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/activitydiagrams/core/urtCoreGetService.svg b/doc/activitydiagrams/core/urtCoreGetService.svg
index 0e96b03..f362dac 100644
--- a/doc/activitydiagrams/core/urtCoreGetService.svg
+++ b/doc/activitydiagrams/core/urtCoreGetService.svg
@@ -1,4 +1,4 @@
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+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="596px" preserveAspectRatio="none" style="width:499px;height:596px;" version="1.1" viewBox="0 0 499 596" width="499px" zoomAndPan="magnify"><defs><filter height="300%" id="f1s3gz6elyl2re" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="204" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="181" x="158" y="47.6611">urtCoreGetService()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="251.5" y="68.6143"/><path d="M157,72.8594 L157,168.5234 L487,168.5234 L487,82.8594 L477,72.8594 L157,72.8594 " fill="#FBFB77" filter="url(#f1s3gz6elyl2re)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M477,72.8594 L477,82.8594 L487,82.8594 L477,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="157" x2="258.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="262.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="14" x="262.5" y="89.4263">id</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="101" x="280.5" y="89.4263">: urt_serviceid_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="385.5" x2="487" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="219" x="163" y="105.0591">Identifier of the service to retrieve.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="157" x2="487" y1="113.125" y2="113.125"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="157" x2="487" y1="115.125" y2="115.125"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="157" x2="245" y1="125.6914" y2="125.6914"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="249" y="129.6919"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="249" y="129.6919">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="97" x="298" y="129.6919">: urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="399" x2="487" y1="125.6914" y2="125.6914"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="274" x="163" y="145.3247">Returns a pointer to the requested service.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="163" y="160.4575">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="216" y="160.4575">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="220" x="252" y="160.4575">if no service matches the given ID.</text><ellipse cx="322" cy="198.5234" fill="#000000" filter="url(#f1s3gz6elyl2re)" rx="10" ry="10" style="stroke: none; 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stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="326" y="372.2808">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="78" x="254" y="346.6714">Service is not</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="28" x="336" y="346.6714">NULL</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="254" y="359.4761">and service ID is lower?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="228" y="346.6714">no</text><rect fill="#FEFECE" filter="url(#f1s3gz6elyl2re)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="93" x="275.5" y="469.7495"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="73" x="285.5" y="490.8882">unlock core</text><polygon fill="#FEFECE" filter="url(#f1s3gz6elyl2re)" points="252,523.7183,392,523.7183,404,536.5229,392,549.3276,252,549.3276,240,536.5229,252,523.7183" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="78" x="252" y="533.9287">Service is not</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="28" x="334" y="533.9287">NULL</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="140" x="252" y="546.7334">and service ID matches?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="220" y="533.9287">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="404" y="533.9287">no</text><path d="M10,559.3276 L10,584.4604 A0,0 0 0 0 10,584.4604 L199,584.4604 A0,0 0 0 0 199,584.4604 L199,577.3276 L219,571.894 L199,569.3276 L199,569.3276 L189,559.3276 L10,559.3276 A0,0 0 0 0 10,559.3276 " fill="#FBFB77" filter="url(#f1s3gz6elyl2re)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M189,559.3276 L189,569.3276 L199,569.3276 L189,559.3276 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="168" x="16" y="576.3945">Returns pointer to service.</text><ellipse cx="230" cy="571.894" fill="#FFFFFF" filter="url(#f1s3gz6elyl2re)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="230" cy="571.894" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><path d="M273,559.3276 L273,584.4604 A0,0 0 0 0 273,584.4604 L383,584.4604 A0,0 0 0 0 383,584.4604 L383,577.3276 L403,571.894 L383,569.3276 L383,569.3276 L373,559.3276 L273,559.3276 A0,0 0 0 0 273,559.3276 " fill="#FBFB77" filter="url(#f1s3gz6elyl2re)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M373,559.3276 L373,569.3276 L383,569.3276 L373,559.3276 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="279" y="576.3945">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="332" y="576.3945">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="364" y="576.3945">.</text><ellipse cx="414" cy="571.894" fill="#FFFFFF" filter="url(#f1s3gz6elyl2re)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="414" cy="571.894" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="322" x2="322" y1="168.5234" y2="188.5234"/><polygon fill="#A80036" points="318,178.5234,322,188.5234,326,178.5234,322,182.5234" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="322" x2="322" y1="208.5234" y2="228.5234"/><polygon fill="#A80036" points="318,218.5234,322,228.5234,326,218.5234,322,222.5234" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="322" x2="322" y1="262.4922" y2="282.4922"/><polygon fill="#A80036" points="318,272.4922,322,282.4922,326,272.4922,322,276.4922" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="322" x2="322" y1="362.0703" y2="393.7808"/><polygon fill="#A80036" points="318,383.7808,322,393.7808,326,383.7808,322,387.7808" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="322" x2="322" y1="427.7495" y2="437.7495"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="322" x2="418" y1="437.7495" y2="437.7495"/><polygon fill="#A80036" points="414,401.9604,418,391.9604,422,401.9604,418,397.9604" style="stroke: #A80036; stroke-width: 1.5;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="418" x2="418" y1="349.2656" y2="437.7495"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="418" x2="402" y1="349.2656" y2="349.2656"/><polygon fill="#A80036" points="412,345.2656,402,349.2656,412,353.2656,408,349.2656" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="242" x2="226" y1="349.2656" y2="349.2656"/><polygon fill="#A80036" points="222,387.9604,226,397.9604,230,387.9604,226,391.9604" style="stroke: #A80036; stroke-width: 1.5;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="226" x2="226" y1="349.2656" y2="449.7495"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="226" x2="322" y1="449.7495" y2="449.7495"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="322" x2="322" y1="449.7495" y2="469.7495"/><polygon fill="#A80036" points="318,459.7495,322,469.7495,326,459.7495,322,463.7495" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="322" x2="322" y1="316.4609" y2="336.4609"/><polygon fill="#A80036" points="318,326.4609,322,336.4609,326,326.4609,322,330.4609" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="240" x2="230" y1="536.5229" y2="536.5229"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="230" x2="230" y1="536.5229" y2="560.894"/><polygon fill="#A80036" points="226,550.894,230,560.894,234,550.894,230,554.894" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="404" x2="414" y1="536.5229" y2="536.5229"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="414" x2="414" y1="536.5229" y2="560.894"/><polygon fill="#A80036" points="410,550.894,414,560.894,418,550.894,414,554.894" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="322" x2="322" y1="503.7183" y2="523.7183"/><polygon fill="#A80036" points="318,513.7183,322,523.7183,326,513.7183,322,517.7183" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6899f2fa87670f05e8a9a4ed04a03d09]
 @startuml
 
 title **µRtWare**\nurtCoreGetService()\n
@@ -40,7 +40,7 @@ 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
diff --git a/doc/activitydiagrams/core/urtCoreGetStatus.svg b/doc/activitydiagrams/core/urtCoreGetStatus.svg
index c53b7ec..d099b68 100644
--- a/doc/activitydiagrams/core/urtCoreGetStatus.svg
+++ b/doc/activitydiagrams/core/urtCoreGetStatus.svg
@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="233px" preserveAspectRatio="none" style="width:351px;height:233px;" version="1.1" viewBox="0 0 351 233" width="351px" zoomAndPan="magnify"><defs><filter height="300%" id="flafrcxsdhrgr" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="130" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="169" x="90" y="47.6611">urtCoreGetStatus()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="177.5" y="68.6143"/><path d="M171,72.8594 L171,138.2578 L339,138.2578 L339,82.8594 L329,72.8594 L171,72.8594 " fill="#FBFB77" filter="url(#flafrcxsdhrgr)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M329,72.8594 L329,82.8594 L339,82.8594 L329,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="171" x2="237.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="241.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="27" x="241.5" y="89.4263">void</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="272.5" y="89.4263"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="272.5" x2="339" y1="85.4258" y2="85.4258"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="171" x2="339" y1="97.9922" y2="97.9922"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="171" x2="339" y1="99.9922" y2="99.9922"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="171" x2="184" y1="110.5586" y2="110.5586"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="188" y="114.5591"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="188" y="114.5591">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="237" y="114.5591">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="326" x2="339" y1="110.5586" y2="110.5586"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="147" x="177" y="130.1919">Current system status.</text><ellipse cx="255" cy="168.2578" fill="#000000" filter="url(#flafrcxsdhrgr)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M10,196.6914 L10,221.8242 A0,0 0 0 0 10,221.8242 L224,221.8242 A0,0 0 0 0 224,221.8242 L224,214.6914 L244,209.2578 L224,206.6914 L224,206.6914 L214,196.6914 L10,196.6914 A0,0 0 0 0 10,196.6914 " fill="#FBFB77" filter="url(#flafrcxsdhrgr)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M214,196.6914 L214,206.6914 L224,206.6914 L214,196.6914 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="91" x="16" y="213.7583">Returns core's</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="56" x="111" y="213.7583">_status</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="38" x="171" y="213.7583">value.</text><ellipse cx="255" cy="209.2578" fill="#FFFFFF" filter="url(#flafrcxsdhrgr)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="255" cy="209.2578" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="255" x2="255" y1="138.2578" y2="158.2578"/><polygon fill="#A80036" points="251,148.2578,255,158.2578,259,148.2578,255,152.2578" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="255" x2="255" y1="178.2578" y2="198.2578"/><polygon fill="#A80036" points="251,188.2578,255,198.2578,259,188.2578,255,192.2578" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[dbee62f80b7a85c1f9d1310ae8513b2f]
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="233px" preserveAspectRatio="none" style="width:351px;height:233px;" version="1.1" viewBox="0 0 351 233" width="351px" zoomAndPan="magnify"><defs><filter height="300%" id="flafrcxsdhrgr" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="130" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="169" x="90" y="47.6611">urtCoreGetStatus()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="177.5" y="68.6143"/><path d="M171,72.8594 L171,138.2578 L339,138.2578 L339,82.8594 L329,72.8594 L171,72.8594 " fill="#FBFB77" filter="url(#flafrcxsdhrgr)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M329,72.8594 L329,82.8594 L339,82.8594 L329,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="171" x2="237.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="241.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="27" x="241.5" y="89.4263">void</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="272.5" y="89.4263"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="272.5" x2="339" y1="85.4258" y2="85.4258"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="171" x2="339" y1="97.9922" y2="97.9922"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="171" x2="339" y1="99.9922" y2="99.9922"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="171" x2="184" y1="110.5586" y2="110.5586"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="188" y="114.5591"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="188" y="114.5591">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="237" y="114.5591">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="326" x2="339" y1="110.5586" y2="110.5586"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="147" x="177" y="130.1919">Current system status.</text><ellipse cx="255" cy="168.2578" fill="#000000" filter="url(#flafrcxsdhrgr)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M10,196.6914 L10,221.8242 A0,0 0 0 0 10,221.8242 L224,221.8242 A0,0 0 0 0 224,221.8242 L224,214.6914 L244,209.2578 L224,206.6914 L224,206.6914 L214,196.6914 L10,196.6914 A0,0 0 0 0 10,196.6914 " fill="#FBFB77" filter="url(#flafrcxsdhrgr)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M214,196.6914 L214,206.6914 L224,206.6914 L214,196.6914 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="91" x="16" y="213.7583">Returns core's</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="56" x="111" y="213.7583">_status</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="38" x="171" y="213.7583">value.</text><ellipse cx="255" cy="209.2578" fill="#FFFFFF" filter="url(#flafrcxsdhrgr)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="255" cy="209.2578" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="255" x2="255" y1="138.2578" y2="158.2578"/><polygon fill="#A80036" points="251,148.2578,255,158.2578,259,148.2578,255,152.2578" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="255" x2="255" y1="178.2578" y2="198.2578"/><polygon fill="#A80036" points="251,188.2578,255,198.2578,259,188.2578,255,192.2578" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ef624b0eac628e8942612de10e16b26f]
 @startuml
 
 title **µRtWare**\nurtCoreGetStatus()\n
@@ -25,7 +25,7 @@ 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
diff --git a/doc/activitydiagrams/core/urtCoreGetTopic.svg b/doc/activitydiagrams/core/urtCoreGetTopic.svg
index 6fd6b41..650eb7c 100644
--- a/doc/activitydiagrams/core/urtCoreGetTopic.svg
+++ b/doc/activitydiagrams/core/urtCoreGetTopic.svg
@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="596px" preserveAspectRatio="none" style="width:472px;height:596px;" version="1.1" viewBox="0 0 472 596" width="472px" zoomAndPan="magnify"><defs><filter height="300%" id="fsrkmh5myir7y" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="190.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="163" x="153.5" y="47.6611">urtCoreGetTopic()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="238" y="68.6143"/><path d="M144,72.8594 L144,168.5234 L460,168.5234 L460,82.8594 L450,72.8594 L144,72.8594 " fill="#FBFB77" filter="url(#fsrkmh5myir7y)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M450,72.8594 L450,82.8594 L460,82.8594 L450,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="144" x2="245.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="249.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="14" x="249.5" y="89.4263">id</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="87" x="267.5" y="89.4263">: urt_topicid_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="358.5" x2="460" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="205" x="150" y="105.0591">Identifier of the topic to retrieve.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="144" x2="460" y1="113.125" y2="113.125"/><line style="stroke: #A80036; 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+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="596px" preserveAspectRatio="none" style="width:472px;height:596px;" version="1.1" viewBox="0 0 472 596" width="472px" zoomAndPan="magnify"><defs><filter height="300%" id="fsrkmh5myir7y" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="190.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="163" x="153.5" y="47.6611">urtCoreGetTopic()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="238" y="68.6143"/><path d="M144,72.8594 L144,168.5234 L460,168.5234 L460,82.8594 L450,72.8594 L144,72.8594 " fill="#FBFB77" filter="url(#fsrkmh5myir7y)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M450,72.8594 L450,82.8594 L460,82.8594 L450,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="144" x2="245.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="249.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="14" x="249.5" y="89.4263">id</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="87" x="267.5" y="89.4263">: urt_topicid_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="358.5" x2="460" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="205" x="150" y="105.0591">Identifier of the topic to retrieve.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="144" x2="460" y1="113.125" y2="113.125"/><line style="stroke: #A80036; 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 @startuml
 
 title **µRtWare**\nurtCoreGetTopic()\n
@@ -40,7 +40,7 @@ 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
diff --git a/doc/activitydiagrams/core/urtCoreInit.svg b/doc/activitydiagrams/core/urtCoreInit.svg
index 992e735..069db94 100644
--- a/doc/activitydiagrams/core/urtCoreInit.svg
+++ b/doc/activitydiagrams/core/urtCoreInit.svg
@@ -1,4 +1,4 @@
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stroke-width: 1.0;"/><!--MD5=[c6247e15d57e1adb56cb1d1d45383334]
 @startuml
 
 title **µRtWare**\nurtCoreInit()\n
@@ -32,7 +32,7 @@ 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
diff --git a/doc/activitydiagrams/core/urtCoreStartNodes.svg b/doc/activitydiagrams/core/urtCoreStartNodes.svg
index a4fc689..9b8af30 100644
--- a/doc/activitydiagrams/core/urtCoreStartNodes.svg
+++ b/doc/activitydiagrams/core/urtCoreStartNodes.svg
@@ -1,4 +1,4 @@
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stroke-width: 1.0;" x1="188.5" x2="199" y1="110.5586" y2="110.5586"/><ellipse cx="143" cy="153.125" fill="#000000" filter="url(#fxn4zf5n3gka3)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#fxn4zf5n3gka3)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="77" x="104.5" y="183.125"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="57" x="114.5" y="204.2637">lock core</text><rect fill="#FEFECE" filter="url(#fxn4zf5n3gka3)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="266" x="10" y="237.0938"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="246" x="20" y="258.2324">access first node in core's list of nodes</text><rect fill="#FEFECE" filter="url(#fxn4zf5n3gka3)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="132" x="77" y="346.7729"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="87" y="367.9116">start node thread</text><rect fill="#FEFECE" filter="url(#fxn4zf5n3gka3)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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stroke-width: 1.0;"/><!--MD5=[fb2dc9ee63a5eafeada0484887d2ac3b]
 @startuml
 
 title **µRtWare**\nurtCoreStartNodes()\n
@@ -28,7 +28,7 @@ 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
diff --git a/doc/activitydiagrams/core/urtCoreStopNodes.svg b/doc/activitydiagrams/core/urtCoreStopNodes.svg
index 6c0d817..c1da0fc 100644
--- a/doc/activitydiagrams/core/urtCoreStopNodes.svg
+++ b/doc/activitydiagrams/core/urtCoreStopNodes.svg
@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="1074px" preserveAspectRatio="none" style="width:814px;height:1074px;" version="1.1" viewBox="0 0 814 1074" width="814px" zoomAndPan="magnify"><defs><filter height="300%" id="f1n6ixpk89zlyl" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="361.75" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="178" x="317.25" y="47.6611">urtCoreStopNodes()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="409.25" y="68.6143"/><path d="M179.5,72.8594 L179.5,183.6563 L800.5,183.6563 L800.5,82.8594 L790.5,72.8594 L179.5,72.8594 " fill="#FBFB77" filter="url(#f1n6ixpk89zlyl)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M790.5,72.8594 L790.5,82.8594 L800.5,82.8594 L790.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="179.5" x2="416.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="420.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="50" x="420.5" y="89.4263">reason</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="474.5" y="89.4263">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="563.5" x2="800.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="252" x="185.5" y="105.0591">The reason why the function was called.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="134" x="185.5" y="120.1919">For normal shutdown</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="323.5" y="120.1919">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="101" x="431.5" y="120.1919">should be used.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="179.5" x2="800.5" y1="128.2578" y2="128.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="179.5" x2="800.5" y1="130.2578" y2="130.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="179.5" x2="419" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="423" y="144.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="423" y="144.8247">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="472" y="144.8247">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="561" x2="800.5" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="185.5" y="160.4575">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="238.5" y="160.4575">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="282" x="346.5" y="160.4575">if there was no call with another reason than</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="632.5" y="160.4575">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="45" x="740.5" y="160.4575">before.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="541" x="185.5" y="175.5903">If the function has been called before with a different reason, that reason is returned.</text><ellipse cx="490" cy="213.6563" fill="#000000" filter="url(#f1n6ixpk89zlyl)" rx="10" ry="10" style="stroke: none; 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+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="1074px" preserveAspectRatio="none" style="width:814px;height:1074px;" version="1.1" viewBox="0 0 814 1074" width="814px" zoomAndPan="magnify"><defs><filter height="300%" id="f1n6ixpk89zlyl" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="361.75" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="178" x="317.25" y="47.6611">urtCoreStopNodes()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="409.25" y="68.6143"/><path d="M179.5,72.8594 L179.5,183.6563 L800.5,183.6563 L800.5,82.8594 L790.5,72.8594 L179.5,72.8594 " fill="#FBFB77" filter="url(#f1n6ixpk89zlyl)" style="stroke: #A80036; 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 @startuml
 
 title **µRtWare**\nurtCoreStopNodes()\n
@@ -53,7 +53,7 @@ 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
diff --git a/doc/activitydiagrams/core/urtCoreSynchronizeNodes.svg b/doc/activitydiagrams/core/urtCoreSynchronizeNodes.svg
index 9660759..ef02b8a 100644
--- a/doc/activitydiagrams/core/urtCoreSynchronizeNodes.svg
+++ b/doc/activitydiagrams/core/urtCoreSynchronizeNodes.svg
@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="776px" preserveAspectRatio="none" style="width:1340px;height:776px;" version="1.1" viewBox="0 0 1340 776" width="1340px" zoomAndPan="magnify"><defs><filter height="300%" id="f1x4zz6pvjwbbn" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="624.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="246" x="546" y="47.6611">urtCoreSynchronizeNodes()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="672" y="68.6143"/><path d="M351.5,72.8594 L351.5,213.9219 L983.5,213.9219 L983.5,82.8594 L973.5,72.8594 L351.5,72.8594 " fill="#FBFB77" filter="url(#f1x4zz6pvjwbbn)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M973.5,72.8594 L973.5,82.8594 L983.5,82.8594 L973.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="351.5" x2="601" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="605" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="37" x="605" y="89.4263">node</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="84" x="646" y="89.4263">: urt_node_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="734" x2="983.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="211" x="357.5" y="105.0591">Pointer to a node to synchronize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="357.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="437.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="469.5" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="351.5" x2="983.5" y1="128.2578" y2="128.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="351.5" x2="983.5" y1="130.2578" y2="130.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="351.5" x2="596.5" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="600.5" y="144.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="600.5" y="144.8247">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="649.5" y="144.8247">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="738.5" x2="983.5" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="357.5" y="160.4575">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="410.5" y="160.4575">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="269" x="518.5" y="160.4575">if all nodes are synchronized and proceed.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="357.5" y="175.5903">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="168" x="410.5" y="175.5903">URT_STATUS_SYNC_ERROR</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="345" x="582.5" y="175.5903">if an exception occurred (faulty stage value detected).</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="357.5" y="190.7231">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="184" x="410.5" y="190.7231">URT_STATUS_SYNC_PENDING</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="238" x="598.5" y="190.7231">if there are nodes left to synchronize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="611" x="357.5" y="205.856">In the latter case, the node thread must still wait for the control event (proceed) to synchronize.</text><ellipse cx="667.5" cy="243.9219" fill="#000000" filter="url(#f1x4zz6pvjwbbn)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="77" x="629" y="273.9219"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="57" x="639" y="295.0605">lock core</text><rect fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="231" x="552" y="327.8906"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="211" x="562" y="349.0293">increment the node's stage value</text><rect fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="251" x="542" y="381.8594"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="231" x="552" y="402.998">access first node core's list of nodes</text><rect fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="156" x="589.5" y="493.1479"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="599.5" y="514.2866">proceed to next node</text><polygon fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" points="528.5,435.8281,806.5,435.8281,818.5,448.6328,806.5,461.4375,528.5,461.4375,516.5,448.6328,528.5,435.8281" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="671.5" y="471.6479">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="111" x="528.5" y="446.0386">Current node is not</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="28" x="643.5" y="446.0386">NULL</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="278" x="528.5" y="458.8433">and stage of current node is equal to argument?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="502.5" y="446.0386">no</text><polygon fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" points="128,569.1167,318,569.1167,330,581.1167,318,593.1167,128,593.1167,116,581.1167,128,569.1167" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="227" y="603.3271">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="128" y="584.9248">All nodes are at the same stage?</text><rect fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="237" x="104.5" y="625.9214"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="217" x="114.5" y="647.0601">broadcast control event (proceed)</text><rect fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="93" x="176.5" y="683.2925"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="73" x="186.5" y="704.4312">unlock core</text><path d="M10,739.0972 L10,764.23 A0,0 0 0 0 10,764.23 L192,764.23 A0,0 0 0 0 192,764.23 L192,757.0972 L212,751.6636 L192,749.0972 L192,749.0972 L182,739.0972 L10,739.0972 A0,0 0 0 0 10,739.0972 " fill="#FBFB77" filter="url(#f1x4zz6pvjwbbn)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M182,739.0972 L182,749.0972 L192,749.0972 L182,739.0972 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="16" y="756.1641">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="69" y="756.1641">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="173" y="756.1641">.</text><ellipse cx="223" cy="751.6636" fill="#FFFFFF" filter="url(#f1x4zz6pvjwbbn)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="223" cy="751.6636" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" points="464,569.1167,861,569.1167,873,581.1167,861,593.1167,464,593.1167,452,581.1167,464,569.1167" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="666.5" y="603.3271">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="397" x="464" y="584.9248">The stage of the last checked node was one less than the argument?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="873" y="578.5225">no</text><rect fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="93" x="616" y="625.9214"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="73" x="626" y="647.0601">unlock core</text><path d="M357.5,683.2925 L357.5,708.4253 A0,0 0 0 0 357.5,708.4253 L631.5,708.4253 A0,0 0 0 0 631.5,708.4253 L631.5,701.2925 L651.5,695.8589 L631.5,693.2925 L631.5,693.2925 L621.5,683.2925 L357.5,683.2925 A0,0 0 0 0 357.5,683.2925 " fill="#FBFB77" filter="url(#f1x4zz6pvjwbbn)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M621.5,683.2925 L621.5,693.2925 L631.5,693.2925 L621.5,683.2925 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="61" x="363.5" y="700.3594">Returns a</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="184" x="428.5" y="700.3594">URT_STATUS_SYNC_PENDING</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="612.5" y="700.3594">.</text><ellipse cx="662.5" cy="695.8589" fill="#FFFFFF" filter="url(#f1x4zz6pvjwbbn)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="662.5" cy="695.8589" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="318" x="1011" y="622.519"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="21" x="1021" y="643.6577">call</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="273" x="1046" y="643.6577">urtCoreStopNodes(URT_STATUS_SYNC_ERROR)</text><rect fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="93" x="1123.5" y="679.8901"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="73" x="1133.5" y="701.0288">unlock core</text><path d="M893,735.6948 L893,760.8276 A0,0 0 0 0 893,760.8276 L1139,760.8276 A0,0 0 0 0 1139,760.8276 L1139,753.6948 L1159,748.2612 L1139,745.6948 L1139,745.6948 L1129,735.6948 L893,735.6948 A0,0 0 0 0 893,735.6948 " fill="#FBFB77" filter="url(#f1x4zz6pvjwbbn)" style="stroke: #A80036; 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+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="776px" preserveAspectRatio="none" style="width:1340px;height:776px;" version="1.1" viewBox="0 0 1340 776" width="1340px" zoomAndPan="magnify"><defs><filter height="300%" id="f1x4zz6pvjwbbn" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="624.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="246" x="546" y="47.6611">urtCoreSynchronizeNodes()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="672" y="68.6143"/><path d="M351.5,72.8594 L351.5,213.9219 L983.5,213.9219 L983.5,82.8594 L973.5,72.8594 L351.5,72.8594 " fill="#FBFB77" filter="url(#f1x4zz6pvjwbbn)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M973.5,72.8594 L973.5,82.8594 L983.5,82.8594 L973.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="351.5" x2="601" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="605" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="37" x="605" y="89.4263">node</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="84" x="646" y="89.4263">: urt_node_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="734" x2="983.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="211" x="357.5" y="105.0591">Pointer to a node to synchronize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="357.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="437.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="469.5" y="120.1919">.</text><line style="stroke: #A80036; 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stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="227" y="603.3271">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="128" y="584.9248">All nodes are at the same stage?</text><rect fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="237" x="104.5" y="625.9214"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="217" x="114.5" y="647.0601">broadcast control event (proceed)</text><rect fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="93" x="176.5" y="683.2925"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="73" x="186.5" y="704.4312">unlock core</text><path d="M10,739.0972 L10,764.23 A0,0 0 0 0 10,764.23 L192,764.23 A0,0 0 0 0 192,764.23 L192,757.0972 L212,751.6636 L192,749.0972 L192,749.0972 L182,739.0972 L10,739.0972 A0,0 0 0 0 10,739.0972 " fill="#FBFB77" filter="url(#f1x4zz6pvjwbbn)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M182,739.0972 L182,749.0972 L192,749.0972 L182,739.0972 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="16" y="756.1641">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="69" y="756.1641">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="173" y="756.1641">.</text><ellipse cx="223" cy="751.6636" fill="#FFFFFF" filter="url(#f1x4zz6pvjwbbn)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="223" cy="751.6636" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" points="464,569.1167,861,569.1167,873,581.1167,861,593.1167,464,593.1167,452,581.1167,464,569.1167" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="666.5" y="603.3271">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="397" x="464" y="584.9248">The stage of the last checked node was one less than the argument?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="873" y="578.5225">no</text><rect fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="93" x="616" y="625.9214"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="73" x="626" y="647.0601">unlock core</text><path d="M357.5,683.2925 L357.5,708.4253 A0,0 0 0 0 357.5,708.4253 L631.5,708.4253 A0,0 0 0 0 631.5,708.4253 L631.5,701.2925 L651.5,695.8589 L631.5,693.2925 L631.5,693.2925 L621.5,683.2925 L357.5,683.2925 A0,0 0 0 0 357.5,683.2925 " fill="#FBFB77" filter="url(#f1x4zz6pvjwbbn)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M621.5,683.2925 L621.5,693.2925 L631.5,693.2925 L621.5,683.2925 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="61" x="363.5" y="700.3594">Returns a</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="184" x="428.5" y="700.3594">URT_STATUS_SYNC_PENDING</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="612.5" y="700.3594">.</text><ellipse cx="662.5" cy="695.8589" fill="#FFFFFF" filter="url(#f1x4zz6pvjwbbn)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="662.5" cy="695.8589" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="318" x="1011" y="622.519"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="21" x="1021" y="643.6577">call</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="273" x="1046" y="643.6577">urtCoreStopNodes(URT_STATUS_SYNC_ERROR)</text><rect fill="#FEFECE" filter="url(#f1x4zz6pvjwbbn)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="93" x="1123.5" y="679.8901"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="73" x="1133.5" y="701.0288">unlock core</text><path d="M893,735.6948 L893,760.8276 A0,0 0 0 0 893,760.8276 L1139,760.8276 A0,0 0 0 0 1139,760.8276 L1139,753.6948 L1159,748.2612 L1139,745.6948 L1139,745.6948 L1129,735.6948 L893,735.6948 A0,0 0 0 0 893,735.6948 " fill="#FBFB77" filter="url(#f1x4zz6pvjwbbn)" style="stroke: #A80036; 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 @startuml
 
 title **µRtWare**\nurtCoreSynchronizeNodes()\n
@@ -53,7 +53,7 @@ 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
diff --git a/doc/activitydiagrams/message/urtMessageInit.svg b/doc/activitydiagrams/message/urtMessageInit.svg
index 877b796..643ece3 100644
--- a/doc/activitydiagrams/message/urtMessageInit.svg
+++ b/doc/activitydiagrams/message/urtMessageInit.svg
@@ -1,4 +1,4 @@
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stroke-width: 1.0;"/><path d="M514.5,72.8594 L514.5,82.8594 L524.5,82.8594 L514.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="222.5" x2="278.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="282.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="67" x="282.5" y="89.4263">message</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="111" x="353.5" y="89.4263">: urt_message_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="468.5" x2="524.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="162" x="228.5" y="105.0591">The message to initialize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="228.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="308.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="340.5" y="120.1919">.</text><line style="stroke: #A80036; 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stroke-width: 1.0;"/><path d="M278,233.6563 L278,243.6563 L288,243.6563 L278,233.6563 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><ellipse cx="21.5" cy="246.2891" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="32" x="27" y="250.7231">next</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="63" y="250.7231">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="78" y="250.7231">NULL</text><ellipse cx="21.5" cy="261.4219" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="59" x="27" y="265.856">payload</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="65" x="90" y="265.856">← payload</text><ellipse cx="21.5" cy="276.5547" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; 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+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="387px" preserveAspectRatio="none" style="width:536px;height:387px;" version="1.1" viewBox="0 0 536 387" width="536px" zoomAndPan="magnify"><defs><filter height="300%" id="f10ynr553pczer" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="222.75" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="144" x="195.25" y="47.6611">urtMessageInit()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="270.25" y="68.6143"/><path d="M222.5,72.8594 L222.5,183.6563 L524.5,183.6563 L524.5,82.8594 L514.5,72.8594 L222.5,72.8594 " fill="#FBFB77" filter="url(#f10ynr553pczer)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M514.5,72.8594 L514.5,82.8594 L524.5,82.8594 L514.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="222.5" x2="278.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="282.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="67" x="282.5" y="89.4263">message</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="111" x="353.5" y="89.4263">: urt_message_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="468.5" x2="524.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="162" x="228.5" y="105.0591">The message to initialize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="228.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="308.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="340.5" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="222.5" x2="317.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="321.5" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="59" x="321.5" y="134.8247">payload</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="384.5" y="134.8247">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="429.5" x2="524.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="228.5" y="150.4575">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="278.5" y="150.4575">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="195" x="314.5" y="150.4575">for messages without payload.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="222.5" x2="524.5" y1="158.5234" y2="158.5234"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="222.5" x2="524.5" y1="160.5234" y2="160.5234"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="222.5" x2="328" y1="171.0898" y2="171.0898"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="332" y="175.0903"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="332" y="175.0903">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="34" x="381" y="175.0903">: void</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="419" x2="524.5" y1="171.0898" y2="171.0898"/><ellipse cx="373.5" cy="213.6563" fill="#000000" filter="url(#f10ynr553pczer)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M10,233.6563 L10,334.4531 A0,0 0 0 0 10,334.4531 L288,334.4531 A0,0 0 0 0 288,334.4531 L288,288.0547 L308,284.0547 L288,280.0547 L288,243.6563 L278,233.6563 L10,233.6563 A0,0 0 0 0 10,233.6563 " fill="#FBFB77" filter="url(#f10ynr553pczer)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M278,233.6563 L278,243.6563 L288,243.6563 L278,233.6563 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><ellipse cx="21.5" cy="246.2891" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="32" x="27" y="250.7231">next</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="63" y="250.7231">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="78" y="250.7231">NULL</text><ellipse cx="21.5" cy="261.4219" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="59" x="27" y="265.856">payload</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="65" x="90" y="265.856">← payload</text><ellipse cx="21.5" cy="276.5547" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="77" x="27" y="280.9888">originTime</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="108" y="280.9888">← 0</text><ellipse cx="21.5" cy="291.6875" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="176" x="27" y="296.1216">numHrtConsumbersLeft</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="207" y="296.1216">← 0</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="20.5" y1="306.7539" y2="306.7539"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="249" x="24.5" y="310.7544">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="277.5" x2="288" y1="306.7539" y2="306.7539"/><ellipse cx="21.5" cy="321.9531" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="143" x="27" y="326.3872">numConsumersLeft</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="174" y="326.3872">← 0</text><rect fill="#FEFECE" filter="url(#f10ynr553pczer)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="131" x="308" y="267.0703"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="111" x="318" y="288.209">initialize members</text><ellipse cx="373.5" cy="365.4531" fill="#FFFFFF" filter="url(#f10ynr553pczer)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="373.5" cy="365.4531" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="373.5" x2="373.5" y1="183.6563" y2="203.6563"/><polygon fill="#A80036" points="369.5,193.6563,373.5,203.6563,377.5,193.6563,373.5,197.6563" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="373.5" x2="373.5" y1="223.6563" y2="267.0703"/><polygon fill="#A80036" points="369.5,257.0703,373.5,267.0703,377.5,257.0703,373.5,261.0703" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="373.5" x2="373.5" y1="301.0391" y2="354.4531"/><polygon fill="#A80036" points="369.5,344.4531,373.5,354.4531,377.5,344.4531,373.5,348.4531" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0652931db922067260e0feb38f2b0bd9]
 @startuml
 
 title **µRtWare**\nurtMessageInit()\n
@@ -34,7 +34,7 @@ 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
diff --git a/doc/activitydiagrams/node/_main.svg b/doc/activitydiagrams/node/_main.svg
index 8b13a4a..9d631e5 100644
--- a/doc/activitydiagrams/node/_main.svg
+++ b/doc/activitydiagrams/node/_main.svg
@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="1693px" preserveAspectRatio="none" style="width:828px;height:1693px;" version="1.1" viewBox="0 0 828 1693" width="828px" zoomAndPan="magnify"><defs><filter height="300%" id="f1p8hd1hubp91s" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="368.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="66" x="380" y="47.6611">_main()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="416" y="68.6143"/><path d="M220.75,72.8594 L220.75,153.3906 L762.75,153.3906 L762.75,82.8594 L752.75,72.8594 L220.75,72.8594 " fill="#FBFB77" filter="url(#f1p8hd1hubp91s)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M752.75,72.8594 L752.75,82.8594 L762.75,82.8594 L752.75,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="220.75" x2="452.75" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="456.75" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="25" x="456.75" y="89.4263">arg</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="485.75" y="89.4263">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="530.75" x2="762.75" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="332" x="226.75" y="105.0591">Optional Argument to the thread main function (see</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="176" x="562.75" y="105.0591">urt_osThreadFunction_t</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="9" x="738.75" y="105.0591">).</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="134" x="226.75" y="120.1919">This function expects</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="364.75" y="120.1919">arg</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="81" x="392.75" y="120.1919">to be of type</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="88" x="477.75" y="120.1919">urt_node_t*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="565.75" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="220.75" x2="762.75" y1="128.2578" y2="128.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="220.75" x2="762.75" y1="130.2578" y2="130.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="220.75" x2="446.25" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="450.25" y="144.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="450.25" y="144.8247">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="34" x="499.25" y="144.8247">: void</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="537.25" x2="762.75" y1="140.8242" y2="140.8242"/><ellipse cx="491.75" cy="183.3906" fill="#000000" filter="url(#f1p8hd1hubp91s)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FFFFFF" filter="url(#f1p8hd1hubp91s)" height="600.9141" style="stroke: #000000; stroke-width: 2.0;" width="807" x="10" y="204.1924"/><path d="M60,205.1924 L60,213.4893 L50,223.4893 L10,223.4893 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="40" x="13" y="218.1875">setup</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="157" x="413.25" y="240.4893"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="137" x="423.25" y="261.6279">register to core event</text><polygon fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" points="403.75,294.458,579.75,294.458,591.75,306.458,579.75,318.458,403.75,318.458,391.75,306.458,403.75,294.458" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="39" x="403.75" y="310.2661">Node's</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="446.75" y="310.2661">setupcallback</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="38" x="541.75" y="310.2661">is set?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="371.75" y="303.8638">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="591.75" y="303.8638">no</text><path d="M30,332.876 L30,358.0088 A0,0 0 0 0 30,358.0088 L201,358.0088 A0,0 0 0 0 201,358.0088 L201,350.876 L221,345.4424 L201,342.876 L201,342.876 L191,332.876 L30,332.876 A0,0 0 0 0 30,332.876 " fill="#FBFB77" filter="url(#f1p8hd1hubp91s)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M191,332.876 L191,342.876 L201,342.876 L191,332.876 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="150" x="36" y="349.9429">Callback must not loop.</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="179" x="221" y="328.458"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="50" x="231" y="349.5967">execute</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="105" x="285" y="349.5967">setupcallback()</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="367" x="127" y="430.8291"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="21" x="137" y="451.9678">call</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="322" x="162" y="451.9678">urtCoreStopNodes(URT_STATUS_NODE_INVALEVTMASK)</text><polygon fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" points="124,382.4268,497,382.4268,509,394.4268,497,406.4268,124,406.4268,112,394.4268,124,382.4268" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="314.5" y="416.6372">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="124" y="398.2349">Event mask returned by</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="105" x="264" y="398.2349">setupcallback()</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="373" y="398.2349">redefines core event?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="509" y="391.8325">no</text><polygon fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" points="310.5,484.7979,322.5,496.7979,310.5,508.7979,298.5,496.7979,310.5,484.7979" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="264" x="541" y="328.458"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="50" x="551" y="349.5967">act as if</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="91" x="605" y="349.5967">setupcallback</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="95" x="700" y="349.5967">returned 0xF..F</text><polygon fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" points="491.75,514.7979,503.75,526.7979,491.75,538.7979,479.75,526.7979,491.75,514.7979" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="258" x="362.75" y="607.2002"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="238" x="372.75" y="628.3389">suspend all child threads (recursively)</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="341" x="321.25" y="661.1689"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="331.25" y="682.3076">synchronize by calling</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="182" x="470.25" y="682.3076">urtCoreSynchronizeNodes(1)</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="251" x="366.25" y="715.1377"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="231" x="376.25" y="736.2764">resume all child threads (recursively)</text><polygon fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" points="400.75,558.7979,582.75,558.7979,594.75,570.7979,582.75,582.7979,400.75,582.7979,388.75,570.7979,400.75,558.7979" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="495.75" y="593.0083">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="81" x="400.75" y="574.606">Core status is</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="485.75" y="574.606">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="6" x="576.75" y="574.606">?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="594.75" y="568.2036">no</text><polygon fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" points="491.75,769.1064,503.75,781.1064,491.75,793.1064,479.75,781.1064,491.75,769.1064" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#FFFFFF" filter="url(#f1p8hd1hubp91s)" height="531.2222" style="stroke: #000000; stroke-width: 2.0;" width="606" x="170.75" y="815.9082"/><path d="M210.75,816.9082 L210.75,825.2051 L200.75,835.2051 L170.75,835.2051 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="30" x="173.75" y="829.9033">loop</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="240" x="371.75" y="907.9155"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="220" x="381.75" y="929.0542">Wait for a specified or a core event</text><path d="M214.75,1014.7046 L214.75,1039.8374 A0,0 0 0 0 214.75,1039.8374 L385.75,1039.8374 A0,0 0 0 0 385.75,1039.8374 L385.75,1032.7046 L405.75,1027.271 L385.75,1024.7046 L385.75,1024.7046 L375.75,1014.7046 L214.75,1014.7046 A0,0 0 0 0 214.75,1014.7046 " fill="#FBFB77" filter="url(#f1p8hd1hubp91s)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M375.75,1014.7046 L375.75,1024.7046 L385.75,1024.7046 L375.75,1014.7046 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="150" x="220.75" y="1031.7715">Callback must not loop.</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="172" x="405.75" y="1010.2866"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="50" x="415.75" y="1031.4253">execute</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="98" x="469.75" y="1031.4253">loopcallback()</text><rect fill="#EEEEEE" filter="url(#f1p8hd1hubp91s)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="464" x="259.75" y="1064.2554"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="259.75" x2="269.75" y1="1081.2397" y2="1081.2397"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="444" x="269.75" y="1084.894">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="713.75" x2="723.75" y1="1081.2397" y2="1081.2397"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="147" x="269.75" y="1099.3628">increment loop counter</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="367" x="308.25" y="1191.1616"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="21" x="318.25" y="1212.3003">call</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="322" x="343.25" y="1212.3003">urtCoreStopNodes(URT_STATUS_NODE_INVALEVTMASK)</text><polygon fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" points="308.75,1142.7593,674.75,1142.7593,686.75,1154.7593,674.75,1166.7593,308.75,1166.7593,296.75,1154.7593,308.75,1142.7593" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="495.75" y="1176.9697">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="308.75" y="1158.5674">Event mask returned by</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="448.75" y="1158.5674">loopcallback()</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="550.75" y="1158.5674">redefines core event?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="686.75" y="1152.165">no</text><polygon fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" points="491.75,1245.1304,503.75,1257.1304,491.75,1269.1304,479.75,1257.1304,491.75,1245.1304" style="stroke: #A80036; stroke-width: 1.5;"/><polygon fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" points="431.75,961.8843,551.75,961.8843,563.75,973.8843,551.75,985.8843,431.75,985.8843,419.75,973.8843,431.75,961.8843" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="495.75" y="996.0947">no</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="120" x="431.75" y="977.6924">Core event received?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="563.75" y="971.29">yes</text><polygon fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" points="491.75,1289.1304,503.75,1301.1304,491.75,1313.1304,479.75,1301.1304,491.75,1289.1304" style="stroke: #A80036; stroke-width: 1.5;"/><polygon fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" points="379.75,852.2051,603.75,852.2051,615.75,864.2051,603.75,876.2051,379.75,876.2051,367.75,864.2051,379.75,852.2051" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="495.75" y="886.4155">no</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="379.75" y="868.0132">Termination of node thread requested?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="347.75" y="861.6108">yes</text><rect fill="#FFFFFF" filter="url(#f1p8hd1hubp91s)" height="282.6055" style="stroke: #000000; stroke-width: 2.0;" width="653" x="70.25" y="1357.9321"/><path d="M117.25,1358.9321 L117.25,1367.229 L107.25,1377.229 L70.25,1377.229 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="37" x="73.25" y="1371.9272">outro</text><path d="M90.25,1447.0493 L90.25,1472.1821 A0,0 0 0 0 90.25,1472.1821 L272.25,1472.1821 A0,0 0 0 0 272.25,1472.1821 L272.25,1465.0493 L292.25,1459.6157 L272.25,1457.0493 L272.25,1457.0493 L262.25,1447.0493 L90.25,1447.0493 A0,0 0 0 0 90.25,1447.0493 " fill="#FBFB77" filter="url(#f1p8hd1hubp91s)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M262.25,1447.0493 L262.25,1457.0493 L272.25,1457.0493 L262.25,1447.0493 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="161" x="96.25" y="1464.1162">Callback must terminate.</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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stroke-width: 1.5;"/><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="188" x="397.75" y="1540.6001"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="168" x="407.75" y="1561.7388">unregister from core event</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="305" x="339.25" y="1594.5688"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="285" x="349.25" y="1615.7075">terminate node thread (and all child threads)</text><ellipse cx="491.75" cy="1671.5376" fill="#FFFFFF" filter="url(#f1p8hd1hubp91s)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="491.75" cy="1671.5376" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="491.75" x2="491.75" y1="153.3906" y2="173.3906"/><polygon fill="#A80036" points="487.75,163.3906,491.75,173.3906,495.75,163.3906,491.75,167.3906" style="stroke: #A80036; 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stroke-width: 1.5;" width="264" x="541" y="328.458"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="50" x="551" y="349.5967">act as if</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="91" x="605" y="349.5967">setupcallback</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="95" x="700" y="349.5967">returned 0xF..F</text><polygon fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" points="491.75,514.7979,503.75,526.7979,491.75,538.7979,479.75,526.7979,491.75,514.7979" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="258" x="362.75" y="607.2002"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="238" x="372.75" y="628.3389">suspend all child threads (recursively)</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="341" x="321.25" y="661.1689"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="331.25" y="682.3076">synchronize by calling</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="182" x="470.25" y="682.3076">urtCoreSynchronizeNodes(1)</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="251" x="366.25" y="715.1377"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="231" x="376.25" y="736.2764">resume all child threads (recursively)</text><polygon fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" points="400.75,558.7979,582.75,558.7979,594.75,570.7979,582.75,582.7979,400.75,582.7979,388.75,570.7979,400.75,558.7979" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="495.75" y="593.0083">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="81" x="400.75" y="574.606">Core status is</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="485.75" y="574.606">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="6" x="576.75" y="574.606">?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="594.75" y="568.2036">no</text><polygon fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" points="491.75,769.1064,503.75,781.1064,491.75,793.1064,479.75,781.1064,491.75,769.1064" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#FFFFFF" filter="url(#f1p8hd1hubp91s)" height="531.2222" style="stroke: #000000; stroke-width: 2.0;" width="606" x="170.75" y="815.9082"/><path d="M210.75,816.9082 L210.75,825.2051 L200.75,835.2051 L170.75,835.2051 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="30" x="173.75" y="829.9033">loop</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="240" x="371.75" y="907.9155"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="220" x="381.75" y="929.0542">Wait for a specified or a core event</text><path d="M214.75,1014.7046 L214.75,1039.8374 A0,0 0 0 0 214.75,1039.8374 L385.75,1039.8374 A0,0 0 0 0 385.75,1039.8374 L385.75,1032.7046 L405.75,1027.271 L385.75,1024.7046 L385.75,1024.7046 L375.75,1014.7046 L214.75,1014.7046 A0,0 0 0 0 214.75,1014.7046 " fill="#FBFB77" filter="url(#f1p8hd1hubp91s)" style="stroke: #A80036; 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stroke-width: 2.0;" width="653" x="70.25" y="1357.9321"/><path d="M117.25,1358.9321 L117.25,1367.229 L107.25,1377.229 L70.25,1377.229 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="37" x="73.25" y="1371.9272">outro</text><path d="M90.25,1447.0493 L90.25,1472.1821 A0,0 0 0 0 90.25,1472.1821 L272.25,1472.1821 A0,0 0 0 0 272.25,1472.1821 L272.25,1465.0493 L292.25,1459.6157 L272.25,1457.0493 L272.25,1457.0493 L262.25,1447.0493 L90.25,1447.0493 A0,0 0 0 0 90.25,1447.0493 " fill="#FBFB77" filter="url(#f1p8hd1hubp91s)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M262.25,1447.0493 L262.25,1457.0493 L272.25,1457.0493 L262.25,1447.0493 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="161" x="96.25" y="1464.1162">Callback must terminate.</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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stroke-width: 1.5;"/><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="188" x="397.75" y="1540.6001"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="168" x="407.75" y="1561.7388">unregister from core event</text><rect fill="#FEFECE" filter="url(#f1p8hd1hubp91s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="305" x="339.25" y="1594.5688"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="285" x="349.25" y="1615.7075">terminate node thread (and all child threads)</text><ellipse cx="491.75" cy="1671.5376" fill="#FFFFFF" filter="url(#f1p8hd1hubp91s)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="491.75" cy="1671.5376" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="491.75" x2="491.75" y1="153.3906" y2="173.3906"/><polygon fill="#A80036" points="487.75,163.3906,491.75,173.3906,495.75,163.3906,491.75,167.3906" style="stroke: #A80036; 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stroke-width: 1.0;"/><!--MD5=[57f7dd3258e9e32082ded56183dd3797]
 @startuml
 
 title **µRtWare**\n_main()\n
@@ -72,7 +72,7 @@ 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
diff --git a/doc/activitydiagrams/node/urtNodeInit.svg b/doc/activitydiagrams/node/urtNodeInit.svg
index 12959e2..a9c5f2f 100644
--- a/doc/activitydiagrams/node/urtNodeInit.svg
+++ b/doc/activitydiagrams/node/urtNodeInit.svg
@@ -1,4 +1,4 @@
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stroke-width: 1.0;"/><path d="M842,72.8594 L842,82.8594 L852,82.8594 L842,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="531" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="535" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="37" x="535" y="89.4263">node</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="84" x="576" y="89.4263">: urt_node_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="664" x2="852" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="135" x="349" y="105.0591">The node to initialize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="349" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="429" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="461" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="511.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="515.5" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="49" x="515.5" y="134.8247">thread</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="111" x="568.5" y="134.8247">: urt_osThread_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="683.5" x2="852" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="335" x="349" y="150.4575">The already initialized, exclusive thread for the node.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="349" y="165.5903">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="429" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="461" y="165.5903">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="452.5" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="456.5" y="180.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="103" x="456.5" y="180.2231">setupcallback</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="175" x="563.5" y="180.2231">: urt_nodeSetupCallback_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="742.5" x2="852" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="296" x="349" y="195.856">Callback function to be executed during setup.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="349" y="210.9888">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="399" y="210.9888">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="194" x="435" y="210.9888">if no custom setup is required.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="522" y1="221.6211" y2="221.6211"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="530" y="225.6216"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="98" x="530" y="225.6216">setupparams</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="632" y="225.6216">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="673" x2="852" y1="221.6211" y2="221.6211"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="275" x="349" y="241.2544">Parameters for the setup callback function.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="51" x="349" y="256.3872">Must be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="404" y="256.3872">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="200" x="440" y="256.3872">if no setup callback is specified.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="349" y="271.52">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="399" y="271.52">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="377" x="435" y="271.52">if the specified setup callback does not expect parameters.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="461" y1="282.1523" y2="282.1523"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="465" y="286.1528"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="93" x="465" y="286.1528">loopcallback</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="168" x="562" y="286.1528">: urt_nodeLoopCallback_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="734" x2="852" y1="282.1523" y2="282.1523"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="270" x="349" y="301.7856">Callback function to be executed in a loop.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="349" y="316.9185">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="429" y="316.9185">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="461" y="316.9185">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="527" y1="327.5508" y2="327.5508"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="531" y="331.5513"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="88" x="531" y="331.5513">loopparams</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="623" y="331.5513">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="668" x2="852" y1="327.5508" y2="327.5508"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="266" x="349" y="347.1841">Parameters for the loop callback function.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="349" y="362.3169">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="399" y="362.3169">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="368" x="435" y="362.3169">if the specified loop callback does not expect parameters.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="425" y1="372.9492" y2="372.9492"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="429" y="376.9497"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="133" x="429" y="376.9497">shutdowncallback</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="200" x="566" y="376.9497">: urt_nodeShutdownCallback_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="770" x2="852" y1="372.9492" y2="372.9492"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="321" x="349" y="392.5825">Callback function to be executed during shutdown.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="349" y="407.7153">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="399" y="407.7153">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="219" x="435" y="407.7153">if no custom shutdown is required.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="507" y1="418.3477" y2="418.3477"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="511" y="422.3481"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="128" x="511" y="422.3481">shutdownparams</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="643" y="422.3481">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="688" x2="852" y1="418.3477" y2="418.3477"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="266" x="349" y="437.981">Parameters for the loop callback function.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="51" x="349" y="453.1138">Must be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="404" y="453.1138">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="225" x="440" y="453.1138">if no shutdown callback is specified.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="349" y="468.2466">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="399" y="468.2466">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="402" x="435" y="468.2466">if the specified shutdown callback does not expect parameters.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="852" y1="476.3125" y2="476.3125"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="852" y1="478.3125" y2="478.3125"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="552" y1="488.8789" y2="488.8789"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="556" y="492.8794"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="556" y="492.8794">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="34" x="605" y="492.8794">: void</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="643" x2="852" y1="488.8789" y2="488.8789"/><ellipse cx="597.5" cy="531.4453" fill="#000000" filter="url(#fe99m1kw6ut90)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M10,551.4453 L10,743.0391 A0,0 0 0 0 10,743.0391 L512,743.0391 A0,0 0 0 0 512,743.0391 L512,651.2422 L532,647.2422 L512,643.2422 L512,561.4453 L502,551.4453 L10,551.4453 A0,0 0 0 0 10,551.4453 " fill="#FBFB77" filter="url(#fe99m1kw6ut90)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M502,551.4453 L502,561.4453 L512,561.4453 L502,551.4453 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><ellipse cx="21.5" cy="564.0781" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="32" x="27" y="568.5122">next</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="63" y="568.5122">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="78" y="568.5122">NULL</text><ellipse cx="21.5" cy="579.2109" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="49" x="27" y="583.645">thread</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="57" x="80" y="583.645">← thread</text><ellipse cx="21.5" cy="594.3438" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="103" x="27" y="598.7778">setupcallback</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="102" x="134" y="598.7778">← setupcallback</text><ellipse cx="21.5" cy="609.4766" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="98" x="27" y="613.9106">setupparams</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="100" x="129" y="613.9106">← setupparams</text><ellipse cx="21.5" cy="624.6094" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="93" x="27" y="629.0435">loopcallback</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="93" x="124" y="629.0435">← loopcallback</text><ellipse cx="21.5" cy="639.7422" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="88" x="27" y="644.1763">loopparams</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="91" x="119" y="644.1763">← loopparams</text><ellipse cx="21.5" cy="654.875" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="133" x="27" y="659.3091">shutdowncallback</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="93" x="164" y="659.3091">← loopcallback</text><ellipse cx="21.5" cy="670.0078" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="128" x="27" y="674.4419">shutdownparams</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="91" x="159" y="674.4419">← loopparams</text><ellipse cx="21.5" cy="685.1406" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="42" x="27" y="689.5747">stage</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="73" y="689.5747">← 0</text><ellipse cx="21.5" cy="700.2734" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="129" x="27" y="704.7075">urtEventListenerInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="55" x="156" y="704.7075">listener</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="211" y="704.7075">)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="20.5" y1="715.3398" y2="715.3398"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="473" x="24.5" y="719.3403">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="501.5" x2="512" y1="715.3398" y2="715.3398"/><ellipse cx="21.5" cy="730.5391" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="40" x="27" y="734.9731">loops</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="71" y="734.9731">← 0</text><rect fill="#FEFECE" filter="url(#fe99m1kw6ut90)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="131" x="532" y="630.2578"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="111" x="542" y="651.3965">initialize members</text><rect fill="#FEFECE" filter="url(#fe99m1kw6ut90)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="77" x="559" y="763.0391"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="57" x="569" y="784.1777">lock core</text><rect fill="#FFFFFF" filter="url(#fe99m1kw6ut90)" height="134.2656" style="stroke: #000000; stroke-width: 2.0;" width="784" x="204.5" y="807.8096"/><path d="M453.5,808.8096 L453.5,817.1064 L443.5,827.1064 L204.5,827.1064 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="239" x="207.5" y="821.8047">prepend self to core's list of nodes</text><rect fill="#000000" filter="url(#fe99m1kw6ut90)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="764" x="214.5" y="844.1064"/><rect fill="#FEFECE" filter="url(#fe99m1kw6ut90)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="463" x="228.5" y="870.1064"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="238.5" y="891.2451">set this node's</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="28" x="335.5" y="891.2451">next</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="314" x="367.5" y="891.2451">pointer to the first node in the core's list of nodes</text><rect fill="#FEFECE" filter="url(#fe99m1kw6ut90)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="1049px" preserveAspectRatio="none" style="width:999px;height:1049px;" version="1.1" viewBox="0 0 999 1049" width="999px" zoomAndPan="magnify"><defs><filter height="300%" id="fe99m1kw6ut90" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="454.25" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="116" x="440.75" y="47.6611">urtNodeInit()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="501.75" y="68.6143"/><path d="M343,72.8594 L343,501.4453 L852,501.4453 L852,82.8594 L842,72.8594 L343,72.8594 " fill="#FBFB77" filter="url(#fe99m1kw6ut90)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M842,72.8594 L842,82.8594 L852,82.8594 L842,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="531" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="535" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="37" x="535" y="89.4263">node</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="84" x="576" y="89.4263">: urt_node_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="664" x2="852" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="135" x="349" y="105.0591">The node to initialize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="349" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="429" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="461" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="511.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="515.5" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="49" x="515.5" y="134.8247">thread</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="111" x="568.5" y="134.8247">: urt_osThread_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="683.5" x2="852" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="335" x="349" y="150.4575">The already initialized, exclusive thread for the node.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="349" y="165.5903">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="429" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="461" y="165.5903">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="452.5" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="456.5" y="180.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="103" x="456.5" y="180.2231">setupcallback</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="175" x="563.5" y="180.2231">: urt_nodeSetupCallback_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="742.5" x2="852" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="296" x="349" y="195.856">Callback function to be executed during setup.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="349" y="210.9888">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="399" y="210.9888">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="194" x="435" y="210.9888">if no custom setup is required.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="522" y1="221.6211" y2="221.6211"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="530" y="225.6216"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="98" x="530" y="225.6216">setupparams</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="632" y="225.6216">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="673" x2="852" y1="221.6211" y2="221.6211"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="275" x="349" y="241.2544">Parameters for the setup callback function.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="51" x="349" y="256.3872">Must be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="404" y="256.3872">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="200" x="440" y="256.3872">if no setup callback is specified.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="349" y="271.52">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="399" y="271.52">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="377" x="435" y="271.52">if the specified setup callback does not expect parameters.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="461" y1="282.1523" y2="282.1523"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="465" y="286.1528"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="93" x="465" y="286.1528">loopcallback</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="168" x="562" y="286.1528">: urt_nodeLoopCallback_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="734" x2="852" y1="282.1523" y2="282.1523"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="270" x="349" y="301.7856">Callback function to be executed in a loop.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="349" y="316.9185">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="429" y="316.9185">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="461" y="316.9185">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="527" y1="327.5508" y2="327.5508"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="531" y="331.5513"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="88" x="531" y="331.5513">loopparams</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="623" y="331.5513">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="668" x2="852" y1="327.5508" y2="327.5508"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="266" x="349" y="347.1841">Parameters for the loop callback function.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="349" y="362.3169">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="399" y="362.3169">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="368" x="435" y="362.3169">if the specified loop callback does not expect parameters.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="425" y1="372.9492" y2="372.9492"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="429" y="376.9497"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="133" x="429" y="376.9497">shutdowncallback</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="200" x="566" y="376.9497">: urt_nodeShutdownCallback_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="770" x2="852" y1="372.9492" y2="372.9492"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="321" x="349" y="392.5825">Callback function to be executed during shutdown.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="349" y="407.7153">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="399" y="407.7153">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="219" x="435" y="407.7153">if no custom shutdown is required.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="507" y1="418.3477" y2="418.3477"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="511" y="422.3481"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="128" x="511" y="422.3481">shutdownparams</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="643" y="422.3481">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="688" x2="852" y1="418.3477" y2="418.3477"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="266" x="349" y="437.981">Parameters for the loop callback function.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="51" x="349" y="453.1138">Must be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="404" y="453.1138">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="225" x="440" y="453.1138">if no shutdown callback is specified.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="349" y="468.2466">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="399" y="468.2466">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="402" x="435" y="468.2466">if the specified shutdown callback does not expect parameters.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="852" y1="476.3125" y2="476.3125"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="852" y1="478.3125" y2="478.3125"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="343" x2="552" y1="488.8789" y2="488.8789"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="556" y="492.8794"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="556" y="492.8794">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="34" x="605" y="492.8794">: void</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="643" x2="852" y1="488.8789" y2="488.8789"/><ellipse cx="597.5" cy="531.4453" fill="#000000" filter="url(#fe99m1kw6ut90)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M10,551.4453 L10,743.0391 A0,0 0 0 0 10,743.0391 L512,743.0391 A0,0 0 0 0 512,743.0391 L512,651.2422 L532,647.2422 L512,643.2422 L512,561.4453 L502,551.4453 L10,551.4453 A0,0 0 0 0 10,551.4453 " fill="#FBFB77" filter="url(#fe99m1kw6ut90)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M502,551.4453 L502,561.4453 L512,561.4453 L502,551.4453 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><ellipse cx="21.5" cy="564.0781" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="32" x="27" y="568.5122">next</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="63" y="568.5122">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="78" y="568.5122">NULL</text><ellipse cx="21.5" cy="579.2109" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="49" x="27" y="583.645">thread</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="57" x="80" y="583.645">← thread</text><ellipse cx="21.5" cy="594.3438" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="103" x="27" y="598.7778">setupcallback</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="102" x="134" y="598.7778">← setupcallback</text><ellipse cx="21.5" cy="609.4766" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="98" x="27" y="613.9106">setupparams</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="100" x="129" y="613.9106">← setupparams</text><ellipse cx="21.5" cy="624.6094" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="93" x="27" y="629.0435">loopcallback</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="93" x="124" y="629.0435">← loopcallback</text><ellipse cx="21.5" cy="639.7422" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="88" x="27" y="644.1763">loopparams</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="91" x="119" y="644.1763">← loopparams</text><ellipse cx="21.5" cy="654.875" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="133" x="27" y="659.3091">shutdowncallback</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="93" x="164" y="659.3091">← loopcallback</text><ellipse cx="21.5" cy="670.0078" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="128" x="27" y="674.4419">shutdownparams</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="91" x="159" y="674.4419">← loopparams</text><ellipse cx="21.5" cy="685.1406" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="42" x="27" y="689.5747">stage</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="73" y="689.5747">← 0</text><ellipse cx="21.5" cy="700.2734" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="129" x="27" y="704.7075">urtEventListenerInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="55" x="156" y="704.7075">listener</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="211" y="704.7075">)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="20.5" y1="715.3398" y2="715.3398"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="473" x="24.5" y="719.3403">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="501.5" x2="512" y1="715.3398" y2="715.3398"/><ellipse cx="21.5" cy="730.5391" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="40" x="27" y="734.9731">loops</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="71" y="734.9731">← 0</text><rect fill="#FEFECE" filter="url(#fe99m1kw6ut90)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="131" x="532" y="630.2578"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="111" x="542" y="651.3965">initialize members</text><rect fill="#FEFECE" filter="url(#fe99m1kw6ut90)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="77" x="559" y="763.0391"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="57" x="569" y="784.1777">lock core</text><rect fill="#FFFFFF" filter="url(#fe99m1kw6ut90)" height="134.2656" style="stroke: #000000; stroke-width: 2.0;" width="784" x="204.5" y="807.8096"/><path d="M453.5,808.8096 L453.5,817.1064 L443.5,827.1064 L204.5,827.1064 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="239" x="207.5" y="821.8047">prepend self to core's list of nodes</text><rect fill="#000000" filter="url(#fe99m1kw6ut90)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="764" x="214.5" y="844.1064"/><rect fill="#FEFECE" filter="url(#fe99m1kw6ut90)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="463" x="228.5" y="870.1064"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="238.5" y="891.2451">set this node's</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="28" x="335.5" y="891.2451">next</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="314" x="367.5" y="891.2451">pointer to the first node in the core's list of nodes</text><rect fill="#FEFECE" filter="url(#fe99m1kw6ut90)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="247" x="719.5" y="870.1064"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="227" x="729.5" y="891.2451">set core's node pointer to this node</text><rect fill="#000000" filter="url(#fe99m1kw6ut90)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="764" x="214.5" y="924.0752"/><rect fill="#FEFECE" filter="url(#fe99m1kw6ut90)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="93" x="551" y="962.0752"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="73" x="561" y="983.2139">unlock core</text><ellipse cx="597.5" cy="1027.0439" fill="#FFFFFF" filter="url(#fe99m1kw6ut90)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="597.5" cy="1027.0439" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="597.5" x2="597.5" y1="501.4453" y2="521.4453"/><polygon fill="#A80036" points="593.5,511.4453,597.5,521.4453,601.5,511.4453,597.5,515.4453" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="597.5" x2="597.5" y1="541.4453" y2="630.2578"/><polygon fill="#A80036" points="593.5,620.2578,597.5,630.2578,601.5,620.2578,597.5,624.2578" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="597.5" x2="597.5" y1="664.2266" y2="763.0391"/><polygon fill="#A80036" points="593.5,753.0391,597.5,763.0391,601.5,753.0391,597.5,757.0391" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="460" x2="460" y1="850.1064" y2="870.1064"/><polygon fill="#A80036" points="456,860.1064,460,870.1064,464,860.1064,460,864.1064" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="843" x2="843" y1="850.1064" y2="870.1064"/><polygon fill="#A80036" points="839,860.1064,843,870.1064,847,860.1064,843,864.1064" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="460" x2="460" y1="904.0752" y2="924.0752"/><polygon fill="#A80036" points="456,914.0752,460,924.0752,464,914.0752,460,918.0752" style="stroke: #A80036; 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 @startuml
 
 title **µRtWare**\nurtNodeInit()\n
@@ -70,7 +70,7 @@ 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
diff --git a/doc/activitydiagrams/publisher/urtPublisherInit.svg b/doc/activitydiagrams/publisher/urtPublisherInit.svg
index a7117ed..4417d0a 100644
--- a/doc/activitydiagrams/publisher/urtPublisherInit.svg
+++ b/doc/activitydiagrams/publisher/urtPublisherInit.svg
@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="793px" preserveAspectRatio="none" style="width:1214px;height:793px;" version="1.1" viewBox="0 0 1214 793" width="1214px" zoomAndPan="magnify"><defs><filter height="300%" id="f1cmn83qlc5kyj" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="561.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="150" x="531" y="47.6611">urtPublisherInit()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="609" y="68.6143"/><path d="M369.5,72.8594 L369.5,274.4531 L820.5,274.4531 L820.5,82.8594 L810.5,72.8594 L369.5,72.8594 " fill="#FBFB77" filter="url(#f1cmn83qlc5kyj)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M810.5,72.8594 L810.5,82.8594 L820.5,82.8594 L810.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="369.5" x2="499.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="503.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="69" x="503.5" y="89.4263">publisher</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="110" x="576.5" y="89.4263">: urt_publisher_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="690.5" x2="820.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="161" x="375.5" y="105.0591">The publisher to initialize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="375.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="455.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="487.5" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="369.5" x2="529" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="533" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="37" x="533" y="134.8247">topic</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="83" x="574" y="134.8247">: urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="661" x2="820.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="259" x="375.5" y="150.4575">The topic, this publisher is associated to.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="375.5" y="165.5903">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="455.5" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="487.5" y="165.5903">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="369.5" x2="496" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="500" y="180.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="75" x="500" y="180.2231">messages</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="111" x="579" y="180.2231">: urt_message_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="694" x2="820.5" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="375.5" y="195.856">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="346" x="411.5" y="195.856">terminated list of messages to contribute to the topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="329" x="375.5" y="210.9888">Messages must not be associated to another topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="430" x="375.5" y="226.1216">Once a message has been contributed, it cannot be removed later.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="375.5" y="241.2544">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="425.5" y="241.2544">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="186" x="461.5" y="241.2544">(no messages to contribute).</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="369.5" x2="820.5" y1="249.3203" y2="249.3203"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="369.5" x2="820.5" y1="251.3203" y2="251.3203"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="369.5" x2="549.5" y1="261.8867" y2="261.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="553.5" y="265.8872"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="553.5" y="265.8872">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="34" x="602.5" y="265.8872">: void</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="640.5" x2="820.5" y1="261.8867" y2="261.8867"/><ellipse cx="595" cy="304.4531" fill="#000000" filter="url(#f1cmn83qlc5kyj)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M231.5,324.4531 L231.5,394.9844 A0,0 0 0 0 231.5,394.9844 L509.5,394.9844 A0,0 0 0 0 509.5,394.9844 L509.5,363.7188 L529.5,359.7188 L509.5,355.7188 L509.5,334.4531 L499.5,324.4531 L231.5,324.4531 A0,0 0 0 0 231.5,324.4531 " fill="#FBFB77" filter="url(#f1cmn83qlc5kyj)" style="stroke: #A80036; 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stroke-width: 1.5;" width="475" x="681" y="570.4541"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="20" x="691" y="591.5928">set</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="28" x="715" y="591.5928">next</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="399" x="747" y="591.5928">pointer of topic's latest message to first message to contribute</text><rect fill="#000000" filter="url(#f1cmn83qlc5kyj)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1148" x="20" y="624.4229"/><rect fill="#FEFECE" filter="url(#f1cmn83qlc5kyj)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="96" x="547" y="662.4229"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="76" x="557" y="683.5615">unlock topic</text><polygon fill="#FEFECE" filter="url(#f1cmn83qlc5kyj)" points="525,414.9844,665,414.9844,677,426.9844,665,438.9844,525,438.9844,513,426.9844,525,414.9844" style="stroke: #A80036; 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 @startuml
 
