commit 2d31587003068f754f1c662c620964cbdd99750f
Author: Thomas Schöpping <tschoepp@cit-ec.uni-bielefeld.de>
Date:   Mon May 11 13:10:28 2020 +0200

    Documentation massively overhauled:
    - Remote Procedure Call system massively reworked.
    - Component diagram slightly enhanced.
    - Several fixes.

diff --git a/doc/classdiagrams/overview.svg b/doc/classdiagrams/overview.svg
index 3b46513..300c91e 100644
--- a/doc/classdiagrams/overview.svg
+++ b/doc/classdiagrams/overview.svg
@@ -1,163 +1,196 @@
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-class urt_delay_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="99.2188" id="urt_delay_t" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="1913.7145" y="1315.3594"/><ellipse cx="1965.9645" cy="1331.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1966.8083,1338.1094 L1964.3551,1338.1094 L1964.3551,1327.8594 L1961.2145,1327.8594 L1961.2145,1325.7188 L1969.9489,1325.7188 L1969.9489,1327.8594 L1966.8083,1327.8594 L1966.8083,1338.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="68" x="1986.4645" y="1335.5137">urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1914.7145" x2="2093.7145" y1="1347.3594" y2="1347.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="1919.7145" y="1378.3745">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1914.7145" x2="1917.7145" y1="1361.7617" y2="1361.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="1917.7145" y="1365.0698">URT_CFG_DELAY_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2090.7145" x2="2093.7145" y1="1361.7617" y2="1361.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="1919.7145" y="1407.9839">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1914.7145" x2="1917.7145" y1="1391.3711" y2="1391.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="1917.7145" y="1394.6792">URT_CFG_DELAY_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2090.7145" x2="2093.7145" y1="1391.3711" y2="1391.3711"/><!--MD5=[f106a25c06a671b3918b1a8f37571a4d]
-class urt_debug--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="245" x="652.7145" y="1334.3594"/><ellipse cx="738.9645" cy="1350.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M743.1989,1346.125 L737.9176,1346.125 L737.9176,1348.7969 L742.7145,1348.7969 L742.7145,1350.9531 L737.9176,1350.9531 L737.9176,1356.3594 L735.4801,1356.3594 L735.4801,1343.9688 L743.1989,1343.9688 L743.1989,1346.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="759.4645" y="1354.5137">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="653.7145" x2="896.7145" y1="1366.3594" y2="1366.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="653.7145" x2="896.7145" y1="1374.3594" y2="1374.3594"/><ellipse cx="663.7145" cy="1385.3594" 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="219" x="672.7145" y="1388.5698">urtDebugAssert(condition : bool) : void</text><!--MD5=[3677786d1f00795918091b0110bfa4af]
-class urt_osTime_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="425" x="9933.7145" y="940.8594"/><ellipse cx="10102.4645" cy="956.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10103.3083,963.6094 L10100.8551,963.6094 L10100.8551,953.3594 L10097.7145,953.3594 L10097.7145,951.2188 L10106.4489,951.2188 L10106.4489,953.3594 L10103.3083,953.3594 L10103.3083,963.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="10122.9645" y="961.0137">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9934.7145" x2="10357.7145" y1="972.8594" y2="972.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="9934.7145" x2="10357.7145" y1="980.8594" y2="980.8594"/><ellipse cx="9944.7145" cy="991.8594" 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="231" x="9953.7145" y="995.0698">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="9944.7145" cy="1004.6641" 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="189" x="9953.7145" y="1007.8745">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="9944.7145" cy="1017.4688" 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="399" x="9953.7145" y="1020.6792">urtTimeAddUs (time : urt_osTime_t*, offset : uint32_t) : urt_osTime_t*</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]
-class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="10394.2145" y="934.3594"/><ellipse cx="10495.4645" cy="950.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10496.3083,957.1094 L10493.8551,957.1094 L10493.8551,946.8594 L10490.7145,946.8594 L10490.7145,944.7188 L10499.4489,944.7188 L10499.4489,946.8594 L10496.3083,946.8594 L10496.3083,957.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="10515.9645" y="954.5137">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10395.2145" x2="10691.2145" y1="966.3594" y2="966.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="10395.2145" x2="10691.2145" y1="974.3594" y2="974.3594"/><ellipse cx="10405.2145" cy="985.3594" 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="245" x="10414.2145" y="988.5698">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="10405.2145" cy="998.1641" 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="253" x="10414.2145" y="1001.3745">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="10405.2145" cy="1010.9688" 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="272" x="10414.2145" y="1014.1792">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="10405.2145" cy="1023.7734" 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="265" x="10414.2145" y="1026.9839">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--MD5=[0cf29100c96c506429a28b45d347cc92]
-class urt_streams--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="209" x="9689.7145" y="946.8594"/><ellipse cx="9752.4645" cy="962.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9756.6989,958.625 L9751.4176,958.625 L9751.4176,961.2969 L9756.2145,961.2969 L9756.2145,963.4531 L9751.4176,963.4531 L9751.4176,968.8594 L9748.9801,968.8594 L9748.9801,956.4688 L9756.6989,956.4688 L9756.6989,958.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="9772.9645" y="967.0137">urt_streams</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9690.7145" x2="9897.7145" y1="978.8594" y2="978.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="9690.7145" x2="9897.7145" y1="986.8594" y2="986.8594"/><ellipse cx="9700.7145" cy="997.8594" 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="166" x="9709.7145" y="1001.0698">urtPrintf(fmt : char*, ... ) : int</text><ellipse cx="9700.7145" cy="1010.6641" 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="183" x="9709.7145" y="1013.8745">urtErrPrintf(fmt : char*, ... ) : int</text><!--MD5=[52fa11869cb40c93fa7702378ddd839e]
-class urt_osCondvarWaitStatus_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="86.4141" id="urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="14453.2145" y="1321.8594"/><ellipse cx="14499.4645" cy="1337.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M14503.5739,1343.8594 L14495.8551,1343.8594 L14495.8551,1331.4688 L14503.5739,1331.4688 L14503.5739,1333.625 L14498.3083,1333.625 L14498.3083,1336.2969 L14503.0739,1336.2969 L14503.0739,1338.4531 L14498.3083,1338.4531 L14498.3083,1341.7031 L14503.5739,1341.7031 L14503.5739,1343.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="169" x="14519.9645" y="1342.0137">urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="14454.2145" x2="14722.2145" y1="1353.8594" y2="1353.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="14459.2145" y="1368.0698">URT_CONDVAR_WAITSTATUS_SIGNAL = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="14459.2145" y="1380.8745">URT_CONDVAR_WAITSTATUS_BROADCAST = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="14459.2145" y="1393.6792">URT_CONDVAR_WAITSTATUS_TIMEOUT = 0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="14454.2145" x2="14722.2145" y1="1400.2734" y2="1400.2734"/><!--MD5=[004fc5dee471033e8e4138c1c73f0692]
-class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="99.2188" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="14233.2145" y="934.3594"/><ellipse cx="14533.4645" cy="950.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M14534.3083,957.1094 L14531.8551,957.1094 L14531.8551,946.8594 L14528.7145,946.8594 L14528.7145,944.7188 L14537.4489,944.7188 L14537.4489,946.8594 L14534.3083,946.8594 L14534.3083,957.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="14553.9645" y="954.5137">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="14234.2145" x2="14942.2145" y1="966.3594" y2="966.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="14234.2145" x2="14942.2145" y1="974.3594" y2="974.3594"/><ellipse cx="14244.2145" cy="985.3594" 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="14253.2145" y="988.5698">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="14244.2145" cy="998.1641" 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="14253.2145" y="1001.3745">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="14244.2145" cy="1010.9688" 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="14253.2145" y="1014.1792">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="14244.2145" cy="1023.7734" 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="684" x="14253.2145" y="1026.9839">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(#f1ujiseu7zzykl)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="13664.2145" y="1334.3594"/><ellipse cx="13734.9645" cy="1350.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M13735.8083,1357.1094 L13733.3551,1357.1094 L13733.3551,1346.8594 L13730.2145,1346.8594 L13730.2145,1344.7188 L13738.9489,1344.7188 L13738.9489,1346.8594 L13735.8083,1346.8594 L13735.8083,1357.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="13755.4645" y="1354.5137">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="13665.2145" x2="13949.2145" y1="1366.3594" y2="1366.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="13665.2145" x2="13949.2145" y1="1374.3594" y2="1374.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="13670.2145" y="1388.5698">urt_osTimerCallback_t (parameter : void*) : void</text><!--MD5=[0b340d7b925b1eab6a1b7e084f68a7c2]
-class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="112.0234" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="782" x="13416.2145" y="927.8594"/><ellipse cx="13760.9645" cy="943.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M13761.8083,950.6094 L13759.3551,950.6094 L13759.3551,940.3594 L13756.2145,940.3594 L13756.2145,938.2188 L13764.9489,938.2188 L13764.9489,940.3594 L13761.8083,940.3594 L13761.8083,950.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="13781.4645" y="948.0137">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="13417.2145" x2="14197.2145" y1="959.8594" y2="959.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="13417.2145" x2="14197.2145" y1="967.8594" y2="967.8594"/><ellipse cx="13427.2145" cy="978.8594" 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="240" x="13436.2145" y="982.0698">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="13427.2145" cy="991.6641" 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="705" x="13436.2145" y="994.8745">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="13427.2145" cy="1004.4688" 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="756" x="13436.2145" y="1007.6792">urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="13427.2145" cy="1017.2734" 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="300" x="13436.2145" y="1020.4839">urtTimerReset (timer : urt_osTimer_t*) : urt_status_t</text><ellipse cx="13427.2145" cy="1030.0781" 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="271" x="13436.2145" y="1033.2886">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--MD5=[86c16d91227b9a9ec3b6b9b0285de4e9]
-class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="12630.7145" y="1289.8594"/><ellipse cx="12666.8645" cy="1305.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12667.7083,1312.6094 L12665.2551,1312.6094 L12665.2551,1302.3594 L12662.1145,1302.3594 L12662.1145,1300.2188 L12670.8489,1300.2188 L12670.8489,1302.3594 L12667.7083,1302.3594 L12667.7083,1312.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="12685.5645" y="1310.0137">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12631.7145" x2="12826.7145" y1="1321.8594" y2="1321.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="12636.7145" y="1336.0698">URT_THREAD_PRIO_LOW_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="12636.7145" y="1348.8745">URT_THREAD_PRIO_LOW_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="12636.7145" y="1361.6792">URT_THREAD_PRIO_NORMAL_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="12636.7145" y="1374.4839">URT_THREAD_PRIO_NORMAL_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="12636.7145" y="1387.2886">URT_THREAD_PRIO_HIGH_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="12636.7145" y="1400.0933">URT_THREAD_PRIO_HIGH_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="12636.7145" y="1412.8979">URT_THREAD_PRIO_RT_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="12636.7145" y="1425.7026">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12631.7145" x2="12826.7145" y1="1432.2969" y2="1432.2969"/><!--MD5=[69d8aab9aa387a2f5052ea3da80e80ea]
-class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="13140.2145" y="1334.3594"/><ellipse cx="13187.9645" cy="1350.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M13188.8083,1357.1094 L13186.3551,1357.1094 L13186.3551,1346.8594 L13183.2145,1346.8594 L13183.2145,1344.7188 L13191.9489,1344.7188 L13191.9489,1346.8594 L13188.8083,1346.8594 L13188.8083,1357.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="13208.4645" y="1354.5137">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="13141.2145" x2="13391.2145" y1="1366.3594" y2="1366.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="13141.2145" x2="13391.2145" y1="1374.3594" y2="1374.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="13146.2145" y="1388.5698">urt_osThreadFunction_t (arg : void*) : void</text><!--MD5=[ab5f611d45c3fa10609c33f780d8c3e1]
-class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="12863.2145" y="1327.8594"/><ellipse cx="12884.9645" cy="1343.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12889.0739,1349.8594 L12881.3551,1349.8594 L12881.3551,1337.4688 L12889.0739,1337.4688 L12889.0739,1339.625 L12883.8083,1339.625 L12883.8083,1342.2969 L12888.5739,1342.2969 L12888.5739,1344.4531 L12883.8083,1344.4531 L12883.8083,1347.7031 L12889.0739,1347.7031 L12889.0739,1349.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="12900.4645" y="1348.0137">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12864.2145" x2="13104.2145" y1="1359.8594" y2="1359.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="12869.2145" y="1374.0698">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="12869.2145" y="1386.8745">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12864.2145" x2="13104.2145" y1="1393.4688" y2="1393.4688"/><!--MD5=[47d14ad2c233fae1b32b8d0a283e820a]
-class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="137.6328" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="12369.2145" y="1295.8594"/><ellipse cx="12413.9645" cy="1311.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12418.0739,1317.8594 L12410.3551,1317.8594 L12410.3551,1305.4688 L12418.0739,1305.4688 L12418.0739,1307.625 L12412.8083,1307.625 L12412.8083,1310.2969 L12417.5739,1310.2969 L12417.5739,1312.4531 L12412.8083,1312.4531 L12412.8083,1315.7031 L12418.0739,1315.7031 L12418.0739,1317.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="12434.4645" y="1316.0137">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12370.2145" x2="12594.2145" y1="1327.8594" y2="1327.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="12375.2145" y="1342.0698">URT_THREAD_STATE_INACTIVE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="12375.2145" y="1354.8745">URT_THREAD_STATE_RUNNING = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="12375.2145" y="1367.6792">URT_THREAD_STATE_READY = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="12375.2145" y="1380.4839">URT_THREAD_STATE_SLEEPING = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="12375.2145" y="1393.2886">URT_THREAD_STATE_SUSPENDED = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="12375.2145" y="1406.0933">URT_THREAD_STATE_WAITING = 5</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="12375.2145" y="1418.8979">URT_THREAD_STATE_TERMINATED = 6</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12370.2145" x2="12594.2145" y1="1425.4922" y2="1425.4922"/><!--MD5=[0a16224ede9ffa9bb2d34e085a076e6d]
-class urt_osThread_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="376.1172" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="560" x="12369.2145" y="795.8594"/><ellipse cx="12597.9645" cy="811.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12598.8083,818.6094 L12596.3551,818.6094 L12596.3551,808.3594 L12593.2145,808.3594 L12593.2145,806.2188 L12601.9489,806.2188 L12601.9489,808.3594 L12598.8083,808.3594 L12598.8083,818.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="12618.4645" y="816.0137">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12370.2145" x2="12928.2145" y1="827.8594" y2="827.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="12375.2145" y="842.0698">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12375.2145" y="854.8745">URT_THREAD_SSLEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="12375.2145" y="867.6792">URT_THREAD_MSLEEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="12375.2145" y="880.4839">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="12370.2145" x2="12928.2145" y1="887.0781" y2="887.0781"/><ellipse cx="12380.2145" cy="898.0781" 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="12389.2145" y="901.2886">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12370.2145" x2="12928.2145" y1="907.8828" y2="907.8828"/><ellipse cx="12380.2145" cy="918.8828" 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="534" x="12389.2145" y="922.0933">urtThreadInit (memory : void*, size : size_t, func : urt_osThreadFunction_t*) : urt_osThread_t*</text><ellipse cx="12380.2145" cy="931.6875" 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="490" x="12389.2145" y="934.8979">urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void</text><ellipse cx="12380.2145" cy="944.4922" 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="12389.2145" y="947.7026">urtThreadYield (void) : void</text><ellipse cx="12380.2145" cy="957.2969" 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="12389.2145" y="960.5073">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="12380.2145" cy="970.1016" 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="12389.2145" y="973.312">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="12380.2145" cy="982.9063" 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="294" x="12389.2145" y="986.1167">urtThreadSuspend (thread : urt_osThread_t*) : void</text><ellipse cx="12380.2145" cy="995.7109" 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="335" x="12389.2145" y="998.9214">urtThreadResume (thread : urt_osThread_t*) : urt_status_t</text><ellipse cx="12380.2145" cy="1008.5156" 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="220" x="12389.2145" y="1011.7261">urtThreadSleep (seconds : float) : void</text><ellipse cx="12380.2145" cy="1021.3203" 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="12389.2145" y="1024.5308">urtThreadSSleep (seconds : urt_delay_t) : void</text><ellipse cx="12380.2145" cy="1034.125" 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="289" x="12389.2145" y="1037.3354">urtThreadMSleep (milliseconds : urt_delay_t) : void</text><ellipse cx="12380.2145" cy="1046.9297" 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="297" x="12389.2145" y="1050.1401">urtThreadUSleep (microseconds : urt_delay_t) : void</text><ellipse cx="12380.2145" cy="1059.7344" 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="271" x="12389.2145" y="1062.9448">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="12380.2145" cy="1072.5391" 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="146" x="12389.2145" y="1075.7495">urtThreadExit (void) : void</text><ellipse cx="12380.2145" cy="1085.3438" 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="518" x="12389.2145" y="1088.5542">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="12380.2145" cy="1098.1484" 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="264" x="12389.2145" y="1101.3589">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="12380.2145" cy="1110.9531" 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="387" x="12389.2145" y="1114.1636">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="12380.2145" cy="1123.7578" 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="237" x="12389.2145" y="1126.9683">urtThreadGetSelf (void) : urt_osThread_t*</text><ellipse cx="12380.2145" cy="1136.5625" 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="380" x="12389.2145" y="1139.7729">urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="12380.2145" cy="1149.3672" 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="371" x="12389.2145" y="1152.5776">urtThreadGetSibling (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="12380.2145" cy="1162.1719" 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="370" x="12389.2145" y="1165.3823">urtThreadGetParent (thread : urt_osThread_t*) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]
-class urt_osEventMask_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="60.8047" id="urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.5;" width="280" x="10708.2145" y="1334.3594"/><ellipse cx="10785.4645" cy="1350.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10786.3083,1357.1094 L10783.8551,1357.1094 L10783.8551,1346.8594 L10780.7145,1346.8594 L10780.7145,1344.7188 L10789.4489,1344.7188 L10789.4489,1346.8594 L10786.3083,1346.8594 L10786.3083,1357.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="10805.9645" y="1354.5137">urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10709.2145" x2="10987.2145" y1="1366.3594" y2="1366.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="268" x="10714.2145" y="1380.5698">URT_EVENTMASK_MAXPRIO : urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10709.2145" x2="10987.2145" y1="1387.1641" y2="1387.1641"/><!--MD5=[dc1cc33af288560680c15dec1e56eda0]
-class urt_osEventFlags_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="48" id="urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="11429.2145" y="1648.8594"/><ellipse cx="11444.2145" cy="1664.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11445.0583,1671.6094 L11442.6051,1671.6094 L11442.6051,1661.3594 L11439.4645,1661.3594 L11439.4645,1659.2188 L11448.1989,1659.2188 L11448.1989,1661.3594 L11445.0583,1661.3594 L11445.0583,1671.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="11458.2145" y="1669.0137">urt_osEventFlags_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11430.2145" x2="11578.2145" y1="1680.8594" y2="1680.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11430.2145" x2="11578.2145" y1="1688.8594" y2="1688.8594"/><!--MD5=[e2bbbd64e6979bf7b755747a6c0ba948]
-class urt_osEventWait_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="86.4141" id="urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.5;" width="162" x="11023.2145" y="1321.8594"/><ellipse cx="11046.3145" cy="1337.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11050.4239,1343.8594 L11042.7051,1343.8594 L11042.7051,1331.4688 L11050.4239,1331.4688 L11050.4239,1333.625 L11045.1583,1333.625 L11045.1583,1336.2969 L11049.9239,1336.2969 L11049.9239,1338.4531 L11045.1583,1338.4531 L11045.1583,1341.7031 L11050.4239,1341.7031 L11050.4239,1343.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="11062.1145" y="1342.0137">urt_osEventWait_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11024.2145" x2="11184.2145" y1="1353.8594" y2="1353.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="11029.2145" y="1368.0698">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="11029.2145" y="1380.8745">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="11029.2145" y="1393.6792">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11024.2145" x2="11184.2145" y1="1400.2734" y2="1400.2734"/><!--MD5=[d054ac2eda12ce4b1fe5a18c9be716c1]
-class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="11257.2145" y="1321.8594"/><ellipse cx="11432.4645" cy="1337.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11433.3083,1344.6094 L11430.8551,1344.6094 L11430.8551,1334.3594 L11427.7145,1334.3594 L11427.7145,1332.2188 L11436.4489,1332.2188 L11436.4489,1334.3594 L11433.3083,1334.3594 L11433.3083,1344.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="11452.9645" y="1342.0137">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11258.2145" x2="11750.2145" y1="1353.8594" y2="1353.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11258.2145" x2="11750.2145" y1="1361.8594" y2="1361.8594"/><ellipse cx="11268.2145" cy="1372.8594" 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="11277.2145" y="1376.0698">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="11268.2145" cy="1385.6641" 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="11277.2145" y="1388.8745">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="11268.2145" cy="1398.4688" 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="11277.2145" y="1401.6792">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]
-class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="11786.7145" y="1327.8594"/><ellipse cx="11991.4645" cy="1343.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11992.3083,1350.6094 L11989.8551,1350.6094 L11989.8551,1340.3594 L11986.7145,1340.3594 L11986.7145,1338.2188 L11995.4489,1338.2188 L11995.4489,1340.3594 L11992.3083,1340.3594 L11992.3083,1350.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="12011.9645" y="1348.0137">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11787.7145" x2="12332.7145" y1="1359.8594" y2="1359.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11787.7145" x2="12332.7145" y1="1367.8594" y2="1367.8594"/><ellipse cx="11797.7145" cy="1378.8594" 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="11806.7145" y="1382.0698">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="11797.7145" cy="1391.6641" 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="11806.7145" y="1394.8745">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--MD5=[04a3b5a37031e2a4d723f19d8adf86f5]
-class urt_events--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="890" x="10727.2145" y="940.8594"/><ellipse cx="11134.9645" cy="956.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11139.1989,952.625 L11133.9176,952.625 L11133.9176,955.2969 L11138.7145,955.2969 L11138.7145,957.4531 L11133.9176,957.4531 L11133.9176,962.8594 L11131.4801,962.8594 L11131.4801,950.4688 L11139.1989,950.4688 L11139.1989,952.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="11155.4645" y="961.0137">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10728.2145" x2="11616.2145" y1="972.8594" y2="972.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="10728.2145" x2="11616.2145" y1="980.8594" y2="980.8594"/><ellipse cx="10738.2145" cy="991.8594" 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="864" x="10747.2145" y="995.0698">urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : urt_status_t</text><ellipse cx="10738.2145" cy="1004.6641" 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="567" x="10747.2145" y="1007.8745">urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : urt_status_t</text><ellipse cx="10738.2145" cy="1017.4688" 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="618" x="10747.2145" y="1020.6792">urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWait_t, timeout : urt_delay_t) : urt_osEventMask_t</text><!--MD5=[89d25e87afdd75480e1ec2bd05524873]
-class urt_core_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="281.6797" id="urt_core_t" style="stroke: #A80036; stroke-width: 1.5;" width="343" x="2765.7145" y="110.8594"/><ellipse cx="2901.4645" cy="126.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2900.9489,127.4219 Q2899.0895,126.7188 2898.4333,125.9531 Q2897.7926,125.1719 2897.7926,123.8594 Q2897.7926,122.1719 2898.8708,121.2031 Q2899.9489,120.2344 2901.8239,120.2344 Q2902.6833,120.2344 2903.527,120.4375 Q2904.3864,120.625 2905.2301,121.0156 L2905.2301,123.4063 Q2904.4489,122.8438 2903.6208,122.5625 Q2902.8083,122.2656 2902.0114,122.2656 Q2901.1364,122.2656 2900.652,122.625 Q2900.1833,122.9844 2900.1833,123.6406 Q2900.1833,124.1563 2900.527,124.5 Q2900.8708,124.8281 2901.9645,125.2344 L2903.027,125.6406 Q2904.5114,126.1875 2905.2145,127.0938 Q2905.9333,128 2905.9333,129.375 Q2905.9333,131.25 2904.8239,132.1719 Q2903.7145,133.0938 2901.4645,133.0938 Q2900.5426,133.0938 2899.6208,132.875 Q2898.6989,132.6563 2897.8395,132.2344 L2897.8395,129.7031 Q2898.8083,130.3906 2899.7301,130.7344 Q2900.652,131.0781 2901.5426,131.0781 Q2902.4489,131.0781 2902.9489,130.6719 Q2903.4489,130.25 2903.4489,129.5156 Q2903.4489,128.9531 2903.1051,128.5469 Q2902.777,128.125 2902.152,127.875 L2900.9489,127.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="63" x="2921.9645" y="131.0137">urt_core_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2766.7145" x2="3107.7145" y1="142.8594" y2="142.8594"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="2773.7145" y="150.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="2785.7145" y="157.0698">_nodes : urt_node_t*</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="2773.7145" y="163.6641"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="192" x="2785.7145" y="169.8745">_evtSource : urt_osEventSource_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="2773.7145" y="176.4688"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="2785.7145" y="182.6792">_lock : urt_osMutex_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="2773.7145" y="189.2734"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="122" x="2785.7145" y="195.4839">_status : urt_status_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="2773.7145" y="218.8828"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="117" x="2785.7145" y="225.0933">_topics : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2766.7145" x2="2832.2145" y1="208.4805" y2="208.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="2832.2145" y="211.7886">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3042.2145" x2="3107.7145" y1="208.4805" y2="208.4805"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="2773.7145" y="248.4922"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="145" x="2785.7145" y="254.7026">_services : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2766.7145" x2="2844.7145" y1="238.0898" y2="238.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="2844.7145" y="241.3979">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3029.7145" x2="3107.7145" y1="238.0898" y2="238.0898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2766.7145" x2="3107.7145" y1="261.2969" y2="261.2969"/><ellipse cx="2776.7145" cy="272.2969" 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="130" x="2785.7145" y="275.5073">urtCoreInit (void) : void</text><ellipse cx="2776.7145" cy="285.1016" 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="215" x="2785.7145" y="288.312">urtCoreGetStatus (void) : urt_status_t</text><ellipse cx="2776.7145" cy="297.9063" 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="177" x="2785.7145" y="301.1167">urtCoreStartNodes (void) : void</text><ellipse cx="2776.7145" cy="310.7109" 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="309" x="2785.7145" y="313.9214">urtCoreSynchronize (node : urt_node_t*) : urt_status_t</text><ellipse cx="2776.7145" cy="323.5156" 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="317" x="2785.7145" y="326.7261">urtCoreStopNodes (reason : urt_status_t) : urt_status_t</text><ellipse cx="2776.7145" cy="353.125" 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="273" x="2785.7145" y="356.3354">urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2766.7145" x2="2832.2145" y1="339.7227" y2="339.7227"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="2832.2145" y="343.0308">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3042.2145" x2="3107.7145" y1="339.7227" y2="339.7227"/><ellipse cx="2776.7145" cy="382.7344" 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="313" x="2785.7145" y="385.9448">urtCoreGetService (id : urt_serviceid_t) : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2766.7145" x2="2844.7145" y1="369.332" y2="369.332"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="2844.7145" y="372.6401">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3029.7145" x2="3107.7145" y1="369.332" y2="369.332"/><!--MD5=[a7dea26996a1231aa68629b332780450]
-class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="7853.2145" y="953.3594"/><ellipse cx="7998.9645" cy="969.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7999.8083,976.1094 L7997.3551,976.1094 L7997.3551,965.8594 L7994.2145,965.8594 L7994.2145,963.7188 L8002.9489,963.7188 L8002.9489,965.8594 L7999.8083,965.8594 L7999.8083,976.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="8019.4645" y="973.5137">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7854.2145" x2="8308.2145" y1="985.3594" y2="985.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7854.2145" x2="8308.2145" y1="993.3594" y2="993.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="7859.2145" y="1007.5698">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]
