt_topic_t*

    - {static} _evtSource : urt_osEventSource_t

    - {static} _lock : urt_osMutex_t

    __

    + urtCoreInit (void) : urt_status_t

    + urtCoreStartNodes (void) : urt_status_t

    + urtCoreSynchronizeNodes (node : urt_node_t*, stage : urt_nodestage_t) : urt_status_t

    + urtCoreStopNodes (void) : urt_status_t

    + urtCoreRetrieveTopic (id : urt_topicid_t) : urt_topic_t*

  }

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

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

  urt_core_t "1" *- - "1" urt_osEventSource_t

  urt_core_t "1" *- - "1" urt_osMutex_t

  urt_core_t ..> urt_status_t

  urt_core_t - -> urt_nodestage_t

  urt_core_t ..> urt_topicid_t

  package "node" {

    class urt_nodeSetupCallback_t <<(T,lightblue)>> {

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

    }

    urt_nodeSetupCallback_t ..> urt_node_t

    urt_nodeSetupCallback_t ..> urt_status_t

    class urt_nodeLoopCallback_t <<(T,lightblue)>> {

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

    }

    urt_nodeLoopCallback_t ..> urt_node_t

    urt_nodeLoopCallback_t ..> urt_osEventMask_t

    urt_nodeLoopCallback_t ..> urt_status_t

    class urt_node_t <<(S,lightgrey)>> {

      + next : urt_node_t*

      + thread : urt_osThread_t*

      + setupcallback : urt_nodeSetupCallback_t*

      + setupparams : void*

      + loopcallback : urt_nodeLoopCallback_t*

      + loopparams : void*

      + stage : urt_nodestage_t

      + listener : urt_osEventListener_t

      __

      - {static} _main : urt_osThreadFunction_t

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

    }

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

    urt_node_t "1" o- - "1" urt_osThread_t

    urt_node_t "1" o- - "1" urt_nodeSetupCallback_t

    urt_node_t "1" o- - "1" urt_nodeLoopCallback_t

    urt_node_t "1" *- - "1" urt_nodestage_t

    urt_node_t "1" *- - "1" urt_osEventMask_t

    urt_node_t "1" *- - "1" urt_osEventWaitType_t

    urt_node_t "1" *- - "1" urt_osEventListener_t

    urt_node_t ..> urt_osThreadTerminateSignal_t

  } 

} 

@enduml

PlantUML version 1.2018.11(Sat Sep 22 18:43:53 CEST 2018)

(GPL source distribution)

Java Runtime: OpenJDK Runtime Environment

JVM: OpenJDK 64-Bit Server VM

Java Version: 1.8.0_181-8u181-b13-1ubuntu0.16.04.1-b13

Operating System: Linux

OS Version: 4.15.0-38-generic

Default Encoding: UTF-8

Language: en

Country: US

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