 title **µRtWare**\nurtPublisherInit()\n
@@ -53,7 +53,7 @@ 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
diff --git a/doc/activitydiagrams/publisher/urtPublisherPublish.svg b/doc/activitydiagrams/publisher/urtPublisherPublish.svg
index 166dfa4..7d2082b 100644
--- a/doc/activitydiagrams/publisher/urtPublisherPublish.svg
+++ b/doc/activitydiagrams/publisher/urtPublisherPublish.svg
@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="1776px" preserveAspectRatio="none" style="width:3008px;height:1776px;" version="1.1" viewBox="0 0 3008 1776" width="3008px" zoomAndPan="magnify"><defs><filter height="300%" id="fjrexx23r0l7p" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="1458.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="183" x="1411.5" y="47.6611">urtPublisherPublish()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="1506" y="68.6143"/><path d="M1294.5,72.8594 L1294.5,319.8516 L1679.5,319.8516 L1679.5,82.8594 L1669.5,72.8594 L1294.5,72.8594 " fill="#FBFB77" filter="url(#fjrexx23r0l7p)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1669.5,72.8594 L1669.5,82.8594 L1679.5,82.8594 L1669.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1294.5" x2="1391.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1395.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="69" x="1395.5" y="89.4263">publisher</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="110" x="1468.5" y="89.4263">: urt_publisher_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1582.5" x2="1679.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="197" x="1300.5" y="105.0591">Pointer to the publisher to use.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="1300.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1380.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1412.5" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1294.5" x2="1431" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1435" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="59" x="1435" y="134.8247">payload</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="1498" y="134.8247">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1543" x2="1679.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="226" x="1300.5" y="150.4575">Pointer to the data to be published.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="1300.5" y="165.5903">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1350.5" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="195" x="1386.5" y="165.5903">for messages without payload.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1294.5" x2="1438" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1442" y="180.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="1442" y="180.2231">bytes</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="45" x="1487" y="180.2231">: size_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1536" x2="1679.5" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="180" x="1300.5" y="195.856">Size of the payload in bytes.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1294.5" x2="1432.5" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1436.5" y="210.4888"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="6" x="1436.5" y="210.4888">t</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="91" x="1446.5" y="210.4888">: urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1541.5" x2="1679.5" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="246" x="1300.5" y="226.1216">Timestamp to be set for the message.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1294.5" x2="1413" y1="236.7539" y2="236.7539"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1417" y="240.7544"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="1417" y="240.7544">timeout</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="79" x="1478" y="240.7544">: urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1561" x2="1679.5" y1="236.7539" y2="236.7539"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="364" x="1300.5" y="256.3872">Timeout delay in case the message cannot be published.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1294.5" x2="1679.5" y1="264.4531" y2="264.4531"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1294.5" x2="1679.5" y1="266.4531" y2="266.4531"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1294.5" x2="1416" y1="277.0195" y2="277.0195"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1420" y="281.02"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="1420" y="281.02">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="1469" y="281.02">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1558" x2="1679.5" y1="277.0195" y2="277.0195"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1300.5" y="296.6528">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="1353.5" y="296.6528">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="75" x="1461.5" y="296.6528">on success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1300.5" y="311.7856">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="1353.5" y="311.7856">URT_STATUS_PUBLISH_TIMEOUT</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="74" x="1565.5" y="311.7856">on timeout.</text><ellipse cx="1487" cy="349.8516" fill="#000000" filter="url(#fjrexx23r0l7p)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="1447" y="379.8516"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="1457" y="400.9902">lock topic</text><rect fill="#000000" filter="url(#fjrexx23r0l7p)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="519" x="1227.5" y="433.8203"/><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="201" x="1241.5" y="466.8047"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="181" x="1251.5" y="487.9434">access topic's next message</text><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="262" x="1470.5" y="459.8203"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1470.5" x2="1485.5" y1="476.8047" y2="476.8047"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="232" x="1485.5" y="480.459">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1717.5" x2="1732.5" y1="476.8047" y2="476.8047"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="242" x="1480.5" y="494.9277">increment counter of publish attempts</text><rect fill="#000000" filter="url(#fjrexx23r0l7p)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="519" x="1227.5" y="527.7578"/><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="524" x="1225" y="609.4683"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="504" x="1235" y="630.6069">wait for topic's condition variable (using topic's mutex) to be signaled or timeout</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1434,663.437,1540,663.437,1552,675.437,1540,687.437,1434,687.437,1422,675.437,1434,663.437" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="106" x="1434" y="679.2451">Timeout occurred?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1402" y="672.8428">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1552" y="672.8428">no</text><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="1205" y="697.437"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1205" x2="1215" y1="714.4214" y2="714.4214"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="232" x="1215" y="718.0757">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1447" x2="1457" y1="714.4214" y2="714.4214"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="210" x="1215" y="732.5444">increment counter of publish fails</text><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="96" x="1283" y="780.3745"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="76" x="1293" y="801.5132">unlock topic</text><path d="M1014,849.3433 L1014,874.4761 A0,0 0 0 0 1014,874.4761 L1300,874.4761 A0,0 0 0 0 1300,874.4761 L1300,867.3433 L1320,861.9097 L1300,859.3433 L1300,859.3433 L1290,849.3433 L1014,849.3433 A0,0 0 0 0 1014,849.3433 " fill="#FBFB77" filter="url(#fjrexx23r0l7p)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1290,849.3433 L1290,859.3433 L1300,859.3433 L1290,849.3433 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1020" y="866.4102">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="1073" y="866.4102">URT_STATUS_PUBLISH_TIMEOUT</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1281" y="866.4102">.</text><ellipse cx="1331" cy="861.9097" fill="#FFFFFF" filter="url(#fjrexx23r0l7p)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="1331" cy="861.9097" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="1552.5" y="817.8394"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="161" x="1562.5" y="838.978">proceed to next message</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1643,745.8394,1655,757.8394,1643,769.8394,1631,757.8394,1643,745.8394" style="stroke: #A80036; stroke-width: 1.5;"/><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1499,894.4761,1787,894.4761,1799,906.4761,1787,918.4761,1499,918.4761,1487,906.4761,1499,894.4761" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="288" x="1499" y="910.2842">Timestamp is younger than of previous message?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1799" y="903.8818">yes</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1542,697.437,1744,697.437,1756,709.437,1744,721.437,1542,721.437,1530,709.437,1542,697.437" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1647" y="731.6475">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="202" x="1542" y="713.2451">Message timestamp was modified?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1756" y="706.8428">no</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1643,942.375,1655,954.375,1643,966.375,1631,954.375,1643,942.375" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1649" y="939.7808">no</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1378.5,553.7578,1595.5,553.7578,1607.5,565.7578,1595.5,577.7578,1378.5,577.7578,1366.5,565.7578,1378.5,553.7578" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1491" y="587.9683">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="1378.5" y="569.5659">HRT consumers left for the message?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1352.5" y="563.1636">no</text><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="174.668" style="stroke: #000000; stroke-width: 2.0;" width="396" x="1295" y="999.1768"/><path d="M1576,1000.1768 L1576,1008.4736 L1566,1018.4736 L1295,1018.4736 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="271" x="1298" y="1013.1719">URT_CFG_PUBSUB_PROFILING == true</text><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="344" x="1315" y="1083.876"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="324" x="1325" y="1105.0146">increment counter of discarded messages (@topic)</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1389,1035.4736,1585,1035.4736,1597,1047.4736,1585,1059.4736,1389,1059.4736,1377,1047.4736,1389,1035.4736" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1491" y="1069.6841">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="1389" y="1051.2817">Consumers left for this message?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1597" y="1044.8794">no</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1487,1137.8447,1499,1149.8447,1487,1161.8447,1475,1149.8447,1487,1137.8447" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#000000" filter="url(#fjrexx23r0l7p)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="2987" x="10" y="1193.8447"/><rect fill="#FFFFFF" filter="url(#fjrexx23r0l7p)" height="156.2344" style="stroke: #000000; stroke-width: 2.0;" width="1268" x="22" y="1325.584"/><path d="M140,1326.584 L140,1334.8809 L130,1344.8809 L22,1344.8809 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="108" x="25" y="1339.5791">setup message</text><rect fill="#000000" filter="url(#fjrexx23r0l7p)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1248" x="32" y="1361.8809"/><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="261" x="46" y="1394.8652"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="241" x="56" y="1416.0039">iterate topic's pointer to this message</text><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="180" x="317" y="1394.8652"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="160" x="327" y="1416.0039">copy payload to message</text><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="187" x="507" y="1394.8652"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="167" x="517" y="1416.0039">set origin time of message</text><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="704" y="1394.8652"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="266" x="714" y="1416.0039">set number of HRT consumers (from topic)</text><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="254" x="1012" y="1387.8809"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1012" x2="1023" y1="1404.8652" y2="1404.8652"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="232" x="1023" y="1408.5195">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1255" x2="1266" y1="1404.8652" y2="1404.8652"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="230" x="1026" y="1422.9883">set numer of consumers (from topic)</text><rect fill="#000000" filter="url(#fjrexx23r0l7p)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1248" x="32" y="1455.8184"/><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="398" x="1318" y="1379.7324"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1318" x2="1377.5" y1="1396.7168" y2="1396.7168"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="279" x="1377.5" y="1400.3711">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1656.5" x2="1716" y1="1396.7168" y2="1396.7168"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="378" x="1328" y="1414.8398">set QoS rate timer (@topic) wrt. most critical HRT subscriber</text><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="376.1094" style="stroke: #000000; stroke-width: 2.0;" width="888" x="1744" y="1210.6465"/><path d="M2119,1211.6465 L2119,1219.9434 L2109,1229.9434 L1744,1229.9434 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="365" x="1747" y="1224.6416">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="241" x="2240" y="1246.9434"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="221" x="2250" y="1268.082">access first HRT subscriber of topic</text><path d="M1788,1410.1191 L1788,1450.3848 A0,0 0 0 0 1788,1450.3848 L2113,1450.3848 A0,0 0 0 0 2113,1450.3848 L2113,1434.252 L2133,1430.252 L2113,1426.252 L2113,1420.1191 L2103,1410.1191 L1788,1410.1191 A0,0 0 0 0 1788,1410.1191 " fill="#FBFB77" filter="url(#fjrexx23r0l7p)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2103,1410.1191 L2103,1420.1191 L2113,1420.1191 L2103,1410.1191 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="108" x="1794" y="1427.186">No lock required.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="304" x="1794" y="1442.3188">This timer is only accessed while topic is locked.</text><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="455" x="2133" y="1413.2676"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="435" x="2143" y="1434.4063">set QoS deadline timer (@subscriber) wrt. origin time of the message</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="2221.5,1361.7168,2499.5,1361.7168,2511.5,1373.7168,2499.5,1385.7168,2221.5,1385.7168,2209.5,1373.7168,2221.5,1361.7168" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="2364.5" y="1395.9272">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="278" x="2221.5" y="1377.5249">QoS deadline timer (@subscriber) is not armed?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="2511.5" y="1371.1226">no</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="2360.5,1474.7871,2372.5,1486.7871,2360.5,1498.7871,2348.5,1486.7871,2360.5,1474.7871" style="stroke: #A80036; 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+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="1776px" preserveAspectRatio="none" style="width:3008px;height:1776px;" version="1.1" viewBox="0 0 3008 1776" width="3008px" zoomAndPan="magnify"><defs><filter height="300%" id="fjrexx23r0l7p" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="1458.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="183" x="1411.5" y="47.6611">urtPublisherPublish()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="1506" y="68.6143"/><path d="M1294.5,72.8594 L1294.5,319.8516 L1679.5,319.8516 L1679.5,82.8594 L1669.5,72.8594 L1294.5,72.8594 " fill="#FBFB77" filter="url(#fjrexx23r0l7p)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1669.5,72.8594 L1669.5,82.8594 L1679.5,82.8594 L1669.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1294.5" x2="1391.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1395.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="69" x="1395.5" y="89.4263">publisher</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="110" x="1468.5" y="89.4263">: urt_publisher_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1582.5" x2="1679.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="197" x="1300.5" y="105.0591">Pointer to the publisher to use.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="1300.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1380.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1412.5" y="120.1919">.</text><line style="stroke: #A80036; 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stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1470.5" x2="1485.5" y1="476.8047" y2="476.8047"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="232" x="1485.5" y="480.459">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1717.5" x2="1732.5" y1="476.8047" y2="476.8047"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="242" x="1480.5" y="494.9277">increment counter of publish attempts</text><rect fill="#000000" filter="url(#fjrexx23r0l7p)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="519" x="1227.5" y="527.7578"/><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="524" x="1225" y="609.4683"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="504" x="1235" y="630.6069">wait for topic's condition variable (using topic's mutex) to be signaled or timeout</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1434,663.437,1540,663.437,1552,675.437,1540,687.437,1434,687.437,1422,675.437,1434,663.437" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="106" x="1434" y="679.2451">Timeout occurred?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1402" y="672.8428">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1552" y="672.8428">no</text><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="1205" y="697.437"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1205" x2="1215" y1="714.4214" y2="714.4214"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="232" x="1215" y="718.0757">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1447" x2="1457" y1="714.4214" y2="714.4214"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="210" x="1215" y="732.5444">increment counter of publish fails</text><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="96" x="1283" y="780.3745"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="76" x="1293" y="801.5132">unlock topic</text><path d="M1014,849.3433 L1014,874.4761 A0,0 0 0 0 1014,874.4761 L1300,874.4761 A0,0 0 0 0 1300,874.4761 L1300,867.3433 L1320,861.9097 L1300,859.3433 L1300,859.3433 L1290,849.3433 L1014,849.3433 A0,0 0 0 0 1014,849.3433 " fill="#FBFB77" filter="url(#fjrexx23r0l7p)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1290,849.3433 L1290,859.3433 L1300,859.3433 L1290,849.3433 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1020" y="866.4102">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="1073" y="866.4102">URT_STATUS_PUBLISH_TIMEOUT</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1281" y="866.4102">.</text><ellipse cx="1331" cy="861.9097" fill="#FFFFFF" filter="url(#fjrexx23r0l7p)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="1331" cy="861.9097" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="1552.5" y="817.8394"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="161" x="1562.5" y="838.978">proceed to next message</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1643,745.8394,1655,757.8394,1643,769.8394,1631,757.8394,1643,745.8394" style="stroke: #A80036; stroke-width: 1.5;"/><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1499,894.4761,1787,894.4761,1799,906.4761,1787,918.4761,1499,918.4761,1487,906.4761,1499,894.4761" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="288" x="1499" y="910.2842">Timestamp is younger than of previous message?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1799" y="903.8818">yes</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1542,697.437,1744,697.437,1756,709.437,1744,721.437,1542,721.437,1530,709.437,1542,697.437" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1647" y="731.6475">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="202" x="1542" y="713.2451">Message timestamp was modified?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1756" y="706.8428">no</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1643,942.375,1655,954.375,1643,966.375,1631,954.375,1643,942.375" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1649" y="939.7808">no</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1378.5,553.7578,1595.5,553.7578,1607.5,565.7578,1595.5,577.7578,1378.5,577.7578,1366.5,565.7578,1378.5,553.7578" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1491" y="587.9683">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="1378.5" y="569.5659">HRT consumers left for the message?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1352.5" y="563.1636">no</text><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="174.668" style="stroke: #000000; stroke-width: 2.0;" width="396" x="1295" y="999.1768"/><path d="M1576,1000.1768 L1576,1008.4736 L1566,1018.4736 L1295,1018.4736 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="271" x="1298" y="1013.1719">URT_CFG_PUBSUB_PROFILING == true</text><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="344" x="1315" y="1083.876"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="324" x="1325" y="1105.0146">increment counter of discarded messages (@topic)</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1389,1035.4736,1585,1035.4736,1597,1047.4736,1585,1059.4736,1389,1059.4736,1377,1047.4736,1389,1035.4736" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1491" y="1069.6841">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="1389" y="1051.2817">Consumers left for this message?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1597" y="1044.8794">no</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="1487,1137.8447,1499,1149.8447,1487,1161.8447,1475,1149.8447,1487,1137.8447" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#000000" filter="url(#fjrexx23r0l7p)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="2987" x="10" y="1193.8447"/><rect fill="#FFFFFF" filter="url(#fjrexx23r0l7p)" height="156.2344" style="stroke: #000000; stroke-width: 2.0;" width="1268" x="22" y="1325.584"/><path d="M140,1326.584 L140,1334.8809 L130,1344.8809 L22,1344.8809 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="108" x="25" y="1339.5791">setup message</text><rect fill="#000000" filter="url(#fjrexx23r0l7p)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1248" x="32" y="1361.8809"/><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="261" x="46" y="1394.8652"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="241" x="56" y="1416.0039">iterate topic's pointer to this message</text><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="180" x="317" y="1394.8652"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="160" x="327" y="1416.0039">copy payload to message</text><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="187" x="507" y="1394.8652"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="167" x="517" y="1416.0039">set origin time of message</text><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="704" y="1394.8652"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="266" x="714" y="1416.0039">set number of HRT consumers (from topic)</text><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="254" x="1012" y="1387.8809"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1012" x2="1023" y1="1404.8652" y2="1404.8652"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="232" x="1023" y="1408.5195">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1255" x2="1266" y1="1404.8652" y2="1404.8652"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="230" x="1026" y="1422.9883">set numer of consumers (from topic)</text><rect fill="#000000" filter="url(#fjrexx23r0l7p)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1248" x="32" y="1455.8184"/><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="398" x="1318" y="1379.7324"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1318" x2="1377.5" y1="1396.7168" y2="1396.7168"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="279" x="1377.5" y="1400.3711">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1656.5" x2="1716" y1="1396.7168" y2="1396.7168"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="378" x="1328" y="1414.8398">set QoS rate timer (@topic) wrt. most critical HRT subscriber</text><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="376.1094" style="stroke: #000000; stroke-width: 2.0;" width="888" x="1744" y="1210.6465"/><path d="M2119,1211.6465 L2119,1219.9434 L2109,1229.9434 L1744,1229.9434 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="365" x="1747" y="1224.6416">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="241" x="2240" y="1246.9434"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="221" x="2250" y="1268.082">access first HRT subscriber of topic</text><path d="M1788,1410.1191 L1788,1450.3848 A0,0 0 0 0 1788,1450.3848 L2113,1450.3848 A0,0 0 0 0 2113,1450.3848 L2113,1434.252 L2133,1430.252 L2113,1426.252 L2113,1420.1191 L2103,1410.1191 L1788,1410.1191 A0,0 0 0 0 1788,1410.1191 " fill="#FBFB77" filter="url(#fjrexx23r0l7p)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2103,1410.1191 L2103,1420.1191 L2113,1420.1191 L2103,1410.1191 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="108" x="1794" y="1427.186">No lock required.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="304" x="1794" y="1442.3188">This timer is only accessed while topic is locked.</text><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="455" x="2133" y="1413.2676"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="435" x="2143" y="1434.4063">set QoS deadline timer (@subscriber) wrt. origin time of the message</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="2221.5,1361.7168,2499.5,1361.7168,2511.5,1373.7168,2499.5,1385.7168,2221.5,1385.7168,2209.5,1373.7168,2221.5,1361.7168" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="2364.5" y="1395.9272">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="278" x="2221.5" y="1377.5249">QoS deadline timer (@subscriber) is not armed?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="2511.5" y="1371.1226">no</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="2360.5,1474.7871,2372.5,1486.7871,2360.5,1498.7871,2348.5,1486.7871,2360.5,1474.7871" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="218" x="2251.5" y="1518.7871"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="198" x="2261.5" y="1539.9258">proceed to next HRT subscriber</text><polygon fill="#FEFECE" filter="url(#fjrexx23r0l7p)" points="2280,1300.9121,2441,1300.9121,2453,1312.9121,2441,1324.9121,2280,1324.9121,2268,1312.9121,2280,1300.9121" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="2364.5" y="1335.1226">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="123" x="2280" y="1316.7202">HRT subscriber is not</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="28" x="2407" y="1316.7202">NULL</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="6" x="2435" y="1316.7202">?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="2254" y="1310.3179">no</text><rect fill="#EEEEEE" filter="url(#fjrexx23r0l7p)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; 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stroke-width: 1.0;"/><path d="M1417.5,1637.1738 L1417.5,1647.1738 L1427.5,1647.1738 L1417.5,1637.1738 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="315" x="1097.5" y="1654.2407">Msut be within topic lock because of HRT counter.</text><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="79" x="1447.5" y="1632.7559"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="59" x="1457.5" y="1653.8945">fire event</text><rect fill="#FEFECE" filter="url(#fjrexx23r0l7p)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="96" x="1439" y="1686.7246"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="76" x="1449" y="1707.8633">unlock topic</text><path d="M1274,1739.127 L1274,1764.2598 A0,0 0 0 0 1274,1764.2598 L1456,1764.2598 A0,0 0 0 0 1456,1764.2598 L1456,1757.127 L1476,1751.6934 L1456,1749.127 L1456,1749.127 L1446,1739.127 L1274,1739.127 A0,0 0 0 0 1274,1739.127 " fill="#FBFB77" filter="url(#fjrexx23r0l7p)" style="stroke: #A80036; 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 @startuml
 