-class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="8344.2145" y="953.3594"/><ellipse cx="8572.4645" cy="969.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8573.3083,976.1094 L8570.8551,976.1094 L8570.8551,965.8594 L8567.7145,965.8594 L8567.7145,963.7188 L8576.4489,963.7188 L8576.4489,965.8594 L8573.3083,965.8594 L8573.3083,976.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="8592.9645" y="973.5137">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8345.2145" x2="8957.2145" y1="985.3594" y2="985.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8345.2145" x2="8957.2145" y1="993.3594" y2="993.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="8350.2145" y="1007.5698">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(#f1ujiseu7zzykl)" height="60.8047" id="urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="518" x="7300.2145" y="953.3594"/><ellipse cx="7464.4645" cy="969.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7465.3083,976.1094 L7462.8551,976.1094 L7462.8551,965.8594 L7459.7145,965.8594 L7459.7145,963.7188 L7468.4489,963.7188 L7468.4489,965.8594 L7465.3083,965.8594 L7465.3083,976.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="181" x="7484.9645" y="973.5137">urt_nodeShutdownCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7301.2145" x2="7817.2145" y1="985.3594" y2="985.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7301.2145" x2="7817.2145" y1="993.3594" y2="993.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="506" x="7306.2145" y="1007.5698">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(#f1ujiseu7zzykl)" height="231.2656" id="urt_node_t" style="stroke: #A80036; stroke-width: 1.5;" width="1541" x="7310.7145" y="478.8594"/><ellipse cx="8043.4645" cy="494.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8042.9489,495.4219 Q8041.0895,494.7188 8040.4333,493.9531 Q8039.7926,493.1719 8039.7926,491.8594 Q8039.7926,490.1719 8040.8708,489.2031 Q8041.9489,488.2344 8043.8239,488.2344 Q8044.6833,488.2344 8045.527,488.4375 Q8046.3864,488.625 8047.2301,489.0156 L8047.2301,491.4063 Q8046.4489,490.8438 8045.6208,490.5625 Q8044.8083,490.2656 8044.0114,490.2656 Q8043.1364,490.2656 8042.652,490.625 Q8042.1833,490.9844 8042.1833,491.6406 Q8042.1833,492.1563 8042.527,492.5 Q8042.8708,492.8281 8043.9645,493.2344 L8045.027,493.6406 Q8046.5114,494.1875 8047.2145,495.0938 Q8047.9333,496 8047.9333,497.375 Q8047.9333,499.25 8046.8239,500.1719 Q8045.7145,501.0938 8043.4645,501.0938 Q8042.5426,501.0938 8041.6208,500.875 Q8040.6989,500.6563 8039.8395,500.2344 L8039.8395,497.7031 Q8040.8083,498.3906 8041.7301,498.7344 Q8042.652,499.0781 8043.5426,499.0781 Q8044.4489,499.0781 8044.9489,498.6719 Q8045.4489,498.25 8045.4489,497.5156 Q8045.4489,496.9531 8045.1051,496.5469 Q8044.777,496.125 8044.152,495.875 L8042.9489,495.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="67" x="8063.9645" y="499.0137">urt_node_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7311.7145" x2="8850.7145" y1="510.8594" y2="510.8594"/><ellipse cx="7321.7145" cy="521.8594" 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="102" x="7330.7145" y="525.0698">next : urt_node_t*</text><ellipse cx="7321.7145" cy="534.6641" 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="141" x="7330.7145" y="537.8745">thread : urt_osThread_t*</text><ellipse cx="7321.7145" cy="547.4688" 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="235" x="7330.7145" y="550.6792">setupcallback : urt_nodeSetupCallback_t*</text><ellipse cx="7321.7145" cy="560.2734" 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="117" x="7330.7145" y="563.4839">setupparams : void*</text><ellipse cx="7321.7145" cy="573.0781" 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="221" x="7330.7145" y="576.2886">loopcallback : urt_nodeLoopCallback_t*</text><ellipse cx="7321.7145" cy="585.8828" 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="109" x="7330.7145" y="589.0933">loopparams : void*</text><ellipse cx="7321.7145" cy="598.6875" 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="281" x="7330.7145" y="601.8979">shutdowncallback : urt_nodeShutdownCallback_t*</text><ellipse cx="7321.7145" cy="611.4922" 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="140" x="7330.7145" y="614.7026">shutdownparams : void*</text><ellipse cx="7321.7145" cy="624.2969" 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="136" x="7330.7145" y="627.5073">stage : urt_nodestage_t</text><ellipse cx="7321.7145" cy="637.1016" 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="178" x="7330.7145" y="640.312">listener : urt_osEventListener_t</text><ellipse cx="7321.7145" cy="666.7109" 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="88" x="7330.7145" y="669.9214">loops : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7311.7145" x2="7873.2145" y1="653.3086" y2="653.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="416" x="7873.2145" y="656.6167">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="8289.2145" x2="8850.7145" y1="653.3086" y2="653.3086"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7311.7145" x2="8850.7145" y1="676.5156" y2="676.5156"/><rect fill="#F24D5C" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7318.7145" y="684.5156"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="179" x="7330.7145" y="690.7261">_main : urt_osThreadFunction_t</text><ellipse cx="7321.7145" cy="700.3203" 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="1515" x="7330.7145" y="703.5308">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(#f1ujiseu7zzykl)" height="141.6328" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="406" x="2743.2145" y="912.8594"/><ellipse cx="2895.9645" cy="928.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2895.4489,929.4219 Q2893.5895,928.7188 2892.9333,927.9531 Q2892.2926,927.1719 2892.2926,925.8594 Q2892.2926,924.1719 2893.3708,923.2031 Q2894.4489,922.2344 2896.3239,922.2344 Q2897.1833,922.2344 2898.027,922.4375 Q2898.8864,922.625 2899.7301,923.0156 L2899.7301,925.4063 Q2898.9489,924.8438 2898.1208,924.5625 Q2897.3083,924.2656 2896.5114,924.2656 Q2895.6364,924.2656 2895.152,924.625 Q2894.6833,924.9844 2894.6833,925.6406 Q2894.6833,926.1563 2895.027,926.5 Q2895.3708,926.8281 2896.4645,927.2344 L2897.527,927.6406 Q2899.0114,928.1875 2899.7145,929.0938 Q2900.4333,930 2900.4333,931.375 Q2900.4333,933.25 2899.3239,934.1719 Q2898.2145,935.0938 2895.9645,935.0938 Q2895.0426,935.0938 2894.1208,934.875 Q2893.1989,934.6563 2892.3395,934.2344 L2892.3395,931.7031 Q2893.3083,932.3906 2894.2301,932.7344 Q2895.152,933.0781 2896.0426,933.0781 Q2896.9489,933.0781 2897.4489,932.6719 Q2897.9489,932.25 2897.9489,931.5156 Q2897.9489,930.9531 2897.6051,930.5469 Q2897.277,930.125 2896.652,929.875 L2895.4489,929.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="2916.4645" y="933.0137">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2744.2145" x2="3148.2145" y1="944.8594" y2="944.8594"/><ellipse cx="2754.2145" cy="955.8594" 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="2763.2145" y="959.0698">next : urt_message_t*</text><ellipse cx="2754.2145" cy="968.6641" 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="2763.2145" y="971.8745">payload : void*</text><ellipse cx="2754.2145" cy="981.4688" 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="2763.2145" y="984.6792">originTime : urt_osTime_t</text><ellipse cx="2754.2145" cy="994.2734" 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="2763.2145" y="997.4839">numHrtConsumersLeft : unsigned int</text><ellipse cx="2754.2145" cy="1023.8828" 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="2763.2145" y="1027.0933">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2744.2145" x2="2837.7145" y1="1010.4805" y2="1010.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2837.7145" y="1013.7886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3054.7145" x2="3148.2145" y1="1010.4805" y2="1010.4805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2744.2145" x2="3148.2145" y1="1033.6875" y2="1033.6875"/><ellipse cx="2754.2145" cy="1044.6875" 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="2763.2145" y="1047.8979">urtMessageInit (message : urt_message_t*, payload : void*) : void</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]
-class urt_publisher_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="128.8281" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="783" x="1926.7145" y="529.8594"/><ellipse cx="2267.4645" cy="545.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2266.9489,546.4219 Q2265.0895,545.7188 2264.4333,544.9531 Q2263.7926,544.1719 2263.7926,542.8594 Q2263.7926,541.1719 2264.8708,540.2031 Q2265.9489,539.2344 2267.8239,539.2344 Q2268.6833,539.2344 2269.527,539.4375 Q2270.3864,539.625 2271.2301,540.0156 L2271.2301,542.4063 Q2270.4489,541.8438 2269.6208,541.5625 Q2268.8083,541.2656 2268.0114,541.2656 Q2267.1364,541.2656 2266.652,541.625 Q2266.1833,541.9844 2266.1833,542.6406 Q2266.1833,543.1563 2266.527,543.5 Q2266.8708,543.8281 2267.9645,544.2344 L2269.027,544.6406 Q2270.5114,545.1875 2271.2145,546.0938 Q2271.9333,547 2271.9333,548.375 Q2271.9333,550.25 2270.8239,551.1719 Q2269.7145,552.0938 2267.4645,552.0938 Q2266.5426,552.0938 2265.6208,551.875 Q2264.6989,551.6563 2263.8395,551.2344 L2263.8395,548.7031 Q2264.8083,549.3906 2265.7301,549.7344 Q2266.652,550.0781 2267.5426,550.0781 Q2268.4489,550.0781 2268.9489,549.6719 Q2269.4489,549.25 2269.4489,548.5156 Q2269.4489,547.9531 2269.1051,547.5469 Q2268.777,547.125 2268.152,546.875 L2266.9489,546.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="2287.9645" y="550.0137">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1927.7145" x2="2708.7145" y1="561.8594" y2="561.8594"/><ellipse cx="1937.7145" cy="572.8594" 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="104" x="1946.7145" y="576.0698">topic : urt_topic_t*</text><ellipse cx="1937.7145" cy="602.4688" 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="149" x="1946.7145" y="605.6792">publishAttempts : uint64_t</text><ellipse cx="1937.7145" cy="615.2734" 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="1946.7145" y="618.4839">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1927.7145" x2="2209.7145" y1="589.0664" y2="589.0664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2209.7145" y="592.3745">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2426.7145" x2="2708.7145" y1="589.0664" y2="589.0664"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1927.7145" x2="2708.7145" y1="625.0781" y2="625.0781"/><ellipse cx="1937.7145" cy="636.0781" 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="572" x="1946.7145" y="639.2886">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void</text><ellipse cx="1937.7145" cy="648.8828" 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="757" x="1946.7145" y="652.0933">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(#f1ujiseu7zzykl)" height="260.875" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="2745.2145" y="463.8594"/><ellipse cx="2899.9645" cy="479.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2899.4489,480.4219 Q2897.5895,479.7188 2896.9333,478.9531 Q2896.2926,478.1719 2896.2926,476.8594 Q2896.2926,475.1719 2897.3708,474.2031 Q2898.4489,473.2344 2900.3239,473.2344 Q2901.1833,473.2344 2902.027,473.4375 Q2902.8864,473.625 2903.7301,474.0156 L2903.7301,476.4063 Q2902.9489,475.8438 2902.1208,475.5625 Q2901.3083,475.2656 2900.5114,475.2656 Q2899.6364,475.2656 2899.152,475.625 Q2898.6833,475.9844 2898.6833,476.6406 Q2898.6833,477.1563 2899.027,477.5 Q2899.3708,477.8281 2900.4645,478.2344 L2901.527,478.6406 Q2903.0114,479.1875 2903.7145,480.0938 Q2904.4333,481 2904.4333,482.375 Q2904.4333,484.25 2903.3239,485.1719 Q2902.2145,486.0938 2899.9645,486.0938 Q2899.0426,486.0938 2898.1208,485.875 Q2897.1989,485.6563 2896.3395,485.2344 L2896.3395,482.7031 Q2897.3083,483.3906 2898.2301,483.7344 Q2899.152,484.0781 2900.0426,484.0781 Q2900.9489,484.0781 2901.4489,483.6719 Q2901.9489,483.25 2901.9489,482.5156 Q2901.9489,481.9531 2901.6051,481.5469 Q2901.277,481.125 2900.652,480.875 L2899.4489,480.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="2920.4645" y="484.0137">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2746.2145" x2="3128.2145" y1="495.8594" y2="495.8594"/><ellipse cx="2756.2145" cy="506.8594" 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="101" x="2765.2145" y="510.0698">next : urt_topic_t*</text><ellipse cx="2756.2145" cy="519.6641" 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="91" x="2765.2145" y="522.8745">id : urt_topicid_t</text><ellipse cx="2756.2145" cy="532.4688" 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="2765.2145" y="535.6792">lock : urt_osMutex_t</text><ellipse cx="2756.2145" cy="545.2734" 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="186" x="2765.2145" y="548.4839">evtSource : urt_osEventSource_t</text><ellipse cx="2756.2145" cy="558.0781" 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="193" x="2765.2145" y="561.2886">numHrtSubscribers : unsigned int</text><ellipse cx="2756.2145" cy="570.8828" 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="173" x="2765.2145" y="574.0933">hrtReleased : urt_osCondvar_t</text><ellipse cx="2756.2145" cy="583.6875" 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="209" x="2765.2145" y="586.8979">mandatoryMessage : urt_message_t</text><ellipse cx="2756.2145" cy="596.4922" 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="2765.2145" y="599.7026">latestMessage : urt_message_t*</text><ellipse cx="2756.2145" cy="626.1016" 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="212" x="2765.2145" y="629.312">hrtSubscribers : urt_hrtsubscriber_t*</text><ellipse cx="2756.2145" cy="638.9063" 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="170" x="2765.2145" y="642.1167">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2746.2145" x2="2804.7145" y1="612.6992" y2="612.6992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="2804.7145" y="616.0073">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3069.7145" x2="3128.2145" y1="612.6992" y2="612.6992"/><ellipse cx="2756.2145" cy="668.5156" 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="195" x="2765.2145" y="671.7261">numMessagesPublished : uint64_t</text><ellipse cx="2756.2145" cy="681.3203" 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="197" x="2765.2145" y="684.5308">numMessagesDiscarded : uint64_t</text><ellipse cx="2756.2145" cy="694.125" 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="176" x="2765.2145" y="697.3354">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2746.2145" x2="2828.7145" y1="655.1133" y2="655.1133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2828.7145" y="658.4214">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3045.7145" x2="3128.2145" y1="655.1133" y2="655.1133"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2746.2145" x2="3128.2145" y1="703.9297" y2="703.9297"/><ellipse cx="2756.2145" cy="714.9297" 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="358" x="2765.2145" y="718.1401">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[50a042e24f957794dab9ba3ea8701c50]
-class urt_basesubscriber_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="133.6328" id="urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="225" x="4878.7145" y="916.8594"/><ellipse cx="4921.1645" cy="932.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4920.6489,933.4219 Q4918.7895,932.7188 4918.1333,931.9531 Q4917.4926,931.1719 4917.4926,929.8594 Q4917.4926,928.1719 4918.5708,927.2031 Q4919.6489,926.2344 4921.5239,926.2344 Q4922.3833,926.2344 4923.227,926.4375 Q4924.0864,926.625 4924.9301,927.0156 L4924.9301,929.4063 Q4924.1489,928.8438 4923.3208,928.5625 Q4922.5083,928.2656 4921.7114,928.2656 Q4920.8364,928.2656 4920.352,928.625 Q4919.8833,928.9844 4919.8833,929.6406 Q4919.8833,930.1563 4920.227,930.5 Q4920.5708,930.8281 4921.6645,931.2344 L4922.727,931.6406 Q4924.2114,932.1875 4924.9145,933.0938 Q4925.6333,934 4925.6333,935.375 Q4925.6333,937.25 4924.5239,938.1719 Q4923.4145,939.0938 4921.1645,939.0938 Q4920.2426,939.0938 4919.3208,938.875 Q4918.3989,938.6563 4917.5395,938.2344 L4917.5395,935.7031 Q4918.5083,936.3906 4919.4301,936.7344 Q4920.352,937.0781 4921.2426,937.0781 Q4922.1489,937.0781 4922.6489,936.6719 Q4923.1489,936.25 4923.1489,935.5156 Q4923.1489,934.9531 4922.8051,934.5469 Q4922.477,934.125 4921.852,933.875 L4920.6489,933.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="132" x="4941.2645" y="937.0137">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4879.7145" x2="5102.7145" y1="948.8594" y2="948.8594"/><ellipse cx="4889.7145" cy="959.8594" 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="104" x="4898.7145" y="963.0698">topic : urt_topic_t*</text><ellipse cx="4889.7145" cy="972.6641" 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="198" x="4898.7145" y="975.8745">evtListener : urt_osEventListener_t</text><ellipse cx="4889.7145" cy="985.4688" 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="175" x="4898.7145" y="988.6792">lastMessage : urt_message_t*</text><ellipse cx="4889.7145" cy="998.2734" 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="186" x="4898.7145" y="1001.4839">lastMessageTime : urt_osTime_t</text><ellipse cx="4889.7145" cy="1027.8828" 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="136" x="4898.7145" y="1031.0933">sumLatencies : uint64_t</text><ellipse cx="4889.7145" cy="1040.6875" 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="190" x="4898.7145" y="1043.8979">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4879.7145" x2="4882.7145" y1="1014.4805" y2="1014.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="4882.7145" y="1017.7886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5099.7145" x2="5102.7145" y1="1014.4805" y2="1014.4805"/><!--MD5=[fc7708c915a0148c667d62e1370980fd]
-class urt_srtusefulnessfunc_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="60.8047" id="urt_srtusefulnessfunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="374" x="6072.2145" y="953.3594"/><ellipse cx="6181.4645" cy="969.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6185.6989,965.125 L6180.4176,965.125 L6180.4176,967.7969 L6185.2145,967.7969 L6185.2145,969.9531 L6180.4176,969.9531 L6180.4176,975.3594 L6177.9801,975.3594 L6177.9801,962.9688 L6185.6989,962.9688 L6185.6989,965.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="147" x="6201.9645" y="973.5137">urt_srtusefulnessfunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6073.2145" x2="6445.2145" y1="985.3594" y2="985.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6073.2145" x2="6445.2145" y1="993.3594" y2="993.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="362" x="6078.2145" y="1007.5698">urt_srtusefulnessfunc_t (dt : urt_delay_t, params : void*) : float</text><!--MD5=[9ff46073dd541e50679ef35e851c67d6]
-class urt_nrtsubscriber_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="154.4375" id="urt_nrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="821" x="3182.7145" y="517.3594"/><ellipse cx="3529.4645" cy="533.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3528.9489,533.9219 Q3527.0895,533.2188 3526.4333,532.4531 Q3525.7926,531.6719 3525.7926,530.3594 Q3525.7926,528.6719 3526.8708,527.7031 Q3527.9489,526.7344 3529.8239,526.7344 Q3530.6833,526.7344 3531.527,526.9375 Q3532.3864,527.125 3533.2301,527.5156 L3533.2301,529.9063 Q3532.4489,529.3438 3531.6208,529.0625 Q3530.8083,528.7656 3530.0114,528.7656 Q3529.1364,528.7656 3528.652,529.125 Q3528.1833,529.4844 3528.1833,530.1406 Q3528.1833,530.6563 3528.527,531 Q3528.8708,531.3281 3529.9645,531.7344 L3531.027,532.1406 Q3532.5114,532.6875 3533.2145,533.5938 Q3533.9333,534.5 3533.9333,535.875 Q3533.9333,537.75 3532.8239,538.6719 Q3531.7145,539.5938 3529.4645,539.5938 Q3528.5426,539.5938 3527.6208,539.375 Q3526.6989,539.1563 3525.8395,538.7344 L3525.8395,536.2031 Q3526.8083,536.8906 3527.7301,537.2344 Q3528.652,537.5781 3529.5426,537.5781 Q3530.4489,537.5781 3530.9489,537.1719 Q3531.4489,536.75 3531.4489,536.0156 Q3531.4489,535.4531 3531.1051,535.0469 Q3530.777,534.625 3530.152,534.375 L3528.9489,533.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="3549.9645" y="537.5137">urt_nrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3183.7145" x2="4002.7145" y1="549.3594" y2="549.3594"/><ellipse cx="3193.7145" cy="577.1641" 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="138" x="3202.7145" y="580.3745">minLatency : urt_delay_t</text><ellipse cx="3193.7145" cy="589.9688" 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="141" x="3202.7145" y="593.1792">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3183.7145" x2="3484.7145" y1="563.7617" y2="563.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="3484.7145" y="567.0698">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3701.7145" x2="4002.7145" y1="563.7617" y2="563.7617"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3183.7145" x2="4002.7145" y1="599.7734" y2="599.7734"/><ellipse cx="3193.7145" cy="610.7734" 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="347" x="3202.7145" y="613.9839">urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : void</text><ellipse cx="3193.7145" cy="623.5781" 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="715" x="3202.7145" y="626.7886">urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="3193.7145" cy="636.3828" 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="785" x="3202.7145" y="639.5933">urtNrtSubscriberFetchNextMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="3193.7145" cy="649.1875" 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="795" x="3202.7145" y="652.3979">urtNrtSubscriberFetchLatestMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="3193.7145" cy="661.9922" 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="446" x="3202.7145" y="665.2026">urtNrtSubscriberUnsubscribe (subscriber : urt_nrtsubscriber_t*) : urt_status_t</text><!--MD5=[5c7929572d87ccc448d875bea5da0fb1]
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stroke-width: 1.5;" x1="6185.2145" x2="7267.2145" y1="529.8594" y2="529.8594"/><ellipse cx="6195.2145" cy="540.8594" 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="229" x="6204.2145" y="544.0698">usefulnesscb : urt_srtusefulnessfunc_t*</text><ellipse cx="6195.2145" cy="553.6641" 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="98" x="6204.2145" y="556.8745">cbparams : void*</text><ellipse cx="6195.2145" cy="583.2734" 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="138" x="6204.2145" y="586.4839">minLatency : urt_delay_t</text><ellipse cx="6195.2145" cy="596.0781" 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="141" x="6204.2145" y="599.2886">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6185.2145" x2="6617.7145" y1="569.8711" y2="569.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="6617.7145" y="573.1792">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6834.7145" x2="7267.2145" y1="569.8711" y2="569.8711"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6185.2145" x2="7267.2145" y1="605.8828" y2="605.8828"/><ellipse cx="6195.2145" cy="616.8828" 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="347" x="6204.2145" y="620.0933">urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void</text><ellipse cx="6195.2145" cy="629.6875" 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="1058" x="6204.2145" y="632.8979">urtSrtSubscriberSubscribe (subscriber : urt_srtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_srtusefulnessfunc_t*, cbparams : void*) : urt_status_t</text><ellipse cx="6195.2145" cy="642.4922" 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="785" x="6204.2145" y="645.7026">urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="6195.2145" cy="655.2969" 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="795" x="6204.2145" y="658.5073">urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="6195.2145" cy="668.1016" 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="570" x="6204.2145" y="671.312">urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float</text><ellipse cx="6195.2145" cy="680.9063" 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="446" x="6204.2145" y="684.1167">urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t</text><!--MD5=[17838fb05fe219fd399839979ec8a4a4]
-class urt_frtsubscriber_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="226.4609" id="urt_frtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="974" x="4038.2145" y="481.3594"/><ellipse cx="4463.4645" cy="497.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4462.9489,497.9219 Q4461.0895,497.2188 4460.4333,496.4531 Q4459.7926,495.6719 4459.7926,494.3594 Q4459.7926,492.6719 4460.8708,491.7031 Q4461.9489,490.7344 4463.8239,490.7344 Q4464.6833,490.7344 4465.527,490.9375 Q4466.3864,491.125 4467.2301,491.5156 L4467.2301,493.9063 Q4466.4489,493.3438 4465.6208,493.0625 Q4464.8083,492.7656 4464.0114,492.7656 Q4463.1364,492.7656 4462.652,493.125 Q4462.1833,493.4844 4462.1833,494.1406 Q4462.1833,494.6563 4462.527,495 Q4462.8708,495.3281 4463.9645,495.7344 L4465.027,496.1406 Q4466.5114,496.6875 4467.2145,497.5938 Q4467.9333,498.5 4467.9333,499.875 Q4467.9333,501.75 4466.8239,502.6719 Q4465.7145,503.5938 4463.4645,503.5938 Q4462.5426,503.5938 4461.6208,503.375 Q4460.6989,503.1563 4459.8395,502.7344 L4459.8395,500.2031 Q4460.8083,500.8906 4461.7301,501.2344 Q4462.652,501.5781 4463.5426,501.5781 Q4464.4489,501.5781 4464.9489,501.1719 Q4465.4489,500.75 4465.4489,500.0156 Q4465.4489,499.4531 4465.1051,499.0469 Q4464.777,498.625 4464.152,498.375 L4462.9489,497.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="4483.9645" y="501.5137">urt_frtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4039.2145" x2="5011.2145" y1="513.3594" y2="513.3594"/><ellipse cx="4049.2145" cy="541.1641" 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="157" x="4058.2145" y="544.3745">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4039.2145" x2="4379.7145" y1="527.7617" y2="527.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="4379.7145" y="531.0698">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4670.7145" x2="5011.2145" y1="527.7617" y2="527.7617"/><ellipse cx="4049.2145" cy="570.7734" 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="124" x="4058.2145" y="573.9839">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4039.2145" x2="4389.7145" y1="557.3711" y2="557.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="4389.7145" y="560.6792">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4660.7145" x2="5011.2145" y1="557.3711" y2="557.3711"/><ellipse cx="4049.2145" cy="600.3828" 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="138" x="4058.2145" y="603.5933">minLatency : urt_delay_t</text><ellipse cx="4049.2145" cy="613.1875" 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="141" x="4058.2145" y="616.3979">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4039.2145" x2="4271.2145" y1="586.9805" y2="586.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="508" x="4271.2145" y="590.2886">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="4779.2145" x2="5011.2145" y1="586.9805" y2="586.9805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4039.2145" x2="5011.2145" y1="622.9922" y2="622.9922"/><ellipse cx="4049.2145" cy="633.9922" 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="342" x="4058.2145" y="637.2026">urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : void</text><ellipse cx="4049.2145" cy="646.7969" 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="948" x="4058.2145" y="650.0073">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="4049.2145" cy="659.6016" 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="780" x="4058.2145" y="662.812">urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4049.2145" cy="672.4063" 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="790" x="4058.2145" y="675.6167">urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4049.2145" cy="685.2109" 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="540" x="4058.2145" y="688.4214">urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool</text><ellipse cx="4049.2145" cy="698.0156" 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="441" x="4058.2145" y="701.2261">urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t</text><!--MD5=[104dc879e5721421b987fcc467bc3a1d]
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stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5734.7145" x2="6130.2145" y1="519.0664" y2="519.0664"/><ellipse cx="5058.2145" cy="574.8828" 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="124" x="5067.2145" y="578.0933">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5048.2145" x2="5453.7145" y1="561.4805" y2="561.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="5453.7145" y="564.7886">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5724.7145" x2="6130.2145" y1="561.4805" y2="561.4805"/><ellipse cx="5058.2145" cy="604.4922" 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="138" x="5067.2145" y="607.7026">minLatency : urt_delay_t</text><ellipse cx="5058.2145" cy="617.2969" 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="141" x="5067.2145" y="620.5073">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5048.2145" x2="5337.2145" y1="591.0898" y2="591.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="5337.2145" y="594.3979">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="5841.2145" x2="6130.2145" y1="591.0898" y2="591.0898"/><ellipse cx="5058.2145" cy="646.9063" 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="150" x="5067.2145" y="650.1167">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5048.2145" x2="5456.7145" y1="633.5039" y2="633.5039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="5456.7145" y="636.812">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5721.7145" x2="6130.2145" y1="633.5039" y2="633.5039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5048.2145" x2="6130.2145" y1="656.7109" y2="656.7109"/><ellipse cx="5058.2145" cy="667.7109" 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="347" x="5067.2145" y="670.9214">urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : void</text><ellipse cx="5058.2145" cy="680.5156" 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="1058" x="5067.2145" y="683.7261">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="5058.2145" cy="693.3203" 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="785" x="5067.2145" y="696.5308">urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="5058.2145" cy="706.125" 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="795" x="5067.2145" y="709.3354">urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="5058.2145" cy="718.9297" 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="446" x="5067.2145" y="722.1401">urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t</text><!--MD5=[3226071078d8aeaa18fbafa5359ddee6]
-class urt_servicefunc_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="60.8047" id="urt_servicefunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="451" x="8992.7145" y="953.3594"/><ellipse cx="9160.9645" cy="969.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9165.1989,965.125 L9159.9176,965.125 L9159.9176,967.7969 L9164.7145,967.7969 L9164.7145,969.9531 L9159.9176,969.9531 L9159.9176,975.3594 L9157.4801,975.3594 L9157.4801,962.9688 L9165.1989,962.9688 L9165.1989,965.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="106" x="9181.4645" y="973.5137">urt_servicefunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8993.7145" x2="9442.7145" y1="985.3594" y2="985.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8993.7145" x2="9442.7145" y1="993.3594" y2="993.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="439" x="8998.7145" y="1007.5698">urt_servicefunc_t (arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[e60e0f8379a14e7a4a292c65add9d735]
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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="137" x="9002.2145" y="605.5933">sumDurations : uint64_t</text><ellipse cx="8993.2145" cy="615.1875" 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="110" x="9002.2145" y="618.3979">numCalls : uint64_t</text><ellipse cx="8993.2145" cy="627.9922" 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="135" x="9002.2145" y="631.2026">numTimeouts : uint64_t</text><ellipse cx="8993.2145" cy="640.7969" 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="143" x="9002.2145" y="644.0073">minDuration : urt_delay_t</text><ellipse cx="8993.2145" cy="653.6016" 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="146" x="9002.2145" y="656.812">maxDuration : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8983.2145" x2="9187.2145" y1="588.9805" y2="588.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="9187.2145" y="592.2886">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9379.2145" x2="9583.2145" y1="588.9805" y2="588.9805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8983.2145" x2="9583.2145" y1="663.4063" y2="663.4063"/><ellipse cx="8993.2145" cy="674.4063" 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="576" x="9002.2145" y="677.6167">urtServiceInit(service : urt_service_t*, id : urt_serviceid_t, callback : urt_servicefunc_t*) : urt_status_t</text><ellipse cx="8993.2145" cy="687.2109" 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="557" x="9002.2145" y="690.4214">urtServiceCall(service : urt_service_t*, arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[5fff9a13948f7f5b5e6ca18c1c7a9716]