 title **µRtWare**\nurtPublisherPublish()\n
@@ -106,7 +106,7 @@ 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
diff --git a/doc/activitydiagrams/request/frtrequest/urtFrtRequestAcquire.svg b/doc/activitydiagrams/request/frtrequest/urtFrtRequestAcquire.svg
new file mode 100644
index 0000000..42a5c42
--- /dev/null
+++ b/doc/activitydiagrams/request/frtrequest/urtFrtRequestAcquire.svg
@@ -0,0 +1,52 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="421px" preserveAspectRatio="none" style="width:782px;height:421px;" version="1.1" viewBox="0 0 782 421" width="782px" zoomAndPan="magnify"><defs><filter height="300%" id="f1gbl90iinqcbe" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="345.75" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="204" x="288.25" y="47.6611">urtFrtRequestAcquire()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="393.25" y="68.6143"/><path d="M189.5,72.8594 L189.5,183.6563 L770.5,183.6563 L770.5,82.8594 L760.5,72.8594 L189.5,72.8594 " fill="#FBFB77" filter="url(#f1gbl90iinqcbe)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M760.5,72.8594 L760.5,82.8594 L770.5,82.8594 L760.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="189.5" x2="388" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="392" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="392" y="89.4263">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="115" x="453" y="89.4263">: urt_frtrequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="572" x2="770.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="202" x="195.5" y="105.0591">The FRT request to be acquired.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="195.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="275.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="307.5" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="189.5" x2="770.5" y1="128.2578" y2="128.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="189.5" x2="770.5" y1="130.2578" y2="130.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="189.5" x2="409" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="413" y="144.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="413" y="144.8247">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="462" y="144.8247">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="551" x2="770.5" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="195.5" y="160.4575">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="248.5" y="160.4575">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="120" x="356.5" y="160.4575">in case of success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="195.5" y="175.5903">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="216" x="248.5" y="175.5903">URT_STATUS_REQUEST_BADOWNER</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="287" x="468.5" y="175.5903">if the request is aloready owned by a service.</text><ellipse cx="480" cy="213.6563" fill="#000000" filter="url(#f1gbl90iinqcbe)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M122,248.0742 L122,273.207 A0,0 0 0 0 122,273.207 L411,273.207 A0,0 0 0 0 411,273.207 L411,266.0742 L431,260.6406 L411,258.0742 L411,258.0742 L401,248.0742 L122,248.0742 A0,0 0 0 0 122,248.0742 " fill="#FBFB77" filter="url(#f1gbl90iinqcbe)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M401,248.0742 L401,258.0742 L411,258.0742 L401,248.0742 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="268" x="128" y="265.1411">Execution is blocked until mutex is locked.</text><rect fill="#FEFECE" filter="url(#f1gbl90iinqcbe)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="98" x="431" y="243.6563"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="78" x="441" y="264.7949">lock request</text><polygon fill="#FEFECE" filter="url(#f1gbl90iinqcbe)" points="390,297.625,570,297.625,582,309.625,570,321.625,390,321.625,378,309.625,390,297.625" style="stroke: #A80036; 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+@startuml
+
+title **µRtWare**\nurtFrtRequestAcquire()\n
+
+
+
+
+
+
+note
+  - - **request** : urt_frtrequest_t* - -
+  The FRT request to be acquired.
+  Must not be ""NULL"".
+  ====
+  - - **return** : urt_status_t - -
+  Returns ""URT_STATUS_OK"" in case of success.
+  Returns ""URT_STATUS_REQUEST_BADOWNER"" if the request is aloready owned by a service.
+endnote
+
+
+  start
+  :lock request;
+  note
+    Execution is blocked until mutex is locked.
+  endnote
+  if (Request is owned by a service?) then (yes)
+    :unlock request;
+    stop
+    note
+      Returns ""URT_STATUS_REQUEST_BADOWNER"".
+    endnote
+  else (no)
+    stop
+    note
+      Returns ""URT_STATUS_OK"".
+    endnote
+  endif
+
+
+@enduml
+
+PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
+Operating System: Linux
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/doc/activitydiagrams/request/frtrequest/urtFrtRequestAcquire.uml b/doc/activitydiagrams/request/frtrequest/urtFrtRequestAcquire.uml
new file mode 100644
index 0000000..b213b44
--- /dev/null
+++ b/doc/activitydiagrams/request/frtrequest/urtFrtRequestAcquire.uml
@@ -0,0 +1,48 @@
+/'
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'/
+
+/'### INTRO ##################################################################'/
+
+@startuml
+
+title **µRtWare**\nurtFrtRequestAcquire()\n
+
+!include ../functions.iuml
+
+/'### PARAMETERS & RETURN ####################################################'/
+
+note
+  -- **request** : urt_frtrequest_t* --
+  The FRT request to be acquired.
+  Must not be ""NULL"".
+  ====
+  -- **return** : urt_status_t --
+  Returns ""URT_STATUS_OK"" in case of success.
+  Returns ""URT_STATUS_REQUEST_BADOWNER"" if the request is aloready owned by a service.
+endnote
+
+/'### PROCEDURE ##############################################################'/
+
+$acquire_request()
+
+/'### OUTRO ##################################################################'/
+
+@enduml
diff --git a/doc/activitydiagrams/request/frtrequest/urtFrtRequestCalculateValidity.svg b/doc/activitydiagrams/request/frtrequest/urtFrtRequestCalculateValidity.svg
new file mode 100644
index 0000000..60b1d02
--- /dev/null
+++ b/doc/activitydiagrams/request/frtrequest/urtFrtRequestCalculateValidity.svg
@@ -0,0 +1,43 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="316px" preserveAspectRatio="none" style="width:531px;height:316px;" version="1.1" viewBox="0 0 531 316" width="531px" zoomAndPan="magnify"><defs><filter height="300%" id="ff5stu5orz9yi" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="220" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="284" x="122.5" y="47.6611">urtFrtRequestCalculateValidity()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="267.5" y="68.6143"/><path d="M25,72.8594 L25,183.6563 L519,183.6563 L519,82.8594 L509,72.8594 L25,72.8594 " fill="#FBFB77" filter="url(#ff5stu5orz9yi)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M509,72.8594 L509,82.8594 L519,82.8594 L509,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="25" x2="180" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="184" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="184" y="89.4263">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="115" x="245" y="89.4263">: urt_frtrequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="364" x2="519" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="227" x="31" y="105.0591">The request to calculate validity for.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="31" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="111" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="143" y="120.1919">.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="210" x="31" y="135.3247">Must have been acquired before.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="25" x2="519" y1="143.3906" y2="143.3906"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="25" x2="519" y1="145.3906" y2="145.3906"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="25" x2="226" y1="155.957" y2="155.957"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="230" y="159.9575"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="230" y="159.9575">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="35" x="279" y="159.9575">: bool</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="318" x2="519" y1="155.957" y2="155.957"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="473" x="31" y="175.5903">Flag, indicating whether or not the request is valid wrt. it's set parameters.</text><ellipse cx="272" cy="213.6563" fill="#000000" filter="url(#ff5stu5orz9yi)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#ff5stu5orz9yi)" points="173,243.6563,371,243.6563,383,256.4609,371,269.2656,173,269.2656,161,256.4609,173,243.6563" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="173" y="253.8667">Latency is lower than deadline and</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="173" y="266.6714">is within allowed jitter range?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="141" y="253.8667">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="383" y="253.8667">no</text><path d="M10,279.2656 L10,304.3984 A0,0 0 0 0 10,304.3984 L120,304.3984 A0,0 0 0 0 120,304.3984 L120,297.2656 L140,291.832 L120,289.2656 L120,289.2656 L110,279.2656 L10,279.2656 A0,0 0 0 0 10,279.2656 " fill="#FBFB77" filter="url(#ff5stu5orz9yi)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M110,279.2656 L110,289.2656 L120,289.2656 L110,279.2656 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="16" y="296.3325">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="69" y="296.3325">true</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="101" y="296.3325">.</text><ellipse cx="151" cy="291.832" fill="#FFFFFF" filter="url(#ff5stu5orz9yi)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="151" cy="291.832" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><path d="M244,279.2656 L244,304.3984 A0,0 0 0 0 244,304.3984 L362,304.3984 A0,0 0 0 0 362,304.3984 L362,297.2656 L382,291.832 L362,289.2656 L362,289.2656 L352,279.2656 L244,279.2656 A0,0 0 0 0 244,279.2656 " fill="#FBFB77" filter="url(#ff5stu5orz9yi)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M352,279.2656 L352,289.2656 L362,289.2656 L352,279.2656 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="250" y="296.3325">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="40" x="303" y="296.3325">false</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="343" y="296.3325">.</text><ellipse cx="393" cy="291.832" fill="#FFFFFF" filter="url(#ff5stu5orz9yi)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="393" cy="291.832" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="272" x2="272" y1="183.6563" y2="203.6563"/><polygon fill="#A80036" points="268,193.6563,272,203.6563,276,193.6563,272,197.6563" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="161" x2="151" y1="256.4609" y2="256.4609"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="151" x2="151" y1="256.4609" y2="280.832"/><polygon fill="#A80036" points="147,270.832,151,280.832,155,270.832,151,274.832" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="383" x2="393" y1="256.4609" y2="256.4609"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="393" x2="393" y1="256.4609" y2="280.832"/><polygon fill="#A80036" points="389,270.832,393,280.832,397,270.832,393,274.832" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="272" x2="272" y1="223.6563" y2="243.6563"/><polygon fill="#A80036" points="268,233.6563,272,243.6563,276,233.6563,272,237.6563" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[30adb1fb61d3a20b14bccd19ac7681f4]
+@startuml
+
+title **µRtWare**\nurtFrtRequestCalculateValidity()\n
+
+
+note
+  - - **request** : urt_frtrequest_t* - -
+  The request to calculate validity for.
+  Must not be ""NULL"".
+  Must have been acquired before.
+  ====
+  - - **return** : bool - -
+  Flag, indicating whether or not the request is valid wrt. it's set parameters.
+endnote
+
+
+start
+if (Latency is lower than deadline and\nis within allowed jitter range?) then (yes)
+  stop
+  note
+    Returns ""true"".
+  endnote
+else (no)
+  stop
+  note
+    Returns ""false"".
+  endnote
+endif
+
+
+@enduml
+
+PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
+Operating System: Linux
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/doc/activitydiagrams/request/frtrequest/urtFrtRequestCalculateValidity.uml b/doc/activitydiagrams/request/frtrequest/urtFrtRequestCalculateValidity.uml
new file mode 100644
index 0000000..adc8774
--- /dev/null
+++ b/doc/activitydiagrams/request/frtrequest/urtFrtRequestCalculateValidity.uml
@@ -0,0 +1,57 @@
+/'
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'/
+
+/'### INTRO ##################################################################'/
+
+@startuml
+
+title **µRtWare**\nurtFrtRequestCalculateValidity()\n
+
+/'### PARAMETERS & RETURN ####################################################'/
+
+note
+  -- **request** : urt_frtrequest_t* --
+  The request to calculate validity for.
+  Must not be ""NULL"".
+  Must have been acquired before.
+  ====
+  -- **return** : bool --
+  Flag, indicating whether or not the request is valid wrt. it's set parameters.
+endnote
+
+/'### PROCEDURE ##############################################################'/
+
+start
+if (Latency is lower than deadline and\nis within allowed jitter range?) then (yes)
+  stop
+  note
+    Returns ""true"".
+  endnote
+else (no)
+  stop
+  note
+    Returns ""false"".
+  endnote
+endif
+
+/'### OUTRO ##################################################################'/
+
+@enduml
diff --git a/doc/activitydiagrams/request/frtrequest/urtFrtRequestGetMaxJitter.svg b/doc/activitydiagrams/request/frtrequest/urtFrtRequestGetMaxJitter.svg
new file mode 100644
index 0000000..6258cd1
--- /dev/null
+++ b/doc/activitydiagrams/request/frtrequest/urtFrtRequestGetMaxJitter.svg
@@ -0,0 +1,35 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="264px" preserveAspectRatio="none" style="width:469px;height:264px;" version="1.1" viewBox="0 0 469 264" width="469px" zoomAndPan="magnify"><defs><filter height="300%" id="f1b5jv7tpnazcw" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="189" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="254" x="106.5" y="47.6611">urtHrtRequestGetMaxJitter()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="236.5" y="68.6143"/><path d="M215,72.8594 L215,168.5234 L457,168.5234 L457,82.8594 L447,72.8594 L215,72.8594 " fill="#FBFB77" filter="url(#f1b5jv7tpnazcw)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M447,72.8594 L447,82.8594 L457,82.8594 L447,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="215" x2="242" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="246" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="246" y="89.4263">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="119" x="307" y="89.4263">: urt_hrtrequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="430" x2="457" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="152" x="221" y="105.0591">The request to initialize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="221" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="301" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="333" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="215" x2="457" y1="128.2578" y2="128.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="215" x2="457" y1="130.2578" y2="130.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="215" x2="245" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="249" y="144.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="249" y="144.8247">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="125" x="298" y="144.8247">: urt_delay_t* const</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="427" x2="457" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="87" x="221" y="160.4575">Pointer to the</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="72" x="312" y="160.4575">maxJitter</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="54" x="388" y="160.4575">variable.</text><ellipse cx="336" cy="198.5234" fill="#000000" filter="url(#f1b5jv7tpnazcw)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M10,226.957 L10,252.0898 A0,0 0 0 0 10,252.0898 L305,252.0898 A0,0 0 0 0 305,252.0898 L305,244.957 L325,239.5234 L305,236.957 L305,236.957 L295,226.957 L10,226.957 A0,0 0 0 0 10,226.957 " fill="#FBFB77" filter="url(#f1b5jv7tpnazcw)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M295,226.957 L295,236.957 L305,236.957 L295,226.957 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="140" x="16" y="244.0239">Returns pointer to the</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="72" x="160" y="244.0239">maxJitter</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="54" x="236" y="244.0239">variable.</text><ellipse cx="336" cy="239.5234" fill="#FFFFFF" filter="url(#f1b5jv7tpnazcw)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="336" cy="239.5234" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="336" x2="336" y1="168.5234" y2="188.5234"/><polygon fill="#A80036" points="332,178.5234,336,188.5234,340,178.5234,336,182.5234" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="336" x2="336" y1="208.5234" y2="228.5234"/><polygon fill="#A80036" points="332,218.5234,336,228.5234,340,218.5234,336,222.5234" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6ce966c870ec339d87f0ad16f0c2e0f5]
+@startuml
+
+title **µRtWare**\nurtHrtRequestGetMaxJitter()\n
+
+
+note
+  - - **request** : urt_hrtrequest_t* - -
+  The request to initialize.
+  Must not be ""NULL"".
+  ====
+  - - **return** : urt_delay_t* const - -
+  Pointer to the ""maxJitter"" variable.
+endnote
+
+
+start
+stop
+note
+  Returns pointer to the ""maxJitter"" variable.
+endnote
+
+
+@enduml
+
+PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
+Operating System: Linux
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/doc/activitydiagrams/request/frtrequest/urtFrtRequestGetMaxJitter.uml b/doc/activitydiagrams/request/frtrequest/urtFrtRequestGetMaxJitter.uml
new file mode 100644
index 0000000..984e4f9
--- /dev/null
+++ b/doc/activitydiagrams/request/frtrequest/urtFrtRequestGetMaxJitter.uml
@@ -0,0 +1,49 @@
+/'
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'/
+
+/'### INTRO ##################################################################'/
+
+@startuml
+
+title **µRtWare**\nurtHrtRequestGetMaxJitter()\n
+
+/'### PARAMETERS & RETURN ####################################################'/
+
+note
+  -- **request** : urt_hrtrequest_t* --
+  The request to initialize.
+  Must not be ""NULL"".
+  ====
+  -- **return** : urt_delay_t* const --
+  Pointer to the ""maxJitter"" variable.
+endnote
+
+/'### PROCEDURE ##############################################################'/
+
+start
+stop
+note
+  Returns pointer to the ""maxJitter"" variable.
+endnote
+
+/'### OUTRO ##################################################################'/
+
+@enduml
diff --git a/doc/activitydiagrams/request/frtrequest/urtFrtRequestInit.svg b/doc/activitydiagrams/request/frtrequest/urtFrtRequestInit.svg
new file mode 100644
index 0000000..097edc5
--- /dev/null
+++ b/doc/activitydiagrams/request/frtrequest/urtFrtRequestInit.svg
@@ -0,0 +1,55 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="584px" preserveAspectRatio="none" style="width:752px;height:584px;" version="1.1" viewBox="0 0 752 584" width="752px" zoomAndPan="magnify"><defs><filter height="300%" id="f1arq1m9rul0t0" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="330.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="166" x="292" y="47.6611">urtFrtRequestInit()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="378" y="68.6143"/><path d="M535,72.8594 L535,153.3906 L740,153.3906 L740,82.8594 L730,72.8594 L535,72.8594 " fill="#FBFB77" filter="url(#f1arq1m9rul0t0)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M730,72.8594 L730,82.8594 L740,82.8594 L730,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="535" x2="545.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="549.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="549.5" y="89.4263">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="115" x="610.5" y="89.4263">: urt_frtrequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="729.5" x2="740" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="178" x="541" y="105.0591">The FRT request to initialize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="541" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="621" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="653" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="535" x2="740" y1="128.2578" y2="128.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="535" x2="740" y1="130.2578" y2="130.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="535" x2="592" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="596" y="144.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="596" y="144.8247">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="34" x="645" y="144.8247">: void</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="683" x2="740" y1="140.8242" y2="140.8242"/><ellipse cx="637.5" cy="183.3906" fill="#000000" filter="url(#f1arq1m9rul0t0)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M10,203.3906 L10,531.1797 A0,0 0 0 0 10,531.1797 L552,531.1797 A0,0 0 0 0 552,531.1797 L552,371.2852 L572,367.2852 L552,363.2852 L552,213.3906 L542,203.3906 L10,203.3906 A0,0 0 0 0 10,203.3906 " fill="#FBFB77" filter="url(#f1arq1m9rul0t0)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M542,203.3906 L542,213.3906 L552,213.3906 L542,203.3906 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="218.5" y1="215.957" y2="215.957"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="117" x="222.5" y="219.9575">urt_baserequest_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="343.5" x2="552" y1="215.957" y2="215.957"/><ellipse cx="21.5" cy="231.1563" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="33" x="27" y="235.5903">prev</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="64" y="235.5903">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="79" y="235.5903">NULL</text><ellipse cx="21.5" cy="246.2891" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="32" x="27" y="250.7231">next</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="63" y="250.7231">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="78" y="250.7231">NULL</text><ellipse cx="21.5" cy="261.4219" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="81" x="27" y="265.856">urtMutexInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="30" x="108" y="265.856">lock</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="138" y="265.856">)</text><ellipse cx="21.5" cy="276.5547" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="27" y="280.9888">owner</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="76" y="280.9888">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="91" y="280.9888">NULL</text><ellipse cx="21.5" cy="291.6875" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="118" x="27" y="296.1216">submissionTime</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="149" y="296.1216">← 0</text><ellipse cx="21.5" cy="306.8203" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="59" x="27" y="311.2544">payload</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="90" y="311.2544">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="105" y="311.2544">NULL</text><ellipse cx="21.5" cy="321.9531" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="123" x="27" y="326.3872">urtEventSourceInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="73" x="150" y="326.3872">evtSource</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="223" y="326.3872">)</text><ellipse cx="21.5" cy="337.0859" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="129" x="27" y="341.52">urtEventListenerInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="82" x="156" y="341.52">evtListener</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="238" y="341.52">)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="167.5" y1="352.1523" y2="352.1523"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="219" x="171.5" y="356.1528">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="394.5" x2="552" y1="352.1523" y2="352.1523"/><ellipse cx="21.5" cy="367.3516" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="101" x="27" y="371.7856">sumLatencies</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="132" y="371.7856">← 0</text><ellipse cx="21.5" cy="382.4844" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="67" x="27" y="386.9185">numCalls</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="98" y="386.9185">← 0</text><ellipse cx="21.5" cy="397.6172" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="66" x="27" y="402.0513">numFails</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="97" y="402.0513">← 0</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="227" y1="412.6836" y2="412.6836"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="100" x="231" y="416.6841">urt_frtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="335" x2="552" y1="412.6836" y2="412.6836"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="123.5" y1="427.8164" y2="427.8164"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="307" x="127.5" y="431.8169">URT_CFG_RPC_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="438.5" x2="552" y1="427.8164" y2="427.8164"/><ellipse cx="21.5" cy="443.0156" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="110" x="27" y="447.4497">deadlineOffset</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="141" y="447.4497">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="152" x="156" y="447.4497">URT_DELAY_IMMEDIATE</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="138" y1="458.082" y2="458.082"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="278" x="142" y="462.0825">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="424" x2="552" y1="458.082" y2="458.082"/><ellipse cx="21.5" cy="473.2813" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="66" x="27" y="477.7153">maxJitter</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="97" y="477.7153">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="152" x="112" y="477.7153">URT_DELAY_IMMEDIATE</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="20.5" y1="488.3477" y2="488.3477"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="513" x="24.5" y="492.3481">URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="541.5" x2="552" y1="488.3477" y2="488.3477"/><ellipse cx="21.5" cy="503.5469" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="84" x="27" y="507.981">minLatency</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="115" y="507.981">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="144" x="130" y="507.981">URT_DELAY_INFINITE</text><ellipse cx="21.5" cy="518.6797" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="88" x="27" y="523.1138">maxLatency</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="119" y="523.1138">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="152" x="134" y="523.1138">URT_DELAY_IMMEDIATE</text><rect fill="#FEFECE" filter="url(#f1arq1m9rul0t0)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="131" x="572" y="350.3008"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="111" x="582" y="371.4395">initialize members</text><ellipse cx="637.5" cy="562.1797" fill="#FFFFFF" filter="url(#f1arq1m9rul0t0)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="637.5" cy="562.1797" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="637.5" x2="637.5" y1="153.3906" y2="173.3906"/><polygon fill="#A80036" points="633.5,163.3906,637.5,173.3906,641.5,163.3906,637.5,167.3906" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="637.5" x2="637.5" y1="193.3906" y2="350.3008"/><polygon fill="#A80036" points="633.5,340.3008,637.5,350.3008,641.5,340.3008,637.5,344.3008" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="637.5" x2="637.5" y1="384.2695" y2="551.1797"/><polygon fill="#A80036" points="633.5,541.1797,637.5,551.1797,641.5,541.1797,637.5,545.1797" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[84908617999551b7fe7ee59edb21f5f1]
+@startuml
+
+title **µRtWare**\nurtFrtRequestInit()\n
+
+
+note
+  - - **request** : urt_frtrequest_t* - -
+  The FRT request to initialize.
+  Must not be ""NULL"".
+  ====
+  - - **return** : void - -
+endnote
+
+
+start
+:initialize members;
+note
+  - - urt_baserequest_t - -
+  * **prev** ← ""NULL""
+  * **next** ← ""NULL""
+  * urtMutexInit(**lock**)
+  * **owner** ← ""NULL""
+  * **submissionTime** ← 0
+  * **payload** ← ""NULL""
+  * urtEventSourceInit(**evtSource**)
+  * urtEventListenerInit(**evtListener**)
+  .. URT_CFG_RPC_PROFILING == true ..
+  * **sumLatencies** ← 0
+  * **numCalls** ← 0
+  * **numFails** ← 0
+  - - urt_frtrequest_t - -
+  .. URT_CFG_RPC_QOS_DEADLINECHECKS == true ..
+  * **deadlineOffset** ← ""URT_DELAY_IMMEDIATE""
+  .. URT_CFG_RPC_QOS_JITTERCHECKS == true ..
+  * **maxJitter** ← ""URT_DELAY_IMMEDIATE""
+  .. URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true ..
+  * **minLatency** ← ""URT_DELAY_INFINITE""
+  * **maxLatency** ← ""URT_DELAY_IMMEDIATE""
+endnote
+stop
+
+
+@enduml
+
+PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
+Operating System: Linux
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/doc/activitydiagrams/request/frtrequest/urtFrtRequestInit.uml b/doc/activitydiagrams/request/frtrequest/urtFrtRequestInit.uml
new file mode 100644
index 0000000..075fcb6
--- /dev/null
+++ b/doc/activitydiagrams/request/frtrequest/urtFrtRequestInit.uml
@@ -0,0 +1,69 @@
+/'
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'/
+
+/'### INTRO ##################################################################'/
+
+@startuml
+
+title **µRtWare**\nurtFrtRequestInit()\n
+
+/'### PARAMETERS & RETURN ####################################################'/
+
+note
+  -- **request** : urt_frtrequest_t* --
+  The FRT request to initialize.
+  Must not be ""NULL"".
+  ====
+  -- **return** : void --
+endnote
+
+/'### PROCEDURE ##############################################################'/
+
+start
+:initialize members;
+note
+  -- urt_baserequest_t --
+  * **prev** ← ""NULL""
+  * **next** ← ""NULL""
+  * urtMutexInit(**lock**)
+  * **owner** ← ""NULL""
+  * **submissionTime** ← 0
+  * **payload** ← ""NULL""
+  * urtEventSourceInit(**evtSource**)
+  * urtEventListenerInit(**evtListener**)
+  .. URT_CFG_RPC_PROFILING == true ..
+  * **sumLatencies** ← 0
+  * **numCalls** ← 0
+  * **numFails** ← 0
+  -- urt_frtrequest_t --
+  .. URT_CFG_RPC_QOS_DEADLINECHECKS == true ..
+  * **deadlineOffset** ← ""URT_DELAY_IMMEDIATE""
+  .. URT_CFG_RPC_QOS_JITTERCHECKS == true ..
+  * **maxJitter** ← ""URT_DELAY_IMMEDIATE""
+  .. URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true ..
+  * **minLatency** ← ""URT_DELAY_INFINITE""
+  * **maxLatency** ← ""URT_DELAY_IMMEDIATE""
+endnote
+stop
+
+/'### OUTRO ##################################################################'/
+
+@enduml
diff --git a/doc/activitydiagrams/request/frtrequest/urtFrtRequestRelease.svg b/doc/activitydiagrams/request/frtrequest/urtFrtRequestRelease.svg
new file mode 100644
index 0000000..64587bf
--- /dev/null
+++ b/doc/activitydiagrams/request/frtrequest/urtFrtRequestRelease.svg
@@ -0,0 +1,41 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="333px" preserveAspectRatio="none" style="width:373px;height:333px;" version="1.1" viewBox="0 0 373 333" width="373px" zoomAndPan="magnify"><defs><filter height="300%" id="f1kpdy9lmjcfeu" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="141" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="206" x="82.5" y="47.6611">urtFrtRequestRelease()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="188.5" y="68.6143"/><path d="M85,72.8594 L85,183.6563 L361,183.6563 L361,82.8594 L351,72.8594 L85,72.8594 " fill="#FBFB77" filter="url(#f1kpdy9lmjcfeu)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M351,72.8594 L351,82.8594 L361,82.8594 L351,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="85" x2="131" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="135" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="135" y="89.4263">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="115" x="196" y="89.4263">: urt_frtrequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="315" x2="361" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="219" x="91" y="105.0591">The FRT request to release/unlock.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="91" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="171" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="203" y="120.1919">.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="255" x="91" y="135.3247">Must have been acquired/locked before.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="85" x2="361" y1="143.3906" y2="143.3906"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="85" x2="361" y1="145.3906" y2="145.3906"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="85" x2="152" y1="155.957" y2="155.957"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="156" y="159.9575"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="156" y="159.9575">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="205" y="159.9575">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="294" x2="361" y1="155.957" y2="155.957"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="93" x="91" y="175.5903">Always returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="188" y="175.5903">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="292" y="175.5903">.</text><ellipse cx="223" cy="213.6563" fill="#000000" filter="url(#f1kpdy9lmjcfeu)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#f1kpdy9lmjcfeu)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="114" x="166" y="243.6563"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="176" y="264.7949">unlock request</text><path d="M10,296.0586 L10,321.1914 A0,0 0 0 0 10,321.1914 L192,321.1914 A0,0 0 0 0 192,321.1914 L192,314.0586 L212,308.625 L192,306.0586 L192,306.0586 L182,296.0586 L10,296.0586 A0,0 0 0 0 10,296.0586 " fill="#FBFB77" filter="url(#f1kpdy9lmjcfeu)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M182,296.0586 L182,306.0586 L192,306.0586 L182,296.0586 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="16" y="313.1255">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="69" y="313.1255">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="173" y="313.1255">.</text><ellipse cx="223" cy="308.625" fill="#FFFFFF" filter="url(#f1kpdy9lmjcfeu)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="223" cy="308.625" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="223" x2="223" y1="183.6563" y2="203.6563"/><polygon fill="#A80036" points="219,193.6563,223,203.6563,227,193.6563,223,197.6563" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="223" x2="223" y1="223.6563" y2="243.6563"/><polygon fill="#A80036" points="219,233.6563,223,243.6563,227,233.6563,223,237.6563" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="223" x2="223" y1="277.625" y2="297.625"/><polygon fill="#A80036" points="219,287.625,223,297.625,227,287.625,223,291.625" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e5a2ec499f63643709488273b91be405]
+@startuml
+
+title **µRtWare**\nurtFrtRequestRelease()\n
+
+
+
+
+
+
+note
+  - - **request** : urt_frtrequest_t* - -
+  The FRT request to release/unlock.
+  Must not be ""NULL"".
+  Must have been acquired/locked before.
+  ====
+  - - **return** : urt_status_t - -
+  Always returns ""URT_STATUS_OK"".
+endnote
+
+
+  start
+  :unlock request;
+  stop
+  note
+    Returns ""URT_STATUS_OK"".
+  endnote
+
+
+@enduml
+
+PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
+Operating System: Linux
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/doc/activitydiagrams/request/frtrequest/urtFrtRequestRelease.uml b/doc/activitydiagrams/request/frtrequest/urtFrtRequestRelease.uml
new file mode 100644
index 0000000..e479286
--- /dev/null
+++ b/doc/activitydiagrams/request/frtrequest/urtFrtRequestRelease.uml
@@ -0,0 +1,48 @@
+/'
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'/
+
+/'### INTRO ##################################################################'/
+
+@startuml
+
+title **µRtWare**\nurtFrtRequestRelease()\n
+
+!include ../functions.iuml
+
+/'### PARAMETERS & RETURN ####################################################'/
+
+note
+  -- **request** : urt_frtrequest_t* --
+  The FRT request to release/unlock.
+  Must not be ""NULL"".
+  Must have been acquired/locked before.
+  ====
+  -- **return** : urt_status_t --
+  Always returns ""URT_STATUS_OK"".
+endnote
+
+/'### PROCEDURE ##############################################################'/
+
+$release_request()
+
+/'### OUTRO ##################################################################'/
+
+@enduml
diff --git a/doc/activitydiagrams/request/frtrequest/urtFrtRequestRetrieve.svg b/doc/activitydiagrams/request/frtrequest/urtFrtRequestRetrieve.svg
new file mode 100644
index 0000000..e3eec0f
--- /dev/null
+++ b/doc/activitydiagrams/request/frtrequest/urtFrtRequestRetrieve.svg
@@ -0,0 +1,74 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="837px" preserveAspectRatio="none" style="width:2306px;height:837px;" version="1.1" viewBox="0 0 2306 837" width="2306px" zoomAndPan="magnify"><defs><filter height="300%" id="f1l3acprou667y" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="1107.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="214" x="1045" y="47.6611">urtFrtRequestRetrieve()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="1155" y="68.6143"/><path d="M1339.25,72.8594 L1339.25,183.6563 L1943.25,183.6563 L1943.25,82.8594 L1933.25,72.8594 L1339.25,72.8594 " fill="#FBFB77" filter="url(#f1l3acprou667y)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1933.25,72.8594 L1933.25,82.8594 L1943.25,82.8594 L1933.25,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1339.25" x2="1549.25" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1553.25" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="1553.25" y="89.4263">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="115" x="1614.25" y="89.4263">: urt_frtrequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1733.25" x2="1943.25" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="150" x="1345.25" y="105.0591">The request to retrieve.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="1345.25" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1425.25" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1457.25" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1339.25" x2="1943.25" y1="128.2578" y2="128.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1339.25" x2="1943.25" y1="130.2578" y2="130.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1339.25" x2="1570.25" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1574.25" y="144.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="1574.25" y="144.8247">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="1623.25" y="144.8247">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1712.25" x2="1943.25" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="103" x="1345.25" y="160.4575">Typcially returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="1452.25" y="160.4575">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1556.25" y="160.4575">.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1345.25" y="175.5903">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="216" x="1398.25" y="175.5903">URT_STATUS_REQUEST_BADOWNER</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="310" x="1618.25" y="175.5903">if the request had to be removed from a service.</text><ellipse cx="1641.25" cy="213.6563" fill="#000000" filter="url(#f1l3acprou667y)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#f1l3acprou667y)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="98" x="1592.25" y="243.6563"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="78" x="1602.25" y="264.7949">lock request</text><polygon fill="#FEFECE" filter="url(#f1l3acprou667y)" points="1551.25,297.625,1731.25,297.625,1743.25,309.625,1731.25,321.625,1551.25,321.625,1539.25,309.625,1551.25,297.625" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="1551.25" y="313.4331">Request is owned by a service?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1519.25" y="307.0308">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1743.25" y="307.0308">no</text><rect fill="#000000" filter="url(#f1l3acprou667y)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="2047" x="10" y="331.625"/><rect fill="#FFFFFF" filter="url(#f1l3acprou667y)" height="398.6055" style="stroke: #000000; stroke-width: 2.0;" width="1867" x="22" y="357.625"/><path d="M153,358.625 L153,366.9219 L143,376.9219 L22,376.9219 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="121" x="25" y="371.6201">unqueue request</text><rect fill="#FEFECE" filter="url(#f1l3acprou667y)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="93" x="914" y="393.9219"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="73" x="924" y="415.0605">lock service</text><rect fill="#000000" filter="url(#f1l3acprou667y)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1847" x="32" y="447.8906"/><polygon fill="#FEFECE" filter="url(#f1l3acprou667y)" points="206,522.293,435,522.293,447,534.293,435,546.293,206,546.293,194,534.293,206,522.293" style="stroke: #A80036; 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stroke-width: 1.5;" x1="1038.5" x2="1038.5" y1="309.625" y2="331.625"/><polygon fill="#A80036" points="1034.5,321.625,1038.5,331.625,1042.5,321.625,1038.5,325.625" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1743.25" x2="2280" y1="309.625" y2="309.625"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2280" x2="2280" y1="309.625" y2="333.1914"/><polygon fill="#A80036" points="2276,323.1914,2280,333.1914,2284,323.1914,2280,327.1914" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1641.25" x2="1641.25" y1="277.625" y2="297.625"/><polygon fill="#A80036" points="1637.25,287.625,1641.25,297.625,1645.25,287.625,1641.25,291.625" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9c4f4d93bc947fed9c55dfd7888e452f]
+@startuml
+
+title **µRtWare**\nurtFrtRequestRetrieve()\n
+
+
+note
+  - - **request** : urt_frtrequest_t* - -
+  The request to retrieve.
+  Must not be ""NULL"".
+  ====
+  - - **return** : urt_status_t - -
+  Typcially returns ""URT_STATUS_OK"".
+  Returns ""URT_STATUS_REQUEST_BADOWNER"" if the request had to be removed from a service.
+endnote
+
+
+start
+:lock request;
+if (Request is owned by a service?) then (yes)
+  fork
+    partition "unqueue request" {
+      :lock service;
+      fork
+        if (This was the first request in the queue?) then (yes)
+          :set ""requestQueue_front"" to ""next"";
+        else (no)
+          :set ""prev"" of preceeding request to ""prev"" of this reuqest;
+        endif
+      fork again
+        if (This was the final request in the queue?) then (yes)
+          :set ""requestQueue_back"" to ""prev"";
+        else (no)
+          :set ""next"" of preceeding request to ""next"" of this reuqest;
+        endif
+      fork again
+        if (This was the final FRT/SRT request?) then (yes)
+          if (There are FRT or SRT requests left in the queue?) then (yes)
+            :set ""requestQueue_fsrtBack"" to ""prev"";
+          else (no)
+            :set ""requestQueue_fsrtBack"" to ""NULL"";
+          endif
+        else (no)
+        endif
+      endfork
+      :unlock service;
+    }
+  fork again
+    :set ""owner"" to ""NULL"";
+  endfork
+  stop
+  note
+    Returns ""URT_STATUS_REQUEST_BADOWNER"".
+  endnote
+else (no)
+  stop
+  note
+    Returns ""URT_STATUS_OK"".
+  endnote
+endif
+
+
+@enduml
+
+PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
+Operating System: Linux
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/doc/activitydiagrams/request/frtrequest/urtFrtRequestRetrieve.uml b/doc/activitydiagrams/request/frtrequest/urtFrtRequestRetrieve.uml
new file mode 100644
index 0000000..e136571
--- /dev/null
+++ b/doc/activitydiagrams/request/frtrequest/urtFrtRequestRetrieve.uml
@@ -0,0 +1,88 @@
+/'
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'/
+
+/'### INTRO ##################################################################'/
+
+@startuml
+
+title **µRtWare**\nurtFrtRequestRetrieve()\n
+
+/'### PARAMETERS & RETURN ####################################################'/
+
+note
+  -- **request** : urt_frtrequest_t* --
+  The request to retrieve.
+  Must not be ""NULL"".
+  ====
+  -- **return** : urt_status_t --
+  Typcially returns ""URT_STATUS_OK"".
+  Returns ""URT_STATUS_REQUEST_BADOWNER"" if the request had to be removed from a service.
+endnote
+
+/'### PROCEDURE ##############################################################'/
+
+start
+:lock request;
+if (Request is owned by a service?) then (yes)
+  fork
+    partition "unqueue request" {
+      :lock service;
+      fork
+        if (This was the first request in the queue?) then (yes)
+          :set ""requestQueue_front"" to ""next"";
+        else (no)
+          :set ""prev"" of preceeding request to ""prev"" of this reuqest;
+        endif
+      fork again
+        if (This was the final request in the queue?) then (yes)
+          :set ""requestQueue_back"" to ""prev"";
+        else (no)
+          :set ""next"" of preceeding request to ""next"" of this reuqest;
+        endif
+      fork again
+        if (This was the final FRT/SRT request?) then (yes)
+          if (There are FRT or SRT requests left in the queue?) then (yes)
+            :set ""requestQueue_fsrtBack"" to ""prev"";
+          else (no)
+            :set ""requestQueue_fsrtBack"" to ""NULL"";
+          endif
+        else (no)
+        endif
+      endfork
+      :unlock service;
+    }
+  fork again
+    :set ""owner"" to ""NULL"";
+  endfork
+  stop
+  note
+    Returns ""URT_STATUS_REQUEST_BADOWNER"".
+  endnote
+else (no)
+  stop
+  note
+    Returns ""URT_STATUS_OK"".
+  endnote
+endif
+
+/'### OUTRO ##################################################################'/
+
+@enduml
diff --git a/doc/activitydiagrams/request/frtrequest/urtFrtRequestSubmit.svg b/doc/activitydiagrams/request/frtrequest/urtFrtRequestSubmit.svg
new file mode 100644
index 0000000..933f42f
--- /dev/null
+++ b/doc/activitydiagrams/request/frtrequest/urtFrtRequestSubmit.svg
@@ -0,0 +1,102 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="1160px" preserveAspectRatio="none" style="width:5567px;height:1160px;" version="1.1" viewBox="0 0 5567 1160" width="5567px" zoomAndPan="magnify"><defs><filter height="300%" id="f8kcslisgc5v1" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="2738" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="199" x="2683" y="47.6611">urtFrtRequestSubmit()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="2785.5" y="68.6143"/><path d="M2642.5,72.8594 L2642.5,259.3203 L2958.5,259.3203 L2958.5,82.8594 L2948.5,72.8594 L2642.5,72.8594 " fill="#FBFB77" filter="url(#f8kcslisgc5v1)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2948.5,72.8594 L2948.5,82.8594 L2958.5,82.8594 L2948.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="2642.5" x2="2708.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="2712.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="2712.5" y="89.4263">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="115" x="2773.5" y="89.4263">: urt_frtrequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="2892.5" x2="2958.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="225" x="2648.5" y="105.0591">The request to be used for this call.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="2648.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="2728.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="2760.5" y="120.1919">.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="210" x="2648.5" y="135.3247">Must have been acquired before.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="2642.5" x2="2720" y1="145.957" y2="145.957"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="2724" y="149.9575"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="2724" y="149.9575">service</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="97" x="2780" y="149.9575">: urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="2881" x2="2958.5" y1="145.957" y2="145.957"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="154" x="2648.5" y="165.5903">The service to be called.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="2648.5" y="180.7231">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="2728.5" y="180.7231">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="2760.5" y="180.7231">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="2642.5" x2="2723" y1="191.3555" y2="191.3555"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="2727" y="195.356"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="64" x="2727" y="195.356">deadline</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="79" x="2795" y="195.356">: urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="2878" x2="2958.5" y1="191.3555" y2="191.3555"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="295" x="2648.5" y="210.9888">Deadline offset until when this request is valid.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="2642.5" x2="2958.5" y1="219.0547" y2="219.0547"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="2642.5" x2="2958.5" y1="221.0547" y2="221.0547"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="2642.5" x2="2729.5" y1="231.6211" y2="231.6211"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="2733.5" y="235.6216"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="2733.5" y="235.6216">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="2782.5" y="235.6216">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="2871.5" x2="2958.5" y1="231.6211" y2="231.6211"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="93" x="2648.5" y="251.2544">Always returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="2745.5" y="251.2544">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="2849.5" y="251.2544">.</text><ellipse cx="2800.5" cy="289.3203" fill="#000000" filter="url(#f8kcslisgc5v1)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#f8kcslisgc5v1)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="224" x="2688.5" y="319.3203"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="20" x="2698.5" y="340.459">set</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="98" x="2722.5" y="340.459">deadlineOffset</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="78" x="2824.5" y="340.459">to argument</text><rect fill="#FEFECE" filter="url(#f8kcslisgc5v1)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="93" x="2754" y="373.2891"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="73" x="2764" y="394.4277">lock service</text><rect fill="#000000" filter="url(#f8kcslisgc5v1)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="5546" x="10" y="427.2578"/><rect fill="#FFFFFF" filter="url(#f8kcslisgc5v1)" height="472.7383" style="stroke: #000000; stroke-width: 2.0;" width="5285" x="22" y="444.0596"/><path d="M153,445.0596 L153,453.3564 L143,463.3564 L22,463.3564 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="121" x="25" y="458.0547">enqueue request</text><rect fill="#000000" filter="url(#f8kcslisgc5v1)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="5265" x="32" y="480.3564"/><polygon fill="#FEFECE" filter="url(#f8kcslisgc5v1)" points="3247.5,506.3564,3431.5,506.3564,3443.5,518.3564,3431.5,530.3564,3247.5,530.3564,3235.5,518.3564,3247.5,506.3564" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="184" x="3247.5" y="522.1646">Service already holds requests?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="3215.5" y="515.7622">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="3443.5" y="515.7622">no</text><polygon fill="#FEFECE" filter="url(#f8kcslisgc5v1)" points="678.5,565.3564,928.5,565.3564,940.5,577.3564,928.5,589.3564,678.5,589.3564,666.5,577.3564,678.5,565.3564" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="807.5" y="599.5669">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="250" x="678.5" y="581.1646">Service already holds FRT or SRT requests?</text><rect fill="#FFFFFF" filter="url(#f8kcslisgc5v1)" height="206.6367" style="stroke: #000000; stroke-width: 2.0;" width="1493" x="56" y="622.1611"/><path d="M267,623.1611 L267,631.458 L257,641.458 L56,641.458 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="201" x="59" y="636.1563">append to FRT/SRT requests</text><rect fill="#FEFECE" filter="url(#f8kcslisgc5v1)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="249" x="679" y="658.458"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="229" x="689" y="679.5967">access last queued FRT/SRT request</text><rect fill="#000000" filter="url(#f8kcslisgc5v1)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; 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+@startuml
+
+title **µRtWare**\nurtFrtRequestSubmit()\n
+
+
+note
+  - - **request** : urt_frtrequest_t* - -
+  The request to be used for this call.
+  Must not be ""NULL"".
+  Must have been acquired before.
+  - - **service** : urt_service_t* - -
+  The service to be called.
+  Must not be ""NULL"".
+  - - **deadline** : urt_delay_t - -
+  Deadline offset until when this request is valid.
+  ====
+  - - **return** : urt_status_t - -
+  Always returns ""URT_STATUS_OK"".
+endnote
+
+
+start
+:set ""deadlineOffset"" to argument;
+:lock service;
+fork
+  partition "enqueue request" {
+    fork
+      if (Service already holds requests?) then (yes)
+        if (Service already holds FRT or SRT requests?) then (yes)
+          partition "append to FRT/SRT requests" {
+            :access last queued FRT/SRT request;
+            fork
+              :set ""next"" pointer of this request to ""next"" of queued request;
+            fork again
+              :set ""prev"" pointer of this request to of queued request;
+            fork again
+              :set ""next"" pointer of queued request to this request;
+            fork again
+              :set ""prev"" pointer of next request to this request;
+            endfork
+          }
+        elseif (Service already holds HRT requests?) then (yes)
+          partition "enqueue after last HRT request" {
+            :access last queued HRT request;
+            fork
+              :set ""next"" pointer of this request to ""next"" of queued request;
+            fork again
+              :set ""prev"" pointer of this request to of queued request;
+            fork again
+              :set ""next"" pointer of queued request to this request;
+            fork again
+              :set ""prev"" pointer of next request to this request;
+            endfork
+          }
+        else (no)
+          partition "enqueue in fron of NRT requests" {
+            :access first queued request;
+            fork
+              :set ""next"" pointer of this request to queued request;
+            fork again
+              :set ""prev"" pointer of queued request to this request;
+            fork again
+              :set the ""requestQueue_front"" pointer to this request;
+            endfork
+          }
+        endif
+      else (no)
+        fork
+          :set the ""requestQueue_front"" pointer to this request;
+        fork again
+          :set the ""requestQueue_back"" pointer to this request;
+        endfork
+      endif
+    fork again
+      :set the ""requestQueue_fsrtBack"" pointer to this request;
+    endfork
+  }
+fork again
+  :set the service as request owner;
+endfork
+:unlock request;
+:fire event (@service);
+:unlock service;
+stop
+note
+  Returns ""URT_STATUS_OK"".
+endnote
+
+
+@enduml
+
+PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
+Operating System: Linux
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/doc/activitydiagrams/request/frtrequest/urtFrtRequestSubmit.uml b/doc/activitydiagrams/request/frtrequest/urtFrtRequestSubmit.uml
new file mode 100644
index 0000000..cf16b5c
--- /dev/null
+++ b/doc/activitydiagrams/request/frtrequest/urtFrtRequestSubmit.uml
@@ -0,0 +1,116 @@
+/'
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'/
+
+/'### INTRO ##################################################################'/
+
+@startuml
+
+title **µRtWare**\nurtFrtRequestSubmit()\n
+
+/'### PARAMETERS & RETURN ####################################################'/
+
+note
+  -- **request** : urt_frtrequest_t* --
+  The request to be used for this call.
+  Must not be ""NULL"".
+  Must have been acquired before.
+  -- **service** : urt_service_t* --
+  The service to be called.
+  Must not be ""NULL"".
+  -- **deadline** : urt_delay_t --
+  Deadline offset until when this request is valid.
+  ====
+  -- **return** : urt_status_t --
+  Always returns ""URT_STATUS_OK"".
+endnote
+
+/'### PROCEDURE ##############################################################'/
+
+start
+:set ""deadlineOffset"" to argument;
+:lock service;
+fork
+  partition "enqueue request" {
+    fork
+      if (Service already holds requests?) then (yes)
+        if (Service already holds FRT or SRT requests?) then (yes)
+          partition "append to FRT/SRT requests" {
+            :access last queued FRT/SRT request;
+            fork
+              :set ""next"" pointer of this request to ""next"" of queued request;
+            fork again
+              :set ""prev"" pointer of this request to of queued request;
+            fork again
+              :set ""next"" pointer of queued request to this request;
+            fork again
+              :set ""prev"" pointer of next request to this request;
+            endfork
+          }
+        elseif (Service already holds HRT requests?) then (yes)
+          partition "enqueue after last HRT request" {
+            :access last queued HRT request;
+            fork
+              :set ""next"" pointer of this request to ""next"" of queued request;
+            fork again
+              :set ""prev"" pointer of this request to of queued request;
+            fork again
+              :set ""next"" pointer of queued request to this request;
+            fork again
+              :set ""prev"" pointer of next request to this request;
+            endfork
+          }
+        else (no)
+          partition "enqueue in fron of NRT requests" {
+            :access first queued request;
+            fork
+              :set ""next"" pointer of this request to queued request;
+            fork again
+              :set ""prev"" pointer of queued request to this request;
+            fork again
+              :set the ""requestQueue_front"" pointer to this request;
+            endfork
+          }
+        endif
+      else (no)
+        fork
+          :set the ""requestQueue_front"" pointer to this request;
+        fork again
+          :set the ""requestQueue_back"" pointer to this request;
+        endfork
+      endif
+    fork again
+      :set the ""requestQueue_fsrtBack"" pointer to this request;
+    endfork
+  }
+fork again
+  :set the service as request owner;
+endfork
+:unlock request;
+:fire event (@service);
+:unlock service;
+stop
+note
+  Returns ""URT_STATUS_OK"".
+endnote
+
+/'### OUTRO ##################################################################'/
+
+@enduml
diff --git a/doc/activitydiagrams/request/frtrequest/urtFrtRequestTryAcquire.svg b/doc/activitydiagrams/request/frtrequest/urtFrtRequestTryAcquire.svg
new file mode 100644
index 0000000..e9aa77f
--- /dev/null
+++ b/doc/activitydiagrams/request/frtrequest/urtFrtRequestTryAcquire.svg
@@ -0,0 +1,60 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="470px" preserveAspectRatio="none" style="width:1030px;height:470px;" version="1.1" viewBox="0 0 1030 470" width="1030px" zoomAndPan="magnify"><defs><filter height="300%" id="f4frahx4klt7e" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="469.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="235" x="396.5" y="47.6611">urtFrtRequestTryAcquire()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="517" y="68.6143"/><path d="M437,72.8594 L437,198.7891 L1018,198.7891 L1018,82.8594 L1008,72.8594 L437,72.8594 " fill="#FBFB77" filter="url(#f4frahx4klt7e)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1008,72.8594 L1008,82.8594 L1018,82.8594 L1008,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="437" x2="635.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="639.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="639.5" y="89.4263">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="115" x="700.5" y="89.4263">: urt_frtrequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="819.5" x2="1018" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="202" x="443" y="105.0591">The FRT request to be acquired.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="443" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="523" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="555" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="437" x2="1018" y1="128.2578" y2="128.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="437" x2="1018" y1="130.2578" y2="130.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="437" x2="656.5" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="660.5" y="144.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="660.5" y="144.8247">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="709.5" y="144.8247">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="798.5" x2="1018" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="443" y="160.4575">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="496" y="160.4575">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="120" x="604" y="160.4575">in case of success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="443" y="175.5903">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="216" x="496" y="175.5903">URT_STATUS_REQUEST_BADOWNER</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="287" x="716" y="175.5903">if the request is aloready owned by a service.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="443" y="190.7231">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="200" x="496" y="190.7231">URT_STATUS_REQUEST_LOCKED</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="254" x="700" y="190.7231">if the request's mutex is already locked.</text><ellipse cx="727.5" cy="228.7891" fill="#000000" filter="url(#f4frahx4klt7e)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M538.5,263.207 L538.5,288.3398 A0,0 0 0 0 538.5,288.3398 L658.5,288.3398 A0,0 0 0 0 658.5,288.3398 L658.5,281.207 L678.5,275.7734 L658.5,273.207 L658.5,273.207 L648.5,263.207 L538.5,263.207 A0,0 0 0 0 538.5,263.207 " fill="#FBFB77" filter="url(#f4frahx4klt7e)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M648.5,263.207 L648.5,273.207 L658.5,273.207 L648.5,263.207 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="99" x="544.5" y="280.2739">Does not block.</text><rect fill="#FEFECE" filter="url(#f4frahx4klt7e)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="98" x="678.5" y="258.7891"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="78" x="688.5" y="279.9277">lock request</text><polygon fill="#FEFECE" filter="url(#f4frahx4klt7e)" points="655.5,312.7578,799.5,312.7578,811.5,324.7578,799.5,336.7578,655.5,336.7578,643.5,324.7578,655.5,312.7578" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="144" x="655.5" y="328.5659">Request could be locked?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="623.5" y="322.1636">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="811.5" y="322.1636">no</text><polygon fill="#FEFECE" filter="url(#f4frahx4klt7e)" points="390,346.7578,570,346.7578,582,358.7578,570,370.7578,390,370.7578,378,358.7578,390,346.7578" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="390" y="362.5659">Request is owned by a service?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="358" y="356.1636">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="582" y="356.1636">no</text><rect fill="#FEFECE" filter="url(#f4frahx4klt7e)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="114" x="278" y="380.7578"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="288" y="401.8965">unlock request</text><path d="M10,433.1602 L10,458.293 A0,0 0 0 0 10,458.293 L304,458.293 A0,0 0 0 0 304,458.293 L304,451.1602 L324,445.7266 L304,443.1602 L304,443.1602 L294,433.1602 L10,433.1602 A0,0 0 0 0 10,433.1602 " fill="#FBFB77" filter="url(#f4frahx4klt7e)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M294,433.1602 L294,443.1602 L304,443.1602 L294,433.1602 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="16" y="450.2271">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="216" x="69" y="450.2271">URT_STATUS_REQUEST_BADOWNER</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="285" y="450.2271">.</text><ellipse cx="335" cy="445.7266" fill="#FFFFFF" filter="url(#f4frahx4klt7e)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="335" cy="445.7266" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><path d="M412,380.7578 L412,405.8906 A0,0 0 0 0 412,405.8906 L594,405.8906 A0,0 0 0 0 594,405.8906 L594,398.7578 L614,393.3242 L594,390.7578 L594,390.7578 L584,380.7578 L412,380.7578 A0,0 0 0 0 412,380.7578 " fill="#FBFB77" filter="url(#f4frahx4klt7e)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M584,380.7578 L584,390.7578 L594,390.7578 L584,380.7578 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="418" y="397.8247">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="471" y="397.8247">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="575" y="397.8247">.</text><ellipse cx="625" cy="393.3242" fill="#FFFFFF" filter="url(#f4frahx4klt7e)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="625" cy="393.3242" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><path d="M666,346.7578 L666,371.8906 A0,0 0 0 0 666,371.8906 L944,371.8906 A0,0 0 0 0 944,371.8906 L944,364.7578 L964,359.3242 L944,356.7578 L944,356.7578 L934,346.7578 L666,346.7578 A0,0 0 0 0 666,346.7578 " fill="#FBFB77" filter="url(#f4frahx4klt7e)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M934,346.7578 L934,356.7578 L944,356.7578 L934,346.7578 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="672" y="363.8247">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="200" x="725" y="363.8247">URT_STATUS_REQUEST_LOCKED</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="925" y="363.8247">.</text><ellipse cx="975" cy="359.3242" fill="#FFFFFF" filter="url(#f4frahx4klt7e)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="975" cy="359.3242" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="727.5" x2="727.5" y1="198.7891" y2="218.7891"/><polygon fill="#A80036" points="723.5,208.7891,727.5,218.7891,731.5,208.7891,727.5,212.7891" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="727.5" x2="727.5" y1="238.7891" y2="258.7891"/><polygon fill="#A80036" points="723.5,248.7891,727.5,258.7891,731.5,248.7891,727.5,252.7891" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="335" x2="335" y1="414.7266" y2="434.7266"/><polygon fill="#A80036" points="331,424.7266,335,434.7266,339,424.7266,335,428.7266" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="378" x2="335" y1="358.7578" y2="358.7578"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="335" x2="335" y1="358.7578" y2="380.7578"/><polygon fill="#A80036" points="331,370.7578,335,380.7578,339,370.7578,335,374.7578" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="582" x2="625" y1="358.7578" y2="358.7578"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="625" x2="625" y1="358.7578" y2="382.3242"/><polygon fill="#A80036" points="621,372.3242,625,382.3242,629,372.3242,625,376.3242" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="643.5" x2="480" y1="324.7578" y2="324.7578"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="480" x2="480" y1="324.7578" y2="346.7578"/><polygon fill="#A80036" points="476,336.7578,480,346.7578,484,336.7578,480,340.7578" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="811.5" x2="975" y1="324.7578" y2="324.7578"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="975" x2="975" y1="324.7578" y2="348.3242"/><polygon fill="#A80036" points="971,338.3242,975,348.3242,979,338.3242,975,342.3242" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="727.5" x2="727.5" y1="292.7578" y2="312.7578"/><polygon fill="#A80036" points="723.5,302.7578,727.5,312.7578,731.5,302.7578,727.5,306.7578" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f92a1a9b582757a58fc980210ee04ff2]
+@startuml
+
+title **µRtWare**\nurtFrtRequestTryAcquire()\n
+
+
+
+
+
+
+note
+  - - **request** : urt_frtrequest_t* - -
+  The FRT request to be acquired.
+  Must not be ""NULL"".
+  ====
+  - - **return** : urt_status_t - -
+  Returns ""URT_STATUS_OK"" in case of success.
+  Returns ""URT_STATUS_REQUEST_BADOWNER"" if the request is aloready owned by a service.
+  Returns ""URT_STATUS_REQUEST_LOCKED"" if the request's mutex is already locked.
+endnote
+
+
+  start
+  :lock request;
+  note
+    Does not block.
+  endnote
+  if (Request could be locked?) then (yes)
+    if (Request is owned by a service?) then (yes)
+      :unlock request;
+      stop
+      note
+        Returns ""URT_STATUS_REQUEST_BADOWNER"".
+      endnote
+    else (no)
+      stop
+      note
+        Returns ""URT_STATUS_OK"".
+      endnote
+    endif
+  else (no)
+    stop
+    note
+      Returns ""URT_STATUS_REQUEST_LOCKED"".
+    endnote
+  endif
+
+
+@enduml
+
+PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
+Operating System: Linux
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/doc/activitydiagrams/request/frtrequest/urtFrtRequestTryAcquire.uml b/doc/activitydiagrams/request/frtrequest/urtFrtRequestTryAcquire.uml
new file mode 100644
index 0000000..a225ba1
--- /dev/null
+++ b/doc/activitydiagrams/request/frtrequest/urtFrtRequestTryAcquire.uml
@@ -0,0 +1,49 @@
+/'
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'/
+
+/'### INTRO ##################################################################'/
+
+@startuml
+
+title **µRtWare**\nurtFrtRequestTryAcquire()\n
+
+!include ../functions.iuml
+
+/'### PARAMETERS & RETURN ####################################################'/
+
+note
+  -- **request** : urt_frtrequest_t* --
+  The FRT request to be acquired.
+  Must not be ""NULL"".
+  ====
+  -- **return** : urt_status_t --
+  Returns ""URT_STATUS_OK"" in case of success.
+  Returns ""URT_STATUS_REQUEST_BADOWNER"" if the request is aloready owned by a service.
+  Returns ""URT_STATUS_REQUEST_LOCKED"" if the request's mutex is already locked.
+endnote
+
+/'### PROCEDURE ##############################################################'/
+
+$try_acquire_request()
+
+/'### OUTRO ##################################################################'/
+
+@enduml
diff --git a/doc/activitydiagrams/request/functions.iuml b/doc/activitydiagrams/request/functions.iuml
new file mode 100644
index 0000000..383b2b1
--- /dev/null
+++ b/doc/activitydiagrams/request/functions.iuml
@@ -0,0 +1,79 @@
+/'
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'/
+
+/' Acquire a request (blocking). '/
+!function $acquire_request()
+  start
+  :lock request;
+  note
+    Execution is blocked until mutex is locked.
+  endnote
+  if (Request is owned by a service?) then (yes)
+    :unlock request;
+    stop
+    note
+      Returns ""URT_STATUS_REQUEST_BADOWNER"".
+    endnote
+  else (no)
+    stop
+    note
+      Returns ""URT_STATUS_OK"".
+    endnote
+  endif
+!endfunction
+
+/' Try to acquire a request (non blocking). '/
+!function $try_acquire_request()
+  start
+  :lock request;
+  note
+    Does not block.
+  endnote
+  if (Request could be locked?) then (yes)
+    if (Request is owned by a service?) then (yes)
+      :unlock request;
+      stop
+      note
+        Returns ""URT_STATUS_REQUEST_BADOWNER"".
+      endnote
+    else (no)
+      stop
+      note
+        Returns ""URT_STATUS_OK"".
+      endnote
+    endif
+  else (no)
+    stop
+    note
+      Returns ""URT_STATUS_REQUEST_LOCKED"".
+    endnote
+  endif
+!endfunction
+
+/' Release a previously acquired request. '/
+!function $release_request()
+  start
+  :unlock request;
+  stop
+  note
+    Returns ""URT_STATUS_OK"".
+  endnote
+!endfunction
diff --git a/doc/activitydiagrams/request/hrtrequest/urtHrtRequestAcquire.svg b/doc/activitydiagrams/request/hrtrequest/urtHrtRequestAcquire.svg
new file mode 100644
index 0000000..1bdf545
--- /dev/null
+++ b/doc/activitydiagrams/request/hrtrequest/urtHrtRequestAcquire.svg
@@ -0,0 +1,52 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="421px" preserveAspectRatio="none" style="width:782px;height:421px;" version="1.1" viewBox="0 0 782 421" width="782px" zoomAndPan="magnify"><defs><filter height="300%" id="f1e0w1sy8rsxn8" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="345.75" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="208" x="286.25" y="47.6611">urtHrtRequestAcquire()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="393.25" y="68.6143"/><path d="M189.5,72.8594 L189.5,183.6563 L770.5,183.6563 L770.5,82.8594 L760.5,72.8594 L189.5,72.8594 " fill="#FBFB77" filter="url(#f1e0w1sy8rsxn8)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M760.5,72.8594 L760.5,82.8594 L770.5,82.8594 L760.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="189.5" x2="386" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="390" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="390" y="89.4263">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="119" x="451" y="89.4263">: urt_hrtrequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="574" x2="770.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="205" x="195.5" y="105.0591">The HRT request to be acquired.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="195.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="275.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="307.5" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="189.5" x2="770.5" y1="128.2578" y2="128.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="189.5" x2="770.5" y1="130.2578" y2="130.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="189.5" x2="409" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="413" y="144.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="413" y="144.8247">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="462" y="144.8247">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="551" x2="770.5" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="195.5" y="160.4575">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="248.5" y="160.4575">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="120" x="356.5" y="160.4575">in case of success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="195.5" y="175.5903">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="216" x="248.5" y="175.5903">URT_STATUS_REQUEST_BADOWNER</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="287" x="468.5" y="175.5903">if the request is aloready owned by a service.</text><ellipse cx="480" cy="213.6563" fill="#000000" filter="url(#f1e0w1sy8rsxn8)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M122,248.0742 L122,273.207 A0,0 0 0 0 122,273.207 L411,273.207 A0,0 0 0 0 411,273.207 L411,266.0742 L431,260.6406 L411,258.0742 L411,258.0742 L401,248.0742 L122,248.0742 A0,0 0 0 0 122,248.0742 " fill="#FBFB77" filter="url(#f1e0w1sy8rsxn8)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M401,248.0742 L401,258.0742 L411,258.0742 L401,248.0742 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="268" x="128" y="265.1411">Execution is blocked until mutex is locked.</text><rect fill="#FEFECE" filter="url(#f1e0w1sy8rsxn8)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="98" x="431" y="243.6563"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="78" x="441" y="264.7949">lock request</text><polygon fill="#FEFECE" filter="url(#f1e0w1sy8rsxn8)" points="390,297.625,570,297.625,582,309.625,570,321.625,390,321.625,378,309.625,390,297.625" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="390" y="313.4331">Request is owned by a service?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="358" y="307.0308">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="582" y="307.0308">no</text><rect fill="#FEFECE" filter="url(#f1e0w1sy8rsxn8)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="114" x="278" y="331.625"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="288" y="352.7637">unlock request</text><path d="M10,384.0273 L10,409.1602 A0,0 0 0 0 10,409.1602 L304,409.1602 A0,0 0 0 0 304,409.1602 L304,402.0273 L324,396.5938 L304,394.0273 L304,394.0273 L294,384.0273 L10,384.0273 A0,0 0 0 0 10,384.0273 " fill="#FBFB77" filter="url(#f1e0w1sy8rsxn8)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M294,384.0273 L294,394.0273 L304,394.0273 L294,384.0273 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="16" y="401.0942">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="216" x="69" y="401.0942">URT_STATUS_REQUEST_BADOWNER</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="285" y="401.0942">.</text><ellipse cx="335" cy="396.5938" fill="#FFFFFF" filter="url(#f1e0w1sy8rsxn8)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="335" cy="396.5938" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><path d="M412,331.625 L412,356.7578 A0,0 0 0 0 412,356.7578 L594,356.7578 A0,0 0 0 0 594,356.7578 L594,349.625 L614,344.1914 L594,341.625 L594,341.625 L584,331.625 L412,331.625 A0,0 0 0 0 412,331.625 " fill="#FBFB77" filter="url(#f1e0w1sy8rsxn8)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M584,331.625 L584,341.625 L594,341.625 L584,331.625 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="418" y="348.6919">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="471" y="348.6919">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="575" y="348.6919">.</text><ellipse cx="625" cy="344.1914" fill="#FFFFFF" filter="url(#f1e0w1sy8rsxn8)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="625" cy="344.1914" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="480" x2="480" y1="183.6563" y2="203.6563"/><polygon fill="#A80036" points="476,193.6563,480,203.6563,484,193.6563,480,197.6563" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="480" x2="480" y1="223.6563" y2="243.6563"/><polygon fill="#A80036" points="476,233.6563,480,243.6563,484,233.6563,480,237.6563" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="335" x2="335" y1="365.5938" y2="385.5938"/><polygon fill="#A80036" points="331,375.5938,335,385.5938,339,375.5938,335,379.5938" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="378" x2="335" y1="309.625" y2="309.625"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="335" x2="335" y1="309.625" y2="331.625"/><polygon fill="#A80036" points="331,321.625,335,331.625,339,321.625,335,325.625" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="582" x2="625" y1="309.625" y2="309.625"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="625" x2="625" y1="309.625" y2="333.1914"/><polygon fill="#A80036" points="621,323.1914,625,333.1914,629,323.1914,625,327.1914" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="480" x2="480" y1="277.625" y2="297.625"/><polygon fill="#A80036" points="476,287.625,480,297.625,484,287.625,480,291.625" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0b9accb25ee225a772f31552e27fcb46]
+@startuml
+
+title **µRtWare**\nurtHrtRequestAcquire()\n
+
+
+
+
+
+
+note
+  - - **request** : urt_hrtrequest_t* - -
+  The HRT request to be acquired.
+  Must not be ""NULL"".
+  ====
+  - - **return** : urt_status_t - -
+  Returns ""URT_STATUS_OK"" in case of success.
+  Returns ""URT_STATUS_REQUEST_BADOWNER"" if the request is aloready owned by a service.
+endnote
+
+
+  start
+  :lock request;
+  note
+    Execution is blocked until mutex is locked.
+  endnote
+  if (Request is owned by a service?) then (yes)
+    :unlock request;
+    stop
+    note
+      Returns ""URT_STATUS_REQUEST_BADOWNER"".
+    endnote
+  else (no)
+    stop
+    note
+      Returns ""URT_STATUS_OK"".
+    endnote
+  endif
+
+
+@enduml
+
+PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
+Operating System: Linux
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/doc/activitydiagrams/request/hrtrequest/urtHrtRequestAcquire.uml b/doc/activitydiagrams/request/hrtrequest/urtHrtRequestAcquire.uml
new file mode 100644
index 0000000..63308d0
--- /dev/null
+++ b/doc/activitydiagrams/request/hrtrequest/urtHrtRequestAcquire.uml
@@ -0,0 +1,48 @@
+/'
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'/
+
+/'### INTRO ##################################################################'/
+
+@startuml
+
+title **µRtWare**\nurtHrtRequestAcquire()\n
+
+!include ../functions.iuml
+
+/'### PARAMETERS & RETURN ####################################################'/
+
+note
+  -- **request** : urt_hrtrequest_t* --
+  The HRT request to be acquired.
+  Must not be ""NULL"".
+  ====
+  -- **return** : urt_status_t --
+  Returns ""URT_STATUS_OK"" in case of success.
+  Returns ""URT_STATUS_REQUEST_BADOWNER"" if the request is aloready owned by a service.
+endnote
+
+/'### PROCEDURE ##############################################################'/
+
+$acquire_request()
+
+/'### OUTRO ##################################################################'/
+
+@enduml
diff --git a/doc/activitydiagrams/request/hrtrequest/urtHrtRequestGetMaxJitter.svg b/doc/activitydiagrams/request/hrtrequest/urtHrtRequestGetMaxJitter.svg
new file mode 100644
index 0000000..6258cd1
--- /dev/null
+++ b/doc/activitydiagrams/request/hrtrequest/urtHrtRequestGetMaxJitter.svg
@@ -0,0 +1,35 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="264px" preserveAspectRatio="none" style="width:469px;height:264px;" version="1.1" viewBox="0 0 469 264" width="469px" zoomAndPan="magnify"><defs><filter height="300%" id="f1b5jv7tpnazcw" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="189" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="254" x="106.5" y="47.6611">urtHrtRequestGetMaxJitter()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="236.5" y="68.6143"/><path d="M215,72.8594 L215,168.5234 L457,168.5234 L457,82.8594 L447,72.8594 L215,72.8594 " fill="#FBFB77" filter="url(#f1b5jv7tpnazcw)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M447,72.8594 L447,82.8594 L457,82.8594 L447,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="215" x2="242" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="246" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="246" y="89.4263">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="119" x="307" y="89.4263">: urt_hrtrequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="430" x2="457" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="152" x="221" y="105.0591">The request to initialize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="221" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="301" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="333" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="215" x2="457" y1="128.2578" y2="128.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="215" x2="457" y1="130.2578" y2="130.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="215" x2="245" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="249" y="144.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="249" y="144.8247">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="125" x="298" y="144.8247">: urt_delay_t* const</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="427" x2="457" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="87" x="221" y="160.4575">Pointer to the</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="72" x="312" y="160.4575">maxJitter</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="54" x="388" y="160.4575">variable.</text><ellipse cx="336" cy="198.5234" fill="#000000" filter="url(#f1b5jv7tpnazcw)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M10,226.957 L10,252.0898 A0,0 0 0 0 10,252.0898 L305,252.0898 A0,0 0 0 0 305,252.0898 L305,244.957 L325,239.5234 L305,236.957 L305,236.957 L295,226.957 L10,226.957 A0,0 0 0 0 10,226.957 " fill="#FBFB77" filter="url(#f1b5jv7tpnazcw)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M295,226.957 L295,236.957 L305,236.957 L295,226.957 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="140" x="16" y="244.0239">Returns pointer to the</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="72" x="160" y="244.0239">maxJitter</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="54" x="236" y="244.0239">variable.</text><ellipse cx="336" cy="239.5234" fill="#FFFFFF" filter="url(#f1b5jv7tpnazcw)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="336" cy="239.5234" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="336" x2="336" y1="168.5234" y2="188.5234"/><polygon fill="#A80036" points="332,178.5234,336,188.5234,340,178.5234,336,182.5234" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="336" x2="336" y1="208.5234" y2="228.5234"/><polygon fill="#A80036" points="332,218.5234,336,228.5234,340,218.5234,336,222.5234" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6ce966c870ec339d87f0ad16f0c2e0f5]
+@startuml
+
+title **µRtWare**\nurtHrtRequestGetMaxJitter()\n
+
+
+note
+  - - **request** : urt_hrtrequest_t* - -
+  The request to initialize.
+  Must not be ""NULL"".
+  ====
+  - - **return** : urt_delay_t* const - -
+  Pointer to the ""maxJitter"" variable.
+endnote
+
+
+start
+stop
+note
+  Returns pointer to the ""maxJitter"" variable.
+endnote
+
+
+@enduml
+
+PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
+Operating System: Linux
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/doc/activitydiagrams/request/hrtrequest/urtHrtRequestGetMaxJitter.uml b/doc/activitydiagrams/request/hrtrequest/urtHrtRequestGetMaxJitter.uml
new file mode 100644
index 0000000..984e4f9
--- /dev/null
+++ b/doc/activitydiagrams/request/hrtrequest/urtHrtRequestGetMaxJitter.uml
@@ -0,0 +1,49 @@
+/'
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'/
+
+/'### INTRO ##################################################################'/
+
+@startuml
+
+title **µRtWare**\nurtHrtRequestGetMaxJitter()\n
+
+/'### PARAMETERS & RETURN ####################################################'/
+
+note
+  -- **request** : urt_hrtrequest_t* --
+  The request to initialize.
+  Must not be ""NULL"".
+  ====
+  -- **return** : urt_delay_t* const --
+  Pointer to the ""maxJitter"" variable.
+endnote
+
+/'### PROCEDURE ##############################################################'/
+
+start
+stop
+note
+  Returns pointer to the ""maxJitter"" variable.
+endnote
+
+/'### OUTRO ##################################################################'/
+
+@enduml
diff --git a/doc/activitydiagrams/request/hrtrequest/urtHrtRequestInit.svg b/doc/activitydiagrams/request/hrtrequest/urtHrtRequestInit.svg
new file mode 100644
index 0000000..b9e74a2
--- /dev/null
+++ b/doc/activitydiagrams/request/hrtrequest/urtHrtRequestInit.svg
@@ -0,0 +1,57 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="614px" preserveAspectRatio="none" style="width:871px;height:614px;" version="1.1" viewBox="0 0 871 614" width="871px" zoomAndPan="magnify"><defs><filter height="300%" id="f7citks540izp" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="390" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="170" x="349.5" y="47.6611">urtHrtRequestInit()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="437.5" y="68.6143"/><path d="M650,72.8594 L650,153.3906 L859,153.3906 L859,82.8594 L849,72.8594 L650,72.8594 " fill="#FBFB77" filter="url(#f7citks540izp)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M849,72.8594 L849,82.8594 L859,82.8594 L849,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="650" x2="660.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="664.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="664.5" y="89.4263">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="119" x="725.5" y="89.4263">: urt_hrtrequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="848.5" x2="859" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="181" x="656" y="105.0591">The HRT request to initialize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="656" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="736" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="768" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="650" x2="859" y1="128.2578" y2="128.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="650" x2="859" y1="130.2578" y2="130.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="650" x2="709" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="713" y="144.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="713" y="144.8247">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="34" x="762" y="144.8247">: void</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="800" x2="859" y1="140.8242" y2="140.8242"/><ellipse cx="754.5" cy="183.3906" fill="#000000" filter="url(#f7citks540izp)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M10,203.3906 L10,561.4453 A0,0 0 0 0 10,561.4453 L669,561.4453 A0,0 0 0 0 669,561.4453 L669,386.418 L689,382.418 L669,378.418 L669,213.3906 L659,203.3906 L10,203.3906 A0,0 0 0 0 10,203.3906 " fill="#FBFB77" filter="url(#f7citks540izp)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M659,203.3906 L659,213.3906 L669,213.3906 L659,203.3906 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="277" y1="215.957" y2="215.957"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="117" x="281" y="219.9575">urt_baserequest_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="402" x2="669" y1="215.957" y2="215.957"/><ellipse cx="21.5" cy="231.1563" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="33" x="27" y="235.5903">prev</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="64" y="235.5903">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="79" y="235.5903">NULL</text><ellipse cx="21.5" cy="246.2891" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="32" x="27" y="250.7231">next</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="63" y="250.7231">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="78" y="250.7231">NULL</text><ellipse cx="21.5" cy="261.4219" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="81" x="27" y="265.856">urtMutexInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="30" x="108" y="265.856">lock</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="138" y="265.856">)</text><ellipse cx="21.5" cy="276.5547" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="27" y="280.9888">owner</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="76" y="280.9888">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="91" y="280.9888">NULL</text><ellipse cx="21.5" cy="291.6875" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="118" x="27" y="296.1216">submissionTime</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="149" y="296.1216">← 0</text><ellipse cx="21.5" cy="306.8203" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="59" x="27" y="311.2544">payload</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="90" y="311.2544">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="105" y="311.2544">NULL</text><ellipse cx="21.5" cy="321.9531" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="123" x="27" y="326.3872">urtEventSourceInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="73" x="150" y="326.3872">evtSource</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="223" y="326.3872">)</text><ellipse cx="21.5" cy="337.0859" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="129" x="27" y="341.52">urtEventListenerInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="82" x="156" y="341.52">evtListener</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="238" y="341.52">)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="226" y1="352.1523" y2="352.1523"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="219" x="230" y="356.1528">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="453" x2="669" y1="352.1523" y2="352.1523"/><ellipse cx="21.5" cy="367.3516" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="101" x="27" y="371.7856">sumLatencies</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="132" y="371.7856">← 0</text><ellipse cx="21.5" cy="382.4844" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="67" x="27" y="386.9185">numCalls</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="98" y="386.9185">← 0</text><ellipse cx="21.5" cy="397.6172" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="66" x="27" y="402.0513">numFails</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="97" y="402.0513">← 0</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="283.5" y1="412.6836" y2="412.6836"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="287.5" y="416.6841">urt_hrtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="395.5" x2="669" y1="412.6836" y2="412.6836"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="182" y1="427.8164" y2="427.8164"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="307" x="186" y="431.8169">URT_CFG_RPC_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="497" x2="669" y1="427.8164" y2="427.8164"/><ellipse cx="21.5" cy="443.0156" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="110" x="27" y="447.4497">deadlineOffset</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="141" y="447.4497">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="152" x="156" y="447.4497">URT_DELAY_IMMEDIATE</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="196.5" y1="458.082" y2="458.082"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="278" x="200.5" y="462.0825">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="482.5" x2="669" y1="458.082" y2="458.082"/><ellipse cx="21.5" cy="473.2813" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="66" x="27" y="477.7153">maxJitter</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="97" y="477.7153">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="152" x="112" y="477.7153">URT_DELAY_IMMEDIATE</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="20.5" y1="488.3477" y2="488.3477"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="630" x="24.5" y="492.3481">URT_CFG_RPC_QOS_DEADLINECHECKS == true || URT_CFG_RPC_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="658.5" x2="669" y1="488.3477" y2="488.3477"/><ellipse cx="21.5" cy="503.5469" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="78" x="27" y="507.981">urtTimerInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="133" x="105" y="507.981">qosDeadlineTimer</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="238" y="507.981">)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="79" y1="518.6133" y2="518.6133"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="513" x="83" y="522.6138">URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="600" x2="669" y1="518.6133" y2="518.6133"/><ellipse cx="21.5" cy="533.8125" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="84" x="27" y="538.2466">minLatency</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="115" y="538.2466">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="144" x="130" y="538.2466">URT_DELAY_INFINITE</text><ellipse cx="21.5" cy="548.9453" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="88" x="27" y="553.3794">maxLatency</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="119" y="553.3794">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="152" x="134" y="553.3794">URT_DELAY_IMMEDIATE</text><rect fill="#FEFECE" filter="url(#f7citks540izp)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="131" x="689" y="365.4336"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="111" x="699" y="386.5723">initialize members</text><ellipse cx="754.5" cy="592.4453" fill="#FFFFFF" filter="url(#f7citks540izp)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="754.5" cy="592.4453" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="754.5" x2="754.5" y1="153.3906" y2="173.3906"/><polygon fill="#A80036" points="750.5,163.3906,754.5,173.3906,758.5,163.3906,754.5,167.3906" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="754.5" x2="754.5" y1="193.3906" y2="365.4336"/><polygon fill="#A80036" points="750.5,355.4336,754.5,365.4336,758.5,355.4336,754.5,359.4336" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="754.5" x2="754.5" y1="399.4023" y2="581.4453"/><polygon fill="#A80036" points="750.5,571.4453,754.5,581.4453,758.5,571.4453,754.5,575.4453" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[636976d5d2bd98bd3582f896d27307ae]
+@startuml
+
+title **µRtWare**\nurtHrtRequestInit()\n
+
+
+note
+  - - **request** : urt_hrtrequest_t* - -
+  The HRT request to initialize.
+  Must not be ""NULL"".
+  ====
+  - - **return** : void - -
+endnote
+
+
+start
+:initialize members;
+note
+  - - urt_baserequest_t - -
+  * **prev** ← ""NULL""
+  * **next** ← ""NULL""
+  * urtMutexInit(**lock**)
+  * **owner** ← ""NULL""
+  * **submissionTime** ← 0
+  * **payload** ← ""NULL""
+  * urtEventSourceInit(**evtSource**)
+  * urtEventListenerInit(**evtListener**)
+  .. URT_CFG_RPC_PROFILING == true ..
+  * **sumLatencies** ← 0
+  * **numCalls** ← 0
+  * **numFails** ← 0
+  - - urt_hrtrequest_t - -
+  .. URT_CFG_RPC_QOS_DEADLINECHECKS == true ..
+  * **deadlineOffset** ← ""URT_DELAY_IMMEDIATE""
+  .. URT_CFG_RPC_QOS_JITTERCHECKS == true ..
+  * **maxJitter** ← ""URT_DELAY_IMMEDIATE""
+  .. URT_CFG_RPC_QOS_DEADLINECHECKS == true || URT_CFG_RPC_QOS_DEADLINECHECKS == true ..
+  * urtTimerInit(**qosDeadlineTimer**)
+  .. URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true ..
+  * **minLatency** ← ""URT_DELAY_INFINITE""
+  * **maxLatency** ← ""URT_DELAY_IMMEDIATE""
+endnote
+stop
+
+
+@enduml
+
+PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
+Operating System: Linux
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/doc/activitydiagrams/request/hrtrequest/urtHrtRequestInit.uml b/doc/activitydiagrams/request/hrtrequest/urtHrtRequestInit.uml
new file mode 100644
index 0000000..e379a27
--- /dev/null
+++ b/doc/activitydiagrams/request/hrtrequest/urtHrtRequestInit.uml
@@ -0,0 +1,71 @@
+/'
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'/
+
+/'### INTRO ##################################################################'/
+
+@startuml
+
+title **µRtWare**\nurtHrtRequestInit()\n
+
+/'### PARAMETERS & RETURN ####################################################'/
+
+note
+  -- **request** : urt_hrtrequest_t* --
+  The HRT request to initialize.
+  Must not be ""NULL"".
+  ====
+  -- **return** : void --
+endnote
+
+/'### PROCEDURE ##############################################################'/
+
+start
+:initialize members;
+note
+  -- urt_baserequest_t --
+  * **prev** ← ""NULL""
+  * **next** ← ""NULL""
+  * urtMutexInit(**lock**)
+  * **owner** ← ""NULL""
+  * **submissionTime** ← 0
+  * **payload** ← ""NULL""
+  * urtEventSourceInit(**evtSource**)
+  * urtEventListenerInit(**evtListener**)
+  .. URT_CFG_RPC_PROFILING == true ..
+  * **sumLatencies** ← 0
+  * **numCalls** ← 0
+  * **numFails** ← 0
+  -- urt_hrtrequest_t --
+  .. URT_CFG_RPC_QOS_DEADLINECHECKS == true ..
+  * **deadlineOffset** ← ""URT_DELAY_IMMEDIATE""
+  .. URT_CFG_RPC_QOS_JITTERCHECKS == true ..
+  * **maxJitter** ← ""URT_DELAY_IMMEDIATE""
+  .. URT_CFG_RPC_QOS_DEADLINECHECKS == true || URT_CFG_RPC_QOS_DEADLINECHECKS == true ..
+  * urtTimerInit(**qosDeadlineTimer**)
+  .. URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true ..
+  * **minLatency** ← ""URT_DELAY_INFINITE""
+  * **maxLatency** ← ""URT_DELAY_IMMEDIATE""
+endnote
+stop
+
+/'### OUTRO ##################################################################'/
+
+@enduml
diff --git a/doc/activitydiagrams/request/hrtrequest/urtHrtRequestRelease.svg b/doc/activitydiagrams/request/hrtrequest/urtHrtRequestRelease.svg
new file mode 100644
index 0000000..8eddcb7
--- /dev/null
+++ b/doc/activitydiagrams/request/hrtrequest/urtHrtRequestRelease.svg
@@ -0,0 +1,41 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="333px" preserveAspectRatio="none" style="width:373px;height:333px;" version="1.1" viewBox="0 0 373 333" width="373px" zoomAndPan="magnify"><defs><filter height="300%" id="fw8wmo97x1eks" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="141" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="210" x="80.5" y="47.6611">urtHrtRequestRelease()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="188.5" y="68.6143"/><path d="M85,72.8594 L85,183.6563 L361,183.6563 L361,82.8594 L351,72.8594 L85,72.8594 " fill="#FBFB77" filter="url(#fw8wmo97x1eks)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M351,72.8594 L351,82.8594 L361,82.8594 L351,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="85" x2="129" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="133" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="133" y="89.4263">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="119" x="194" y="89.4263">: urt_hrtrequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="317" x2="361" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="222" x="91" y="105.0591">The HRT request to release/unlock.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="91" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="171" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="203" y="120.1919">.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="255" x="91" y="135.3247">Must have been acquired/locked before.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="85" x2="361" y1="143.3906" y2="143.3906"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="85" x2="361" y1="145.3906" y2="145.3906"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="85" x2="152" y1="155.957" y2="155.957"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="156" y="159.9575"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="156" y="159.9575">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="205" y="159.9575">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="294" x2="361" y1="155.957" y2="155.957"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="93" x="91" y="175.5903">Always returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="188" y="175.5903">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="292" y="175.5903">.</text><ellipse cx="223" cy="213.6563" fill="#000000" filter="url(#fw8wmo97x1eks)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#fw8wmo97x1eks)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="114" x="166" y="243.6563"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="176" y="264.7949">unlock request</text><path d="M10,296.0586 L10,321.1914 A0,0 0 0 0 10,321.1914 L192,321.1914 A0,0 0 0 0 192,321.1914 L192,314.0586 L212,308.625 L192,306.0586 L192,306.0586 L182,296.0586 L10,296.0586 A0,0 0 0 0 10,296.0586 " fill="#FBFB77" filter="url(#fw8wmo97x1eks)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M182,296.0586 L182,306.0586 L192,306.0586 L182,296.0586 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="16" y="313.1255">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="69" y="313.1255">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="173" y="313.1255">.</text><ellipse cx="223" cy="308.625" fill="#FFFFFF" filter="url(#fw8wmo97x1eks)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="223" cy="308.625" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="223" x2="223" y1="183.6563" y2="203.6563"/><polygon fill="#A80036" points="219,193.6563,223,203.6563,227,193.6563,223,197.6563" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="223" x2="223" y1="223.6563" y2="243.6563"/><polygon fill="#A80036" points="219,233.6563,223,243.6563,227,233.6563,223,237.6563" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="223" x2="223" y1="277.625" y2="297.625"/><polygon fill="#A80036" points="219,287.625,223,297.625,227,287.625,223,291.625" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[223f1e9ae2bd1ce84100d23ee180a65f]
+@startuml
+
+title **µRtWare**\nurtHrtRequestRelease()\n
+
+
+
+
+
+
+note
+  - - **request** : urt_hrtrequest_t* - -
+  The HRT request to release/unlock.
+  Must not be ""NULL"".
+  Must have been acquired/locked before.
+  ====
+  - - **return** : urt_status_t - -
+  Always returns ""URT_STATUS_OK"".
+endnote
+
+
+  start
+  :unlock request;
+  stop
+  note
+    Returns ""URT_STATUS_OK"".
+  endnote
+
+
+@enduml
+
+PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
+Operating System: Linux
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/doc/activitydiagrams/request/hrtrequest/urtHrtRequestRelease.uml b/doc/activitydiagrams/request/hrtrequest/urtHrtRequestRelease.uml
new file mode 100644
index 0000000..43ae72b
--- /dev/null
+++ b/doc/activitydiagrams/request/hrtrequest/urtHrtRequestRelease.uml
@@ -0,0 +1,48 @@
+/'
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'/
+
+/'### INTRO ##################################################################'/
+
+@startuml
+
+title **µRtWare**\nurtHrtRequestRelease()\n
+
+!include ../functions.iuml
+
+/'### PARAMETERS & RETURN ####################################################'/
+
+note
+  -- **request** : urt_hrtrequest_t* --
+  The HRT request to release/unlock.
+  Must not be ""NULL"".
+  Must have been acquired/locked before.
+  ====
+  -- **return** : urt_status_t --
+  Always returns ""URT_STATUS_OK"".
+endnote
+
+/'### PROCEDURE ##############################################################'/
+
+$release_request()
+
+/'### OUTRO ##################################################################'/
+
+@enduml
diff --git a/doc/activitydiagrams/request/hrtrequest/urtHrtRequestRetrieve.svg b/doc/activitydiagrams/request/hrtrequest/urtHrtRequestRetrieve.svg
new file mode 100644
index 0000000..9a3936a
--- /dev/null
+++ b/doc/activitydiagrams/request/hrtrequest/urtHrtRequestRetrieve.svg
@@ -0,0 +1,78 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="947px" preserveAspectRatio="none" style="width:2041px;height:947px;" version="1.1" viewBox="0 0 2041 947" width="2041px" zoomAndPan="magnify"><defs><filter height="300%" id="f15t8xlgj95u06" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="975" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="218" x="910.5" y="47.6611">urtHrtRequestRetrieve()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="1022.5" y="68.6143"/><path d="M1162,72.8594 L1162,183.6563 L1766,183.6563 L1766,82.8594 L1756,72.8594 L1162,72.8594 " fill="#FBFB77" filter="url(#f15t8xlgj95u06)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1756,72.8594 L1756,82.8594 L1766,82.8594 L1756,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1162" x2="1370" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1374" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="1374" y="89.4263">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="119" x="1435" y="89.4263">: urt_hrtrequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1558" x2="1766" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="150" x="1168" y="105.0591">The request to retrieve.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="1168" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1248" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1280" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1162" x2="1766" y1="128.2578" y2="128.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1162" x2="1766" y1="130.2578" y2="130.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1162" x2="1393" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1397" y="144.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="1397" y="144.8247">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="1446" y="144.8247">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1535" x2="1766" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="103" x="1168" y="160.4575">Typcially returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="1275" y="160.4575">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1379" y="160.4575">.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1168" y="175.5903">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="216" x="1221" y="175.5903">URT_STATUS_REQUEST_BADOWNER</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="310" x="1441" y="175.5903">if the request had to be removed from a service.</text><ellipse cx="1464" cy="213.6563" fill="#000000" filter="url(#f15t8xlgj95u06)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#f15t8xlgj95u06)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="98" x="1415" y="243.6563"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="78" x="1425" y="264.7949">lock request</text><rect fill="#FEFECE" filter="url(#f15t8xlgj95u06)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="118" x="1405" y="297.625"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="98" x="1415" y="318.7637">reset QoS timer</text><path d="M1268,399.9961 L1268,425.1289 A0,0 0 0 0 1268,425.1289 L1433,425.1289 A0,0 0 0 0 1433,425.1289 L1433,417.9961 L1453,412.5625 L1433,409.9961 L1433,409.9961 L1423,399.9961 L1268,399.9961 A0,0 0 0 0 1268,399.9961 " fill="#FBFB77" filter="url(#f15t8xlgj95u06)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1423,399.9961 L1423,409.9961 L1433,409.9961 L1423,399.9961 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="144" x="1274" y="417.063">Execute system panic.</text><ellipse cx="1464" cy="412.5625" fill="#FFFFFF" filter="url(#f15t8xlgj95u06)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="1464" cy="412.5625" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#f15t8xlgj95u06)" points="1332,351.5938,1596,351.5938,1608,363.5938,1596,375.5938,1332,375.5938,1320,363.5938,1332,351.5938" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1468" y="385.8042">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="264" x="1332" y="367.4019">Latency is lower than allowed by jitter setting?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1608" y="360.9995">no</text><polygon fill="#FEFECE" filter="url(#f15t8xlgj95u06)" points="1374,467.1289,1554,467.1289,1566,479.1289,1554,491.1289,1374,491.1289,1362,479.1289,1374,467.1289" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="1374" y="482.937">Request is owned by a service?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1342" y="476.5347">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1566" y="476.5347">no</text><rect fill="#000000" filter="url(#f15t8xlgj95u06)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1782" x="10" y="501.1289"/><rect fill="#FFFFFF" filter="url(#f15t8xlgj95u06)" height="339.0078" style="stroke: #000000; stroke-width: 2.0;" width="1602" x="22" y="527.1289"/><path d="M153,528.1289 L153,536.4258 L143,546.4258 L22,546.4258 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="121" x="25" y="541.124">unqueue request</text><rect fill="#FEFECE" filter="url(#f15t8xlgj95u06)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="93" x="776.5" y="563.4258"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="73" x="786.5" y="584.5645">lock service</text><rect fill="#000000" filter="url(#f15t8xlgj95u06)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1582" x="32" y="617.3945"/><polygon fill="#FEFECE" filter="url(#f15t8xlgj95u06)" points="206,659.7969,435,659.7969,447,671.7969,435,683.7969,206,683.7969,194,671.7969,206,659.7969" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="229" x="206" y="675.605">This was the first request in the queue?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="174" y="669.2026">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="447" y="669.2026">no</text><rect fill="#FEFECE" filter="url(#f15t8xlgj95u06)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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stroke-width: 1.0;"/><!--MD5=[459800495ff547d8635b98a94728b6e8]
+@startuml
+
+title **µRtWare**\nurtHrtRequestRetrieve()\n
+
+
+note
+  - - **request** : urt_hrtrequest_t* - -
+  The request to retrieve.
+  Must not be ""NULL"".
+  ====
+  - - **return** : urt_status_t - -
+  Typcially returns ""URT_STATUS_OK"".
+  Returns ""URT_STATUS_REQUEST_BADOWNER"" if the request had to be removed from a service.
+endnote
+
+
+start
+:lock request;
+:reset QoS timer;
+if (Latency is lower than allowed by jitter setting?) then (yes)
+  stop
+  note
+    Execute system panic.
+  endnote
+else (no)
+endif
+if (Request is owned by a service?) then (yes)
+  fork
+    partition "unqueue request" {
+      :lock service;
+      fork
+        if (This was the first request in the queue?) then (yes)
+          :set ""requestQueue_front"" to ""next"";
+        else (no)
+          :set ""prev"" of preceeding request to ""prev"" of this reuqest;
+        endif
+      fork again
+        if (This was the final request in the queue?) then (yes)
+          :set ""requestQueue_back"" to ""prev"";
+        else (no)
+          :set ""next"" of preceeding request to ""next"" of this reuqest;
+        endif
+      fork again
+        if (This was the final HRT request?) then (yes)
+          :set ""requestQueue_hrtBack"" to ""prev"";
+        else (no)
+        endif
+      endfork
+      :unlock service;
+    }
+  fork again
+    :set ""owner"" to ""NULL"";
+  endfork
+  stop
+  note
+    Returns ""URT_STATUS_REQUEST_BADOWNER"".
+  endnote
+else (no)
+  stop
+  note
+    Returns ""URT_STATUS_OK"".
+  endnote
+endif
+
+
+@enduml
+
+PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
+Operating System: Linux
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/doc/activitydiagrams/request/hrtrequest/urtHrtRequestRetrieve.uml b/doc/activitydiagrams/request/hrtrequest/urtHrtRequestRetrieve.uml
new file mode 100644
index 0000000..e2fb9a4
--- /dev/null
+++ b/doc/activitydiagrams/request/hrtrequest/urtHrtRequestRetrieve.uml
@@ -0,0 +1,92 @@
+/'
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'/
+
+/'### INTRO ##################################################################'/
+
+@startuml
+
+title **µRtWare**\nurtHrtRequestRetrieve()\n
+
+/'### PARAMETERS & RETURN ####################################################'/
+
+note
+  -- **request** : urt_hrtrequest_t* --
+  The request to retrieve.
+  Must not be ""NULL"".
+  ====
+  -- **return** : urt_status_t --
+  Typcially returns ""URT_STATUS_OK"".
+  Returns ""URT_STATUS_REQUEST_BADOWNER"" if the request had to be removed from a service.
+endnote
+
+/'### PROCEDURE ##############################################################'/
+
+start
+:lock request;
+:reset QoS timer;
+if (Latency is lower than allowed by jitter setting?) then (yes)
+  stop
+  note
+    Execute system panic.
+  endnote
+else (no)
+endif
+if (Request is owned by a service?) then (yes)
+  fork
+    partition "unqueue request" {
+      :lock service;
+      fork
+        if (This was the first request in the queue?) then (yes)
+          :set ""requestQueue_front"" to ""next"";
+        else (no)
+          :set ""prev"" of preceeding request to ""prev"" of this reuqest;
+        endif
+      fork again
+        if (This was the final request in the queue?) then (yes)
+          :set ""requestQueue_back"" to ""prev"";
+        else (no)
+          :set ""next"" of preceeding request to ""next"" of this reuqest;
+        endif
+      fork again
+        if (This was the final HRT request?) then (yes)
+          :set ""requestQueue_hrtBack"" to ""prev"";
+        else (no)
+        endif
+      endfork
+      :unlock service;
+    }
+  fork again
+    :set ""owner"" to ""NULL"";
+  endfork
+  stop
+  note
+    Returns ""URT_STATUS_REQUEST_BADOWNER"".
+  endnote
+else (no)
+  stop
+  note
+    Returns ""URT_STATUS_OK"".
+  endnote
+endif
+
+/'### OUTRO ##################################################################'/
+
+@enduml
diff --git a/doc/activitydiagrams/request/hrtrequest/urtHrtRequestSubmit.svg b/doc/activitydiagrams/request/hrtrequest/urtHrtRequestSubmit.svg
new file mode 100644
index 0000000..b2ed090
--- /dev/null
+++ b/doc/activitydiagrams/request/hrtrequest/urtHrtRequestSubmit.svg
@@ -0,0 +1,106 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="1498px" preserveAspectRatio="none" style="width:4425px;height:1498px;" version="1.1" viewBox="0 0 4425 1498" width="4425px" zoomAndPan="magnify"><defs><filter height="300%" id="fvzd484lffbzs" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="2167" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="203" x="2110" y="47.6611">urtHrtRequestSubmit()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="2214.5" y="68.6143"/><path d="M2071,72.8594 L2071,259.3203 L2387,259.3203 L2387,82.8594 L2377,72.8594 L2071,72.8594 " fill="#FBFB77" filter="url(#fvzd484lffbzs)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2377,72.8594 L2377,82.8594 L2387,82.8594 L2377,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="2071" x2="2135" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="2139" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="2139" y="89.4263">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="119" x="2200" y="89.4263">: urt_hrtrequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="2323" x2="2387" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="225" x="2077" y="105.0591">The request to be used for this call.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="2077" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="2157" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="2189" y="120.1919">.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="210" x="2077" y="135.3247">Must have been acquired before.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="2071" x2="2148.5" y1="145.957" y2="145.957"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="2152.5" y="149.9575"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="2152.5" y="149.9575">service</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="97" x="2208.5" y="149.9575">: urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="2309.5" x2="2387" y1="145.957" y2="145.957"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="154" x="2077" y="165.5903">The service to be called.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="2077" y="180.7231">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="2157" y="180.7231">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="2189" y="180.7231">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="2071" x2="2151.5" y1="191.3555" y2="191.3555"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="2155.5" y="195.356"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="64" x="2155.5" y="195.356">deadline</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="79" x="2223.5" y="195.356">: urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="2306.5" x2="2387" y1="191.3555" y2="191.3555"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="295" x="2077" y="210.9888">Deadline offset until when this request is valid.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="2071" x2="2387" y1="219.0547" y2="219.0547"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="2071" x2="2387" y1="221.0547" y2="221.0547"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="2071" x2="2158" y1="231.6211" y2="231.6211"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="2162" y="235.6216"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="2162" y="235.6216">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="2211" y="235.6216">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="2300" x2="2387" y1="231.6211" y2="231.6211"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="93" x="2077" y="251.2544">Always returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="2174" y="251.2544">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="2278" y="251.2544">.</text><ellipse cx="2229" cy="289.3203" fill="#000000" filter="url(#fvzd484lffbzs)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#000000" filter="url(#fvzd484lffbzs)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="572" x="1943" y="319.3203"/><rect fill="#FEFECE" filter="url(#fvzd484lffbzs)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="292" x="1957" y="345.3203"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="272" x="1967" y="366.459">set QoS timer to deadline or maximum jitter</text><rect fill="#FEFECE" filter="url(#fvzd484lffbzs)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="224" x="2277" y="345.3203"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="20" x="2287" y="366.459">set</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="98" x="2311" y="366.459">deadlineOffset</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="78" x="2413" y="366.459">to argument</text><rect fill="#000000" filter="url(#fvzd484lffbzs)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="572" x="1943" y="399.2891"/><rect fill="#FEFECE" filter="url(#fvzd484lffbzs)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="93" x="2182.5" y="425.2891"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="73" x="2192.5" y="446.4277">lock service</text><rect fill="#000000" filter="url(#fvzd484lffbzs)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="4404" x="10" y="479.2578"/><rect fill="#FFFFFF" filter="url(#fvzd484lffbzs)" height="758.7813" style="stroke: #000000; stroke-width: 2.0;" width="4143" x="22" y="496.0596"/><path d="M153,497.0596 L153,505.3564 L143,515.3564 L22,515.3564 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="121" x="25" y="510.0547">enqueue request</text><polygon fill="#FEFECE" filter="url(#fvzd484lffbzs)" points="2606.625,532.3564,2790.625,532.3564,2802.625,544.3564,2790.625,556.3564,2606.625,556.3564,2594.625,544.3564,2606.625,532.3564" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="184" x="2606.625" y="548.1646">Service already holds requests?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="2574.625" y="541.7622">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="2802.625" y="541.7622">no</text><polygon fill="#FEFECE" filter="url(#fvzd484lffbzs)" points="1634.25,566.3564,1844.25,566.3564,1856.25,578.3564,1844.25,590.3564,1634.25,590.3564,1622.25,578.3564,1634.25,566.3564" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="1634.25" y="582.1646">Service already holds HRT requests?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1602.25" y="575.7622">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1856.25" y="575.7622">no</text><rect fill="#FEFECE" filter="url(#fvzd484lffbzs)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="225" x="871.5" y="600.3564"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="205" x="881.5" y="621.4951">access first queued HRT request</text><rect fill="#FEFECE" filter="url(#fvzd484lffbzs)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="173" x="897.5" y="730.1299"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="153" x="907.5" y="751.2686">proceed to next request</text><polygon fill="#FEFECE" filter="url(#fvzd484lffbzs)" points="860.5,669.3252,1107.5,669.3252,1119.5,681.3252,1107.5,693.3252,860.5,693.3252,848.5,681.3252,860.5,669.3252" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="988" y="703.5356">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="247" x="860.5" y="685.1333">Queued request is more or equally critical?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="834.5" y="678.731">no</text><rect fill="#000000" filter="url(#fvzd484lffbzs)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; 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stroke-width: 1.5;" width="344" x="812" y="880.501"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="20" x="822" y="901.6396">set</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="28" x="846" y="901.6396">next</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="268" x="878" y="901.6396">pointer of previous request to this request</text><rect fill="#FEFECE" filter="url(#fvzd484lffbzs)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="339" x="1166" y="880.501"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="20" x="1176" y="901.6396">set</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="28" x="1200" y="901.6396">prev</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="263" x="1232" y="901.6396">pointer of queued request to this request</text><rect fill="#FEFECE" filter="url(#fvzd484lffbzs)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="355" x="1543" y="880.501"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="45" x="1553" y="901.6396">set the</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="140" x="1602" y="901.6396">requestQueue_hrtBack</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="142" x="1746" y="901.6396">pointer to this request</text><polygon fill="#FEFECE" filter="url(#fvzd484lffbzs)" points="1614,832.0986,1827,832.0986,1839,844.0986,1827,856.0986,1614,856.0986,1602,844.0986,1614,832.0986" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1724.5" y="866.3091">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="1614" y="847.9067">This is the least critical HRT request?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1839" y="841.5044">no</text><polygon fill="#FEFECE" filter="url(#fvzd484lffbzs)" points="1720.5,934.4697,1732.5,946.4697,1720.5,958.4697,1708.5,946.4697,1720.5,934.4697" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#000000" filter="url(#fvzd484lffbzs)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1882" x="52" y="978.4697"/><rect fill="#FEFECE" filter="url(#fvzd484lffbzs)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="2414" y="600.3564"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="177" x="2424" y="621.4951">access first queued request</text><rect fill="#000000" filter="url(#fvzd484lffbzs)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1115" x="1954" y="669.3252"/><rect fill="#FEFECE" filter="url(#fvzd484lffbzs)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="339" x="1968" y="695.3252"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="20" x="1978" y="716.4639">set</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="28" x="2002" y="716.4639">next</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="263" x="2034" y="716.4639">pointer of this request to queued request</text><rect fill="#FEFECE" filter="url(#fvzd484lffbzs)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="339" x="2335" y="695.3252"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="20" x="2345" y="716.4639">set</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="28" x="2369" y="716.4639">prev</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="263" x="2401" y="716.4639">pointer of queued request to this request</text><rect fill="#FEFECE" filter="url(#fvzd484lffbzs)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="355" x="2702" y="695.3252"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="45" x="2712" y="716.4639">set the</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="140" x="2761" y="716.4639">requestQueue_hrtBack</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="142" x="2905" y="716.4639">pointer to this request</text><rect fill="#000000" filter="url(#fvzd484lffbzs)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1115" x="1954" y="749.2939"/><polygon fill="#FEFECE" filter="url(#fvzd484lffbzs)" points="1739.25,990.4697,1751.25,1002.4697,1739.25,1014.4697,1727.25,1002.4697,1739.25,990.4697" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#000000" filter="url(#fvzd484lffbzs)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="795" x="1341.75" y="1034.4697"/><rect fill="#FEFECE" filter="url(#fvzd484lffbzs)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="341" x="1365.75" y="1108.8721"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="45" x="1375.75" y="1130.0107">set the</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="126" x="1424.75" y="1130.0107">requestQueue_front</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="142" x="1554.75" y="1130.0107">pointer to this request</text><polygon fill="#FEFECE" filter="url(#fvzd484lffbzs)" points="1419.75,1060.4697,1652.75,1060.4697,1664.75,1072.4697,1652.75,1084.4697,1419.75,1084.4697,1407.75,1072.4697,1419.75,1060.4697" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1540.25" y="1094.6802">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="1419.75" y="1076.2778">The request is at the front of the queue?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1664.75" y="1069.8755">no</text><polygon fill="#FEFECE" filter="url(#fvzd484lffbzs)" points="1536.25,1162.8408,1548.25,1174.8408,1536.25,1186.8408,1524.25,1174.8408,1536.25,1162.8408" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#FEFECE" filter="url(#fvzd484lffbzs)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="334" x="1766.75" y="1108.8721"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="45" x="1776.75" y="1130.0107">set the</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="1825.75" y="1130.0107">requestQueue_back</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="142" x="1948.75" y="1130.0107">pointer to this request</text><polygon fill="#FEFECE" filter="url(#fvzd484lffbzs)" points="1817.75,1060.4697,2049.75,1060.4697,2061.75,1072.4697,2049.75,1084.4697,1817.75,1084.4697,1805.75,1072.4697,1817.75,1060.4697" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1937.75" y="1094.6802">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="232" x="1817.75" y="1076.2778">The request is at the back of the queue?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="2061.75" y="1069.8755">no</text><polygon fill="#FEFECE" filter="url(#fvzd484lffbzs)" points="1933.75,1162.8408,1945.75,1174.8408,1933.75,1186.8408,1921.75,1174.8408,1933.75,1162.8408" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#000000" filter="url(#fvzd484lffbzs)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="795" x="1341.75" y="1206.8408"/><rect fill="#000000" filter="url(#fvzd484lffbzs)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1074" x="3079" y="566.3564"/><rect fill="#FEFECE" filter="url(#fvzd484lffbzs)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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stroke-width: 1.5;" width="355" x="3786" y="592.3564"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="45" x="3796" y="613.4951">set the</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="140" x="3845" y="613.4951">requestQueue_hrtBack</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="142" x="3989" y="613.4951">pointer to this request</text><rect fill="#000000" filter="url(#fvzd484lffbzs)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1074" x="3079" y="646.3252"/><polygon fill="#FEFECE" filter="url(#fvzd484lffbzs)" points="2698.625,1218.8408,2710.625,1230.8408,2698.625,1242.8408,2686.625,1230.8408,2698.625,1218.8408" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#FEFECE" filter="url(#fvzd484lffbzs)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="227" x="4175" y="865.8682"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="207" x="4185" y="887.0068">set the service as request owner</text><rect fill="#000000" filter="url(#fvzd484lffbzs)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; 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+@startuml
+
+title **µRtWare**\nurtHrtRequestSubmit()\n
+
+
+note
+  - - **request** : urt_hrtrequest_t* - -
+  The request to be used for this call.
+  Must not be ""NULL"".
+  Must have been acquired before.
+  - - **service** : urt_service_t* - -
+  The service to be called.
+  Must not be ""NULL"".
+  - - **deadline** : urt_delay_t - -
+  Deadline offset until when this request is valid.
+  ====
+  - - **return** : urt_status_t - -
+  Always returns ""URT_STATUS_OK"".
+endnote
+
+
+start
+fork
+  :set QoS timer to deadline or maximum jitter;
+fork again
+  :set ""deadlineOffset"" to argument;
+endfork
+:lock service;
+fork
+  partition "enqueue request" {
+    if (Service already holds requests?) then (yes)
+      if (Service already holds HRT requests?) then (yes)
+        :access first queued HRT request;
+        while (Queued request is more or equally critical?) is (yes)
+          :proceed to next request;
+        endwhile (no)
+        fork
+          :set ""next"" pointer of this request to queued request;
+        fork again
+          :set ""prev"" pointer of this request to ""prev"" of queued request;
+        fork again
+          :set ""next"" pointer of previous request to this request;
+        fork again
+          :set ""prev"" pointer of queued request to this request;
+        fork again
+          if (This is the least critical HRT request?) then (yes)
+            :set the ""requestQueue_hrtBack"" pointer to this request;
+          else (no)
+          endif
+        endfork
+      else (no)
+        :access first queued request;
+        fork
+          :set ""next"" pointer of this request to queued request;
+        fork again
+          :set ""prev"" pointer of queued request to this request;
+        fork again
+          :set the ""requestQueue_hrtBack"" pointer to this request;
+        endfork
+      endif
+      fork
+        if (The request is at the front of the queue?) then (yes)
+          :set the ""requestQueue_front"" pointer to this request;
+        else (no)
+        endif
+      fork again
+        if (The request is at the back of the queue?) then (yes)
+          :set the ""requestQueue_back"" pointer to this request;
+        else (no)
+        endif
+      endfork
+    else (no)
+      fork
+        :set the ""requestQueue_front"" pointer to this request;
+      fork again
+        :set the ""requestQueue_back"" pointer to this request;
+      fork again
+        :set the ""requestQueue_hrtBack"" pointer to this request;
+      endfork
+    endif
+  }
+fork again
+  :set the service as request owner;
+endfork
+:unlock request;
+:fire event (@service);
+:unlock service;
+stop
+note
+  Returns ""URT_STATUS_OK"".
+endnote
+
+
+@enduml
+
+PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
+Operating System: Linux
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/doc/activitydiagrams/request/hrtrequest/urtHrtRequestSubmit.uml b/doc/activitydiagrams/request/hrtrequest/urtHrtRequestSubmit.uml
new file mode 100644
index 0000000..ef0e80c
--- /dev/null
+++ b/doc/activitydiagrams/request/hrtrequest/urtHrtRequestSubmit.uml
@@ -0,0 +1,120 @@
+/'
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'/
+
+/'### INTRO ##################################################################'/
+
+@startuml
+
+title **µRtWare**\nurtHrtRequestSubmit()\n
+
+/'### PARAMETERS & RETURN ####################################################'/
+
+note
+  -- **request** : urt_hrtrequest_t* --
+  The request to be used for this call.
+  Must not be ""NULL"".
+  Must have been acquired before.
+  -- **service** : urt_service_t* --
+  The service to be called.
+  Must not be ""NULL"".
+  -- **deadline** : urt_delay_t --
+  Deadline offset until when this request is valid.
+  ====
+  -- **return** : urt_status_t --
+  Always returns ""URT_STATUS_OK"".
+endnote
+
+/'### PROCEDURE ##############################################################'/
+
+start
+fork
+  :set QoS timer to deadline or maximum jitter;
+fork again
+  :set ""deadlineOffset"" to argument;
+endfork
+:lock service;
+fork
+  partition "enqueue request" {
+    if (Service already holds requests?) then (yes)
+      if (Service already holds HRT requests?) then (yes)
+        :access first queued HRT request;
+        while (Queued request is more or equally critical?) is (yes)
+          :proceed to next request;
+        endwhile (no)
+        fork
+          :set ""next"" pointer of this request to queued request;
+        fork again
+          :set ""prev"" pointer of this request to ""prev"" of queued request;
+        fork again
+          :set ""next"" pointer of previous request to this request;
+        fork again
+          :set ""prev"" pointer of queued request to this request;
+        fork again
+          if (This is the least critical HRT request?) then (yes)
+            :set the ""requestQueue_hrtBack"" pointer to this request;
+          else (no)
+          endif
+        endfork
+      else (no)
+        :access first queued request;
+        fork
+          :set ""next"" pointer of this request to queued request;
+        fork again
+          :set ""prev"" pointer of queued request to this request;
+        fork again
+          :set the ""requestQueue_hrtBack"" pointer to this request;
+        endfork
+      endif
+      fork
+        if (The request is at the front of the queue?) then (yes)
+          :set the ""requestQueue_front"" pointer to this request;
+        else (no)
+        endif
+      fork again
+        if (The request is at the back of the queue?) then (yes)
+          :set the ""requestQueue_back"" pointer to this request;
+        else (no)
+        endif
+      endfork
+    else (no)
+      fork
+        :set the ""requestQueue_front"" pointer to this request;
+      fork again
+        :set the ""requestQueue_back"" pointer to this request;
+      fork again
+        :set the ""requestQueue_hrtBack"" pointer to this request;
+      endfork
+    endif
+  }
+fork again
+  :set the service as request owner;
+endfork
+:unlock request;
+:fire event (@service);
+:unlock service;
+stop
+note
+  Returns ""URT_STATUS_OK"".
+endnote
+
+/'### OUTRO ##################################################################'/
+
+@enduml
diff --git a/doc/activitydiagrams/request/hrtrequest/urtHrtRequestTryAcquire.svg b/doc/activitydiagrams/request/hrtrequest/urtHrtRequestTryAcquire.svg
new file mode 100644
index 0000000..ed487e0
--- /dev/null
+++ b/doc/activitydiagrams/request/hrtrequest/urtHrtRequestTryAcquire.svg
@@ -0,0 +1,60 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="470px" preserveAspectRatio="none" style="width:1030px;height:470px;" version="1.1" viewBox="0 0 1030 470" width="1030px" zoomAndPan="magnify"><defs><filter height="300%" id="f96hwxkg108yk" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="469.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="239" x="394.5" y="47.6611">urtHrtRequestTryAcquire()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="517" y="68.6143"/><path d="M437,72.8594 L437,198.7891 L1018,198.7891 L1018,82.8594 L1008,72.8594 L437,72.8594 " fill="#FBFB77" filter="url(#f96hwxkg108yk)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1008,72.8594 L1008,82.8594 L1018,82.8594 L1008,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="437" x2="633.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="637.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="637.5" y="89.4263">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="119" x="698.5" y="89.4263">: urt_hrtrequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="821.5" x2="1018" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="205" x="443" y="105.0591">The HRT request to be acquired.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="443" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="523" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="555" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="437" x2="1018" y1="128.2578" y2="128.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="437" x2="1018" y1="130.2578" y2="130.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="437" x2="656.5" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="660.5" y="144.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="660.5" y="144.8247">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="709.5" y="144.8247">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="798.5" x2="1018" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="443" y="160.4575">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="496" y="160.4575">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="120" x="604" y="160.4575">in case of success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="443" y="175.5903">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="216" x="496" y="175.5903">URT_STATUS_REQUEST_BADOWNER</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="287" x="716" y="175.5903">if the request is aloready owned by a service.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="443" y="190.7231">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="200" x="496" y="190.7231">URT_STATUS_REQUEST_LOCKED</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="254" x="700" y="190.7231">if the request's mutex is already locked.</text><ellipse cx="727.5" cy="228.7891" fill="#000000" filter="url(#f96hwxkg108yk)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M538.5,263.207 L538.5,288.3398 A0,0 0 0 0 538.5,288.3398 L658.5,288.3398 A0,0 0 0 0 658.5,288.3398 L658.5,281.207 L678.5,275.7734 L658.5,273.207 L658.5,273.207 L648.5,263.207 L538.5,263.207 A0,0 0 0 0 538.5,263.207 " fill="#FBFB77" filter="url(#f96hwxkg108yk)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M648.5,263.207 L648.5,273.207 L658.5,273.207 L648.5,263.207 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="99" x="544.5" y="280.2739">Does not block.</text><rect fill="#FEFECE" filter="url(#f96hwxkg108yk)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="98" x="678.5" y="258.7891"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="78" x="688.5" y="279.9277">lock request</text><polygon fill="#FEFECE" filter="url(#f96hwxkg108yk)" points="655.5,312.7578,799.5,312.7578,811.5,324.7578,799.5,336.7578,655.5,336.7578,643.5,324.7578,655.5,312.7578" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="144" x="655.5" y="328.5659">Request could be locked?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="623.5" y="322.1636">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="811.5" y="322.1636">no</text><polygon fill="#FEFECE" filter="url(#f96hwxkg108yk)" points="390,346.7578,570,346.7578,582,358.7578,570,370.7578,390,370.7578,378,358.7578,390,346.7578" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="390" y="362.5659">Request is owned by a service?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="358" y="356.1636">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="582" y="356.1636">no</text><rect fill="#FEFECE" filter="url(#f96hwxkg108yk)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="114" x="278" y="380.7578"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="288" y="401.8965">unlock request</text><path d="M10,433.1602 L10,458.293 A0,0 0 0 0 10,458.293 L304,458.293 A0,0 0 0 0 304,458.293 L304,451.1602 L324,445.7266 L304,443.1602 L304,443.1602 L294,433.1602 L10,433.1602 A0,0 0 0 0 10,433.1602 " fill="#FBFB77" filter="url(#f96hwxkg108yk)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M294,433.1602 L294,443.1602 L304,443.1602 L294,433.1602 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="16" y="450.2271">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="216" x="69" y="450.2271">URT_STATUS_REQUEST_BADOWNER</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="285" y="450.2271">.</text><ellipse cx="335" cy="445.7266" fill="#FFFFFF" filter="url(#f96hwxkg108yk)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="335" cy="445.7266" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><path d="M412,380.7578 L412,405.8906 A0,0 0 0 0 412,405.8906 L594,405.8906 A0,0 0 0 0 594,405.8906 L594,398.7578 L614,393.3242 L594,390.7578 L594,390.7578 L584,380.7578 L412,380.7578 A0,0 0 0 0 412,380.7578 " fill="#FBFB77" filter="url(#f96hwxkg108yk)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M584,380.7578 L584,390.7578 L594,390.7578 L584,380.7578 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="418" y="397.8247">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="471" y="397.8247">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="575" y="397.8247">.</text><ellipse cx="625" cy="393.3242" fill="#FFFFFF" filter="url(#f96hwxkg108yk)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="625" cy="393.3242" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><path d="M666,346.7578 L666,371.8906 A0,0 0 0 0 666,371.8906 L944,371.8906 A0,0 0 0 0 944,371.8906 L944,364.7578 L964,359.3242 L944,356.7578 L944,356.7578 L934,346.7578 L666,346.7578 A0,0 0 0 0 666,346.7578 " fill="#FBFB77" filter="url(#f96hwxkg108yk)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M934,346.7578 L934,356.7578 L944,356.7578 L934,346.7578 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="672" y="363.8247">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="200" x="725" y="363.8247">URT_STATUS_REQUEST_LOCKED</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="925" y="363.8247">.</text><ellipse cx="975" cy="359.3242" fill="#FFFFFF" filter="url(#f96hwxkg108yk)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="975" cy="359.3242" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="727.5" x2="727.5" y1="198.7891" y2="218.7891"/><polygon fill="#A80036" points="723.5,208.7891,727.5,218.7891,731.5,208.7891,727.5,212.7891" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="727.5" x2="727.5" y1="238.7891" y2="258.7891"/><polygon fill="#A80036" points="723.5,248.7891,727.5,258.7891,731.5,248.7891,727.5,252.7891" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="335" x2="335" y1="414.7266" y2="434.7266"/><polygon fill="#A80036" points="331,424.7266,335,434.7266,339,424.7266,335,428.7266" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="378" x2="335" y1="358.7578" y2="358.7578"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="335" x2="335" y1="358.7578" y2="380.7578"/><polygon fill="#A80036" points="331,370.7578,335,380.7578,339,370.7578,335,374.7578" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="582" x2="625" y1="358.7578" y2="358.7578"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="625" x2="625" y1="358.7578" y2="382.3242"/><polygon fill="#A80036" points="621,372.3242,625,382.3242,629,372.3242,625,376.3242" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="643.5" x2="480" y1="324.7578" y2="324.7578"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="480" x2="480" y1="324.7578" y2="346.7578"/><polygon fill="#A80036" points="476,336.7578,480,346.7578,484,336.7578,480,340.7578" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="811.5" x2="975" y1="324.7578" y2="324.7578"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="975" x2="975" y1="324.7578" y2="348.3242"/><polygon fill="#A80036" points="971,338.3242,975,348.3242,979,338.3242,975,342.3242" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="727.5" x2="727.5" y1="292.7578" y2="312.7578"/><polygon fill="#A80036" points="723.5,302.7578,727.5,312.7578,731.5,302.7578,727.5,306.7578" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d32b665a34156e0114a8d0a4e45a24bf]
+@startuml
+
+title **µRtWare**\nurtHrtRequestTryAcquire()\n
+
+
+
+
+
+
+note
+  - - **request** : urt_hrtrequest_t* - -
+  The HRT request to be acquired.
+  Must not be ""NULL"".
+  ====
+  - - **return** : urt_status_t - -
+  Returns ""URT_STATUS_OK"" in case of success.
+  Returns ""URT_STATUS_REQUEST_BADOWNER"" if the request is aloready owned by a service.
+  Returns ""URT_STATUS_REQUEST_LOCKED"" if the request's mutex is already locked.
+endnote
+
+
+  start
+  :lock request;
+  note
+    Does not block.
+  endnote
+  if (Request could be locked?) then (yes)
+    if (Request is owned by a service?) then (yes)
+      :unlock request;
+      stop
+      note
+        Returns ""URT_STATUS_REQUEST_BADOWNER"".
+      endnote
+    else (no)
+      stop
+      note
+        Returns ""URT_STATUS_OK"".
+      endnote
+    endif
+  else (no)
+    stop
+    note
+      Returns ""URT_STATUS_REQUEST_LOCKED"".
+    endnote
+  endif
+
+
+@enduml
+
+PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
+Operating System: Linux
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/doc/activitydiagrams/request/hrtrequest/urtHrtRequestTryAcquire.uml b/doc/activitydiagrams/request/hrtrequest/urtHrtRequestTryAcquire.uml
new file mode 100644
index 0000000..7d77eb8
--- /dev/null
+++ b/doc/activitydiagrams/request/hrtrequest/urtHrtRequestTryAcquire.uml
@@ -0,0 +1,49 @@
+/'
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'/
+
+/'### INTRO ##################################################################'/
+
+@startuml
+
+title **µRtWare**\nurtHrtRequestTryAcquire()\n
+
+!include ../functions.iuml
+
+/'### PARAMETERS & RETURN ####################################################'/
+
+note
+  -- **request** : urt_hrtrequest_t* --
+  The HRT request to be acquired.
+  Must not be ""NULL"".
+  ====
+  -- **return** : urt_status_t --
+  Returns ""URT_STATUS_OK"" in case of success.
+  Returns ""URT_STATUS_REQUEST_BADOWNER"" if the request is aloready owned by a service.
+  Returns ""URT_STATUS_REQUEST_LOCKED"" if the request's mutex is already locked.
+endnote
+
+/'### PROCEDURE ##############################################################'/
+
+$try_acquire_request()
+
+/'### OUTRO ##################################################################'/
+
+@enduml
diff --git a/doc/activitydiagrams/request/nrtrequest/urtNrtRequestAcquire.svg b/doc/activitydiagrams/request/nrtrequest/urtNrtRequestAcquire.svg
new file mode 100644
index 0000000..d72adae
--- /dev/null
+++ b/doc/activitydiagrams/request/nrtrequest/urtNrtRequestAcquire.svg
@@ -0,0 +1,52 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="421px" preserveAspectRatio="none" style="width:782px;height:421px;" version="1.1" viewBox="0 0 782 421" width="782px" zoomAndPan="magnify"><defs><filter height="300%" id="f174sg69f40pmq" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="345.75" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="208" x="286.25" y="47.6611">urtNrtRequestAcquire()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="393.25" y="68.6143"/><path d="M189.5,72.8594 L189.5,183.6563 L770.5,183.6563 L770.5,82.8594 L760.5,72.8594 L189.5,72.8594 " fill="#FBFB77" filter="url(#f174sg69f40pmq)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M760.5,72.8594 L760.5,82.8594 L770.5,82.8594 L760.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="189.5" x2="386" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="390" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="390" y="89.4263">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="119" x="451" y="89.4263">: urt_nrtrequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="574" x2="770.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="205" x="195.5" y="105.0591">The NRT request to be acquired.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="195.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="275.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="307.5" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="189.5" x2="770.5" y1="128.2578" y2="128.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="189.5" x2="770.5" y1="130.2578" y2="130.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="189.5" x2="409" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="413" y="144.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="413" y="144.8247">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="462" y="144.8247">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="551" x2="770.5" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="195.5" y="160.4575">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="248.5" y="160.4575">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="120" x="356.5" y="160.4575">in case of success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="195.5" y="175.5903">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="216" x="248.5" y="175.5903">URT_STATUS_REQUEST_BADOWNER</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="287" x="468.5" y="175.5903">if the request is aloready owned by a service.</text><ellipse cx="480" cy="213.6563" fill="#000000" filter="url(#f174sg69f40pmq)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M122,248.0742 L122,273.207 A0,0 0 0 0 122,273.207 L411,273.207 A0,0 0 0 0 411,273.207 L411,266.0742 L431,260.6406 L411,258.0742 L411,258.0742 L401,248.0742 L122,248.0742 A0,0 0 0 0 122,248.0742 " fill="#FBFB77" filter="url(#f174sg69f40pmq)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M401,248.0742 L401,258.0742 L411,258.0742 L401,248.0742 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="268" x="128" y="265.1411">Execution is blocked until mutex is locked.</text><rect fill="#FEFECE" filter="url(#f174sg69f40pmq)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="98" x="431" y="243.6563"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="78" x="441" y="264.7949">lock request</text><polygon fill="#FEFECE" filter="url(#f174sg69f40pmq)" points="390,297.625,570,297.625,582,309.625,570,321.625,390,321.625,378,309.625,390,297.625" style="stroke: #A80036; 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stroke-width: 1.0;"/><path d="M584,331.625 L584,341.625 L594,341.625 L584,331.625 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="418" y="348.6919">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="471" y="348.6919">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="575" y="348.6919">.</text><ellipse cx="625" cy="344.1914" fill="#FFFFFF" filter="url(#f174sg69f40pmq)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="625" cy="344.1914" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="480" x2="480" y1="183.6563" y2="203.6563"/><polygon fill="#A80036" points="476,193.6563,480,203.6563,484,193.6563,480,197.6563" style="stroke: #A80036; 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stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="480" x2="480" y1="277.625" y2="297.625"/><polygon fill="#A80036" points="476,287.625,480,297.625,484,287.625,480,291.625" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f60e96cae7988357baf7f2fc1f332eb7]
+@startuml
+
+title **µRtWare**\nurtNrtRequestAcquire()\n
+
+
+
+
+
+
+note
+  - - **request** : urt_nrtrequest_t* - -
+  The NRT request to be acquired.
+  Must not be ""NULL"".
+  ====
+  - - **return** : urt_status_t - -
+  Returns ""URT_STATUS_OK"" in case of success.
+  Returns ""URT_STATUS_REQUEST_BADOWNER"" if the request is aloready owned by a service.
+endnote
+
+
+  start
+  :lock request;
+  note
+    Execution is blocked until mutex is locked.
+  endnote
+  if (Request is owned by a service?) then (yes)
+    :unlock request;
+    stop
+    note
+      Returns ""URT_STATUS_REQUEST_BADOWNER"".
+    endnote
+  else (no)
+    stop
+    note
+      Returns ""URT_STATUS_OK"".
+    endnote
+  endif
+
+
+@enduml
+
+PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
+Operating System: Linux
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/doc/activitydiagrams/request/nrtrequest/urtNrtRequestAcquire.uml b/doc/activitydiagrams/request/nrtrequest/urtNrtRequestAcquire.uml
new file mode 100644
index 0000000..7bfc597
--- /dev/null
+++ b/doc/activitydiagrams/request/nrtrequest/urtNrtRequestAcquire.uml
@@ -0,0 +1,48 @@
+/'
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'/
+
+/'### INTRO ##################################################################'/
+
+@startuml
+
+title **µRtWare**\nurtNrtRequestAcquire()\n
+
+!include ../functions.iuml
+
+/'### PARAMETERS & RETURN ####################################################'/
+
+note
+  -- **request** : urt_nrtrequest_t* --
+  The NRT request to be acquired.
+  Must not be ""NULL"".
+  ====
+  -- **return** : urt_status_t --
+  Returns ""URT_STATUS_OK"" in case of success.
+  Returns ""URT_STATUS_REQUEST_BADOWNER"" if the request is aloready owned by a service.
+endnote
+
+/'### PROCEDURE ##############################################################'/
+
+$acquire_request()
+
+/'### OUTRO ##################################################################'/
+
+@enduml
diff --git a/doc/activitydiagrams/request/nrtrequest/urtNrtRequestInit.svg b/doc/activitydiagrams/request/nrtrequest/urtNrtRequestInit.svg
new file mode 100644
index 0000000..d6d1db8
--- /dev/null
+++ b/doc/activitydiagrams/request/nrtrequest/urtNrtRequestInit.svg
@@ -0,0 +1,51 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="523px" preserveAspectRatio="none" style="width:503px;height:523px;" version="1.1" viewBox="0 0 503 523" width="503px" zoomAndPan="magnify"><defs><filter height="300%" id="fsk1gb34q85sn" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="206" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="170" x="165.5" y="47.6611">urtNrtRequestInit()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="253.5" y="68.6143"/><path d="M282,72.8594 L282,153.3906 L491,153.3906 L491,82.8594 L481,72.8594 L282,72.8594 " fill="#FBFB77" filter="url(#fsk1gb34q85sn)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M481,72.8594 L481,82.8594 L491,82.8594 L481,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="282" x2="292.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="296.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="296.5" y="89.4263">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="119" x="357.5" y="89.4263">: urt_nrtrequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="480.5" x2="491" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="181" x="288" y="105.0591">The NRT request to initialize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="288" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="368" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="400" y="120.1919">.</text><line style="stroke: #A80036; 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stroke-width: 1.0;"/><path d="M291,203.3906 L291,213.3906 L301,213.3906 L291,203.3906 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="93" y1="215.957" y2="215.957"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="117" x="97" y="219.9575">urt_baserequest_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="218" x2="301" y1="215.957" y2="215.957"/><ellipse cx="21.5" cy="231.1563" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="33" x="27" y="235.5903">prev</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="64" y="235.5903">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="79" y="235.5903">NULL</text><ellipse cx="21.5" cy="246.2891" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="32" x="27" y="250.7231">next</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="63" y="250.7231">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="78" y="250.7231">NULL</text><ellipse cx="21.5" cy="261.4219" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="81" x="27" y="265.856">urtMutexInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="30" x="108" y="265.856">lock</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="138" y="265.856">)</text><ellipse cx="21.5" cy="276.5547" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="27" y="280.9888">owner</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="76" y="280.9888">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="91" y="280.9888">NULL</text><ellipse cx="21.5" cy="291.6875" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="118" x="27" y="296.1216">submissionTime</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="149" y="296.1216">← 0</text><ellipse cx="21.5" cy="306.8203" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="59" x="27" y="311.2544">payload</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="90" y="311.2544">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="105" y="311.2544">NULL</text><ellipse cx="21.5" cy="321.9531" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="123" x="27" y="326.3872">urtEventSourceInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="73" x="150" y="326.3872">evtSource</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="223" y="326.3872">)</text><ellipse cx="21.5" cy="337.0859" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="129" x="27" y="341.52">urtEventListenerInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="82" x="156" y="341.52">evtListener</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="238" y="341.52">)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="42" y1="352.1523" y2="352.1523"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="219" x="46" y="356.1528">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="269" x2="301" y1="352.1523" y2="352.1523"/><ellipse cx="21.5" cy="367.3516" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="101" x="27" y="371.7856">sumLatencies</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="132" y="371.7856">← 0</text><ellipse cx="21.5" cy="382.4844" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="67" x="27" y="386.9185">numCalls</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="98" y="386.9185">← 0</text><ellipse cx="21.5" cy="397.6172" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="66" x="27" y="402.0513">numFails</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="97" y="402.0513">← 0</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="99.5" y1="412.6836" y2="412.6836"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="103.5" y="416.6841">urt_nrtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="211.5" x2="301" y1="412.6836" y2="412.6836"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="42" y1="427.8164" y2="427.8164"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="219" x="46" y="431.8169">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="269" x2="301" y1="427.8164" y2="427.8164"/><ellipse cx="21.5" cy="443.0156" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="84" x="27" y="447.4497">minLatency</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="115" y="447.4497">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="144" x="130" y="447.4497">URT_DELAY_INFINITE</text><ellipse cx="21.5" cy="458.1484" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="88" x="27" y="462.5825">maxLatency</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="119" y="462.5825">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="152" x="134" y="462.5825">URT_DELAY_IMMEDIATE</text><rect fill="#FEFECE" filter="url(#fsk1gb34q85sn)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="131" x="321" y="320.0352"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="111" x="331" y="341.1738">initialize members</text><ellipse cx="386.5" cy="501.6484" fill="#FFFFFF" filter="url(#fsk1gb34q85sn)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="386.5" cy="501.6484" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="386.5" x2="386.5" y1="153.3906" y2="173.3906"/><polygon fill="#A80036" points="382.5,163.3906,386.5,173.3906,390.5,163.3906,386.5,167.3906" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="386.5" x2="386.5" y1="193.3906" y2="320.0352"/><polygon fill="#A80036" points="382.5,310.0352,386.5,320.0352,390.5,310.0352,386.5,314.0352" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="386.5" x2="386.5" y1="354.0039" y2="490.6484"/><polygon fill="#A80036" points="382.5,480.6484,386.5,490.6484,390.5,480.6484,386.5,484.6484" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e46e51b0908ef5ef7abe01bcae0bcc01]
+@startuml
+
+title **µRtWare**\nurtNrtRequestInit()\n
+
+
+note
+  - - **request** : urt_nrtrequest_t* - -
+  The NRT request to initialize.
+  Must not be ""NULL"".
+  ====
+  - - **return** : void - -
+endnote
+
+
+start
+:initialize members;
+note
+  - - urt_baserequest_t - -
+  * **prev** ← ""NULL""
+  * **next** ← ""NULL""
+  * urtMutexInit(**lock**)
+  * **owner** ← ""NULL""
+  * **submissionTime** ← 0
+  * **payload** ← ""NULL""
+  * urtEventSourceInit(**evtSource**)
+  * urtEventListenerInit(**evtListener**)
+  .. URT_CFG_RPC_PROFILING == true ..
+  * **sumLatencies** ← 0
+  * **numCalls** ← 0
+  * **numFails** ← 0
+  - - urt_nrtrequest_t - -
+  .. URT_CFG_RPC_PROFILING == true ..
+  * **minLatency** ← ""URT_DELAY_INFINITE""
+  * **maxLatency** ← ""URT_DELAY_IMMEDIATE""
+endnote
+stop
+
+
+@enduml
+
+PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
+Operating System: Linux
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/doc/activitydiagrams/request/nrtrequest/urtNrtRequestInit.uml b/doc/activitydiagrams/request/nrtrequest/urtNrtRequestInit.uml
new file mode 100644
index 0000000..49e084c
--- /dev/null
+++ b/doc/activitydiagrams/request/nrtrequest/urtNrtRequestInit.uml
@@ -0,0 +1,65 @@
+/'
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'/
+
+/'### INTRO ##################################################################'/
+
+@startuml
+
+title **µRtWare**\nurtNrtRequestInit()\n
+
+/'### PARAMETERS & RETURN ####################################################'/
+
+note
+  -- **request** : urt_nrtrequest_t* --
+  The NRT request to initialize.
+  Must not be ""NULL"".
+  ====
+  -- **return** : void --
+endnote
+
+/'### PROCEDURE ##############################################################'/
+
+start
+:initialize members;
+note
+  -- urt_baserequest_t --
+  * **prev** ← ""NULL""
+  * **next** ← ""NULL""
+  * urtMutexInit(**lock**)
+  * **owner** ← ""NULL""
+  * **submissionTime** ← 0
+  * **payload** ← ""NULL""
+  * urtEventSourceInit(**evtSource**)
+  * urtEventListenerInit(**evtListener**)
+  .. URT_CFG_RPC_PROFILING == true ..
+  * **sumLatencies** ← 0
+  * **numCalls** ← 0
+  * **numFails** ← 0
+  -- urt_nrtrequest_t --
+  .. URT_CFG_RPC_PROFILING == true ..
+  * **minLatency** ← ""URT_DELAY_INFINITE""
+  * **maxLatency** ← ""URT_DELAY_IMMEDIATE""
+endnote
+stop
+
+/'### OUTRO ##################################################################'/
+
+@enduml
diff --git a/doc/activitydiagrams/request/nrtrequest/urtNrtRequestRelease.svg b/doc/activitydiagrams/request/nrtrequest/urtNrtRequestRelease.svg
new file mode 100644
index 0000000..751137e
--- /dev/null
+++ b/doc/activitydiagrams/request/nrtrequest/urtNrtRequestRelease.svg
@@ -0,0 +1,41 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="333px" preserveAspectRatio="none" style="width:373px;height:333px;" version="1.1" viewBox="0 0 373 333" width="373px" zoomAndPan="magnify"><defs><filter height="300%" id="f154jc3rzxvnxe" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="141" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="210" x="80.5" y="47.6611">urtNrtRequestRelease()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="188.5" y="68.6143"/><path d="M85,72.8594 L85,183.6563 L361,183.6563 L361,82.8594 L351,72.8594 L85,72.8594 " fill="#FBFB77" filter="url(#f154jc3rzxvnxe)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M351,72.8594 L351,82.8594 L361,82.8594 L351,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="85" x2="129" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="133" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="133" y="89.4263">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="119" x="194" y="89.4263">: urt_nrtrequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="317" x2="361" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="222" x="91" y="105.0591">The NRT request to release/unlock.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="91" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="171" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="203" y="120.1919">.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="255" x="91" y="135.3247">Must have been acquired/locked before.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="85" x2="361" y1="143.3906" y2="143.3906"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="85" x2="361" y1="145.3906" y2="145.3906"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="85" x2="152" y1="155.957" y2="155.957"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="156" y="159.9575"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="156" y="159.9575">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="205" y="159.9575">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="294" x2="361" y1="155.957" y2="155.957"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="93" x="91" y="175.5903">Always returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="188" y="175.5903">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="292" y="175.5903">.</text><ellipse cx="223" cy="213.6563" fill="#000000" filter="url(#f154jc3rzxvnxe)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#f154jc3rzxvnxe)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="114" x="166" y="243.6563"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="176" y="264.7949">unlock request</text><path d="M10,296.0586 L10,321.1914 A0,0 0 0 0 10,321.1914 L192,321.1914 A0,0 0 0 0 192,321.1914 L192,314.0586 L212,308.625 L192,306.0586 L192,306.0586 L182,296.0586 L10,296.0586 A0,0 0 0 0 10,296.0586 " fill="#FBFB77" filter="url(#f154jc3rzxvnxe)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M182,296.0586 L182,306.0586 L192,306.0586 L182,296.0586 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="16" y="313.1255">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="69" y="313.1255">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="173" y="313.1255">.</text><ellipse cx="223" cy="308.625" fill="#FFFFFF" filter="url(#f154jc3rzxvnxe)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="223" cy="308.625" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="223" x2="223" y1="183.6563" y2="203.6563"/><polygon fill="#A80036" points="219,193.6563,223,203.6563,227,193.6563,223,197.6563" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="223" x2="223" y1="223.6563" y2="243.6563"/><polygon fill="#A80036" points="219,233.6563,223,243.6563,227,233.6563,223,237.6563" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="223" x2="223" y1="277.625" y2="297.625"/><polygon fill="#A80036" points="219,287.625,223,297.625,227,287.625,223,291.625" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5776ff44f09929933353dfbde936b2b2]
+@startuml
+
+title **µRtWare**\nurtNrtRequestRelease()\n
+
+
+
+
+
+
+note
+  - - **request** : urt_nrtrequest_t* - -
+  The NRT request to release/unlock.
+  Must not be ""NULL"".
+  Must have been acquired/locked before.
+  ====
+  - - **return** : urt_status_t - -
+  Always returns ""URT_STATUS_OK"".
+endnote
+
+
+  start
+  :unlock request;
+  stop
+  note
+    Returns ""URT_STATUS_OK"".
+  endnote
+
+
+@enduml
+
+PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
+Operating System: Linux
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/doc/activitydiagrams/request/nrtrequest/urtNrtRequestRelease.uml b/doc/activitydiagrams/request/nrtrequest/urtNrtRequestRelease.uml
new file mode 100644
index 0000000..a1d67ff
--- /dev/null
+++ b/doc/activitydiagrams/request/nrtrequest/urtNrtRequestRelease.uml
@@ -0,0 +1,48 @@
+/'
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'/
+
+/'### INTRO ##################################################################'/
+
+@startuml
+
+title **µRtWare**\nurtNrtRequestRelease()\n
+
+!include ../functions.iuml
+
+/'### PARAMETERS & RETURN ####################################################'/
+
+note
+  -- **request** : urt_nrtrequest_t* --
+  The NRT request to release/unlock.
+  Must not be ""NULL"".
+  Must have been acquired/locked before.
+  ====
+  -- **return** : urt_status_t --
+  Always returns ""URT_STATUS_OK"".
+endnote
+
+/'### PROCEDURE ##############################################################'/
+
+$release_request()
+
+/'### OUTRO ##################################################################'/
+
+@enduml
diff --git a/doc/activitydiagrams/request/nrtrequest/urtNrtRequestRetrieve.svg b/doc/activitydiagrams/request/nrtrequest/urtNrtRequestRetrieve.svg
new file mode 100644
index 0000000..29f098c
--- /dev/null
+++ b/doc/activitydiagrams/request/nrtrequest/urtNrtRequestRetrieve.svg
@@ -0,0 +1,65 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="745px" preserveAspectRatio="none" style="width:1760px;height:745px;" version="1.1" viewBox="0 0 1760 745" width="1760px" zoomAndPan="magnify"><defs><filter height="300%" id="f1saeylme42h18" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="834.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="218" x="770" y="47.6611">urtNrtRequestRetrieve()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="882" y="68.6143"/><path d="M942.25,72.8594 L942.25,183.6563 L1546.25,183.6563 L1546.25,82.8594 L1536.25,72.8594 L942.25,72.8594 " fill="#FBFB77" filter="url(#f1saeylme42h18)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1536.25,72.8594 L1536.25,82.8594 L1546.25,82.8594 L1536.25,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="942.25" x2="1150.25" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1154.25" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="1154.25" y="89.4263">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="119" x="1215.25" y="89.4263">: urt_nrtrequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1338.25" x2="1546.25" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="150" x="948.25" y="105.0591">The request to retrieve.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="948.25" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1028.25" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1060.25" y="120.1919">.</text><line style="stroke: #A80036; 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+@startuml
+
+title **µRtWare**\nurtNrtRequestRetrieve()\n
+
+
+note
+  - - **request** : urt_nrtrequest_t* - -
+  The request to retrieve.
+  Must not be ""NULL"".
+  ====
+  - - **return** : urt_status_t - -
+  Typcially returns ""URT_STATUS_OK"".
+  Returns ""URT_STATUS_REQUEST_BADOWNER"" if the request had to be removed from a service.
+endnote
+
+
+start
+:lock request;
+if (Request is owned by a service?) then (yes)
+  fork
+    partition "unqueue request" {
+      :lock service;
+      fork
+        if (This was the first request in the queue?) then (yes)
+          :set ""requestQueue_front"" to ""next"";
+        else (no)
+          :set ""prev"" of preceeding request to ""prev"" of this reuqest;
+        endif
+      fork again
+        if (This was the final request in the queue?) then (yes)
+          :set ""requestQueue_back"" to ""prev"";
+        else (no)
+          :set ""next"" of preceeding request to ""next"" of this reuqest;
+        endif
+      endfork
+      :unlock service;
+    }
+  fork again
+    :set ""owner"" to ""NULL"";
+  endfork
+  stop
+  note
+    Returns ""URT_STATUS_REQUEST_BADOWNER"".
+  endnote
+else (no)
+  stop
+  note
+    Returns ""URT_STATUS_OK"".
+  endnote
+endif
+
+
+@enduml
+
+PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
+Operating System: Linux
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/doc/activitydiagrams/request/nrtrequest/urtNrtRequestRetrieve.uml b/doc/activitydiagrams/request/nrtrequest/urtNrtRequestRetrieve.uml
new file mode 100644
index 0000000..76ab55c
--- /dev/null
+++ b/doc/activitydiagrams/request/nrtrequest/urtNrtRequestRetrieve.uml
@@ -0,0 +1,79 @@
+/'
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'/
+
+/'### INTRO ##################################################################'/
+
+@startuml
+
+title **µRtWare**\nurtNrtRequestRetrieve()\n
+
+/'### PARAMETERS & RETURN ####################################################'/
+
+note
+  -- **request** : urt_nrtrequest_t* --
+  The request to retrieve.
+  Must not be ""NULL"".
+  ====
+  -- **return** : urt_status_t --
+  Typcially returns ""URT_STATUS_OK"".
+  Returns ""URT_STATUS_REQUEST_BADOWNER"" if the request had to be removed from a service.
+endnote
+
+/'### PROCEDURE ##############################################################'/
+
+start
+:lock request;
+if (Request is owned by a service?) then (yes)
+  fork
+    partition "unqueue request" {
+      :lock service;
+      fork
+        if (This was the first request in the queue?) then (yes)
+          :set ""requestQueue_front"" to ""next"";
+        else (no)
+          :set ""prev"" of preceeding request to ""prev"" of this reuqest;
+        endif
+      fork again
+        if (This was the final request in the queue?) then (yes)
+          :set ""requestQueue_back"" to ""prev"";
+        else (no)
+          :set ""next"" of preceeding request to ""next"" of this reuqest;
+        endif
+      endfork
+      :unlock service;
+    }
+  fork again
+    :set ""owner"" to ""NULL"";
+  endfork
+  stop
+  note
+    Returns ""URT_STATUS_REQUEST_BADOWNER"".
+  endnote
+else (no)
+  stop
+  note
+    Returns ""URT_STATUS_OK"".
+  endnote
+endif
+
+/'### OUTRO ##################################################################'/
+
+@enduml
diff --git a/doc/activitydiagrams/request/nrtrequest/urtNrtRequestSubmit.svg b/doc/activitydiagrams/request/nrtrequest/urtNrtRequestSubmit.svg
new file mode 100644
index 0000000..eaa923e
--- /dev/null
+++ b/doc/activitydiagrams/request/nrtrequest/urtNrtRequestSubmit.svg
@@ -0,0 +1,62 @@
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+@startuml
+
+title **µRtWare**\nurtNrtRequestSubmit()\n
+
+
+note
+  - - **request** : urt_nrtrequest_t* - -
+  The request to be used for this call.
+  Must not be ""NULL"".
+  Must have been acquired before.
+  - - **service** : urt_service_t* - -
+  The service to be called.
+  Must not be ""NULL"".
+  ====
+  - - **return** : urt_status_t - -
+  Always returns ""URT_STATUS_OK"".
+endnote
+
+
+start
+:lock service;
+fork
+  partition "append request" {
+    fork
+      if (Service already holds requests?) then (yes)
+        fork
+          :set the ""prev"" pointer of this request to ""requestQueue_back"";
+        fork again
+          :set the ""next"" pointer of the last request to this request;
+        endfork
+      else (no)
+        :set the ""requestQueue_front"" pointer to this request;
+      endif
+    fork again
+      :set the ""requestQueue_back"" pointer to this request;
+    endfork
+  }
+fork again
+  :set the service as request owner;
+endfork
+:unlock request;
+:fire event (@service);
+:unlock service;
+stop
+note
+  Returns ""URT_STATUS_OK"".
+endnote
+
+
+@enduml
+
+PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
+Operating System: Linux
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/doc/activitydiagrams/request/nrtrequest/urtNrtRequestSubmit.uml b/doc/activitydiagrams/request/nrtrequest/urtNrtRequestSubmit.uml
new file mode 100644
index 0000000..909eeb8
--- /dev/null
+++ b/doc/activitydiagrams/request/nrtrequest/urtNrtRequestSubmit.uml
@@ -0,0 +1,76 @@
+/'
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'/
+
+/'### INTRO ##################################################################'/
+
+@startuml
+
+title **µRtWare**\nurtNrtRequestSubmit()\n
+
+/'### PARAMETERS & RETURN ####################################################'/
+
+note
+  -- **request** : urt_nrtrequest_t* --
+  The request to be used for this call.
+  Must not be ""NULL"".
+  Must have been acquired before.
+  -- **service** : urt_service_t* --
+  The service to be called.
+  Must not be ""NULL"".
+  ====
+  -- **return** : urt_status_t --
+  Always returns ""URT_STATUS_OK"".
+endnote
+
+/'### PROCEDURE ##############################################################'/
+
+start
+:lock service;
+fork
+  partition "append request" {
+    fork
+      if (Service already holds requests?) then (yes)
+        fork
+          :set the ""prev"" pointer of this request to ""requestQueue_back"";
+        fork again
+          :set the ""next"" pointer of the last request to this request;
+        endfork
+      else (no)
+        :set the ""requestQueue_front"" pointer to this request;
+      endif
+    fork again
+      :set the ""requestQueue_back"" pointer to this request;
+    endfork
+  }
+fork again
+  :set the service as request owner;
+endfork
+:unlock request;
+:fire event (@service);
+:unlock service;
+stop
+note
+  Returns ""URT_STATUS_OK"".
+endnote
+
+/'### OUTRO ##################################################################'/
+
+@enduml
diff --git a/doc/activitydiagrams/request/nrtrequest/urtNrtRequestTryAcquire.svg b/doc/activitydiagrams/request/nrtrequest/urtNrtRequestTryAcquire.svg
new file mode 100644
index 0000000..4aed06a
--- /dev/null
+++ b/doc/activitydiagrams/request/nrtrequest/urtNrtRequestTryAcquire.svg
@@ -0,0 +1,60 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="470px" preserveAspectRatio="none" style="width:1030px;height:470px;" version="1.1" viewBox="0 0 1030 470" width="1030px" zoomAndPan="magnify"><defs><filter height="300%" id="fneps8iee7k82" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="469.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="239" x="394.5" y="47.6611">urtNrtRequestTryAcquire()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="517" y="68.6143"/><path d="M437,72.8594 L437,198.7891 L1018,198.7891 L1018,82.8594 L1008,72.8594 L437,72.8594 " fill="#FBFB77" filter="url(#fneps8iee7k82)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1008,72.8594 L1008,82.8594 L1018,82.8594 L1008,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="437" x2="633.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="637.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="637.5" y="89.4263">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="119" x="698.5" y="89.4263">: urt_nrtrequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="821.5" x2="1018" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="205" x="443" y="105.0591">The NRT request to be acquired.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="443" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="523" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="555" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="437" x2="1018" y1="128.2578" y2="128.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="437" x2="1018" y1="130.2578" y2="130.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="437" x2="656.5" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="660.5" y="144.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="660.5" y="144.8247">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="709.5" y="144.8247">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="798.5" x2="1018" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="443" y="160.4575">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="496" y="160.4575">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="120" x="604" y="160.4575">in case of success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="443" y="175.5903">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="216" x="496" y="175.5903">URT_STATUS_REQUEST_BADOWNER</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="287" x="716" y="175.5903">if the request is aloready owned by a service.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="443" y="190.7231">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="200" x="496" y="190.7231">URT_STATUS_REQUEST_LOCKED</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="254" x="700" y="190.7231">if the request's mutex is already locked.</text><ellipse cx="727.5" cy="228.7891" fill="#000000" filter="url(#fneps8iee7k82)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M538.5,263.207 L538.5,288.3398 A0,0 0 0 0 538.5,288.3398 L658.5,288.3398 A0,0 0 0 0 658.5,288.3398 L658.5,281.207 L678.5,275.7734 L658.5,273.207 L658.5,273.207 L648.5,263.207 L538.5,263.207 A0,0 0 0 0 538.5,263.207 " fill="#FBFB77" filter="url(#fneps8iee7k82)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M648.5,263.207 L648.5,273.207 L658.5,273.207 L648.5,263.207 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="99" x="544.5" y="280.2739">Does not block.</text><rect fill="#FEFECE" filter="url(#fneps8iee7k82)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="98" x="678.5" y="258.7891"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="78" x="688.5" y="279.9277">lock request</text><polygon fill="#FEFECE" filter="url(#fneps8iee7k82)" points="655.5,312.7578,799.5,312.7578,811.5,324.7578,799.5,336.7578,655.5,336.7578,643.5,324.7578,655.5,312.7578" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="144" x="655.5" y="328.5659">Request could be locked?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="623.5" y="322.1636">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="811.5" y="322.1636">no</text><polygon fill="#FEFECE" filter="url(#fneps8iee7k82)" points="390,346.7578,570,346.7578,582,358.7578,570,370.7578,390,370.7578,378,358.7578,390,346.7578" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="390" y="362.5659">Request is owned by a service?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="358" y="356.1636">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="582" y="356.1636">no</text><rect fill="#FEFECE" filter="url(#fneps8iee7k82)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="114" x="278" y="380.7578"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="288" y="401.8965">unlock request</text><path d="M10,433.1602 L10,458.293 A0,0 0 0 0 10,458.293 L304,458.293 A0,0 0 0 0 304,458.293 L304,451.1602 L324,445.7266 L304,443.1602 L304,443.1602 L294,433.1602 L10,433.1602 A0,0 0 0 0 10,433.1602 " fill="#FBFB77" filter="url(#fneps8iee7k82)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M294,433.1602 L294,443.1602 L304,443.1602 L294,433.1602 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="16" y="450.2271">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="216" x="69" y="450.2271">URT_STATUS_REQUEST_BADOWNER</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="285" y="450.2271">.</text><ellipse cx="335" cy="445.7266" fill="#FFFFFF" filter="url(#fneps8iee7k82)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="335" cy="445.7266" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><path d="M412,380.7578 L412,405.8906 A0,0 0 0 0 412,405.8906 L594,405.8906 A0,0 0 0 0 594,405.8906 L594,398.7578 L614,393.3242 L594,390.7578 L594,390.7578 L584,380.7578 L412,380.7578 A0,0 0 0 0 412,380.7578 " fill="#FBFB77" filter="url(#fneps8iee7k82)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M584,380.7578 L584,390.7578 L594,390.7578 L584,380.7578 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="418" y="397.8247">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="471" y="397.8247">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="575" y="397.8247">.</text><ellipse cx="625" cy="393.3242" fill="#FFFFFF" filter="url(#fneps8iee7k82)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="625" cy="393.3242" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><path d="M666,346.7578 L666,371.8906 A0,0 0 0 0 666,371.8906 L944,371.8906 A0,0 0 0 0 944,371.8906 L944,364.7578 L964,359.3242 L944,356.7578 L944,356.7578 L934,346.7578 L666,346.7578 A0,0 0 0 0 666,346.7578 " fill="#FBFB77" filter="url(#fneps8iee7k82)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M934,346.7578 L934,356.7578 L944,356.7578 L934,346.7578 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="672" y="363.8247">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="200" x="725" y="363.8247">URT_STATUS_REQUEST_LOCKED</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="925" y="363.8247">.</text><ellipse cx="975" cy="359.3242" fill="#FFFFFF" filter="url(#fneps8iee7k82)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="975" cy="359.3242" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="727.5" x2="727.5" y1="198.7891" y2="218.7891"/><polygon fill="#A80036" points="723.5,208.7891,727.5,218.7891,731.5,208.7891,727.5,212.7891" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="727.5" x2="727.5" y1="238.7891" y2="258.7891"/><polygon fill="#A80036" points="723.5,248.7891,727.5,258.7891,731.5,248.7891,727.5,252.7891" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="335" x2="335" y1="414.7266" y2="434.7266"/><polygon fill="#A80036" points="331,424.7266,335,434.7266,339,424.7266,335,428.7266" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="378" x2="335" y1="358.7578" y2="358.7578"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="335" x2="335" y1="358.7578" y2="380.7578"/><polygon fill="#A80036" points="331,370.7578,335,380.7578,339,370.7578,335,374.7578" style="stroke: #A80036; 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stroke-width: 1.5;" x1="727.5" x2="727.5" y1="292.7578" y2="312.7578"/><polygon fill="#A80036" points="723.5,302.7578,727.5,312.7578,731.5,302.7578,727.5,306.7578" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[68d9a4e98a4e86240b3d814863a027ed]
+@startuml
+
+title **µRtWare**\nurtNrtRequestTryAcquire()\n
+
+
+
+
+
+
+note
+  - - **request** : urt_nrtrequest_t* - -
+  The NRT request to be acquired.
+  Must not be ""NULL"".
+  ====
+  - - **return** : urt_status_t - -
+  Returns ""URT_STATUS_OK"" in case of success.
+  Returns ""URT_STATUS_REQUEST_BADOWNER"" if the request is aloready owned by a service.
+  Returns ""URT_STATUS_REQUEST_LOCKED"" if the request's mutex is already locked.
+endnote
+
+
+  start
+  :lock request;
+  note
+    Does not block.
+  endnote
+  if (Request could be locked?) then (yes)
+    if (Request is owned by a service?) then (yes)
+      :unlock request;
+      stop
+      note
+        Returns ""URT_STATUS_REQUEST_BADOWNER"".
+      endnote
+    else (no)
+      stop
+      note
+        Returns ""URT_STATUS_OK"".
+      endnote
+    endif
+  else (no)
+    stop
+    note
+      Returns ""URT_STATUS_REQUEST_LOCKED"".
+    endnote
+  endif
+
+
+@enduml
+
+PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
+Operating System: Linux
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/doc/activitydiagrams/request/nrtrequest/urtNrtRequestTryAcquire.uml b/doc/activitydiagrams/request/nrtrequest/urtNrtRequestTryAcquire.uml
new file mode 100644
index 0000000..57aed81
--- /dev/null
+++ b/doc/activitydiagrams/request/nrtrequest/urtNrtRequestTryAcquire.uml
@@ -0,0 +1,49 @@
+/'
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'/
+
+/'### INTRO ##################################################################'/
+
+@startuml
+
+title **µRtWare**\nurtNrtRequestTryAcquire()\n
+
+!include ../functions.iuml
+
+/'### PARAMETERS & RETURN ####################################################'/
+
+note
+  -- **request** : urt_nrtrequest_t* --
+  The NRT request to be acquired.
+  Must not be ""NULL"".
+  ====
+  -- **return** : urt_status_t --
+  Returns ""URT_STATUS_OK"" in case of success.
+  Returns ""URT_STATUS_REQUEST_BADOWNER"" if the request is aloready owned by a service.
+  Returns ""URT_STATUS_REQUEST_LOCKED"" if the request's mutex is already locked.
+endnote
+
+/'### PROCEDURE ##############################################################'/
+
+$try_acquire_request()
+
+/'### OUTRO ##################################################################'/
+
+@enduml
diff --git a/doc/activitydiagrams/request/srtrequest/urtSrtRequestAcquire.svg b/doc/activitydiagrams/request/srtrequest/urtSrtRequestAcquire.svg
new file mode 100644
index 0000000..28aa11b
--- /dev/null
+++ b/doc/activitydiagrams/request/srtrequest/urtSrtRequestAcquire.svg
@@ -0,0 +1,52 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="421px" preserveAspectRatio="none" style="width:782px;height:421px;" version="1.1" viewBox="0 0 782 421" width="782px" zoomAndPan="magnify"><defs><filter height="300%" id="fwonkd6co71fx" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="345.75" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="205" x="287.75" y="47.6611">urtSrtRequestAcquire()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="393.25" y="68.6143"/><path d="M189.5,72.8594 L189.5,183.6563 L770.5,183.6563 L770.5,82.8594 L760.5,72.8594 L189.5,72.8594 " fill="#FBFB77" filter="url(#fwonkd6co71fx)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M760.5,72.8594 L760.5,82.8594 L770.5,82.8594 L760.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="189.5" x2="386.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="390.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="390.5" y="89.4263">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="118" x="451.5" y="89.4263">: urt_srtrequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="573.5" x2="770.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="204" x="195.5" y="105.0591">The SRT request to be acquired.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="195.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="275.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="307.5" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="189.5" x2="770.5" y1="128.2578" y2="128.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="189.5" x2="770.5" y1="130.2578" y2="130.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="189.5" x2="409" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="413" y="144.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="413" y="144.8247">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="462" y="144.8247">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="551" x2="770.5" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="195.5" y="160.4575">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="248.5" y="160.4575">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="120" x="356.5" y="160.4575">in case of success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="195.5" y="175.5903">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="216" x="248.5" y="175.5903">URT_STATUS_REQUEST_BADOWNER</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="287" x="468.5" y="175.5903">if the request is aloready owned by a service.</text><ellipse cx="480" cy="213.6563" fill="#000000" filter="url(#fwonkd6co71fx)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M122,248.0742 L122,273.207 A0,0 0 0 0 122,273.207 L411,273.207 A0,0 0 0 0 411,273.207 L411,266.0742 L431,260.6406 L411,258.0742 L411,258.0742 L401,248.0742 L122,248.0742 A0,0 0 0 0 122,248.0742 " fill="#FBFB77" filter="url(#fwonkd6co71fx)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M401,248.0742 L401,258.0742 L411,258.0742 L401,248.0742 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="268" x="128" y="265.1411">Execution is blocked until mutex is locked.</text><rect fill="#FEFECE" filter="url(#fwonkd6co71fx)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="98" x="431" y="243.6563"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="78" x="441" y="264.7949">lock request</text><polygon fill="#FEFECE" filter="url(#fwonkd6co71fx)" points="390,297.625,570,297.625,582,309.625,570,321.625,390,321.625,378,309.625,390,297.625" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="390" y="313.4331">Request is owned by a service?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="358" y="307.0308">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="582" y="307.0308">no</text><rect fill="#FEFECE" filter="url(#fwonkd6co71fx)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="114" x="278" y="331.625"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="288" y="352.7637">unlock request</text><path d="M10,384.0273 L10,409.1602 A0,0 0 0 0 10,409.1602 L304,409.1602 A0,0 0 0 0 304,409.1602 L304,402.0273 L324,396.5938 L304,394.0273 L304,394.0273 L294,384.0273 L10,384.0273 A0,0 0 0 0 10,384.0273 " fill="#FBFB77" filter="url(#fwonkd6co71fx)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M294,384.0273 L294,394.0273 L304,394.0273 L294,384.0273 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="16" y="401.0942">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="216" x="69" y="401.0942">URT_STATUS_REQUEST_BADOWNER</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="285" y="401.0942">.</text><ellipse cx="335" cy="396.5938" fill="#FFFFFF" filter="url(#fwonkd6co71fx)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="335" cy="396.5938" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><path d="M412,331.625 L412,356.7578 A0,0 0 0 0 412,356.7578 L594,356.7578 A0,0 0 0 0 594,356.7578 L594,349.625 L614,344.1914 L594,341.625 L594,341.625 L584,331.625 L412,331.625 A0,0 0 0 0 412,331.625 " fill="#FBFB77" filter="url(#fwonkd6co71fx)" style="stroke: #A80036; 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stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="480" x2="480" y1="277.625" y2="297.625"/><polygon fill="#A80036" points="476,287.625,480,297.625,484,287.625,480,291.625" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8aab65be45629fe3ebe8b8316344828b]
+@startuml
+
+title **µRtWare**\nurtSrtRequestAcquire()\n
+
+
+
+
+
+
+note
+  - - **request** : urt_srtrequest_t* - -
+  The SRT request to be acquired.
+  Must not be ""NULL"".
+  ====
+  - - **return** : urt_status_t - -
+  Returns ""URT_STATUS_OK"" in case of success.
+  Returns ""URT_STATUS_REQUEST_BADOWNER"" if the request is aloready owned by a service.
+endnote
+
+
+  start
+  :lock request;
+  note
+    Execution is blocked until mutex is locked.
+  endnote
+  if (Request is owned by a service?) then (yes)
+    :unlock request;
+    stop
+    note
+      Returns ""URT_STATUS_REQUEST_BADOWNER"".
+    endnote
+  else (no)
+    stop
+    note
+      Returns ""URT_STATUS_OK"".
+    endnote
+  endif
+
+
+@enduml
+
+PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
+Operating System: Linux
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/doc/activitydiagrams/request/srtrequest/urtSrtRequestAcquire.uml b/doc/activitydiagrams/request/srtrequest/urtSrtRequestAcquire.uml
new file mode 100644
index 0000000..48d36f0
--- /dev/null
+++ b/doc/activitydiagrams/request/srtrequest/urtSrtRequestAcquire.uml
@@ -0,0 +1,48 @@
+/'
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'/
+
+/'### INTRO ##################################################################'/
+
+@startuml
+
+title **µRtWare**\nurtSrtRequestAcquire()\n
+
+!include ../functions.iuml
+
+/'### PARAMETERS & RETURN ####################################################'/
+
+note
+  -- **request** : urt_srtrequest_t* --
+  The SRT request to be acquired.
+  Must not be ""NULL"".
+  ====
+  -- **return** : urt_status_t --
+  Returns ""URT_STATUS_OK"" in case of success.
+  Returns ""URT_STATUS_REQUEST_BADOWNER"" if the request is aloready owned by a service.
+endnote
+
+/'### PROCEDURE ##############################################################'/
+
+$acquire_request()
+
+/'### OUTRO ##################################################################'/
+
+@enduml
diff --git a/doc/activitydiagrams/request/srtrequest/urtSrtRequestCalculateUsefulness.svg b/doc/activitydiagrams/request/srtrequest/urtSrtRequestCalculateUsefulness.svg
new file mode 100644
index 0000000..9c3174d
--- /dev/null
+++ b/doc/activitydiagrams/request/srtrequest/urtSrtRequestCalculateUsefulness.svg
@@ -0,0 +1,43 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="423px" preserveAspectRatio="none" style="width:433px;height:423px;" version="1.1" viewBox="0 0 433 423" width="433px" zoomAndPan="magnify"><defs><filter height="300%" id="f1b4ssuik79i9r" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="171" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="312" x="59.5" y="47.6611">urtSrtRequestCalculateUsefulness()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="218.5" y="68.6143"/><path d="M10,72.8594 L10,274.4531 L421,274.4531 L421,82.8594 L411,72.8594 L10,72.8594 " fill="#FBFB77" filter="url(#f1b4ssuik79i9r)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M411,72.8594 L411,82.8594 L421,82.8594 L411,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="122" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="126" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="126" y="89.4263">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="118" x="187" y="89.4263">: urt_srtrequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="309" x2="421" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="227" x="16" y="105.0591">The request to calculate validity for.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="16" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="96" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="128" y="120.1919">.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="210" x="16" y="135.3247">Must have been acquired before.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="105" y1="145.957" y2="145.957"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="109" y="149.9575"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="97" x="109" y="149.9575">usefulnesscb</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="112" x="210" y="149.9575">: urt_usefulness_f</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="326" x2="421" y1="145.957" y2="145.957"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="291" x="16" y="165.5903">Calback function that calcualtes a usefulness.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="16" y="180.7231">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="96" y="180.7231">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="128" y="180.7231">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="152" y1="191.3555" y2="191.3555"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="156" y="195.356"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="74" x="156" y="195.356">cbparams</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="234" y="195.356">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="279" x2="421" y1="191.3555" y2="191.3555"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="287" x="16" y="210.9888">Optional arguments for the callback function.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="16" y="226.1216">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="66" y="226.1216">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="304" x="102" y="226.1216">if the callback does not expect any parameters.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="421" y1="234.1875" y2="234.1875"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="421" y1="236.1875" y2="236.1875"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="169" y1="246.7539" y2="246.7539"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="173" y="250.7544"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="173" y="250.7544">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="36" x="222" y="250.7544">: float</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="262" x2="421" y1="246.7539" y2="246.7539"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="390" x="16" y="266.3872">Value in range [0,1], indicating the usefulness of the request.</text><ellipse cx="215.5" cy="304.4531" fill="#000000" filter="url(#f1b4ssuik79i9r)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#f1b4ssuik79i9r)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="336" x="47.5" y="334.4531"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="316" x="57.5" y="355.5918">execute callback function with optional arguments</text><path d="M15.5,386.8555 L15.5,411.9883 A0,0 0 0 0 15.5,411.9883 L184.5,411.9883 A0,0 0 0 0 184.5,411.9883 L184.5,404.8555 L204.5,399.4219 L184.5,396.8555 L184.5,396.8555 L174.5,386.8555 L15.5,386.8555 A0,0 0 0 0 15.5,386.8555 " fill="#FBFB77" filter="url(#f1b4ssuik79i9r)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M174.5,386.8555 L174.5,396.8555 L184.5,396.8555 L174.5,386.8555 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="148" x="21.5" y="403.9224">Returns callback result.</text><ellipse cx="215.5" cy="399.4219" fill="#FFFFFF" filter="url(#f1b4ssuik79i9r)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="215.5" cy="399.4219" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="215.5" x2="215.5" y1="274.4531" y2="294.4531"/><polygon fill="#A80036" points="211.5,284.4531,215.5,294.4531,219.5,284.4531,215.5,288.4531" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="215.5" x2="215.5" y1="314.4531" y2="334.4531"/><polygon fill="#A80036" points="211.5,324.4531,215.5,334.4531,219.5,324.4531,215.5,328.4531" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="215.5" x2="215.5" y1="368.4219" y2="388.4219"/><polygon fill="#A80036" points="211.5,378.4219,215.5,388.4219,219.5,378.4219,215.5,382.4219" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[25991110ce9517ad01374b69c7642fbf]
+@startuml
+
+title **µRtWare**\nurtSrtRequestCalculateUsefulness()\n
+
+
+note
+  - - **request** : urt_srtrequest_t* - -
+  The request to calculate validity for.
+  Must not be ""NULL"".
+  Must have been acquired before.
+  - - **usefulnesscb** : urt_usefulness_f - -
+  Calback function that calcualtes a usefulness.
+  Must not be ""NULL"".
+  - - **cbparams** : void* - -
+  Optional arguments for the callback function.
+  May be ""NULL"" if the callback does not expect any parameters.
+  ====
+  - - **return** : float - -
+  Value in range [0,1], indicating the usefulness of the request.
+endnote
+
+
+start
+:execute callback function with optional arguments;
+stop
+note
+  Returns callback result.
+endnote
+
+
+@enduml
+
+PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
+Operating System: Linux
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/doc/activitydiagrams/request/srtrequest/urtSrtRequestCalculateUsefulness.uml b/doc/activitydiagrams/request/srtrequest/urtSrtRequestCalculateUsefulness.uml
new file mode 100644
index 0000000..90d4266
--- /dev/null
+++ b/doc/activitydiagrams/request/srtrequest/urtSrtRequestCalculateUsefulness.uml
@@ -0,0 +1,57 @@
+/'
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'/
+
+/'### INTRO ##################################################################'/
+
+@startuml
+
+title **µRtWare**\nurtSrtRequestCalculateUsefulness()\n
+
+/'### PARAMETERS & RETURN ####################################################'/
+
+note
+  -- **request** : urt_srtrequest_t* --
+  The request to calculate validity for.
+  Must not be ""NULL"".
+  Must have been acquired before.
+  -- **usefulnesscb** : urt_usefulness_f --
+  Calback function that calcualtes a usefulness.
+  Must not be ""NULL"".
+  -- **cbparams** : void* --
+  Optional arguments for the callback function.
+  May be ""NULL"" if the callback does not expect any parameters.
+  ====
+  -- **return** : float --
+  Value in range [0,1], indicating the usefulness of the request.
+endnote
+
+/'### PROCEDURE ##############################################################'/
+
+start
+:execute callback function with optional arguments;
+stop
+note
+  Returns callback result.
+endnote
+
+/'### OUTRO ##################################################################'/
+
+@enduml
diff --git a/doc/activitydiagrams/request/srtrequest/urtSrtRequestInit.svg b/doc/activitydiagrams/request/srtrequest/urtSrtRequestInit.svg
new file mode 100644
index 0000000..f640ab9
--- /dev/null
+++ b/doc/activitydiagrams/request/srtrequest/urtSrtRequestInit.svg
@@ -0,0 +1,51 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="523px" preserveAspectRatio="none" style="width:502px;height:523px;" version="1.1" viewBox="0 0 502 523" width="502px" zoomAndPan="magnify"><defs><filter height="300%" id="f1jfbsha49f9wp" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="205.75" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="167" x="166.75" y="47.6611">urtSrtRequestInit()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="253.25" y="68.6143"/><path d="M282.5,72.8594 L282.5,153.3906 L490.5,153.3906 L490.5,82.8594 L480.5,72.8594 L282.5,72.8594 " fill="#FBFB77" filter="url(#f1jfbsha49f9wp)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M480.5,72.8594 L480.5,82.8594 L490.5,82.8594 L480.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="282.5" x2="293" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="297" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="297" y="89.4263">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="118" x="358" y="89.4263">: urt_srtrequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="480" x2="490.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="180" x="288.5" y="105.0591">The SRT request to initialize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="288.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="368.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="400.5" y="120.1919">.</text><line style="stroke: #A80036; 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stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="66" x="27" y="402.0513">numFails</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="97" y="402.0513">← 0</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="100" y1="412.6836" y2="412.6836"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="103" x="104" y="416.6841">urt_srtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="211" x2="301" y1="412.6836" y2="412.6836"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="42" y1="427.8164" y2="427.8164"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="219" x="46" y="431.8169">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="269" x2="301" y1="427.8164" y2="427.8164"/><ellipse cx="21.5" cy="443.0156" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="84" x="27" y="447.4497">minLatency</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="115" y="447.4497">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="144" x="130" y="447.4497">URT_DELAY_INFINITE</text><ellipse cx="21.5" cy="458.1484" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="88" x="27" y="462.5825">maxLatency</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="119" y="462.5825">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="152" x="134" y="462.5825">URT_DELAY_IMMEDIATE</text><rect fill="#FEFECE" filter="url(#f1jfbsha49f9wp)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="131" x="321" y="320.0352"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="111" x="331" y="341.1738">initialize members</text><ellipse cx="386.5" cy="501.6484" fill="#FFFFFF" filter="url(#f1jfbsha49f9wp)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="386.5" cy="501.6484" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="386.5" x2="386.5" y1="153.3906" y2="173.3906"/><polygon fill="#A80036" points="382.5,163.3906,386.5,173.3906,390.5,163.3906,386.5,167.3906" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="386.5" x2="386.5" y1="193.3906" y2="320.0352"/><polygon fill="#A80036" points="382.5,310.0352,386.5,320.0352,390.5,310.0352,386.5,314.0352" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="386.5" x2="386.5" y1="354.0039" y2="490.6484"/><polygon fill="#A80036" points="382.5,480.6484,386.5,490.6484,390.5,480.6484,386.5,484.6484" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[446f324ca9225bbc005d12d375c6d05b]
+@startuml
+
+title **µRtWare**\nurtSrtRequestInit()\n
+
+
+note
+  - - **request** : urt_srtrequest_t* - -
+  The SRT request to initialize.
+  Must not be ""NULL"".
+  ====
+  - - **return** : void - -
+endnote
+
+
+start
+:initialize members;
+note
+  - - urt_baserequest_t - -
+  * **prev** ← ""NULL""
+  * **next** ← ""NULL""
+  * urtMutexInit(**lock**)
+  * **owner** ← ""NULL""
+  * **submissionTime** ← 0
+  * **payload** ← ""NULL""
+  * urtEventSourceInit(**evtSource**)
+  * urtEventListenerInit(**evtListener**)
+  .. URT_CFG_RPC_PROFILING == true ..
+  * **sumLatencies** ← 0
+  * **numCalls** ← 0
+  * **numFails** ← 0
+  - - urt_srtrequest_t - -
+  .. URT_CFG_RPC_PROFILING == true ..
+  * **minLatency** ← ""URT_DELAY_INFINITE""
+  * **maxLatency** ← ""URT_DELAY_IMMEDIATE""
+endnote
+stop
+
+
+@enduml
+
+PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
+Operating System: Linux
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/doc/activitydiagrams/request/srtrequest/urtSrtRequestInit.uml b/doc/activitydiagrams/request/srtrequest/urtSrtRequestInit.uml
new file mode 100644
index 0000000..b34bb9c
--- /dev/null
+++ b/doc/activitydiagrams/request/srtrequest/urtSrtRequestInit.uml
@@ -0,0 +1,65 @@
+/'
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'/
+
+/'### INTRO ##################################################################'/
+
+@startuml
+
+title **µRtWare**\nurtSrtRequestInit()\n
+
+/'### PARAMETERS & RETURN ####################################################'/
+
+note
+  -- **request** : urt_srtrequest_t* --
+  The SRT request to initialize.
+  Must not be ""NULL"".
+  ====
+  -- **return** : void --
+endnote
+
+/'### PROCEDURE ##############################################################'/
+
+start
+:initialize members;
+note
+  -- urt_baserequest_t --
+  * **prev** ← ""NULL""
+  * **next** ← ""NULL""
+  * urtMutexInit(**lock**)
+  * **owner** ← ""NULL""
+  * **submissionTime** ← 0
+  * **payload** ← ""NULL""
+  * urtEventSourceInit(**evtSource**)
+  * urtEventListenerInit(**evtListener**)
+  .. URT_CFG_RPC_PROFILING == true ..
+  * **sumLatencies** ← 0
+  * **numCalls** ← 0
+  * **numFails** ← 0
+  -- urt_srtrequest_t --
+  .. URT_CFG_RPC_PROFILING == true ..
+  * **minLatency** ← ""URT_DELAY_INFINITE""
+  * **maxLatency** ← ""URT_DELAY_IMMEDIATE""
+endnote
+stop
+
+/'### OUTRO ##################################################################'/
+
+@enduml
diff --git a/doc/activitydiagrams/request/srtrequest/urtSrtRequestRelease.svg b/doc/activitydiagrams/request/srtrequest/urtSrtRequestRelease.svg
new file mode 100644
index 0000000..39ce912
--- /dev/null
+++ b/doc/activitydiagrams/request/srtrequest/urtSrtRequestRelease.svg
@@ -0,0 +1,41 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="333px" preserveAspectRatio="none" style="width:373px;height:333px;" version="1.1" viewBox="0 0 373 333" width="373px" zoomAndPan="magnify"><defs><filter height="300%" id="f11vndxx5n58rx" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="141" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="207" x="82" y="47.6611">urtSrtRequestRelease()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="188.5" y="68.6143"/><path d="M85,72.8594 L85,183.6563 L361,183.6563 L361,82.8594 L351,72.8594 L85,72.8594 " fill="#FBFB77" filter="url(#f11vndxx5n58rx)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M351,72.8594 L351,82.8594 L361,82.8594 L351,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="85" x2="129.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="133.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="133.5" y="89.4263">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="118" x="194.5" y="89.4263">: urt_srtrequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="316.5" x2="361" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="221" x="91" y="105.0591">The SRT request to release/unlock.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="91" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="171" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="203" y="120.1919">.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="255" x="91" y="135.3247">Must have been acquired/locked before.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="85" x2="361" y1="143.3906" y2="143.3906"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="85" x2="361" y1="145.3906" y2="145.3906"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="85" x2="152" y1="155.957" y2="155.957"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="156" y="159.9575"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="156" y="159.9575">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="205" y="159.9575">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="294" x2="361" y1="155.957" y2="155.957"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="93" x="91" y="175.5903">Always returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="188" y="175.5903">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="292" y="175.5903">.</text><ellipse cx="223" cy="213.6563" fill="#000000" filter="url(#f11vndxx5n58rx)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#f11vndxx5n58rx)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="114" x="166" y="243.6563"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="176" y="264.7949">unlock request</text><path d="M10,296.0586 L10,321.1914 A0,0 0 0 0 10,321.1914 L192,321.1914 A0,0 0 0 0 192,321.1914 L192,314.0586 L212,308.625 L192,306.0586 L192,306.0586 L182,296.0586 L10,296.0586 A0,0 0 0 0 10,296.0586 " fill="#FBFB77" filter="url(#f11vndxx5n58rx)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M182,296.0586 L182,306.0586 L192,306.0586 L182,296.0586 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="16" y="313.1255">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="69" y="313.1255">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="173" y="313.1255">.</text><ellipse cx="223" cy="308.625" fill="#FFFFFF" filter="url(#f11vndxx5n58rx)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="223" cy="308.625" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="223" x2="223" y1="183.6563" y2="203.6563"/><polygon fill="#A80036" points="219,193.6563,223,203.6563,227,193.6563,223,197.6563" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="223" x2="223" y1="223.6563" y2="243.6563"/><polygon fill="#A80036" points="219,233.6563,223,243.6563,227,233.6563,223,237.6563" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="223" x2="223" y1="277.625" y2="297.625"/><polygon fill="#A80036" points="219,287.625,223,297.625,227,287.625,223,291.625" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[c1d8853fddfc30d12f61bf4969025a00]
+@startuml
+
+title **µRtWare**\nurtSrtRequestRelease()\n
+
+
+
+
+
+
+note
+  - - **request** : urt_srtrequest_t* - -
+  The SRT request to release/unlock.
+  Must not be ""NULL"".
+  Must have been acquired/locked before.
+  ====
+  - - **return** : urt_status_t - -
+  Always returns ""URT_STATUS_OK"".
+endnote
+
+
+  start
+  :unlock request;
+  stop
+  note
+    Returns ""URT_STATUS_OK"".
+  endnote
+
+
+@enduml
+
+PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
+Operating System: Linux
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/doc/activitydiagrams/request/srtrequest/urtSrtRequestRelease.uml b/doc/activitydiagrams/request/srtrequest/urtSrtRequestRelease.uml
new file mode 100644
index 0000000..9b90aa3
--- /dev/null
+++ b/doc/activitydiagrams/request/srtrequest/urtSrtRequestRelease.uml
@@ -0,0 +1,48 @@
+/'
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'/
+
+/'### INTRO ##################################################################'/
+
+@startuml
+
+title **µRtWare**\nurtSrtRequestRelease()\n
+
+!include ../functions.iuml
+
+/'### PARAMETERS & RETURN ####################################################'/
+
+note
+  -- **request** : urt_srtrequest_t* --
+  The SRT request to release/unlock.
+  Must not be ""NULL"".
+  Must have been acquired/locked before.
+  ====
+  -- **return** : urt_status_t --
+  Always returns ""URT_STATUS_OK"".
+endnote
+
+/'### PROCEDURE ##############################################################'/
+
+$release_request()
+
+/'### OUTRO ##################################################################'/
+
+@enduml
diff --git a/doc/activitydiagrams/request/srtrequest/urtSrtRequestRetrieve.svg b/doc/activitydiagrams/request/srtrequest/urtSrtRequestRetrieve.svg
new file mode 100644
index 0000000..94eaa2e
--- /dev/null
+++ b/doc/activitydiagrams/request/srtrequest/urtSrtRequestRetrieve.svg
@@ -0,0 +1,74 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="837px" preserveAspectRatio="none" style="width:2306px;height:837px;" version="1.1" viewBox="0 0 2306 837" width="2306px" zoomAndPan="magnify"><defs><filter height="300%" id="f5xqcd1uw3vxe" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="1107.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="215" x="1044.5" y="47.6611">urtSrtRequestRetrieve()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="1155" y="68.6143"/><path d="M1339.25,72.8594 L1339.25,183.6563 L1943.25,183.6563 L1943.25,82.8594 L1933.25,72.8594 L1339.25,72.8594 " fill="#FBFB77" filter="url(#f5xqcd1uw3vxe)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1933.25,72.8594 L1933.25,82.8594 L1943.25,82.8594 L1933.25,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1339.25" x2="1547.75" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1551.75" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="1551.75" y="89.4263">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="118" x="1612.75" y="89.4263">: urt_srtrequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1734.75" x2="1943.25" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="150" x="1345.25" y="105.0591">The request to retrieve.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="1345.25" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1425.25" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1457.25" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1339.25" x2="1943.25" y1="128.2578" y2="128.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1339.25" x2="1943.25" y1="130.2578" y2="130.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1339.25" x2="1570.25" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1574.25" y="144.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="1574.25" y="144.8247">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="1623.25" y="144.8247">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1712.25" x2="1943.25" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="103" x="1345.25" y="160.4575">Typcially returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="1452.25" y="160.4575">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1556.25" y="160.4575">.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1345.25" y="175.5903">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="216" x="1398.25" y="175.5903">URT_STATUS_REQUEST_BADOWNER</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="310" x="1618.25" y="175.5903">if the request had to be removed from a service.</text><ellipse cx="1641.25" cy="213.6563" fill="#000000" filter="url(#f5xqcd1uw3vxe)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#f5xqcd1uw3vxe)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="98" x="1592.25" y="243.6563"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="78" x="1602.25" y="264.7949">lock request</text><polygon fill="#FEFECE" filter="url(#f5xqcd1uw3vxe)" points="1551.25,297.625,1731.25,297.625,1743.25,309.625,1731.25,321.625,1551.25,321.625,1539.25,309.625,1551.25,297.625" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="1551.25" y="313.4331">Request is owned by a service?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1519.25" y="307.0308">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1743.25" y="307.0308">no</text><rect fill="#000000" filter="url(#f5xqcd1uw3vxe)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; 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stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="229" x="206" y="538.1011">This was the first request in the queue?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="174" y="531.6987">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="447" y="531.6987">no</text><rect fill="#FEFECE" filter="url(#f5xqcd1uw3vxe)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="219" x="56" y="556.293"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="20" x="66" y="577.4316">set</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="126" x="90" y="577.4316">requestQueue_front</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="13" x="220" y="577.4316">to</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="28" x="237" y="577.4316">next</text><rect fill="#FEFECE" filter="url(#f5xqcd1uw3vxe)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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+@startuml
+
+title **µRtWare**\nurtSrtRequestRetrieve()\n
+
+
+note
+  - - **request** : urt_srtrequest_t* - -
+  The request to retrieve.
+  Must not be ""NULL"".
+  ====
+  - - **return** : urt_status_t - -
+  Typcially returns ""URT_STATUS_OK"".
+  Returns ""URT_STATUS_REQUEST_BADOWNER"" if the request had to be removed from a service.
+endnote
+
+
+start
+:lock request;
+if (Request is owned by a service?) then (yes)
+  fork
+    partition "unqueue request" {
+      :lock service;
+      fork
+        if (This was the first request in the queue?) then (yes)
+          :set ""requestQueue_front"" to ""next"";
+        else (no)
+          :set ""prev"" of preceeding request to ""prev"" of this reuqest;
+        endif
+      fork again
+        if (This was the final request in the queue?) then (yes)
+          :set ""requestQueue_back"" to ""prev"";
+        else (no)
+          :set ""next"" of preceeding request to ""next"" of this reuqest;
+        endif
+      fork again
+        if (This was the final FRT/SRT request?) then (yes)
+          if (There are FRT or SRT requests left in the queue?) then (yes)
+            :set ""requestQueue_fsrtBack"" to ""prev"";
+          else (no)
+            :set ""requestQueue_fsrtBack"" to ""NULL"";
+          endif
+        else (no)
+        endif
+      endfork
+      :unlock service;
+    }
+  fork again
+    :set ""owner"" to ""NULL"";
+  endfork
+  stop
+  note
+    Returns ""URT_STATUS_REQUEST_BADOWNER"".
+  endnote
+else (no)
+  stop
+  note
+    Returns ""URT_STATUS_OK"".
+  endnote
+endif
+
+
+@enduml
+
+PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
+Operating System: Linux
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/doc/activitydiagrams/request/srtrequest/urtSrtRequestRetrieve.uml b/doc/activitydiagrams/request/srtrequest/urtSrtRequestRetrieve.uml
new file mode 100644
index 0000000..b3702ef
--- /dev/null
+++ b/doc/activitydiagrams/request/srtrequest/urtSrtRequestRetrieve.uml
@@ -0,0 +1,88 @@
+/'
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'/
+
+/'### INTRO ##################################################################'/
+
+@startuml
+
+title **µRtWare**\nurtSrtRequestRetrieve()\n
+
+/'### PARAMETERS & RETURN ####################################################'/
+
+note
+  -- **request** : urt_srtrequest_t* --
+  The request to retrieve.
+  Must not be ""NULL"".
+  ====
+  -- **return** : urt_status_t --
+  Typcially returns ""URT_STATUS_OK"".
+  Returns ""URT_STATUS_REQUEST_BADOWNER"" if the request had to be removed from a service.
+endnote
+
+/'### PROCEDURE ##############################################################'/
+
+start
+:lock request;
+if (Request is owned by a service?) then (yes)
+  fork
+    partition "unqueue request" {
+      :lock service;
+      fork
+        if (This was the first request in the queue?) then (yes)
+          :set ""requestQueue_front"" to ""next"";
+        else (no)
+          :set ""prev"" of preceeding request to ""prev"" of this reuqest;
+        endif
+      fork again
+        if (This was the final request in the queue?) then (yes)
+          :set ""requestQueue_back"" to ""prev"";
+        else (no)
+          :set ""next"" of preceeding request to ""next"" of this reuqest;
+        endif
+      fork again
+        if (This was the final FRT/SRT request?) then (yes)
+          if (There are FRT or SRT requests left in the queue?) then (yes)
+            :set ""requestQueue_fsrtBack"" to ""prev"";
+          else (no)
+            :set ""requestQueue_fsrtBack"" to ""NULL"";
+          endif
+        else (no)
+        endif
+      endfork
+      :unlock service;
+    }
+  fork again
+    :set ""owner"" to ""NULL"";
+  endfork
+  stop
+  note
+    Returns ""URT_STATUS_REQUEST_BADOWNER"".
+  endnote
+else (no)
+  stop
+  note
+    Returns ""URT_STATUS_OK"".
+  endnote
+endif
+
+/'### OUTRO ##################################################################'/
+
+@enduml
diff --git a/doc/activitydiagrams/request/srtrequest/urtSrtRequestSubmit.svg b/doc/activitydiagrams/request/srtrequest/urtSrtRequestSubmit.svg
new file mode 100644
index 0000000..b7ade8e
--- /dev/null
+++ b/doc/activitydiagrams/request/srtrequest/urtSrtRequestSubmit.svg
@@ -0,0 +1,99 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="1076px" preserveAspectRatio="none" style="width:5567px;height:1076px;" version="1.1" viewBox="0 0 5567 1076" width="5567px" zoomAndPan="magnify"><defs><filter height="300%" id="fqvgsx05mm0aq" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="2738" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="200" x="2682.5" y="47.6611">urtSrtRequestSubmit()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="2785.5" y="68.6143"/><path d="M2677.5,72.8594 L2677.5,229.0547 L2923.5,229.0547 L2923.5,82.8594 L2913.5,72.8594 L2677.5,72.8594 " fill="#FBFB77" filter="url(#fqvgsx05mm0aq)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2913.5,72.8594 L2913.5,82.8594 L2923.5,82.8594 L2913.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="2677.5" x2="2707" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="2711" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="2711" y="89.4263">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="118" x="2772" y="89.4263">: urt_srtrequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="2894" x2="2923.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="225" x="2683.5" y="105.0591">The request to be used for this call.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="2683.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="2763.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="2795.5" y="120.1919">.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="210" x="2683.5" y="135.3247">Must have been acquired before.</text><line style="stroke: #A80036; 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stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#fqvgsx05mm0aq)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="93" x="2754" y="289.0547"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="73" x="2764" y="310.1934">lock service</text><rect fill="#000000" filter="url(#fqvgsx05mm0aq)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="5546" x="10" y="343.0234"/><rect fill="#FFFFFF" filter="url(#fqvgsx05mm0aq)" height="472.7383" style="stroke: #000000; stroke-width: 2.0;" width="5285" x="22" y="359.8252"/><path d="M153,360.8252 L153,369.1221 L143,379.1221 L22,379.1221 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="121" x="25" y="373.8203">enqueue request</text><rect fill="#000000" filter="url(#fqvgsx05mm0aq)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; 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+@startuml
+
+title **µRtWare**\nurtSrtRequestSubmit()\n
+
+
+note
+  - - **request** : urt_srtrequest_t* - -
+  The request to be used for this call.
+  Must not be ""NULL"".
+  Must have been acquired before.
+  - - **service** : urt_service_t* - -
+  The service to be called.
+  Must not be ""NULL"".
+  ====
+  - - **return** : urt_status_t - -
+  Always returns ""URT_STATUS_OK"".
+endnote
+
+
+start
+:lock service;
+fork
+  partition "enqueue request" {
+    fork
+      if (Service already holds requests?) then (yes)
+        if (Service already holds FRT or SRT requests?) then (yes)
+          partition "append to FRT/SRT requests" {
+            :access last queued FRT/SRT request;
+            fork
+              :set ""next"" pointer of this request to ""next"" of queued request;
+            fork again
+              :set ""prev"" pointer of this request to of queued request;
+            fork again
+              :set ""next"" pointer of queued request to this request;
+            fork again
+              :set ""prev"" pointer of next request to this request;
+            endfork
+          }
+        elseif (Service already holds HRT requests?) then (yes)
+          partition "enqueue after last HRT request" {
+            :access last queued HRT request;
+            fork
+              :set ""next"" pointer of this request to ""next"" of queued request;
+            fork again
+              :set ""prev"" pointer of this request to of queued request;
+            fork again
+              :set ""next"" pointer of queued request to this request;
+            fork again
+              :set ""prev"" pointer of next request to this request;
+            endfork
+          }
+        else (no)
+          partition "enqueue in fron of NRT requests" {
+            :access first queued request;
+            fork
+              :set ""next"" pointer of this request to queued request;
+            fork again
+              :set ""prev"" pointer of queued request to this request;
+            fork again
+              :set the ""requestQueue_front"" pointer to this request;
+            endfork
+          }
+        endif
+      else (no)
+        fork
+          :set the ""requestQueue_front"" pointer to this request;
+        fork again
+          :set the ""requestQueue_back"" pointer to this request;
+        endfork
+      endif
+    fork again
+      :set the ""requestQueue_fsrtBack"" pointer to this request;
+    endfork
+  }
+fork again
+  :set the service as request owner;
+endfork
+:unlock request;
+:fire event (@service);
+:unlock service;
+stop
+note
+  Returns ""URT_STATUS_OK"".
+endnote
+
+
+@enduml
+
+PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
+Operating System: Linux
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/doc/activitydiagrams/request/srtrequest/urtSrtRequestSubmit.uml b/doc/activitydiagrams/request/srtrequest/urtSrtRequestSubmit.uml
new file mode 100644
index 0000000..d780afe
--- /dev/null
+++ b/doc/activitydiagrams/request/srtrequest/urtSrtRequestSubmit.uml
@@ -0,0 +1,113 @@
+/'
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'/
+
+/'### INTRO ##################################################################'/
+
+@startuml
+
+title **µRtWare**\nurtSrtRequestSubmit()\n
+
+/'### PARAMETERS & RETURN ####################################################'/
+
+note
+  -- **request** : urt_srtrequest_t* --
+  The request to be used for this call.
+  Must not be ""NULL"".
+  Must have been acquired before.
+  -- **service** : urt_service_t* --
+  The service to be called.
+  Must not be ""NULL"".
+  ====
+  -- **return** : urt_status_t --
+  Always returns ""URT_STATUS_OK"".
+endnote
+
+/'### PROCEDURE ##############################################################'/
+
+start
+:lock service;
+fork
+  partition "enqueue request" {
+    fork
+      if (Service already holds requests?) then (yes)
+        if (Service already holds FRT or SRT requests?) then (yes)
+          partition "append to FRT/SRT requests" {
+            :access last queued FRT/SRT request;
+            fork
+              :set ""next"" pointer of this request to ""next"" of queued request;
+            fork again
+              :set ""prev"" pointer of this request to of queued request;
+            fork again
+              :set ""next"" pointer of queued request to this request;
+            fork again
+              :set ""prev"" pointer of next request to this request;
+            endfork
+          }
+        elseif (Service already holds HRT requests?) then (yes)
+          partition "enqueue after last HRT request" {
+            :access last queued HRT request;
+            fork
+              :set ""next"" pointer of this request to ""next"" of queued request;
+            fork again
+              :set ""prev"" pointer of this request to of queued request;
+            fork again
+              :set ""next"" pointer of queued request to this request;
+            fork again
+              :set ""prev"" pointer of next request to this request;
+            endfork
+          }
+        else (no)
+          partition "enqueue in fron of NRT requests" {
+            :access first queued request;
+            fork
+              :set ""next"" pointer of this request to queued request;
+            fork again
+              :set ""prev"" pointer of queued request to this request;
+            fork again
+              :set the ""requestQueue_front"" pointer to this request;
+            endfork
+          }
+        endif
+      else (no)
+        fork
+          :set the ""requestQueue_front"" pointer to this request;
+        fork again
+          :set the ""requestQueue_back"" pointer to this request;
+        endfork
+      endif
+    fork again
+      :set the ""requestQueue_fsrtBack"" pointer to this request;
+    endfork
+  }
+fork again
+  :set the service as request owner;
+endfork
+:unlock request;
+:fire event (@service);
+:unlock service;
+stop
+note
+  Returns ""URT_STATUS_OK"".
+endnote
+
+/'### OUTRO ##################################################################'/
+
+@enduml
diff --git a/doc/activitydiagrams/request/srtrequest/urtSrtRequestTryAcquire.svg b/doc/activitydiagrams/request/srtrequest/urtSrtRequestTryAcquire.svg
new file mode 100644
index 0000000..e6e617c
--- /dev/null
+++ b/doc/activitydiagrams/request/srtrequest/urtSrtRequestTryAcquire.svg
@@ -0,0 +1,60 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="470px" preserveAspectRatio="none" style="width:1030px;height:470px;" version="1.1" viewBox="0 0 1030 470" width="1030px" zoomAndPan="magnify"><defs><filter height="300%" id="fyt4o6we16ks9" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="469.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="236" x="396" y="47.6611">urtSrtRequestTryAcquire()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="517" y="68.6143"/><path d="M437,72.8594 L437,198.7891 L1018,198.7891 L1018,82.8594 L1008,72.8594 L437,72.8594 " fill="#FBFB77" filter="url(#fyt4o6we16ks9)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1008,72.8594 L1008,82.8594 L1018,82.8594 L1008,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="437" x2="634" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="638" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="638" y="89.4263">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="118" x="699" y="89.4263">: urt_srtrequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="821" x2="1018" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="204" x="443" y="105.0591">The SRT request to be acquired.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="443" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="523" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="555" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="437" x2="1018" y1="128.2578" y2="128.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="437" x2="1018" y1="130.2578" y2="130.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="437" x2="656.5" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="660.5" y="144.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="660.5" y="144.8247">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="709.5" y="144.8247">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="798.5" x2="1018" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="443" y="160.4575">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="496" y="160.4575">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="120" x="604" y="160.4575">in case of success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="443" y="175.5903">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="216" x="496" y="175.5903">URT_STATUS_REQUEST_BADOWNER</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="287" x="716" y="175.5903">if the request is aloready owned by a service.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="443" y="190.7231">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="200" x="496" y="190.7231">URT_STATUS_REQUEST_LOCKED</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="254" x="700" y="190.7231">if the request's mutex is already locked.</text><ellipse cx="727.5" cy="228.7891" fill="#000000" filter="url(#fyt4o6we16ks9)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M538.5,263.207 L538.5,288.3398 A0,0 0 0 0 538.5,288.3398 L658.5,288.3398 A0,0 0 0 0 658.5,288.3398 L658.5,281.207 L678.5,275.7734 L658.5,273.207 L658.5,273.207 L648.5,263.207 L538.5,263.207 A0,0 0 0 0 538.5,263.207 " fill="#FBFB77" filter="url(#fyt4o6we16ks9)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M648.5,263.207 L648.5,273.207 L658.5,273.207 L648.5,263.207 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="99" x="544.5" y="280.2739">Does not block.</text><rect fill="#FEFECE" filter="url(#fyt4o6we16ks9)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="98" x="678.5" y="258.7891"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="78" x="688.5" y="279.9277">lock request</text><polygon fill="#FEFECE" filter="url(#fyt4o6we16ks9)" points="655.5,312.7578,799.5,312.7578,811.5,324.7578,799.5,336.7578,655.5,336.7578,643.5,324.7578,655.5,312.7578" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="144" x="655.5" y="328.5659">Request could be locked?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="623.5" y="322.1636">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="811.5" y="322.1636">no</text><polygon fill="#FEFECE" filter="url(#fyt4o6we16ks9)" points="390,346.7578,570,346.7578,582,358.7578,570,370.7578,390,370.7578,378,358.7578,390,346.7578" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="390" y="362.5659">Request is owned by a service?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="358" y="356.1636">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="582" y="356.1636">no</text><rect fill="#FEFECE" filter="url(#fyt4o6we16ks9)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="114" x="278" y="380.7578"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="288" y="401.8965">unlock request</text><path d="M10,433.1602 L10,458.293 A0,0 0 0 0 10,458.293 L304,458.293 A0,0 0 0 0 304,458.293 L304,451.1602 L324,445.7266 L304,443.1602 L304,443.1602 L294,433.1602 L10,433.1602 A0,0 0 0 0 10,433.1602 " fill="#FBFB77" filter="url(#fyt4o6we16ks9)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M294,433.1602 L294,443.1602 L304,443.1602 L294,433.1602 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="16" y="450.2271">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="216" x="69" y="450.2271">URT_STATUS_REQUEST_BADOWNER</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="285" y="450.2271">.</text><ellipse cx="335" cy="445.7266" fill="#FFFFFF" filter="url(#fyt4o6we16ks9)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="335" cy="445.7266" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><path d="M412,380.7578 L412,405.8906 A0,0 0 0 0 412,405.8906 L594,405.8906 A0,0 0 0 0 594,405.8906 L594,398.7578 L614,393.3242 L594,390.7578 L594,390.7578 L584,380.7578 L412,380.7578 A0,0 0 0 0 412,380.7578 " fill="#FBFB77" filter="url(#fyt4o6we16ks9)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M584,380.7578 L584,390.7578 L594,390.7578 L584,380.7578 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="418" y="397.8247">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="471" y="397.8247">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="575" y="397.8247">.</text><ellipse cx="625" cy="393.3242" fill="#FFFFFF" filter="url(#fyt4o6we16ks9)" rx="11" ry="11" style="stroke: #000000; 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stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="582" x2="625" y1="358.7578" y2="358.7578"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="625" x2="625" y1="358.7578" y2="382.3242"/><polygon fill="#A80036" points="621,372.3242,625,382.3242,629,372.3242,625,376.3242" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="643.5" x2="480" y1="324.7578" y2="324.7578"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="480" x2="480" y1="324.7578" y2="346.7578"/><polygon fill="#A80036" points="476,336.7578,480,346.7578,484,336.7578,480,340.7578" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="811.5" x2="975" y1="324.7578" y2="324.7578"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="975" x2="975" y1="324.7578" y2="348.3242"/><polygon fill="#A80036" points="971,338.3242,975,348.3242,979,338.3242,975,342.3242" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="727.5" x2="727.5" y1="292.7578" y2="312.7578"/><polygon fill="#A80036" points="723.5,302.7578,727.5,312.7578,731.5,302.7578,727.5,306.7578" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e08e75b745c41c19a2afa393cbad90e7]
+@startuml
+
+title **µRtWare**\nurtSrtRequestTryAcquire()\n
+
+
+
+
+
+
+note
+  - - **request** : urt_srtrequest_t* - -
+  The SRT request to be acquired.
+  Must not be ""NULL"".
+  ====
+  - - **return** : urt_status_t - -
+  Returns ""URT_STATUS_OK"" in case of success.
+  Returns ""URT_STATUS_REQUEST_BADOWNER"" if the request is aloready owned by a service.
+  Returns ""URT_STATUS_REQUEST_LOCKED"" if the request's mutex is already locked.
+endnote
+
+
+  start
+  :lock request;
+  note
+    Does not block.
+  endnote
+  if (Request could be locked?) then (yes)
+    if (Request is owned by a service?) then (yes)
+      :unlock request;
+      stop
+      note
+        Returns ""URT_STATUS_REQUEST_BADOWNER"".
+      endnote
+    else (no)
+      stop
+      note
+        Returns ""URT_STATUS_OK"".
+      endnote
+    endif
+  else (no)
+    stop
+    note
+      Returns ""URT_STATUS_REQUEST_LOCKED"".
+    endnote
+  endif
+
+
+@enduml
+
+PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
+Operating System: Linux
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/doc/activitydiagrams/request/srtrequest/urtSrtRequestTryAcquire.uml b/doc/activitydiagrams/request/srtrequest/urtSrtRequestTryAcquire.uml
new file mode 100644
index 0000000..8dd4e51
--- /dev/null
+++ b/doc/activitydiagrams/request/srtrequest/urtSrtRequestTryAcquire.uml
@@ -0,0 +1,49 @@
+/'
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'/
+
+/'### INTRO ##################################################################'/
+
+@startuml
+
+title **µRtWare**\nurtSrtRequestTryAcquire()\n
+
+!include ../functions.iuml
+
+/'### PARAMETERS & RETURN ####################################################'/
+
+note
+  -- **request** : urt_srtrequest_t* --
+  The SRT request to be acquired.
+  Must not be ""NULL"".
+  ====
+  -- **return** : urt_status_t --
+  Returns ""URT_STATUS_OK"" in case of success.
+  Returns ""URT_STATUS_REQUEST_BADOWNER"" if the request is aloready owned by a service.
+  Returns ""URT_STATUS_REQUEST_LOCKED"" if the request's mutex is already locked.
+endnote
+
+/'### PROCEDURE ##############################################################'/
+
+$try_acquire_request()
+
+/'### OUTRO ##################################################################'/
+
+@enduml
diff --git a/doc/activitydiagrams/service/urtServiceAcquireRequest.svg b/doc/activitydiagrams/service/urtServiceAcquireRequest.svg
new file mode 100644
index 0000000..9ea8981
--- /dev/null
+++ b/doc/activitydiagrams/service/urtServiceAcquireRequest.svg
@@ -0,0 +1,51 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="466px" preserveAspectRatio="none" style="width:710px;height:466px;" version="1.1" viewBox="0 0 710 466" width="710px" zoomAndPan="magnify"><defs><filter height="300%" id="fm08xyzpmczn8" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="309.75" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="245" x="231.75" y="47.6611">urtServiceAcquireRequest()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="357.25" y="68.6143"/><path d="M103.5,72.8594 L103.5,229.0547 L698.5,229.0547 L698.5,82.8594 L688.5,72.8594 L103.5,72.8594 " fill="#FBFB77" filter="url(#fm08xyzpmczn8)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M688.5,72.8594 L688.5,82.8594 L698.5,82.8594 L688.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="103.5" x2="320.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="324.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="324.5" y="89.4263">service</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="97" x="380.5" y="89.4263">: urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="481.5" x2="698.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="268" x="109.5" y="105.0591">The service that shall acquire the request.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="109.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="189.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="221.5" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="103.5" x2="300.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="304.5" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="304.5" y="134.8247">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="132" x="365.5" y="134.8247">: urt_baserequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="501.5" x2="698.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="176" x="109.5" y="150.4575">The request to be acquired.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="109.5" y="165.5903">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="189.5" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="221.5" y="165.5903">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="103.5" x2="698.5" y1="173.6563" y2="173.6563"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="103.5" x2="698.5" y1="175.6563" y2="175.6563"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="103.5" x2="330" y1="186.2227" y2="186.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="334" y="190.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="334" y="190.2231">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="383" y="190.2231">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="472" x2="698.5" y1="186.2227" y2="186.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="109.5" y="205.856">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="162.5" y="205.856">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="120" x="270.5" y="205.856">in case of success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="109.5" y="220.9888">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="216" x="162.5" y="220.9888">URT_STATUS_REQUEST_BADOWNER</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="301" x="382.5" y="220.9888">if the service has lost ownership of the request.</text><ellipse cx="401" cy="259.0547" fill="#000000" filter="url(#fm08xyzpmczn8)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M43,293.4727 L43,318.6055 A0,0 0 0 0 43,318.6055 L332,318.6055 A0,0 0 0 0 332,318.6055 L332,311.4727 L352,306.0391 L332,303.4727 L332,303.4727 L322,293.4727 L43,293.4727 A0,0 0 0 0 43,293.4727 " fill="#FBFB77" filter="url(#fm08xyzpmczn8)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M322,293.4727 L322,303.4727 L332,303.4727 L322,293.4727 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="268" x="49" y="310.5396">Execution is blocked until mutex is locked.</text><rect fill="#FEFECE" filter="url(#fm08xyzpmczn8)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="98" x="352" y="289.0547"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="78" x="362" y="310.1934">lock request</text><polygon fill="#FEFECE" filter="url(#fm08xyzpmczn8)" points="294.5,343.0234,507.5,343.0234,519.5,355.0234,507.5,367.0234,294.5,367.0234,282.5,355.0234,294.5,343.0234" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="294.5" y="358.8315">This service is owner of the request?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="262.5" y="352.4292">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="519.5" y="352.4292">no</text><path d="M10,377.0234 L10,402.1563 A0,0 0 0 0 10,402.1563 L192,402.1563 A0,0 0 0 0 192,402.1563 L192,395.0234 L212,389.5898 L192,387.0234 L192,387.0234 L182,377.0234 L10,377.0234 A0,0 0 0 0 10,377.0234 " fill="#FBFB77" filter="url(#fm08xyzpmczn8)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M182,377.0234 L182,387.0234 L192,387.0234 L182,377.0234 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="16" y="394.0903">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="69" y="394.0903">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="173" y="394.0903">.</text><ellipse cx="223" cy="389.5898" fill="#FFFFFF" filter="url(#fm08xyzpmczn8)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="223" cy="389.5898" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#fm08xyzpmczn8)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="114" x="522" y="377.0234"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="532" y="398.1621">unlock request</text><path d="M254,429.4258 L254,454.5586 A0,0 0 0 0 254,454.5586 L548,454.5586 A0,0 0 0 0 548,454.5586 L548,447.4258 L568,441.9922 L548,439.4258 L548,439.4258 L538,429.4258 L254,429.4258 A0,0 0 0 0 254,429.4258 " fill="#FBFB77" filter="url(#fm08xyzpmczn8)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M538,429.4258 L538,439.4258 L548,439.4258 L538,429.4258 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="260" y="446.4927">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="216" x="313" y="446.4927">URT_STATUS_REQUEST_BADOWNER</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="529" y="446.4927">.</text><ellipse cx="579" cy="441.9922" fill="#FFFFFF" filter="url(#fm08xyzpmczn8)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="579" cy="441.9922" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="401" x2="401" y1="229.0547" y2="249.0547"/><polygon fill="#A80036" points="397,239.0547,401,249.0547,405,239.0547,401,243.0547" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="401" x2="401" y1="269.0547" y2="289.0547"/><polygon fill="#A80036" points="397,279.0547,401,289.0547,405,279.0547,401,283.0547" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="579" x2="579" y1="410.9922" y2="430.9922"/><polygon fill="#A80036" points="575,420.9922,579,430.9922,583,420.9922,579,424.9922" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="282.5" x2="223" y1="355.0234" y2="355.0234"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="223" x2="223" y1="355.0234" y2="378.5898"/><polygon fill="#A80036" points="219,368.5898,223,378.5898,227,368.5898,223,372.5898" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="519.5" x2="579" y1="355.0234" y2="355.0234"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="579" x2="579" y1="355.0234" y2="377.0234"/><polygon fill="#A80036" points="575,367.0234,579,377.0234,583,367.0234,579,371.0234" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="401" x2="401" y1="323.0234" y2="343.0234"/><polygon fill="#A80036" points="397,333.0234,401,343.0234,405,333.0234,401,337.0234" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b640d5edd444f1a758d61a68633c34c7]
+@startuml
+
+title **µRtWare**\nurtServiceAcquireRequest()\n
+
+
+note
+  - - **service** : urt_service_t* - -
+  The service that shall acquire the request.
+  Must not be ""NULL"".
+  - - **request** : urt_baserequest_t* - -
+  The request to be acquired.
+  Must not be ""NULL"".
+  ====
+  - - **return** : urt_status_t - -
+  Returns ""URT_STATUS_OK"" in case of success.
+  Returns ""URT_STATUS_REQUEST_BADOWNER"" if the service has lost ownership of the request.
+endnote
+
+
+start
+:lock request;
+note
+  Execution is blocked until mutex is locked.
+endnote
+if (This service is owner of the request?) then (yes)
+  stop
+  note
+    Returns ""URT_STATUS_OK"".
+  endnote
+else (no)
+  :unlock request;
+  stop
+  note
+    Returns ""URT_STATUS_REQUEST_BADOWNER"".
+  endnote
+endif
+
+
+@enduml
+
+PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
+Operating System: Linux
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/doc/activitydiagrams/service/urtServiceAcquireRequest.uml b/doc/activitydiagrams/service/urtServiceAcquireRequest.uml
new file mode 100644
index 0000000..c515bbc
--- /dev/null
+++ b/doc/activitydiagrams/service/urtServiceAcquireRequest.uml
@@ -0,0 +1,65 @@
+/'
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'/
+
+/'### INTRO ##################################################################'/
+
+@startuml
+
+title **µRtWare**\nurtServiceAcquireRequest()\n
+
+/'### PARAMETERS & RETURN ####################################################'/
+
+note
+  -- **service** : urt_service_t* --
+  The service that shall acquire the request.
+  Must not be ""NULL"".
+  -- **request** : urt_baserequest_t* --
+  The request to be acquired.
+  Must not be ""NULL"".
+  ====
+  -- **return** : urt_status_t --
+  Returns ""URT_STATUS_OK"" in case of success.
+  Returns ""URT_STATUS_REQUEST_BADOWNER"" if the service has lost ownership of the request.
+endnote
+
+/'### PROCEDURE ##############################################################'/
+
+start
+:lock request;
+note
+  Execution is blocked until mutex is locked.
+endnote
+if (This service is owner of the request?) then (yes)
+  stop
+  note
+    Returns ""URT_STATUS_OK"".
+  endnote
+else (no)
+  :unlock request;
+  stop
+  note
+    Returns ""URT_STATUS_REQUEST_BADOWNER"".
+  endnote
+endif
+
+/'### OUTRO ##################################################################'/
+
+@enduml
diff --git a/doc/activitydiagrams/service/urtServiceCall.svg b/doc/activitydiagrams/service/urtServiceCall.svg
deleted file mode 100644
index 02b82c6..0000000
--- a/doc/activitydiagrams/service/urtServiceCall.svg
+++ /dev/null
@@ -1,63 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="788px" preserveAspectRatio="none" style="width:1219px;height:788px;" version="1.1" viewBox="0 0 1219 788" width="1219px" zoomAndPan="magnify"><defs><filter height="300%" id="f15pkoa3awclp5" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="564" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="139" x="539" y="47.6611">urtServiceCall()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="611.5" y="68.6143"/><path d="M402,72.8594 L402,304.7188 L836,304.7188 L836,82.8594 L826,72.8594 L402,72.8594 " fill="#FBFB77" filter="url(#f15pkoa3awclp5)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M826,72.8594 L826,82.8594 L836,82.8594 L826,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="402" x2="538.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="542.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="542.5" y="89.4263">service</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="97" x="598.5" y="89.4263">: urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="699.5" x2="836" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="118" x="408" y="105.0591">The service to call.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="408" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="488" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="520" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="402" x2="580" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="584" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="25" x="584" y="134.8247">arg</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="613" y="134.8247">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="658" x2="836" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="244" x="408" y="150.4575">Optional argument for the service call.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="408" y="165.5903">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="458" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="233" x="494" y="165.5903">if the service expects no arguments.</text><line style="stroke: #A80036; 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stroke-width: 1.0;"/><rect fill="#EEEEEE" filter="url(#f15pkoa3awclp5)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="506" y="364.7188"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="506" x2="516" y1="381.7031" y2="381.7031"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="206" x="516" y="385.3574">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="722" x2="732" y1="381.7031" y2="381.7031"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="141" x="516" y="399.8262">increment call counter</text><rect fill="#FEFECE" filter="url(#f15pkoa3awclp5)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="258" x="490" y="432.6563"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="123" x="500" y="453.7949">execute the service</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="56" x="627" y="453.7949">callback</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="51" x="687" y="453.7949">function</text><rect fill="#EEEEEE" filter="url(#f15pkoa3awclp5)" height="255.0703" style="stroke: #000000; 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stroke-width: 1.0;" width="1178" x="20" y="714.4971"/><path d="M312,750.9307 L312,776.0635 A0,0 0 0 0 312,776.0635 L588,776.0635 A0,0 0 0 0 588,776.0635 L588,768.9307 L608,763.4971 L588,760.9307 L588,760.9307 L578,750.9307 L312,750.9307 A0,0 0 0 0 312,750.9307 " fill="#FBFB77" filter="url(#f15pkoa3awclp5)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M578,750.9307 L578,760.9307 L588,760.9307 L578,750.9307 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="255" x="318" y="767.9976">Returns the return value of the callback.</text><ellipse cx="619" cy="763.4971" fill="#FFFFFF" filter="url(#f15pkoa3awclp5)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="619" cy="763.4971" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="619" x2="619" y1="304.7188" y2="324.7188"/><polygon fill="#A80036" points="615,314.7188,619,324.7188,623,314.7188,619,318.7188" style="stroke: #A80036; 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-@startuml
-
-title **µRtWare**\nurtServiceCall()\n
-
-
-note
-  - - **service** : urt_service_t* - -
-  The service to call.
-  Must not be ""NULL"".
-  - - **arg** : void* - -
-  Optional argument for the service call.
-  May be ""NULL"" if the service expects no arguments.
-  - - **ret** : void* - -
-  Pointer to an optional output value.
-  May be ""NULL"".
-  - - **timeout** : urt_delay_t - -
-  Timeout delay to be propagated to the callback function.
-  Whether timeout is considered depends on the callback function.
-  ====
-  - - **return** : urt_status_t - -
-  Returns the exact output status of the service call.
-endnote
-
-
-start
-#EEEEEE:..//URT_CFG_RPC_PROFILING == true//..\nincrement call counter;
-:execute the service ""callback"" function;
-partition "//URT_CFG_RPC_PROFILING == true//" #EEEEEE {
-  fork
-    #EEEEEE:accumulate sum of durations;
-  fork again
-    if (Calback returned ""URT_STATUS_SERVICE_TIMEOUT""?) then (yes)
-      #EEEEEE:increment timeout counter;
-    else (no)
-    endif
-  fork again
-    if (Duration was shorter than ""minDuration""?) then (yes)
-      #EEEEEE:update ""minDuration"" value;
-    elseif (Duration was longer than ""maxDuration""?) then (yes)
-      #EEEEEE:update ""maxDuration"" value;
-    else (no)
-    endif
-  endfork
-}
-stop
-note
-  Returns the return value of the callback.
-endnote
-
-
-@enduml
-
-PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
-(GPL source distribution)
-Java Runtime: OpenJDK Runtime Environment
-JVM: OpenJDK 64-Bit Server VM
-Java Version: 11.0.6+10-post-Ubuntu-1ubuntu118.04.1
-Operating System: Linux
-Default Encoding: UTF-8
-Language: en
-Country: US
---></g></svg>
\ No newline at end of file
diff --git a/doc/activitydiagrams/service/urtServiceCall.uml b/doc/activitydiagrams/service/urtServiceCall.uml
deleted file mode 100644
index faa9e5c..0000000
--- a/doc/activitydiagrams/service/urtServiceCall.uml
+++ /dev/null
@@ -1,77 +0,0 @@
-/'
-µRtWare is a lightweight publish/subscribe middleware for real-time
-applications. It was developed as part of the software habitat for the
-Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
-
-Copyright (C) 2018..2020  Thomas Schöpping et al.
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program.  If not, see <http://www.gnu.org/licenses/>.
-'/
-
-/'### INTRO ##################################################################'/
-
-@startuml
-
-title **µRtWare**\nurtServiceCall()\n
-
-/'### PARAMETERS & RETURN ####################################################'/
-
-note
-  -- **service** : urt_service_t* --
-  The service to call.
-  Must not be ""NULL"".
-  -- **arg** : void* --
-  Optional argument for the service call.
-  May be ""NULL"" if the service expects no arguments.
-  -- **ret** : void* --
-  Pointer to an optional output value.
-  May be ""NULL"".
-  -- **timeout** : urt_delay_t --
-  Timeout delay to be propagated to the callback function.
-  Whether timeout is considered depends on the callback function.
-  ====
-  -- **return** : urt_status_t --
-  Returns the exact output status of the service call.
-endnote
-
-/'### PROCEDURE ##############################################################'/
-
-start
-#EEEEEE:..//URT_CFG_RPC_PROFILING == true//..\nincrement call counter;
-:execute the service ""callback"" function;
-partition "//URT_CFG_RPC_PROFILING == true//" #EEEEEE {
-  fork
-    #EEEEEE:accumulate sum of durations;
-  fork again
-    if (Calback returned ""URT_STATUS_SERVICE_TIMEOUT""?) then (yes)
-      #EEEEEE:increment timeout counter;
-    else (no)
-    endif
-  fork again
-    if (Duration was shorter than ""minDuration""?) then (yes)
-      #EEEEEE:update ""minDuration"" value;
-    elseif (Duration was longer than ""maxDuration""?) then (yes)
-      #EEEEEE:update ""maxDuration"" value;
-    else (no)
-    endif
-  endfork
-}
-stop
-note
-  Returns the return value of the callback.
-endnote
-
-/'### OUTRO ##################################################################'/
-
-@enduml
diff --git a/doc/activitydiagrams/service/urtServiceDispatch.svg b/doc/activitydiagrams/service/urtServiceDispatch.svg
new file mode 100644
index 0000000..4753454
--- /dev/null
+++ b/doc/activitydiagrams/service/urtServiceDispatch.svg
@@ -0,0 +1,75 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="983px" preserveAspectRatio="none" style="width:1463px;height:983px;" version="1.1" viewBox="0 0 1463 983" width="1463px" zoomAndPan="magnify"><defs><filter height="300%" id="f10elgj1fk1eyi" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="686.25" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="181" x="640.25" y="47.6611">urtServiceDispatch()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="733.75" y="68.6143"/><path d="M581.25,72.8594 L581.25,274.4531 L901.25,274.4531 L901.25,82.8594 L891.25,72.8594 L581.25,72.8594 " fill="#FBFB77" filter="url(#f10elgj1fk1eyi)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M891.25,72.8594 L891.25,82.8594 L901.25,82.8594 L891.25,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="581.25" x2="660.75" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="664.75" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="664.75" y="89.4263">service</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="97" x="720.75" y="89.4263">: urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="821.75" x2="901.25" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="237" x="587.25" y="105.0591">The service to dispatch a request for.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="587.25" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="667.25" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="699.25" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="581.25" x2="685.25" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="689.25" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="59" x="689.25" y="134.8247">payload</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="752.25" y="134.8247">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="797.25" x2="901.25" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="272" x="587.25" y="150.4575">Pointer where to store the payload (if any).</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="587.25" y="165.5903">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="637.25" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="213" x="673.25" y="165.5903">if the service expects no payload.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="581.25" x2="692.25" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="696.25" y="180.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="696.25" y="180.2231">bytes</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="45" x="741.25" y="180.2231">: size_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="790.25" x2="901.25" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="180" x="587.25" y="195.856">Size of the payload in bytes.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="280" x="587.25" y="210.9888">Must be 0 if the service expects no payload.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="581.25" x2="901.25" y1="219.0547" y2="219.0547"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="581.25" x2="901.25" y1="221.0547" y2="221.0547"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="581.25" x2="646.75" y1="231.6211" y2="231.6211"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="650.75" y="235.6216"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="650.75" y="235.6216">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="132" x="699.75" y="235.6216">: urt_baserequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="835.75" x2="901.25" y1="231.6211" y2="231.6211"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="283" x="587.25" y="251.2544">Pointer to the request to be processed next.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="587.25" y="266.3872">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="637.25" y="266.3872">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="209" x="673.25" y="266.3872">if there are no pending requests.</text><ellipse cx="741.25" cy="304.4531" fill="#000000" filter="url(#f10elgj1fk1eyi)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#f10elgj1fk1eyi)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="93" x="694.75" y="334.4531"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="73" x="704.75" y="355.5918">lock service</text><path d="M17.75,434.1323 L17.75,489.5308 A0,0 0 0 0 17.75,489.5308 L578.75,489.5308 A0,0 0 0 0 578.75,489.5308 L578.75,465.8315 L598.75,461.8315 L578.75,457.8315 L578.75,444.1323 L568.75,434.1323 L17.75,434.1323 A0,0 0 0 0 17.75,434.1323 " fill="#FBFB77" filter="url(#f10elgj1fk1eyi)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M568.75,434.1323 L568.75,444.1323 L578.75,444.1323 L568.75,434.1323 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="414" x="23.75" y="451.1992">No need to lock the request because it is enqueued at this point.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="531" x="23.75" y="466.332">Enqueued requests must not be altered without the according service to be locked.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="540" x="23.75" y="481.4648">Since the service has been locked, no enqueued requests will be modified externally.</text><rect fill="#FEFECE" filter="url(#f10elgj1fk1eyi)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="285" x="598.75" y="444.8472"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="134" x="608.75" y="465.9858">access first request (</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="126" x="742.75" y="465.9858">requestQueue_front</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="5" x="868.75" y="465.9858">)</text><rect fill="#FEFECE" filter="url(#f10elgj1fk1eyi)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="251" x="615.75" y="509.5308"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="52" x="625.75" y="530.6694">proceed</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="126" x="681.75" y="530.6694">requestQueue_front</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="45" x="811.75" y="530.6694">pointer</text><rect fill="#000000" filter="url(#f10elgj1fk1eyi)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; 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stroke-width: 1.5;" width="212" x="34" y="644.9019"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="20" x="44" y="666.0405">set</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="68" y="666.0405">requestQueue_back</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="13" x="191" y="666.0405">to</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="28" x="208" y="666.0405">NULL</text><rect fill="#FEFECE" filter="url(#f10elgj1fk1eyi)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="223" x="357.5" y="644.9019"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="73" x="367.5" y="666.0405">set request</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="28" x="444.5" y="666.0405">next</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="62" x="476.5" y="666.0405">pointer to</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="28" x="542.5" y="666.0405">NULL</text><polygon fill="#FEFECE" filter="url(#f10elgj1fk1eyi)" points="304.5,684.8706,316.5,696.8706,304.5,708.8706,292.5,696.8706,304.5,684.8706" style="stroke: #A80036; stroke-width: 1.5;"/><polygon fill="#FEFECE" filter="url(#f10elgj1fk1eyi)" points="646,589.4995,824,589.4995,836,601.4995,824,613.4995,646,613.4995,634,601.4995,646,589.4995" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="739" y="623.71">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="178" x="646" y="605.3076">This was the last HRT request?</text><rect fill="#FEFECE" filter="url(#f10elgj1fk1eyi)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="233" x="618.5" y="646.3042"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="20" x="628.5" y="667.4429">set</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="140" x="652.5" y="667.4429">requestQueue_hrtBack</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="13" x="796.5" y="667.4429">to</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="28" x="813.5" y="667.4429">NULL</text><polygon fill="#FEFECE" filter="url(#f10elgj1fk1eyi)" points="890.5,589.4995,1092.5,589.4995,1104.5,601.4995,1092.5,613.4995,890.5,613.4995,878.5,601.4995,890.5,589.4995" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="995.5" y="623.71">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="202" x="890.5" y="605.3076">This was the last FRT/SRT request?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1104.5" y="598.9053">no</text><rect fill="#FEFECE" filter="url(#f10elgj1fk1eyi)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="240" x="871.5" y="646.3042"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="20" x="881.5" y="667.4429">set</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="147" x="905.5" y="667.4429">requestQueue_fsrtBack</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="13" x="1056.5" y="667.4429">to</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="28" x="1073.5" y="667.4429">NULL</text><rect fill="#FEFECE" filter="url(#f10elgj1fk1eyi)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="269" x="1146.5" y="642.9019"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="249" x="1156.5" y="664.0405">copy payload from request to argument</text><rect fill="#000000" filter="url(#f10elgj1fk1eyi)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1417.5" x="10" y="748.8706"/><rect fill="#FEFECE" filter="url(#f10elgj1fk1eyi)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="109" x="686.75" y="774.8706"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="89" x="696.75" y="796.0093">unlock service</text><path d="M418.25,827.2729 L418.25,852.4058 A0,0 0 0 0 418.25,852.4058 L710.25,852.4058 A0,0 0 0 0 710.25,852.4058 L710.25,845.2729 L730.25,839.8394 L710.25,837.2729 L710.25,837.2729 L700.25,827.2729 L418.25,827.2729 A0,0 0 0 0 418.25,827.2729 " fill="#FBFB77" filter="url(#f10elgj1fk1eyi)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M700.25,827.2729 L700.25,837.2729 L710.25,837.2729 L700.25,827.2729 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="271" x="424.25" y="844.3398">Returns pointer to the dispatched request.</text><ellipse cx="741.25" cy="839.8394" fill="#FFFFFF" filter="url(#f10elgj1fk1eyi)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="741.25" cy="839.8394" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#f10elgj1fk1eyi)" points="685.25,388.4219,797.25,388.4219,809.25,400.4219,797.25,412.4219,685.25,412.4219,673.25,400.4219,685.25,388.4219" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="745.25" y="422.6323">no</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="112" x="685.25" y="404.23">Request list empty?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="809.25" y="397.8276">yes</text><rect fill="#FEFECE" filter="url(#f10elgj1fk1eyi)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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stroke-width: 1.5;" x1="1437.5" x2="1437.5" y1="400.4219" y2="874.4058"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1437.5" x2="741.25" y1="874.4058" y2="874.4058"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="741.25" x2="741.25" y1="874.4058" y2="894.4058"/><polygon fill="#A80036" points="737.25,884.4058,741.25,894.4058,745.25,884.4058,741.25,888.4058" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="741.25" x2="741.25" y1="368.4219" y2="388.4219"/><polygon fill="#A80036" points="737.25,378.4219,741.25,388.4219,745.25,378.4219,741.25,382.4219" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="741.25" x2="741.25" y1="928.3745" y2="948.3745"/><polygon fill="#A80036" points="737.25,938.3745,741.25,948.3745,745.25,938.3745,741.25,942.3745" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ebb7fc4ba667a6ccf7cb9627ac3cc94e]
+@startuml
+
+title **µRtWare**\nurtServiceDispatch()\n
+
+
+note
+  - - **service** : urt_service_t* - -
+  The service to dispatch a request for.
+  Must not be ""NULL"".
+  - - **payload** : void* - -
+  Pointer where to store the payload (if any).
+  May be ""NULL"" if the service expects no payload.
+  - - **bytes** : size_t - -
+  Size of the payload in bytes.
+  Must be 0 if the service expects no payload.
+  ====
+  - - **return** : urt_baserequest_t* - -
+  Pointer to the request to be processed next.
+  May be ""NULL"" if there are no pending requests.
+endnote
+
+
+start
+:lock service;
+if (Request list empty?) then (no)
+  :access first request (""requestQueue_front"");
+  note
+    No need to lock the request because it is enqueued at this point.
+    Enqueued requests must not be altered without the according service to be locked.
+    Since the service has been locked, no enqueued requests will be modified externally.
+  endnote
+  :proceed ""requestQueue_front"" pointer;
+  fork
+    if (This was the last request (pointer became ""NULL"")?) then (yes)
+      :set ""requestQueue_back"" to ""NULL"";
+    else (no)
+      :set request ""next"" pointer to ""NULL"";
+    endif
+  fork again
+    if (This was the last HRT request?) then (yes)
+      :set ""requestQueue_hrtBack"" to ""NULL"";
+    elseif (This was the last FRT/SRT request?) then (yes)
+      :set ""requestQueue_fsrtBack"" to ""NULL"";
+    else (no)
+    endif
+  fork again
+    :copy payload from request to argument;
+  endfork
+  :unlock service;
+  stop
+  note
+    Returns pointer to the dispatched request.
+  endnote
+else (yes)
+endif
+:unlock service;
+stop
+note
+  Returns ""NULL"".
+endnote
+
+
+@enduml
+
+PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
+Operating System: Linux
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/doc/activitydiagrams/service/urtServiceDispatch.uml b/doc/activitydiagrams/service/urtServiceDispatch.uml
new file mode 100644
index 0000000..f650e68
--- /dev/null
+++ b/doc/activitydiagrams/service/urtServiceDispatch.uml
@@ -0,0 +1,89 @@
+/'
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'/
+
+/'### INTRO ##################################################################'/
+
+@startuml
+
+title **µRtWare**\nurtServiceDispatch()\n
+
+/'### PARAMETERS & RETURN ####################################################'/
+
+note
+  -- **service** : urt_service_t* --
+  The service to dispatch a request for.
+  Must not be ""NULL"".
+  -- **payload** : void* --
+  Pointer where to store the payload (if any).
+  May be ""NULL"" if the service expects no payload.
+  -- **bytes** : size_t --
+  Size of the payload in bytes.
+  Must be 0 if the service expects no payload.
+  ====
+  -- **return** : urt_baserequest_t* --
+  Pointer to the request to be processed next.
+  May be ""NULL"" if there are no pending requests.
+endnote
+
+/'### PROCEDURE ##############################################################'/
+
+start
+:lock service;
+if (Request list empty?) then (no)
+  :access first request (""requestQueue_front"");
+  note
+    No need to lock the request because it is enqueued at this point.
+    Enqueued requests must not be altered without the according service to be locked.
+    Since the service has been locked, no enqueued requests will be modified externally.
+  endnote
+  :proceed ""requestQueue_front"" pointer;
+  fork
+    if (This was the last request (pointer became ""NULL"")?) then (yes)
+      :set ""requestQueue_back"" to ""NULL"";
+    else (no)
+      :set request ""next"" pointer to ""NULL"";
+    endif
+  fork again
+    if (This was the last HRT request?) then (yes)
+      :set ""requestQueue_hrtBack"" to ""NULL"";
+    elseif (This was the last FRT/SRT request?) then (yes)
+      :set ""requestQueue_fsrtBack"" to ""NULL"";
+    else (no)
+    endif
+  fork again
+    :copy payload from request to argument;
+  endfork
+  :unlock service;
+  stop
+  note
+    Returns pointer to the dispatched request.
+  endnote
+else (yes)
+endif
+:unlock service;
+stop
+note
+  Returns ""NULL"".
+endnote
+
+/'### OUTRO ##################################################################'/
+
+@enduml
diff --git a/doc/activitydiagrams/service/urtServiceInit.svg b/doc/activitydiagrams/service/urtServiceInit.svg
index 42466ab..f50d5ae 100644
--- a/doc/activitydiagrams/service/urtServiceInit.svg
+++ b/doc/activitydiagrams/service/urtServiceInit.svg
@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="962px" preserveAspectRatio="none" style="width:1112px;height:962px;" version="1.1" viewBox="0 0 1112 962" width="1112px" zoomAndPan="magnify"><defs><filter height="300%" id="f10ia0x871a6j9" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="510.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="135" x="487.5" y="47.6611">urtServiceInit()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="558" y="68.6143"/><path d="M225,72.8594 L225,259.3203 L886,259.3203 L886,82.8594 L876,72.8594 L225,72.8594 " fill="#FBFB77" filter="url(#f10ia0x871a6j9)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M876,72.8594 L876,82.8594 L886,82.8594 L876,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="225" x2="475" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="479" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="479" y="89.4263">service</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="97" x="535" y="89.4263">: urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="636" x2="886" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="148" x="231" y="105.0591">The service to initialize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="231" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="311" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="343" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="225" x2="492" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="496" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="14" x="496" y="134.8247">id</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="101" x="514" y="134.8247">: urt_serviceid_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="619" x2="886" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="258" x="231" y="150.4575">Unique, numeric identifier of the service.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="225" x2="457" y1="161.0898" y2="161.0898"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="461" y="165.0903"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="61" x="461" y="165.0903">callback</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="124" x="526" y="165.0903">: urt_servicefunc_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="654" x2="886" y1="161.0898" y2="161.0898"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="307" x="231" y="180.7231">Callabck function to be executed by this service.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="231" y="195.856">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="311" y="195.856">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="343" y="195.856">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="225" x2="886" y1="203.9219" y2="203.9219"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="225" x2="886" y1="205.9219" y2="205.9219"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="225" x2="484.5" y1="216.4883" y2="216.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="488.5" y="220.4888"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="488.5" y="220.4888">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="537.5" y="220.4888">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="626.5" x2="886" y1="216.4883" y2="216.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="231" y="236.1216">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="284" y="236.1216">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="75" x="392" y="236.1216">on success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="231" y="251.2544">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="224" x="284" y="251.2544">URT_STATUS_SERVICE_DUPLICATE</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="359" x="512" y="251.2544">if another service with the same identifier already exists.</text><ellipse cx="555.5" cy="289.3203" fill="#000000" filter="url(#f10ia0x871a6j9)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M222,309.3203 L222,470.6484 A0,0 0 0 0 222,470.6484 L470,470.6484 A0,0 0 0 0 470,470.6484 L470,393.9844 L490,389.9844 L470,385.9844 L470,319.3203 L460,309.3203 L222,309.3203 A0,0 0 0 0 222,309.3203 " fill="#FBFB77" filter="url(#f10ia0x871a6j9)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M460,309.3203 L460,319.3203 L470,319.3203 L460,309.3203 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><ellipse cx="233.5" cy="321.9531" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="32" x="239" y="326.3872">next</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="275" y="326.3872">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="290" y="326.3872">NULL</text><ellipse cx="233.5" cy="337.0859" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="14" x="239" y="341.52">id</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="26" x="257" y="341.52">← id</text><ellipse cx="233.5" cy="352.2188" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="81" x="239" y="356.6528">urtMutexInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="30" x="320" y="356.6528">lock</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="350" y="356.6528">)</text><ellipse cx="233.5" cy="367.3516" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="61" x="239" y="371.7856">callback</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="66" x="304" y="371.7856">← callback</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="222" x2="232.5" y1="382.418" y2="382.418"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="219" x="236.5" y="386.4185">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="459.5" x2="470" y1="382.418" y2="382.418"/><ellipse cx="233.5" cy="397.6172" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="90" x="239" y="402.0513">minDuration</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="52" x="333" y="402.0513">← 0xF..F</text><ellipse cx="233.5" cy="412.75" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="94" x="239" y="417.1841">maxDuration</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="337" y="417.1841">← 0</text><ellipse cx="233.5" cy="427.8828" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="102" x="239" y="432.3169">sumDurations</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="345" y="432.3169">← 0</text><ellipse cx="233.5" cy="443.0156" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="67" x="239" y="447.4497">numCalls</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="310" y="447.4497">← 0</text><ellipse cx="233.5" cy="458.1484" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="99" x="239" y="462.5825">numTimeouts</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="342" y="462.5825">← 0</text><rect fill="#FEFECE" filter="url(#f10ia0x871a6j9)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="131" x="490" y="373"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="111" x="500" y="394.1387">initialize members</text><rect fill="#FEFECE" filter="url(#f10ia0x871a6j9)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="77" x="517" y="490.6484"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="57" x="527" y="511.7871">lock core</text><rect fill="#FEFECE" filter="url(#f10ia0x871a6j9)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="140" x="485.5" y="544.6172"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="120" x="495.5" y="565.7559">access first service</text><rect fill="#FEFECE" filter="url(#f10ia0x871a6j9)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="168" x="471.5" y="655.9058"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="481.5" y="677.0444">proceed to next service</text><polygon fill="#FEFECE" filter="url(#f10ia0x871a6j9)" points="487.5,598.5859,623.5,598.5859,635.5,611.3906,623.5,624.1953,487.5,624.1953,475.5,611.3906,487.5,598.5859" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="559.5" y="634.4058">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="78" x="487.5" y="608.7964">Service is not</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="28" x="569.5" y="608.7964">NULL</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="487.5" y="621.6011">and service ID is lower?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="461.5" y="608.7964">no</text><polygon fill="#FEFECE" filter="url(#f10ia0x871a6j9)" points="153,731.8745,293,731.8745,305,743.8745,293,755.8745,153,755.8745,141,743.8745,153,731.8745" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="227" y="766.085">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="102" x="153" y="747.6826">Current service is</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="28" x="259" y="747.6826">NULL</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="6" x="287" y="747.6826">?</text><rect fill="#FEFECE" filter="url(#f10ia0x871a6j9)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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stroke-width: 1.5;" width="168" x="471.5" y="679.6089"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="481.5" y="700.7476">proceed to next service</text><polygon fill="#FEFECE" filter="url(#f80ugbpvfjoli)" points="487.5,622.2891,623.5,622.2891,635.5,635.0938,623.5,647.8984,487.5,647.8984,475.5,635.0938,487.5,622.2891" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="559.5" y="658.1089">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="78" x="487.5" y="632.4995">Service is not</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="28" x="569.5" y="632.4995">NULL</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="487.5" y="645.3042">and service ID is lower?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="461.5" y="632.4995">no</text><polygon fill="#FEFECE" filter="url(#f80ugbpvfjoli)" points="153,755.5776,293,755.5776,305,767.5776,293,779.5776,153,779.5776,141,767.5776,153,755.5776" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="227" y="789.7881">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="102" x="153" y="771.3857">Current service is</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="28" x="259" y="771.3857">NULL</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="6" x="287" y="771.3857">?</text><rect fill="#FEFECE" filter="url(#f80ugbpvfjoli)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="246" x="100" y="811.2881"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="226" x="110" y="832.4268">append self to core's list of services</text><rect fill="#FEFECE" filter="url(#f80ugbpvfjoli)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="93" x="176.5" y="880.2568"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="73" x="186.5" y="901.3955">unlock core</text><path d="M10,949.2256 L10,974.3584 A0,0 0 0 0 10,974.3584 L192,974.3584 A0,0 0 0 0 192,974.3584 L192,967.2256 L212,961.792 L192,959.2256 L192,959.2256 L182,949.2256 L10,949.2256 A0,0 0 0 0 10,949.2256 " fill="#FBFB77" filter="url(#f80ugbpvfjoli)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M182,949.2256 L182,959.2256 L192,959.2256 L182,949.2256 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="16" y="966.2925">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="69" y="966.2925">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="173" y="966.2925">:</text><ellipse cx="223" cy="961.792" fill="#FFFFFF" filter="url(#f80ugbpvfjoli)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="223" cy="961.792" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#f80ugbpvfjoli)" points="494.5,755.5776,663.5,755.5776,675.5,767.5776,663.5,779.5776,494.5,779.5776,482.5,767.5776,494.5,755.5776" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="583" y="789.7881">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="169" x="494.5" y="771.3857">Current service ID is greater?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="675.5" y="764.9834">no</text><rect fill="#FEFECE" filter="url(#f80ugbpvfjoli)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="245" x="456.5" y="811.2881"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="225" x="466.5" y="832.4268">insert self in front of current service</text><rect fill="#FEFECE" filter="url(#f80ugbpvfjoli)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="93" x="532.5" y="880.2568"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="73" x="542.5" y="901.3955">unlock core</text><path d="M366,949.2256 L366,974.3584 A0,0 0 0 0 366,974.3584 L548,974.3584 A0,0 0 0 0 548,974.3584 L548,967.2256 L568,961.792 L548,959.2256 L548,959.2256 L538,949.2256 L366,949.2256 A0,0 0 0 0 366,949.2256 " fill="#FBFB77" filter="url(#f80ugbpvfjoli)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M538,949.2256 L538,959.2256 L548,959.2256 L538,949.2256 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="372" y="966.2925">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="425" y="966.2925">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="529" y="966.2925">:</text><ellipse cx="579" cy="961.792" fill="#FFFFFF" filter="url(#f80ugbpvfjoli)" rx="11" ry="11" style="stroke: #000000; 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stroke-width: 1.0;"/><!--MD5=[8f85d21c3e6ae9a6993ca88bb2fc4c1c]
 @startuml
 