-link urt_nodestage_t to urt_config--><path d="M1205.6661,1444.1771 C1179.7775,1477.5397 1149.101,1517.0726 1120.5975,1553.8052 " 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="1117.4907,1557.8089,1126.1683,1553.1507,1120.5559,1553.8586,1119.848,1548.2463,1117.4907,1557.8089" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7db439499cb1afd557b9be4c8c52b2ba]
-link urt_topicid_t to urt_config--><path d="M1028.2145,1444.1771 C1028.2145,1477.1345 1028.2145,1516.1132 1028.2145,1552.4655 " 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="1028.2145,1557.8089,1032.2145,1548.8089,1028.2145,1552.8089,1024.2145,1548.8089,1028.2145,1557.8089" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e851a4e79ca88682282ceaaad2100c63]
-link urt_serviceid_t to urt_config--><path d="M1455.6538,1444.2061 C1437.4591,1466.0731 1416.0466,1488.5219 1393.2145,1505.8594 C1328.8545,1554.731 1247.9044,1593.5946 1178.6015,1621.4886 " 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="1173.6322,1623.478,1183.4742,1623.8465,1178.2741,1621.6197,1180.5009,1616.4196,1173.6322,1623.478" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[844001065b3bef53527c5dd4ba0c22e5]
-link urt_delay_t to urt_config--><path d="M1978.5783,1414.5689 C1959.9292,1445.6774 1931.7549,1483.8921 1896.2145,1505.8594 C1778.2739,1578.7576 1394.3539,1631.9505 1178.7108,1656.9352 " 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="1173.6484,1657.5202,1183.0481,1660.4605,1178.6153,1656.9462,1182.1297,1652.5134,1173.6484,1657.5202" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7766572fa0c619a5409829048dc0b6d6]
-link urt_osCondvar_t to urt_osCondvarWaitStatus_t--><path d="M14588.2145,1033.6685 C14588.2145,1107.2408 14588.2145,1244.0695 14588.2145,1316.6892 " 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="14588.2145,1321.8051,14592.2145,1312.8051,14588.2145,1316.8051,14584.2145,1312.8051,14588.2145,1321.8051" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9b2507ea88616aeae65e3c4d63560016]
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-link urt_servicefunc_t to urt_delay_t--><path d="M9191.1368,1014.4525 C9149.6168,1058.8544 9065.3989,1139.39 8974.2145,1171.8594 C8635.252,1292.5588 2912.4707,1355.5486 2099.8869,1363.9005 " fill="none" id="urt_servicefunc_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2094.8814,1363.9519,2103.9221,1367.8591,2099.8811,1363.9004,2103.8398,1359.8595,2094.8814,1363.9519" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3a1e539c88376aaf116c25a44ec54d4f]
-link urt_servicefunc_t to urt_status_t--><path d="M9191.5764,1014.3616 C9150.3031,1059.0418 9066.0307,1140.3873 8974.2145,1171.8594 C8881.2196,1203.7355 1984.7339,1157.099 1896.2145,1199.8594 C1881.2467,1207.0898 1867.442,1216.93 1854.8577,1228.2296 " fill="none" id="urt_servicefunc_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1850.9914,1231.7819,1860.3251,1228.6382,1854.6733,1228.399,1854.9125,1222.7472,1850.9914,1231.7819" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[57f2d85e337abdc0ac29c5f49a215cf6]
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+cluster mutex--><rect fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" height="134" style="stroke: #000000; stroke-width: 1.5;" width="314" x="4623.6783" y="979.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="49" x="4756.1783" y="994.3545">mutex</text><!--MD5=[2e45f233f6bb64aa81ebe67fb6de8946]
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+cluster debug--><rect fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" height="96" style="stroke: #000000; stroke-width: 1.5;" width="262" x="584.6783" y="998.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="50" x="690.6783" y="1013.3545">debug</text><!--MD5=[4e1a3510868d06a507f098bb08f0dae0]
+cluster Middleware--><polygon fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" points="8210.6783,89.3594,8220.6783,79.3594,18876.6783,79.3594,18876.6783,1519.8594,18866.6783,1529.8594,8210.6783,1529.8594,8210.6783,89.3594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="18866.6783" x2="18875.6783" y1="89.3594" y2="80.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="8210.6783" x2="18866.6783" y1="89.3594" y2="89.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="18866.6783" x2="18866.6783" y1="89.3594" y2="1529.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="91" x="13494.1783" y="105.3545">Middleware</text><!--MD5=[b9de0669a29c7bc934fd916b09c39491]
+cluster node--><rect fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" height="579" style="stroke: #000000; stroke-width: 1.5;" width="1674" x="17194.6783" y="515.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="40" x="18011.6783" y="530.3545">node</text><!--MD5=[d74e2ef346f73688f9378f6d3d42598c]
+cluster Publish-Subscribe System--><polygon fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" points="11859.6783,474.3594,11869.6783,464.3594,17186.6783,464.3594,17186.6783,1511.8594,17176.6783,1521.8594,11859.6783,1521.8594,11859.6783,474.3594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="17176.6783" x2="17185.6783" y1="474.3594" y2="465.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="11859.6783" x2="17176.6783" y1="474.3594" y2="474.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="17176.6783" x2="17176.6783" y1="474.3594" y2="1521.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="205" x="14416.6783" y="490.3545">Publish-Subscribe System</text><!--MD5=[16a3bbbe805f94d6e6ce317c08ab945e]
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+cluster Remote Procedure Call System--><polygon fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" points="8568.6783,121.3594,8578.6783,111.3594,11851.6783,111.3594,11851.6783,790.8594,11841.6783,800.8594,8568.6783,800.8594,8568.6783,121.3594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="11841.6783" x2="11850.6783" y1="121.3594" y2="112.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="8568.6783" x2="11841.6783" y1="121.3594" y2="121.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="11841.6783" x2="11841.6783" y1="121.3594" y2="800.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="244" x="10084.1783" y="137.3545">Remote Procedure Call System</text><!--MD5=[ecaf13b018fb9788c80013f5b3634b61]
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stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8884.6783" x2="8962.1783" y1="1824.3086" y2="1824.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="133" x="8962.1783" y="1827.6167">remote procedure calls</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9095.1783" x2="9172.6783" y1="1824.3086" y2="1824.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="8889.6783" y="1921.7495">URT_CFG_DEBUG_ENABLED : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8884.6783" x2="9011.1783" y1="1905.1367" y2="1905.1367"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="35" x="9011.1783" y="1908.4448">debug</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9046.1783" x2="9172.6783" y1="1905.1367" y2="1905.1367"/><!--MD5=[9f69b6f4e23017059189983d6906a1eb]
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+class urt_serviceid_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="158.4375" id="urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.5;" width="232" x="6798.6783" y="1363.8594"/><ellipse cx="6865.4283" cy="1379.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6866.2721,1386.6094 L6863.8189,1386.6094 L6863.8189,1376.3594 L6860.6783,1376.3594 L6860.6783,1374.2188 L6869.4127,1374.2188 L6869.4127,1376.3594 L6866.2721,1376.3594 L6866.2721,1386.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="90" x="6885.9283" y="1384.0137">urt_serviceid_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6799.6783" x2="7029.6783" y1="1395.8594" y2="1395.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="6804.6783" y="1426.8745">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6799.6783" x2="6806.1783" y1="1410.2617" y2="1410.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="6806.1783" y="1413.5698">URT_CFG_RPC_SERVICEID_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7023.1783" x2="7029.6783" y1="1410.2617" y2="1410.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6804.6783" y="1456.4839">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6799.6783" x2="6802.6783" y1="1439.8711" y2="1439.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="6802.6783" y="1443.1792">URT_CFG_RPC_SERVICEID_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7026.6783" x2="7029.6783" y1="1439.8711" y2="1439.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6804.6783" y="1486.0933">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6799.6783" x2="6802.6783" y1="1469.4805" y2="1469.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="6802.6783" y="1472.7886">URT_CFG_RPC_SERVICEID_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7026.6783" x2="7029.6783" y1="1469.4805" y2="1469.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6804.6783" y="1515.7026">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6799.6783" x2="6802.6783" y1="1499.0898" y2="1499.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="6802.6783" y="1502.3979">URT_CFG_RPC_SERVICEID_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7026.6783" x2="7029.6783" y1="1499.0898" y2="1499.0898"/><!--MD5=[e750dab3ce4ebe0433cc930181355272]
+class urt_status_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="278.4844" id="urt_status_t" style="stroke: #A80036; stroke-width: 1.5;" width="229" x="7345.1783" y="1303.8594"/><ellipse cx="7417.9283" cy="1319.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7422.0377,1325.8594 L7414.3189,1325.8594 L7414.3189,1313.4688 L7422.0377,1313.4688 L7422.0377,1315.625 L7416.7721,1315.625 L7416.7721,1318.2969 L7421.5377,1318.2969 L7421.5377,1320.4531 L7416.7721,1320.4531 L7416.7721,1323.7031 L7422.0377,1323.7031 L7422.0377,1325.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="7438.4283" y="1324.0137">urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7346.1783" x2="7573.1783" y1="1335.8594" y2="1335.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="119" x="7351.1783" y="1350.0698">URT_STATUS_OK = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="7351.1783" y="1362.8745">URT_STATUS_DEADLINEVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="7351.1783" y="1375.6792">URT_STATUS_JITTERVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="166" x="7351.1783" y="1388.4839">URT_STATUS_RATEVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="166" x="7351.1783" y="1401.2886">URT_STATUS_SYNC_PENDING</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="7351.1783" y="1414.0933">URT_STATUS_SYNC_ERROR</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="200" x="7351.1783" y="1426.8979">URT_STATUS_NODE_INVALEVTMASK</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="7351.1783" y="1456.5073">URT_STATUS_TOPIC_DUPLICATE</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="7351.1783" y="1469.312">URT_STATUS_PUBLISH_TIMEOUT</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="206" x="7351.1783" y="1482.1167">URT_STATUS_SUBSCRIBE_TOPICSET</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="7351.1783" y="1494.9214">URT_STATUS_FETCH_NOTOPIC</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="7351.1783" y="1507.7261">URT_STATUS_FETCH_NOMESSAGE</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="7351.1783" y="1520.5308">URT_STATUS_UNSUBSCRIBE_NOTOPIC</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7346.1783" x2="7354.6783" y1="1439.8945" y2="1439.8945"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7354.6783" y="1443.2026">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7564.6783" x2="7573.1783" y1="1439.8945" y2="1439.8945"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="7351.1783" y="1550.1401">URT_STATUS_SERVICE_DUPLICATE</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="201" x="7351.1783" y="1562.9448">URT_STATUS_REQUEST_BADOWNER</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="7351.1783" y="1575.7495">URT_STATUS_REQUEST_LOCKED</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7346.1783" x2="7367.1783" y1="1533.5273" y2="1533.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="7367.1783" y="1536.8354">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7552.1783" x2="7573.1783" y1="1533.5273" y2="1533.5273"/><!--MD5=[15452fea434e71f16c7de0feaca2b066]
+class urt_delay_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="132.8281" id="urt_delay_t" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="6799.1783" y="1718.3594"/><ellipse cx="6851.4283" cy="1734.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6852.2721,1741.1094 L6849.8189,1741.1094 L6849.8189,1730.8594 L6846.6783,1730.8594 L6846.6783,1728.7188 L6855.4127,1728.7188 L6855.4127,1730.8594 L6852.2721,1730.8594 L6852.2721,1741.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="68" x="6871.9283" y="1738.5137">urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6800.1783" x2="6979.1783" y1="1750.3594" y2="1750.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6805.1783" y="1781.3745">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6800.1783" x2="6803.1783" y1="1764.7617" y2="1764.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="6803.1783" y="1768.0698">URT_CFG_DELAY_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6976.1783" x2="6979.1783" y1="1764.7617" y2="1764.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6805.1783" y="1810.9839">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6800.1783" x2="6803.1783" y1="1794.3711" y2="1794.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="6803.1783" y="1797.6792">URT_CFG_DELAY_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6976.1783" x2="6979.1783" y1="1794.3711" y2="1794.3711"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6800.1783" x2="6979.1783" y1="1817.5781" y2="1817.5781"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="6805.1783" y="1831.7886">URT_DELAY_IMMEDIATE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="6805.1783" y="1844.5933">URT_DELAY_INFINITE = 0xF..F</text><!--MD5=[81e47bc16a7baa7cb65c7bc48dd317d5]
+class urt_usefulness_f--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="60.8047" id="urt_usefulness_f" style="stroke: #A80036; stroke-width: 1.5;" width="334" x="7609.6783" y="1412.3594"/><ellipse cx="7721.4283" cy="1428.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7725.6627,1424.125 L7720.3814,1424.125 L7720.3814,1426.7969 L7725.1783,1426.7969 L7725.1783,1428.9531 L7720.3814,1428.9531 L7720.3814,1434.3594 L7717.9439,1434.3594 L7717.9439,1421.9688 L7725.6627,1421.9688 L7725.6627,1424.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="7741.9283" y="1432.5137">urt_usefulness_f</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7610.6783" x2="7942.6783" y1="1444.3594" y2="1444.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7610.6783" x2="7942.6783" y1="1452.3594" y2="1452.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="322" x="7615.6783" y="1466.5698">urt_usefulness_f (dt : urt_delay_t, params : void*) : float</text><!--MD5=[3677786d1f00795918091b0110bfa4af]
+class urt_osTime_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="425" x="5710.1783" y="1012.8594"/><ellipse cx="5878.9283" cy="1028.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5879.7721,1035.6094 L5877.3189,1035.6094 L5877.3189,1025.3594 L5874.1783,1025.3594 L5874.1783,1023.2188 L5882.9127,1023.2188 L5882.9127,1025.3594 L5879.7721,1025.3594 L5879.7721,1035.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="5899.4283" y="1033.0137">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5711.1783" x2="6134.1783" y1="1044.8594" y2="1044.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5711.1783" x2="6134.1783" y1="1052.8594" y2="1052.8594"/><ellipse cx="5721.1783" 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="231" x="5730.1783" y="1067.0698">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="5721.1783" cy="1076.6641" 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="189" x="5730.1783" y="1079.8745">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="5721.1783" cy="1089.4688" 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="399" x="5730.1783" y="1092.6792">urtTimeAddUs (time : urt_osTime_t*, offset : uint32_t) : urt_osTime_t*</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]
+class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="4631.6783" y="1006.3594"/><ellipse cx="4732.9283" cy="1022.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4733.7721,1029.1094 L4731.3189,1029.1094 L4731.3189,1018.8594 L4728.1783,1018.8594 L4728.1783,1016.7188 L4736.9127,1016.7188 L4736.9127,1018.8594 L4733.7721,1018.8594 L4733.7721,1029.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="4753.4283" y="1026.5137">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4632.6783" x2="4928.6783" y1="1038.3594" y2="1038.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4632.6783" x2="4928.6783" y1="1046.3594" y2="1046.3594"/><ellipse cx="4642.6783" cy="1057.3594" 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="245" x="4651.6783" y="1060.5698">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="4642.6783" cy="1070.1641" 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="253" x="4651.6783" y="1073.3745">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="4642.6783" cy="1082.9688" 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="272" x="4651.6783" y="1086.1792">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="4642.6783" cy="1095.7734" 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="265" x="4651.6783" y="1098.9839">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--MD5=[52fa11869cb40c93fa7702378ddd839e]
+class urt_osCondvarWaitStatus_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="86.4141" id="urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="5184.6783" y="1399.8594"/><ellipse cx="5230.9283" cy="1415.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5235.0377,1421.8594 L5227.3189,1421.8594 L5227.3189,1409.4688 L5235.0377,1409.4688 L5235.0377,1411.625 L5229.7721,1411.625 L5229.7721,1414.2969 L5234.5377,1414.2969 L5234.5377,1416.4531 L5229.7721,1416.4531 L5229.7721,1419.7031 L5235.0377,1419.7031 L5235.0377,1421.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="169" x="5251.4283" y="1420.0137">urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5185.6783" x2="5453.6783" y1="1431.8594" y2="1431.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="5190.6783" y="1446.0698">URT_CONDVAR_WAITSTATUS_SIGNAL = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="5190.6783" y="1458.8745">URT_CONDVAR_WAITSTATUS_BROADCAST = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="5190.6783" y="1471.6792">URT_CONDVAR_WAITSTATUS_TIMEOUT = 0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5185.6783" x2="5453.6783" y1="1478.2734" y2="1478.2734"/><!--MD5=[004fc5dee471033e8e4138c1c73f0692]
+class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="99.2188" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="4964.6783" y="1006.3594"/><ellipse cx="5264.9283" cy="1022.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5265.7721,1029.1094 L5263.3189,1029.1094 L5263.3189,1018.8594 L5260.1783,1018.8594 L5260.1783,1016.7188 L5268.9127,1016.7188 L5268.9127,1018.8594 L5265.7721,1018.8594 L5265.7721,1029.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="5285.4283" y="1026.5137">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4965.6783" x2="5673.6783" y1="1038.3594" y2="1038.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4965.6783" x2="5673.6783" y1="1046.3594" y2="1046.3594"/><ellipse cx="4975.6783" cy="1057.3594" 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="4984.6783" y="1060.5698">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4975.6783" cy="1070.1641" 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="4984.6783" y="1073.3745">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4975.6783" cy="1082.9688" 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="4984.6783" y="1086.1792">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4975.6783" cy="1095.7734" 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="684" x="4984.6783" y="1098.9839">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(#f168bdpv6hwrno)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="4062.6783" y="1412.3594"/><ellipse cx="4133.4283" cy="1428.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4134.2721,1435.1094 L4131.8189,1435.1094 L4131.8189,1424.8594 L4128.6783,1424.8594 L4128.6783,1422.7188 L4137.4127,1422.7188 L4137.4127,1424.8594 L4134.2721,1424.8594 L4134.2721,1435.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="4153.9283" y="1432.5137">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4063.6783" x2="4347.6783" y1="1444.3594" y2="1444.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4063.6783" x2="4347.6783" y1="1452.3594" y2="1452.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="4068.6783" y="1466.5698">urt_osTimerCallback_t (parameter : void*) : void</text><!--MD5=[0b340d7b925b1eab6a1b7e084f68a7c2]
+class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="112.0234" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="782" x="3814.6783" y="999.8594"/><ellipse cx="4159.4283" cy="1015.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4160.2721,1022.6094 L4157.8189,1022.6094 L4157.8189,1012.3594 L4154.6783,1012.3594 L4154.6783,1010.2188 L4163.4127,1010.2188 L4163.4127,1012.3594 L4160.2721,1012.3594 L4160.2721,1022.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="4179.9283" y="1020.0137">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3815.6783" x2="4595.6783" y1="1031.8594" y2="1031.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3815.6783" x2="4595.6783" y1="1039.8594" y2="1039.8594"/><ellipse cx="3825.6783" cy="1050.8594" 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="240" x="3834.6783" y="1054.0698">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="3825.6783" cy="1063.6641" 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="705" x="3834.6783" y="1066.8745">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="3825.6783" cy="1076.4688" 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="756" x="3834.6783" y="1079.6792">urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="3825.6783" cy="1089.2734" 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="300" x="3834.6783" y="1092.4839">urtTimerReset (timer : urt_osTimer_t*) : urt_status_t</text><ellipse cx="3825.6783" cy="1102.0781" 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="271" x="3834.6783" y="1105.2886">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--MD5=[86c16d91227b9a9ec3b6b9b0285de4e9]
+class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="3316.1783" y="1367.8594"/><ellipse cx="3352.3283" cy="1383.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3353.1721,1390.6094 L3350.7189,1390.6094 L3350.7189,1380.3594 L3347.5783,1380.3594 L3347.5783,1378.2188 L3356.3127,1378.2188 L3356.3127,1380.3594 L3353.1721,1380.3594 L3353.1721,1390.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="3371.0283" y="1388.0137">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3317.1783" x2="3512.1783" y1="1399.8594" y2="1399.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="3322.1783" y="1414.0698">URT_THREAD_PRIO_LOW_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="3322.1783" y="1426.8745">URT_THREAD_PRIO_LOW_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="3322.1783" y="1439.6792">URT_THREAD_PRIO_NORMAL_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="3322.1783" y="1452.4839">URT_THREAD_PRIO_NORMAL_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="3322.1783" y="1465.2886">URT_THREAD_PRIO_HIGH_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="3322.1783" y="1478.0933">URT_THREAD_PRIO_HIGH_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="3322.1783" y="1490.8979">URT_THREAD_PRIO_RT_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="3322.1783" y="1503.7026">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3317.1783" x2="3512.1783" y1="1510.2969" y2="1510.2969"/><!--MD5=[69d8aab9aa387a2f5052ea3da80e80ea]
+class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="2767.6783" y="1412.3594"/><ellipse cx="2815.4283" cy="1428.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2816.2721,1435.1094 L2813.8189,1435.1094 L2813.8189,1424.8594 L2810.6783,1424.8594 L2810.6783,1422.7188 L2819.4127,1422.7188 L2819.4127,1424.8594 L2816.2721,1424.8594 L2816.2721,1435.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="2835.9283" y="1432.5137">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2768.6783" x2="3018.6783" y1="1444.3594" y2="1444.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2768.6783" x2="3018.6783" y1="1452.3594" y2="1452.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="2773.6783" y="1466.5698">urt_osThreadFunction_t (arg : void*) : void</text><!--MD5=[ab5f611d45c3fa10609c33f780d8c3e1]
+class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="3548.6783" y="1405.8594"/><ellipse cx="3570.4283" cy="1421.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3574.5377,1427.8594 L3566.8189,1427.8594 L3566.8189,1415.4688 L3574.5377,1415.4688 L3574.5377,1417.625 L3569.2721,1417.625 L3569.2721,1420.2969 L3574.0377,1420.2969 L3574.0377,1422.4531 L3569.2721,1422.4531 L3569.2721,1425.7031 L3574.5377,1425.7031 L3574.5377,1427.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="3585.9283" y="1426.0137">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3549.6783" x2="3789.6783" y1="1437.8594" y2="1437.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="3554.6783" y="1452.0698">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="3554.6783" y="1464.8745">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3549.6783" x2="3789.6783" y1="1471.4688" y2="1471.4688"/><!--MD5=[47d14ad2c233fae1b32b8d0a283e820a]
+class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="137.6328" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="3054.6783" y="1373.8594"/><ellipse cx="3099.4283" cy="1389.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3103.5377,1395.8594 L3095.8189,1395.8594 L3095.8189,1383.4688 L3103.5377,1383.4688 L3103.5377,1385.625 L3098.2721,1385.625 L3098.2721,1388.2969 L3103.0377,1388.2969 L3103.0377,1390.4531 L3098.2721,1390.4531 L3098.2721,1393.7031 L3103.5377,1393.7031 L3103.5377,1395.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="3119.9283" y="1394.0137">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3055.6783" x2="3279.6783" y1="1405.8594" y2="1405.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="3060.6783" y="1420.0698">URT_THREAD_STATE_INACTIVE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="3060.6783" y="1432.8745">URT_THREAD_STATE_RUNNING = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="3060.6783" y="1445.6792">URT_THREAD_STATE_READY = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="3060.6783" y="1458.4839">URT_THREAD_STATE_SLEEPING = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="3060.6783" y="1471.2886">URT_THREAD_STATE_SUSPENDED = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="3060.6783" y="1484.0933">URT_THREAD_STATE_WAITING = 5</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="3060.6783" y="1496.8979">URT_THREAD_STATE_TERMINATED = 6</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3055.6783" x2="3279.6783" y1="1503.4922" y2="1503.4922"/><!--MD5=[0a16224ede9ffa9bb2d34e085a076e6d]
+class urt_osThread_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="376.1172" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="560" x="3219.6783" y="867.8594"/><ellipse cx="3448.4283" cy="883.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3449.2721,890.6094 L3446.8189,890.6094 L3446.8189,880.3594 L3443.6783,880.3594 L3443.6783,878.2188 L3452.4127,878.2188 L3452.4127,880.3594 L3449.2721,880.3594 L3449.2721,890.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="3468.9283" y="888.0137">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3220.6783" x2="3778.6783" y1="899.8594" y2="899.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="3225.6783" y="914.0698">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="3225.6783" y="926.8745">URT_THREAD_SSLEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="3225.6783" y="939.6792">URT_THREAD_MSLEEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="3225.6783" y="952.4839">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="3220.6783" x2="3778.6783" y1="959.0781" y2="959.0781"/><ellipse cx="3230.6783" 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="3239.6783" y="973.2886">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3220.6783" x2="3778.6783" y1="979.8828" y2="979.8828"/><ellipse cx="3230.6783" 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="534" x="3239.6783" y="994.0933">urtThreadInit (memory : void*, size : size_t, func : urt_osThreadFunction_t*) : urt_osThread_t*</text><ellipse cx="3230.6783" 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="490" x="3239.6783" y="1006.8979">urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void</text><ellipse cx="3230.6783" 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="3239.6783" y="1019.7026">urtThreadYield (void) : void</text><ellipse cx="3230.6783" 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="3239.6783" y="1032.5073">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="3230.6783" 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="3239.6783" y="1045.312">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="3230.6783" 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="294" x="3239.6783" y="1058.1167">urtThreadSuspend (thread : urt_osThread_t*) : void</text><ellipse cx="3230.6783" 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="335" x="3239.6783" y="1070.9214">urtThreadResume (thread : urt_osThread_t*) : urt_status_t</text><ellipse cx="3230.6783" 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="220" x="3239.6783" y="1083.7261">urtThreadSleep (seconds : float) : void</text><ellipse cx="3230.6783" 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="265" x="3239.6783" y="1096.5308">urtThreadSSleep (seconds : urt_delay_t) : void</text><ellipse cx="3230.6783" 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="289" x="3239.6783" y="1109.3354">urtThreadMSleep (milliseconds : urt_delay_t) : void</text><ellipse cx="3230.6783" 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="297" x="3239.6783" y="1122.1401">urtThreadUSleep (microseconds : urt_delay_t) : void</text><ellipse cx="3230.6783" 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="271" x="3239.6783" y="1134.9448">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="3230.6783" 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="146" x="3239.6783" y="1147.7495">urtThreadExit (void) : void</text><ellipse cx="3230.6783" 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="518" x="3239.6783" y="1160.5542">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="3230.6783" 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="264" x="3239.6783" y="1173.3589">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="3230.6783" 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="387" x="3239.6783" y="1186.1636">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="3230.6783" 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="237" x="3239.6783" y="1198.9683">urtThreadGetSelf (void) : urt_osThread_t*</text><ellipse cx="3230.6783" 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="380" x="3239.6783" y="1211.7729">urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="3230.6783" cy="1221.3672" 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="371" x="3239.6783" y="1224.5776">urtThreadGetSibling (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="3230.6783" cy="1234.1719" 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="370" x="3239.6783" y="1237.3823">urtThreadGetParent (thread : urt_osThread_t*) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]
+class urt_osEventMask_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="60.8047" id="urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.5;" width="280" x="2452.6783" y="1412.3594"/><ellipse cx="2529.9283" cy="1428.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2530.7721,1435.1094 L2528.3189,1435.1094 L2528.3189,1424.8594 L2525.1783,1424.8594 L2525.1783,1422.7188 L2533.9127,1422.7188 L2533.9127,1424.8594 L2530.7721,1424.8594 L2530.7721,1435.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="2550.4283" y="1432.5137">urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2453.6783" x2="2731.6783" y1="1444.3594" y2="1444.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="268" x="2458.6783" y="1458.5698">URT_EVENTMASK_MAXPRIO : urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2453.6783" x2="2731.6783" y1="1465.1641" y2="1465.1641"/><!--MD5=[dc1cc33af288560680c15dec1e56eda0]
+class urt_osEventFlags_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="48" id="urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="1861.6783" y="1760.8594"/><ellipse cx="1876.6783" cy="1776.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1877.5221,1783.6094 L1875.0689,1783.6094 L1875.0689,1773.3594 L1871.9283,1773.3594 L1871.9283,1771.2188 L1880.6627,1771.2188 L1880.6627,1773.3594 L1877.5221,1773.3594 L1877.5221,1783.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="1890.6783" y="1781.0137">urt_osEventFlags_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1862.6783" x2="2010.6783" y1="1792.8594" y2="1792.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1862.6783" x2="2010.6783" y1="1800.8594" y2="1800.8594"/><!--MD5=[e2bbbd64e6979bf7b755747a6c0ba948]
+class urt_osEventWait_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="86.4141" id="urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.5;" width="162" x="2218.6783" y="1399.8594"/><ellipse cx="2241.7783" cy="1415.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2245.8877,1421.8594 L2238.1689,1421.8594 L2238.1689,1409.4688 L2245.8877,1409.4688 L2245.8877,1411.625 L2240.6221,1411.625 L2240.6221,1414.2969 L2245.3877,1414.2969 L2245.3877,1416.4531 L2240.6221,1416.4531 L2240.6221,1419.7031 L2245.8877,1419.7031 L2245.8877,1421.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="2257.5783" y="1420.0137">urt_osEventWait_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2219.6783" x2="2379.6783" y1="1431.8594" y2="1431.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="2224.6783" y="1446.0698">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="2224.6783" y="1458.8745">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="2224.6783" y="1471.6792">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2219.6783" x2="2379.6783" y1="1478.2734" y2="1478.2734"/><!--MD5=[d054ac2eda12ce4b1fe5a18c9be716c1]
+class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="1689.6783" y="1399.8594"/><ellipse cx="1864.9283" cy="1415.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1865.7721,1422.6094 L1863.3189,1422.6094 L1863.3189,1412.3594 L1860.1783,1412.3594 L1860.1783,1410.2188 L1868.9127,1410.2188 L1868.9127,1412.3594 L1865.7721,1412.3594 L1865.7721,1422.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="1885.4283" y="1420.0137">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1690.6783" x2="2182.6783" y1="1431.8594" y2="1431.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1690.6783" x2="2182.6783" y1="1439.8594" y2="1439.8594"/><ellipse cx="1700.6783" cy="1450.8594" 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="1709.6783" y="1454.0698">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="1700.6783" cy="1463.6641" 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="1709.6783" y="1466.8745">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="1700.6783" cy="1476.4688" 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="1709.6783" y="1479.6792">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]
+class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="1107.1783" y="1405.8594"/><ellipse cx="1311.9283" cy="1421.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1312.7721,1428.6094 L1310.3189,1428.6094 L1310.3189,1418.3594 L1307.1783,1418.3594 L1307.1783,1416.2188 L1315.9127,1416.2188 L1315.9127,1418.3594 L1312.7721,1418.3594 L1312.7721,1428.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="1332.4283" y="1426.0137">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1108.1783" x2="1653.1783" y1="1437.8594" y2="1437.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1108.1783" x2="1653.1783" y1="1445.8594" y2="1445.8594"/><ellipse cx="1118.1783" cy="1456.8594" 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="1127.1783" y="1460.0698">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="1118.1783" cy="1469.6641" 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="1127.1783" y="1472.8745">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--MD5=[04a3b5a37031e2a4d723f19d8adf86f5]
+class urt_events--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="890" x="1842.6783" y="1012.8594"/><ellipse cx="2250.4283" cy="1028.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2254.6627,1024.625 L2249.3814,1024.625 L2249.3814,1027.2969 L2254.1783,1027.2969 L2254.1783,1029.4531 L2249.3814,1029.4531 L2249.3814,1034.8594 L2246.9439,1034.8594 L2246.9439,1022.4688 L2254.6627,1022.4688 L2254.6627,1024.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="2270.9283" y="1033.0137">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1843.6783" x2="2731.6783" y1="1044.8594" y2="1044.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1843.6783" x2="2731.6783" y1="1052.8594" y2="1052.8594"/><ellipse cx="1853.6783" 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="864" x="1862.6783" y="1067.0698">urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : urt_status_t</text><ellipse cx="1853.6783" cy="1076.6641" 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="567" x="1862.6783" y="1079.8745">urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : urt_status_t</text><ellipse cx="1853.6783" cy="1089.4688" 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="618" x="1862.6783" y="1092.6792">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(#f168bdpv6hwrno)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="209" x="873.1783" y="1018.8594"/><ellipse cx="935.9283" cy="1034.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M940.1627,1030.625 L934.8814,1030.625 L934.8814,1033.2969 L939.6783,1033.2969 L939.6783,1035.4531 L934.8814,1035.4531 L934.8814,1040.8594 L932.4439,1040.8594 L932.4439,1028.4688 L940.1627,1028.4688 L940.1627,1030.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="956.4283" y="1039.0137">urt_streams</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="874.1783" x2="1081.1783" y1="1050.8594" y2="1050.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="874.1783" x2="1081.1783" y1="1058.8594" y2="1058.8594"/><ellipse cx="884.1783" cy="1069.8594" 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="166" x="893.1783" y="1073.0698">urtPrintf(fmt : char*, ... ) : int</text><ellipse cx="884.1783" cy="1082.6641" 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="183" x="893.1783" y="1085.8745">urtErrPrintf(fmt : char*, ... ) : int</text><!--MD5=[f106a25c06a671b3918b1a8f37571a4d]
+class urt_debug--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="245" x="593.1783" y="1025.3594"/><ellipse cx="679.4283" cy="1041.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M683.6627,1037.125 L678.3814,1037.125 L678.3814,1039.7969 L683.1783,1039.7969 L683.1783,1041.9531 L678.3814,1041.9531 L678.3814,1047.3594 L675.9439,1047.3594 L675.9439,1034.9688 L683.6627,1034.9688 L683.6627,1037.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="699.9283" y="1045.5137">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="594.1783" x2="837.1783" y1="1057.3594" y2="1057.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="594.1783" x2="837.1783" y1="1065.3594" y2="1065.3594"/><ellipse cx="604.1783" cy="1076.3594" 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="219" x="613.1783" y="1079.5698">urtDebugAssert(condition : bool) : void</text><!--MD5=[89d25e87afdd75480e1ec2bd05524873]
+class urt_core_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="281.6797" id="urt_core_t" style="stroke: #A80036; stroke-width: 1.5;" width="343" x="8218.1783" y="172.3594"/><ellipse cx="8353.9283" cy="188.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8353.4127,188.9219 Q8351.5533,188.2188 8350.8971,187.4531 Q8350.2564,186.6719 8350.2564,185.3594 Q8350.2564,183.6719 8351.3346,182.7031 Q8352.4127,181.7344 8354.2877,181.7344 Q8355.1471,181.7344 8355.9908,181.9375 Q8356.8502,182.125 8357.6939,182.5156 L8357.6939,184.9063 Q8356.9127,184.3438 8356.0846,184.0625 Q8355.2721,183.7656 8354.4752,183.7656 Q8353.6002,183.7656 8353.1158,184.125 Q8352.6471,184.4844 8352.6471,185.1406 Q8352.6471,185.6563 8352.9908,186 Q8353.3346,186.3281 8354.4283,186.7344 L8355.4908,187.1406 Q8356.9752,187.6875 8357.6783,188.5938 Q8358.3971,189.5 8358.3971,190.875 Q8358.3971,192.75 8357.2877,193.6719 Q8356.1783,194.5938 8353.9283,194.5938 Q8353.0064,194.5938 8352.0846,194.375 Q8351.1627,194.1563 8350.3033,193.7344 L8350.3033,191.2031 Q8351.2721,191.8906 8352.1939,192.2344 Q8353.1158,192.5781 8354.0064,192.5781 Q8354.9127,192.5781 8355.4127,192.1719 Q8355.9127,191.75 8355.9127,191.0156 Q8355.9127,190.4531 8355.5689,190.0469 Q8355.2408,189.625 8354.6158,189.375 L8353.4127,188.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="63" x="8374.4283" y="192.5137">urt_core_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8219.1783" x2="8560.1783" y1="204.3594" y2="204.3594"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="8226.1783" y="212.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="8238.1783" y="218.5698">_nodes : urt_node_t*</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="8226.1783" y="225.1641"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="192" x="8238.1783" y="231.3745">_evtSource : urt_osEventSource_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="8226.1783" y="237.9688"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="8238.1783" y="244.1792">_lock : urt_osMutex_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="8226.1783" y="250.7734"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="122" x="8238.1783" y="256.9839">_status : urt_status_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="8226.1783" y="280.3828"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="117" x="8238.1783" y="286.5933">_topics : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8219.1783" x2="8284.6783" y1="269.9805" y2="269.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="8284.6783" y="273.2886">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8494.6783" x2="8560.1783" y1="269.9805" y2="269.9805"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="8226.1783" y="309.9922"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="145" x="8238.1783" y="316.2026">_services : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8219.1783" x2="8297.1783" y1="299.5898" y2="299.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="8297.1783" y="302.8979">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8482.1783" x2="8560.1783" y1="299.5898" y2="299.5898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8219.1783" x2="8560.1783" y1="322.7969" y2="322.7969"/><ellipse cx="8229.1783" 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="8238.1783" y="337.0073">urtCoreInit (void) : void</text><ellipse cx="8229.1783" 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="8238.1783" y="349.812">urtCoreGetStatus (void) : urt_status_t</text><ellipse cx="8229.1783" 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="8238.1783" y="362.6167">urtCoreStartNodes (void) : void</text><ellipse cx="8229.1783" 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="8238.1783" y="375.4214">urtCoreSynchronize (node : urt_node_t*) : urt_status_t</text><ellipse cx="8229.1783" 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="8238.1783" y="388.2261">urtCoreStopNodes (reason : urt_status_t) : urt_status_t</text><ellipse cx="8229.1783" 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="8238.1783" 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="8219.1783" x2="8284.6783" y1="401.2227" y2="401.2227"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="8284.6783" y="404.5308">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8494.6783" x2="8560.1783" y1="401.2227" y2="401.2227"/><ellipse cx="8229.1783" 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="8238.1783" 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="8219.1783" x2="8297.1783" y1="430.832" y2="430.832"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="8297.1783" y="434.1401">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8482.1783" x2="8560.1783" y1="430.832" y2="430.832"/><!--MD5=[a7dea26996a1231aa68629b332780450]
+class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="17851.6783" y="1025.3594"/><ellipse cx="17997.4283" cy="1041.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17998.2721,1048.1094 L17995.8189,1048.1094 L17995.8189,1037.8594 L17992.6783,1037.8594 L17992.6783,1035.7188 L18001.4127,1035.7188 L18001.4127,1037.8594 L17998.2721,1037.8594 L17998.2721,1048.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="18017.9283" y="1045.5137">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="17852.6783" x2="18306.6783" y1="1057.3594" y2="1057.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="17852.6783" x2="18306.6783" y1="1065.3594" y2="1065.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="17857.6783" y="1079.5698">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]
+class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="17202.6783" y="1025.3594"/><ellipse cx="17430.9283" cy="1041.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17431.7721,1048.1094 L17429.3189,1048.1094 L17429.3189,1037.8594 L17426.1783,1037.8594 L17426.1783,1035.7188 L17434.9127,1035.7188 L17434.9127,1037.8594 L17431.7721,1037.8594 L17431.7721,1048.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="17451.4283" y="1045.5137">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="17203.6783" x2="17815.6783" y1="1057.3594" y2="1057.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="17203.6783" x2="17815.6783" y1="1065.3594" y2="1065.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="17208.6783" y="1079.5698">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(#f168bdpv6hwrno)" height="60.8047" id="urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="518" x="18342.6783" y="1025.3594"/><ellipse cx="18506.9283" cy="1041.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M18507.7721,1048.1094 L18505.3189,1048.1094 L18505.3189,1037.8594 L18502.1783,1037.8594 L18502.1783,1035.7188 L18510.9127,1035.7188 L18510.9127,1037.8594 L18507.7721,1037.8594 L18507.7721,1048.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="181" x="18527.4283" y="1045.5137">urt_nodeShutdownCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="18343.6783" x2="18859.6783" y1="1057.3594" y2="1057.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="18343.6783" x2="18859.6783" y1="1065.3594" y2="1065.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="506" x="18348.6783" y="1079.5698">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(#f168bdpv6hwrno)" height="231.2656" id="urt_node_t" style="stroke: #A80036; stroke-width: 1.5;" width="1541" x="17206.1783" y="542.3594"/><ellipse cx="17938.9283" cy="558.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17938.4127,558.9219 Q17936.5533,558.2188 17935.8971,557.4531 Q17935.2564,556.6719 17935.2564,555.3594 Q17935.2564,553.6719 17936.3346,552.7031 Q17937.4127,551.7344 17939.2877,551.7344 Q17940.1471,551.7344 17940.9908,551.9375 Q17941.8502,552.125 17942.6939,552.5156 L17942.6939,554.9063 Q17941.9127,554.3438 17941.0846,554.0625 Q17940.2721,553.7656 17939.4752,553.7656 Q17938.6002,553.7656 17938.1158,554.125 Q17937.6471,554.4844 17937.6471,555.1406 Q17937.6471,555.6563 17937.9908,556 Q17938.3346,556.3281 17939.4283,556.7344 L17940.4908,557.1406 Q17941.9752,557.6875 17942.6783,558.5938 Q17943.3971,559.5 17943.3971,560.875 Q17943.3971,562.75 17942.2877,563.6719 Q17941.1783,564.5938 17938.9283,564.5938 Q17938.0064,564.5938 17937.0846,564.375 Q17936.1627,564.1563 17935.3033,563.7344 L17935.3033,561.2031 Q17936.2721,561.8906 17937.1939,562.2344 Q17938.1158,562.5781 17939.0064,562.5781 Q17939.9127,562.5781 17940.4127,562.1719 Q17940.9127,561.75 17940.9127,561.0156 Q17940.9127,560.4531 17940.5689,560.0469 Q17940.2408,559.625 17939.6158,559.375 L17938.4127,558.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="67" x="17959.4283" y="562.5137">urt_node_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="17207.1783" x2="18746.1783" y1="574.3594" y2="574.3594"/><ellipse cx="17217.1783" 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="17226.1783" y="588.5698">next : urt_node_t*</text><ellipse cx="17217.1783" 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="17226.1783" y="601.3745">thread : urt_osThread_t*</text><ellipse cx="17217.1783" 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="17226.1783" y="614.1792">setupcallback : urt_nodeSetupCallback_t*</text><ellipse cx="17217.1783" 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="17226.1783" y="626.9839">setupparams : void*</text><ellipse cx="17217.1783" 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="17226.1783" y="639.7886">loopcallback : urt_nodeLoopCallback_t*</text><ellipse cx="17217.1783" 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="17226.1783" y="652.5933">loopparams : void*</text><ellipse cx="17217.1783" 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="17226.1783" y="665.3979">shutdowncallback : urt_nodeShutdownCallback_t*</text><ellipse cx="17217.1783" 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="17226.1783" y="678.2026">shutdownparams : void*</text><ellipse cx="17217.1783" 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="17226.1783" y="691.0073">stage : urt_nodestage_t</text><ellipse cx="17217.1783" 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="17226.1783" y="703.812">listener : urt_osEventListener_t</text><ellipse cx="17217.1783" 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="17226.1783" y="733.4214">loops : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="17207.1783" x2="17768.6783" y1="716.8086" y2="716.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="416" x="17768.6783" 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="18184.6783" x2="18746.1783" y1="716.8086" y2="716.8086"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="17207.1783" x2="18746.1783" y1="740.0156" y2="740.0156"/><rect fill="#F24D5C" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="17214.1783" y="748.0156"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="179" x="17226.1783" y="754.2261">_main : urt_osThreadFunction_t</text><ellipse cx="17217.1783" 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="17226.1783" 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(#f168bdpv6hwrno)" height="141.6328" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="406" x="11867.6783" y="1371.8594"/><ellipse cx="12020.4283" cy="1387.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12019.9127,1388.4219 Q12018.0533,1387.7188 12017.3971,1386.9531 Q12016.7564,1386.1719 12016.7564,1384.8594 Q12016.7564,1383.1719 12017.8346,1382.2031 Q12018.9127,1381.2344 12020.7877,1381.2344 Q12021.6471,1381.2344 12022.4908,1381.4375 Q12023.3502,1381.625 12024.1939,1382.0156 L12024.1939,1384.4063 Q12023.4127,1383.8438 12022.5846,1383.5625 Q12021.7721,1383.2656 12020.9752,1383.2656 Q12020.1002,1383.2656 12019.6158,1383.625 Q12019.1471,1383.9844 12019.1471,1384.6406 Q12019.1471,1385.1563 12019.4908,1385.5 Q12019.8346,1385.8281 12020.9283,1386.2344 L12021.9908,1386.6406 Q12023.4752,1387.1875 12024.1783,1388.0938 Q12024.8971,1389 12024.8971,1390.375 Q12024.8971,1392.25 12023.7877,1393.1719 Q12022.6783,1394.0938 12020.4283,1394.0938 Q12019.5064,1394.0938 12018.5846,1393.875 Q12017.6627,1393.6563 12016.8033,1393.2344 L12016.8033,1390.7031 Q12017.7721,1391.3906 12018.6939,1391.7344 Q12019.6158,1392.0781 12020.5064,1392.0781 Q12021.4127,1392.0781 12021.9127,1391.6719 Q12022.4127,1391.25 12022.4127,1390.5156 Q12022.4127,1389.9531 12022.0689,1389.5469 Q12021.7408,1389.125 12021.1158,1388.875 L12019.9127,1388.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="12040.9283" y="1392.0137">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11868.6783" x2="12272.6783" y1="1403.8594" y2="1403.8594"/><ellipse cx="11878.6783" cy="1414.8594" 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="11887.6783" y="1418.0698">next : urt_message_t*</text><ellipse cx="11878.6783" cy="1427.6641" 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="11887.6783" y="1430.8745">payload : void*</text><ellipse cx="11878.6783" cy="1440.4688" 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="11887.6783" y="1443.6792">originTime : urt_osTime_t</text><ellipse cx="11878.6783" cy="1453.2734" 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="11887.6783" y="1456.4839">numHrtConsumersLeft : unsigned int</text><ellipse cx="11878.6783" cy="1482.8828" 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="11887.6783" y="1486.0933">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11868.6783" x2="11962.1783" y1="1469.4805" y2="1469.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="11962.1783" y="1472.7886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12179.1783" x2="12272.6783" y1="1469.4805" y2="1469.4805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11868.6783" x2="12272.6783" y1="1492.6875" y2="1492.6875"/><ellipse cx="11878.6783" cy="1503.6875" 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="11887.6783" y="1506.8979">urtMessageInit (message : urt_message_t*, payload : void*) : void</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]
+class urt_publisher_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="128.8281" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="783" x="12305.1783" y="593.3594"/><ellipse cx="12645.9283" cy="609.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12645.4127,609.9219 Q12643.5533,609.2188 12642.8971,608.4531 Q12642.2564,607.6719 12642.2564,606.3594 Q12642.2564,604.6719 12643.3346,603.7031 Q12644.4127,602.7344 12646.2877,602.7344 Q12647.1471,602.7344 12647.9908,602.9375 Q12648.8502,603.125 12649.6939,603.5156 L12649.6939,605.9063 Q12648.9127,605.3438 12648.0846,605.0625 Q12647.2721,604.7656 12646.4752,604.7656 Q12645.6002,604.7656 12645.1158,605.125 Q12644.6471,605.4844 12644.6471,606.1406 Q12644.6471,606.6563 12644.9908,607 Q12645.3346,607.3281 12646.4283,607.7344 L12647.4908,608.1406 Q12648.9752,608.6875 12649.6783,609.5938 Q12650.3971,610.5 12650.3971,611.875 Q12650.3971,613.75 12649.2877,614.6719 Q12648.1783,615.5938 12645.9283,615.5938 Q12645.0064,615.5938 12644.0846,615.375 Q12643.1627,615.1563 12642.3033,614.7344 L12642.3033,612.2031 Q12643.2721,612.8906 12644.1939,613.2344 Q12645.1158,613.5781 12646.0064,613.5781 Q12646.9127,613.5781 12647.4127,613.1719 Q12647.9127,612.75 12647.9127,612.0156 Q12647.9127,611.4531 12647.5689,611.0469 Q12647.2408,610.625 12646.6158,610.375 L12645.4127,609.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="12666.4283" y="613.5137">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12306.1783" x2="13087.1783" y1="625.3594" y2="625.3594"/><ellipse cx="12316.1783" cy="636.3594" 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="12325.1783" y="639.5698">topic : urt_topic_t*</text><ellipse cx="12316.1783" cy="665.9688" 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="149" x="12325.1783" y="669.1792">publishAttempts : uint64_t</text><ellipse cx="12316.1783" cy="678.7734" 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="124" x="12325.1783" y="681.9839">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12306.1783" x2="12588.1783" y1="652.5664" y2="652.5664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12588.1783" y="655.8745">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12805.1783" x2="13087.1783" y1="652.5664" y2="652.5664"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="12306.1783" x2="13087.1783" y1="688.5781" y2="688.5781"/><ellipse cx="12316.1783" cy="699.5781" 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="572" x="12325.1783" y="702.7886">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void</text><ellipse cx="12316.1783" cy="712.3828" 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="757" x="12325.1783" y="715.5933">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(#f168bdpv6hwrno)" height="260.875" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="11867.6783" y="527.3594"/><ellipse cx="12022.4283" cy="543.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12021.9127,543.9219 Q12020.0533,543.2188 12019.3971,542.4531 Q12018.7564,541.6719 12018.7564,540.3594 Q12018.7564,538.6719 12019.8346,537.7031 Q12020.9127,536.7344 12022.7877,536.7344 Q12023.6471,536.7344 12024.4908,536.9375 Q12025.3502,537.125 12026.1939,537.5156 L12026.1939,539.9063 Q12025.4127,539.3438 12024.5846,539.0625 Q12023.7721,538.7656 12022.9752,538.7656 Q12022.1002,538.7656 12021.6158,539.125 Q12021.1471,539.4844 12021.1471,540.1406 Q12021.1471,540.6563 12021.4908,541 Q12021.8346,541.3281 12022.9283,541.7344 L12023.9908,542.1406 Q12025.4752,542.6875 12026.1783,543.5938 Q12026.8971,544.5 12026.8971,545.875 Q12026.8971,547.75 12025.7877,548.6719 Q12024.6783,549.5938 12022.4283,549.5938 Q12021.5064,549.5938 12020.5846,549.375 Q12019.6627,549.1563 12018.8033,548.7344 L12018.8033,546.2031 Q12019.7721,546.8906 12020.6939,547.2344 Q12021.6158,547.5781 12022.5064,547.5781 Q12023.4127,547.5781 12023.9127,547.1719 Q12024.4127,546.75 12024.4127,546.0156 Q12024.4127,545.4531 12024.0689,545.0469 Q12023.7408,544.625 12023.1158,544.375 L12021.9127,543.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="12042.9283" y="547.5137">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11868.6783" x2="12250.6783" y1="559.3594" y2="559.3594"/><ellipse cx="11878.6783" 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="11887.6783" y="573.5698">next : urt_topic_t*</text><ellipse cx="11878.6783" 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="11887.6783" y="586.3745">id : urt_topicid_t</text><ellipse cx="11878.6783" 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="11887.6783" y="599.1792">lock : urt_osMutex_t</text><ellipse cx="11878.6783" 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="11887.6783" y="611.9839">evtSource : urt_osEventSource_t</text><ellipse cx="11878.6783" 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="11887.6783" y="624.7886">numHrtSubscribers : unsigned int</text><ellipse cx="11878.6783" 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="11887.6783" y="637.5933">hrtReleased : urt_osCondvar_t</text><ellipse cx="11878.6783" 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="11887.6783" y="650.3979">mandatoryMessage : urt_message_t</text><ellipse cx="11878.6783" 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="11887.6783" y="663.2026">latestMessage : urt_message_t*</text><ellipse cx="11878.6783" 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="11887.6783" y="692.812">hrtSubscribers : urt_hrtsubscriber_t*</text><ellipse cx="11878.6783" 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="11887.6783" y="705.6167">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11868.6783" x2="11927.1783" y1="676.1992" y2="676.1992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="11927.1783" 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="12192.1783" x2="12250.6783" y1="676.1992" y2="676.1992"/><ellipse cx="11878.6783" 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="11887.6783" y="735.2261">numMessagesPublished : uint64_t</text><ellipse cx="11878.6783" 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="11887.6783" y="748.0308">numMessagesDiscarded : uint64_t</text><ellipse cx="11878.6783" 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="11887.6783" y="760.8354">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11868.6783" x2="11951.1783" y1="718.6133" y2="718.6133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="11951.1783" y="721.9214">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12168.1783" x2="12250.6783" y1="718.6133" y2="718.6133"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11868.6783" x2="12250.6783" y1="767.4297" y2="767.4297"/><ellipse cx="11878.6783" 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="11887.6783" y="781.6401">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[50a042e24f957794dab9ba3ea8701c50]
+class urt_basesubscriber_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="133.6328" id="urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="225" x="13124.1783" y="988.8594"/><ellipse cx="13166.6283" cy="1004.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M13166.1127,1005.4219 Q13164.2533,1004.7188 13163.5971,1003.9531 Q13162.9564,1003.1719 13162.9564,1001.8594 Q13162.9564,1000.1719 13164.0346,999.2031 Q13165.1127,998.2344 13166.9877,998.2344 Q13167.8471,998.2344 13168.6908,998.4375 Q13169.5502,998.625 13170.3939,999.0156 L13170.3939,1001.4063 Q13169.6127,1000.8438 13168.7846,1000.5625 Q13167.9721,1000.2656 13167.1752,1000.2656 Q13166.3002,1000.2656 13165.8158,1000.625 Q13165.3471,1000.9844 13165.3471,1001.6406 Q13165.3471,1002.1563 13165.6908,1002.5 Q13166.0346,1002.8281 13167.1283,1003.2344 L13168.1908,1003.6406 Q13169.6752,1004.1875 13170.3783,1005.0938 Q13171.0971,1006 13171.0971,1007.375 Q13171.0971,1009.25 13169.9877,1010.1719 Q13168.8783,1011.0938 13166.6283,1011.0938 Q13165.7064,1011.0938 13164.7846,1010.875 Q13163.8627,1010.6563 13163.0033,1010.2344 L13163.0033,1007.7031 Q13163.9721,1008.3906 13164.8939,1008.7344 Q13165.8158,1009.0781 13166.7064,1009.0781 Q13167.6127,1009.0781 13168.1127,1008.6719 Q13168.6127,1008.25 13168.6127,1007.5156 Q13168.6127,1006.9531 13168.2689,1006.5469 Q13167.9408,1006.125 13167.3158,1005.875 L13166.1127,1005.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="132" x="13186.7283" y="1009.0137">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="13125.1783" x2="13348.1783" y1="1020.8594" y2="1020.8594"/><ellipse cx="13135.1783" cy="1031.8594" 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="104" x="13144.1783" y="1035.0698">topic : urt_topic_t*</text><ellipse cx="13135.1783" cy="1044.6641" 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="198" x="13144.1783" y="1047.8745">evtListener : urt_osEventListener_t</text><ellipse cx="13135.1783" cy="1057.4688" 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="175" x="13144.1783" y="1060.6792">lastMessage : urt_message_t*</text><ellipse cx="13135.1783" cy="1070.2734" 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="186" x="13144.1783" y="1073.4839">lastMessageTime : urt_osTime_t</text><ellipse cx="13135.1783" cy="1099.8828" 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="136" x="13144.1783" y="1103.0933">sumLatencies : uint64_t</text><ellipse cx="13135.1783" cy="1112.6875" 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="190" x="13144.1783" y="1115.8979">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13125.1783" x2="13128.1783" y1="1086.4805" y2="1086.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="13128.1783" y="1089.7886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13345.1783" x2="13348.1783" y1="1086.4805" y2="1086.4805"/><!--MD5=[9ff46073dd541e50679ef35e851c67d6]
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stroke-width: 1.5;" x1="15118.6783" x2="16160.6783" y1="593.3594" y2="593.3594"/><ellipse cx="15128.6783" 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="15137.6783" y="607.5698">usefulnesscb : urt_usefulness_f*</text><ellipse cx="15128.6783" 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="15137.6783" y="620.3745">cbparams : void*</text><ellipse cx="15128.6783" 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="15137.6783" y="649.9839">minLatency : urt_delay_t</text><ellipse cx="15128.6783" 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="15137.6783" y="662.7886">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15118.6783" x2="15531.1783" y1="633.3711" y2="633.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="15531.1783" y="636.6792">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15748.1783" x2="16160.6783" y1="633.3711" y2="633.3711"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="15118.6783" x2="16160.6783" y1="669.3828" y2="669.3828"/><ellipse cx="15128.6783" 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="15137.6783" y="683.5933">urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void</text><ellipse cx="15128.6783" 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="15137.6783" 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="15128.6783" 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="15137.6783" y="709.2026">urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="15128.6783" 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="15137.6783" y="722.0073">urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="15128.6783" 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="15137.6783" y="734.812">urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float</text><ellipse cx="15128.6783" 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="15137.6783" y="747.6167">urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t</text><!--MD5=[17838fb05fe219fd399839979ec8a4a4]