 title **µRtWare**\nurtServiceInit()\n
@@ -10,9 +10,6 @@ note
   Must not be ""NULL"".
   - - **id** : urt_serviceid_t - -
   Unique, numeric identifier of the service.
-  - - **callback** : urt_servicefunc_t* - -
-  Callabck function to be executed by this service.
-  Must not be ""NULL"".
   ====
   - - **return** : urt_status_t - -
   Returns ""URT_STATUS_OK"" on success.
@@ -26,14 +23,16 @@ note
   * **next** ← ""NULL""
   * **id** ← id
   * urtMutexInit(**lock**)
-  * **callback** ← callback
+  * **requestQueue_front** ← ""NULL""
+  * **requestQueue_hrtBack** ← ""NULL""
+  * **requestQueue_fsrtBack** ← ""NULL""
+  * **requestQueue_back** ← ""NULL""
+  * urtEventSourceInit(**evtSource**)
+  * urtEventListenerInit(**evtListener**)
   .. URT_CFG_RPC_PROFILING == true ..
-  * **minDuration** ← 0xF..F
-  * **maxDuration** ← 0
-  * **sumDurations** ← 0
   * **numCalls** ← 0
-  * **numTimeouts** ← 0
 endnote
+:register event listener to source;
 :lock core;
 :access first service;
 while (Service is not ""NULL""\nand service ID is lower?) is (yes)
@@ -68,7 +67,7 @@ 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
diff --git a/doc/activitydiagrams/service/urtServiceInit.uml b/doc/activitydiagrams/service/urtServiceInit.uml
index 838e291..18456d1 100644
--- a/doc/activitydiagrams/service/urtServiceInit.uml
+++ b/doc/activitydiagrams/service/urtServiceInit.uml
@@ -33,9 +33,6 @@ note
   Must not be ""NULL"".
   -- **id** : urt_serviceid_t --
   Unique, numeric identifier of the service.
-  -- **callback** : urt_servicefunc_t* --
-  Callabck function to be executed by this service.
-  Must not be ""NULL"".
   ====
   -- **return** : urt_status_t --
   Returns ""URT_STATUS_OK"" on success.
@@ -50,14 +47,16 @@ note
   * **next** ← ""NULL""
   * **id** ← id
   * urtMutexInit(**lock**)
-  * **callback** ← callback
+  * **requestQueue_front** ← ""NULL""
+  * **requestQueue_hrtBack** ← ""NULL""
+  * **requestQueue_fsrtBack** ← ""NULL""
+  * **requestQueue_back** ← ""NULL""
+  * urtEventSourceInit(**evtSource**)
+  * urtEventListenerInit(**evtListener**)
   .. URT_CFG_RPC_PROFILING == true ..
-  * **minDuration** ← 0xF..F
-  * **maxDuration** ← 0
-  * **sumDurations** ← 0
   * **numCalls** ← 0
-  * **numTimeouts** ← 0
 endnote
+:register event listener to source;
 :lock core;
 :access first service;
 while (Service is not ""NULL""\nand service ID is lower?) is (yes)
diff --git a/doc/activitydiagrams/service/urtServiceRespond.svg b/doc/activitydiagrams/service/urtServiceRespond.svg
new file mode 100644
index 0000000..aa4751d
--- /dev/null
+++ b/doc/activitydiagrams/service/urtServiceRespond.svg
@@ -0,0 +1,39 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="441px" preserveAspectRatio="none" style="width:350px;height:441px;" version="1.1" viewBox="0 0 350 441" width="350px" zoomAndPan="magnify"><defs><filter height="300%" id="f6n079ojx20tw" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="129.75" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="182" x="83.25" y="47.6611">urtServiceRespond()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="177.25" y="68.6143"/><path d="M107.5,72.8594 L107.5,183.6563 L338.5,183.6563 L338.5,82.8594 L328.5,72.8594 L107.5,72.8594 " fill="#FBFB77" filter="url(#f6n079ojx20tw)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M328.5,72.8594 L328.5,82.8594 L338.5,82.8594 L328.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="107.5" x2="138" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="142" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="142" y="89.4263">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="101" x="203" y="89.4263">: urt_request_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="308" x2="338.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="143" x="113.5" y="105.0591">Request to respont to.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="113.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="193.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="225.5" y="120.1919">.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="210" x="113.5" y="135.3247">Must have been acquired before.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="107.5" x2="338.5" y1="143.3906" y2="143.3906"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="107.5" x2="338.5" y1="145.3906" y2="145.3906"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="107.5" x2="152" y1="155.957" y2="155.957"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="156" y="159.9575"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="156" y="159.9575">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="205" y="159.9575">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="294" x2="338.5" y1="155.957" y2="155.957"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="93" x="113.5" y="175.5903">Always returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="210.5" y="175.5903">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="314.5" y="175.5903">.</text><ellipse cx="223" cy="213.6563" fill="#000000" filter="url(#f6n079ojx20tw)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#f6n079ojx20tw)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="184" x="131" y="243.6563"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="132" x="141" y="264.7949">set request owner to</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="28" x="277" y="264.7949">NULL</text><rect fill="#FEFECE" filter="url(#f6n079ojx20tw)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="155" x="145.5" y="297.625"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="155.5" y="318.7637">fire event (@request)</text><rect fill="#FEFECE" filter="url(#f6n079ojx20tw)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="114" x="166" y="351.5938"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="176" y="372.7324">unlock request</text><path d="M10,403.9961 L10,429.1289 A0,0 0 0 0 10,429.1289 L192,429.1289 A0,0 0 0 0 192,429.1289 L192,421.9961 L212,416.5625 L192,413.9961 L192,413.9961 L182,403.9961 L10,403.9961 A0,0 0 0 0 10,403.9961 " fill="#FBFB77" filter="url(#f6n079ojx20tw)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M182,403.9961 L182,413.9961 L192,413.9961 L182,403.9961 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="16" y="421.063">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="69" y="421.063">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="173" y="421.063">.</text><ellipse cx="223" cy="416.5625" fill="#FFFFFF" filter="url(#f6n079ojx20tw)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="223" cy="416.5625" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="223" x2="223" y1="183.6563" y2="203.6563"/><polygon fill="#A80036" points="219,193.6563,223,203.6563,227,193.6563,223,197.6563" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="223" x2="223" y1="223.6563" y2="243.6563"/><polygon fill="#A80036" points="219,233.6563,223,243.6563,227,233.6563,223,237.6563" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="223" x2="223" y1="277.625" y2="297.625"/><polygon fill="#A80036" points="219,287.625,223,297.625,227,287.625,223,291.625" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="223" x2="223" y1="331.5938" y2="351.5938"/><polygon fill="#A80036" points="219,341.5938,223,351.5938,227,341.5938,223,345.5938" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="223" x2="223" y1="385.5625" y2="405.5625"/><polygon fill="#A80036" points="219,395.5625,223,405.5625,227,395.5625,223,399.5625" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ebaf5934b2ce869c00bfb0249350123f]
+@startuml
+
+title **µRtWare**\nurtServiceRespond()\n
+
+
+note
+  - - **request** : urt_request_t* - -
+  Request to respont to.
+  Must not be ""NULL"".
+  Must have been acquired before.
+  ====
+  - - **return** : urt_status_t - -
+  Always returns ""URT_STATUS_OK"".
+endnote
+
+
+start
+:set request owner to ""NULL"";
+:fire event (@request);
+:unlock request;
+stop
+note
+  Returns ""URT_STATUS_OK"".
+endnote
+
+
+@enduml
+
+PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
+Operating System: Linux
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/doc/activitydiagrams/service/urtServiceRespond.uml b/doc/activitydiagrams/service/urtServiceRespond.uml
new file mode 100644
index 0000000..b08dfa2
--- /dev/null
+++ b/doc/activitydiagrams/service/urtServiceRespond.uml
@@ -0,0 +1,53 @@
+/'
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'/
+
+/'### INTRO ##################################################################'/
+
+@startuml
+
+title **µRtWare**\nurtServiceRespond()\n
+
+/'### PARAMETERS & RETURN ####################################################'/
+
+note
+  -- **request** : urt_request_t* --
+  Request to respont to.
+  Must not be ""NULL"".
+  Must have been acquired before.
+  ====
+  -- **return** : urt_status_t --
+  Always returns ""URT_STATUS_OK"".
+endnote
+
+/'### PROCEDURE ##############################################################'/
+
+start
+:set request owner to ""NULL"";
+:fire event (@request);
+:unlock request;
+stop
+note
+  Returns ""URT_STATUS_OK"".
+endnote
+
+/'### OUTRO ##################################################################'/
+
+@enduml
diff --git a/doc/activitydiagrams/service/urtServiceTryAcquireRequest.svg b/doc/activitydiagrams/service/urtServiceTryAcquireRequest.svg
new file mode 100644
index 0000000..c335f57
--- /dev/null
+++ b/doc/activitydiagrams/service/urtServiceTryAcquireRequest.svg
@@ -0,0 +1,59 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="515px" preserveAspectRatio="none" style="width:991px;height:515px;" version="1.1" viewBox="0 0 991 515" width="991px" zoomAndPan="magnify"><defs><filter height="300%" id="feeizrvove99m" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="450" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="276" x="356.5" y="47.6611">urtServiceTryAcquireRequest()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="497.5" y="68.6143"/><path d="M380.5,72.8594 L380.5,244.1875 L975.5,244.1875 L975.5,82.8594 L965.5,72.8594 L380.5,72.8594 " fill="#FBFB77" filter="url(#feeizrvove99m)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M965.5,72.8594 L965.5,82.8594 L975.5,82.8594 L965.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="380.5" x2="597.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="601.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="601.5" y="89.4263">service</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="97" x="657.5" y="89.4263">: urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="758.5" x2="975.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="268" x="386.5" y="105.0591">The service that shall acquire the request.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="386.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="466.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="498.5" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="380.5" x2="577.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="581.5" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="57" x="581.5" y="134.8247">request</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="132" x="642.5" y="134.8247">: urt_baserequest_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="778.5" x2="975.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="176" x="386.5" y="150.4575">The request to be acquired.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="386.5" y="165.5903">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="466.5" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="498.5" y="165.5903">.</text><line style="stroke: #A80036; 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stroke-width: 1.0;"/><path d="M489,308.6055 L489,333.7383 A0,0 0 0 0 489,333.7383 L609,333.7383 A0,0 0 0 0 609,333.7383 L609,326.6055 L629,321.1719 L609,318.6055 L609,318.6055 L599,308.6055 L489,308.6055 A0,0 0 0 0 489,308.6055 " fill="#FBFB77" filter="url(#feeizrvove99m)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M599,308.6055 L599,318.6055 L609,318.6055 L599,308.6055 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="99" x="495" y="325.6724">Does not block.</text><rect fill="#FEFECE" filter="url(#feeizrvove99m)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="98" x="629" y="304.1875"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="78" x="639" y="325.3262">lock request</text><polygon fill="#FEFECE" filter="url(#feeizrvove99m)" points="606,358.1563,750,358.1563,762,370.1563,750,382.1563,606,382.1563,594,370.1563,606,358.1563" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="144" x="606" y="373.9644">Request could be locked?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="574" y="367.562">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="762" y="367.562">no</text><polygon fill="#FEFECE" filter="url(#feeizrvove99m)" points="284.5,392.1563,497.5,392.1563,509.5,404.1563,497.5,416.1563,284.5,416.1563,272.5,404.1563,284.5,392.1563" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="284.5" y="407.9644">This service is owner of the request?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="252.5" y="401.562">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="509.5" y="401.562">no</text><path d="M10,426.1563 L10,451.2891 A0,0 0 0 0 10,451.2891 L192,451.2891 A0,0 0 0 0 192,451.2891 L192,444.1563 L212,438.7227 L192,436.1563 L192,436.1563 L182,426.1563 L10,426.1563 A0,0 0 0 0 10,426.1563 " fill="#FBFB77" filter="url(#feeizrvove99m)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M182,426.1563 L182,436.1563 L192,436.1563 L182,426.1563 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="16" y="443.2231">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="69" y="443.2231">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="173" y="443.2231">.</text><ellipse cx="223" cy="438.7227" fill="#FFFFFF" filter="url(#feeizrvove99m)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="223" cy="438.7227" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#feeizrvove99m)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="114" x="512" y="426.1563"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="522" y="447.2949">unlock request</text><path d="M244,478.5586 L244,503.6914 A0,0 0 0 0 244,503.6914 L538,503.6914 A0,0 0 0 0 538,503.6914 L538,496.5586 L558,491.125 L538,488.5586 L538,488.5586 L528,478.5586 L244,478.5586 A0,0 0 0 0 244,478.5586 " fill="#FBFB77" filter="url(#feeizrvove99m)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M528,478.5586 L528,488.5586 L538,488.5586 L528,478.5586 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="250" y="495.6255">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="216" x="303" y="495.6255">URT_STATUS_REQUEST_BADOWNER</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="519" y="495.6255">.</text><ellipse cx="569" cy="491.125" fill="#FFFFFF" filter="url(#feeizrvove99m)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="569" cy="491.125" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><path d="M656,392.1563 L656,417.2891 A0,0 0 0 0 656,417.2891 L934,417.2891 A0,0 0 0 0 934,417.2891 L934,410.1563 L954,404.7227 L934,402.1563 L934,402.1563 L924,392.1563 L656,392.1563 A0,0 0 0 0 656,392.1563 " fill="#FBFB77" filter="url(#feeizrvove99m)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M924,392.1563 L924,402.1563 L934,402.1563 L924,392.1563 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="662" y="409.2231">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="200" x="715" y="409.2231">URT_STATUS_REQUEST_LOCKED</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="915" y="409.2231">.</text><ellipse cx="965" cy="404.7227" fill="#FFFFFF" filter="url(#feeizrvove99m)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="965" cy="404.7227" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="678" x2="678" y1="244.1875" y2="264.1875"/><polygon fill="#A80036" points="674,254.1875,678,264.1875,682,254.1875,678,258.1875" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="678" x2="678" y1="284.1875" y2="304.1875"/><polygon fill="#A80036" points="674,294.1875,678,304.1875,682,294.1875,678,298.1875" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="569" x2="569" y1="460.125" y2="480.125"/><polygon fill="#A80036" points="565,470.125,569,480.125,573,470.125,569,474.125" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="272.5" x2="223" y1="404.1563" y2="404.1563"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="223" x2="223" y1="404.1563" y2="427.7227"/><polygon fill="#A80036" points="219,417.7227,223,427.7227,227,417.7227,223,421.7227" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="509.5" x2="569" y1="404.1563" y2="404.1563"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="569" x2="569" y1="404.1563" y2="426.1563"/><polygon fill="#A80036" points="565,416.1563,569,426.1563,573,416.1563,569,420.1563" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="594" x2="391" y1="370.1563" y2="370.1563"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="391" x2="391" y1="370.1563" y2="392.1563"/><polygon fill="#A80036" points="387,382.1563,391,392.1563,395,382.1563,391,386.1563" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="762" x2="965" y1="370.1563" y2="370.1563"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="965" x2="965" y1="370.1563" y2="393.7227"/><polygon fill="#A80036" points="961,383.7227,965,393.7227,969,383.7227,965,387.7227" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="678" x2="678" y1="338.1563" y2="358.1563"/><polygon fill="#A80036" points="674,348.1563,678,358.1563,682,348.1563,678,352.1563" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[95de477f23a4749cddec9915c4233d4b]
+@startuml
+
+title **µRtWare**\nurtServiceTryAcquireRequest()\n
+
+
+note
+  - - **service** : urt_service_t* - -
+  The service that shall acquire the request.
+  Must not be ""NULL"".
+  - - **request** : urt_baserequest_t* - -
+  The request to be acquired.
+  Must not be ""NULL"".
+  ====
+  - - **return** : urt_status_t - -
+  Returns ""URT_STATUS_OK"" in case of success.
+  Returns ""URT_STATUS_REQUEST_BADOWNER"" if the service has lost ownership of the request.
+  Returns ""URT_STATUS_REQUEST_LOCKED"" if the request's mutex is already locked.
+endnote
+
+
+start
+:lock request;
+note
+  Does not block.
+endnote
+if (Request could be locked?) then (yes)
+  if (This service is owner of the request?) then (yes)
+    stop
+    note
+      Returns ""URT_STATUS_OK"".
+    endnote
+  else (no)
+    :unlock request;
+    stop
+    note
+      Returns ""URT_STATUS_REQUEST_BADOWNER"".
+    endnote
+  endif
+else (no)
+  stop
+  note
+    Returns ""URT_STATUS_REQUEST_LOCKED"".
+  endnote
+endif
+
+
+@enduml
+
+PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
+Operating System: Linux
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/doc/activitydiagrams/service/urtServiceTryAcquireRequest.uml b/doc/activitydiagrams/service/urtServiceTryAcquireRequest.uml
new file mode 100644
index 0000000..e599468
--- /dev/null
+++ b/doc/activitydiagrams/service/urtServiceTryAcquireRequest.uml
@@ -0,0 +1,73 @@
+/'
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'/
+
+/'### INTRO ##################################################################'/
+
+@startuml
+
+title **µRtWare**\nurtServiceTryAcquireRequest()\n
+
+/'### PARAMETERS & RETURN ####################################################'/
+
+note
+  -- **service** : urt_service_t* --
+  The service that shall acquire the request.
+  Must not be ""NULL"".
+  -- **request** : urt_baserequest_t* --
+  The request to be acquired.
+  Must not be ""NULL"".
+  ====
+  -- **return** : urt_status_t --
+  Returns ""URT_STATUS_OK"" in case of success.
+  Returns ""URT_STATUS_REQUEST_BADOWNER"" if the service has lost ownership of the request.
+  Returns ""URT_STATUS_REQUEST_LOCKED"" if the request's mutex is already locked.
+endnote
+
+/'### PROCEDURE ##############################################################'/
+
+start
+:lock request;
+note
+  Does not block.
+endnote
+if (Request could be locked?) then (yes)
+  if (This service is owner of the request?) then (yes)
+    stop
+    note
+      Returns ""URT_STATUS_OK"".
+    endnote
+  else (no)
+    :unlock request;
+    stop
+    note
+      Returns ""URT_STATUS_REQUEST_BADOWNER"".
+    endnote
+  endif
+else (no)
+  stop
+  note
+    Returns ""URT_STATUS_REQUEST_LOCKED"".
+  endnote
+endif
+
+/'### OUTRO ##################################################################'/
+
+@enduml
diff --git a/doc/activitydiagrams/subscriber/frtsubscriber/urtFrtSubscriberCalculateValidity.svg b/doc/activitydiagrams/subscriber/frtsubscriber/urtFrtSubscriberCalculateValidity.svg
index 993e5fd..898770e 100644
--- a/doc/activitydiagrams/subscriber/frtsubscriber/urtFrtSubscriberCalculateValidity.svg
+++ b/doc/activitydiagrams/subscriber/frtsubscriber/urtFrtSubscriberCalculateValidity.svg
@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="329px" preserveAspectRatio="none" style="width:598px;height:329px;" version="1.1" viewBox="0 0 598 329" width="598px" zoomAndPan="magnify"><defs><filter height="300%" id="flqx6fh6bygnd" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="253.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="305" x="145.5" y="47.6611">urtFrtSubscriberCalculateValidity()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="301" y="68.6143"/><path d="M167.5,72.8594 L167.5,198.7891 L555.5,198.7891 L555.5,82.8594 L545.5,72.8594 L167.5,72.8594 " fill="#FBFB77" filter="url(#flqx6fh6bygnd)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M545.5,72.8594 L545.5,82.8594 L555.5,82.8594 L545.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="167.5" x2="250.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="254.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="254.5" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="132" x="336.5" y="89.4263">: urt_frtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="472.5" x2="555.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="282" x="173.5" y="105.0591">The FRT subscriber to calculate a validity for.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="173.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="253.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="285.5" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="167.5" x2="289.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="293.5" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="53" x="293.5" y="134.8247">latency</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="79" x="350.5" y="134.8247">: urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="433.5" x2="555.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="367" x="173.5" y="150.4575">Latency (of a message) as argument to calculate validity.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="167.5" x2="555.5" y1="158.5234" y2="158.5234"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="167.5" x2="555.5" y1="160.5234" y2="160.5234"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="167.5" x2="315.5" y1="171.0898" y2="171.0898"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="319.5" y="175.0903"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="319.5" y="175.0903">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="35" x="368.5" y="175.0903">: bool</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="407.5" x2="555.5" y1="171.0898" y2="171.0898"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="350" x="173.5" y="190.7231">Returns a boolean indicator whether the latency is fine.</text><ellipse cx="361.5" cy="228.7891" fill="#000000" filter="url(#flqx6fh6bygnd)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#flqx6fh6bygnd)" points="173,258.7891,550,258.7891,562,270.7891,550,282.7891,173,282.7891,161,270.7891,173,258.7891" style="stroke: #A80036; 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+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="329px" preserveAspectRatio="none" style="width:598px;height:329px;" version="1.1" viewBox="0 0 598 329" width="598px" zoomAndPan="magnify"><defs><filter height="300%" id="flqx6fh6bygnd" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="253.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="305" x="145.5" y="47.6611">urtFrtSubscriberCalculateValidity()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="301" y="68.6143"/><path d="M167.5,72.8594 L167.5,198.7891 L555.5,198.7891 L555.5,82.8594 L545.5,72.8594 L167.5,72.8594 " fill="#FBFB77" filter="url(#flqx6fh6bygnd)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M545.5,72.8594 L545.5,82.8594 L555.5,82.8594 L545.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="167.5" x2="250.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="254.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="254.5" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="132" x="336.5" y="89.4263">: urt_frtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="472.5" x2="555.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="282" x="173.5" y="105.0591">The FRT subscriber to calculate a validity for.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="173.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="253.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="285.5" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="167.5" x2="289.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="293.5" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="53" x="293.5" y="134.8247">latency</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="79" x="350.5" y="134.8247">: urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="433.5" x2="555.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="367" x="173.5" y="150.4575">Latency (of a message) as argument to calculate validity.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="167.5" x2="555.5" y1="158.5234" y2="158.5234"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="167.5" x2="555.5" y1="160.5234" y2="160.5234"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="167.5" x2="315.5" y1="171.0898" y2="171.0898"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="319.5" y="175.0903"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="319.5" y="175.0903">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="35" x="368.5" y="175.0903">: bool</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="407.5" x2="555.5" y1="171.0898" y2="171.0898"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="350" x="173.5" y="190.7231">Returns a boolean indicator whether the latency is fine.</text><ellipse cx="361.5" cy="228.7891" fill="#000000" filter="url(#flqx6fh6bygnd)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#flqx6fh6bygnd)" points="173,258.7891,550,258.7891,562,270.7891,550,282.7891,173,282.7891,161,270.7891,173,258.7891" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="377" x="173" y="274.5972">Latency is lower than the deadline offset and within allowed jitter?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="141" y="268.1948">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="562" y="268.1948">no</text><path d="M10,292.7891 L10,317.9219 A0,0 0 0 0 10,317.9219 L120,317.9219 A0,0 0 0 0 120,317.9219 L120,310.7891 L140,305.3555 L120,302.7891 L120,302.7891 L110,292.7891 L10,292.7891 A0,0 0 0 0 10,292.7891 " fill="#FBFB77" filter="url(#flqx6fh6bygnd)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M110,292.7891 L110,302.7891 L120,302.7891 L110,292.7891 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="16" y="309.856">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="69" y="309.856">true</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="101" y="309.856">.</text><ellipse cx="151" cy="305.3555" fill="#FFFFFF" filter="url(#flqx6fh6bygnd)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="151" cy="305.3555" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><path d="M423,292.7891 L423,317.9219 A0,0 0 0 0 423,317.9219 L541,317.9219 A0,0 0 0 0 541,317.9219 L541,310.7891 L561,305.3555 L541,302.7891 L541,302.7891 L531,292.7891 L423,292.7891 A0,0 0 0 0 423,292.7891 " fill="#FBFB77" filter="url(#flqx6fh6bygnd)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M531,292.7891 L531,302.7891 L541,302.7891 L531,292.7891 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="429" y="309.856">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="40" x="482" y="309.856">false</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="522" y="309.856">.</text><ellipse cx="572" cy="305.3555" fill="#FFFFFF" filter="url(#flqx6fh6bygnd)" rx="11" ry="11" style="stroke: #000000; 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stroke-width: 1.5;" x1="361.5" x2="361.5" y1="238.7891" y2="258.7891"/><polygon fill="#A80036" points="357.5,248.7891,361.5,258.7891,365.5,248.7891,361.5,252.7891" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8e1808dd7f0e6d758b8dc5dee294de90]
 @startuml
 
 title **µRtWare**\nurtFrtSubscriberCalculateValidity()\n
@@ -36,7 +36,7 @@ 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
diff --git a/doc/activitydiagrams/subscriber/frtsubscriber/urtFrtSubscriberFetchLatestMessage.svg b/doc/activitydiagrams/subscriber/frtsubscriber/urtFrtSubscriberFetchLatestMessage.svg
index 3bfde4e..6ae74a1 100644
--- a/doc/activitydiagrams/subscriber/frtsubscriber/urtFrtSubscriberFetchLatestMessage.svg
+++ b/doc/activitydiagrams/subscriber/frtsubscriber/urtFrtSubscriberFetchLatestMessage.svg
@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="1370px" preserveAspectRatio="none" style="width:2922px;height:1370px;" version="1.1" viewBox="0 0 2922 1370" width="2922px" zoomAndPan="magnify"><defs><filter height="300%" id="f12n62kzuquswy" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="1415.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="334" x="1293" y="47.6611">urtFrtSubscriberFetchLatestMessage()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="1463" y="68.6143"/><path d="M1570.75,72.8594 L1570.75,334.9844 L2259.75,334.9844 L2259.75,82.8594 L2249.75,72.8594 L1570.75,72.8594 " fill="#FBFB77" filter="url(#f12n62kzuquswy)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2249.75,72.8594 L2249.75,82.8594 L2259.75,82.8594 L2249.75,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1570.75" x2="1804.25" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1808.25" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="1808.25" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="132" x="1890.25" y="89.4263">: urt_frtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="2026.25" x2="2259.75" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="350" x="1576.75" y="105.0591">The FRT subscriber that shall fetch the latest message.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="1576.75" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1656.75" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1688.75" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1570.75" x2="1859.25" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1863.25" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="59" x="1863.25" y="134.8247">payload</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="1926.25" y="134.8247">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1971.25" x2="2259.75" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="238" x="1576.75" y="150.4575">Pointer where to copy the payload to.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="1576.75" y="165.5903">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1626.75" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="195" x="1662.75" y="165.5903">for messages without payload.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1570.75" x2="1866.25" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1870.25" y="180.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="1870.25" y="180.2231">bytes</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="45" x="1915.25" y="180.2231">: size_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1964.25" x2="2259.75" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="137" x="1576.75" y="195.856">Payload size in bytes.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1570.75" x2="1839.75" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1843.75" y="210.4888"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="53" x="1843.75" y="210.4888">latency</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="86" x="1900.75" y="210.4888">: urt_delay_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1990.75" x2="2259.75" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="267" x="1576.75" y="226.1216">The latency can be returned by reference.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="1576.75" y="241.2544">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1626.75" y="241.2544">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1658.75" y="241.2544">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1570.75" x2="2259.75" y1="249.3203" y2="249.3203"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1570.75" x2="2259.75" y1="251.3203" y2="251.3203"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1570.75" x2="1844.25" y1="261.8867" y2="261.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1848.25" y="265.8872"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="1848.25" y="265.8872">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="1897.25" y="265.8872">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1986.25" x2="2259.75" y1="261.8867" y2="261.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1576.75" y="281.52">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="1629.75" y="281.52">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="75" x="1737.75" y="281.52">on success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1576.75" y="296.6528">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="192" x="1629.75" y="296.6528">URT_STATUS_FETCH_NOTOPIC</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="282" x="1825.75" y="296.6528">if the subscriber is not associated to a topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1576.75" y="311.7856">Retruns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="1629.75" y="311.7856">URT_STATUS_FETCH_NOMESSAGE</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="228" x="1841.75" y="311.7856">if there is no new message to fetch.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1576.75" y="326.9185">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="1629.75" y="326.9185">URT_STATUS_JITTERVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="403" x="1841.75" y="326.9185">if the message's latency violated the maximum expected jitter.</text><ellipse cx="1915.25" cy="364.9844" fill="#000000" filter="url(#f12n62kzuquswy)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#f12n62kzuquswy)" points="1852.75,394.9844,1977.75,394.9844,1989.75,406.9844,1977.75,418.9844,1852.75,418.9844,1840.75,406.9844,1852.75,394.9844" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="125" x="1852.75" y="410.7925">Associated to a topic?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1820.75" y="404.3901">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1989.75" y="404.3901">no</text><rect fill="#FEFECE" filter="url(#f12n62kzuquswy)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="862.5" y="428.9844"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="872.5" y="450.123">lock topic</text><rect fill="#FFFFFF" filter="url(#f12n62kzuquswy)" height="348.8823" style="stroke: #000000; stroke-width: 2.0;" width="736" x="533" y="473.7549"/><path d="M678,474.7549 L678,483.0518 L668,493.0518 L533,493.0518 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="135" x="536" y="487.75">find latest message</text><rect fill="#FEFECE" filter="url(#f12n62kzuquswy)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="145" x="830" y="510.0518"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="44" x="840" y="531.1904">access</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="77" x="888" y="531.1904">lastMessage</text><rect fill="#000000" filter="url(#f12n62kzuquswy)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="671" x="567" y="619.731"/><rect fill="#FEFECE" filter="url(#f12n62kzuquswy)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="659.5" y="645.731"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="161" x="669.5" y="666.8696">proceed to next message</text><rect fill="#EEEEEE" filter="url(#f12n62kzuquswy)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="338" x="581" y="714.6997"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="581" x2="634" y1="731.6841" y2="731.6841"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="232" x="634" y="735.3384">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="866" x2="919" y1="731.6841" y2="731.6841"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="318" x="591" y="749.8071">decrement counter of consumers left (@message)</text><rect fill="#EEEEEE" filter="url(#f12n62kzuquswy)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="277" x="947" y="680.2153"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="947" x2="969.5" y1="697.1997" y2="697.1997"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="232" x="969.5" y="700.854">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1201.5" x2="1224" y1="697.1997" y2="697.1997"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="257" x="957" y="715.3228">increment counter of received messages</text><rect fill="#000000" filter="url(#f12n62kzuquswy)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="671" x="567" y="782.6372"/><polygon fill="#FEFECE" filter="url(#f12n62kzuquswy)" points="785.5,564.0205,1019.5,564.0205,1031.5,576.0205,1019.5,588.0205,785.5,588.0205,773.5,576.0205,785.5,564.0205" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="906.5" y="598.231">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="234" x="785.5" y="579.8286">Timestamp of next message is younger?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="759.5" y="573.4263">no</text><polygon fill="#FEFECE" filter="url(#f12n62kzuquswy)" points="816.5,842.6372,988.5,842.6372,1000.5,854.6372,988.5,866.6372,816.5,866.6372,804.5,854.6372,816.5,842.6372" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="816.5" y="858.4453">Timestamp equals local copy?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="784.5" y="852.043">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1000.5" y="852.043">no</text><rect fill="#FEFECE" filter="url(#f12n62kzuquswy)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="96" x="279" y="876.6372"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="76" x="289" y="897.7759">unlock topic</text><path d="M10,945.606 L10,970.7388 A0,0 0 0 0 10,970.7388 L296,970.7388 A0,0 0 0 0 296,970.7388 L296,963.606 L316,958.1724 L296,955.606 L296,955.606 L286,945.606 L10,945.606 A0,0 0 0 0 10,945.606 " fill="#FBFB77" filter="url(#f12n62kzuquswy)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M286,945.606 L286,955.606 L296,955.606 L286,945.606 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="16" y="962.6729">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="69" y="962.6729">URT_STATUS_FETCH_NOMESSAGE</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="277" y="962.6729">.</text><ellipse cx="327" cy="958.1724" fill="#FFFFFF" filter="url(#f12n62kzuquswy)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="327" cy="958.1724" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><rect fill="#000000" filter="url(#f12n62kzuquswy)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="2200" x="385" y="876.6372"/><rect fill="#FFFFFF" filter="url(#f12n62kzuquswy)" height="142.2656" style="stroke: #000000; stroke-width: 2.0;" width="622" x="397" y="1006.3257"/><path d="M510,1007.3257 L510,1015.6226 L500,1025.6226 L397,1025.6226 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="103" x="400" y="1020.3208">fetch message</text><rect fill="#000000" filter="url(#f12n62kzuquswy)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="602" x="407" y="1042.6226"/><rect fill="#FEFECE" filter="url(#f12n62kzuquswy)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="175" x="421" y="1068.6226"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="155" x="431" y="1089.7612">update message pointer</text><rect fill="#FEFECE" filter="url(#f12n62kzuquswy)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="180" x="624" y="1068.6226"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="160" x="634" y="1089.7612">copy message origin time</text><rect fill="#FEFECE" filter="url(#f12n62kzuquswy)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="163" x="832" y="1068.6226"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="143" x="842" y="1089.7612">copy message payload</text><rect fill="#000000" filter="url(#f12n62kzuquswy)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="602" x="407" y="1122.5913"/><path d="M1381.5,907.0552 L1381.5,932.188 A0,0 0 0 0 1381.5,932.188 L1701.5,932.188 A0,0 0 0 0 1701.5,932.188 L1701.5,925.0552 L1721.5,919.6216 L1701.5,917.0552 L1701.5,917.0552 L1691.5,907.0552 L1381.5,907.0552 A0,0 0 0 0 1381.5,907.0552 " fill="#FBFB77" filter="url(#f12n62kzuquswy)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1691.5,907.0552 L1691.5,917.0552 L1701.5,917.0552 L1691.5,907.0552 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="299" x="1387.5" y="924.1221">Can be optimized in case all flags are disabled.</text><rect fill="#FEFECE" filter="url(#f12n62kzuquswy)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="187" x="1721.5" y="902.6372"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="167" x="1731.5" y="923.7759">calculate message latency</text><rect fill="#000000" filter="url(#f12n62kzuquswy)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1526" x="1047" y="971.606"/><rect fill="#EEEEEE" filter="url(#f12n62kzuquswy)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="1061" y="1087.9741"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1061" x2="1071" y1="1104.9585" y2="1104.9585"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="232" x="1071" y="1108.6128">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1303" x2="1313" y1="1104.9585" y2="1104.9585"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="73" x="1071" y="1123.0815">accumulate</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="1148" y="1123.0815">sumLatencies</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="33" x="1236" y="1123.0815">value</text><rect fill="#EEEEEE" filter="url(#f12n62kzuquswy)" height="220.9219" style="stroke: #000000; stroke-width: 2.0;" width="897" x="1341" y="988.4077"/><path d="M1977,989.4077 L1977,997.7046 L1967,1007.7046 L1341,1007.7046 " fill="none" style="stroke: #000000; 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stroke-width: 1.0;"/><path d="M1691.5,907.0552 L1691.5,917.0552 L1701.5,917.0552 L1691.5,907.0552 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="299" x="1387.5" y="924.1221">Can be optimized in case all flags are disabled.</text><rect fill="#FEFECE" filter="url(#f12n62kzuquswy)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="187" x="1721.5" y="902.6372"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="167" x="1731.5" y="923.7759">calculate message latency</text><rect fill="#000000" filter="url(#f12n62kzuquswy)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1526" x="1047" y="971.606"/><rect fill="#EEEEEE" filter="url(#f12n62kzuquswy)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="1061" y="1087.9741"/><line style="stroke: #A80036; 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 @startuml
 
 title **µRtWare**\nurtFrtSubscriberFetchLatestMessage()\n
@@ -105,7 +105,7 @@ 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
diff --git a/doc/activitydiagrams/subscriber/frtsubscriber/urtFrtSubscriberFetchNextMessage.svg b/doc/activitydiagrams/subscriber/frtsubscriber/urtFrtSubscriberFetchNextMessage.svg
index 5de2fdf..3fd5ac4 100644
--- a/doc/activitydiagrams/subscriber/frtsubscriber/urtFrtSubscriberFetchNextMessage.svg
+++ b/doc/activitydiagrams/subscriber/frtsubscriber/urtFrtSubscriberFetchNextMessage.svg
@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="1227px" preserveAspectRatio="none" style="width:3161px;height:1227px;" version="1.1" viewBox="0 0 3161 1227" width="3161px" zoomAndPan="magnify"><defs><filter height="300%" id="f16b2sm6ci0efs" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="1535" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="324" x="1417.5" y="47.6611">urtFrtSubscriberFetchNextMessage()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="1582.5" y="68.6143"/><path d="M1917.75,72.8594 L1917.75,334.9844 L2606.75,334.9844 L2606.75,82.8594 L2596.75,72.8594 L1917.75,72.8594 " fill="#FBFB77" filter="url(#f16b2sm6ci0efs)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2596.75,72.8594 L2596.75,82.8594 L2606.75,82.8594 L2596.75,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1917.75" x2="2151.25" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="2155.25" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="2155.25" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="132" x="2237.25" y="89.4263">: urt_frtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="2373.25" x2="2606.75" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="310" x="1923.75" y="105.0591">The FRT subscriber that shall fetch the message.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="1923.75" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="2003.75" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="2035.75" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1917.75" x2="2206.25" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="2210.25" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="59" x="2210.25" y="134.8247">payload</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="2273.25" y="134.8247">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="2318.25" x2="2606.75" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="238" x="1923.75" y="150.4575">Pointer where to copy the payload to.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="1923.75" y="165.5903">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1973.75" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="195" x="2009.75" y="165.5903">for messages without payload.</text><line style="stroke: #A80036; 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stroke-width: 1.0;" x1="2337.75" x2="2606.75" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="267" x="1923.75" y="226.1216">The latency can be returned by reference.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="1923.75" y="241.2544">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1973.75" y="241.2544">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="2005.75" y="241.2544">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1917.75" x2="2606.75" y1="249.3203" y2="249.3203"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1917.75" x2="2606.75" y1="251.3203" y2="251.3203"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1917.75" x2="2191.25" y1="261.8867" y2="261.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="2195.25" y="265.8872"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="2195.25" y="265.8872">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="2244.25" y="265.8872">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="2333.25" x2="2606.75" y1="261.8867" y2="261.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1923.75" y="281.52">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="1976.75" y="281.52">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="75" x="2084.75" y="281.52">on success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1923.75" y="296.6528">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="192" x="1976.75" y="296.6528">URT_STATUS_FETCH_NOTOPIC</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="282" x="2172.75" y="296.6528">if the subscriber is not associated to a topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1923.75" y="311.7856">Retruns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="1976.75" y="311.7856">URT_STATUS_FETCH_NOMESSAGE</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="228" x="2188.75" y="311.7856">if there is no new message to fetch.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1923.75" y="326.9185">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="1976.75" y="326.9185">URT_STATUS_JITTERVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="403" x="2188.75" y="326.9185">if the message's latency violated the maximum expected jitter.</text><ellipse cx="2262.25" cy="364.9844" fill="#000000" filter="url(#f16b2sm6ci0efs)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#f16b2sm6ci0efs)" points="2199.75,394.9844,2324.75,394.9844,2336.75,406.9844,2324.75,418.9844,2199.75,418.9844,2187.75,406.9844,2199.75,394.9844" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="125" x="2199.75" y="410.7925">Associated to a topic?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="2167.75" y="404.3901">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="2336.75" y="404.3901">no</text><rect fill="#FEFECE" filter="url(#f16b2sm6ci0efs)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="1362.5" y="428.9844"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="1372.5" y="450.123">lock topic</text><polygon fill="#FEFECE" filter="url(#f16b2sm6ci0efs)" points="1253,482.9531,1552,482.9531,1564,494.9531,1552,506.9531,1253,506.9531,1241,494.9531,1253,482.9531" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="299" x="1253" y="498.7612">Timestamp of last read message equals local copy?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1221" y="492.3589">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1564" y="492.3589">no</text><polygon fill="#FEFECE" filter="url(#f16b2sm6ci0efs)" points="1111.125,516.9531,1263.125,516.9531,1275.125,528.9531,1263.125,540.9531,1111.125,540.9531,1099.125,528.9531,1111.125,516.9531" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="152" x="1111.125" y="532.7612">Next message is younger?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1079.125" y="526.3589">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1275.125" y="526.3589">no</text><rect fill="#FEFECE" filter="url(#f16b2sm6ci0efs)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="882.875" y="550.9531"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="161" x="892.875" y="572.0918">proceed to next message</text><rect fill="#FEFECE" filter="url(#f16b2sm6ci0efs)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="96" x="1352.875" y="550.9531"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="76" x="1362.875" y="572.0918">unlock topic</text><path d="M1083.875,603.3555 L1083.875,628.4883 A0,0 0 0 0 1083.875,628.4883 L1369.875,628.4883 A0,0 0 0 0 1369.875,628.4883 L1369.875,621.3555 L1389.875,615.9219 L1369.875,613.3555 L1369.875,613.3555 L1359.875,603.3555 L1083.875,603.3555 A0,0 0 0 0 1083.875,603.3555 " fill="#FBFB77" filter="url(#f16b2sm6ci0efs)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1359.875,603.3555 L1359.875,613.3555 L1369.875,613.3555 L1359.875,603.3555 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1089.875" y="620.4224">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="1142.875" y="620.4224">URT_STATUS_FETCH_NOMESSAGE</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1350.875" y="620.4224">.</text><ellipse cx="1400.875" cy="615.9219" fill="#FFFFFF" filter="url(#f16b2sm6ci0efs)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="1400.875" cy="615.9219" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><rect fill="#FFFFFF" filter="url(#f16b2sm6ci0efs)" height="181.6992" style="stroke: #000000; stroke-width: 2.0;" width="302" x="1478.875" y="516.9531"/><path d="M1628.875,517.9531 L1628.875,526.25 L1618.875,536.25 L1478.875,536.25 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="140" x="1481.875" y="530.9482">find oldest message</text><rect fill="#FEFECE" filter="url(#f16b2sm6ci0efs)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="1527.375" y="608.6836"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="161" x="1537.375" y="629.8223">proceed to next message</text><polygon fill="#FEFECE" filter="url(#f16b2sm6ci0efs)" points="1617.875,553.25,1629.875,565.25,1617.875,577.25,1605.875,565.25,1617.875,553.25" style="stroke: #A80036; stroke-width: 1.5;"/><polygon fill="#FEFECE" filter="url(#f16b2sm6ci0efs)" points="1500.875,662.6523,1734.875,662.6523,1746.875,674.6523,1734.875,686.6523,1500.875,686.6523,1488.875,674.6523,1500.875,662.6523" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="234" x="1500.875" y="678.4604">Timestamp of next message is younger?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1746.875" y="672.0581">yes</text><polygon fill="#FEFECE" filter="url(#f16b2sm6ci0efs)" points="1402.5,704.6523,1414.5,716.6523,1402.5,728.6523,1390.5,716.6523,1402.5,704.6523" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#000000" filter="url(#f16b2sm6ci0efs)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="2814" x="10" y="748.6523"/><rect fill="#FFFFFF" filter="url(#f16b2sm6ci0efs)" height="142.2656" style="stroke: #000000; stroke-width: 2.0;" width="584" x="22" y="863.3408"/><path d="M135,864.3408 L135,872.6377 L125,882.6377 L22,882.6377 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="103" x="25" y="877.3359">fetch message</text><rect fill="#000000" filter="url(#f16b2sm6ci0efs)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="564" x="32" y="899.6377"/><rect fill="#FEFECE" filter="url(#f16b2sm6ci0efs)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="175" x="46" y="925.6377"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="155" x="56" y="946.7764">update message pointer</text><rect fill="#FEFECE" filter="url(#f16b2sm6ci0efs)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="180" x="231" y="925.6377"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="160" x="241" y="946.7764">copy message origin time</text><rect fill="#FEFECE" filter="url(#f16b2sm6ci0efs)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="163" x="421" y="925.6377"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="143" x="431" y="946.7764">copy message payload</text><rect fill="#000000" filter="url(#f16b2sm6ci0efs)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="564" x="32" y="979.6064"/><path d="M934.5,779.0703 L934.5,804.2031 A0,0 0 0 0 934.5,804.2031 L1254.5,804.2031 A0,0 0 0 0 1254.5,804.2031 L1254.5,797.0703 L1274.5,791.6367 L1254.5,789.0703 L1254.5,789.0703 L1244.5,779.0703 L934.5,779.0703 A0,0 0 0 0 934.5,779.0703 " fill="#FBFB77" filter="url(#f16b2sm6ci0efs)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1244.5,779.0703 L1244.5,789.0703 L1254.5,789.0703 L1244.5,779.0703 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="299" x="940.5" y="796.1372">Can be optimized in case all flags are disabled.</text><rect fill="#FEFECE" filter="url(#f16b2sm6ci0efs)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="187" x="1274.5" y="774.6523"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="167" x="1284.5" y="795.791">calculate message latency</text><rect fill="#000000" filter="url(#f16b2sm6ci0efs)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1479" x="616" y="828.6211"/><rect fill="#EEEEEE" filter="url(#f16b2sm6ci0efs)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="628" y="944.9893"/><line style="stroke: #A80036; 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stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#f16b2sm6ci0efs)" points="2199.75,394.9844,2324.75,394.9844,2336.75,406.9844,2324.75,418.9844,2199.75,418.9844,2187.75,406.9844,2199.75,394.9844" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="125" x="2199.75" y="410.7925">Associated to a topic?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="2167.75" y="404.3901">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="2336.75" y="404.3901">no</text><rect fill="#FEFECE" filter="url(#f16b2sm6ci0efs)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="1362.5" y="428.9844"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="1372.5" y="450.123">lock topic</text><polygon fill="#FEFECE" filter="url(#f16b2sm6ci0efs)" points="1253,482.9531,1552,482.9531,1564,494.9531,1552,506.9531,1253,506.9531,1241,494.9531,1253,482.9531" style="stroke: #A80036; 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stroke-width: 1.5;" width="181" x="882.875" y="550.9531"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="161" x="892.875" y="572.0918">proceed to next message</text><rect fill="#FEFECE" filter="url(#f16b2sm6ci0efs)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="96" x="1352.875" y="550.9531"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="76" x="1362.875" y="572.0918">unlock topic</text><path d="M1083.875,603.3555 L1083.875,628.4883 A0,0 0 0 0 1083.875,628.4883 L1369.875,628.4883 A0,0 0 0 0 1369.875,628.4883 L1369.875,621.3555 L1389.875,615.9219 L1369.875,613.3555 L1369.875,613.3555 L1359.875,603.3555 L1083.875,603.3555 A0,0 0 0 0 1083.875,603.3555 " fill="#FBFB77" filter="url(#f16b2sm6ci0efs)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1359.875,603.3555 L1359.875,613.3555 L1369.875,613.3555 L1359.875,603.3555 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1089.875" y="620.4224">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="1142.875" y="620.4224">URT_STATUS_FETCH_NOMESSAGE</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1350.875" y="620.4224">.</text><ellipse cx="1400.875" cy="615.9219" fill="#FFFFFF" filter="url(#f16b2sm6ci0efs)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="1400.875" cy="615.9219" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><rect fill="#FFFFFF" filter="url(#f16b2sm6ci0efs)" height="181.6992" style="stroke: #000000; stroke-width: 2.0;" width="302" x="1478.875" y="516.9531"/><path d="M1628.875,517.9531 L1628.875,526.25 L1618.875,536.25 L1478.875,536.25 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="140" x="1481.875" y="530.9482">find oldest message</text><rect fill="#FEFECE" filter="url(#f16b2sm6ci0efs)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="1527.375" y="608.6836"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="161" x="1537.375" y="629.8223">proceed to next message</text><polygon fill="#FEFECE" filter="url(#f16b2sm6ci0efs)" points="1617.875,553.25,1629.875,565.25,1617.875,577.25,1605.875,565.25,1617.875,553.25" style="stroke: #A80036; stroke-width: 1.5;"/><polygon fill="#FEFECE" filter="url(#f16b2sm6ci0efs)" points="1500.875,662.6523,1734.875,662.6523,1746.875,674.6523,1734.875,686.6523,1500.875,686.6523,1488.875,674.6523,1500.875,662.6523" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="234" x="1500.875" y="678.4604">Timestamp of next message is younger?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1746.875" y="672.0581">yes</text><polygon fill="#FEFECE" filter="url(#f16b2sm6ci0efs)" points="1402.5,704.6523,1414.5,716.6523,1402.5,728.6523,1390.5,716.6523,1402.5,704.6523" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#000000" filter="url(#f16b2sm6ci0efs)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="2814" x="10" y="748.6523"/><rect fill="#FFFFFF" filter="url(#f16b2sm6ci0efs)" height="142.2656" style="stroke: #000000; stroke-width: 2.0;" width="584" x="22" y="863.3408"/><path d="M135,864.3408 L135,872.6377 L125,882.6377 L22,882.6377 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="103" x="25" y="877.3359">fetch message</text><rect fill="#000000" filter="url(#f16b2sm6ci0efs)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="564" x="32" y="899.6377"/><rect fill="#FEFECE" filter="url(#f16b2sm6ci0efs)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="175" x="46" y="925.6377"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="155" x="56" y="946.7764">update message pointer</text><rect fill="#FEFECE" filter="url(#f16b2sm6ci0efs)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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stroke-width: 1.0;"/><path d="M1244.5,779.0703 L1244.5,789.0703 L1254.5,789.0703 L1244.5,779.0703 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="299" x="940.5" y="796.1372">Can be optimized in case all flags are disabled.</text><rect fill="#FEFECE" filter="url(#f16b2sm6ci0efs)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="187" x="1274.5" y="774.6523"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="167" x="1284.5" y="795.791">calculate message latency</text><rect fill="#000000" filter="url(#f16b2sm6ci0efs)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1479" x="616" y="828.6211"/><rect fill="#EEEEEE" filter="url(#f16b2sm6ci0efs)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="628" y="944.9893"/><line style="stroke: #A80036; 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 @startuml
 
 title **µRtWare**\nurtFrtSubscriberFetchNextMessage()\n
@@ -110,7 +110,7 @@ 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
diff --git a/doc/activitydiagrams/subscriber/frtsubscriber/urtFrtSubscriberInit.svg b/doc/activitydiagrams/subscriber/frtsubscriber/urtFrtSubscriberInit.svg
index 2993502..cf2b6b8 100644
--- a/doc/activitydiagrams/subscriber/frtsubscriber/urtFrtSubscriberInit.svg
+++ b/doc/activitydiagrams/subscriber/frtsubscriber/urtFrtSubscriberInit.svg
@@ -1,4 +1,4 @@
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stroke-width: 1.0;"/><path d="M809,72.8594 L809,82.8594 L819,82.8594 L809,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="576" x2="586.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="590.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="590.5" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="132" x="672.5" y="89.4263">: urt_frtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="808.5" x2="819" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="195" x="582" y="105.0591">The FRT subscriber to initialize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="582" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="662" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="694" y="120.1919">.</text><line style="stroke: #A80036; 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stroke-width: 1.0;"/><path d="M809,72.8594 L809,82.8594 L819,82.8594 L809,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="576" x2="586.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="590.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="590.5" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="132" x="672.5" y="89.4263">: urt_frtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="808.5" x2="819" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="195" x="582" y="105.0591">The FRT subscriber to initialize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="582" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="662" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="694" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="576" x2="819" y1="128.2578" y2="128.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="576" x2="819" y1="130.2578" y2="130.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="576" x2="652" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="656" y="144.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="656" y="144.8247">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="34" x="705" y="144.8247">: void</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="743" x2="819" y1="140.8242" y2="140.8242"/><ellipse cx="697.5" cy="183.3906" fill="#000000" filter="url(#f19mwnsov0qqew)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M10,203.3906 L10,455.5156 A0,0 0 0 0 10,455.5156 L612,455.5156 A0,0 0 0 0 612,455.5156 L612,333.4531 L632,329.4531 L612,325.4531 L612,213.3906 L602,203.3906 L10,203.3906 A0,0 0 0 0 10,203.3906 " fill="#FBFB77" filter="url(#f19mwnsov0qqew)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M602,203.3906 L602,213.3906 L612,213.3906 L602,203.3906 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="240" y1="215.957" y2="215.957"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="134" x="244" y="219.9575">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="382" x2="612" y1="215.957" y2="215.957"/><ellipse cx="21.5" cy="231.1563" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="37" x="27" y="235.5903">topic</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="68" y="235.5903">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="83" y="235.5903">NULL</text><ellipse cx="21.5" cy="246.2891" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="129" x="27" y="250.7231">urtEventListenerInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="82" x="156" y="250.7231">evtListener</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="238" y="250.7231">)</text><ellipse cx="21.5" cy="261.4219" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="93" x="27" y="265.856">lastMessage</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="124" y="265.856">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="139" y="265.856">NULL</text><ellipse cx="21.5" cy="276.5547" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="128" x="27" y="280.9888">lastMessageTime</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="159" y="280.9888">← 0</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="182.5" y1="291.6211" y2="291.6211"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="249" x="186.5" y="295.6216">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="439.5" x2="612" y1="291.6211" y2="291.6211"/><ellipse cx="21.5" cy="306.8203" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="101" x="27" y="311.2544">sumLatencies</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="132" y="311.2544">← 0</text><ellipse cx="21.5" cy="321.9531" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="173" x="27" y="326.3872">numMessagesReceived</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="204" y="326.3872">← 0</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="248.5" y1="337.0195" y2="337.0195"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="117" x="252.5" y="341.02">urt_frtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="373.5" x2="612" y1="337.0195" y2="337.0195"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="138.5" y1="352.1523" y2="352.1523"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="337" x="142.5" y="356.1528">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="483.5" x2="612" y1="352.1523" y2="352.1523"/><ellipse cx="21.5" cy="367.3516" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="110" x="27" y="371.7856">deadlineOffset</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="141" y="371.7856">← 0</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="157.5" y1="382.418" y2="382.418"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="299" x="161.5" y="386.4185">URT_CFG_PUBSUB_QOS_JITTERCHECK == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="464.5" x2="612" y1="382.418" y2="382.418"/><ellipse cx="21.5" cy="397.6172" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; 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 @startuml
 
 title **µRtWare**\nurtFrtSubscriberInit()\n
@@ -30,8 +30,8 @@ note
   .. URT_CFG_PUBSUB_QOS_JITTERCHECK == true ..
   * **maxJitter** ← 0
   .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true ..
-  * **minLatency** ← 0xF..F
-  * **maxLatency** ← 0
+  * **minLatency** ← ""URT_DELAY_INFINITE""
+  * **maxLatency** ← ""URT_DELAY_IMMEDIATE""
 endnote
 stop
 