+class urt_frtsubscriber_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="226.4609" id="urt_frtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="974" x="16196.6783" y="544.8594"/><ellipse cx="16621.9283" cy="560.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M16621.4127,561.4219 Q16619.5533,560.7188 16618.8971,559.9531 Q16618.2564,559.1719 16618.2564,557.8594 Q16618.2564,556.1719 16619.3346,555.2031 Q16620.4127,554.2344 16622.2877,554.2344 Q16623.1471,554.2344 16623.9908,554.4375 Q16624.8502,554.625 16625.6939,555.0156 L16625.6939,557.4063 Q16624.9127,556.8438 16624.0846,556.5625 Q16623.2721,556.2656 16622.4752,556.2656 Q16621.6002,556.2656 16621.1158,556.625 Q16620.6471,556.9844 16620.6471,557.6406 Q16620.6471,558.1563 16620.9908,558.5 Q16621.3346,558.8281 16622.4283,559.2344 L16623.4908,559.6406 Q16624.9752,560.1875 16625.6783,561.0938 Q16626.3971,562 16626.3971,563.375 Q16626.3971,565.25 16625.2877,566.1719 Q16624.1783,567.0938 16621.9283,567.0938 Q16621.0064,567.0938 16620.0846,566.875 Q16619.1627,566.6563 16618.3033,566.2344 L16618.3033,563.7031 Q16619.2721,564.3906 16620.1939,564.7344 Q16621.1158,565.0781 16622.0064,565.0781 Q16622.9127,565.0781 16623.4127,564.6719 Q16623.9127,564.25 16623.9127,563.5156 Q16623.9127,562.9531 16623.5689,562.5469 Q16623.2408,562.125 16622.6158,561.875 L16621.4127,561.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="16642.4283" y="565.0137">urt_frtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="16197.6783" x2="17169.6783" y1="576.8594" y2="576.8594"/><ellipse cx="16207.6783" 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="16216.6783" y="607.8745">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16197.6783" x2="16538.1783" y1="591.2617" y2="591.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="16538.1783" 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="16829.1783" x2="17169.6783" y1="591.2617" y2="591.2617"/><ellipse cx="16207.6783" 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="16216.6783" y="637.4839">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16197.6783" x2="16548.1783" y1="620.8711" y2="620.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="16548.1783" 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="16819.1783" x2="17169.6783" y1="620.8711" y2="620.8711"/><ellipse cx="16207.6783" 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="16216.6783" y="667.0933">minLatency : urt_delay_t</text><ellipse cx="16207.6783" 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="16216.6783" y="679.8979">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16197.6783" x2="16429.6783" y1="650.4805" y2="650.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="508" x="16429.6783" 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="16937.6783" x2="17169.6783" y1="650.4805" y2="650.4805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="16197.6783" x2="17169.6783" y1="686.4922" y2="686.4922"/><ellipse cx="16207.6783" 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="16216.6783" y="700.7026">urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : void</text><ellipse cx="16207.6783" 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="16216.6783" 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="16207.6783" 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="16216.6783" y="726.312">urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="16207.6783" 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="16216.6783" y="739.1167">urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="16207.6783" 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="16216.6783" y="751.9214">urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool</text><ellipse cx="16207.6783" 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="16216.6783" y="764.7261">urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t</text><!--MD5=[104dc879e5721421b987fcc467bc3a1d]
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stroke-width: 1.5;" x1="13124.6783" x2="14206.6783" y1="555.3594" y2="555.3594"/><ellipse cx="13134.6783" 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="13143.6783" y="569.5698">next : urt_hrtsubscriber_t*</text><ellipse cx="13134.6783" 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="13143.6783" y="599.1792">deadlineOffset : urt_delay_t</text><ellipse cx="13134.6783" 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="13143.6783" y="611.9839">qosDeadlineTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13124.6783" x2="13520.1783" y1="582.5664" y2="582.5664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="13520.1783" 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="13811.1783" x2="14206.6783" y1="582.5664" y2="582.5664"/><ellipse cx="13134.6783" 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="13143.6783" y="641.5933">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13124.6783" x2="13530.1783" y1="624.9805" y2="624.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="13530.1783" 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="13801.1783" x2="14206.6783" y1="624.9805" y2="624.9805"/><ellipse cx="13134.6783" 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="13143.6783" y="671.2026">minLatency : urt_delay_t</text><ellipse cx="13134.6783" 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="13143.6783" y="684.0073">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13124.6783" x2="13413.6783" y1="654.5898" y2="654.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="13413.6783" 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="13917.6783" x2="14206.6783" y1="654.5898" y2="654.5898"/><ellipse cx="13134.6783" 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="13143.6783" y="713.6167">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13124.6783" x2="13533.1783" y1="697.0039" y2="697.0039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="13533.1783" 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="13798.1783" x2="14206.6783" y1="697.0039" y2="697.0039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="13124.6783" x2="14206.6783" y1="720.2109" y2="720.2109"/><ellipse cx="13134.6783" 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="13143.6783" y="734.4214">urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : void</text><ellipse cx="13134.6783" 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="13143.6783" 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="13134.6783" 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="13143.6783" y="760.0308">urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="13134.6783" 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="13143.6783" y="772.8354">urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="13134.6783" 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="13143.6783" y="785.6401">urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t</text><!--MD5=[e60e0f8379a14e7a4a292c65add9d735]
+class urt_service_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="269.6797" id="urt_service_t" style="stroke: #A80036; stroke-width: 1.5;" width="596" x="8576.6783" y="522.8594"/><ellipse cx="8830.9283" cy="538.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8830.4127,539.4219 Q8828.5533,538.7188 8827.8971,537.9531 Q8827.2564,537.1719 8827.2564,535.8594 Q8827.2564,534.1719 8828.3346,533.2031 Q8829.4127,532.2344 8831.2877,532.2344 Q8832.1471,532.2344 8832.9908,532.4375 Q8833.8502,532.625 8834.6939,533.0156 L8834.6939,535.4063 Q8833.9127,534.8438 8833.0846,534.5625 Q8832.2721,534.2656 8831.4752,534.2656 Q8830.6002,534.2656 8830.1158,534.625 Q8829.6471,534.9844 8829.6471,535.6406 Q8829.6471,536.1563 8829.9908,536.5 Q8830.3346,536.8281 8831.4283,537.2344 L8832.4908,537.6406 Q8833.9752,538.1875 8834.6783,539.0938 Q8835.3971,540 8835.3971,541.375 Q8835.3971,543.25 8834.2877,544.1719 Q8833.1783,545.0938 8830.9283,545.0938 Q8830.0064,545.0938 8829.0846,544.875 Q8828.1627,544.6563 8827.3033,544.2344 L8827.3033,541.7031 Q8828.2721,542.3906 8829.1939,542.7344 Q8830.1158,543.0781 8831.0064,543.0781 Q8831.9127,543.0781 8832.4127,542.6719 Q8832.9127,542.25 8832.9127,541.5156 Q8832.9127,540.9531 8832.5689,540.5469 Q8832.2408,540.125 8831.6158,539.875 L8830.4127,539.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="8851.4283" y="543.0137">urt_service_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8577.6783" x2="9171.6783" y1="554.8594" y2="554.8594"/><ellipse cx="8587.6783" 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="8596.6783" y="569.0698">next : urt_service_t*</text><ellipse cx="8587.6783" 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="8596.6783" y="581.8745">id : urt_serviceid_t</text><ellipse cx="8587.6783" 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="8596.6783" y="594.6792">lock : urt_osMutex_t</text><ellipse cx="8587.6783" 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="8596.6783" y="607.4839">requestQueue_front : urt_baserequest_t*</text><ellipse cx="8587.6783" 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="8596.6783" y="620.2886">requestQueue_hrtBack : urt_hrtrequest_t*</text><ellipse cx="8587.6783" 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="8596.6783" y="633.0933">requestQueue_fsrtBack : urt_baserequest_t*</text><ellipse cx="8587.6783" 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="8596.6783" y="645.8979">requestQueue_back : urt_baserequest_t*</text><ellipse cx="8587.6783" 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="8596.6783" y="658.7026">evtSource : urt_osEventSource_t</text><ellipse cx="8587.6783" 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="8596.6783" y="671.5073">evtListener : urt_osEventListener_t</text><ellipse cx="8587.6783" 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="8596.6783" y="701.1167">numCalls : uint64_t</text><ellipse cx="8587.6783" 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="8596.6783" y="713.9214">numOwnershipLost : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8577.6783" x2="8778.6783" y1="684.5039" y2="684.5039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="8778.6783" y="687.812">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8970.6783" x2="9171.6783" y1="684.5039" y2="684.5039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8577.6783" x2="9171.6783" y1="720.5156" y2="720.5156"/><ellipse cx="8587.6783" 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="8596.6783" y="734.7261">urtServiceInit (service : urt_service_t*, id : urt_serviceid_t) : urt_status_t</text><ellipse cx="8587.6783" 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="8596.6783" y="747.5308">urtServiceDispatch (service : urt_service_t*, payload : void*, bytes : size_t) : urt_baserequest_t*</text><ellipse cx="8587.6783" 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="8596.6783" y="760.3354">urtServiceAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="8587.6783" 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="8596.6783" y="773.1401">urtServiceTryAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="8587.6783" 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="8596.6783" y="785.9448">urtServiceRespond (request : urt_baserequest_t*) : urt_status_t</text><!--MD5=[7294e1cfaeb111bef046bc5d07a96458]
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stroke-width: 1.5;" x1="9904.1783" x2="10577.1783" y1="255.3594" y2="255.3594"/><ellipse cx="9914.1783" cy="283.1641" 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="138" x="9923.1783" y="286.3745">minLatency : urt_delay_t</text><ellipse cx="9914.1783" cy="295.9688" 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="141" x="9923.1783" y="299.1792">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9904.1783" x2="10144.6783" y1="269.7617" y2="269.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="10144.6783" y="273.0698">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10336.6783" x2="10577.1783" y1="269.7617" y2="269.7617"/><line style="stroke: #A80036; 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+link urt_usefulness_f to urt_delay_t--><path d="M7743.7204,1473.5637 C7708.5255,1504.8531 7649.9096,1552.7959 7591.6783,1581.8594 C7387.8435,1683.5941 7124.5737,1742.4861 6985.5353,1768.5838 " 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="6980.2338,1769.5743,6989.8154,1771.8531,6985.1487,1768.6559,6988.3459,1763.9892,6980.2338,1769.5743" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5fff9a13948f7f5b5e6ca18c1c7a9716]
+link urt_nodestage_t to urt_config--><path d="M8148.8973,1521.867 C8169.8945,1544.0939 8194.8697,1566.3951 8221.6783,1581.8594 C8430.1725,1702.1271 8709.0932,1751.8333 8878.4641,1771.8825 " 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="8883.4429,1772.467,8874.9707,1767.4449,8878.477,1771.884,8874.0379,1775.3903,8883.4429,1772.467" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7db439499cb1afd557b9be4c8c52b2ba]
+link urt_topicid_t to urt_config--><path d="M7247.2996,1521.9024 C7269.6763,1545.5756 7297.1658,1568.7152 7327.6783,1581.8594 C7417.8297,1620.6949 8113.2383,1597.9886 8210.6783,1609.8594 C8446.5245,1638.5918 8714.9983,1702.0698 8878.08,1744.1504 " 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="8883.3552,1745.5136,8875.6424,1739.3888,8878.5143,1744.2624,8873.6406,1747.1343,8883.3552,1745.5136" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e851a4e79ca88682282ceaaad2100c63]
+link urt_serviceid_t to urt_config--><path d="M6971.0921,1521.9806 C6992.462,1545.6596 7018.9099,1568.7828 7048.6783,1581.8594 C7107.7999,1607.8302 8146.5487,1602.2941 8210.6783,1609.8594 C8446.6321,1637.6945 8715.076,1701.422 8878.122,1743.7997 " 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="8883.396,1745.1726,8875.6941,1739.0341,8878.5573,1743.9129,8873.6785,1746.7761,8883.396,1745.1726" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[844001065b3bef53527c5dd4ba0c22e5]
+link urt_delay_t to urt_config--><path d="M6980.2829,1784.8594 C7613.0349,1784.8594 8245.7868,1784.8594 8878.5387,1784.8594 " 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="8883.6503,1784.8594,8874.6503,1780.8594,8878.6503,1784.8594,8874.6503,1788.8594,8883.6503,1784.8594" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7766572fa0c619a5409829048dc0b6d6]
+link urt_osCondvar_t to urt_osCondvarWaitStatus_t--><path d="M5319.6783,1105.6606 C5319.6783,1180.421 5319.6783,1320.7436 5319.6783,1394.5942 " 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="5319.6783,1399.7947,5323.6783,1390.7947,5319.6783,1394.7947,5315.6783,1390.7947,5319.6783,1399.7947" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9b2507ea88616aeae65e3c4d63560016]
+link urt_osCondvar_t to urt_osMutex_t--><path d="M4964.5416,1055.8594 C4954.7094,1055.8594 4944.8772,1055.8594 4935.045,1055.8594 " 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="4929.9034,1055.8594,4938.9034,1059.8594,4934.9034,1055.8594,4938.9034,1051.8594,4929.9034,1055.8594" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[83094e108045c8f9585007cdb3b7cb2e]
+link urt_osTimer_t to urt_osTimerCallback_t--><path d="M4205.6783,1112.1325 C4205.6783,1192.8362 4205.6783,1339.1539 4205.6783,1406.7902 " 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="4205.6783,1411.9137,4209.6783,1402.9137,4205.6783,1406.9137,4201.6783,1402.9137,4205.6783,1411.9137" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8d8c3240b5b2b5edf6544088e583ffa5]
+link urt_osThread_t to urt_osThreadPrio_t--><path d="M3458.361,1243.9745 C3449.1775,1285.7865 3439.9203,1327.9339 3432.3064,1362.5998 " 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="3431.1951,1367.6592,3437.0326,1359.7268,3432.2677,1362.7756,3429.2189,1358.0106,3431.1951,1367.6592" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d7d1d43fd970fb07a484642bc19fcb13]
+link urt_osThread_t to urt_osThreadFunction_t--><path d="M3219.3992,1163.1205 C3156.5775,1193.4874 3092.3973,1229.9049 3037.6783,1271.8594 C2987.0671,1310.6643 2942.0995,1370.1062 2916.3825,1407.7045 " 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="2913.3426,1412.1785,2921.7091,1406.9822,2916.1526,1408.0428,2915.092,1402.4862,2913.3426,1412.1785" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6564761b32ad7eeb5abb8896c72cfca5]
+link urt_osThread_t to urt_osThreadTerminateSignal_t--><path d="M3582.3129,1243.9745 C3608.1159,1302.7143 3634.2098,1362.1163 3651.0735,1400.5062 " 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="3653.2883,1405.5481,3653.3308,1395.6993,3651.2773,1400.9703,3646.0063,1398.9169,3653.2883,1405.5481" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[92ba23225d8de8f8080583fedda5e6f8]
+link urt_osThread_t to urt_osThreadState_t--><path d="M3322.6742,1243.9806 C3314.4846,1253.3378 3306.4478,1262.6646 3298.6783,1271.8594 C3272.344,1303.0246 3244.6627,1338.6843 3221.5655,1369.3471 " 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="3218.4827,1373.4461,3227.0892,1368.6577,3221.4881,1369.4501,3220.6956,1363.8491,3218.4827,1373.4461" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[78b286ab2177e5f7b31e6e832d821818]
+link urt_osThread_t to urt_osTime_t--><path d="M3669.6514,867.577 C3713.1551,835.7085 3762.8674,810.8745 3816.1783,804.8594 C3841.8074,801.9677 5647.5493,801.9677 5673.1783,804.8594 C5784.3009,817.3974 5863.5284,938.9765 5900.0453,1008.2131 " 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="5902.3887,1012.6962,5901.7643,1002.8671,5900.0724,1008.2651,5894.6745,1006.5732,5902.3887,1012.6962" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[659af6ab57e6a38ebfd5c07c5616787c]
+link urt_osEventListener_t to urt_osEventFlags_t--><path d="M1936.6783,1486.1739 C1936.6783,1556.8364 1936.6783,1695.0828 1936.6783,1755.4645 " 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="1936.6783,1760.7149,1940.6783,1751.7149,1936.6783,1755.7149,1932.6783,1751.7149,1936.6783,1760.7149" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[eac11679f26c499aa1c571e1f795945d]
+link urt_osEventSource_t to urt_osEventFlags_t--><path d="M1440.9732,1479.9472 C1553.8539,1549.3811 1794.5581,1697.4401 1893.1719,1758.0983 " 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="1897.4749,1760.7451,1891.9046,1752.6228,1893.216,1758.1255,1887.7133,1759.4369,1897.4749,1760.7451" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0259cdb10c6c32168d1d17d25519d939]
+link urt_events to urt_osEventSource_t--><path d="M2140.1057,1098.9141 C2013.5306,1137.8985 1827.6034,1200.0997 1672.6783,1271.8594 C1589.2932,1310.4826 1498.7884,1365.7506 1440.9976,1402.9019 " 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="1436.5482,1405.768,1446.2804,1404.2568,1440.7516,1403.0603,1441.9481,1397.5314,1436.5482,1405.768" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0ce043e0e9532fc393f3f8836f5de19a]
+link urt_events to urt_osEventListener_t--><path d="M2248.4358,1099.1267 C2182.0915,1172.2756 2048.2882,1319.8023 1979.5621,1395.5772 " 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="1975.9363,1399.5749,1984.9456,1395.5958,1979.2954,1395.8713,1979.0199,1390.2212,1975.9363,1399.5749" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[430bebba9cd89d3ba8f63b2078968bca]
+link urt_events to urt_osEventMask_t--><path d="M2321.7779,1099.1267 C2382.8183,1176.578 2509.5754,1337.4141 2565.3419,1408.1736 " 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="2568.589,1412.2936,2566.1598,1402.749,2565.4941,1408.3665,2559.8766,1407.7008,2568.589,1412.2936" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b1b185abc2161e087cab32ae7fdb2c40]
+link urt_events to urt_osEventFlags_t--><path d="M2317.6569,1098.9187 C2344.8919,1140.8572 2383.1144,1207.5212 2398.6783,1271.8594 C2414.8759,1338.817 2436.3387,1524.176 2398.6783,1581.8594 C2313.8148,1711.8424 2125.1021,1759.1412 2016.9506,1775.9446 " 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="2011.8622,1776.7219,2021.3631,1779.3168,2016.8048,1775.9667,2020.1549,1771.4085,2011.8622,1776.7219" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[706a1974d1b474cbba7e7b0213f243a1]
+link urt_events to urt_osEventWait_t--><path d="M2289.0199,1099.1267 C2291.2746,1171.8393 2295.8081,1318.0452 2298.1699,1394.2138 " 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="2298.3362,1399.5749,2302.0553,1390.4552,2298.1812,1394.5773,2294.0591,1390.7032,2298.3362,1399.5749" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5f656ccbf337bb70e2692ec6599b22aa]
+link urt_osCondvar_t to urt_delay_t--><path d="M5396.3304,1105.4903 C5469.5205,1150.125 5584.5232,1213.2381 5693.6783,1243.8594 C5767.5248,1264.5756 5976.6121,1225.4549 6037.6783,1271.8594 C6154.5592,1360.6777 6043.611,1482.5051 6151.6783,1581.8594 C6245.9434,1668.5243 6616.5406,1739.7521 6793.983,1769.6683 " 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="6799.176,1770.5413,6790.9638,1765.1045,6794.2452,1769.7123,6789.6374,1772.9937,6799.176,1770.5413" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[2da0e339f7ca878d257c4a5336e8cad5]
+link urt_osThread_t to urt_delay_t--><path d="M3779.7369,1237.7455 C3786.0398,1239.946 3792.3573,1241.9899 3798.6783,1243.8594 C3852.7038,1259.8374 5780.7446,1239.2381 5826.6783,1271.8594 C5946.2405,1356.7704 5829.032,1485.6181 5939.6783,1581.8594 C6067.4352,1692.9837 6579.2262,1754.674 6794.019,1776.1132 " 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="6799.0373,1776.6121,6790.4772,1771.7412,6794.0618,1776.1174,6789.6857,1779.702,6799.0373,1776.6121" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4dd831efde278dc905a11b75839a39d0]
+link urt_osThread_t to urt_status_t--><path d="M3779.7218,1237.7966 C3786.0294,1239.9816 3792.3518,1242.0085 3798.6783,1243.8594 C3892.7653,1271.3855 7239.8667,1228.2799 7327.6783,1271.8594 C7342.2917,1279.1118 7355.7501,1288.8369 7368.0242,1299.9849 " fill="none" id="urt_osThread_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7371.7953,1303.4892,7367.9254,1294.4325,7368.1326,1300.0855,7362.4796,1300.2927,7371.7953,1303.4892" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8bf77663ad208115c32fd5300d37f092]
+link urt_osTimer_t to urt_delay_t--><path d="M4298.6568,1111.9033 C4379.2996,1157.1642 4500.8103,1217.5078 4615.6783,1243.8594 C4687.6041,1260.3597 5885.1408,1226.9268 5943.6783,1271.8594 C6057.4839,1359.215 5929.7423,1482.9654 6033.6783,1581.8594 C6143.0806,1685.9544 6594.2218,1750.3586 6793.8736,1774.2792 " 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="6799.1248,1774.906,6790.6623,1769.8675,6794.16,1774.3134,6789.7142,1777.8111,6799.1248,1774.906" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[97e66fd6906ece822f393f9bfe719297]
+link urt_osTimer_t to urt_status_t--><path d="M4298.1841,1111.9919 C4378.7806,1157.4728 4500.4792,1218.0833 4615.6783,1243.8594 C4689.1977,1260.3096 7260.2346,1238.2876 7327.6783,1271.8594 C7342.283,1279.1293 7355.7357,1288.8659 7368.0062,1300.021 " fill="none" id="urt_osTimer_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7371.7763,1303.5273,7367.9101,1294.469,7368.115,1300.1221,7362.4619,1300.327,7371.7763,1303.5273" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[a4e2abbbace7909006fa5f13364d6021]
+link urt_events to urt_delay_t--><path d="M2367.3481,1098.9549 C2457.5598,1145.1432 2610.4073,1215.6278 2751.6783,1243.8594 C2831.7379,1259.8585 5622.7875,1226.5123 5690.6783,1271.8594 C5815.2029,1355.0346 5706.0619,1487.9174 5822.6783,1581.8594 C5972.4572,1702.5159 6561.0533,1759.7814 6794.013,1778.0686 " 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="6799.1112,1778.467,6790.4502,1773.7779,6794.1264,1778.0774,6789.8269,1781.7536,6799.1112,1778.467" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0549e7b45a7543f4046fb7eaa1b75598]
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+link urt_core_t to urt_topicid_t--><path d="M8217.9908,324.1125 C7899.3951,345.5606 7241.7294,397.4108 7162.6783,464.3594 C6896.0514,690.1667 6962.773,908.459 7060.6783,1243.8594 C7072.6584,1284.9004 7095.9628,1325.5371 7119.3732,1359.2843 " fill="none" id="urt_core_t-&gt;urt_topicid_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7122.526,1363.7875,7120.6408,1354.1207,7119.6583,1359.6916,7114.0874,1358.7091,7122.526,1363.7875" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[972bd788fc5a0ee0badfa994920a3622]
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+link urt_nrtrequest_t to urt_status_t--><path d="M10745.0865,396.8644 C10699.4385,420.9704 10646.9345,444.0712 10595.6783,456.3594 C10575.8106,461.1225 7669.4497,451.372 7653.6783,464.3594 C7637.5142,477.6702 7534.9982,1029.6247 7485.8678,1298.5474 " fill="none" id="urt_nrtrequest_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7484.9328,1303.6663,7490.4851,1295.5316,7485.8314,1298.7477,7482.6153,1294.094,7484.9328,1303.6663" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[094c3c4918275dedd163d58d6c00e2be]
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+link urt_srtrequest_t to urt_config--><path d="M10425.8952,403.4335 C10479.4169,425.1686 10538.7703,445.3001 10595.6783,456.3594 C10609.9291,459.1289 18946.9958,454.5289 18957.6783,464.3594 C19020.2166,521.9096 18996.3092,1229.5645 18986.6783,1243.8594 C18763.2068,1575.5535 18544.3642,1500.973 18152.6783,1581.8594 C17694.9378,1676.3867 10327.2455,1769.1478 9178.6967,1783.0664 " fill="none" id="urt_srtrequest_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="9173.6822,1783.1271,9182.73,1787.0178,9178.6818,1783.0665,9182.6331,1779.0183,9173.6822,1783.1271" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[74f0decf3779c06ec30af8770fc7e1ae]
+link urt_srtrequest_t to urt_status_t--><path d="M10054.9749,403.4858 C10001.5731,425.1481 9942.4032,445.2289 9885.6783,456.3594 C9861.8818,461.0287 8161.5969,453.984 8139.6783,464.3594 C7792.6462,628.6307 7591.3885,1069.0222 7506.939,1298.8221 " 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="7505.2118,1303.5371,7512.0636,1296.4623,7506.9318,1298.8422,7504.5518,1293.7104,7505.2118,1303.5371" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4360c48b38d2a92e1c3ebeee4ab98bfc]
+link urt_srtrequest_t to urt_usefulness_f--><path d="M10054.9643,403.4318 C10001.5624,425.0936 9942.395,445.1876 9885.6783,456.3594 C9849.566,463.4726 8594.7457,450.427 8560.6783,464.3594 C8111.7142,647.9712 7850.337,1253.3008 7790.1414,1407.0822 " 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="7788.2517,1411.931,7795.2472,1404.9982,7790.0676,1407.2724,7787.7934,1402.0928,7788.2517,1411.931" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e590cea536a036f5956f75e03ef95bbf]
+reverse link urt_frtrequest_t to urt_delay_t--><path d="M11185.6371,451.0653 C11177.6198,453.0001 11169.6257,454.7721 11161.6783,456.3594 C11138.5857,460.9717 7791.5683,453.4899 7770.6783,464.3594 C7608.4045,548.7938 7648.3776,658.3601 7533.6783,800.8594 C7366.2198,1008.9053 7369.912,1131.3948 7127.6783,1243.8594 C7057.7815,1276.3112 6488.0587,1216.2787 6434.6783,1271.8594 C6339.2415,1371.2301 6359.6838,1466.2803 6434.6783,1581.8594 C6515.1892,1705.9402 6691.1555,1754.8318 6799.1322,1773.6196 " fill="none" id="urt_frtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11198.2514,447.8939,11191.4572,445.4776,11186.6136,450.8199,11193.4078,453.2361,11198.2514,447.8939" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11173.1109" y="467.7353">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6767.281" y="1785.4118">0..4</text><!--MD5=[b1f137a561f49721d911648e5542119f]
+link urt_frtrequest_t to urt_config--><path d="M11835.909,313.7946 C13269.4364,316.455 18915.4147,335.1325 19044.6783,464.3594 C19071.8215,491.4949 19069.2039,1187.3575 19051.6783,1243.8594 C18997.6996,1417.885 18980.0132,1495.3069 18819.6783,1581.8594 C18598.0986,1701.4733 10397.6326,1773.5812 9179.3506,1783.6432 " 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="9174.0341,1783.6871,9183.0668,1787.6126,9179.0339,1783.6458,9183.0008,1779.6129,9174.0341,1783.6871" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d63fe507f799090eb2c242d7ab41013e]
+link urt_frtrequest_t to urt_status_t--><path d="M11198.2492,447.8828 C11186.0057,451.0851 11173.7878,453.9362 11161.6783,456.3594 C11090.8324,470.5359 8631.391,449.5326 8560.6783,464.3594 C8184.9898,543.1324 8024.5657,522.7324 7768.6783,808.8594 C7633.8222,959.6522 7755.621,1081.6944 7634.6783,1243.8594 C7621.266,1261.8432 7609.1106,1256.5856 7592.6783,1271.8594 C7583.3154,1280.5623 7574.0942,1289.9685 7565.1422,1299.7378 " 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="7561.5918,1303.6466,7570.604,1299.674,7564.9536,1299.9455,7564.6822,1294.2951,7561.5918,1303.6466" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bea47d1dd6f09b5135df7519b40184db]
+reverse link urt_hrtrequest_t to urt_delay_t--><path d="M9193.9347,456.3884 C9018.3488,461.5537 7170.3556,454.6478 7144.6783,464.3594 C6635.1826,657.0593 6447.6509,775.7683 6222.6783,1271.8594 C6165.7752,1397.3375 6140.6549,1471.1577 6222.6783,1581.8594 C6291.9466,1675.3464 6633.3423,1742.9054 6799.0779,1770.7555 " fill="none" id="urt_hrtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9206.9235,455.677,9200.7137,452.0111,9194.9415,456.3333,9201.1512,459.9991,9206.9235,455.677" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9191.0777" y="455.909">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6767.2226" y="1766.18">0..4</text><!--MD5=[50bfbddabe3b6f3afe991f5d307785f8]
+reverse link urt_hrtrequest_t to urt_osTimer_t--><path d="M9193.758,456.9154 C9009.6116,467.7396 7142.3286,460.3203 7085.6783,464.3594 C5980.0811,543.1872 5660.485,438.8079 4615.6783,808.8594 C4487.9979,854.0815 4356.6921,941.8525 4278.1406,999.6556 " fill="none" id="urt_hrtrequest_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9206.9235,455.6772,9200.5753,452.2566,9194.9762,456.8008,9201.3244,460.2214,9206.9235,455.6772" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9191.0777" y="471.2607">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="4265.7532" y="988.9652">0,1</text><!--MD5=[2663060494b35c1af191cf8ba65e9057]
+link urt_hrtrequest_t to urt_config--><path d="M9868.3128,452.6541 C9874.12,453.9803 9879.9115,455.2181 9885.6783,456.3594 C9900.9907,459.3899 18864.8648,454.1568 18876.6783,464.3594 C19008.0573,577.8228 19036.7563,1108.8173 18927.6783,1243.8594 C18478.9065,1799.4535 18065.8992,1497.6765 17356.6783,1581.8594 C16515.2601,1681.7338 10235.4632,1768.8678 9179.2549,1782.8921 " 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="9173.8765,1782.9634,9182.9288,1786.8434,9178.8761,1782.8969,9182.8226,1778.8442,9173.8765,1782.9634" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3d55577c6a64a095d4d92af2794b0aa7]
+link urt_hrtrequest_t to urt_status_t--><path d="M9206.9234,455.6765 C9205.8409,455.9077 9204.7592,456.1354 9203.6783,456.3594 C9190.7243,459.0442 7308.0132,454.9853 7298.6783,464.3594 C7054.22,709.8465 7163.2975,924.9616 7298.6783,1243.8594 C7305.6794,1260.351 7315.7284,1258.5107 7327.6783,1271.8594 C7335.7387,1280.8633 7343.8612,1290.3097 7351.9026,1299.9446 " 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="7355.1003,1303.7909,7352.4226,1294.313,7351.9039,1299.946,7346.2709,1299.4273,7355.1003,1303.7909" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[85137379eadac9ac066ccd1aa3005a20]
+reverse link urt_service_t to urt_serviceid_t--><path d="M8563.5595,683.4892 C8259.129,711.261 7832.5869,758.4107 7772.6783,808.8594 C7617.5314,939.5078 7795.4483,1120.1963 7634.6783,1243.8594 C7583.0098,1283.6024 7106.5895,1241.9356 7048.6783,1271.8594 C7009.6416,1292.0304 6978.3836,1329.256 6955.9087,1363.8366 " fill="none" id="urt_service_t&lt;-urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8576.6006,682.3045,8570.2633,678.8637,8564.6498,683.3901,8570.9871,686.8309,8576.6006,682.3045" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8560.5767" y="695.2259">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6951.3409" y="1352.9131">1</text><!--MD5=[bfc39859b663e58a9d342532110a4ed9]
+reverse link urt_service_t to urt_osMutex_t--><path d="M8563.3476,688.4586 C8190.9654,723.4581 7548.5266,778.7708 6995.6783,800.8594 C6981.4743,801.4269 4961.2296,802.1855 4948.6783,808.8594 C4870.2628,850.5553 4821.5807,946.9961 4797.942,1006.2808 " fill="none" id="urt_service_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8576.4798,687.2222,8570.1312,683.8023,8564.5326,688.3471,8570.8812,691.767,8576.4798,687.2222" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8560.4527" y="684.8758">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4797.0712" y="995.7073">1</text><!--MD5=[1bad46d95b358cb94878caad932de3eb]
+reverse link urt_service_t to urt_osEventSource_t--><path d="M8563.3027,660.3189 C7016.9286,672.8896 233.8657,732.3582 158.6783,808.8594 C90.9192,877.8025 96.0584,1170.2171 158.6783,1243.8594 C219.4441,1315.3212 765.5288,1381.854 1106.8152,1416.9524 " fill="none" id="urt_service_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8576.5187,660.2116,8570.4864,656.2605,8564.5191,660.3092,8570.5514,664.2602,8576.5187,660.2116" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8560.4926" y="672.5462">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1091.4345" y="1413.1388">1</text><!--MD5=[7ece8bae7b00261083263672987da7c8]
+reverse link urt_service_t to urt_osEventListener_t--><path d="M8563.4082,660.4555 C7040.5224,673.5132 444.8917,734.3343 371.6783,808.8594 C236.1901,946.775 236.4509,1105.688 371.6783,1243.8594 C422.206,1295.4871 1602.6083,1250.6982 1671.6783,1271.8594 C1755.4415,1297.5222 1838.0163,1357.9034 1888.1682,1399.5804 " fill="none" id="urt_service_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8576.4256,660.344,8570.3915,656.3956,8564.426,660.4468,8570.4601,664.3953,8576.4256,660.344" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8560.397" y="657.2837">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1881.3526" y="1388.8502">1</text><!--MD5=[33249c42c81fffc5b10022c232aa2b33]
+link urt_service_t to urt_config--><path d="M8576.5151,700.9019 C8452.9619,725.4036 8329.7659,760.9214 8292.6783,808.8594 C8187.566,944.7233 8188.6064,1445.1969 8292.6783,1581.8594 C8363.3226,1674.6264 8684.5018,1735.766 8878.4802,1764.9341 " 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="8883.61,1765.7025,8875.3019,1760.4133,8878.6652,1764.9618,8874.1167,1768.3251,8883.61,1765.7025" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5471b15d17b5493f5e528354308bf7b4]
+link urt_service_t to urt_status_t--><path d="M8576.5954,681.9504 C8363.0749,704.3124 8098.1029,744.1049 8008.6783,808.8594 C7831.2099,937.3687 7955.5252,1117.2755 7776.6783,1243.8594 C7709.1597,1291.6476 7664.033,1230.0147 7592.6783,1271.8594 C7579.416,1279.6368 7566.998,1289.2907 7555.4926,1300.0234 " 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="7551.6259,1303.7034,7560.903,1300.3964,7555.2478,1300.2564,7555.3878,1294.6013,7551.6259,1303.7034" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4ebde0f50b468210ecfb9bb1100459a1]
 @startuml
 
 title **µRtWare**\nOverview\n
@@ -177,22 +210,24 @@ title **µRtWare**\nOverview\n
   package "Configuration" <<Node>> {
 
   class urt_config <<C,BFBFBF>> {
+  .. general ..
   URT_CFG_DELAY_WIDTH : int
-  URT_CFG_TOPICID_WIDTH : int
-  URT_CFG_SERVICEID_WIDTH : int
   URT_CFG_NODESTAGE_WIDTH : int
-  ..
-  URT_CFG_DEBUG_ENABLED : bool
-  ..
+  .. publish-subscribe ..
   URT_CFG_PUBSUB_ENABLED : bool
+  URT_CFG_PUBSUB_TOPICID_WIDTH : int
   URT_CFG_PUBSUB_PROFILING : bool
   URT_CFG_PUBSUB_QOS_DEADLINECHECKS : bool
   URT_CFG_PUBSUB_QOS_RATECHECKS : bool
   URT_CFG_PUBSUB_QOS_JITTERCHECKS : bool
-  ..
+  .. remote procedure calls ..
   URT_CFG_RPC_ENABLED : bool
+  URT_CFG_RPC_SERVICEID_WIDTH : int
   URT_CFG_RPC_PROFILING : bool
+  URT_CFG_RPC_QOS_DEADLINECHECKS : bool
   URT_CFG_RPC_QOS_JITTERCHECKS : bool
+  .. debug ..
+  URT_CFG_DEBUG_ENABLED : bool
 }
 