@@ -42,7 +42,7 @@ 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
diff --git a/doc/activitydiagrams/subscriber/frtsubscriber/urtFrtSubscriberInit.uml b/doc/activitydiagrams/subscriber/frtsubscriber/urtFrtSubscriberInit.uml
index bf899fa..45373c8 100644
--- a/doc/activitydiagrams/subscriber/frtsubscriber/urtFrtSubscriberInit.uml
+++ b/doc/activitydiagrams/subscriber/frtsubscriber/urtFrtSubscriberInit.uml
@@ -54,8 +54,8 @@ note
   .. URT_CFG_PUBSUB_QOS_JITTERCHECK == true ..
   * **maxJitter** ← 0
   .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true ..
-  * **minLatency** ← 0xF..F
-  * **maxLatency** ← 0
+  * **minLatency** ← ""URT_DELAY_INFINITE""
+  * **maxLatency** ← ""URT_DELAY_IMMEDIATE""
 endnote
 stop
 
diff --git a/doc/activitydiagrams/subscriber/frtsubscriber/urtFrtSubscriberSubscribe.svg b/doc/activitydiagrams/subscriber/frtsubscriber/urtFrtSubscriberSubscribe.svg
index d116009..0cd724d 100644
--- a/doc/activitydiagrams/subscriber/frtsubscriber/urtFrtSubscriberSubscribe.svg
+++ b/doc/activitydiagrams/subscriber/frtsubscriber/urtFrtSubscriberSubscribe.svg
@@ -1,4 +1,4 @@
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stroke-width: 1.0;"/><path d="M1305.5,72.8594 L1305.5,82.8594 L1315.5,82.8594 L1305.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="615.5" x2="854.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="858.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="858.5" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="132" x="940.5" y="89.4263">: urt_frtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1076.5" x2="1315.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="324" x="621.5" y="105.0591">The FRT subscriber which shall subscribe to a topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="621.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="701.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="733.5" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="615.5" x2="899.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="903.5" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="37" x="903.5" y="134.8247">topic</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="83" x="944.5" y="134.8247">: urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1031.5" x2="1315.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="161" x="621.5" y="150.4575">The topic to subscribe to.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="621.5" y="165.5903">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="701.5" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="733.5" y="165.5903">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="615.5" x2="866.5" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="870.5" y="180.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="75" x="870.5" y="180.2231">messages</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="111" x="949.5" y="180.2231">: urt_message_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1064.5" x2="1315.5" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="621.5" y="195.856">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="346" x="657.5" y="195.856">terminated list of messages to contribute to the topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="329" x="621.5" y="210.9888">Messages must not be associated to another topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="430" x="621.5" y="226.1216">Once a message has been contributed, it cannot be removed later.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="621.5" y="241.2544">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="671.5" y="241.2544">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="186" x="707.5" y="241.2544">(no messages to contribute).</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="615.5" x2="888" y1="251.8867" y2="251.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="892" y="255.8872"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="64" x="892" y="255.8872">deadline</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="79" x="960" y="255.8872">: urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1043" x2="1315.5" y1="251.8867" y2="251.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="267" x="621.5" y="271.52">Maximum latency to consume messages.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="325" x="621.5" y="286.6528">A value of 0 indicates that latency is of no concern.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="615.5" x2="902.5" y1="297.2852" y2="297.2852"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="906.5" y="301.2856"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="35" x="906.5" y="301.2856">jitter</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="79" x="945.5" y="301.2856">: urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1028.5" x2="1315.5" y1="297.2852" y2="297.2852"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="679" x="621.5" y="316.9185">Maximum allowed jitter (difference between maximum and minimum latency) when consuming messages.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="308" x="621.5" y="332.0513">A value of 0 indicates that jitter is of no concern.</text><line style="stroke: #A80036; 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stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#f1act1r141fzz6)" points="908,455.5156,1023,455.5156,1035,467.5156,1023,479.5156,908,479.5156,896,467.5156,908,455.5156" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="115" x="908" y="471.3237">Is topic already set?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="876" y="464.9214">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1035" y="464.9214">no</text><path d="M10,489.5156 L10,514.6484 A0,0 0 0 0 10,514.6484 L320,514.6484 A0,0 0 0 0 320,514.6484 L320,507.5156 L340,502.082 L320,499.5156 L320,499.5156 L310,489.5156 L10,489.5156 A0,0 0 0 0 10,489.5156 " fill="#FBFB77" filter="url(#f1act1r141fzz6)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M310,489.5156 L310,499.5156 L320,499.5156 L310,489.5156 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="16" y="506.5825">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="232" x="69" y="506.5825">URT_STATUS_SUBSCRIBE_TOPICSET</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="301" y="506.5825">.</text><ellipse cx="351" cy="502.082" fill="#FFFFFF" filter="url(#f1act1r141fzz6)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="351" cy="502.082" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><rect fill="#000000" filter="url(#f1act1r141fzz6)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="884" x="1160" y="489.5156"/><rect fill="#FEFECE" filter="url(#f1act1r141fzz6)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="75" x="1174" y="594.3281"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="55" x="1184" y="615.4668">set topic</text><path d="M1277,515.5156 L1277,707.1094 A0,0 0 0 0 1277,707.1094 L1879,707.1094 A0,0 0 0 0 1879,707.1094 L1879,615.3125 L1899,611.3125 L1879,607.3125 L1879,525.5156 L1869,515.5156 L1277,515.5156 A0,0 0 0 0 1277,515.5156 " fill="#EEEEEE" filter="url(#f1act1r141fzz6)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1869,515.5156 L1869,525.5156 L1879,525.5156 L1869,515.5156 " fill="#EEEEEE" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1277" x2="1507" y1="528.082" y2="528.082"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="134" x="1511" y="532.0825">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1649" x2="1879" y1="528.082" y2="528.082"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1277" x2="1449.5" y1="543.2148" y2="543.2148"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="249" x="1453.5" y="547.2153">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1706.5" x2="1879" y1="543.2148" y2="543.2148"/><ellipse cx="1288.5" cy="558.4141" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="101" x="1294" y="562.8481">sumLatencies</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="1399" y="562.8481">← 0</text><ellipse cx="1288.5" cy="573.5469" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="173" x="1294" y="577.981">numMessagesReceived</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="1471" y="577.981">← 0</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1277" x2="1515.5" y1="588.6133" y2="588.6133"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="117" x="1519.5" y="592.6138">urt_frtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1640.5" x2="1879" y1="588.6133" y2="588.6133"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1277" x2="1405.5" y1="603.7461" y2="603.7461"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="337" x="1409.5" y="607.7466">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1750.5" x2="1879" y1="603.7461" y2="603.7461"/><ellipse cx="1288.5" cy="618.9453" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="110" x="1294" y="623.3794">deadlineOffset</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="69" x="1408" y="623.3794">← deadline</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1277" x2="1420" y1="634.0117" y2="634.0117"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="308" x="1424" y="638.0122">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1736" x2="1879" y1="634.0117" y2="634.0117"/><ellipse cx="1288.5" cy="649.2109" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="66" x="1294" y="653.645">maxJitter</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="44" x="1364" y="653.645">← jitter</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1277" x2="1287.5" y1="664.2773" y2="664.2773"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="573" x="1291.5" y="668.2778">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="1868.5" x2="1879" y1="664.2773" y2="664.2773"/><ellipse cx="1288.5" cy="679.4766" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; 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stroke-width: 1.0;" x1="615.5" x2="866.5" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="870.5" y="180.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="75" x="870.5" y="180.2231">messages</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="111" x="949.5" y="180.2231">: urt_message_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1064.5" x2="1315.5" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="621.5" y="195.856">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="346" x="657.5" y="195.856">terminated list of messages to contribute to the topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="329" x="621.5" y="210.9888">Messages must not be associated to another topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="430" x="621.5" y="226.1216">Once a message has been contributed, it cannot be removed later.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="621.5" y="241.2544">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="671.5" y="241.2544">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="186" x="707.5" y="241.2544">(no messages to contribute).</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="615.5" x2="888" y1="251.8867" y2="251.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="892" y="255.8872"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="64" x="892" y="255.8872">deadline</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="79" x="960" y="255.8872">: urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1043" x2="1315.5" y1="251.8867" y2="251.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="267" x="621.5" y="271.52">Maximum latency to consume messages.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="325" x="621.5" y="286.6528">A value of 0 indicates that latency is of no concern.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="615.5" x2="902.5" y1="297.2852" y2="297.2852"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="906.5" y="301.2856"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="35" x="906.5" y="301.2856">jitter</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="79" x="945.5" y="301.2856">: urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1028.5" x2="1315.5" y1="297.2852" y2="297.2852"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="679" x="621.5" y="316.9185">Maximum allowed jitter (difference between maximum and minimum latency) when consuming messages.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="308" x="621.5" y="332.0513">A value of 0 indicates that jitter is of no concern.</text><line style="stroke: #A80036; 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stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#f6hvlvs269tij)" points="908,455.5156,1023,455.5156,1035,467.5156,1023,479.5156,908,479.5156,896,467.5156,908,455.5156" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="115" x="908" y="471.3237">Is topic already set?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="876" y="464.9214">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1035" y="464.9214">no</text><path d="M10,489.5156 L10,514.6484 A0,0 0 0 0 10,514.6484 L320,514.6484 A0,0 0 0 0 320,514.6484 L320,507.5156 L340,502.082 L320,499.5156 L320,499.5156 L310,489.5156 L10,489.5156 A0,0 0 0 0 10,489.5156 " fill="#FBFB77" filter="url(#f6hvlvs269tij)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M310,489.5156 L310,499.5156 L320,499.5156 L310,489.5156 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="16" y="506.5825">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="232" x="69" y="506.5825">URT_STATUS_SUBSCRIBE_TOPICSET</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="301" y="506.5825">.</text><ellipse cx="351" cy="502.082" fill="#FFFFFF" filter="url(#f6hvlvs269tij)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="351" cy="502.082" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><rect fill="#000000" filter="url(#f6hvlvs269tij)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="884" x="1160" y="489.5156"/><rect fill="#FEFECE" filter="url(#f6hvlvs269tij)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="75" x="1174" y="594.3281"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="55" x="1184" y="615.4668">set topic</text><path d="M1277,515.5156 L1277,707.1094 A0,0 0 0 0 1277,707.1094 L1879,707.1094 A0,0 0 0 0 1879,707.1094 L1879,615.3125 L1899,611.3125 L1879,607.3125 L1879,525.5156 L1869,515.5156 L1277,515.5156 A0,0 0 0 0 1277,515.5156 " fill="#EEEEEE" filter="url(#f6hvlvs269tij)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1869,515.5156 L1869,525.5156 L1879,525.5156 L1869,515.5156 " fill="#EEEEEE" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1277" x2="1507" y1="528.082" y2="528.082"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="134" x="1511" y="532.0825">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1649" x2="1879" y1="528.082" y2="528.082"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1277" x2="1449.5" y1="543.2148" y2="543.2148"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="249" x="1453.5" y="547.2153">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1706.5" x2="1879" y1="543.2148" y2="543.2148"/><ellipse cx="1288.5" cy="558.4141" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="101" x="1294" y="562.8481">sumLatencies</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="1399" y="562.8481">← 0</text><ellipse cx="1288.5" cy="573.5469" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="173" x="1294" y="577.981">numMessagesReceived</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="1471" y="577.981">← 0</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1277" x2="1515.5" y1="588.6133" y2="588.6133"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="117" x="1519.5" y="592.6138">urt_frtsubscriber_t</text><line style="stroke: #A80036; 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 @startuml
 
 title **µRtWare**\nurtFrtSubscriberSubscribe()\n
@@ -54,8 +54,8 @@ else (no)
       .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ..
       * **maxJitter** ← jitter
       .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true ..
-      * **minLatency** ← 0xF..F
-      * **maxLatency** ← 0
+      * **minLatency** ← ""URT_DELAY_INFINITE""
+      * **maxLatency** ← ""URT_DELAY_IMMEDIATE""
     endnote
   endfork
   :lock topic;
@@ -95,7 +95,7 @@ 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
diff --git a/doc/activitydiagrams/subscriber/frtsubscriber/urtFrtSubscriberSubscribe.uml b/doc/activitydiagrams/subscriber/frtsubscriber/urtFrtSubscriberSubscribe.uml
index ad77191..aecb551 100644
--- a/doc/activitydiagrams/subscriber/frtsubscriber/urtFrtSubscriberSubscribe.uml
+++ b/doc/activitydiagrams/subscriber/frtsubscriber/urtFrtSubscriberSubscribe.uml
@@ -77,8 +77,8 @@ else (no)
       .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ..
       * **maxJitter** ← jitter
       .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true ..
-      * **minLatency** ← 0xF..F
-      * **maxLatency** ← 0
+      * **minLatency** ← ""URT_DELAY_INFINITE""
+      * **maxLatency** ← ""URT_DELAY_IMMEDIATE""
     endnote
   endfork
   :lock topic;
diff --git a/doc/activitydiagrams/subscriber/frtsubscriber/urtFrtSubscriberUnsubscribe.svg b/doc/activitydiagrams/subscriber/frtsubscriber/urtFrtSubscriberUnsubscribe.svg
index 2d99b8c..533db98 100644
--- a/doc/activitydiagrams/subscriber/frtsubscriber/urtFrtSubscriberUnsubscribe.svg
+++ b/doc/activitydiagrams/subscriber/frtsubscriber/urtFrtSubscriberUnsubscribe.svg
@@ -1,4 +1,4 @@
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 @startuml
 
 title **µRtWare**\nurtFrtSubscriberUnsubscribe()\n
@@ -49,7 +49,7 @@ 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
diff --git a/doc/activitydiagrams/subscriber/hrtsubscriber/urtHrtSubscriberFetchLatestMessage.svg b/doc/activitydiagrams/subscriber/hrtsubscriber/urtHrtSubscriberFetchLatestMessage.svg
index 46519ca..ded74a6 100644
--- a/doc/activitydiagrams/subscriber/hrtsubscriber/urtHrtSubscriberFetchLatestMessage.svg
+++ b/doc/activitydiagrams/subscriber/hrtsubscriber/urtHrtSubscriberFetchLatestMessage.svg
@@ -1,4 +1,4 @@
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stroke-width: 1.0;"/><path d="M1555.25,72.8594 L1555.25,82.8594 L1565.25,82.8594 L1555.25,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="876.25" x2="1107.75" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1111.75" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="1111.75" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="136" x="1193.75" y="89.4263">: urt_hrtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1333.75" x2="1565.25" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="313" x="882.25" y="105.0591">The HRT subscriber that shall fetch the message.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="882.25" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="962.25" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="994.25" y="120.1919">.</text><line style="stroke: #A80036; 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stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#fw8r9eje3asw)" points="1158.25,394.9844,1283.25,394.9844,1295.25,406.9844,1283.25,418.9844,1158.25,418.9844,1146.25,406.9844,1158.25,394.9844" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="125" x="1158.25" y="410.7925">Associated to a topic?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1126.25" y="404.3901">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1295.25" y="404.3901">no</text><rect fill="#FEFECE" filter="url(#fw8r9eje3asw)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="692.5" y="428.9844"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="702.5" y="450.123">lock topic</text><rect fill="#FFFFFF" filter="url(#fw8r9eje3asw)" height="540.7378" style="stroke: #000000; stroke-width: 2.0;" width="1442" x="10" y="473.7549"/><path d="M155,474.7549 L155,483.0518 L145,493.0518 L10,493.0518 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="135" x="13" y="487.75">find latest message</text><rect fill="#FEFECE" filter="url(#fw8r9eje3asw)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="145" x="660" y="510.0518"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="44" x="670" y="531.1904">access</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="77" x="718" y="531.1904">lastMessage</text><rect fill="#000000" filter="url(#fw8r9eje3asw)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1377" x="44" y="619.731"/><rect fill="#FEFECE" filter="url(#fw8r9eje3asw)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="489.5" y="645.731"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="161" x="499.5" y="666.8696">proceed to next message</text><rect fill="#000000" filter="url(#fw8r9eje3asw)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1044" x="58" y="708.1841"/><rect fill="#FEFECE" filter="url(#fw8r9eje3asw)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="329" x="72" y="741.1685"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="309" x="82" y="762.3071">decrement message's counter of HRT consumers</text><rect fill="#EEEEEE" filter="url(#fw8r9eje3asw)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="301" x="429" y="734.1841"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="429" x2="463.5" y1="751.1685" y2="751.1685"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="232" x="463.5" y="754.8228">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; 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stroke-width: 1.5;" width="217" x="624" y="902.5239"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="197" x="634" y="923.6626">signal topic's condition variable</text><polygon fill="#FEFECE" filter="url(#fw8r9eje3asw)" points="623.5,854.1216,841.5,854.1216,853.5,866.1216,841.5,878.1216,623.5,878.1216,611.5,866.1216,623.5,854.1216" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="736.5" y="888.332">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="218" x="623.5" y="869.9297">HRT counter of a message became 0?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="853.5" y="863.5273">no</text><polygon fill="#FEFECE" filter="url(#fw8r9eje3asw)" points="732.5,956.4927,744.5,968.4927,732.5,980.4927,720.5,968.4927,732.5,956.4927" style="stroke: #A80036; stroke-width: 1.5;"/><polygon fill="#FEFECE" filter="url(#fw8r9eje3asw)" points="615.5,564.0205,849.5,564.0205,861.5,576.0205,849.5,588.0205,615.5,588.0205,603.5,576.0205,615.5,564.0205" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="736.5" y="598.231">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="234" x="615.5" y="579.8286">Timestamp of next message is younger?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="589.5" y="573.4263">no</text><polygon fill="#FEFECE" filter="url(#fw8r9eje3asw)" points="646.5,1034.4927,818.5,1034.4927,830.5,1046.4927,818.5,1058.4927,646.5,1058.4927,634.5,1046.4927,646.5,1034.4927" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="646.5" y="1050.3008">Timestamp equals local copy?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="614.5" y="1043.8984">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="830.5" y="1043.8984">no</text><rect fill="#FEFECE" filter="url(#fw8r9eje3asw)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="1899px" preserveAspectRatio="none" style="width:1735px;height:1899px;" version="1.1" viewBox="0 0 1735 1899" width="1735px" zoomAndPan="magnify"><defs><filter height="300%" id="fw8r9eje3asw" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="822" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="338" x="697.5" y="47.6611">urtHrtSubscriberFetchLatestMessage()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="869.5" y="68.6143"/><path d="M876.25,72.8594 L876.25,334.9844 L1565.25,334.9844 L1565.25,82.8594 L1555.25,72.8594 L876.25,72.8594 " fill="#FBFB77" filter="url(#fw8r9eje3asw)" style="stroke: #A80036; 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 @startuml
 
 title **µRtWare**\nurtHrtSubscriberFetchLatestMessage()\n
@@ -122,7 +122,7 @@ 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
diff --git a/doc/activitydiagrams/subscriber/hrtsubscriber/urtHrtSubscriberFetchNextMessage.svg b/doc/activitydiagrams/subscriber/hrtsubscriber/urtHrtSubscriberFetchNextMessage.svg
index 3634360..1d770ad 100644
--- a/doc/activitydiagrams/subscriber/hrtsubscriber/urtHrtSubscriberFetchNextMessage.svg
+++ b/doc/activitydiagrams/subscriber/hrtsubscriber/urtHrtSubscriberFetchNextMessage.svg
@@ -1,4 +1,4 @@
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stroke-width: 1.0;"/><path d="M1707.375,72.8594 L1707.375,82.8594 L1717.375,82.8594 L1707.375,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1028.375" x2="1259.875" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1263.875" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="1263.875" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="136" x="1345.875" y="89.4263">: urt_hrtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1485.875" x2="1717.375" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="313" x="1034.375" y="105.0591">The HRT subscriber that shall fetch the message.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="1034.375" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1114.375" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1146.375" y="120.1919">.</text><line style="stroke: #A80036; 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stroke-width: 1.0;" x1="1028.375" x2="1323.875" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1327.875" y="180.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="1327.875" y="180.2231">bytes</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="45" x="1372.875" y="180.2231">: size_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1421.875" x2="1717.375" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="137" x="1034.375" y="195.856">Payload size in bytes.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1028.375" x2="1297.375" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1301.375" y="210.4888"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="53" x="1301.375" y="210.4888">latency</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="86" x="1358.375" y="210.4888">: urt_delay_t*</text><line style="stroke: #A80036; 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stroke-width: 1.0;" x1="1443.875" x2="1717.375" y1="261.8867" y2="261.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1034.375" y="281.52">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="1087.375" y="281.52">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="75" x="1195.375" y="281.52">on success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1034.375" y="296.6528">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="192" x="1087.375" y="296.6528">URT_STATUS_FETCH_NOTOPIC</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="282" x="1283.375" y="296.6528">if the subscriber is not associated to a topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1034.375" y="311.7856">Retruns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="1087.375" y="311.7856">URT_STATUS_FETCH_NOMESSAGE</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="228" x="1299.375" y="311.7856">if there is no new message to fetch.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1034.375" y="326.9185">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="1087.375" y="326.9185">URT_STATUS_JITTERVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="403" x="1299.375" y="326.9185">if the message's latency violated the maximum expected jitter.</text><ellipse cx="1372.875" cy="364.9844" fill="#000000" filter="url(#f1r23ceqqutp94)" rx="10" ry="10" style="stroke: none; 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stroke-width: 1.5;"/><rect fill="#000000" filter="url(#f1r23ceqqutp94)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="581" x="22" y="886.2305"/><rect fill="#FEFECE" filter="url(#f1r23ceqqutp94)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="240" x="631" y="666.4883"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="220" x="641" y="687.627">decrement message's HRT counter</text><rect fill="#FEFECE" filter="url(#f1r23ceqqutp94)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="217" x="642.5" y="783.8594"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="197" x="652.5" y="804.998">signal topic's condition variable</text><polygon fill="#FEFECE" filter="url(#f1r23ceqqutp94)" points="683.5,735.457,818.5,735.457,830.5,747.457,818.5,759.457,683.5,759.457,671.5,747.457,683.5,735.457" style="stroke: #A80036; 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stroke-width: 1.0;"/><path d="M1707.375,72.8594 L1707.375,82.8594 L1717.375,82.8594 L1707.375,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1028.375" x2="1259.875" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1263.875" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="1263.875" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="136" x="1345.875" y="89.4263">: urt_hrtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1485.875" x2="1717.375" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="313" x="1034.375" y="105.0591">The HRT subscriber that shall fetch the message.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="1034.375" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1114.375" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1146.375" y="120.1919">.</text><line style="stroke: #A80036; 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stroke-width: 1.5;"/><rect fill="#000000" filter="url(#f1r23ceqqutp94)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="581" x="22" y="886.2305"/><rect fill="#FEFECE" filter="url(#f1r23ceqqutp94)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="240" x="631" y="666.4883"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="220" x="641" y="687.627">decrement message's HRT counter</text><rect fill="#FEFECE" filter="url(#f1r23ceqqutp94)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="217" x="642.5" y="783.8594"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="197" x="652.5" y="804.998">signal topic's condition variable</text><polygon fill="#FEFECE" filter="url(#f1r23ceqqutp94)" points="683.5,735.457,818.5,735.457,830.5,747.457,818.5,759.457,683.5,759.457,671.5,747.457,683.5,735.457" style="stroke: #A80036; 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 @startuml
 
 title **µRtWare**\nurtHrtSubscriberFetchNextMessage()\n
@@ -126,7 +126,7 @@ 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
diff --git a/doc/activitydiagrams/subscriber/hrtsubscriber/urtHrtSubscriberInit.svg b/doc/activitydiagrams/subscriber/hrtsubscriber/urtHrtSubscriberInit.svg
index 24e0731..1aaa958 100644
--- a/doc/activitydiagrams/subscriber/hrtsubscriber/urtHrtSubscriberInit.svg
+++ b/doc/activitydiagrams/subscriber/hrtsubscriber/urtHrtSubscriberInit.svg
@@ -1,4 +1,4 @@
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stroke-width: 1.0;"/><path d="M834,72.8594 L834,82.8594 L844,82.8594 L834,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="551" x2="561.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="565.5" y="89.4263"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="80" x="565.5" y="89.4263">subscriber</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="176" x="653.5" y="89.4263">: urt_hrtsubscriber_t*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="833.5" y="89.4263"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="833.5" x2="844" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="198" x="557" y="105.0591">The HRT subscriber to initialize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="557" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="637" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="669" y="120.1919">.</text><line style="stroke: #A80036; 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stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="159.5" y1="412.6836" y2="412.6836"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="295" x="163.5" y="416.6841">URT_CFG_PUBSUB_QOS_RATECHECK == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="462.5" x2="612" y1="412.6836" y2="412.6836"/><ellipse cx="21.5" cy="427.8828" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="103" x="27" y="432.3169">expectedRate</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="134" y="432.3169">← 0</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="157.5" y1="442.9492" y2="442.9492"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="299" x="161.5" y="446.9497">URT_CFG_PUBSUB_QOS_JITTERCHECK == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="464.5" x2="612" y1="442.9492" y2="442.9492"/><ellipse cx="21.5" cy="458.1484" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="66" x="27" y="462.5825">maxJitter</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="97" y="462.5825">← 0</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="20.5" y1="473.2148" y2="473.2148"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="573" x="24.5" y="477.2153">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="601.5" x2="612" y1="473.2148" y2="473.2148"/><ellipse cx="21.5" cy="488.4141" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="84" x="27" y="492.8481">minLatency</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="115" y="492.8481">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="144" x="130" y="492.8481">URT_DELAY_INFINITE</text><ellipse cx="21.5" cy="503.5469" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="88" x="27" y="507.981">maxLatency</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="119" y="507.981">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="152" x="134" y="507.981">URT_DELAY_IMMEDIATE</text><rect fill="#FEFECE" filter="url(#f8k6v9so4z1uk)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="131" x="632" y="342.7344"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="111" x="642" y="363.873">initialize members</text><ellipse cx="697.5" cy="547.0469" fill="#FFFFFF" filter="url(#f8k6v9so4z1uk)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="697.5" cy="547.0469" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="697.5" x2="697.5" y1="153.3906" y2="173.3906"/><polygon fill="#A80036" points="693.5,163.3906,697.5,173.3906,701.5,163.3906,697.5,167.3906" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="697.5" x2="697.5" y1="193.3906" y2="342.7344"/><polygon fill="#A80036" points="693.5,332.7344,697.5,342.7344,701.5,332.7344,697.5,336.7344" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="697.5" x2="697.5" y1="376.7031" y2="536.0469"/><polygon fill="#A80036" points="693.5,526.0469,697.5,536.0469,701.5,526.0469,697.5,530.0469" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[90a0f61950ffbb6716d42697c2fae2ff]
 @startuml
 
 title **µRtWare**\nurtHrtSubscriberInit()\n
@@ -34,8 +34,8 @@ note
   .. URT_CFG_PUBSUB_QOS_JITTERCHECK == true ..
   * **maxJitter** ← 0
   .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true ..
-  * **minLatency** ← 0xF..F
-  * **maxLatency** ← 0
+  * **minLatency** ← ""URT_DELAY_INFINITE""
+  * **maxLatency** ← ""URT_DELAY_IMMEDIATE""
 endnote
 stop
 
@@ -46,7 +46,7 @@ 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
diff --git a/doc/activitydiagrams/subscriber/hrtsubscriber/urtHrtSubscriberInit.uml b/doc/activitydiagrams/subscriber/hrtsubscriber/urtHrtSubscriberInit.uml
index ad16fed..de897cb 100644
--- a/doc/activitydiagrams/subscriber/hrtsubscriber/urtHrtSubscriberInit.uml
+++ b/doc/activitydiagrams/subscriber/hrtsubscriber/urtHrtSubscriberInit.uml
@@ -58,8 +58,8 @@ note
   .. URT_CFG_PUBSUB_QOS_JITTERCHECK == true ..
   * **maxJitter** ← 0
   .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true ..
-  * **minLatency** ← 0xF..F
-  * **maxLatency** ← 0
+  * **minLatency** ← ""URT_DELAY_INFINITE""
+  * **maxLatency** ← ""URT_DELAY_IMMEDIATE""
 endnote
 stop
 
diff --git a/doc/activitydiagrams/subscriber/hrtsubscriber/urtHrtSubscriberSubscribe.svg b/doc/activitydiagrams/subscriber/hrtsubscriber/urtHrtSubscriberSubscribe.svg
index 7d68202..7d45bd8 100644
--- a/doc/activitydiagrams/subscriber/hrtsubscriber/urtHrtSubscriberSubscribe.svg
+++ b/doc/activitydiagrams/subscriber/hrtsubscriber/urtHrtSubscriberSubscribe.svg
@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="1457px" preserveAspectRatio="none" style="width:3820px;height:1457px;" version="1.1" viewBox="0 0 3820 1457" width="3820px" zoomAndPan="magnify"><defs><filter height="300%" id="foup6micmf7s7" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="1864.625" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="247" x="1785.625" y="47.6611">urtHrtSubscriberSubscribe()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="1912.125" y="68.6143"/><path d="M874.25,72.8594 L874.25,440.9141 L1574.25,440.9141 L1574.25,82.8594 L1564.25,72.8594 L874.25,72.8594 " fill="#FBFB77" filter="url(#foup6micmf7s7)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1564.25,72.8594 L1564.25,82.8594 L1574.25,82.8594 L1564.25,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="874.25" x2="1111.25" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1115.25" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="1115.25" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="136" x="1197.25" y="89.4263">: urt_hrtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1337.25" x2="1574.25" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="327" x="880.25" y="105.0591">The HRT subscriber which shall subscribe to a topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="880.25" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="960.25" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="992.25" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="874.25" x2="1158.25" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1162.25" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="37" x="1162.25" y="134.8247">topic</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="83" x="1203.25" y="134.8247">: urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1290.25" x2="1574.25" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="161" x="880.25" y="150.4575">The topic to subscribe to.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="880.25" y="165.5903">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="960.25" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="992.25" y="165.5903">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="874.25" x2="1125.25" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1129.25" y="180.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="75" x="1129.25" y="180.2231">messages</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="111" x="1208.25" y="180.2231">: urt_message_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1323.25" x2="1574.25" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="880.25" y="195.856">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="346" x="916.25" y="195.856">terminated list of messages to contribute to the topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="329" x="880.25" y="210.9888">Messages must not be associated to another topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="430" x="880.25" y="226.1216">Once a message has been contributed, it cannot be removed later.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="880.25" y="241.2544">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="930.25" y="241.2544">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="186" x="966.25" y="241.2544">(no messages to contribute).</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="874.25" x2="1146.75" y1="251.8867" y2="251.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1150.75" y="255.8872"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="64" x="1150.75" y="255.8872">deadline</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="79" x="1218.75" y="255.8872">: urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1301.75" x2="1574.25" y1="251.8867" y2="251.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="267" x="880.25" y="271.52">Maximum latency to consume messages.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="325" x="880.25" y="286.6528">A value of 0 indicates that latency is of no concern.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="874.25" x2="1161.25" y1="297.2852" y2="297.2852"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1165.25" y="301.2856"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="35" x="1165.25" y="301.2856">jitter</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="79" x="1204.25" y="301.2856">: urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1287.25" x2="1574.25" y1="297.2852" y2="297.2852"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="679" x="880.25" y="316.9185">Maximum allowed jitter (difference between maximum and minimum latency) when consuming messages.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="308" x="880.25" y="332.0513">A value of 0 indicates that jitter is of no concern.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="874.25" x2="1163.75" y1="342.6836" y2="342.6836"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1167.75" y="346.6841"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="30" x="1167.75" y="346.6841">rate</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="79" x="1201.75" y="346.6841">: urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1284.75" x2="1574.25" y1="342.6836" y2="342.6836"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="621" x="880.25" y="362.3169">Expected minimum rate of new messages (= mamximum time between consecutive messages).</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="309" x="880.25" y="377.4497">A value of 0 indicates, that rate is of no concern.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="874.25" x2="1574.25" y1="385.5156" y2="385.5156"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="874.25" x2="1574.25" y1="387.5156" y2="387.5156"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="874.25" x2="1153.25" y1="398.082" y2="398.082"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1157.25" y="402.0825"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="1157.25" y="402.0825">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="1206.25" y="402.0825">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1295.25" x2="1574.25" y1="398.082" y2="398.082"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="880.25" y="417.7153">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="933.25" y="417.7153">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="75" x="1041.25" y="417.7153">on success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="880.25" y="432.8481">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="232" x="933.25" y="432.8481">URT_STATUS_SUBSCRIBE_TOPICSET</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="308" x="1169.25" y="432.8481">if the subscriber is already associated to a topic.</text><ellipse cx="1224.25" cy="470.9141" fill="#000000" filter="url(#foup6micmf7s7)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#foup6micmf7s7)" points="1166.75,500.9141,1281.75,500.9141,1293.75,512.9141,1281.75,524.9141,1166.75,524.9141,1154.75,512.9141,1166.75,500.9141" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="115" x="1166.75" y="516.7222">Is topic already set?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1134.75" y="510.3198">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1293.75" y="510.3198">no</text><path d="M10,534.9141 L10,560.0469 A0,0 0 0 0 10,560.0469 L320,560.0469 A0,0 0 0 0 320,560.0469 L320,552.9141 L340,547.4805 L320,544.9141 L320,544.9141 L310,534.9141 L10,534.9141 A0,0 0 0 0 10,534.9141 " fill="#FBFB77" filter="url(#foup6micmf7s7)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M310,534.9141 L310,544.9141 L320,544.9141 L310,534.9141 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="16" y="551.981">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="232" x="69" y="551.981">URT_STATUS_SUBSCRIBE_TOPICSET</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="301" y="551.981">.</text><ellipse cx="351" cy="547.4805" fill="#FFFFFF" filter="url(#foup6micmf7s7)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="351" cy="547.4805" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><rect fill="#000000" filter="url(#foup6micmf7s7)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="884" x="1655.75" y="534.9141"/><rect fill="#FEFECE" filter="url(#foup6micmf7s7)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="75" x="1669.75" y="654.8594"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="55" x="1679.75" y="675.998">set topic</text><path d="M1772.75,560.9141 L1772.75,782.7734 A0,0 0 0 0 1772.75,782.7734 L2374.75,782.7734 A0,0 0 0 0 2374.75,782.7734 L2374.75,675.8438 L2394.75,671.8438 L2374.75,667.8438 L2374.75,570.9141 L2364.75,560.9141 L1772.75,560.9141 A0,0 0 0 0 1772.75,560.9141 " fill="#EEEEEE" filter="url(#foup6micmf7s7)" style="stroke: #A80036; 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stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="101" x="1789.75" y="608.2466">sumLatencies</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="1894.75" y="608.2466">← 0</text><ellipse cx="1784.25" cy="618.9453" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="173" x="1789.75" y="623.3794">numMessagesReceived</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="1966.75" y="623.3794">← 0</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1772.75" x2="2009.25" y1="634.0117" y2="634.0117"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="121" x="2013.25" y="638.0122">urt_hrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="2138.25" x2="2374.75" y1="634.0117" y2="634.0117"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1772.75" x2="1901.25" y1="649.1445" y2="649.1445"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="337" x="1905.25" y="653.145">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2246.25" x2="2374.75" y1="649.1445" y2="649.1445"/><ellipse cx="1784.25" cy="664.3438" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="110" x="1789.75" y="668.7778">deadlineOffset</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="69" x="1903.75" y="668.7778">← deadline</text><line style="stroke: #A80036; stroke-width: 1.0; 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stroke-dasharray: 1.0,2.0;" x1="1772.75" x2="1917.75" y1="755.0742" y2="755.0742"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="304" x="1921.75" y="759.0747">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2229.75" x2="2374.75" y1="755.0742" y2="755.0742"/><ellipse cx="1784.25" cy="770.2734" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="103" x="1789.75" y="774.7075">expectedRate</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="1896.75" y="774.7075">← rate</text><rect fill="#EEEEEE" filter="url(#foup6micmf7s7)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="131" x="2394.75" y="654.8594"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="111" x="2404.75" y="675.998">initialize members</text><rect fill="#000000" filter="url(#foup6micmf7s7)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; 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stroke-width: 1.0;" width="1150" x="394" y="1080.0166"/><rect fill="#FEFECE" filter="url(#foup6micmf7s7)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="619" x="408" y="1106.0166"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="20" x="418" y="1127.1553">set</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="28" x="442" y="1127.1553">next</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="543" x="474" y="1127.1553">pointer of last message to contribute to the message after the topic's latest message</text><rect fill="#FEFECE" filter="url(#foup6micmf7s7)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="475" x="1055" y="1106.0166"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="20" x="1065" y="1127.1553">set</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="28" x="1089" y="1127.1553">next</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="399" x="1121" y="1127.1553">pointer of topic's latest message to first message to contribute</text><rect fill="#000000" filter="url(#foup6micmf7s7)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; 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+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="1457px" preserveAspectRatio="none" style="width:3826px;height:1457px;" version="1.1" viewBox="0 0 3826 1457" width="3826px" zoomAndPan="magnify"><defs><filter height="300%" id="f11zlis2rhyaec" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="1867.75" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="247" x="1788.75" y="47.6611">urtHrtSubscriberSubscribe()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="1915.25" y="68.6143"/><path d="M875.5,72.8594 L875.5,440.9141 L1575.5,440.9141 L1575.5,82.8594 L1565.5,72.8594 L875.5,72.8594 " fill="#FBFB77" filter="url(#f11zlis2rhyaec)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1565.5,72.8594 L1565.5,82.8594 L1575.5,82.8594 L1565.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="875.5" x2="1112.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1116.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="1116.5" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="136" x="1198.5" y="89.4263">: urt_hrtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1338.5" x2="1575.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="327" x="881.5" y="105.0591">The HRT subscriber which shall subscribe to a topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="881.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="961.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="993.5" y="120.1919">.</text><line style="stroke: #A80036; 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stroke-width: 1.0;"/><path d="M2368.5,560.9141 L2368.5,570.9141 L2378.5,570.9141 L2368.5,560.9141 " fill="#EEEEEE" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1776.5" x2="2006.5" y1="573.4805" y2="573.4805"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="134" x="2010.5" y="577.481">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="2148.5" x2="2378.5" y1="573.4805" y2="573.4805"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1776.5" x2="1949" y1="588.6133" y2="588.6133"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="249" x="1953" y="592.6138">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2206" x2="2378.5" y1="588.6133" y2="588.6133"/><ellipse cx="1788" cy="603.8125" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; 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stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="84" x="1793.5" y="729.3091">minLatency</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="1881.5" y="729.3091">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="144" x="1896.5" y="729.3091">URT_DELAY_INFINITE</text><ellipse cx="1788" cy="740.0078" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="88" x="1793.5" y="744.4419">maxLatency</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="1885.5" y="744.4419">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="152" x="1900.5" y="744.4419">URT_DELAY_IMMEDIATE</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1776.5" x2="1921.5" y1="755.0742" y2="755.0742"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="304" x="1925.5" y="759.0747">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2233.5" x2="2378.5" y1="755.0742" y2="755.0742"/><ellipse cx="1788" cy="770.2734" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="103" x="1793.5" y="774.7075">expectedRate</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="1900.5" y="774.7075">← rate</text><rect fill="#EEEEEE" filter="url(#f11zlis2rhyaec)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="131" x="2398.5" y="654.8594"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="111" x="2408.5" y="675.998">initialize members</text><rect fill="#000000" filter="url(#f11zlis2rhyaec)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="884" x="1659.5" y="802.7734"/><rect fill="#FEFECE" filter="url(#f11zlis2rhyaec)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="2061.5" y="828.7734"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="2071.5" y="849.9121">lock topic</text><rect fill="#000000" filter="url(#f11zlis2rhyaec)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="3443.5" x="372" y="882.7422"/><rect fill="#FFFFFF" filter="url(#f11zlis2rhyaec)" height="142.0586" style="stroke: #000000; stroke-width: 2.0;" width="1170" x="384" y="1043.7197"/><path d="M541,1044.7197 L541,1053.0166 L531,1063.0166 L384,1063.0166 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="147" x="387" y="1057.7148">contribute messages</text><rect fill="#000000" filter="url(#f11zlis2rhyaec)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1150" x="394" y="1080.0166"/><rect fill="#FEFECE" filter="url(#f11zlis2rhyaec)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="619" x="408" y="1106.0166"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="20" x="418" y="1127.1553">set</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="28" x="442" y="1127.1553">next</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="543" x="474" y="1127.1553">pointer of last message to contribute to the message after the topic's latest message</text><rect fill="#FEFECE" filter="url(#f11zlis2rhyaec)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="475" x="1055" y="1106.0166"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="20" x="1065" y="1127.1553">set</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="28" x="1089" y="1127.1553">next</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="399" x="1121" y="1127.1553">pointer of topic's latest message to first message to contribute</text><rect fill="#000000" filter="url(#f11zlis2rhyaec)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; 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stroke-width: 1.5;" width="313" x="1597.5" y="1097.8682"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="293" x="1607.5" y="1119.0068">set message pointer to topic's latest message</text><rect fill="#FEFECE" filter="url(#f11zlis2rhyaec)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="297" x="1938.5" y="1097.8682"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="277" x="1948.5" y="1119.0068">copy timestamp from topic's latest message</text><rect fill="#000000" filter="url(#f11zlis2rhyaec)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="664" x="1585.5" y="1151.8369"/><rect fill="#FEFECE" filter="url(#f11zlis2rhyaec)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="217" x="2277.5" y="1097.8682"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="197" x="2287.5" y="1119.0068">register to topic's event source</text><rect fill="#000000" filter="url(#f11zlis2rhyaec)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; 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 @startuml
 
 title **µRtWare**\nurtHrtSubscriberSubscribe()\n
@@ -57,8 +57,8 @@ else (no)
       .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ..
       * **maxJitter** ← jitter
       .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true ..
-      * **minLatency** ← 0xF..F
-      * **maxLatency** ← 0
+      * **minLatency** ← ""URT_DELAY_INFINITE""
+      * **maxLatency** ← ""URT_DELAY_IMMEDIATE""
       .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..
       * **expectedRate** ← rate
     endnote
@@ -93,7 +93,7 @@ else (no)
         if (Current subscriber is ""NULL""?) then (yes)
           #EEEEEE:append self to topic's list of HRT subscribers;
         else (no)
-          #EEEEEE:insert self in fron of current HRT subscriber;
+          #EEEEEE:insert self in front of current HRT subscriber;
         endif
       }
     fork again
@@ -116,7 +116,7 @@ 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
diff --git a/doc/activitydiagrams/subscriber/hrtsubscriber/urtHrtSubscriberSubscribe.uml b/doc/activitydiagrams/subscriber/hrtsubscriber/urtHrtSubscriberSubscribe.uml
index 987f5e0..28a2109 100644
--- a/doc/activitydiagrams/subscriber/hrtsubscriber/urtHrtSubscriberSubscribe.uml
+++ b/doc/activitydiagrams/subscriber/hrtsubscriber/urtHrtSubscriberSubscribe.uml
@@ -80,8 +80,8 @@ else (no)
       .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ..
       * **maxJitter** ← jitter
       .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true ..
-      * **minLatency** ← 0xF..F
-      * **maxLatency** ← 0
+      * **minLatency** ← ""URT_DELAY_INFINITE""
+      * **maxLatency** ← ""URT_DELAY_IMMEDIATE""
       .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..
       * **expectedRate** ← rate
     endnote
@@ -110,7 +110,7 @@ else (no)
         if (Current subscriber is ""NULL""?) then (yes)
           #EEEEEE:append self to topic's list of HRT subscribers;
         else (no)
-          #EEEEEE:insert self in fron of current HRT subscriber;
+          #EEEEEE:insert self in front of current HRT subscriber;
         endif
       }
     fork again
diff --git a/doc/activitydiagrams/subscriber/hrtsubscriber/urtHrtSubscriberUnsubscribe.svg b/doc/activitydiagrams/subscriber/hrtsubscriber/urtHrtSubscriberUnsubscribe.svg
index 716387e..e166f65 100644
--- a/doc/activitydiagrams/subscriber/hrtsubscriber/urtHrtSubscriberUnsubscribe.svg
+++ b/doc/activitydiagrams/subscriber/hrtsubscriber/urtHrtSubscriberUnsubscribe.svg
@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="1080px" preserveAspectRatio="none" style="width:2541px;height:1080px;" version="1.1" viewBox="0 0 2541 1080" width="2541px" zoomAndPan="magnify"><defs><filter height="300%" id="f124mp41ppij04" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="1225" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="269" x="1135" y="47.6611">urtHrtSubscriberUnsubscribe()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="1272.5" y="68.6143"/><path d="M1498.25,72.8594 L1498.25,183.6563 L2098.25,183.6563 L2098.25,82.8594 L2088.25,72.8594 L1498.25,72.8594 " fill="#FBFB77" filter="url(#f124mp41ppij04)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2088.25,72.8594 L2088.25,82.8594 L2098.25,82.8594 L2088.25,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1498.25" x2="1685.25" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1689.25" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="1689.25" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="136" x="1771.25" y="89.4263">: urt_hrtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1911.25" x2="2098.25" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="252" x="1504.25" y="105.0591">The HRT subscriber to be unsubscribed.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="1504.25" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1584.25" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1616.25" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1498.25" x2="2098.25" y1="128.2578" y2="128.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1498.25" x2="2098.25" y1="130.2578" y2="130.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1498.25" x2="1727.25" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1731.25" y="144.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="1731.25" y="144.8247">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="1780.25" y="144.8247">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1869.25" x2="2098.25" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1504.25" y="160.4575">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="1557.25" y="160.4575">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="68" x="1665.25" y="160.4575">on sucess.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1504.25" y="175.5903">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="240" x="1557.25" y="175.5903">URT_STATUS_UNSUBSCRIBE_NOTOPIC</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="282" x="1801.25" y="175.5903">if the subscriber is not associated to a topic.</text><ellipse cx="1798.25" cy="213.6563" fill="#000000" filter="url(#f124mp41ppij04)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#f124mp41ppij04)" points="1735.75,243.6563,1860.75,243.6563,1872.75,255.6563,1860.75,267.6563,1735.75,267.6563,1723.75,255.6563,1735.75,243.6563" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="125" x="1735.75" y="259.4644">Associated to a topic?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1703.75" y="253.062">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1872.75" y="253.062">no</text><rect fill="#FEFECE" filter="url(#f124mp41ppij04)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="1030.5" y="277.6563"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="1040.5" y="298.7949">lock topic</text><rect fill="#000000" filter="url(#f124mp41ppij04)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="2146" x="10" y="331.625"/><path d="M22,592.8174 L22,617.9502 A0,0 0 0 0 22,617.9502 L323,617.9502 A0,0 0 0 0 323,617.9502 L323,610.8174 L343,605.3838 L323,602.8174 L323,602.8174 L313,592.8174 L22,592.8174 A0,0 0 0 0 22,592.8174 " fill="#FBFB77" filter="url(#f124mp41ppij04)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M313,592.8174 L313,602.8174 L323,602.8174 L313,592.8174 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="280" x="28" y="609.8843">Must be within lock because of HRT counter.</text><rect fill="#FEFECE" filter="url(#f124mp41ppij04)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="124" x="343" y="588.3994"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="104" x="353" y="609.5381">unregister event</text><rect fill="#FEFECE" filter="url(#f124mp41ppij04)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="214" x="477" y="588.3994"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="194" x="487" y="609.5381">decrement topic's HRT counter</text><rect fill="#EEEEEE" filter="url(#f124mp41ppij04)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="292" x="701" y="581.415"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="701" x2="731" y1="598.3994" y2="598.3994"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="232" x="731" y="602.0537">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="963" x2="993" y1="598.3994" y2="598.3994"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="272" x="711" y="616.5225">decrement counter of subscribers (@topic)</text><rect fill="#EEEEEE" filter="url(#f124mp41ppij04)" height="254.2031" style="stroke: #000000; stroke-width: 2.0;" width="469" x="1021" y="477.7822"/><path d="M1361,478.7822 L1361,487.0791 L1351,497.0791 L1021,497.0791 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="330" x="1024" y="491.7773">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><rect fill="#EEEEEE" filter="url(#f124mp41ppij04)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="312" x="1096.5" y="514.0791"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="292" x="1106.5" y="535.2178">remove self from topic's list of HRT subscribers</text><rect fill="#EEEEEE" filter="url(#f124mp41ppij04)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="423" x="1041" y="631.0322"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="403" x="1051" y="652.1709">update QoS rate timer (@topic) wrt. most critical HRT subscriber</text><polygon fill="#FEFECE" filter="url(#f124mp41ppij04)" points="1157.5,582.6299,1347.5,582.6299,1359.5,594.6299,1347.5,606.6299,1157.5,606.6299,1145.5,594.6299,1157.5,582.6299" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1256.5" y="616.8403">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="1157.5" y="598.438">Was the most critical subscriber?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1359.5" y="592.0356">no</text><polygon fill="#FEFECE" filter="url(#f124mp41ppij04)" points="1252.5,687.9854,1264.5,699.9854,1252.5,711.9854,1240.5,699.9854,1252.5,687.9854" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#FFFFFF" filter="url(#f124mp41ppij04)" height="515.5117" style="stroke: #000000; stroke-width: 2.0;" width="626" x="1518" y="348.4268"/><path d="M1700,349.4268 L1700,357.7236 L1690,367.7236 L1518,367.7236 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="172" x="1521" y="362.4219">fetch pending messages</text><rect fill="#FEFECE" filter="url(#f124mp41ppij04)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="185" x="1742.5" y="384.7236"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="165" x="1752.5" y="405.8623">access last read message</text><rect fill="#FEFECE" filter="url(#f124mp41ppij04)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="1744.5" y="499.4971"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="161" x="1754.5" y="520.6357">proceed to next message</text><rect fill="#000000" filter="url(#f124mp41ppij04)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="564" x="1552" y="568.0479"/><rect fill="#FEFECE" filter="url(#f124mp41ppij04)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="240" x="1566" y="601.0322"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="220" x="1576" y="622.1709">decrement message's HRT counter</text><rect fill="#EEEEEE" filter="url(#f124mp41ppij04)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; 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+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="1080px" preserveAspectRatio="none" style="width:2541px;height:1080px;" version="1.1" viewBox="0 0 2541 1080" width="2541px" zoomAndPan="magnify"><defs><filter height="300%" id="f124mp41ppij04" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="1225" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="269" x="1135" y="47.6611">urtHrtSubscriberUnsubscribe()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="1272.5" y="68.6143"/><path d="M1498.25,72.8594 L1498.25,183.6563 L2098.25,183.6563 L2098.25,82.8594 L2088.25,72.8594 L1498.25,72.8594 " fill="#FBFB77" filter="url(#f124mp41ppij04)" style="stroke: #A80036; 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 @startuml
 
 title **µRtWare**\nurtHrtSubscriberUnsubscribe()\n
@@ -78,7 +78,7 @@ 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
diff --git a/doc/activitydiagrams/subscriber/nrtsubscriber/urtNrtSubscriberFetchLatestMessage.svg b/doc/activitydiagrams/subscriber/nrtsubscriber/urtNrtSubscriberFetchLatestMessage.svg
index 29ed2e0..014c728 100644
--- a/doc/activitydiagrams/subscriber/nrtsubscriber/urtNrtSubscriberFetchLatestMessage.svg
+++ b/doc/activitydiagrams/subscriber/nrtsubscriber/urtNrtSubscriberFetchLatestMessage.svg
@@ -1,4 +1,4 @@
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stroke-width: 1.0;"/><path d="M1965,72.8594 L1965,82.8594 L1975,82.8594 L1965,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1423" x2="1586" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1590" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="1590" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="136" x="1672" y="89.4263">: urt_nrtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1812" x2="1975" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="313" x="1429" y="105.0591">The NRT subscriber that shall fetch the message.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="1429" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1509" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1541" y="120.1919">.</text><line style="stroke: #A80036; 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stroke-width: 1.0;" x1="1423" x2="1650" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1654" y="180.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="1654" y="180.2231">bytes</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="45" x="1699" y="180.2231">: size_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1748" x2="1975" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="137" x="1429" y="195.856">Payload size in bytes.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1423" x2="1623.5" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1627.5" y="210.4888"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="53" x="1627.5" y="210.4888">latency</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="86" x="1684.5" y="210.4888">: urt_delay_t*</text><line style="stroke: #A80036; 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stroke-width: 1.0;" x1="1770" x2="1975" y1="261.8867" y2="261.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1429" y="281.52">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="1482" y="281.52">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="75" x="1590" y="281.52">on success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1429" y="296.6528">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="192" x="1482" y="296.6528">URT_STATUS_FETCH_NOTOPIC</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="282" x="1678" y="296.6528">if the subscriber is not associated to a topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1429" y="311.7856">Retruns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="1482" y="311.7856">URT_STATUS_FETCH_NOMESSAGE</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="228" x="1694" y="311.7856">if there is no new message to fetch.</text><ellipse cx="1699" cy="349.8516" fill="#000000" filter="url(#f1cocy9zwa303s)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#f1cocy9zwa303s)" points="1636.5,379.8516,1761.5,379.8516,1773.5,391.8516,1761.5,403.8516,1636.5,403.8516,1624.5,391.8516,1636.5,379.8516" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="125" x="1636.5" y="395.6597">Associated to a topic?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1604.5" y="389.2573">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1773.5" y="389.2573">no</text><rect fill="#FEFECE" filter="url(#f1cocy9zwa303s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="776" y="413.8516"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="786" y="434.9902">lock topic</text><rect fill="#FFFFFF" filter="url(#f1cocy9zwa303s)" height="348.8823" style="stroke: #000000; stroke-width: 2.0;" width="736" x="446.5" y="458.6221"/><path d="M591.5,459.6221 L591.5,467.9189 L581.5,477.9189 L446.5,477.9189 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="135" x="449.5" y="472.6172">find latest message</text><rect fill="#FEFECE" filter="url(#f1cocy9zwa303s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="145" x="743.5" y="494.9189"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="44" x="753.5" y="516.0576">access</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="77" x="801.5" y="516.0576">lastMessage</text><rect fill="#000000" filter="url(#f1cocy9zwa303s)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="671" x="480.5" y="604.5981"/><rect fill="#FEFECE" filter="url(#f1cocy9zwa303s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="573" y="630.5981"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="161" x="583" y="651.7368">proceed to next message</text><rect fill="#EEEEEE" filter="url(#f1cocy9zwa303s)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="338" x="494.5" y="699.5669"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="494.5" x2="547.5" y1="716.5513" y2="716.5513"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="232" x="547.5" y="720.2056">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="779.5" x2="832.5" y1="716.5513" y2="716.5513"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="318" x="504.5" y="734.6743">decrement counter of consumers left (@message)</text><rect fill="#EEEEEE" filter="url(#f1cocy9zwa303s)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="277" x="860.5" y="665.0825"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="860.5" x2="883" y1="682.0669" y2="682.0669"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="232" x="883" y="685.7212">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1115" x2="1137.5" y1="682.0669" y2="682.0669"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="257" x="870.5" y="700.1899">increment counter of received messages</text><rect fill="#000000" filter="url(#f1cocy9zwa303s)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="671" x="480.5" y="767.5044"/><polygon fill="#FEFECE" filter="url(#f1cocy9zwa303s)" points="699,548.8877,933,548.8877,945,560.8877,933,572.8877,699,572.8877,687,560.8877,699,548.8877" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="820" y="583.0981">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="234" x="699" y="564.6958">Timestamp of next message is younger?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="673" y="558.2935">no</text><polygon fill="#FEFECE" filter="url(#f1cocy9zwa303s)" points="730,827.5044,902,827.5044,914,839.5044,902,851.5044,730,851.5044,718,839.5044,730,827.5044" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="730" y="843.3125">Timestamp equals local copy?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="698" y="836.9102">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="914" y="836.9102">no</text><rect fill="#FEFECE" filter="url(#f1cocy9zwa303s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="96" x="279" y="861.5044"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="76" x="289" y="882.6431">unlock topic</text><path d="M10,930.4731 L10,955.606 A0,0 0 0 0 10,955.606 L296,955.606 A0,0 0 0 0 296,955.606 L296,948.4731 L316,943.0396 L296,940.4731 L296,940.4731 L286,930.4731 L10,930.4731 A0,0 0 0 0 10,930.4731 " fill="#FBFB77" filter="url(#f1cocy9zwa303s)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M286,930.4731 L286,940.4731 L296,940.4731 L286,930.4731 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="16" y="947.54">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="69" y="947.54">URT_STATUS_FETCH_NOMESSAGE</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="277" y="947.54">.</text><ellipse cx="327" cy="943.0396" fill="#FFFFFF" filter="url(#f1cocy9zwa303s)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="327" cy="943.0396" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><rect fill="#000000" filter="url(#f1cocy9zwa303s)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1854" x="385" y="861.5044"/><rect fill="#FFFFFF" filter="url(#f1cocy9zwa303s)" height="142.2656" style="stroke: #000000; stroke-width: 2.0;" width="622" x="397" y="991.1929"/><path d="M510,992.1929 L510,1000.4897 L500,1010.4897 L397,1010.4897 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="103" x="400" y="1005.188">fetch message</text><rect fill="#000000" filter="url(#f1cocy9zwa303s)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="602" x="407" y="1027.4897"/><rect fill="#FEFECE" filter="url(#f1cocy9zwa303s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="175" x="421" y="1053.4897"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="155" x="431" y="1074.6284">update message pointer</text><rect fill="#FEFECE" filter="url(#f1cocy9zwa303s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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stroke-width: 1.0;"/><path d="M1518.5,891.9224 L1518.5,901.9224 L1528.5,901.9224 L1518.5,891.9224 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="299" x="1214.5" y="908.9893">Can be optimized in case all flags are disabled.</text><rect fill="#FEFECE" filter="url(#f1cocy9zwa303s)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="187" x="1548.5" y="887.5044"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="167" x="1558.5" y="908.6431">calculate message latency</text><rect fill="#000000" filter="url(#f1cocy9zwa303s)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1180" x="1047" y="956.4731"/><rect fill="#EEEEEE" filter="url(#f1cocy9zwa303s)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="1061" y="1072.8413"/><line style="stroke: #A80036; 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stroke-width: 1.0;"/><path d="M1965,72.8594 L1965,82.8594 L1975,82.8594 L1965,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1423" x2="1586" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1590" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="1590" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="136" x="1672" y="89.4263">: urt_nrtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1812" x2="1975" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="313" x="1429" y="105.0591">The NRT subscriber that shall fetch the message.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="1429" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1509" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1541" y="120.1919">.</text><line style="stroke: #A80036; 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 @startuml
 
 title **µRtWare**\nurtNrtSubscriberFetchLatestMessage()\n
@@ -104,7 +104,7 @@ 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
diff --git a/doc/activitydiagrams/subscriber/nrtsubscriber/urtNrtSubscriberFetchNextMessage.svg b/doc/activitydiagrams/subscriber/nrtsubscriber/urtNrtSubscriberFetchNextMessage.svg
index 3edfd56..f7f449c 100644
--- a/doc/activitydiagrams/subscriber/nrtsubscriber/urtNrtSubscriberFetchNextMessage.svg
+++ b/doc/activitydiagrams/subscriber/nrtsubscriber/urtNrtSubscriberFetchNextMessage.svg
@@ -1,4 +1,4 @@
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stroke-width: 1.0;"/><path d="M2295.75,72.8594 L2295.75,82.8594 L2305.75,82.8594 L2295.75,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1753.75" x2="1916.75" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1920.75" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="1920.75" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="136" x="2002.75" y="89.4263">: urt_nrtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="2142.75" x2="2305.75" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="313" x="1759.75" y="105.0591">The NRT subscriber that shall fetch the message.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="1759.75" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1839.75" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1871.75" y="120.1919">.</text><line style="stroke: #A80036; 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stroke-width: 1.0;" x1="1753.75" x2="1980.75" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1984.75" y="180.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="1984.75" y="180.2231">bytes</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="45" x="2029.75" y="180.2231">: size_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="2078.75" x2="2305.75" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="137" x="1759.75" y="195.856">Payload size in bytes.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1753.75" x2="1954.25" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1958.25" y="210.4888"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="53" x="1958.25" y="210.4888">latency</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="86" x="2015.25" y="210.4888">: urt_delay_t*</text><line style="stroke: #A80036; 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stroke-width: 1.0;" x1="2100.75" x2="2305.75" y1="261.8867" y2="261.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1759.75" y="281.52">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="1812.75" y="281.52">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="75" x="1920.75" y="281.52">on success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1759.75" y="296.6528">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="192" x="1812.75" y="296.6528">URT_STATUS_FETCH_NOTOPIC</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="282" x="2008.75" y="296.6528">if the subscriber is not associated to a topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1759.75" y="311.7856">Retruns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="1812.75" y="311.7856">URT_STATUS_FETCH_NOMESSAGE</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="228" x="2024.75" y="311.7856">if there is no new message to fetch.</text><ellipse cx="2029.75" cy="349.8516" fill="#000000" filter="url(#f1b2x1rhqosozb)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#f1b2x1rhqosozb)" points="1967.25,379.8516,2092.25,379.8516,2104.25,391.8516,2092.25,403.8516,1967.25,403.8516,1955.25,391.8516,1967.25,379.8516" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="125" x="1967.25" y="395.6597">Associated to a topic?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1935.25" y="389.2573">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="2104.25" y="389.2573">no</text><rect fill="#FEFECE" filter="url(#f1b2x1rhqosozb)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="1189.5" y="413.8516"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="1199.5" y="434.9902">lock topic</text><polygon fill="#FEFECE" filter="url(#f1b2x1rhqosozb)" points="1080,467.8203,1379,467.8203,1391,479.8203,1379,491.8203,1080,491.8203,1068,479.8203,1080,467.8203" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="299" x="1080" y="483.6284">Timestamp of last read message equals local copy?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1048" y="477.2261">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1391" y="477.2261">no</text><polygon fill="#FEFECE" filter="url(#f1b2x1rhqosozb)" points="938.125,501.8203,1090.125,501.8203,1102.125,513.8203,1090.125,525.8203,938.125,525.8203,926.125,513.8203,938.125,501.8203" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="152" x="938.125" y="517.6284">Next message is younger?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="906.125" y="511.2261">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1102.125" y="511.2261">no</text><rect fill="#FEFECE" filter="url(#f1b2x1rhqosozb)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="709.875" y="535.8203"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="161" x="719.875" y="556.959">proceed to next message</text><rect fill="#FEFECE" filter="url(#f1b2x1rhqosozb)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="96" x="1179.875" y="535.8203"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="76" x="1189.875" y="556.959">unlock topic</text><path d="M910.875,588.2227 L910.875,613.3555 A0,0 0 0 0 910.875,613.3555 L1196.875,613.3555 A0,0 0 0 0 1196.875,613.3555 L1196.875,606.2227 L1216.875,600.7891 L1196.875,598.2227 L1196.875,598.2227 L1186.875,588.2227 L910.875,588.2227 A0,0 0 0 0 910.875,588.2227 " fill="#FBFB77" filter="url(#f1b2x1rhqosozb)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1186.875,588.2227 L1186.875,598.2227 L1196.875,598.2227 L1186.875,588.2227 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="916.875" y="605.2896">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="969.875" y="605.2896">URT_STATUS_FETCH_NOMESSAGE</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1177.875" y="605.2896">.</text><ellipse cx="1227.875" cy="600.7891" fill="#FFFFFF" filter="url(#f1b2x1rhqosozb)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="1227.875" cy="600.7891" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><rect fill="#FFFFFF" filter="url(#f1b2x1rhqosozb)" height="181.6992" style="stroke: #000000; stroke-width: 2.0;" width="302" x="1305.875" y="501.8203"/><path d="M1455.875,502.8203 L1455.875,511.1172 L1445.875,521.1172 L1305.875,521.1172 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="140" x="1308.875" y="515.8154">find oldest message</text><rect fill="#FEFECE" filter="url(#f1b2x1rhqosozb)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="1354.375" y="593.5508"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="161" x="1364.375" y="614.6895">proceed to next message</text><polygon fill="#FEFECE" filter="url(#f1b2x1rhqosozb)" points="1444.875,538.1172,1456.875,550.1172,1444.875,562.1172,1432.875,550.1172,1444.875,538.1172" style="stroke: #A80036; stroke-width: 1.5;"/><polygon fill="#FEFECE" filter="url(#f1b2x1rhqosozb)" points="1327.875,647.5195,1561.875,647.5195,1573.875,659.5195,1561.875,671.5195,1327.875,671.5195,1315.875,659.5195,1327.875,647.5195" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="234" x="1327.875" y="663.3276">Timestamp of next message is younger?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1573.875" y="656.9253">yes</text><polygon fill="#FEFECE" filter="url(#f1b2x1rhqosozb)" points="1229.5,689.5195,1241.5,701.5195,1229.5,713.5195,1217.5,701.5195,1229.5,689.5195" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#000000" filter="url(#f1b2x1rhqosozb)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="2495" x="10" y="733.5195"/><rect fill="#FFFFFF" filter="url(#f1b2x1rhqosozb)" height="142.2656" style="stroke: #000000; stroke-width: 2.0;" width="584" x="22" y="848.208"/><path d="M135,849.208 L135,857.5049 L125,867.5049 L22,867.5049 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="103" x="25" y="862.2031">fetch message</text><rect fill="#000000" filter="url(#f1b2x1rhqosozb)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="564" x="32" y="884.5049"/><rect fill="#FEFECE" filter="url(#f1b2x1rhqosozb)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="175" x="46" y="910.5049"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="155" x="56" y="931.6436">update message pointer</text><rect fill="#FEFECE" filter="url(#f1b2x1rhqosozb)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="180" x="231" y="910.5049"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="160" x="241" y="931.6436">copy message origin time</text><rect fill="#FEFECE" filter="url(#f1b2x1rhqosozb)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="163" x="421" y="910.5049"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="143" x="431" y="931.6436">copy message payload</text><rect fill="#000000" filter="url(#f1b2x1rhqosozb)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="564" x="32" y="964.4736"/><path d="M761.5,763.9375 L761.5,789.0703 A0,0 0 0 0 761.5,789.0703 L1081.5,789.0703 A0,0 0 0 0 1081.5,789.0703 L1081.5,781.9375 L1101.5,776.5039 L1081.5,773.9375 L1081.5,773.9375 L1071.5,763.9375 L761.5,763.9375 A0,0 0 0 0 761.5,763.9375 " fill="#FBFB77" filter="url(#f1b2x1rhqosozb)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1071.5,763.9375 L1071.5,773.9375 L1081.5,773.9375 L1071.5,763.9375 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="299" x="767.5" y="781.0044">Can be optimized in case all flags are disabled.</text><rect fill="#FEFECE" filter="url(#f1b2x1rhqosozb)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="187" x="1101.5" y="759.5195"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="167" x="1111.5" y="780.6582">calculate message latency</text><rect fill="#000000" filter="url(#f1b2x1rhqosozb)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1160" x="616" y="813.4883"/><rect fill="#EEEEEE" filter="url(#f1b2x1rhqosozb)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="628" y="929.8564"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="628" x2="638" y1="946.8408" y2="946.8408"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="232" x="638" y="950.4951">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="870" x2="880" y1="946.8408" y2="946.8408"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="73" x="638" y="964.9639">accumulate</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="715" y="964.9639">sumLatencies</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="33" x="803" y="964.9639">value</text><rect fill="#EEEEEE" filter="url(#f1b2x1rhqosozb)" height="220.9219" style="stroke: #000000; stroke-width: 2.0;" width="551" x="908" y="830.29"/><path d="M1189,831.29 L1189,839.5869 L1179,849.5869 L908,849.5869 " fill="none" style="stroke: #000000; 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+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="1212px" preserveAspectRatio="none" style="width:2842px;height:1212px;" version="1.1" viewBox="0 0 2842 1212" width="2842px" zoomAndPan="magnify"><defs><filter height="300%" id="f1b2x1rhqosozb" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="1375.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="328" x="1256" y="47.6611">urtNrtSubscriberFetchNextMessage()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="1423" y="68.6143"/><path d="M1753.75,72.8594 L1753.75,319.8516 L2305.75,319.8516 L2305.75,82.8594 L2295.75,72.8594 L1753.75,72.8594 " fill="#FBFB77" filter="url(#f1b2x1rhqosozb)" style="stroke: #A80036; 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stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="140" x="1308.875" y="515.8154">find oldest message</text><rect fill="#FEFECE" filter="url(#f1b2x1rhqosozb)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="1354.375" y="593.5508"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="161" x="1364.375" y="614.6895">proceed to next message</text><polygon fill="#FEFECE" filter="url(#f1b2x1rhqosozb)" points="1444.875,538.1172,1456.875,550.1172,1444.875,562.1172,1432.875,550.1172,1444.875,538.1172" style="stroke: #A80036; stroke-width: 1.5;"/><polygon fill="#FEFECE" filter="url(#f1b2x1rhqosozb)" points="1327.875,647.5195,1561.875,647.5195,1573.875,659.5195,1561.875,671.5195,1327.875,671.5195,1315.875,659.5195,1327.875,647.5195" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="234" x="1327.875" y="663.3276">Timestamp of next message is younger?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1573.875" y="656.9253">yes</text><polygon fill="#FEFECE" filter="url(#f1b2x1rhqosozb)" points="1229.5,689.5195,1241.5,701.5195,1229.5,713.5195,1217.5,701.5195,1229.5,689.5195" style="stroke: #A80036; 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stroke-width: 1.0;"/><path d="M1071.5,763.9375 L1071.5,773.9375 L1081.5,773.9375 L1071.5,763.9375 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="299" x="767.5" y="781.0044">Can be optimized in case all flags are disabled.</text><rect fill="#FEFECE" filter="url(#f1b2x1rhqosozb)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="187" x="1101.5" y="759.5195"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="167" x="1111.5" y="780.6582">calculate message latency</text><rect fill="#000000" filter="url(#f1b2x1rhqosozb)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1160" x="616" y="813.4883"/><rect fill="#EEEEEE" filter="url(#f1b2x1rhqosozb)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="628" y="929.8564"/><line style="stroke: #A80036; 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 @startuml
 
 title **µRtWare**\nurtNrtSubscriberFetchNextMessage()\n
@@ -109,7 +109,7 @@ 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
diff --git a/doc/activitydiagrams/subscriber/nrtsubscriber/urtNrtSubscriberInit.svg b/doc/activitydiagrams/subscriber/nrtsubscriber/urtNrtSubscriberInit.svg
index 9ca721d..f4bca45 100644
--- a/doc/activitydiagrams/subscriber/nrtsubscriber/urtNrtSubscriberInit.svg
+++ b/doc/activitydiagrams/subscriber/nrtsubscriber/urtNrtSubscriberInit.svg
@@ -1,4 +1,4 @@
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stroke-width: 1.5;" width="131" x="321" y="282.2031"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="111" x="331" y="303.3418">initialize members</text><ellipse cx="386.5" cy="425.9844" fill="#FFFFFF" filter="url(#f1dkmjcdnqegqu)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="386.5" cy="425.9844" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="386.5" x2="386.5" y1="153.3906" y2="173.3906"/><polygon fill="#A80036" points="382.5,163.3906,386.5,173.3906,390.5,163.3906,386.5,167.3906" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="386.5" x2="386.5" y1="193.3906" y2="282.2031"/><polygon fill="#A80036" points="382.5,272.2031,386.5,282.2031,390.5,272.2031,386.5,276.2031" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="386.5" x2="386.5" y1="316.1719" y2="414.9844"/><polygon fill="#A80036" points="382.5,404.9844,386.5,414.9844,390.5,404.9844,386.5,408.9844" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e613b8a21fbb038be089130682329391]
 @startuml
 
 title **µRtWare**\nurtNrtSubscriberInit()\n
@@ -26,8 +26,8 @@ note
   * **numMessagesReceived** ← 0
   - - urt_nrtsubscriber_t - -
   .. URT_CFG_PUBSUB_PROFILING == true ..
-  * **minLatency** ← 0xF..F
-  * **maxLatency** ← 0
+  * **minLatency** ← ""URT_DELAY_INFINITE""
+  * **maxLatency** ← ""URT_DELAY_IMMEDIATE""
 endnote
 stop
 