 }
@@ -211,24 +246,24 @@ title **µRtWare**\nOverview\n
 }
 
   class urt_topicid_t <<T,00CFFF>> {
-  .. URT_CFG_TOPICID_WIDTH == 8 ..
+  .. URT_CFG_PUBSUB_TOPICID_WIDTH == 8 ..
   uin8_t
-  .. URT_CFG_TOPICID_WIDTH == 16 ..
+  .. URT_CFG_PUBSUB_TOPICID_WIDTH == 16 ..
   uint16_t
-  .. URT_CFG_TOPICID_WIDTH == 32 ..
+  .. URT_CFG_PUBSUB_TOPICID_WIDTH == 32 ..
   uint32_t
-  .. URT_CFG_TOPICID_WIDTH == 64 ..
+  .. URT_CFG_PUBSUB_TOPICID_WIDTH == 64 ..
   uint64_t
 }
 
   class urt_serviceid_t <<T,00CFFF>> {
-  .. URT_CFG_SERVICEID_WIDTH == 8 ..
+  .. URT_CFG_RPC_SERVICEID_WIDTH == 8 ..
   uin8_t
-  .. URT_CFG_SERVICEID_WIDTH == 16 ..
+  .. URT_CFG_RPC_SERVICEID_WIDTH == 16 ..
   uint16_t
-  .. URT_CFG_SERVICEID_WIDTH == 32 ..
+  .. URT_CFG_RPC_SERVICEID_WIDTH == 32 ..
   uint32_t
-  .. URT_CFG_SERVICEID_WIDTH == 64 ..
+  .. URT_CFG_RPC_SERVICEID_WIDTH == 64 ..
   uint64_t
 }
 
@@ -249,7 +284,8 @@ title **µRtWare**\nOverview\n
   URT_STATUS_UNSUBSCRIBE_NOTOPIC
   .. URT_CFG_RPC_ENABLED == true ..
   URT_STATUS_SERVICE_DUPLICATE
-  URT_STATUS_SERVICE_TIMEOUT
+  URT_STATUS_REQUEST_BADOWNER
+  URT_STATUS_REQUEST_LOCKED
 }
 
   class urt_delay_t <<T,00CFFF>> {
@@ -257,27 +293,34 @@ title **µRtWare**\nOverview\n
   uint32_t
   .. URT_CFG_DELAY_WIDTH == 64 ..
   uint64_t
+  __
+  URT_DELAY_IMMEDIATE = 0
+  URT_DELAY_INFINITE = 0xF..F
 }
 
-  class urt_debug <<F,E0E0E0>> {
-  + {method} urtDebugAssert(condition : bool) : void
+  class urt_usefulness_f <<F,E0E0E0>> {
+  urt_usefulness_f (dt : urt_delay_t, params : void*) : float
 }
 
 }
 
   package "OSAL" <<Node>> {
 
-  class urt_osTime_t <<T,00CFFF>> {
-  + {method} urtTime2Us (t : urt_osTime_t*) : uint64_t
-  + {method} urtTimeNow (void) : urt_osTime_t
-  + {method} urtTimeAddUs (time : urt_osTime_t*, offset : uint32_t) : urt_osTime_t*
+  package "time" <<Rectangle>> {
+    class urt_osTime_t <<T,00CFFF>> {
+    + {method} urtTime2Us (t : urt_osTime_t*) : uint64_t
+    + {method} urtTimeNow (void) : urt_osTime_t
+    + {method} urtTimeAddUs (time : urt_osTime_t*, offset : uint32_t) : urt_osTime_t*
+  }
 }
 
-  class urt_osMutex_t <<T,00CFFF>> {
-  + {method} urtMutexInit (mutex : urt_osMutex_t*) : void
-  + {method} urtMutexLock (mutex : urt_osMutex_t*) : void
-  + {method} urtMutexTryLock (mutex : urt_osMutex_t*) : bool
-  + {method} urtMutexUnlock (mutex : urt_osMutex_t*) : void
+  package "mutex" <<Rectangle>> {
+    class urt_osMutex_t <<T,00CFFF>> {
+    + {method} urtMutexInit (mutex : urt_osMutex_t*) : void
+    + {method} urtMutexLock (mutex : urt_osMutex_t*) : void
+    + {method} urtMutexTryLock (mutex : urt_osMutex_t*) : bool
+    + {method} urtMutexUnlock (mutex : urt_osMutex_t*) : void
+  }
 }
 
   package "condition variable" <<Rectangle>> {
@@ -403,9 +446,17 @@ title **µRtWare**\nOverview\n
   }
 } 
 
-  class urt_streams <<F,E0E0E0>> {
-  + {method} urtPrintf(fmt : char*, ... ) : int
-  + {method} urtErrPrintf(fmt : char*, ... ) : int
+  package "streams" <<Rectangle>> {
+    class urt_streams <<F,E0E0E0>> {
+    + {method} urtPrintf(fmt : char*, ... ) : int
+    + {method} urtErrPrintf(fmt : char*, ... ) : int
+  }
+}
+
+  package "debug" <<Rectangle>> {
+    class urt_debug <<F,E0E0E0>> {
+    + {method} urtDebugAssert(condition : bool) : void
+  }
 }
 
 }
@@ -489,10 +540,6 @@ title **µRtWare**\nOverview\n
     + {field} numMessagesReceived : uint64_t
   }
 
-    class urt_srtusefulnessfunc_t <<F,E0E0E0>> {
-    urt_srtusefulnessfunc_t (dt : urt_delay_t, params : void*) : float
-  }
-
     class urt_nrtsubscriber_t <<S,BFAFFF>> {
     .. URT_CFG_PUBSUB_PROFILING == true ..
     + {field} minLatency : urt_delay_t
@@ -506,14 +553,14 @@ title **µRtWare**\nOverview\n
   }
 
     class urt_srtsubscriber_t <<S,BFAFFF>> {
-    + {field} usefulnesscb : urt_srtusefulnessfunc_t*
+    + {field} usefulnesscb : urt_usefulness_f*
     + {field} cbparams : void*
     .. URT_CFG_PUBSUB_PROFILING == true ..
     + {field} minLatency : urt_delay_t
     + {field} maxLatency : urt_delay_t
     __
     + {method} urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void
-    + {method} urtSrtSubscriberSubscribe (subscriber : urt_srtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_srtusefulnessfunc_t*, cbparams : void*) : urt_status_t
+    + {method} urtSrtSubscriberSubscribe (subscriber : urt_srtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_usefulness_f*, cbparams : void*) : urt_status_t
     + {method} urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t
     + {method} urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t
     + {method} urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float
@@ -592,24 +639,110 @@ title **µRtWare**\nOverview\n
 
   package "Remote Procedure Call System" <<Node>> {
 
-  class urt_servicefunc_t <<F,E0E0E0>> {
-  urt_servicefunc_t (arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t
+  package "request" <<Rectangle>> {
+    class urt_baserequest_t <<S,BFAFFF>> {
+    + {field} prev : urt_baserequest_t*
+    + {field} next : urt_baserequest_t*
+    + {field} lock : urt_osMutex_t
+    + {field} owner : urt_service_t*
+    + {field} submissionTime : urt_osTime_t
+    + {field} payload : void*
+    + {field} evtSource : urt_osEventSource_t
+    + {field} evtListener : urt_osEventListener_t
+    .. URT_CFG_RPC_PROFILING == true ..
+    + {field} sumLatencies : uint64_t
+    + {field} numCalls : uint64_t
+    + {field} numFails : uint64_t
+  }
+
+    class urt_nrtrequest_t <<S,BFAFFF>> {
+    .. URT_CFG_RPC_PROFILING == true ..
+    + {field} minLatency : urt_delay_t
+    + {field} maxLatency : urt_delay_t
+    __
+    + {method} urtNrtRequestInit (request : urt_nrtrequest_t*) : void
+    + {method} urtNrtRequestAcquire (request : urt_nrtrequest_t*) : urt_status_t
+    + {method} urtNrtRequestTryAcquire (request : urt_nrtrequest_t*) : urt_status_t
+    + {method} urtNrtRequestRelease (request : urt_nrtrequest_t*) : urt_status_t
+    + {method} urtNrtRequestSubmit (request : urt_nrtrequest_t*, service : urt_service_t*) : urt_status_t
+    + {method} urtNrtRequestRetrieve (request : urt_nrtrequest_t*) : urt_status_t
+  }
+
+    class urt_srtrequest_t <<S,BFAFFF>> {
+    .. URT_CFG_RPC_PROFILING == true ..
+    + {field} minLatency : urt_delay_t
+    + {field} maxLatency : urt_delay_t
+    __
+    + {method} urtSrtRequestInit (request : urt_srtrequest_t*) : void
+    + {method} urtSrtRequestAcquire (request : urt_srtrequest_t*) : urt_status_t
+    + {method} urtSrtRequestTryAcquire (request : urt_srtrequest_t*) : urt_status_t
+    + {method} urtSrtRequestRelease (request : urt_srtrequest_t*) : urt_status_t
+    + {method} urtSrtRequestSubmit (request : urt_srtrequest_t*, service : urt_service_t*) : urt_status_t
+    + {method} urtSrtRequestRetrieve (request : urt_srtrequest_t*) : urt_status_t
+    + {method} urtSrtCalculateUsefulness (request : urt_srtrequest_t*, usefulnesscb : urt_usefulness_f, cbparams : void*) : float
+  }
+
+    class urt_frtrequest_t <<S,BFAFFF>> {
+    .. URT_CFG_RPC_QOS_DEADLINECHECKS == true ..
+    + {field} deadlineOffset : urt_delay_t
+    .. URT_CFG_RPC_QOS_JITTERCHECKS == true ..
+    + {field} maxJitter : urt_delay_t
+    .. URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true ..
+    + {field} minLatency : urt_delay_t
+    + {field} maxLatency : urt_delay_t
+    __
+    + {method} urtFrtRequestInit (request : urt_frtrequest_t*) : void
+    + {method} urtFrtRequestAcquire (request : urt_frtrequest_t*) : urt_status_t
+    + {method} urtFrtRequestTryAcquire (request : urt_frtrequest_t*) : urt_status_t
+    + {method} urtFrtRequestRelease (request : urt_frtrequest_t*) : urt_status_t
+    + {method} urtFrtRequestSubmit (request : urt_frtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t
+    + {method} urtFrtRequestRetrieve (request : urt_frtrequest_t*) : urt_status_t
+    + {method} urtDrtCalculateValidity (request : urt_frtrequest_t) : bool
+    .. URT_CFG_RPC_QOS_JITTERCHECKS == true ..
+    + {method} urtFrtRequestGetMaxJitter(request : urt_frtrequest_t*) : urt_delay_t* const
+  }
+
+    class urt_hrtrequest_t <<S,BFAFFF>> {
+    .. URT_CFG_RPC_QOS_DEADLINECHECKS == true ..
+    + {field} deadlineOffset : urt_delay_t
+    .. URT_CFG_RPC_QOS_JITTERCHECKS == true ..
+    + {field} maxJitter : urt_delay_t
+    .. URT_CFG_RPC_QOS_DEADLINECHECKS == true || URT_CFG_RPC_QOS_JITTERCHECKS == true ..
+    + {field} qosTimer : urt_osTimer_t
+    .. URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true ..
+    + {field} minLatency : urt_delay_t
+    + {field} maxLatency : urt_delay_t
+    __
+    + {method} urtHrtRequestInit (request : urt_hrtrequest_t*) : void
+    + {method} urtHrtRequestAcquire (request : urt_hrtrequest_t*) : urt_status_t
+    + {method} urtHrtRequestTryAcquire (request : urt_hrtrequest_t*) : urt_status_t
+    + {method} urtHrtRequestRelease (request : urt_hrtrequest_t*) : urt_status_t
+    + {method} urtHrtRequestSubmit (request : urt_hrtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t
+    + {method} urtHrtRequestRetrieve (request : urt_hrtrequest_t*) : urt_status_t
+    .. URT_CFG_RPC_QOS_JITTERCHECKS == true ..
+    + {method} urtHrtRequestGetMaxJitter(request : urt_hrtrequest_t*) : urt_delay_t* const
+  }
 }
 
   class urt_service_t <<S,BFAFFF>> {
   + {field} next : urt_service_t*
   + {field} id : urt_serviceid_t
   + {field} lock : urt_osMutex_t
-  + {field} callback : urt_servicefunc_t*
+  + {field} requestQueue_front : urt_baserequest_t*
+  + {field} requestQueue_hrtBack : urt_hrtrequest_t*
+  + {field} requestQueue_fsrtBack : urt_baserequest_t*
+  + {field} requestQueue_back : urt_baserequest_t*
+  + {field} evtSource : urt_osEventSource_t
+  + {field} evtListener : urt_osEventListener_t
   .. URT_CFG_RPC_PROFILING == true ..
-  + {field} sumDurations : uint64_t
   + {field} numCalls : uint64_t
-  + {field} numTimeouts : uint64_t
-  + {field} minDuration : urt_delay_t
-  + {field} maxDuration : urt_delay_t
+  + {field} numOwnershipLost : uint64_t
   __
-  + {method} urtServiceInit(service : urt_service_t*, id : urt_serviceid_t, callback : urt_servicefunc_t*) : urt_status_t
-  + {method} urtServiceCall(service : urt_service_t*, arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t
+  + {method} urtServiceInit (service : urt_service_t*, id : urt_serviceid_t) : urt_status_t
+  + {method} urtServiceDispatch (service : urt_service_t*, payload : void*, bytes : size_t) : urt_baserequest_t*
+  + {method} urtServiceAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t
+  + {method} urtServiceTryAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t
+  + {method} urtServiceRespond (request : urt_baserequest_t*) : urt_status_t
 }
 
 }
@@ -620,6 +753,9 @@ title **µRtWare**\nOverview\n
 
 
 
+
+urt_usefulness_f ..> urt_delay_t
+
 urt_nodestage_t ..> urt_config
 urt_topicid_t ..> urt_config
 urt_serviceid_t ..> urt_config
@@ -654,51 +790,64 @@ urt_events ..> urt_delay_t
 urt_events ..> urt_status_t
 
 
-urt_node_t "1" o- - "0..1" urt_node_t
-urt_node_t "1" o- - "0..1" urt_nodeSetupCallback_t
+urt_node_t "1" o- - "0,1" urt_node_t
+urt_node_t "1" o- - "0,1" urt_nodeSetupCallback_t
 urt_node_t <.. urt_nodeSetupCallback_t
 urt_node_t "1" o- - "1" urt_nodeLoopCallback_t
 urt_node_t <.. urt_nodeLoopCallback_t
-urt_node_t "1" o- - "0..1" urt_nodeShutdownCallback_t
+urt_node_t "1" o- - "0,1" urt_nodeShutdownCallback_t
 urt_node_t <.. urt_nodeShutdownCallback_t
 
 
-urt_message_t "1" o- - "0..1" urt_message_t
+urt_message_t "1" o- "0,1" urt_message_t
+
+urt_basesubscriber_t "1" o- - "0,1" urt_message_t
 
 urt_nrtsubscriber_t - -|> urt_basesubscriber_t
-urt_nrtsubscriber_t ..> urt_message_t
 
 urt_srtsubscriber_t - -|> urt_basesubscriber_t
-urt_srtsubscriber_t "1" o- - "0..1" urt_srtusefulnessfunc_t
-urt_srtsubscriber_t ..> urt_message_t
 
 urt_frtsubscriber_t - -|> urt_basesubscriber_t
-urt_frtsubscriber_t ..> urt_message_t
 
 urt_hrtsubscriber_t - -|> urt_basesubscriber_t
-urt_hrtsubscriber_t "1" o- - "0..1" urt_hrtsubscriber_t
-urt_hrtsubscriber_t ..> urt_message_t
+urt_hrtsubscriber_t "1" o- "0,1" urt_hrtsubscriber_t
 
 urt_publisher_t "1" o- "1" urt_topic_t
 urt_publisher_t ..> urt_message_t
 
-urt_topic_t "1" o- - "0..1" urt_topic_t
-urt_topic_t "1" o- "0..1" urt_hrtsubscriber_t
+urt_topic_t "1" o- "0,1" urt_topic_t
+urt_topic_t "1" o- "0,1" urt_hrtsubscriber_t
 urt_topic_t "1" *- - "1" urt_message_t
 
 
 
-urt_service_t "1" o- - "0..1" urt_service_t
-urt_service_t "1" o- - "0..1" urt_servicefunc_t
+urt_baserequest_t "1" o- "0,1,2" urt_baserequest_t
+urt_baserequest_t "1" o- "0,1" urt_service_t
+
+urt_nrtrequest_t - -|> urt_baserequest_t
+urt_nrtrequest_t ..> urt_service_t
+
+urt_srtrequest_t - -|> urt_baserequest_t
+urt_srtrequest_t ..> urt_service_t
+
+urt_frtrequest_t - -|> urt_baserequest_t
+urt_frtrequest_t ..> urt_service_t
+
+urt_hrtrequest_t - -|> urt_baserequest_t
+urt_hrtrequest_t ..> urt_service_t
+
+urt_service_t "1" o- "0,1" urt_service_t
+urt_service_t "1" o- "0,2,3" urt_baserequest_t
+urt_service_t "1" o- "0,1" urt_hrtrequest_t
 
 
-urt_core_t "1" o- - "0..1" urt_node_t
-urt_core_t "1" *- - "0..1" urt_topic_t
-urt_core_t "1" *- - "0..1" urt_service_t
+urt_core_t "1" o- - "0,1" urt_node_t
+urt_core_t "1" o- - "0,1" urt_topic_t
+urt_core_t "1" o- - "0,1" urt_service_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 "1" *- - "1" urt_status_t
 urt_core_t ..> urt_nodestage_t
 urt_core_t ..> urt_topicid_t
 urt_core_t ..> urt_serviceid_t
@@ -715,22 +864,22 @@ urt_publisher_t ..> urt_delay_t
 urt_topic_t "1" *- - "1" urt_topicid_t
 urt_topic_t "1" *- - "1" urt_osMutex_t
 urt_topic_t "1" *- - "1" urt_osEventSource_t
+urt_topic_t "1" *- - "1" urt_osCondvar_t
 urt_topic_t ..> urt_config
-urt_topic_t "1" *- - "0..1" urt_osTimer_t
+urt_topic_t "1" *- - "0,1" urt_osTimer_t
 urt_topic_t ..> urt_status_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
 urt_message_t ..> urt_config
 urt_message_t ..> urt_status_t
 urt_basesubscriber_t "1" *- - "1" urt_osEventListener_t
 urt_basesubscriber_t "1" *- - "1" urt_osTime_t
 urt_basesubscriber_t ..> urt_config
 urt_basesubscriber_t ..> urt_status_t
-urt_nrtsubscriber_t "1" *- - "0..2" urt_delay_t
+urt_nrtsubscriber_t "1" *- - "0,2" urt_delay_t
 urt_nrtsubscriber_t ..> urt_config
 urt_nrtsubscriber_t ..> urt_status_t
-urt_srtsubscriber_t "1" *- - "0..2" urt_delay_t
+urt_srtsubscriber_t "1" *- - "0,1" urt_usefulness_f
+urt_srtsubscriber_t "1" *- - "0,2" urt_delay_t
 urt_srtsubscriber_t ..> urt_config
 urt_srtsubscriber_t ..> urt_status_t
 urt_frtsubscriber_t "1" *- - "0..4" urt_delay_t
@@ -740,14 +889,30 @@ urt_hrtsubscriber_t "1" *- - "0..5" urt_delay_t
 urt_hrtsubscriber_t "1" *- - "1" urt_osTimer_t
 urt_hrtsubscriber_t ..> urt_config
 urt_hrtsubscriber_t ..> urt_status_t
-urt_srtusefulnessfunc_t ..> urt_delay_t
+urt_baserequest_t "1" *- - "1" urt_osMutex_t
+urt_baserequest_t "1" *- - "1" urt_osTime_t
+urt_baserequest_t "1" *- - "1" urt_osEventSource_t
+urt_baserequest_t "1" *- - "1" urt_osEventListener_t
+urt_nrtrequest_t "1" *- - "0,2" urt_delay_t
+urt_nrtrequest_t ..> urt_config
+urt_nrtrequest_t ..> urt_status_t
+urt_srtrequest_t "1" *- - "0,1" urt_delay_t
+urt_srtrequest_t ..> urt_config
+urt_srtrequest_t ..> urt_status_t
+urt_srtrequest_t ..> urt_usefulness_f
+urt_frtrequest_t "1" *- - "0..4" urt_delay_t
+urt_frtrequest_t ..> urt_config
+urt_frtrequest_t ..> urt_status_t
+urt_hrtrequest_t "1" *- - "0..4" urt_delay_t
+urt_hrtrequest_t "1" *- - "0,1" urt_osTimer_t
+urt_hrtrequest_t ..> urt_config
+urt_hrtrequest_t ..> urt_status_t
 urt_service_t "1" *- - "1" urt_serviceid_t
 urt_service_t "1" *- - "1" urt_osMutex_t
+urt_service_t "1" *- - "1" urt_osEventSource_t
+urt_service_t "1" *- - "1" urt_osEventListener_t
 urt_service_t ..> urt_config
-urt_service_t "1" *- - "0..2" urt_delay_t
 urt_service_t ..> urt_status_t
-urt_servicefunc_t ..> urt_delay_t
-urt_servicefunc_t ..> urt_status_t
 
 
 
@@ -757,7 +922,7 @@ PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
 (GPL source distribution)
 Java Runtime: OpenJDK Runtime Environment
 JVM: OpenJDK 64-Bit Server VM
-Java Version: 11.0.6+10-post-Ubuntu-1ubuntu118.04.1
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
 Operating System: Linux
 Default Encoding: UTF-8
 Language: en