@@ -38,7 +38,7 @@ 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
diff --git a/doc/activitydiagrams/subscriber/nrtsubscriber/urtNrtSubscriberInit.uml b/doc/activitydiagrams/subscriber/nrtsubscriber/urtNrtSubscriberInit.uml
index 06ef255..432bb16 100644
--- a/doc/activitydiagrams/subscriber/nrtsubscriber/urtNrtSubscriberInit.uml
+++ b/doc/activitydiagrams/subscriber/nrtsubscriber/urtNrtSubscriberInit.uml
@@ -50,8 +50,8 @@ note
   * **numMessagesReceived** ← 0
   -- urt_nrtsubscriber_t --
   .. URT_CFG_PUBSUB_PROFILING == true ..
-  * **minLatency** ← 0xF..F
-  * **maxLatency** ← 0
+  * **minLatency** ← ""URT_DELAY_INFINITE""
+  * **maxLatency** ← ""URT_DELAY_IMMEDIATE""
 endnote
 stop
 
diff --git a/doc/activitydiagrams/subscriber/nrtsubscriber/urtNrtSubscriberSubscribe.svg b/doc/activitydiagrams/subscriber/nrtsubscriber/urtNrtSubscriberSubscribe.svg
index 04a934d..dc4fc66 100644
--- a/doc/activitydiagrams/subscriber/nrtsubscriber/urtNrtSubscriberSubscribe.svg
+++ b/doc/activitydiagrams/subscriber/nrtsubscriber/urtNrtSubscriberSubscribe.svg
@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="1042px" preserveAspectRatio="none" style="width:2807px;height:1042px;" version="1.1" viewBox="0 0 2807 1042" width="2807px" zoomAndPan="magnify"><defs><filter height="300%" id="fkh7ofrjdg7y2" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="1358" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="247" x="1279" y="47.6611">urtNrtSubscriberSubscribe()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="1405.5" y="68.6143"/><path d="M656.5,72.8594 L656.5,304.7188 L1274.5,304.7188 L1274.5,82.8594 L1264.5,72.8594 L656.5,72.8594 " fill="#FBFB77" filter="url(#fkh7ofrjdg7y2)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1264.5,72.8594 L1264.5,82.8594 L1274.5,82.8594 L1264.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="656.5" x2="852.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="856.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="856.5" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="136" x="938.5" y="89.4263">: urt_nrtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1078.5" x2="1274.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="327" x="662.5" y="105.0591">The NRT subscriber which shall subscribe to a topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="662.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="742.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="774.5" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="656.5" x2="899.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="903.5" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="37" x="903.5" y="134.8247">topic</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="83" x="944.5" y="134.8247">: urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1031.5" x2="1274.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="161" x="662.5" y="150.4575">The topic to subscribe to.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="662.5" y="165.5903">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="742.5" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="774.5" y="165.5903">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="656.5" x2="866.5" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="870.5" y="180.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="75" x="870.5" y="180.2231">messages</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="111" x="949.5" y="180.2231">: urt_message_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1064.5" x2="1274.5" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="662.5" y="195.856">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="346" x="698.5" y="195.856">terminated list of messages to contribute to the topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="329" x="662.5" y="210.9888">Messages must not be associated to another topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="430" x="662.5" y="226.1216">Once a message has been contributed, it cannot be removed later.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="662.5" y="241.2544">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="712.5" y="241.2544">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="186" x="748.5" y="241.2544">(no messages to contribute).</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="656.5" x2="1274.5" y1="249.3203" y2="249.3203"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="656.5" x2="1274.5" y1="251.3203" y2="251.3203"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="656.5" x2="894.5" y1="261.8867" y2="261.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="898.5" y="265.8872"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="898.5" y="265.8872">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="947.5" y="265.8872">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1036.5" x2="1274.5" y1="261.8867" y2="261.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="662.5" y="281.52">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="715.5" y="281.52">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="75" x="823.5" y="281.52">on success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="662.5" y="296.6528">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="232" x="715.5" y="296.6528">URT_STATUS_SUBSCRIBE_TOPICSET</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="308" x="951.5" y="296.6528">if the subscriber is already associated to a topic.</text><ellipse cx="965.5" cy="334.7188" fill="#000000" filter="url(#fkh7ofrjdg7y2)" rx="10" ry="10" style="stroke: none; 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stroke-width: 1.0;"/><path d="M1707,424.7188 L1707,434.7188 L1717,434.7188 L1707,424.7188 " fill="#EEEEEE" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1439" x2="1507" y1="437.2852" y2="437.2852"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="134" x="1511" y="441.2856">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1649" x2="1717" y1="437.2852" y2="437.2852"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1439" x2="1449.5" y1="452.418" y2="452.418"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="249" x="1453.5" y="456.4185">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1706.5" x2="1717" y1="452.418" y2="452.418"/><ellipse cx="1450.5" cy="467.6172" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="101" x="1456" y="472.0513">sumLatencies</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="1561" y="472.0513">← 0</text><ellipse cx="1450.5" cy="482.75" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="173" x="1456" y="487.1841">numMessagesReceived</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="1633" y="487.1841">← 0</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1439" x2="1513.5" y1="497.8164" y2="497.8164"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="121" x="1517.5" y="501.8169">urt_nrtsubscriber_t</text><line style="stroke: #A80036; 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 @startuml
 
 title **µRtWare**\nurtNrtSubscriberSubscribe()\n
@@ -44,8 +44,8 @@ else (no)
       * **numMessagesReceived** ← 0
       - - urt_nrtsubscriber_t - -
       .. URT_CFG_PUBSUB_PROFILING == true ..
-      * **minLatency** ← 0xF..F
-      * **maxLatency** ← 0
+      * **minLatency** ← ""URT_DELAY_INFINITE""
+      * **maxLatency** ← ""URT_DELAY_IMMEDIATE""
     endnote
   endfork
   :lock topic;
@@ -85,7 +85,7 @@ 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
diff --git a/doc/activitydiagrams/subscriber/nrtsubscriber/urtNrtSubscriberSubscribe.uml b/doc/activitydiagrams/subscriber/nrtsubscriber/urtNrtSubscriberSubscribe.uml
index 6d55cf5..4c0e8ca 100644
--- a/doc/activitydiagrams/subscriber/nrtsubscriber/urtNrtSubscriberSubscribe.uml
+++ b/doc/activitydiagrams/subscriber/nrtsubscriber/urtNrtSubscriberSubscribe.uml
@@ -67,8 +67,8 @@ else (no)
       * **numMessagesReceived** ← 0
       -- urt_nrtsubscriber_t --
       .. URT_CFG_PUBSUB_PROFILING == true ..
-      * **minLatency** ← 0xF..F
-      * **maxLatency** ← 0
+      * **minLatency** ← ""URT_DELAY_INFINITE""
+      * **maxLatency** ← ""URT_DELAY_IMMEDIATE""
     endnote
   endfork
   :lock topic;
diff --git a/doc/activitydiagrams/subscriber/nrtsubscriber/urtNrtSubscriberUnsubscribe.svg b/doc/activitydiagrams/subscriber/nrtsubscriber/urtNrtSubscriberUnsubscribe.svg
index bc475b5..79e0fbe 100644
--- a/doc/activitydiagrams/subscriber/nrtsubscriber/urtNrtSubscriberUnsubscribe.svg
+++ b/doc/activitydiagrams/subscriber/nrtsubscriber/urtNrtSubscriberUnsubscribe.svg
@@ -1,4 +1,4 @@
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 @startuml
 
 title **µRtWare**\nurtNrtSubscriberUnsubscribe()\n
@@ -49,7 +49,7 @@ 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
diff --git a/doc/activitydiagrams/subscriber/srtsubscriber/urtSrtSubscriberCalculateUsefulness.svg b/doc/activitydiagrams/subscriber/srtsubscriber/urtSrtSubscriberCalculateUsefulness.svg
index 8524b23..7ac0192 100644
--- a/doc/activitydiagrams/subscriber/srtsubscriber/urtSrtSubscriberCalculateUsefulness.svg
+++ b/doc/activitydiagrams/subscriber/srtsubscriber/urtSrtSubscriberCalculateUsefulness.svg
@@ -1,4 +1,4 @@
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stroke-width: 1.0;"/><path d="M935,72.8594 L935,82.8594 L945,82.8594 L935,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="533" x2="626.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="630.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="630.5" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="135" x="712.5" y="89.4263">: urt_srtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="851.5" x2="945" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="308" x="539" y="105.0591">The SRT subscriber to calculate a usefulness for.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="539" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="619" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="651" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="533" x2="667" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="671" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="53" x="671" y="134.8247">latency</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="79" x="728" y="134.8247">: urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="811" x2="945" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="391" x="539" y="150.4575">Latency (of a message) as argument to calculate usefulness.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="533" x2="945" y1="158.5234" y2="158.5234"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="533" x2="945" y1="160.5234" y2="160.5234"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="533" x2="692.5" y1="171.0898" y2="171.0898"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="696.5" y="175.0903"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="696.5" y="175.0903">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="36" x="745.5" y="175.0903">: float</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="785.5" x2="945" y1="171.0898" y2="171.0898"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="293" x="539" y="190.7231">Returns the usefulness as a value within [0,1].</text><ellipse cx="739" cy="228.7891" fill="#000000" filter="url(#f15wrzz2gus8bc)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M10,263.207 L10,288.3398 A0,0 0 0 0 10,288.3398 L560,288.3398 A0,0 0 0 0 560,288.3398 L560,281.207 L580,275.7734 L560,273.207 L560,273.207 L550,263.207 L10,263.207 A0,0 0 0 0 10,263.207 " fill="#FBFB77" filter="url(#f15wrzz2gus8bc)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M550,263.207 L550,273.207 L560,273.207 L550,263.207 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="529" x="16" y="280.2739">The callback function must never return a negative value or a value greater than 1.</text><rect fill="#FEFECE" filter="url(#f15wrzz2gus8bc)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="318" x="580" y="258.7891"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="155" x="590" y="279.9277">execute the subscriber's</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="749" y="279.9277">usefulnesscb</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="51" x="837" y="279.9277">function</text><path d="M501,311.1914 L501,336.3242 A0,0 0 0 0 501,336.3242 L708,336.3242 A0,0 0 0 0 708,336.3242 L708,329.1914 L728,323.7578 L708,321.1914 L708,321.1914 L698,311.1914 L501,311.1914 A0,0 0 0 0 501,311.1914 " fill="#FBFB77" filter="url(#f15wrzz2gus8bc)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M698,311.1914 L698,321.1914 L708,321.1914 L698,311.1914 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="186" x="507" y="328.2583">Returns callback result value.</text><ellipse cx="739" cy="323.7578" fill="#FFFFFF" filter="url(#f15wrzz2gus8bc)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="739" cy="323.7578" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="739" x2="739" y1="198.7891" y2="218.7891"/><polygon fill="#A80036" points="735,208.7891,739,218.7891,743,208.7891,739,212.7891" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="739" x2="739" y1="238.7891" y2="258.7891"/><polygon fill="#A80036" points="735,248.7891,739,258.7891,743,248.7891,739,252.7891" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="739" x2="739" y1="292.7578" y2="312.7578"/><polygon fill="#A80036" points="735,302.7578,739,312.7578,743,302.7578,739,306.7578" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[a084fe7f835cdb3d14e1a1ea89d81f13]
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="348px" preserveAspectRatio="none" style="width:957px;height:348px;" version="1.1" viewBox="0 0 957 348" width="957px" zoomAndPan="magnify"><defs><filter height="300%" id="f15wrzz2gus8bc" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="433" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="333" x="311" y="47.6611">urtSrtSubscriberCalculateUsefulness()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="480.5" y="68.6143"/><path d="M533,72.8594 L533,198.7891 L945,198.7891 L945,82.8594 L935,72.8594 L533,72.8594 " fill="#FBFB77" filter="url(#f15wrzz2gus8bc)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M935,72.8594 L935,82.8594 L945,82.8594 L935,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="533" x2="626.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="630.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="630.5" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="135" x="712.5" y="89.4263">: urt_srtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="851.5" x2="945" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="308" x="539" y="105.0591">The SRT subscriber to calculate a usefulness for.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="539" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="619" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="651" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="533" x2="667" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="671" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="53" x="671" y="134.8247">latency</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="79" x="728" y="134.8247">: urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="811" x2="945" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="391" x="539" y="150.4575">Latency (of a message) as argument to calculate usefulness.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="533" x2="945" y1="158.5234" y2="158.5234"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="533" x2="945" y1="160.5234" y2="160.5234"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="533" x2="692.5" y1="171.0898" y2="171.0898"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="696.5" y="175.0903"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="696.5" y="175.0903">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="36" x="745.5" y="175.0903">: float</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="785.5" x2="945" y1="171.0898" y2="171.0898"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="293" x="539" y="190.7231">Returns the usefulness as a value within [0,1].</text><ellipse cx="739" cy="228.7891" fill="#000000" filter="url(#f15wrzz2gus8bc)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M10,263.207 L10,288.3398 A0,0 0 0 0 10,288.3398 L560,288.3398 A0,0 0 0 0 560,288.3398 L560,281.207 L580,275.7734 L560,273.207 L560,273.207 L550,263.207 L10,263.207 A0,0 0 0 0 10,263.207 " fill="#FBFB77" filter="url(#f15wrzz2gus8bc)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M550,263.207 L550,273.207 L560,273.207 L550,263.207 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="529" x="16" y="280.2739">The callback function must never return a negative value or a value greater than 1.</text><rect fill="#FEFECE" filter="url(#f15wrzz2gus8bc)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="318" x="580" y="258.7891"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="155" x="590" y="279.9277">execute the subscriber's</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="749" y="279.9277">usefulnesscb</text><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="51" x="837" y="279.9277">function</text><path d="M501,311.1914 L501,336.3242 A0,0 0 0 0 501,336.3242 L708,336.3242 A0,0 0 0 0 708,336.3242 L708,329.1914 L728,323.7578 L708,321.1914 L708,321.1914 L698,311.1914 L501,311.1914 A0,0 0 0 0 501,311.1914 " fill="#FBFB77" filter="url(#f15wrzz2gus8bc)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M698,311.1914 L698,321.1914 L708,321.1914 L698,311.1914 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="186" x="507" y="328.2583">Returns callback result value.</text><ellipse cx="739" cy="323.7578" fill="#FFFFFF" filter="url(#f15wrzz2gus8bc)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="739" cy="323.7578" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="739" x2="739" y1="198.7891" y2="218.7891"/><polygon fill="#A80036" points="735,208.7891,739,218.7891,743,208.7891,739,212.7891" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="739" x2="739" y1="238.7891" y2="258.7891"/><polygon fill="#A80036" points="735,248.7891,739,258.7891,743,248.7891,739,252.7891" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="739" x2="739" y1="292.7578" y2="312.7578"/><polygon fill="#A80036" points="735,302.7578,739,312.7578,743,302.7578,739,306.7578" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[94f236caac5edfc56b922886c0a9aeb5]
 @startuml
 
 title **µRtWare**\nurtSrtSubscriberCalculateUsefulness()\n
@@ -33,7 +33,7 @@ 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
diff --git a/doc/activitydiagrams/subscriber/srtsubscriber/urtSrtSubscriberFetchLatestMessage.svg b/doc/activitydiagrams/subscriber/srtsubscriber/urtSrtSubscriberFetchLatestMessage.svg
index 6a4c685..d287e3a 100644
--- a/doc/activitydiagrams/subscriber/srtsubscriber/urtSrtSubscriberFetchLatestMessage.svg
+++ b/doc/activitydiagrams/subscriber/srtsubscriber/urtSrtSubscriberFetchLatestMessage.svg
@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="1355px" preserveAspectRatio="none" style="width:2576px;height:1355px;" version="1.1" viewBox="0 0 2576 1355" width="2576px" zoomAndPan="magnify"><defs><filter height="300%" id="f1t2x7gj32broj" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="1242.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="335" x="1119.5" y="47.6611">urtSrtSubscriberFetchLatestMessage()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="1290" y="68.6143"/><path d="M1423,72.8594 L1423,319.8516 L1975,319.8516 L1975,82.8594 L1965,72.8594 L1423,72.8594 " fill="#FBFB77" filter="url(#f1t2x7gj32broj)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1965,72.8594 L1965,82.8594 L1975,82.8594 L1965,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1423" x2="1586.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1590.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="1590.5" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="135" x="1672.5" y="89.4263">: urt_srtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1811.5" x2="1975" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="312" x="1429" y="105.0591">The SRT subscriber that shall fetch the message.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="1429" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1509" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1541" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1423" x2="1643" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1647" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="59" x="1647" y="134.8247">payload</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="41" x="1710" y="134.8247">: void*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1755" x2="1975" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="238" x="1429" y="150.4575">Pointer where to copy the payload to.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="1429" y="165.5903">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1479" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="195" x="1515" y="165.5903">for messages without payload.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1423" x2="1650" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1654" y="180.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="1654" y="180.2231">bytes</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="45" x="1699" y="180.2231">: size_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1748" x2="1975" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="137" x="1429" y="195.856">Payload size in bytes.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1423" x2="1623.5" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1627.5" y="210.4888"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="53" x="1627.5" y="210.4888">latency</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="86" x="1684.5" y="210.4888">: urt_delay_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1774.5" x2="1975" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="267" x="1429" y="226.1216">The latency can be returned by reference.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="1429" y="241.2544">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1479" y="241.2544">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1511" y="241.2544">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1423" x2="1975" y1="249.3203" y2="249.3203"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1423" x2="1975" y1="251.3203" y2="251.3203"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1423" x2="1628" y1="261.8867" y2="261.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1632" y="265.8872"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="1632" y="265.8872">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="1681" y="265.8872">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1770" x2="1975" y1="261.8867" y2="261.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1429" y="281.52">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="1482" y="281.52">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="75" x="1590" y="281.52">on success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1429" y="296.6528">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="192" x="1482" y="296.6528">URT_STATUS_FETCH_NOTOPIC</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="282" x="1678" y="296.6528">if the subscriber is not associated to a topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1429" y="311.7856">Retruns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="1482" y="311.7856">URT_STATUS_FETCH_NOMESSAGE</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="228" x="1694" y="311.7856">if there is no new message to fetch.</text><ellipse cx="1699" cy="349.8516" fill="#000000" filter="url(#f1t2x7gj32broj)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#f1t2x7gj32broj)" points="1636.5,379.8516,1761.5,379.8516,1773.5,391.8516,1761.5,403.8516,1636.5,403.8516,1624.5,391.8516,1636.5,379.8516" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="125" x="1636.5" y="395.6597">Associated to a topic?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1604.5" y="389.2573">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1773.5" y="389.2573">no</text><rect fill="#FEFECE" filter="url(#f1t2x7gj32broj)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="776" y="413.8516"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="786" y="434.9902">lock topic</text><rect fill="#FFFFFF" filter="url(#f1t2x7gj32broj)" height="348.8823" style="stroke: #000000; stroke-width: 2.0;" width="736" x="446.5" y="458.6221"/><path d="M591.5,459.6221 L591.5,467.9189 L581.5,477.9189 L446.5,477.9189 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="135" x="449.5" y="472.6172">find latest message</text><rect fill="#FEFECE" filter="url(#f1t2x7gj32broj)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="145" x="743.5" y="494.9189"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="44" x="753.5" y="516.0576">access</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="77" x="801.5" y="516.0576">lastMessage</text><rect fill="#000000" filter="url(#f1t2x7gj32broj)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="671" x="480.5" y="604.5981"/><rect fill="#FEFECE" filter="url(#f1t2x7gj32broj)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="573" y="630.5981"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="161" x="583" y="651.7368">proceed to next message</text><rect fill="#EEEEEE" filter="url(#f1t2x7gj32broj)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="338" x="494.5" y="699.5669"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="494.5" x2="547.5" y1="716.5513" y2="716.5513"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="232" x="547.5" y="720.2056">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="779.5" x2="832.5" y1="716.5513" y2="716.5513"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="318" x="504.5" y="734.6743">decrement counter of consumers left (@message)</text><rect fill="#EEEEEE" filter="url(#f1t2x7gj32broj)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="277" x="860.5" y="665.0825"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="860.5" x2="883" y1="682.0669" y2="682.0669"/><text fill="#000000" font-family="sans-serif" font-size="12" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="232" x="883" y="685.7212">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1115" x2="1137.5" y1="682.0669" y2="682.0669"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="257" x="870.5" y="700.1899">increment counter of received messages</text><rect fill="#000000" filter="url(#f1t2x7gj32broj)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="671" x="480.5" y="767.5044"/><polygon fill="#FEFECE" filter="url(#f1t2x7gj32broj)" points="699,548.8877,933,548.8877,945,560.8877,933,572.8877,699,572.8877,687,560.8877,699,548.8877" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="820" y="583.0981">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="234" x="699" y="564.6958">Timestamp of next message is younger?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="673" y="558.2935">no</text><polygon fill="#FEFECE" filter="url(#f1t2x7gj32broj)" points="730,827.5044,902,827.5044,914,839.5044,902,851.5044,730,851.5044,718,839.5044,730,827.5044" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="730" y="843.3125">Timestamp equals local copy?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="698" y="836.9102">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="914" y="836.9102">no</text><rect fill="#FEFECE" filter="url(#f1t2x7gj32broj)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="96" x="279" y="861.5044"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="76" x="289" y="882.6431">unlock topic</text><path d="M10,930.4731 L10,955.606 A0,0 0 0 0 10,955.606 L296,955.606 A0,0 0 0 0 296,955.606 L296,948.4731 L316,943.0396 L296,940.4731 L296,940.4731 L286,930.4731 L10,930.4731 A0,0 0 0 0 10,930.4731 " fill="#FBFB77" filter="url(#f1t2x7gj32broj)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M286,930.4731 L286,940.4731 L296,940.4731 L286,930.4731 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="16" y="947.54">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="69" y="947.54">URT_STATUS_FETCH_NOMESSAGE</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="277" y="947.54">.</text><ellipse cx="327" cy="943.0396" fill="#FFFFFF" filter="url(#f1t2x7gj32broj)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="327" cy="943.0396" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><rect fill="#000000" filter="url(#f1t2x7gj32broj)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1854" x="385" y="861.5044"/><rect fill="#FFFFFF" filter="url(#f1t2x7gj32broj)" height="142.2656" style="stroke: #000000; stroke-width: 2.0;" width="622" x="397" y="991.1929"/><path d="M510,992.1929 L510,1000.4897 L500,1010.4897 L397,1010.4897 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="103" x="400" y="1005.188">fetch message</text><rect fill="#000000" filter="url(#f1t2x7gj32broj)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="602" x="407" y="1027.4897"/><rect fill="#FEFECE" filter="url(#f1t2x7gj32broj)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="175" x="421" y="1053.4897"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="155" x="431" y="1074.6284">update message pointer</text><rect fill="#FEFECE" filter="url(#f1t2x7gj32broj)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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stroke-width: 1.0;"/><path d="M1518.5,891.9224 L1518.5,901.9224 L1528.5,901.9224 L1518.5,891.9224 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="299" x="1214.5" y="908.9893">Can be optimized in case all flags are disabled.</text><rect fill="#FEFECE" filter="url(#f1t2x7gj32broj)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="187" x="1548.5" y="887.5044"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="167" x="1558.5" y="908.6431">calculate message latency</text><rect fill="#000000" filter="url(#f1t2x7gj32broj)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1180" x="1047" y="956.4731"/><rect fill="#EEEEEE" filter="url(#f1t2x7gj32broj)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="1061" y="1072.8413"/><line style="stroke: #A80036; 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 @startuml
 
 title **µRtWare**\nurtSrtSubscriberFetchLatestMessage()\n
@@ -104,7 +104,7 @@ 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
diff --git a/doc/activitydiagrams/subscriber/srtsubscriber/urtSrtSubscriberFetchNextMessage.svg b/doc/activitydiagrams/subscriber/srtsubscriber/urtSrtSubscriberFetchNextMessage.svg
index 8068bc1..f33f280 100644
--- a/doc/activitydiagrams/subscriber/srtsubscriber/urtSrtSubscriberFetchNextMessage.svg
+++ b/doc/activitydiagrams/subscriber/srtsubscriber/urtSrtSubscriberFetchNextMessage.svg
@@ -1,4 +1,4 @@
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stroke-width: 1.0;"/><path d="M2295.75,72.8594 L2295.75,82.8594 L2305.75,82.8594 L2295.75,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1753.75" x2="1917.25" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1921.25" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="1921.25" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="135" x="2003.25" y="89.4263">: urt_srtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="2142.25" x2="2305.75" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="312" x="1759.75" y="105.0591">The SRT subscriber that shall fetch the message.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="1759.75" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1839.75" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1871.75" y="120.1919">.</text><line style="stroke: #A80036; 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stroke-width: 1.0;" x1="2100.75" x2="2305.75" y1="261.8867" y2="261.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1759.75" y="281.52">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="1812.75" y="281.52">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="75" x="1920.75" y="281.52">on success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1759.75" y="296.6528">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="192" x="1812.75" y="296.6528">URT_STATUS_FETCH_NOTOPIC</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="282" x="2008.75" y="296.6528">if the subscriber is not associated to a topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="1759.75" y="311.7856">Retruns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="1812.75" y="311.7856">URT_STATUS_FETCH_NOMESSAGE</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="228" x="2024.75" y="311.7856">if there is no new message to fetch.</text><ellipse cx="2029.75" cy="349.8516" fill="#000000" filter="url(#f8jjn13tt964u)" rx="10" ry="10" style="stroke: none; 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stroke-width: 1.5;" width="181" x="709.875" y="535.8203"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="161" x="719.875" y="556.959">proceed to next message</text><rect fill="#FEFECE" filter="url(#f8jjn13tt964u)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="96" x="1179.875" y="535.8203"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="76" x="1189.875" y="556.959">unlock topic</text><path d="M910.875,588.2227 L910.875,613.3555 A0,0 0 0 0 910.875,613.3555 L1196.875,613.3555 A0,0 0 0 0 1196.875,613.3555 L1196.875,606.2227 L1216.875,600.7891 L1196.875,598.2227 L1196.875,598.2227 L1186.875,588.2227 L910.875,588.2227 A0,0 0 0 0 910.875,588.2227 " fill="#FBFB77" filter="url(#f8jjn13tt964u)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1186.875,588.2227 L1186.875,598.2227 L1196.875,598.2227 L1186.875,588.2227 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="916.875" y="605.2896">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="969.875" y="605.2896">URT_STATUS_FETCH_NOMESSAGE</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1177.875" y="605.2896">.</text><ellipse cx="1227.875" cy="600.7891" fill="#FFFFFF" filter="url(#f8jjn13tt964u)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="1227.875" cy="600.7891" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><rect fill="#FFFFFF" filter="url(#f8jjn13tt964u)" height="181.6992" style="stroke: #000000; stroke-width: 2.0;" width="302" x="1305.875" y="501.8203"/><path d="M1455.875,502.8203 L1455.875,511.1172 L1445.875,521.1172 L1305.875,521.1172 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="140" x="1308.875" y="515.8154">find oldest message</text><rect fill="#FEFECE" filter="url(#f8jjn13tt964u)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="1354.375" y="593.5508"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="161" x="1364.375" y="614.6895">proceed to next message</text><polygon fill="#FEFECE" filter="url(#f8jjn13tt964u)" points="1444.875,538.1172,1456.875,550.1172,1444.875,562.1172,1432.875,550.1172,1444.875,538.1172" style="stroke: #A80036; stroke-width: 1.5;"/><polygon fill="#FEFECE" filter="url(#f8jjn13tt964u)" points="1327.875,647.5195,1561.875,647.5195,1573.875,659.5195,1561.875,671.5195,1327.875,671.5195,1315.875,659.5195,1327.875,647.5195" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="234" x="1327.875" y="663.3276">Timestamp of next message is younger?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1573.875" y="656.9253">yes</text><polygon fill="#FEFECE" filter="url(#f8jjn13tt964u)" points="1229.5,689.5195,1241.5,701.5195,1229.5,713.5195,1217.5,701.5195,1229.5,689.5195" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#000000" filter="url(#f8jjn13tt964u)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="2495" x="10" y="733.5195"/><rect fill="#FFFFFF" filter="url(#f8jjn13tt964u)" height="142.2656" style="stroke: #000000; stroke-width: 2.0;" width="584" x="22" y="848.208"/><path d="M135,849.208 L135,857.5049 L125,867.5049 L22,867.5049 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="103" x="25" y="862.2031">fetch message</text><rect fill="#000000" filter="url(#f8jjn13tt964u)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="564" x="32" y="884.5049"/><rect fill="#FEFECE" filter="url(#f8jjn13tt964u)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="175" x="46" y="910.5049"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="155" x="56" y="931.6436">update message pointer</text><rect fill="#FEFECE" filter="url(#f8jjn13tt964u)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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stroke-width: 1.0;"/><path d="M1071.5,763.9375 L1071.5,773.9375 L1081.5,773.9375 L1071.5,763.9375 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="299" x="767.5" y="781.0044">Can be optimized in case all flags are disabled.</text><rect fill="#FEFECE" filter="url(#f8jjn13tt964u)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="187" x="1101.5" y="759.5195"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="167" x="1111.5" y="780.6582">calculate message latency</text><rect fill="#000000" filter="url(#f8jjn13tt964u)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1160" x="616" y="813.4883"/><rect fill="#EEEEEE" filter="url(#f8jjn13tt964u)" height="47.9375" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="628" y="929.8564"/><line style="stroke: #A80036; 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stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="140" x="1308.875" y="515.8154">find oldest message</text><rect fill="#FEFECE" filter="url(#f8jjn13tt964u)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="1354.375" y="593.5508"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="161" x="1364.375" y="614.6895">proceed to next message</text><polygon fill="#FEFECE" filter="url(#f8jjn13tt964u)" points="1444.875,538.1172,1456.875,550.1172,1444.875,562.1172,1432.875,550.1172,1444.875,538.1172" style="stroke: #A80036; stroke-width: 1.5;"/><polygon fill="#FEFECE" filter="url(#f8jjn13tt964u)" points="1327.875,647.5195,1561.875,647.5195,1573.875,659.5195,1561.875,671.5195,1327.875,671.5195,1315.875,659.5195,1327.875,647.5195" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="234" x="1327.875" y="663.3276">Timestamp of next message is younger?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1573.875" y="656.9253">yes</text><polygon fill="#FEFECE" filter="url(#f8jjn13tt964u)" points="1229.5,689.5195,1241.5,701.5195,1229.5,713.5195,1217.5,701.5195,1229.5,689.5195" style="stroke: #A80036; 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 @startuml
 
 title **µRtWare**\nurtSrtSubscriberFetchNextMessage()\n
@@ -109,7 +109,7 @@ 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
diff --git a/doc/activitydiagrams/subscriber/srtsubscriber/urtSrtSubscriberInit.svg b/doc/activitydiagrams/subscriber/srtsubscriber/urtSrtSubscriberInit.svg
index c96b358..0096e76 100644
--- a/doc/activitydiagrams/subscriber/srtsubscriber/urtSrtSubscriberInit.svg
+++ b/doc/activitydiagrams/subscriber/srtsubscriber/urtSrtSubscriberInit.svg
@@ -1,4 +1,4 @@
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stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="173" x="27" y="326.3872">numMessagesReceived</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="204" y="326.3872">← 0</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="91.5" y1="337.0195" y2="337.0195"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="120" x="95.5" y="341.02">urt_srtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="219.5" x2="301" y1="337.0195" y2="337.0195"/><ellipse cx="21.5" cy="352.2188" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="97" x="27" y="356.6528">usefulnesscb</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="128" y="356.6528">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="143" y="356.6528">NULL</text><ellipse cx="21.5" cy="367.3516" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="74" x="27" y="371.7856">cbparams</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="105" y="371.7856">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="120" y="371.7856">NULL</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10" x2="27" y1="382.418" y2="382.418"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="249" x="31" y="386.4185">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="284" x2="301" y1="382.418" y2="382.418"/><ellipse cx="21.5" cy="397.6172" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="84" x="27" y="402.0513">minLatency</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="115" y="402.0513">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="144" x="130" y="402.0513">URT_DELAY_INFINITE</text><ellipse cx="21.5" cy="412.75" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="88" x="27" y="417.1841">maxLatency</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="119" y="417.1841">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="152" x="134" y="417.1841">URT_DELAY_IMMEDIATE</text><rect fill="#FEFECE" filter="url(#fo5v7x2mc15wf)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="131" x="321" y="297.3359"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="111" x="331" y="318.4746">initialize members</text><ellipse cx="386.5" cy="456.25" fill="#FFFFFF" filter="url(#fo5v7x2mc15wf)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="386.5" cy="456.25" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="386.5" x2="386.5" y1="153.3906" y2="173.3906"/><polygon fill="#A80036" points="382.5,163.3906,386.5,173.3906,390.5,163.3906,386.5,167.3906" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="386.5" x2="386.5" y1="193.3906" y2="297.3359"/><polygon fill="#A80036" points="382.5,287.3359,386.5,297.3359,390.5,287.3359,386.5,291.3359" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="386.5" x2="386.5" y1="331.3047" y2="445.25"/><polygon fill="#A80036" points="382.5,435.25,386.5,445.25,390.5,435.25,386.5,439.25" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d97a552859996775fdc7a6403d4c57e9]
 @startuml
 
 title **µRtWare**\nurtSrtSubscriberInit()\n
@@ -28,8 +28,8 @@ note
   * **usefulnesscb** ← ""NULL""
   * **cbparams** ← ""NULL""
   .. URT_CFG_PUBSUB_PROFILING == true ..
-  * **minLatency** ← 0xF..F
-  * **maxLatency** ← 0
+  * **minLatency** ← ""URT_DELAY_INFINITE""
+  * **maxLatency** ← ""URT_DELAY_IMMEDIATE""
 endnote
 stop
 
@@ -40,7 +40,7 @@ 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
diff --git a/doc/activitydiagrams/subscriber/srtsubscriber/urtSrtSubscriberInit.uml b/doc/activitydiagrams/subscriber/srtsubscriber/urtSrtSubscriberInit.uml
index 61e652e..67d40f6 100644
--- a/doc/activitydiagrams/subscriber/srtsubscriber/urtSrtSubscriberInit.uml
+++ b/doc/activitydiagrams/subscriber/srtsubscriber/urtSrtSubscriberInit.uml
@@ -52,8 +52,8 @@ note
   * **usefulnesscb** ← ""NULL""
   * **cbparams** ← ""NULL""
   .. URT_CFG_PUBSUB_PROFILING == true ..
-  * **minLatency** ← 0xF..F
-  * **maxLatency** ← 0
+  * **minLatency** ← ""URT_DELAY_INFINITE""
+  * **maxLatency** ← ""URT_DELAY_IMMEDIATE""
 endnote
 stop
 
diff --git a/doc/activitydiagrams/subscriber/srtsubscriber/urtSrtSubscriberSubscribe.svg b/doc/activitydiagrams/subscriber/srtsubscriber/urtSrtSubscriberSubscribe.svg
index 4a003d3..baa9746 100644
--- a/doc/activitydiagrams/subscriber/srtsubscriber/urtSrtSubscriberSubscribe.svg
+++ b/doc/activitydiagrams/subscriber/srtsubscriber/urtSrtSubscriberSubscribe.svg
@@ -1,4 +1,4 @@
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stroke-width: 1.0;"/><path d="M1264.5,72.8594 L1264.5,82.8594 L1274.5,82.8594 L1264.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="656.5" x2="853" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="857" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="857" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="135" x="939" y="89.4263">: urt_srtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1078" x2="1274.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="326" x="662.5" y="105.0591">The SRT subscriber which shall subscribe to a topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="662.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="742.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="774.5" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="656.5" x2="899.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="903.5" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="37" x="903.5" y="134.8247">topic</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="83" x="944.5" y="134.8247">: urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1031.5" x2="1274.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="161" x="662.5" y="150.4575">The topic to subscribe to.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="662.5" y="165.5903">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="742.5" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="774.5" y="165.5903">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="656.5" x2="866.5" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="870.5" y="180.2231"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="75" x="870.5" y="180.2231">messages</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="111" x="949.5" y="180.2231">: urt_message_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1064.5" x2="1274.5" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="662.5" y="195.856">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="346" x="698.5" y="195.856">terminated list of messages to contribute to the topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="329" x="662.5" y="210.9888">Messages must not be associated to another topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="430" x="662.5" y="226.1216">Once a message has been contributed, it cannot be removed later.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="662.5" y="241.2544">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="712.5" y="241.2544">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="186" x="748.5" y="241.2544">(no messages to contribute).</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="656.5" x2="829" y1="251.8867" y2="251.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="833" y="255.8872"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="97" x="833" y="255.8872">usefulnesscb</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="164" x="934" y="255.8872">: urt_srtusefulnessfunc_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1102" x2="1274.5" y1="251.8867" y2="251.8867"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="374" x="662.5" y="271.52">Pointer to a function to calculate usefulness of a message.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="662.5" y="286.6528">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="742.5" y="286.6528">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="774.5" y="286.6528">.</text><line style="stroke: #A80036; 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 @startuml
 
 title **µRtWare**\nurtSrtSubscriberSubscribe()\n
@@ -56,8 +56,8 @@ else (no)
       * **numMessagesReceived** ← 0
       - - urt_srtsubscriber_t - -
       .. URT_CFG_PUBSUB_PROFILING == true ..
-      * **minLatency** ← 0xF..F
-      * **maxLatency** ← 0
+      * **minLatency** ← ""URT_DELAY_INFINITE""
+      * **maxLatency** ← ""URT_DELAY_IMMEDIATE""
     endnote
   endfork
   :lock topic;
@@ -97,7 +97,7 @@ 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
diff --git a/doc/activitydiagrams/subscriber/srtsubscriber/urtSrtSubscriberSubscribe.uml b/doc/activitydiagrams/subscriber/srtsubscriber/urtSrtSubscriberSubscribe.uml
index 0605334..19ee9ac 100644
--- a/doc/activitydiagrams/subscriber/srtsubscriber/urtSrtSubscriberSubscribe.uml
+++ b/doc/activitydiagrams/subscriber/srtsubscriber/urtSrtSubscriberSubscribe.uml
@@ -79,8 +79,8 @@ else (no)
       * **numMessagesReceived** ← 0
       -- urt_srtsubscriber_t --
       .. URT_CFG_PUBSUB_PROFILING == true ..
-      * **minLatency** ← 0xF..F
-      * **maxLatency** ← 0
+      * **minLatency** ← ""URT_DELAY_INFINITE""
+      * **maxLatency** ← ""URT_DELAY_IMMEDIATE""
     endnote
   endfork
   :lock topic;
diff --git a/doc/activitydiagrams/subscriber/srtsubscriber/urtSrtSubscriberUnsubscribe.svg b/doc/activitydiagrams/subscriber/srtsubscriber/urtSrtSubscriberUnsubscribe.svg
index 31a8b03..bdf8e00 100644
--- a/doc/activitydiagrams/subscriber/srtsubscriber/urtSrtSubscriberUnsubscribe.svg
+++ b/doc/activitydiagrams/subscriber/srtsubscriber/urtSrtSubscriberUnsubscribe.svg
@@ -1,4 +1,4 @@
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stroke-width: 1.0;"/><path d="M867,72.8594 L867,82.8594 L877,82.8594 L867,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="277" x2="464.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="468.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="78" x="468.5" y="89.4263">subscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="135" x="550.5" y="89.4263">: urt_srtsubscriber_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="689.5" x2="877" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="251" x="283" y="105.0591">The SRT subscriber to be unsubscribed.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="283" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="363" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="395" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="277" x2="877" y1="128.2578" y2="128.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="277" x2="877" y1="130.2578" y2="130.2578"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="277" x2="506" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="510" y="144.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="510" y="144.8247">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="559" y="144.8247">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="648" x2="877" y1="140.8242" y2="140.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="283" y="160.4575">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="336" y="160.4575">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="68" x="444" y="160.4575">on sucess.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="283" y="175.5903">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="240" x="336" y="175.5903">URT_STATUS_UNSUBSCRIBE_NOTOPIC</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="282" x="580" y="175.5903">if the subscriber is not associated to a topic.</text><ellipse cx="577" cy="213.6563" fill="#000000" filter="url(#f7ija2ov51se2)" rx="10" ry="10" style="stroke: none; 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 @startuml
 
 title **µRtWare**\nurtSrtSubscriberUnsubscribe()\n
@@ -49,7 +49,7 @@ 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
diff --git a/doc/activitydiagrams/topic/urtTopicInit.svg b/doc/activitydiagrams/topic/urtTopicInit.svg
index aa055e6..4ac0cbe 100644
--- a/doc/activitydiagrams/topic/urtTopicInit.svg
+++ b/doc/activitydiagrams/topic/urtTopicInit.svg
@@ -1,4 +1,4 @@
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stroke-width: 1.0;"/><path d="M844.75,72.8594 L844.75,82.8594 L854.75,82.8594 L844.75,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="223.75" x2="473.25" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="477.25" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="37" x="477.25" y="89.4263">topic</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="83" x="518.25" y="89.4263">: urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="605.25" x2="854.75" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="134" x="229.75" y="105.0591">The topic to initialize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="229.75" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="309.75" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="341.75" y="120.1919">.</text><line style="stroke: #A80036; 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stroke-width: 1.0;"/><!--MD5=[84d51a4713d83e6d5c49d95d5ddbe282]
 @startuml
 
 title **µRtWare**\nurtTopicInit()\n
@@ -74,7 +74,7 @@ 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
diff --git a/doc/classdiagrams/config.svg b/doc/classdiagrams/config.svg
index 5913733..4467300 100644
--- a/doc/classdiagrams/config.svg
+++ b/doc/classdiagrams/config.svg
@@ -1,5 +1,5 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="290px" preserveAspectRatio="none" style="width:308px;height:290px;" version="1.1" viewBox="0 0 308 290" width="308px" zoomAndPan="magnify"><defs><filter height="300%" id="fvia6mr5z56ky" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="107.5" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="120" x="92" y="37.6611">Configuration</text><!--MD5=[e443ac33c80100c2d54e1f5fe669f6d7]
-class urt_config--><rect fill="#FEFECE" filter="url(#fvia6mr5z56ky)" height="230.4609" id="urt_config" style="stroke: #A80036; stroke-width: 1.5;" width="290" x="7" y="48.9063"/><ellipse cx="116.75" cy="64.9063" fill="#BFBFBF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M119.7188,70.5469 Q119.1406,70.8438 118.5,70.9844 Q117.8594,71.1406 117.1563,71.1406 Q114.6563,71.1406 113.3281,69.5 Q112.0156,67.8438 112.0156,64.7188 Q112.0156,61.5938 113.3281,59.9375 Q114.6563,58.2813 117.1563,58.2813 Q117.8594,58.2813 118.5,58.4375 Q119.1563,58.5938 119.7188,58.8906 L119.7188,61.6094 Q119.0938,61.0313 118.5,60.7656 Q117.9063,60.4844 117.2813,60.4844 Q115.9375,60.4844 115.25,61.5625 Q114.5625,62.625 114.5625,64.7188 Q114.5625,66.8125 115.25,67.8906 Q115.9375,68.9531 117.2813,68.9531 Q117.9063,68.9531 118.5,68.6875 Q119.0938,68.4063 119.7188,67.8281 L119.7188,70.5469 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="62" x="137.25" y="69.0605">urt_config</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8" x2="296" y1="80.9063" y2="80.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="159" x="13" y="95.1167">URT_CFG_DELAY_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="169" x="13" y="107.9214">URT_CFG_TOPICID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="13" y="120.7261">URT_CFG_SERVICEID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="13" y="133.5308">URT_CFG_NODESTAGE_WIDTH : int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8" x2="296" y1="140.125" y2="140.125"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="13" y="154.3354">URT_CFG_DEBUG_ENABLED : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8" x2="296" y1="160.9297" y2="160.9297"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="13" y="175.1401">URT_CFG_PUBSUB_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="204" x="13" y="187.9448">URT_CFG_PUBSUB_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="278" x="13" y="200.7495">URT_CFG_PUBSUB_QOS_DEADLINECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="252" x="13" y="213.5542">URT_CFG_PUBSUB_QOS_RATECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="13" y="226.3589">URT_CFG_PUBSUB_QOS_JITTERCHECKS : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8" x2="296" y1="232.9531" y2="232.9531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="13" y="247.1636">URT_CFG_RPC_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="13" y="259.9683">URT_CFG_RPC_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="13" y="272.7729">URT_CFG_RPC_QOS_JITTERCHECKS : bool</text><!--MD5=[fa463d24fc3844a76136af04696c4d0a]
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="346px" preserveAspectRatio="none" style="width:308px;height:346px;" version="1.1" viewBox="0 0 308 346" width="308px" zoomAndPan="magnify"><defs><filter height="300%" id="f19u4eu9l1i7d5" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="107.5" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="120" x="92" y="37.6611">Configuration</text><!--MD5=[e443ac33c80100c2d54e1f5fe669f6d7]
+class urt_config--><rect fill="#FEFECE" filter="url(#f19u4eu9l1i7d5)" height="286.4844" id="urt_config" style="stroke: #A80036; stroke-width: 1.5;" width="290" x="7" y="48.9063"/><ellipse cx="116.75" cy="64.9063" fill="#BFBFBF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M119.7188,70.5469 Q119.1406,70.8438 118.5,70.9844 Q117.8594,71.1406 117.1563,71.1406 Q114.6563,71.1406 113.3281,69.5 Q112.0156,67.8438 112.0156,64.7188 Q112.0156,61.5938 113.3281,59.9375 Q114.6563,58.2813 117.1563,58.2813 Q117.8594,58.2813 118.5,58.4375 Q119.1563,58.5938 119.7188,58.8906 L119.7188,61.6094 Q119.0938,61.0313 118.5,60.7656 Q117.9063,60.4844 117.2813,60.4844 Q115.9375,60.4844 115.25,61.5625 Q114.5625,62.625 114.5625,64.7188 Q114.5625,66.8125 115.25,67.8906 Q115.9375,68.9531 117.2813,68.9531 Q117.9063,68.9531 118.5,68.6875 Q119.0938,68.4063 119.7188,67.8281 L119.7188,70.5469 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="62" x="137.25" y="69.0605">urt_config</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8" x2="296" y1="80.9063" y2="80.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="159" x="13" y="111.9214">URT_CFG_DELAY_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="13" y="124.7261">URT_CFG_NODESTAGE_WIDTH : int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8" x2="130.5" y1="95.3086" y2="95.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="43" x="130.5" y="98.6167">general</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="173.5" x2="296" y1="95.3086" y2="95.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="13" y="154.3354">URT_CFG_PUBSUB_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="222" x="13" y="167.1401">URT_CFG_PUBSUB_TOPICID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="204" x="13" y="179.9448">URT_CFG_PUBSUB_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="278" x="13" y="192.7495">URT_CFG_PUBSUB_QOS_DEADLINECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="252" x="13" y="205.5542">URT_CFG_PUBSUB_QOS_RATECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="13" y="218.3589">URT_CFG_PUBSUB_QOS_JITTERCHECKS : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8" x2="101.5" y1="137.7227" y2="137.7227"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="101.5" y="141.0308">publish-subscribe</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="202.5" x2="296" y1="137.7227" y2="137.7227"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="13" y="247.9683">URT_CFG_RPC_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="13" y="260.7729">URT_CFG_RPC_SERVICEID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="13" y="273.5776">URT_CFG_RPC_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="253" x="13" y="286.3823">URT_CFG_RPC_QOS_DEADLINECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="13" y="299.187">URT_CFG_RPC_QOS_JITTERCHECKS : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8" x2="85.5" y1="231.3555" y2="231.3555"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="133" x="85.5" y="234.6636">remote procedure calls</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="218.5" x2="296" y1="231.3555" y2="231.3555"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="13" y="328.7964">URT_CFG_DEBUG_ENABLED : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8" x2="134.5" y1="312.1836" y2="312.1836"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="35" x="134.5" y="315.4917">debug</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="169.5" x2="296" y1="312.1836" y2="312.1836"/><!--MD5=[b5773c79a01ac53a242ef73d22f7ce2f]
 @startuml
 
 title **µRtWare**\nConfiguration
@@ -17,22 +17,24 @@ title **µRtWare**\nConfiguration
 
 
   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
 }
 
 
@@ -45,7 +47,7 @@ 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
diff --git a/doc/classdiagrams/config.uml b/doc/classdiagrams/config.uml
index 87de3bb..9c05832 100644
--- a/doc/classdiagrams/config.uml
+++ b/doc/classdiagrams/config.uml
@@ -33,35 +33,38 @@ title **µRtWare**\nConfiguration
 
 /' Not a type but a set of configuration macros. '/
 $configuration("urt_config") {
+  .. general ..
     'Selector to specify the width of urt_delay_t type (32 or 64).
   URT_CFG_DELAY_WIDTH : int
-    'Selector to specify the width of the urt_topicid_t type (8, 16, 32 or 64).
-  URT_CFG_TOPICID_WIDTH : int
-    'Selector to specify the width of the urt_serviceid_t type (8, 16, 32 or 64).
-  URT_CFG_SERVICEID_WIDTH : int
     'Selector to specify the width of the urt_nodestage_t type (8, 16, 32 or 64).
   URT_CFG_NODESTAGE_WIDTH : int
-  ..
-    'Selection to en-/disable debug checks.
-  URT_CFG_DEBUG_ENABLED : bool
-  ..
-    'Selection ed-/disable publush-subscribe functionality.
+  .. publish-subscribe ..
+    'Flag to en-/disable publush-subscribe functionality.
   URT_CFG_PUBSUB_ENABLED : bool
-    'Selection to en-/disable profiling for publish-subscribe.
+    'Selector to specify the width of the urt_topicid_t type (8, 16, 32 or 64).
+  URT_CFG_PUBSUB_TOPICID_WIDTH : int
+    'Flag to en-/disable profiling for publish-subscribe.
   URT_CFG_PUBSUB_PROFILING : bool
-    'Selection to en-/disable QoS deadline checks (e.g. timers) for publish-subscribe.
+    'Flag to en-/disable QoS deadline checks (e.g. timers) for publish-subscribe.
   URT_CFG_PUBSUB_QOS_DEADLINECHECKS : bool
-    'Selection to en-/disable QoS rate checks (e.g. timers) for publish-subscribe.
+    'Flag to en-/disable QoS rate checks (e.g. timers) for publish-subscribe.
   URT_CFG_PUBSUB_QOS_RATECHECKS : bool
-    'Selection to en-/disable QoS jitter checks for publish-subscribe.
+    'Flag to en-/disable QoS jitter checks for publish-subscribe.
   URT_CFG_PUBSUB_QOS_JITTERCHECKS : bool
-  ..
-    'Selection to en-/disable RPC functionality.
+  .. remote procedure calls ..
+    'Flag to en-/disable RPC functionality.
   URT_CFG_RPC_ENABLED : bool
-    'Selection to en-/disable profiling of RPCs.
+    'Selector to specify the width of the urt_serviceid_t type (8, 16, 32 or 64).
+  URT_CFG_RPC_SERVICEID_WIDTH : int
+    'Flag to en-/disable profiling of RPCs.
   URT_CFG_RPC_PROFILING : bool
-    'Selection to en-/disable QoS jitter checks for RPCs.
+    'Flag to en-/disable QoS deadline checks (e.g. timers) for RPCs.
+  URT_CFG_RPC_QOS_DEADLINECHECKS : bool
+    'Flag to en-/disable QoS jitter checks for RPCs.
   URT_CFG_RPC_QOS_JITTERCHECKS : bool
+  .. debug ..
+    'Selection to en-/disable debug checks.
+  URT_CFG_DEBUG_ENABLED : bool
 }
 
 !endsub
diff --git a/doc/classdiagrams/osal.svg b/doc/classdiagrams/osal.svg
index 7f62ade..50ae7b6 100644
--- a/doc/classdiagrams/osal.svg
+++ b/doc/classdiagrams/osal.svg
@@ -1,41 +1,46 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="797px" preserveAspectRatio="none" style="width:5287px;height:797px;" version="1.1" viewBox="0 0 5287 797" width="5287px" zoomAndPan="magnify"><defs><filter height="300%" id="f56rinx1r6gzl" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="2606.5" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="387" x="2457.5" y="37.6611">Operating System Abstraction Layer (OSAL)</text><!--MD5=[2e45f233f6bb64aa81ebe67fb6de8946]
-cluster condition variable--><rect fill="#FFFFFF" filter="url(#f56rinx1r6gzl)" height="450.5" style="stroke: #000000; stroke-width: 1.5;" width="726" x="14" y="196.4063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="140" x="307" y="211.4014">condition variable</text><!--MD5=[c7113df1f710ca294cbd01734aa00974]
-cluster timer--><rect fill="#FFFFFF" filter="url(#f56rinx1r6gzl)" height="444.5" style="stroke: #000000; stroke-width: 1.5;" width="798" x="2817" y="189.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="3195.5" y="204.9014">timer</text><!--MD5=[107bb3f79455a18bd83c75ada1ac7979]
-cluster thread--><rect fill="#FFFFFF" filter="url(#f56rinx1r6gzl)" height="621" style="stroke: #000000; stroke-width: 1.5;" width="1039" x="1073" y="57.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="1566.5" y="72.9014">thread</text><!--MD5=[8d74b40516bd265adb19f202ab81f40d]
-cluster events--><rect fill="#FFFFFF" filter="url(#f56rinx1r6gzl)" height="584" style="stroke: #000000; stroke-width: 1.5;" width="1642" x="3634" y="202.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="54" x="4428" y="217.9014">events</text><!--MD5=[52fa11869cb40c93fa7702378ddd839e]
-class urt_osCondvarWaitStatus_t--><rect fill="#FEFECE" filter="url(#f56rinx1r6gzl)" height="86.4141" id="urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="242" y="552.9063"/><ellipse cx="288.25" cy="568.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M292.3594,574.9063 L284.6406,574.9063 L284.6406,562.5156 L292.3594,562.5156 L292.3594,564.6719 L287.0938,564.6719 L287.0938,567.3438 L291.8594,567.3438 L291.8594,569.5 L287.0938,569.5 L287.0938,572.75 L292.3594,572.75 L292.3594,574.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="169" x="308.75" y="573.0605">urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="243" x2="511" y1="584.9063" y2="584.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="248" y="599.1167">URT_CONDVAR_WAITSTATUS_SIGNAL = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="248" y="611.9214">URT_CONDVAR_WAITSTATUS_BROADCAST = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="248" y="624.7261">URT_CONDVAR_WAITSTATUS_TIMEOUT = 0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="243" x2="511" y1="631.3203" y2="631.3203"/><!--MD5=[004fc5dee471033e8e4138c1c73f0692]
-class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#f56rinx1r6gzl)" height="99.2188" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="22" y="223.4063"/><ellipse cx="322.25" cy="239.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M323.0938,246.1563 L320.6406,246.1563 L320.6406,235.9063 L317.5,235.9063 L317.5,233.7656 L326.2344,233.7656 L326.2344,235.9063 L323.0938,235.9063 L323.0938,246.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="342.75" y="243.5605">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="23" x2="731" y1="255.4063" y2="255.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="23" x2="731" y1="263.4063" y2="263.4063"/><ellipse cx="33" cy="274.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="283" x="42" y="277.6167">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="33" cy="287.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="301" x="42" y="290.4214">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="33" cy="300.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="324" x="42" y="303.2261">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="33" cy="312.8203" 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="684" x="42" y="316.0308">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(#f56rinx1r6gzl)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="3073" y="565.4063"/><ellipse cx="3143.75" cy="581.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3144.5938,588.1563 L3142.1406,588.1563 L3142.1406,577.9063 L3139,577.9063 L3139,575.7656 L3147.7344,575.7656 L3147.7344,577.9063 L3144.5938,577.9063 L3144.5938,588.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="3164.25" y="585.5605">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3074" x2="3358" y1="597.4063" y2="597.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3074" x2="3358" y1="605.4063" y2="605.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="3079" y="619.6167">urt_osTimerCallback_t (parameter : void*) : void</text><!--MD5=[0b340d7b925b1eab6a1b7e084f68a7c2]
-class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#f56rinx1r6gzl)" height="112.0234" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="782" x="2825" y="216.9063"/><ellipse cx="3169.75" cy="232.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3170.5938,239.6563 L3168.1406,239.6563 L3168.1406,229.4063 L3165,229.4063 L3165,227.2656 L3173.7344,227.2656 L3173.7344,229.4063 L3170.5938,229.4063 L3170.5938,239.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="3190.25" y="237.0605">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2826" x2="3606" y1="248.9063" y2="248.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2826" x2="3606" y1="256.9063" y2="256.9063"/><ellipse cx="2836" cy="267.9063" 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="240" x="2845" y="271.1167">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="2836" cy="280.7109" 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="705" x="2845" y="283.9214">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="2836" cy="293.5156" 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="756" x="2845" y="296.7261">urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="2836" cy="306.3203" 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="300" x="2845" y="309.5308">urtTimerReset (timer : urt_osTimer_t*) : urt_status_t</text><ellipse cx="2836" cy="319.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="2845" y="322.3354">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--MD5=[86c16d91227b9a9ec3b6b9b0285de4e9]
-class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#f56rinx1r6gzl)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="1081.5" y="520.9063"/><ellipse cx="1117.65" cy="536.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1118.4938,543.6563 L1116.0406,543.6563 L1116.0406,533.4063 L1112.9,533.4063 L1112.9,531.2656 L1121.6344,531.2656 L1121.6344,533.4063 L1118.4938,533.4063 L1118.4938,543.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="1136.35" y="541.0605">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1082.5" x2="1277.5" y1="552.9063" y2="552.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="1087.5" y="567.1167">URT_THREAD_PRIO_LOW_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="1087.5" y="579.9214">URT_THREAD_PRIO_LOW_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="1087.5" y="592.7261">URT_THREAD_PRIO_NORMAL_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="1087.5" y="605.5308">URT_THREAD_PRIO_NORMAL_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="1087.5" y="618.3354">URT_THREAD_PRIO_HIGH_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="1087.5" y="631.1401">URT_THREAD_PRIO_HIGH_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="1087.5" y="643.9448">URT_THREAD_PRIO_RT_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="1087.5" y="656.7495">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1082.5" x2="1277.5" y1="663.3438" y2="663.3438"/><!--MD5=[69d8aab9aa387a2f5052ea3da80e80ea]
-class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#f56rinx1r6gzl)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="1314" y="565.4063"/><ellipse cx="1361.75" cy="581.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1362.5938,588.1563 L1360.1406,588.1563 L1360.1406,577.9063 L1357,577.9063 L1357,575.7656 L1365.7344,575.7656 L1365.7344,577.9063 L1362.5938,577.9063 L1362.5938,588.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="1382.25" y="585.5605">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1315" x2="1565" y1="597.4063" y2="597.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1315" x2="1565" y1="605.4063" y2="605.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="1320" y="619.6167">urt_osThreadFunction_t (arg : void*) : void</text><!--MD5=[ab5f611d45c3fa10609c33f780d8c3e1]
-class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#f56rinx1r6gzl)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="1601" y="558.9063"/><ellipse cx="1622.75" cy="574.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1626.8594,580.9063 L1619.1406,580.9063 L1619.1406,568.5156 L1626.8594,568.5156 L1626.8594,570.6719 L1621.5938,570.6719 L1621.5938,573.3438 L1626.3594,573.3438 L1626.3594,575.5 L1621.5938,575.5 L1621.5938,578.75 L1626.8594,578.75 L1626.8594,580.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="1638.25" y="579.0605">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1602" x2="1842" y1="590.9063" y2="590.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="1607" y="605.1167">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="1607" y="617.9214">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1602" x2="1842" y1="624.5156" y2="624.5156"/><!--MD5=[47d14ad2c233fae1b32b8d0a283e820a]
-class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#f56rinx1r6gzl)" height="137.6328" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="1878" y="526.9063"/><ellipse cx="1922.75" cy="542.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1926.8594,548.9063 L1919.1406,548.9063 L1919.1406,536.5156 L1926.8594,536.5156 L1926.8594,538.6719 L1921.5938,538.6719 L1921.5938,541.3438 L1926.3594,541.3438 L1926.3594,543.5 L1921.5938,543.5 L1921.5938,546.75 L1926.8594,546.75 L1926.8594,548.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="1943.25" y="547.0605">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1879" x2="2103" y1="558.9063" y2="558.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="1884" y="573.1167">URT_THREAD_STATE_INACTIVE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="1884" y="585.9214">URT_THREAD_STATE_RUNNING = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="1884" y="598.7261">URT_THREAD_STATE_READY = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="1884" y="611.5308">URT_THREAD_STATE_SLEEPING = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="1884" y="624.3354">URT_THREAD_STATE_SUSPENDED = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="1884" y="637.1401">URT_THREAD_STATE_WAITING = 5</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="1884" y="649.9448">URT_THREAD_STATE_TERMINATED = 6</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1879" x2="2103" y1="656.5391" y2="656.5391"/><!--MD5=[0a16224ede9ffa9bb2d34e085a076e6d]
-class urt_osThread_t--><rect fill="#FEFECE" filter="url(#f56rinx1r6gzl)" height="376.1172" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="560" x="1442" y="84.9063"/><ellipse cx="1670.75" cy="100.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1671.5938,107.6563 L1669.1406,107.6563 L1669.1406,97.4063 L1666,97.4063 L1666,95.2656 L1674.7344,95.2656 L1674.7344,97.4063 L1671.5938,97.4063 L1671.5938,107.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="1691.25" y="105.0605">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1443" x2="2001" y1="116.9063" y2="116.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="1448" y="131.1167">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="1448" y="143.9214">URT_THREAD_SSLEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="1448" y="156.7261">URT_THREAD_MSLEEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="1448" y="169.5308">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1443" x2="2001" y1="176.125" y2="176.125"/><ellipse cx="1453" cy="187.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="248" x="1462" y="190.3354">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1443" x2="2001" y1="196.9297" y2="196.9297"/><ellipse cx="1453" cy="207.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="534" x="1462" y="211.1401">urtThreadInit (memory : void*, size : size_t, func : urt_osThreadFunction_t*) : urt_osThread_t*</text><ellipse cx="1453" cy="220.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="490" x="1462" y="223.9448">urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void</text><ellipse cx="1453" cy="233.5391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="1462" y="236.7495">urtThreadYield (void) : void</text><ellipse cx="1453" cy="246.3438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="1462" y="249.5542">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="1453" cy="259.1484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="304" x="1462" y="262.3589">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="1453" cy="271.9531" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="294" x="1462" y="275.1636">urtThreadSuspend (thread : urt_osThread_t*) : void</text><ellipse cx="1453" cy="284.7578" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="335" x="1462" y="287.9683">urtThreadResume (thread : urt_osThread_t*) : urt_status_t</text><ellipse cx="1453" cy="297.5625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="220" x="1462" y="300.7729">urtThreadSleep (seconds : float) : void</text><ellipse cx="1453" cy="310.3672" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="1462" y="313.5776">urtThreadSSleep (seconds : urt_delay_t) : void</text><ellipse cx="1453" cy="323.1719" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="289" x="1462" y="326.3823">urtThreadMSleep (milliseconds : urt_delay_t) : void</text><ellipse cx="1453" cy="335.9766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="1462" y="339.187">urtThreadUSleep (microseconds : urt_delay_t) : void</text><ellipse cx="1453" cy="348.7813" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="1462" y="351.9917">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="1453" cy="361.5859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="1462" y="364.7964">urtThreadExit (void) : void</text><ellipse cx="1453" cy="374.3906" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="518" x="1462" y="377.6011">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="1453" cy="387.1953" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="264" x="1462" y="390.4058">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="1453" cy="400" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="387" x="1462" y="403.2104">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="1453" cy="412.8047" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="237" x="1462" y="416.0151">urtThreadGetSelf (void) : urt_osThread_t*</text><ellipse cx="1453" cy="425.6094" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="1462" y="428.8198">urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="1453" cy="438.4141" fill="#84BE84" 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="1462" y="441.6245">urtThreadGetSibling (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="1453" cy="451.2188" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="1462" y="454.4292">urtThreadGetParent (thread : urt_osThread_t*) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]
-class urt_osEventMask_t--><rect fill="#FEFECE" filter="url(#f56rinx1r6gzl)" height="60.8047" id="urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.5;" width="280" x="3642" y="565.4063"/><ellipse cx="3719.25" cy="581.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3720.0938,588.1563 L3717.6406,588.1563 L3717.6406,577.9063 L3714.5,577.9063 L3714.5,575.7656 L3723.2344,575.7656 L3723.2344,577.9063 L3720.0938,577.9063 L3720.0938,588.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="3739.75" y="585.5605">urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3643" x2="3921" y1="597.4063" y2="597.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="268" x="3648" y="611.6167">URT_EVENTMASK_MAXPRIO : urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3643" x2="3921" y1="618.2109" y2="618.2109"/><!--MD5=[dc1cc33af288560680c15dec1e56eda0]
-class urt_osEventFlags_t--><rect fill="#FEFECE" filter="url(#f56rinx1r6gzl)" height="48" id="urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="4363" y="730.9063"/><ellipse cx="4378" cy="746.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4378.8438,753.6563 L4376.3906,753.6563 L4376.3906,743.4063 L4373.25,743.4063 L4373.25,741.2656 L4381.9844,741.2656 L4381.9844,743.4063 L4378.8438,743.4063 L4378.8438,753.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="4392" y="751.0605">urt_osEventFlags_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4364" x2="4512" y1="762.9063" y2="762.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4364" x2="4512" y1="770.9063" y2="770.9063"/><!--MD5=[e2bbbd64e6979bf7b755747a6c0ba948]
-class urt_osEventWait_t--><rect fill="#FEFECE" filter="url(#f56rinx1r6gzl)" height="86.4141" id="urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.5;" width="162" x="3994" y="552.9063"/><ellipse cx="4017.1" cy="568.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4021.2094,574.9063 L4013.4906,574.9063 L4013.4906,562.5156 L4021.2094,562.5156 L4021.2094,564.6719 L4015.9438,564.6719 L4015.9438,567.3438 L4020.7094,567.3438 L4020.7094,569.5 L4015.9438,569.5 L4015.9438,572.75 L4021.2094,572.75 L4021.2094,574.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="4032.9" y="573.0605">urt_osEventWait_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3995" x2="4155" y1="584.9063" y2="584.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="4000" y="599.1167">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="4000" y="611.9214">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="4000" y="624.7261">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3995" x2="4155" y1="631.3203" y2="631.3203"/><!--MD5=[d054ac2eda12ce4b1fe5a18c9be716c1]
-class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#f56rinx1r6gzl)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="4191" y="552.9063"/><ellipse cx="4366.25" cy="568.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4367.0938,575.6563 L4364.6406,575.6563 L4364.6406,565.4063 L4361.5,565.4063 L4361.5,563.2656 L4370.2344,563.2656 L4370.2344,565.4063 L4367.0938,565.4063 L4367.0938,575.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="4386.75" y="573.0605">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4192" x2="4684" y1="584.9063" y2="584.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4192" x2="4684" y1="592.9063" y2="592.9063"/><ellipse cx="4202" cy="603.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="341" x="4211" y="607.1167">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="4202" cy="616.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="458" x="4211" y="619.9214">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="4202" cy="629.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="468" x="4211" y="632.7261">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]
-class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#f56rinx1r6gzl)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="4720.5" y="558.9063"/><ellipse cx="4925.25" cy="574.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4926.0938,581.6563 L4923.6406,581.6563 L4923.6406,571.4063 L4920.5,571.4063 L4920.5,569.2656 L4929.2344,569.2656 L4929.2344,571.4063 L4926.0938,571.4063 L4926.0938,581.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="4945.75" y="579.0605">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4721.5" x2="5266.5" y1="590.9063" y2="590.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4721.5" x2="5266.5" y1="598.9063" y2="598.9063"/><ellipse cx="4731.5" cy="609.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="325" x="4740.5" y="613.1167">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="4731.5" cy="622.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="521" x="4740.5" y="625.9214">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--MD5=[04a3b5a37031e2a4d723f19d8adf86f5]
-class urt_events--><rect fill="#FEFECE" filter="url(#f56rinx1r6gzl)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="890" x="3642" y="229.9063"/><ellipse cx="4049.75" cy="245.9063" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4053.9844,241.6719 L4048.7031,241.6719 L4048.7031,244.3438 L4053.5,244.3438 L4053.5,246.5 L4048.7031,246.5 L4048.7031,251.9063 L4046.2656,251.9063 L4046.2656,239.5156 L4053.9844,239.5156 L4053.9844,241.6719 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="4070.25" y="250.0605">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3643" x2="4531" y1="261.9063" y2="261.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3643" x2="4531" y1="269.9063" y2="269.9063"/><ellipse cx="3653" cy="280.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="864" x="3662" y="284.1167">urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : urt_status_t</text><ellipse cx="3653" cy="293.7109" 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="567" x="3662" y="296.9214">urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : urt_status_t</text><ellipse cx="3653" cy="306.5156" 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="618" x="3662" y="309.7261">urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWait_t, timeout : urt_delay_t) : urt_osEventMask_t</text><!--MD5=[3677786d1f00795918091b0110bfa4af]
-class urt_osTime_t--><rect fill="#FEFECE" filter="url(#f56rinx1r6gzl)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="425" x="2120.5" y="229.9063"/><ellipse cx="2289.25" cy="245.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2290.0938,252.6563 L2287.6406,252.6563 L2287.6406,242.4063 L2284.5,242.4063 L2284.5,240.2656 L2293.2344,240.2656 L2293.2344,242.4063 L2290.0938,242.4063 L2290.0938,252.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="2309.75" y="250.0605">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2121.5" x2="2544.5" y1="261.9063" y2="261.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2121.5" x2="2544.5" y1="269.9063" y2="269.9063"/><ellipse cx="2131.5" cy="280.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="231" x="2140.5" y="284.1167">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="2131.5" cy="293.7109" 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="189" x="2140.5" y="296.9214">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="2131.5" cy="306.5156" 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="399" x="2140.5" y="309.7261">urtTimeAddUs (time : urt_osTime_t*, offset : uint32_t) : urt_osTime_t*</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]
-class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#f56rinx1r6gzl)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="767" y="223.4063"/><ellipse cx="868.25" cy="239.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M869.0938,246.1563 L866.6406,246.1563 L866.6406,235.9063 L863.5,235.9063 L863.5,233.7656 L872.2344,233.7656 L872.2344,235.9063 L869.0938,235.9063 L869.0938,246.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="888.75" y="243.5605">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="768" x2="1064" y1="255.4063" y2="255.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="768" x2="1064" y1="263.4063" y2="263.4063"/><ellipse cx="778" cy="274.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="245" x="787" y="277.6167">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="778" cy="287.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="253" x="787" y="290.4214">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="778" cy="300.0156" 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="272" x="787" y="303.2261">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="778" cy="312.8203" 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="265" x="787" y="316.0308">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--MD5=[0cf29100c96c506429a28b45d347cc92]
-class urt_streams--><rect fill="#FEFECE" filter="url(#f56rinx1r6gzl)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="209" x="2580.5" y="235.9063"/><ellipse cx="2643.25" cy="251.9063" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2647.4844,247.6719 L2642.2031,247.6719 L2642.2031,250.3438 L2647,250.3438 L2647,252.5 L2642.2031,252.5 L2642.2031,257.9063 L2639.7656,257.9063 L2639.7656,245.5156 L2647.4844,245.5156 L2647.4844,247.6719 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="2663.75" y="256.0605">urt_streams</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2581.5" x2="2788.5" y1="267.9063" y2="267.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2581.5" x2="2788.5" y1="275.9063" y2="275.9063"/><ellipse cx="2591.5" cy="286.9063" 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="166" x="2600.5" y="290.1167">urtPrintf(fmt : char*, ... ) : int</text><ellipse cx="2591.5" cy="299.7109" 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="183" x="2600.5" y="302.9214">urtErrPrintf(fmt : char*, ... ) : int</text><!--MD5=[7766572fa0c619a5409829048dc0b6d6]
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="797px" preserveAspectRatio="none" style="width:5573px;height:797px;" version="1.1" viewBox="0 0 5573 797" width="5573px" zoomAndPan="magnify"><defs><filter height="300%" id="fm4jpltjyo5jv" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="2749.5" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="387" x="2600.5" y="37.6611">Operating System Abstraction Layer (OSAL)</text><!--MD5=[3dab47d3fc3e186ff10f67819eb99ff8]
+cluster time--><rect fill="#FFFFFF" filter="url(#fm4jpltjyo5jv)" height="121" style="stroke: #000000; stroke-width: 1.5;" width="442" x="2128" y="202.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="34" x="2332" y="217.9014">time</text><!--MD5=[48ccbfc44b1b031f9b243763d7ad5184]
+cluster mutex--><rect fill="#FFFFFF" filter="url(#fm4jpltjyo5jv)" height="134" style="stroke: #000000; stroke-width: 1.5;" width="314" x="759" y="196.4063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="49" x="891.5" y="211.4014">mutex</text><!--MD5=[2e45f233f6bb64aa81ebe67fb6de8946]
+cluster condition variable--><rect fill="#FFFFFF" filter="url(#fm4jpltjyo5jv)" height="450.5" style="stroke: #000000; stroke-width: 1.5;" width="726" x="14" y="196.4063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="140" x="307" y="211.4014">condition variable</text><!--MD5=[c7113df1f710ca294cbd01734aa00974]
+cluster timer--><rect fill="#FFFFFF" filter="url(#fm4jpltjyo5jv)" height="444.5" style="stroke: #000000; stroke-width: 1.5;" width="798" x="2589" y="189.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="2967.5" y="204.9014">timer</text><!--MD5=[107bb3f79455a18bd83c75ada1ac7979]
+cluster thread--><rect fill="#FFFFFF" filter="url(#fm4jpltjyo5jv)" height="621" style="stroke: #000000; stroke-width: 1.5;" width="1039" x="1081" y="57.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="1574.5" y="72.9014">thread</text><!--MD5=[8d74b40516bd265adb19f202ab81f40d]
+cluster events--><rect fill="#FFFFFF" filter="url(#fm4jpltjyo5jv)" height="584" style="stroke: #000000; stroke-width: 1.5;" width="1642" x="3406" y="202.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="54" x="4200" y="217.9014">events</text><!--MD5=[b978ecedb6f4da3f32705dc09c84a7d6]
+cluster streams--><rect fill="#FFFFFF" filter="url(#fm4jpltjyo5jv)" height="109" style="stroke: #000000; stroke-width: 1.5;" width="226" x="5056" y="208.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="64" x="5137" y="223.9014">streams</text><!--MD5=[62106fc051f244acf17caf792167c8db]
+cluster debug--><rect fill="#FFFFFF" filter="url(#fm4jpltjyo5jv)" height="96" style="stroke: #000000; stroke-width: 1.5;" width="262" x="5300" y="215.4063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="50" x="5406" y="230.4014">debug</text><!--MD5=[3677786d1f00795918091b0110bfa4af]
+class urt_osTime_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="425" x="2136.5" y="229.9063"/><ellipse cx="2305.25" cy="245.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2306.0938,252.6563 L2303.6406,252.6563 L2303.6406,242.4063 L2300.5,242.4063 L2300.5,240.2656 L2309.2344,240.2656 L2309.2344,242.4063 L2306.0938,242.4063 L2306.0938,252.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="2325.75" y="250.0605">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2137.5" x2="2560.5" y1="261.9063" y2="261.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2137.5" x2="2560.5" y1="269.9063" y2="269.9063"/><ellipse cx="2147.5" cy="280.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="231" x="2156.5" y="284.1167">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="2147.5" cy="293.7109" 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="189" x="2156.5" y="296.9214">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="2147.5" cy="306.5156" 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="399" x="2156.5" y="309.7261">urtTimeAddUs (time : urt_osTime_t*, offset : uint32_t) : urt_osTime_t*</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]
+class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="767" y="223.4063"/><ellipse cx="868.25" cy="239.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M869.0938,246.1563 L866.6406,246.1563 L866.6406,235.9063 L863.5,235.9063 L863.5,233.7656 L872.2344,233.7656 L872.2344,235.9063 L869.0938,235.9063 L869.0938,246.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="888.75" y="243.5605">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="768" x2="1064" y1="255.4063" y2="255.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="768" x2="1064" y1="263.4063" y2="263.4063"/><ellipse cx="778" cy="274.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="245" x="787" y="277.6167">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="778" cy="287.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="253" x="787" y="290.4214">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="778" cy="300.0156" 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="272" x="787" y="303.2261">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="778" cy="312.8203" 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="265" x="787" y="316.0308">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--MD5=[52fa11869cb40c93fa7702378ddd839e]
+class urt_osCondvarWaitStatus_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="86.4141" id="urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="242" y="552.9063"/><ellipse cx="288.25" cy="568.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M292.3594,574.9063 L284.6406,574.9063 L284.6406,562.5156 L292.3594,562.5156 L292.3594,564.6719 L287.0938,564.6719 L287.0938,567.3438 L291.8594,567.3438 L291.8594,569.5 L287.0938,569.5 L287.0938,572.75 L292.3594,572.75 L292.3594,574.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="169" x="308.75" y="573.0605">urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="243" x2="511" y1="584.9063" y2="584.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="248" y="599.1167">URT_CONDVAR_WAITSTATUS_SIGNAL = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="248" y="611.9214">URT_CONDVAR_WAITSTATUS_BROADCAST = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="248" y="624.7261">URT_CONDVAR_WAITSTATUS_TIMEOUT = 0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="243" x2="511" y1="631.3203" y2="631.3203"/><!--MD5=[004fc5dee471033e8e4138c1c73f0692]
+class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="99.2188" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="22" y="223.4063"/><ellipse cx="322.25" cy="239.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M323.0938,246.1563 L320.6406,246.1563 L320.6406,235.9063 L317.5,235.9063 L317.5,233.7656 L326.2344,233.7656 L326.2344,235.9063 L323.0938,235.9063 L323.0938,246.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="342.75" y="243.5605">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="23" x2="731" y1="255.4063" y2="255.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="23" x2="731" y1="263.4063" y2="263.4063"/><ellipse cx="33" cy="274.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="283" x="42" y="277.6167">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="33" cy="287.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="301" x="42" y="290.4214">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="33" cy="300.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="324" x="42" y="303.2261">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="33" cy="312.8203" 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="684" x="42" y="316.0308">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(#fm4jpltjyo5jv)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="2845" y="565.4063"/><ellipse cx="2915.75" cy="581.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2916.5938,588.1563 L2914.1406,588.1563 L2914.1406,577.9063 L2911,577.9063 L2911,575.7656 L2919.7344,575.7656 L2919.7344,577.9063 L2916.5938,577.9063 L2916.5938,588.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="2936.25" y="585.5605">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2846" x2="3130" y1="597.4063" y2="597.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2846" x2="3130" y1="605.4063" y2="605.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="2851" y="619.6167">urt_osTimerCallback_t (parameter : void*) : void</text><!--MD5=[0b340d7b925b1eab6a1b7e084f68a7c2]
+class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="112.0234" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="782" x="2597" y="216.9063"/><ellipse cx="2941.75" cy="232.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2942.5938,239.6563 L2940.1406,239.6563 L2940.1406,229.4063 L2937,229.4063 L2937,227.2656 L2945.7344,227.2656 L2945.7344,229.4063 L2942.5938,229.4063 L2942.5938,239.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="2962.25" y="237.0605">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2598" x2="3378" y1="248.9063" y2="248.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2598" x2="3378" y1="256.9063" y2="256.9063"/><ellipse cx="2608" cy="267.9063" 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="240" x="2617" y="271.1167">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="2608" cy="280.7109" 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="705" x="2617" y="283.9214">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="2608" cy="293.5156" 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="756" x="2617" y="296.7261">urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="2608" cy="306.3203" 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="300" x="2617" y="309.5308">urtTimerReset (timer : urt_osTimer_t*) : urt_status_t</text><ellipse cx="2608" cy="319.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="2617" y="322.3354">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--MD5=[86c16d91227b9a9ec3b6b9b0285de4e9]
+class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="1089.5" y="520.9063"/><ellipse cx="1125.65" cy="536.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1126.4938,543.6563 L1124.0406,543.6563 L1124.0406,533.4063 L1120.9,533.4063 L1120.9,531.2656 L1129.6344,531.2656 L1129.6344,533.4063 L1126.4938,533.4063 L1126.4938,543.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="1144.35" y="541.0605">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1090.5" x2="1285.5" y1="552.9063" y2="552.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="1095.5" y="567.1167">URT_THREAD_PRIO_LOW_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="1095.5" y="579.9214">URT_THREAD_PRIO_LOW_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="1095.5" y="592.7261">URT_THREAD_PRIO_NORMAL_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="1095.5" y="605.5308">URT_THREAD_PRIO_NORMAL_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="1095.5" y="618.3354">URT_THREAD_PRIO_HIGH_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="1095.5" y="631.1401">URT_THREAD_PRIO_HIGH_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="1095.5" y="643.9448">URT_THREAD_PRIO_RT_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="1095.5" y="656.7495">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1090.5" x2="1285.5" y1="663.3438" y2="663.3438"/><!--MD5=[69d8aab9aa387a2f5052ea3da80e80ea]
+class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="1322" y="565.4063"/><ellipse cx="1369.75" cy="581.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1370.5938,588.1563 L1368.1406,588.1563 L1368.1406,577.9063 L1365,577.9063 L1365,575.7656 L1373.7344,575.7656 L1373.7344,577.9063 L1370.5938,577.9063 L1370.5938,588.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="1390.25" y="585.5605">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1323" x2="1573" y1="597.4063" y2="597.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1323" x2="1573" y1="605.4063" y2="605.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="1328" y="619.6167">urt_osThreadFunction_t (arg : void*) : void</text><!--MD5=[ab5f611d45c3fa10609c33f780d8c3e1]
+class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="1609" y="558.9063"/><ellipse cx="1630.75" cy="574.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1634.8594,580.9063 L1627.1406,580.9063 L1627.1406,568.5156 L1634.8594,568.5156 L1634.8594,570.6719 L1629.5938,570.6719 L1629.5938,573.3438 L1634.3594,573.3438 L1634.3594,575.5 L1629.5938,575.5 L1629.5938,578.75 L1634.8594,578.75 L1634.8594,580.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="1646.25" y="579.0605">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1610" x2="1850" y1="590.9063" y2="590.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="1615" y="605.1167">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="1615" y="617.9214">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1610" x2="1850" y1="624.5156" y2="624.5156"/><!--MD5=[47d14ad2c233fae1b32b8d0a283e820a]
+class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="137.6328" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="1886" y="526.9063"/><ellipse cx="1930.75" cy="542.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1934.8594,548.9063 L1927.1406,548.9063 L1927.1406,536.5156 L1934.8594,536.5156 L1934.8594,538.6719 L1929.5938,538.6719 L1929.5938,541.3438 L1934.3594,541.3438 L1934.3594,543.5 L1929.5938,543.5 L1929.5938,546.75 L1934.8594,546.75 L1934.8594,548.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="1951.25" y="547.0605">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1887" x2="2111" y1="558.9063" y2="558.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="1892" y="573.1167">URT_THREAD_STATE_INACTIVE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="1892" y="585.9214">URT_THREAD_STATE_RUNNING = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="1892" y="598.7261">URT_THREAD_STATE_READY = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="1892" y="611.5308">URT_THREAD_STATE_SLEEPING = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="1892" y="624.3354">URT_THREAD_STATE_SUSPENDED = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="1892" y="637.1401">URT_THREAD_STATE_WAITING = 5</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="1892" y="649.9448">URT_THREAD_STATE_TERMINATED = 6</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1887" x2="2111" y1="656.5391" y2="656.5391"/><!--MD5=[0a16224ede9ffa9bb2d34e085a076e6d]
+class urt_osThread_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="376.1172" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="560" x="1450" y="84.9063"/><ellipse cx="1678.75" cy="100.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1679.5938,107.6563 L1677.1406,107.6563 L1677.1406,97.4063 L1674,97.4063 L1674,95.2656 L1682.7344,95.2656 L1682.7344,97.4063 L1679.5938,97.4063 L1679.5938,107.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="1699.25" y="105.0605">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1451" x2="2009" y1="116.9063" y2="116.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="1456" y="131.1167">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="1456" y="143.9214">URT_THREAD_SSLEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="1456" y="156.7261">URT_THREAD_MSLEEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="1456" y="169.5308">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1451" x2="2009" y1="176.125" y2="176.125"/><ellipse cx="1461" cy="187.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="248" x="1470" y="190.3354">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1451" x2="2009" y1="196.9297" y2="196.9297"/><ellipse cx="1461" cy="207.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="534" x="1470" y="211.1401">urtThreadInit (memory : void*, size : size_t, func : urt_osThreadFunction_t*) : urt_osThread_t*</text><ellipse cx="1461" cy="220.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="490" x="1470" y="223.9448">urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void</text><ellipse cx="1461" cy="233.5391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="1470" y="236.7495">urtThreadYield (void) : void</text><ellipse cx="1461" cy="246.3438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="1470" y="249.5542">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="1461" cy="259.1484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="304" x="1470" y="262.3589">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="1461" cy="271.9531" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="294" x="1470" y="275.1636">urtThreadSuspend (thread : urt_osThread_t*) : void</text><ellipse cx="1461" cy="284.7578" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="335" x="1470" y="287.9683">urtThreadResume (thread : urt_osThread_t*) : urt_status_t</text><ellipse cx="1461" cy="297.5625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="220" x="1470" y="300.7729">urtThreadSleep (seconds : float) : void</text><ellipse cx="1461" cy="310.3672" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="1470" y="313.5776">urtThreadSSleep (seconds : urt_delay_t) : void</text><ellipse cx="1461" cy="323.1719" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="289" x="1470" y="326.3823">urtThreadMSleep (milliseconds : urt_delay_t) : void</text><ellipse cx="1461" cy="335.9766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="1470" y="339.187">urtThreadUSleep (microseconds : urt_delay_t) : void</text><ellipse cx="1461" cy="348.7813" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="1470" y="351.9917">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="1461" cy="361.5859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="1470" y="364.7964">urtThreadExit (void) : void</text><ellipse cx="1461" cy="374.3906" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="518" x="1470" y="377.6011">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="1461" cy="387.1953" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="264" x="1470" y="390.4058">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="1461" cy="400" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="387" x="1470" y="403.2104">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="1461" cy="412.8047" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="237" x="1470" y="416.0151">urtThreadGetSelf (void) : urt_osThread_t*</text><ellipse cx="1461" cy="425.6094" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="1470" y="428.8198">urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="1461" cy="438.4141" fill="#84BE84" 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="1470" y="441.6245">urtThreadGetSibling (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="1461" cy="451.2188" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="1470" y="454.4292">urtThreadGetParent (thread : urt_osThread_t*) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]
+class urt_osEventMask_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="60.8047" id="urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.5;" width="280" x="3414" y="565.4063"/><ellipse cx="3491.25" cy="581.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3492.0938,588.1563 L3489.6406,588.1563 L3489.6406,577.9063 L3486.5,577.9063 L3486.5,575.7656 L3495.2344,575.7656 L3495.2344,577.9063 L3492.0938,577.9063 L3492.0938,588.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="3511.75" y="585.5605">urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3415" x2="3693" y1="597.4063" y2="597.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="268" x="3420" y="611.6167">URT_EVENTMASK_MAXPRIO : urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3415" x2="3693" y1="618.2109" y2="618.2109"/><!--MD5=[dc1cc33af288560680c15dec1e56eda0]
+class urt_osEventFlags_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="48" id="urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="4135" y="730.9063"/><ellipse cx="4150" cy="746.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4150.8438,753.6563 L4148.3906,753.6563 L4148.3906,743.4063 L4145.25,743.4063 L4145.25,741.2656 L4153.9844,741.2656 L4153.9844,743.4063 L4150.8438,743.4063 L4150.8438,753.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="4164" y="751.0605">urt_osEventFlags_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4136" x2="4284" y1="762.9063" y2="762.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4136" x2="4284" y1="770.9063" y2="770.9063"/><!--MD5=[e2bbbd64e6979bf7b755747a6c0ba948]
+class urt_osEventWait_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="86.4141" id="urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.5;" width="162" x="3766" y="552.9063"/><ellipse cx="3789.1" cy="568.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3793.2094,574.9063 L3785.4906,574.9063 L3785.4906,562.5156 L3793.2094,562.5156 L3793.2094,564.6719 L3787.9438,564.6719 L3787.9438,567.3438 L3792.7094,567.3438 L3792.7094,569.5 L3787.9438,569.5 L3787.9438,572.75 L3793.2094,572.75 L3793.2094,574.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="3804.9" y="573.0605">urt_osEventWait_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3767" x2="3927" y1="584.9063" y2="584.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="3772" y="599.1167">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="3772" y="611.9214">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="3772" y="624.7261">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3767" x2="3927" y1="631.3203" y2="631.3203"/><!--MD5=[d054ac2eda12ce4b1fe5a18c9be716c1]
+class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="3963" y="552.9063"/><ellipse cx="4138.25" cy="568.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4139.0938,575.6563 L4136.6406,575.6563 L4136.6406,565.4063 L4133.5,565.4063 L4133.5,563.2656 L4142.2344,563.2656 L4142.2344,565.4063 L4139.0938,565.4063 L4139.0938,575.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="4158.75" y="573.0605">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3964" x2="4456" y1="584.9063" y2="584.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3964" x2="4456" y1="592.9063" y2="592.9063"/><ellipse cx="3974" cy="603.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="341" x="3983" y="607.1167">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="3974" cy="616.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="458" x="3983" y="619.9214">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="3974" cy="629.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="468" x="3983" y="632.7261">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]
+class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="4492.5" y="558.9063"/><ellipse cx="4697.25" cy="574.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4698.0938,581.6563 L4695.6406,581.6563 L4695.6406,571.4063 L4692.5,571.4063 L4692.5,569.2656 L4701.2344,569.2656 L4701.2344,571.4063 L4698.0938,571.4063 L4698.0938,581.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="4717.75" y="579.0605">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4493.5" x2="5038.5" y1="590.9063" y2="590.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4493.5" x2="5038.5" y1="598.9063" y2="598.9063"/><ellipse cx="4503.5" cy="609.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="325" x="4512.5" y="613.1167">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="4503.5" cy="622.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="521" x="4512.5" y="625.9214">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--MD5=[04a3b5a37031e2a4d723f19d8adf86f5]
+class urt_events--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="890" x="3414" y="229.9063"/><ellipse cx="3821.75" cy="245.9063" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3825.9844,241.6719 L3820.7031,241.6719 L3820.7031,244.3438 L3825.5,244.3438 L3825.5,246.5 L3820.7031,246.5 L3820.7031,251.9063 L3818.2656,251.9063 L3818.2656,239.5156 L3825.9844,239.5156 L3825.9844,241.6719 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="3842.25" y="250.0605">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3415" x2="4303" y1="261.9063" y2="261.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3415" x2="4303" y1="269.9063" y2="269.9063"/><ellipse cx="3425" cy="280.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="864" x="3434" y="284.1167">urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : urt_status_t</text><ellipse cx="3425" cy="293.7109" 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="567" x="3434" y="296.9214">urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : urt_status_t</text><ellipse cx="3425" cy="306.5156" 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="618" x="3434" y="309.7261">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(#fm4jpltjyo5jv)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="209" x="5064.5" y="235.9063"/><ellipse cx="5127.25" cy="251.9063" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5131.4844,247.6719 L5126.2031,247.6719 L5126.2031,250.3438 L5131,250.3438 L5131,252.5 L5126.2031,252.5 L5126.2031,257.9063 L5123.7656,257.9063 L5123.7656,245.5156 L5131.4844,245.5156 L5131.4844,247.6719 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="5147.75" y="256.0605">urt_streams</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5065.5" x2="5272.5" y1="267.9063" y2="267.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5065.5" x2="5272.5" y1="275.9063" y2="275.9063"/><ellipse cx="5075.5" cy="286.9063" 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="166" x="5084.5" y="290.1167">urtPrintf(fmt : char*, ... ) : int</text><ellipse cx="5075.5" cy="299.7109" 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="183" x="5084.5" y="302.9214">urtErrPrintf(fmt : char*, ... ) : int</text><!--MD5=[f106a25c06a671b3918b1a8f37571a4d]
+class urt_debug--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="245" x="5308.5" y="242.4063"/><ellipse cx="5394.75" cy="258.4063" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5398.9844,254.1719 L5393.7031,254.1719 L5393.7031,256.8438 L5398.5,256.8438 L5398.5,259 L5393.7031,259 L5393.7031,264.4063 L5391.2656,264.4063 L5391.2656,252.0156 L5398.9844,252.0156 L5398.9844,254.1719 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="5415.25" y="262.5605">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5309.5" x2="5552.5" y1="274.4063" y2="274.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5309.5" x2="5552.5" y1="282.4063" y2="282.4063"/><ellipse cx="5319.5" cy="293.4063" 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="219" x="5328.5" y="296.6167">urtDebugAssert(condition : bool) : void</text><!--MD5=[7766572fa0c619a5409829048dc0b6d6]
 link urt_osCondvar_t to urt_osCondvarWaitStatus_t--><path d="M377,322.6672 C377,383.8197 377,486.8966 377,547.447 " fill="none" id="urt_osCondvar_t-&gt;urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="377,552.8109,381,543.8109,377,547.8109,373,543.8109,377,552.8109" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9b2507ea88616aeae65e3c4d63560016]
 link urt_osCondvar_t to urt_osMutex_t--><path d="M732.0347,272.9063 C741.9278,272.9063 751.8209,272.9063 761.714,272.9063 " fill="none" id="urt_osCondvar_t-&gt;urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="766.8875,272.9063,757.8875,268.9063,761.8875,272.9063,757.8875,276.9063,766.8875,272.9063" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[83094e108045c8f9585007cdb3b7cb2e]
-link urt_osTimer_t to urt_osTimerCallback_t--><path d="M3216,329.1686 C3216,395.5304 3216,503.8818 3216,559.8755 " 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="3216,565.1277,3220,556.1277,3216,560.1277,3212,556.1277,3216,565.1277" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8d8c3240b5b2b5edf6544088e583ffa5]
-link urt_osThread_t to urt_osThreadPrio_t--><path d="M1441.8194,434.1679 C1393.3213,462.7173 1343.5447,492.4252 1297,520.9063 C1292.4305,523.7024 1287.7736,526.5777 1283.0787,529.4973 " 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="1278.7578,532.19,1288.5115,530.8246,1283.0012,529.5455,1284.2803,524.0352,1278.7578,532.19" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d7d1d43fd970fb07a484642bc19fcb13]
-link urt_osThread_t to urt_osThreadFunction_t--><path d="M1557.5514,461.2641 C1523.9406,499.7615 1492.1588,536.1641 1470.1366,561.3882 " 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="1466.6872,565.3391,1475.6195,561.19,1469.9756,561.5725,1469.5931,555.9286,1466.6872,565.3391" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6564761b32ad7eeb5abb8896c72cfca5]
-link urt_osThread_t to urt_osThreadTerminateSignal_t--><path d="M1722,461.2641 C1722,496.0264 1722,529.0804 1722,553.7388 " 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="1722,558.8707,1726,549.8707,1722,553.8707,1718,549.8707,1722,558.8707" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[92ba23225d8de8f8080583fedda5e6f8]
-link urt_osThread_t to urt_osThreadState_t--><path d="M1878.8677,461.2641 C1896.8727,482.8835 1914.3275,503.8423 1929.8923,522.5315 " 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="1933.3908,526.7324,1930.705,517.2568,1930.1911,522.8902,1924.5576,522.3763,1933.3908,526.7324" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[78b286ab2177e5f7b31e6e832d821818]
-link urt_osThread_t to urt_osTime_t--><path d="M2002.1411,272.9063 C2039.8661,272.9063 2077.591,272.9063 2115.316,272.9063 " 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="2120.3973,272.9063,2111.3973,268.9063,2115.3973,272.9063,2111.3973,276.9063,2120.3973,272.9063" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[659af6ab57e6a38ebfd5c07c5616787c]
-link urt_osEventListener_t to urt_osEventFlags_t--><path d="M4438,638.934 C4438,666.41 4438,701.3065 4438,725.6092 " 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="4438,730.6279,4442,721.6279,4438,725.6279,4434,721.6279,4438,730.6279" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[eac11679f26c499aa1c571e1f795945d]
-link urt_osEventSource_t to urt_osEventFlags_t--><path d="M4864.3444,632.9841 C4757.2675,663.605 4608.6667,706.1005 4518.1503,731.9856 " 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="4513.0794,733.4357,4522.8323,734.807,4517.8867,732.0609,4520.6328,727.1153,4513.0794,733.4357" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0259cdb10c6c32168d1d17d25519d939]
-link urt_events to urt_osEventSource_t--><path d="M4207.9114,315.9652 C4385.6614,379.2653 4714.8215,496.4855 4885.315,557.2015 " 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="4890.0627,558.8922,4882.9263,552.1046,4885.3525,557.2147,4880.2423,559.6409,4890.0627,558.8922" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0ce043e0e9532fc393f3f8836f5de19a]
-link urt_events to urt_osEventListener_t--><path d="M4133.9732,316.1324 C4199.8181,376.7246 4319.0943,486.4859 4387.0272,548.9997 " 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="4391.025,552.6786,4387.1111,543.6408,4387.3458,549.2928,4381.6938,549.5275,4391.025,552.6786" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[430bebba9cd89d3ba8f63b2078968bca]
-link urt_events to urt_osEventMask_t--><path d="M4046.1828,316.1324 C3985.0309,380.8933 3870.8417,501.8215 3814.7722,561.2 " 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="3811.1642,565.0209,3820.2516,561.2236,3814.5971,561.3856,3814.4351,555.731,3811.1642,565.0209" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b1b185abc2161e087cab32ae7fdb2c40]
-link urt_events to urt_osEventFlags_t--><path d="M4053.0331,315.984 C3993.7926,396.6231 3886.1579,571.8619 3977,678.9063 C4001.3308,707.5766 4232.2829,734.5873 4357.765,747.3005 " fill="none" id="urt_events-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4362.9214,747.8209,4354.3686,742.9372,4357.9467,747.3187,4353.5652,750.8968,4362.9214,747.8209" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[706a1974d1b474cbba7e7b0213f243a1]
-link urt_events to urt_osEventWait_t--><path d="M4085.3941,316.1324 C4083.1609,376.2418 4079.13,484.7399 4076.7985,547.4964 " 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="4076.606,552.6786,4080.9378,543.8335,4076.7919,547.682,4072.9433,543.5361,4076.606,552.6786" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[2cd818b60978bf2340a6cd28bfcfdaf9]
+link urt_osTimer_t to urt_osTimerCallback_t--><path d="M2988,329.1686 C2988,395.5304 2988,503.8818 2988,559.8755 " 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="2988,565.1277,2992,556.1277,2988,560.1277,2984,556.1277,2988,565.1277" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8d8c3240b5b2b5edf6544088e583ffa5]
+link urt_osThread_t to urt_osThreadPrio_t--><path d="M1449.8194,434.1679 C1401.3213,462.7173 1351.5447,492.4252 1305,520.9063 C1300.4305,523.7024 1295.7736,526.5777 1291.0787,529.4973 " fill="none" id="urt_osThread_t-&gt;urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1286.7578,532.19,1296.5115,530.8246,1291.0012,529.5455,1292.2803,524.0352,1286.7578,532.19" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d7d1d43fd970fb07a484642bc19fcb13]
+link urt_osThread_t to urt_osThreadFunction_t--><path d="M1565.5514,461.2641 C1531.9406,499.7615 1500.1588,536.1641 1478.1366,561.3882 " 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="1474.6872,565.3391,1483.6195,561.19,1477.9756,561.5725,1477.5931,555.9286,1474.6872,565.3391" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6564761b32ad7eeb5abb8896c72cfca5]
+link urt_osThread_t to urt_osThreadTerminateSignal_t--><path d="M1730,461.2641 C1730,496.0264 1730,529.0804 1730,553.7388 " 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="1730,558.8707,1734,549.8707,1730,553.8707,1726,549.8707,1730,558.8707" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[92ba23225d8de8f8080583fedda5e6f8]
+link urt_osThread_t to urt_osThreadState_t--><path d="M1886.8677,461.2641 C1904.8727,482.8835 1922.3275,503.8423 1937.8923,522.5315 " 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="1941.3908,526.7324,1938.705,517.2568,1938.1911,522.8902,1932.5576,522.3763,1941.3908,526.7324" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[78b286ab2177e5f7b31e6e832d821818]
+link urt_osThread_t to urt_osTime_t--><path d="M2010.1821,272.9063 C2050.3979,272.9063 2090.6136,272.9063 2130.8294,272.9063 " 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="2136.2462,272.9063,2127.2462,268.9063,2131.2462,272.9063,2127.2462,276.9063,2136.2462,272.9063" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[659af6ab57e6a38ebfd5c07c5616787c]
+link urt_osEventListener_t to urt_osEventFlags_t--><path d="M4210,638.934 C4210,666.41 4210,701.3065 4210,725.6092 " 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="4210,730.6279,4214,721.6279,4210,725.6279,4206,721.6279,4210,730.6279" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[eac11679f26c499aa1c571e1f795945d]
+link urt_osEventSource_t to urt_osEventFlags_t--><path d="M4636.3444,632.9841 C4529.2675,663.605 4380.6667,706.1005 4290.1503,731.9856 " 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="4285.0794,733.4357,4294.8323,734.807,4289.8867,732.0609,4292.6328,727.1153,4285.0794,733.4357" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0259cdb10c6c32168d1d17d25519d939]
+link urt_events to urt_osEventSource_t--><path d="M3979.9114,315.9652 C4157.6614,379.2653 4486.8215,496.4855 4657.315,557.2015 " 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="4662.0627,558.8922,4654.9263,552.1046,4657.3525,557.2147,4652.2423,559.6409,4662.0627,558.8922" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0ce043e0e9532fc393f3f8836f5de19a]
+link urt_events to urt_osEventListener_t--><path d="M3905.9732,316.1324 C3971.8181,376.7246 4091.0943,486.4859 4159.0272,548.9997 " 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="4163.025,552.6786,4159.1111,543.6408,4159.3458,549.2928,4153.6938,549.5275,4163.025,552.6786" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[430bebba9cd89d3ba8f63b2078968bca]
+link urt_events to urt_osEventMask_t--><path d="M3818.1828,316.1324 C3757.0309,380.8933 3642.8417,501.8215 3586.7722,561.2 " 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="3583.1642,565.0209,3592.2516,561.2236,3586.5971,561.3856,3586.4351,555.731,3583.1642,565.0209" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b1b185abc2161e087cab32ae7fdb2c40]
+link urt_events to urt_osEventFlags_t--><path d="M3825.0331,315.984 C3765.7926,396.6231 3658.1579,571.8619 3749,678.9063 C3773.3308,707.5766 4004.2829,734.5873 4129.765,747.3005 " fill="none" id="urt_events-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4134.9214,747.8209,4126.3686,742.9372,4129.9467,747.3187,4125.5652,750.8968,4134.9214,747.8209" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[706a1974d1b474cbba7e7b0213f243a1]
+link urt_events to urt_osEventWait_t--><path d="M3857.3941,316.1324 C3855.1609,376.2418 3851.13,484.7399 3848.7985,547.4964 " 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="3848.606,552.6786,3852.9378,543.8335,3848.7919,547.682,3844.9433,543.5361,3848.606,552.6786" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[26a8c12142cd1c74058d9bea74481214]
 @startuml
 
 title **µRtWare**\nOperating System Abstraction Layer (OSAL)
@@ -52,17 +57,21 @@ title **µRtWare**\nOperating System Abstraction Layer (OSAL)
 
 
 
-  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>> {
@@ -188,9 +197,17 @@ title **µRtWare**\nOperating System Abstraction Layer (OSAL)
   }
 } 
 
-  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
+  }
 }
 
 
@@ -223,7 +240,7 @@ 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
diff --git a/doc/classdiagrams/osal.uml b/doc/classdiagrams/osal.uml
index f0746a8..60a5ac3 100644
--- a/doc/classdiagrams/osal.uml
+++ b/doc/classdiagrams/osal.uml
@@ -31,26 +31,32 @@ title **µRtWare**\nOperating System Abstraction Layer (OSAL)
 
 !startsub ENTITIES
 
-/' OS time type with arbitrary resolution. '/
-$type("urt_osTime_t") {
-    'Converts an OS time to 64 bit microsecond precise value.
-  + {method} urtTime2Us (t : urt_osTime_t*) : uint64_t
-    'Retrieves the current time.
-  + {method} urtTimeNow (void) : urt_osTime_t
-    'Increase a system time object.
-  + {method} urtTimeAddUs (time : urt_osTime_t*, offset : uint32_t) : urt_osTime_t*
+/' OS time measurement feature. '/
+$group("time") {
+  /' OS time type with arbitrary resolution. '/
+  $type("urt_osTime_t") {
+      'Converts an OS time to 64 bit microsecond precise value.
+    + {method} urtTime2Us (t : urt_osTime_t*) : uint64_t
+      'Retrieves the current time.
+    + {method} urtTimeNow (void) : urt_osTime_t
+      'Increase a system time object.
+    + {method} urtTimeAddUs (time : urt_osTime_t*, offset : uint32_t) : urt_osTime_t*
+  }
 }
 
-/' OS mutex lock interface. '/
-$type("urt_osMutex_t") {
-    'Initializes a urt_osMutex_t object.
-  + {method} urtMutexInit (mutex : urt_osMutex_t*) : void
-    'Block the thread until the mutex could be locked.
-  + {method} urtMutexLock (mutex : urt_osMutex_t*) : void
-    'Tries to lock the mutex, but does not block but immediately returns an indicator.
-  + {method} urtMutexTryLock (mutex : urt_osMutex_t*) : bool
-    'Unlocks a previously locked mutex.
-  + {method} urtMutexUnlock (mutex : urt_osMutex_t*) : void
+/' OS mutex lock feature. '/
+$group("mutex") {
+  /' OS mutex lock interface. '/
+  $type("urt_osMutex_t") {
+      'Initializes a urt_osMutex_t object.
+    + {method} urtMutexInit (mutex : urt_osMutex_t*) : void
+      'Block the thread until the mutex could be locked.
+    + {method} urtMutexLock (mutex : urt_osMutex_t*) : void
+      'Tries to lock the mutex, but does not block but immediately returns an indicator.
+    + {method} urtMutexTryLock (mutex : urt_osMutex_t*) : bool
+      'Unlocks a previously locked mutex.
+    + {method} urtMutexUnlock (mutex : urt_osMutex_t*) : void
+  }
 }
 
 /' OS condition variable feature. '/
@@ -261,12 +267,24 @@ $group("events") {
   }
 } /'events'/
 
-/' Not a class/type but a set of output-related functions. '/
-$function("urt_streams") {
-    'Prints a formatted string to the standard output stream (stdout).
-  + {method} urtPrintf(fmt : char*, ... ) : int
-    'Prints a formatted string to the standard error stream (stderr).
-  + {method} urtErrPrintf(fmt : char*, ... ) : int
+/' OS streams feature. '/
+$group("streams") {
+  /' Not a class/type but a set of output-related functions. '/
+  $function("urt_streams") {
+      'Prints a formatted string to the standard output stream (stdout).
+    + {method} urtPrintf(fmt : char*, ... ) : int
+      'Prints a formatted string to the standard error stream (stderr).
+    + {method} urtErrPrintf(fmt : char*, ... ) : int
+  }
+}
+
+/' OS debugging feature. '/
+$group("debug") {
+  /' Just a function for debugging. '/
+  $function("urt_debug") {
+      'Checks the condition in debug mode.
+    + {method} urtDebugAssert(condition : bool) : void
+  }
 }
 
 !endsub
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
diff --git a/doc/classdiagrams/overview.uml b/doc/classdiagrams/overview.uml
index 86122d4..761abc3 100644
--- a/doc/classdiagrams/overview.uml
+++ b/doc/classdiagrams/overview.uml
@@ -73,7 +73,7 @@ urt_events ..> urt_status_t
 !includesub urtware.uml!DEPENDENCIES
 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
@@ -90,22 +90,22 @@ 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
@@ -115,14 +115,30 @@ 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
 
 !endsub
 
diff --git a/doc/classdiagrams/primitives.svg b/doc/classdiagrams/primitives.svg
index aa67930..2ffcf81 100644
--- a/doc/classdiagrams/primitives.svg
+++ b/doc/classdiagrams/primitives.svg
@@ -1,15 +1,14 @@
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-class urt_topicid_t--><rect fill="#FEFECE" filter="url(#f1n8vfecdhgn2c)" height="158.4375" id="urt_topicid_t" style="stroke: #A80036; stroke-width: 1.5;" width="191" x="264" y="49.9063"/><ellipse cx="316.75" cy="65.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M317.5938,72.6563 L315.1406,72.6563 L315.1406,62.4063 L312,62.4063 L312,60.2656 L320.7344,60.2656 L320.7344,62.4063 L317.5938,62.4063 L317.5938,72.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="77" x="337.25" y="70.0605">urt_topicid_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="265" x2="454" y1="81.9063" y2="81.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="270" y="112.9214">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="265" x2="271.5" y1="96.3086" y2="96.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="271.5" y="99.6167">URT_CFG_TOPICID_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="447.5" x2="454" y1="96.3086" y2="96.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="270" y="142.5308">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="265" x2="268" y1="125.918" y2="125.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="268" y="129.2261">URT_CFG_TOPICID_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="451" x2="454" y1="125.918" y2="125.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="270" y="172.1401">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="265" x2="268" y1="155.5273" y2="155.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="268" y="158.8354">URT_CFG_TOPICID_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="451" x2="454" y1="155.5273" y2="155.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="270" y="201.7495">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="265" x2="268" y1="185.1367" y2="185.1367"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="268" y="188.4448">URT_CFG_TOPICID_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="451" x2="454" y1="185.1367" y2="185.1367"/><!--MD5=[4d8326c7af3a397210cbde406c7c860c]
-class urt_serviceid_t--><rect fill="#FEFECE" filter="url(#f1n8vfecdhgn2c)" height="158.4375" id="urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.5;" width="204" x="490.5" y="49.9063"/><ellipse cx="543.25" cy="65.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M544.0938,72.6563 L541.6406,72.6563 L541.6406,62.4063 L538.5,62.4063 L538.5,60.2656 L547.2344,60.2656 L547.2344,62.4063 L544.0938,62.4063 L544.0938,72.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="90" x="563.75" y="70.0605">urt_serviceid_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="491.5" x2="693.5" y1="81.9063" y2="81.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="496.5" y="112.9214">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="491.5" x2="498" y1="96.3086" y2="96.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="498" y="99.6167">URT_CFG_SERVICEID_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="687" x2="693.5" y1="96.3086" y2="96.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="496.5" y="142.5308">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="491.5" x2="494.5" y1="125.918" y2="125.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="494.5" y="129.2261">URT_CFG_SERVICEID_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="690.5" x2="693.5" y1="125.918" y2="125.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="496.5" y="172.1401">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="491.5" x2="494.5" y1="155.5273" y2="155.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="494.5" y="158.8354">URT_CFG_SERVICEID_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="690.5" x2="693.5" y1="155.5273" y2="155.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="496.5" y="201.7495">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="491.5" x2="494.5" y1="185.1367" y2="185.1367"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="494.5" y="188.4448">URT_CFG_SERVICEID_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="690.5" x2="693.5" y1="185.1367" y2="185.1367"/><!--MD5=[e750dab3ce4ebe0433cc930181355272]
-class urt_status_t--><rect fill="#FEFECE" filter="url(#f1n8vfecdhgn2c)" height="265.6797" id="urt_status_t" style="stroke: #A80036; stroke-width: 1.5;" width="229" x="6" y="267.9063"/><ellipse cx="78.75" cy="283.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M82.8594,289.9063 L75.1406,289.9063 L75.1406,277.5156 L82.8594,277.5156 L82.8594,279.6719 L77.5938,279.6719 L77.5938,282.3438 L82.3594,282.3438 L82.3594,284.5 L77.5938,284.5 L77.5938,287.75 L82.8594,287.75 L82.8594,289.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="99.25" y="288.0605">urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7" x2="234" y1="299.9063" y2="299.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="119" x="12" y="314.1167">URT_STATUS_OK = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="12" y="326.9214">URT_STATUS_DEADLINEVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="12" y="339.7261">URT_STATUS_JITTERVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="166" x="12" y="352.5308">URT_STATUS_RATEVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="166" x="12" y="365.3354">URT_STATUS_SYNC_PENDING</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="12" y="378.1401">URT_STATUS_SYNC_ERROR</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="200" x="12" y="390.9448">URT_STATUS_NODE_INVALEVTMASK</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="12" y="420.5542">URT_STATUS_TOPIC_DUPLICATE</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="12" y="433.3589">URT_STATUS_PUBLISH_TIMEOUT</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="206" x="12" y="446.1636">URT_STATUS_SUBSCRIBE_TOPICSET</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="12" y="458.9683">URT_STATUS_FETCH_NOTOPIC</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="12" y="471.7729">URT_STATUS_FETCH_NOMESSAGE</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12" y="484.5776">URT_STATUS_UNSUBSCRIBE_NOTOPIC</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7" x2="15.5" y1="403.9414" y2="403.9414"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="15.5" y="407.2495">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="225.5" x2="234" y1="403.9414" y2="403.9414"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="12" y="514.187">URT_STATUS_SERVICE_DUPLICATE</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="12" y="526.9917">URT_STATUS_SERVICE_TIMEOUT</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7" x2="28" y1="497.5742" y2="497.5742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="28" y="500.8823">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="213" x2="234" y1="497.5742" y2="497.5742"/><!--MD5=[15452fea434e71f16c7de0feaca2b066]
-class urt_delay_t--><rect fill="#FEFECE" filter="url(#f1n8vfecdhgn2c)" height="99.2188" id="urt_delay_t" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="270" y="351.4063"/><ellipse cx="322.25" cy="367.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M323.0938,374.1563 L320.6406,374.1563 L320.6406,363.9063 L317.5,363.9063 L317.5,361.7656 L326.2344,361.7656 L326.2344,363.9063 L323.0938,363.9063 L323.0938,374.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="68" x="342.75" y="371.5605">urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="271" x2="450" y1="383.4063" y2="383.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="276" y="414.4214">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="271" x2="274" y1="397.8086" y2="397.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="274" y="401.1167">URT_CFG_DELAY_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="447" x2="450" y1="397.8086" y2="397.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="276" y="444.0308">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="271" x2="274" y1="427.418" y2="427.418"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="274" y="430.7261">URT_CFG_DELAY_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="447" x2="450" y1="427.418" y2="427.418"/><!--MD5=[f106a25c06a671b3918b1a8f37571a4d]
-class urt_debug--><rect fill="#FEFECE" filter="url(#f1n8vfecdhgn2c)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="245" x="486" y="370.4063"/><ellipse cx="572.25" cy="386.4063" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M576.4844,382.1719 L571.2031,382.1719 L571.2031,384.8438 L576,384.8438 L576,387 L571.2031,387 L571.2031,392.4063 L568.7656,392.4063 L568.7656,380.0156 L576.4844,380.0156 L576.4844,382.1719 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="592.75" y="390.5605">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="487" x2="730" y1="402.4063" y2="402.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="487" x2="730" y1="410.4063" y2="410.4063"/><ellipse cx="497" cy="421.4063" 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="219" x="506" y="424.6167">urtDebugAssert(condition : bool) : void</text><!--MD5=[f9393016d83893cc69adca47e14d25aa]
-link urt_nodestage_t to urt_topicid_t--><!--MD5=[c6f96cd30898e29141426d9ce096f647]
-link urt_topicid_t to urt_serviceid_t--><!--MD5=[57d19166c65e42cc1c6ff95821e3adaa]
-link urt_nodestage_t to urt_status_t--><!--MD5=[813d32f7bec798f07672e4472717de3c]
-link urt_status_t to urt_delay_t--><!--MD5=[ae008965e40a1a222e02eb93f0709805]
-link urt_delay_t to urt_debug--><!--MD5=[6d59fee34feaf6c8d5b457836bfb3f6e]
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="557px" preserveAspectRatio="none" style="width:889px;height:557px;" version="1.1" viewBox="0 0 889 557" width="889px" zoomAndPan="magnify"><defs><filter height="300%" id="f1r9zwxaoahuek" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="403.5" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="88" x="404" y="37.6611">Primitives</text><!--MD5=[9f69b6f4e23017059189983d6906a1eb]
+class urt_nodestage_t--><rect fill="#FEFECE" filter="url(#f1r9zwxaoahuek)" height="158.4375" id="urt_nodestage_t" style="stroke: #A80036; stroke-width: 1.5;" width="216" x="14" y="49.9063"/><ellipse cx="66.25" cy="65.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M67.0938,72.6563 L64.6406,72.6563 L64.6406,62.4063 L61.5,62.4063 L61.5,60.2656 L70.2344,60.2656 L70.2344,62.4063 L67.0938,62.4063 L67.0938,72.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="103" x="86.75" y="70.0605">urt_nodestage_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="15" x2="229" y1="81.9063" y2="81.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="20" y="112.9214">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15" x2="21.5" y1="96.3086" y2="96.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="201" x="21.5" y="99.6167">URT_CFG_NODESTAGE_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="222.5" x2="229" y1="96.3086" y2="96.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="20" y="142.5308">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15" x2="18" y1="125.918" y2="125.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="18" y="129.2261">URT_CFG_NODESTAGE_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="226" x2="229" y1="125.918" y2="125.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="20" y="172.1401">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15" x2="18" y1="155.5273" y2="155.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="18" y="158.8354">URT_CFG_NODESTAGE_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="226" x2="229" y1="155.5273" y2="155.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="20" y="201.7495">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15" x2="18" y1="185.1367" y2="185.1367"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="18" y="188.4448">URT_CFG_NODESTAGE_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="226" x2="229" y1="185.1367" y2="185.1367"/><!--MD5=[a55671f9c3a4eb2d749fd774fc81a82b]
+class urt_topicid_t--><rect fill="#FEFECE" filter="url(#f1r9zwxaoahuek)" height="158.4375" id="urt_topicid_t" style="stroke: #A80036; stroke-width: 1.5;" width="244" x="265" y="49.9063"/><ellipse cx="344.25" cy="65.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M345.0938,72.6563 L342.6406,72.6563 L342.6406,62.4063 L339.5,62.4063 L339.5,60.2656 L348.2344,60.2656 L348.2344,62.4063 L345.0938,62.4063 L345.0938,72.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="77" x="364.75" y="70.0605">urt_topicid_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="266" x2="508" y1="81.9063" y2="81.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="271" y="112.9214">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="266" x2="272.5" y1="96.3086" y2="96.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="229" x="272.5" y="99.6167">URT_CFG_PUBSUB_TOPICID_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="501.5" x2="508" y1="96.3086" y2="96.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="271" y="142.5308">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="266" x2="269" y1="125.918" y2="125.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="269" y="129.2261">URT_CFG_PUBSUB_TOPICID_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="505" x2="508" y1="125.918" y2="125.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="271" y="172.1401">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="266" x2="269" y1="155.5273" y2="155.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="269" y="158.8354">URT_CFG_PUBSUB_TOPICID_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="505" x2="508" y1="155.5273" y2="155.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="271" y="201.7495">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="266" x2="269" y1="185.1367" y2="185.1367"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="269" y="188.4448">URT_CFG_PUBSUB_TOPICID_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="505" x2="508" y1="185.1367" y2="185.1367"/><!--MD5=[4d8326c7af3a397210cbde406c7c860c]
+class urt_serviceid_t--><rect fill="#FEFECE" filter="url(#f1r9zwxaoahuek)" height="158.4375" id="urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.5;" width="232" x="6" y="327.9063"/><ellipse cx="72.75" cy="343.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M73.5938,350.6563 L71.1406,350.6563 L71.1406,340.4063 L68,340.4063 L68,338.2656 L76.7344,338.2656 L76.7344,340.4063 L73.5938,340.4063 L73.5938,350.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="90" x="93.25" y="348.0605">urt_serviceid_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7" x2="237" y1="359.9063" y2="359.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="12" y="390.9214">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7" x2="13.5" y1="374.3086" y2="374.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="13.5" y="377.6167">URT_CFG_RPC_SERVICEID_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="230.5" x2="237" y1="374.3086" y2="374.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="12" y="420.5308">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7" x2="10" y1="403.918" y2="403.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="10" y="407.2261">URT_CFG_RPC_SERVICEID_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="234" x2="237" y1="403.918" y2="403.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="12" y="450.1401">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7" x2="10" y1="433.5273" y2="433.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="10" y="436.8354">URT_CFG_RPC_SERVICEID_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="234" x2="237" y1="433.5273" y2="433.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="12" y="479.7495">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7" x2="10" y1="463.1367" y2="463.1367"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="10" y="466.4448">URT_CFG_RPC_SERVICEID_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="234" x2="237" y1="463.1367" y2="463.1367"/><!--MD5=[e750dab3ce4ebe0433cc930181355272]
+class urt_status_t--><rect fill="#FEFECE" filter="url(#f1r9zwxaoahuek)" height="278.4844" id="urt_status_t" style="stroke: #A80036; stroke-width: 1.5;" width="229" x="273.5" y="267.9063"/><ellipse cx="346.25" cy="283.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M350.3594,289.9063 L342.6406,289.9063 L342.6406,277.5156 L350.3594,277.5156 L350.3594,279.6719 L345.0938,279.6719 L345.0938,282.3438 L349.8594,282.3438 L349.8594,284.5 L345.0938,284.5 L345.0938,287.75 L350.3594,287.75 L350.3594,289.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="366.75" y="288.0605">urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="274.5" x2="501.5" y1="299.9063" y2="299.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="119" x="279.5" y="314.1167">URT_STATUS_OK = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="279.5" y="326.9214">URT_STATUS_DEADLINEVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="279.5" y="339.7261">URT_STATUS_JITTERVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="166" x="279.5" y="352.5308">URT_STATUS_RATEVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="166" x="279.5" y="365.3354">URT_STATUS_SYNC_PENDING</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="279.5" y="378.1401">URT_STATUS_SYNC_ERROR</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="200" x="279.5" y="390.9448">URT_STATUS_NODE_INVALEVTMASK</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="279.5" y="420.5542">URT_STATUS_TOPIC_DUPLICATE</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="279.5" y="433.3589">URT_STATUS_PUBLISH_TIMEOUT</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="206" x="279.5" y="446.1636">URT_STATUS_SUBSCRIBE_TOPICSET</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="279.5" y="458.9683">URT_STATUS_FETCH_NOTOPIC</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="279.5" y="471.7729">URT_STATUS_FETCH_NOMESSAGE</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="279.5" y="484.5776">URT_STATUS_UNSUBSCRIBE_NOTOPIC</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="274.5" x2="283" y1="403.9414" y2="403.9414"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="283" y="407.2495">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="493" x2="501.5" y1="403.9414" y2="403.9414"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="279.5" y="514.187">URT_STATUS_SERVICE_DUPLICATE</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="201" x="279.5" y="526.9917">URT_STATUS_REQUEST_BADOWNER</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="279.5" y="539.7964">URT_STATUS_REQUEST_LOCKED</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="274.5" x2="295.5" y1="497.5742" y2="497.5742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="295.5" y="500.8823">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="480.5" x2="501.5" y1="497.5742" y2="497.5742"/><!--MD5=[15452fea434e71f16c7de0feaca2b066]
+class urt_delay_t--><rect fill="#FEFECE" filter="url(#f1r9zwxaoahuek)" height="132.8281" id="urt_delay_t" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="620.5" y="340.4063"/><ellipse cx="672.75" cy="356.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M673.5938,363.1563 L671.1406,363.1563 L671.1406,352.9063 L668,352.9063 L668,350.7656 L676.7344,350.7656 L676.7344,352.9063 L673.5938,352.9063 L673.5938,363.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="68" x="693.25" y="360.5605">urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="621.5" x2="800.5" y1="372.4063" y2="372.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="626.5" y="403.4214">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="621.5" x2="624.5" y1="386.8086" y2="386.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="624.5" y="390.1167">URT_CFG_DELAY_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="797.5" x2="800.5" y1="386.8086" y2="386.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="626.5" y="433.0308">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="621.5" x2="624.5" y1="416.418" y2="416.418"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="624.5" y="419.7261">URT_CFG_DELAY_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="797.5" x2="800.5" y1="416.418" y2="416.418"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="621.5" x2="800.5" y1="439.625" y2="439.625"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="626.5" y="453.8354">URT_DELAY_IMMEDIATE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="626.5" y="466.6401">URT_DELAY_INFINITE = 0xF..F</text><!--MD5=[81e47bc16a7baa7cb65c7bc48dd317d5]
+class urt_usefulness_f--><rect fill="#FEFECE" filter="url(#f1r9zwxaoahuek)" height="60.8047" id="urt_usefulness_f" style="stroke: #A80036; stroke-width: 1.5;" width="334" x="544" y="98.4063"/><ellipse cx="655.75" cy="114.4063" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M659.9844,110.1719 L654.7031,110.1719 L654.7031,112.8438 L659.5,112.8438 L659.5,115 L654.7031,115 L654.7031,120.4063 L652.2656,120.4063 L652.2656,108.0156 L659.9844,108.0156 L659.9844,110.1719 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="676.25" y="118.5605">urt_usefulness_f</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="545" x2="877" y1="130.4063" y2="130.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="545" x2="877" y1="138.4063" y2="138.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="322" x="550" y="152.6167">urt_usefulness_f (dt : urt_delay_t, params : void*) : float</text><!--MD5=[e0c5ef58bc626bdfda028ecb031e1681]
+link urt_usefulness_f to urt_delay_t--><path d="M711,159.4524 C711,201.4172 711,278.169 711,335.1084 " 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="711,340.2082,715,331.2082,711,335.2082,707,331.2082,711,340.2082" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f9393016d83893cc69adca47e14d25aa]
+link urt_nodestage_t to urt_topicid_t--><!--MD5=[c919bfc5756864ea6954fb66cca38c3c]
+link urt_nodestage_t to urt_serviceid_t--><!--MD5=[555a16c29c19799bcdc0e0864c410f51]
+link urt_serviceid_t to urt_status_t--><!--MD5=[80216aec3f8543d4bdc11263865b90da]
 @startuml
 
 title **µRtWare**\nPrimitives
@@ -38,24 +37,24 @@ title **µRtWare**\nPrimitives
 }
 
   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
 }
 
@@ -76,7 +75,8 @@ title **µRtWare**\nPrimitives
   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>> {
@@ -84,15 +84,21 @@ title **µRtWare**\nPrimitives
   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
 }
 
 
 
 
+urt_usefulness_f ..> urt_delay_t
+
+
 
 @enduml
 
@@ -100,7 +106,7 @@ 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
diff --git a/doc/classdiagrams/primitives.uml b/doc/classdiagrams/primitives.uml
index 28d5944..3d4d823 100644
--- a/doc/classdiagrams/primitives.uml
+++ b/doc/classdiagrams/primitives.uml
@@ -45,25 +45,25 @@ $type("urt_nodestage_t") {
 
 /' Topic ID type. '/
 $type("urt_topicid_t") {
-  .. 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
 }
 
 /' Service ID type. '/
 $type("urt_serviceid_t") {
-  .. 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
 }
 
@@ -99,8 +99,10 @@ $enumeration("urt_status_t") {
   .. URT_CFG_RPC_ENABLED == true ..
     'Status indicating that another service with identical ID has been found.
   URT_STATUS_SERVICE_DUPLICATE
-    'Status indicating that a service call timed out.
-  URT_STATUS_SERVICE_TIMEOUT
+    'Status indicating that a request is not owned by the calling service.
+  URT_STATUS_REQUEST_BADOWNER
+    'Status indicatting an aloready locked request.
+  URT_STATUS_REQUEST_LOCKED
 }
 
 /' Temporal delay in microseconds. '/
@@ -109,12 +111,17 @@ $type("urt_delay_t") {
   uint32_t
   .. URT_CFG_DELAY_WIDTH == 64 ..
   uint64_t
+  __
+    'Special value constant for no delay at all.
+  URT_DELAY_IMMEDIATE = 0
+    'Special value constant for infinite delays.
+  URT_DELAY_INFINITE = 0xF..F
 }
 
-/' Just a function for debugging. '/
-$function("urt_debug") {
-    'Checks the condition in debug mode.
-  + {method} urtDebugAssert(condition : bool) : void
+/' Function type to be called when calculating the usefulness of a message or request response. '/
+$function("urt_usefulness_f") {
+    'Takes a delay and optional parameters as arguments and returns a float in [0, 1].
+  urt_usefulness_f (dt : urt_delay_t, params : void*) : float
 }
 
 !endsub
@@ -122,6 +129,9 @@ $function("urt_debug") {
 /'### DEPENDENCIES & LAYOUT ##################################################'/
 
 !startsub DEPENDENCIES
+
+urt_usefulness_f ..> urt_delay_t
+
 !endsub
 
 /'### OUTRO ##################################################################'/
diff --git a/doc/classdiagrams/pubsub.svg b/doc/classdiagrams/pubsub.svg
index 1537f3d..55076e6 100644
--- a/doc/classdiagrams/pubsub.svg
+++ b/doc/classdiagrams/pubsub.svg
@@ -1,30 +1,25 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="611px" preserveAspectRatio="none" style="width:5367px;height:611px;" version="1.1" viewBox="0 0 5367 611" width="5367px" zoomAndPan="magnify"><defs><filter height="300%" id="f1vdqrr2j4r1ep" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="2647" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="225" x="2579" y="37.6611">Publish-Subscribe System</text><!--MD5=[16a3bbbe805f94d6e6ce317c08ab945e]
-cluster subscriber--><rect fill="#FFFFFF" filter="url(#f1vdqrr2j4r1ep)" height="502" style="stroke: #000000; stroke-width: 1.5;" width="4103" x="1253.5" y="98.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="85" x="3262.5" y="113.9014">subscriber</text><!--MD5=[50a042e24f957794dab9ba3ea8701c50]
-class urt_basesubscriber_t--><rect fill="#FEFECE" filter="url(#f1vdqrr2j4r1ep)" height="133.6328" id="urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="225" x="3063" y="458.9063"/><ellipse cx="3105.45" cy="474.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3104.9344,475.4688 Q3103.075,474.7656 3102.4188,474 Q3101.7781,473.2188 3101.7781,471.9063 Q3101.7781,470.2188 3102.8563,469.25 Q3103.9344,468.2813 3105.8094,468.2813 Q3106.6688,468.2813 3107.5125,468.4844 Q3108.3719,468.6719 3109.2156,469.0625 L3109.2156,471.4531 Q3108.4344,470.8906 3107.6063,470.6094 Q3106.7938,470.3125 3105.9969,470.3125 Q3105.1219,470.3125 3104.6375,470.6719 Q3104.1688,471.0313 3104.1688,471.6875 Q3104.1688,472.2031 3104.5125,472.5469 Q3104.8563,472.875 3105.95,473.2813 L3107.0125,473.6875 Q3108.4969,474.2344 3109.2,475.1406 Q3109.9188,476.0469 3109.9188,477.4219 Q3109.9188,479.2969 3108.8094,480.2188 Q3107.7,481.1406 3105.45,481.1406 Q3104.5281,481.1406 3103.6063,480.9219 Q3102.6844,480.7031 3101.825,480.2813 L3101.825,477.75 Q3102.7938,478.4375 3103.7156,478.7813 Q3104.6375,479.125 3105.5281,479.125 Q3106.4344,479.125 3106.9344,478.7188 Q3107.4344,478.2969 3107.4344,477.5625 Q3107.4344,477 3107.0906,476.5938 Q3106.7625,476.1719 3106.1375,475.9219 L3104.9344,475.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="132" x="3125.55" y="479.0605">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3064" x2="3287" y1="490.9063" y2="490.9063"/><ellipse cx="3074" cy="501.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="3083" y="505.1167">topic : urt_topic_t*</text><ellipse cx="3074" cy="514.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="3083" y="517.9214">evtListener : urt_osEventListener_t</text><ellipse cx="3074" cy="527.5156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="175" x="3083" y="530.7261">lastMessage : urt_message_t*</text><ellipse cx="3074" cy="540.3203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="3083" y="543.5308">lastMessageTime : urt_osTime_t</text><ellipse cx="3074" cy="569.9297" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="3083" y="573.1401">sumLatencies : uint64_t</text><ellipse cx="3074" cy="582.7344" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="3083" y="585.9448">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3064" x2="3067" y1="556.5273" y2="556.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="3067" y="559.8354">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3284" x2="3287" y1="556.5273" y2="556.5273"/><!--MD5=[fc7708c915a0148c667d62e1370980fd]
-class urt_srtusefulnessfunc_t--><rect fill="#FEFECE" filter="url(#f1vdqrr2j4r1ep)" height="60.8047" id="urt_srtusefulnessfunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="374" x="4619.5" y="495.4063"/><ellipse cx="4728.75" cy="511.4063" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4732.9844,507.1719 L4727.7031,507.1719 L4727.7031,509.8438 L4732.5,509.8438 L4732.5,512 L4727.7031,512 L4727.7031,517.4063 L4725.2656,517.4063 L4725.2656,505.0156 L4732.9844,505.0156 L4732.9844,507.1719 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="147" x="4749.25" y="515.5605">urt_srtusefulnessfunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4620.5" x2="4992.5" y1="527.4063" y2="527.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4620.5" x2="4992.5" y1="535.4063" y2="535.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="362" x="4625.5" y="549.6167">urt_srtusefulnessfunc_t (dt : urt_delay_t, params : void*) : float</text><!--MD5=[9ff46073dd541e50679ef35e851c67d6]
-class urt_nrtsubscriber_t--><rect fill="#FEFECE" filter="url(#f1vdqrr2j4r1ep)" height="154.4375" id="urt_nrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="821" x="2271" y="183.4063"/><ellipse cx="2617.75" cy="199.4063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2617.2344,199.9688 Q2615.375,199.2656 2614.7188,198.5 Q2614.0781,197.7188 2614.0781,196.4063 Q2614.0781,194.7188 2615.1563,193.75 Q2616.2344,192.7813 2618.1094,192.7813 Q2618.9688,192.7813 2619.8125,192.9844 Q2620.6719,193.1719 2621.5156,193.5625 L2621.5156,195.9531 Q2620.7344,195.3906 2619.9063,195.1094 Q2619.0938,194.8125 2618.2969,194.8125 Q2617.4219,194.8125 2616.9375,195.1719 Q2616.4688,195.5313 2616.4688,196.1875 Q2616.4688,196.7031 2616.8125,197.0469 Q2617.1563,197.375 2618.25,197.7813 L2619.3125,198.1875 Q2620.7969,198.7344 2621.5,199.6406 Q2622.2188,200.5469 2622.2188,201.9219 Q2622.2188,203.7969 2621.1094,204.7188 Q2620,205.6406 2617.75,205.6406 Q2616.8281,205.6406 2615.9063,205.4219 Q2614.9844,205.2031 2614.125,204.7813 L2614.125,202.25 Q2615.0938,202.9375 2616.0156,203.2813 Q2616.9375,203.625 2617.8281,203.625 Q2618.7344,203.625 2619.2344,203.2188 Q2619.7344,202.7969 2619.7344,202.0625 Q2619.7344,201.5 2619.3906,201.0938 Q2619.0625,200.6719 2618.4375,200.4219 L2617.2344,199.9688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="2638.25" y="203.5605">urt_nrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2272" x2="3091" y1="215.4063" y2="215.4063"/><ellipse cx="2282" cy="243.2109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="2291" y="246.4214">minLatency : urt_delay_t</text><ellipse cx="2282" cy="256.0156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="2291" y="259.2261">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2272" x2="2573" y1="229.8086" y2="229.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2573" y="233.1167">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2790" x2="3091" y1="229.8086" y2="229.8086"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2272" x2="3091" y1="265.8203" y2="265.8203"/><ellipse cx="2282" cy="276.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="2291" y="280.0308">urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : void</text><ellipse cx="2282" cy="289.625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="715" x="2291" y="292.8354">urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="2282" cy="302.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="2291" y="305.6401">urtNrtSubscriberFetchNextMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="2282" cy="315.2344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="2291" y="318.4448">urtNrtSubscriberFetchLatestMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="2282" cy="328.0391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="2291" y="331.2495">urtNrtSubscriberUnsubscribe (subscriber : urt_nrtsubscriber_t*) : urt_status_t</text><!--MD5=[5c7929572d87ccc448d875bea5da0fb1]
-class urt_srtsubscriber_t--><rect fill="#FEFECE" filter="url(#f1vdqrr2j4r1ep)" height="192.8516" id="urt_srtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="4264.5" y="163.9063"/><ellipse cx="4743.25" cy="179.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4742.7344,180.4688 Q4740.875,179.7656 4740.2188,179 Q4739.5781,178.2188 4739.5781,176.9063 Q4739.5781,175.2188 4740.6563,174.25 Q4741.7344,173.2813 4743.6094,173.2813 Q4744.4688,173.2813 4745.3125,173.4844 Q4746.1719,173.6719 4747.0156,174.0625 L4747.0156,176.4531 Q4746.2344,175.8906 4745.4063,175.6094 Q4744.5938,175.3125 4743.7969,175.3125 Q4742.9219,175.3125 4742.4375,175.6719 Q4741.9688,176.0313 4741.9688,176.6875 Q4741.9688,177.2031 4742.3125,177.5469 Q4742.6563,177.875 4743.75,178.2813 L4744.8125,178.6875 Q4746.2969,179.2344 4747,180.1406 Q4747.7188,181.0469 4747.7188,182.4219 Q4747.7188,184.2969 4746.6094,185.2188 Q4745.5,186.1406 4743.25,186.1406 Q4742.3281,186.1406 4741.4063,185.9219 Q4740.4844,185.7031 4739.625,185.2813 L4739.625,182.75 Q4740.5938,183.4375 4741.5156,183.7813 Q4742.4375,184.125 4743.3281,184.125 Q4744.2344,184.125 4744.7344,183.7188 Q4745.2344,183.2969 4745.2344,182.5625 Q4745.2344,182 4744.8906,181.5938 Q4744.5625,181.1719 4743.9375,180.9219 L4742.7344,180.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="4763.75" y="184.0605">urt_srtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4265.5" x2="5347.5" y1="195.9063" y2="195.9063"/><ellipse cx="4275.5" cy="206.9063" 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="229" x="4284.5" y="210.1167">usefulnesscb : urt_srtusefulnessfunc_t*</text><ellipse cx="4275.5" cy="219.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="4284.5" y="222.9214">cbparams : void*</text><ellipse cx="4275.5" cy="249.3203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="4284.5" y="252.5308">minLatency : urt_delay_t</text><ellipse cx="4275.5" cy="262.125" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="4284.5" y="265.3354">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4265.5" x2="4698" y1="235.918" y2="235.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="4698" y="239.2261">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4915" x2="5347.5" y1="235.918" y2="235.918"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4265.5" x2="5347.5" y1="271.9297" y2="271.9297"/><ellipse cx="4275.5" cy="282.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="4284.5" y="286.1401">urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void</text><ellipse cx="4275.5" cy="295.7344" 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="1058" x="4284.5" y="298.9448">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="4275.5" cy="308.5391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="4284.5" y="311.7495">urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4275.5" cy="321.3438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="4284.5" y="324.5542">urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4275.5" cy="334.1484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="4284.5" y="337.3589">urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float</text><ellipse cx="4275.5" cy="346.9531" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="4284.5" y="350.1636">urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t</text><!--MD5=[17838fb05fe219fd399839979ec8a4a4]
-class urt_frtsubscriber_t--><rect fill="#FEFECE" filter="url(#f1vdqrr2j4r1ep)" height="226.4609" id="urt_frtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="974" x="1261.5" y="147.4063"/><ellipse cx="1686.75" cy="163.4063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1686.2344,163.9688 Q1684.375,163.2656 1683.7188,162.5 Q1683.0781,161.7188 1683.0781,160.4063 Q1683.0781,158.7188 1684.1563,157.75 Q1685.2344,156.7813 1687.1094,156.7813 Q1687.9688,156.7813 1688.8125,156.9844 Q1689.6719,157.1719 1690.5156,157.5625 L1690.5156,159.9531 Q1689.7344,159.3906 1688.9063,159.1094 Q1688.0938,158.8125 1687.2969,158.8125 Q1686.4219,158.8125 1685.9375,159.1719 Q1685.4688,159.5313 1685.4688,160.1875 Q1685.4688,160.7031 1685.8125,161.0469 Q1686.1563,161.375 1687.25,161.7813 L1688.3125,162.1875 Q1689.7969,162.7344 1690.5,163.6406 Q1691.2188,164.5469 1691.2188,165.9219 Q1691.2188,167.7969 1690.1094,168.7188 Q1689,169.6406 1686.75,169.6406 Q1685.8281,169.6406 1684.9063,169.4219 Q1683.9844,169.2031 1683.125,168.7813 L1683.125,166.25 Q1684.0938,166.9375 1685.0156,167.2813 Q1685.9375,167.625 1686.8281,167.625 Q1687.7344,167.625 1688.2344,167.2188 Q1688.7344,166.7969 1688.7344,166.0625 Q1688.7344,165.5 1688.3906,165.0938 Q1688.0625,164.6719 1687.4375,164.4219 L1686.2344,163.9688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="1707.25" y="167.5605">urt_frtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1262.5" x2="2234.5" y1="179.4063" y2="179.4063"/><ellipse cx="1272.5" cy="207.2109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="1281.5" y="210.4214">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1262.5" x2="1603" y1="193.8086" y2="193.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="1603" y="197.1167">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1894" x2="2234.5" y1="193.8086" y2="193.8086"/><ellipse cx="1272.5" cy="236.8203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="1281.5" y="240.0308">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1262.5" x2="1613" y1="223.418" y2="223.418"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="1613" y="226.7261">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1884" x2="2234.5" y1="223.418" y2="223.418"/><ellipse cx="1272.5" cy="266.4297" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="1281.5" y="269.6401">minLatency : urt_delay_t</text><ellipse cx="1272.5" cy="279.2344" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="1281.5" y="282.4448">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1262.5" x2="1494.5" y1="253.0273" y2="253.0273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="508" x="1494.5" y="256.3354">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ||  URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2002.5" x2="2234.5" y1="253.0273" y2="253.0273"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1262.5" x2="2234.5" y1="289.0391" y2="289.0391"/><ellipse cx="1272.5" cy="300.0391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="342" x="1281.5" y="303.2495">urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : void</text><ellipse cx="1272.5" cy="312.8438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="948" x="1281.5" y="316.0542">urtFrtSubscriberSubscribe (subscriber : urt_frtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="1272.5" cy="325.6484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="780" x="1281.5" y="328.8589">urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="1272.5" cy="338.4531" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="790" x="1281.5" y="341.6636">urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="1272.5" cy="351.2578" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="540" x="1281.5" y="354.4683">urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool</text><ellipse cx="1272.5" cy="364.0625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="441" x="1281.5" y="367.2729">urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t</text><!--MD5=[104dc879e5721421b987fcc467bc3a1d]
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stroke-width: 1.5;" x1="3128.5" x2="4210.5" y1="157.9063" y2="157.9063"/><ellipse cx="3138.5" cy="168.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="151" x="3147.5" y="172.1167">next : urt_hrtsubscriber_t*</text><ellipse cx="3138.5" cy="198.5156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="3147.5" y="201.7261">deadlineOffset : urt_delay_t</text><ellipse cx="3138.5" cy="211.3203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="3147.5" y="214.5308">qosDeadlineTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3128.5" x2="3524" y1="185.1133" y2="185.1133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="3524" y="188.4214">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3815" x2="4210.5" y1="185.1133" y2="185.1133"/><ellipse cx="3138.5" cy="240.9297" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="3147.5" y="244.1401">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3128.5" x2="3534" y1="227.5273" y2="227.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3534" y="230.8354">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3805" x2="4210.5" y1="227.5273" y2="227.5273"/><ellipse cx="3138.5" cy="270.5391" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="3147.5" y="273.7495">minLatency : urt_delay_t</text><ellipse cx="3138.5" cy="283.3438" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="3147.5" y="286.5542">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3128.5" x2="3417.5" y1="257.1367" y2="257.1367"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="3417.5" y="260.4448">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3921.5" x2="4210.5" y1="257.1367" y2="257.1367"/><ellipse cx="3138.5" cy="312.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="3147.5" y="316.1636">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3128.5" x2="3537" y1="299.5508" y2="299.5508"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="3537" y="302.8589">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3802" x2="4210.5" y1="299.5508" y2="299.5508"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3128.5" x2="4210.5" y1="322.7578" y2="322.7578"/><ellipse cx="3138.5" cy="333.7578" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="3147.5" y="336.9683">urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : void</text><ellipse cx="3138.5" cy="346.5625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1058" x="3147.5" y="349.7729">urtHrtSubscriberSubscribe (subscriber : urt_hrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, rate : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="3138.5" cy="359.3672" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="3147.5" y="362.5776">urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="3138.5" cy="372.1719" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="3147.5" y="375.3823">urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="3138.5" cy="384.9766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="3147.5" y="388.187">urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t</text><!--MD5=[e602aa6d45f270ad04f88c9ca5352b33]
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stroke-width: 1.5;" x1="825.5" x2="1207.5" y1="161.9063" y2="161.9063"/><ellipse cx="835.5" cy="172.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="844.5" y="176.1167">next : urt_topic_t*</text><ellipse cx="835.5" cy="185.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="844.5" y="188.9214">id : urt_topicid_t</text><ellipse cx="835.5" cy="198.5156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="844.5" y="201.7261">lock : urt_osMutex_t</text><ellipse cx="835.5" cy="211.3203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="844.5" y="214.5308">evtSource : urt_osEventSource_t</text><ellipse cx="835.5" cy="224.125" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="844.5" y="227.3354">numHrtSubscribers : unsigned int</text><ellipse cx="835.5" cy="236.9297" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="844.5" y="240.1401">hrtReleased : urt_osCondvar_t</text><ellipse cx="835.5" cy="249.7344" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="209" x="844.5" y="252.9448">mandatoryMessage : urt_message_t</text><ellipse cx="835.5" cy="262.5391" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="844.5" y="265.7495">latestMessage : urt_message_t*</text><ellipse cx="835.5" cy="292.1484" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="212" x="844.5" y="295.3589">hrtSubscribers : urt_hrtsubscriber_t*</text><ellipse cx="835.5" cy="304.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="170" x="844.5" y="308.1636">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="825.5" x2="884" y1="278.7461" y2="278.7461"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="884" y="282.0542">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1149" x2="1207.5" y1="278.7461" y2="278.7461"/><ellipse cx="835.5" cy="334.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="844.5" y="337.7729">numMessagesPublished : uint64_t</text><ellipse cx="835.5" cy="347.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="844.5" y="350.5776">numMessagesDiscarded : uint64_t</text><ellipse cx="835.5" cy="360.1719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="844.5" y="363.3823">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="825.5" x2="908" y1="321.1602" y2="321.1602"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="908" y="324.4683">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1125" x2="1207.5" y1="321.1602" y2="321.1602"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="825.5" x2="1207.5" y1="369.9766" y2="369.9766"/><ellipse cx="835.5" cy="380.9766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="358" x="844.5" y="384.187">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[536025241394544a90bc53fb552f3a08]
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-link urt_nrtsubscriber_t to urt_basesubscriber_t--><path d="M2825.0488,337.5565 C2894.4782,374.8713 2977.218,419.3397 3044.864,455.6961 " fill="none" id="urt_nrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="3048.314,449.6033,3062.617,465.2374,3041.6863,461.9351,3048.314,449.6033" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[37a8b7f2877a6b7bb4e9d0352ce3d221]
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+cluster subscriber--><rect fill="#FFFFFF" filter="url(#fb4h1to9ntmzd)" height="498" style="stroke: #000000; stroke-width: 1.5;" width="4063" x="1253.5" y="94.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="85" x="3242.5" y="109.9014">subscriber</text><!--MD5=[50a042e24f957794dab9ba3ea8701c50]
+class urt_basesubscriber_t--><rect fill="#FEFECE" filter="url(#fb4h1to9ntmzd)" height="133.6328" id="urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="225" x="2680" y="450.9063"/><ellipse cx="2722.45" cy="466.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2721.9344,467.4688 Q2720.075,466.7656 2719.4188,466 Q2718.7781,465.2188 2718.7781,463.9063 Q2718.7781,462.2188 2719.8563,461.25 Q2720.9344,460.2813 2722.8094,460.2813 Q2723.6688,460.2813 2724.5125,460.4844 Q2725.3719,460.6719 2726.2156,461.0625 L2726.2156,463.4531 Q2725.4344,462.8906 2724.6063,462.6094 Q2723.7938,462.3125 2722.9969,462.3125 Q2722.1219,462.3125 2721.6375,462.6719 Q2721.1688,463.0313 2721.1688,463.6875 Q2721.1688,464.2031 2721.5125,464.5469 Q2721.8563,464.875 2722.95,465.2813 L2724.0125,465.6875 Q2725.4969,466.2344 2726.2,467.1406 Q2726.9188,468.0469 2726.9188,469.4219 Q2726.9188,471.2969 2725.8094,472.2188 Q2724.7,473.1406 2722.45,473.1406 Q2721.5281,473.1406 2720.6063,472.9219 Q2719.6844,472.7031 2718.825,472.2813 L2718.825,469.75 Q2719.7938,470.4375 2720.7156,470.7813 Q2721.6375,471.125 2722.5281,471.125 Q2723.4344,471.125 2723.9344,470.7188 Q2724.4344,470.2969 2724.4344,469.5625 Q2724.4344,469 2724.0906,468.5938 Q2723.7625,468.1719 2723.1375,467.9219 L2721.9344,467.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="132" x="2742.55" y="471.0605">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2681" x2="2904" y1="482.9063" y2="482.9063"/><ellipse cx="2691" cy="493.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="2700" y="497.1167">topic : urt_topic_t*</text><ellipse cx="2691" cy="506.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="2700" y="509.9214">evtListener : urt_osEventListener_t</text><ellipse cx="2691" cy="519.5156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="175" x="2700" y="522.7261">lastMessage : urt_message_t*</text><ellipse cx="2691" cy="532.3203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="2700" y="535.5308">lastMessageTime : urt_osTime_t</text><ellipse cx="2691" cy="561.9297" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="2700" y="565.1401">sumLatencies : uint64_t</text><ellipse cx="2691" cy="574.7344" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="2700" y="577.9448">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2681" x2="2684" y1="548.5273" y2="548.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2684" y="551.8354">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2901" x2="2904" y1="548.5273" y2="548.5273"/><!--MD5=[9ff46073dd541e50679ef35e851c67d6]
+class urt_nrtsubscriber_t--><rect fill="#FEFECE" filter="url(#fb4h1to9ntmzd)" height="154.4375" id="urt_nrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="821" x="3350" y="179.4063"/><ellipse cx="3696.75" cy="195.4063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3696.2344,195.9688 Q3694.375,195.2656 3693.7188,194.5 Q3693.0781,193.7188 3693.0781,192.4063 Q3693.0781,190.7188 3694.1563,189.75 Q3695.2344,188.7813 3697.1094,188.7813 Q3697.9688,188.7813 3698.8125,188.9844 Q3699.6719,189.1719 3700.5156,189.5625 L3700.5156,191.9531 Q3699.7344,191.3906 3698.9063,191.1094 Q3698.0938,190.8125 3697.2969,190.8125 Q3696.4219,190.8125 3695.9375,191.1719 Q3695.4688,191.5313 3695.4688,192.1875 Q3695.4688,192.7031 3695.8125,193.0469 Q3696.1563,193.375 3697.25,193.7813 L3698.3125,194.1875 Q3699.7969,194.7344 3700.5,195.6406 Q3701.2188,196.5469 3701.2188,197.9219 Q3701.2188,199.7969 3700.1094,200.7188 Q3699,201.6406 3696.75,201.6406 Q3695.8281,201.6406 3694.9063,201.4219 Q3693.9844,201.2031 3693.125,200.7813 L3693.125,198.25 Q3694.0938,198.9375 3695.0156,199.2813 Q3695.9375,199.625 3696.8281,199.625 Q3697.7344,199.625 3698.2344,199.2188 Q3698.7344,198.7969 3698.7344,198.0625 Q3698.7344,197.5 3698.3906,197.0938 Q3698.0625,196.6719 3697.4375,196.4219 L3696.2344,195.9688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="3717.25" y="199.5605">urt_nrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3351" x2="4170" y1="211.4063" y2="211.4063"/><ellipse cx="3361" cy="239.2109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="3370" y="242.4214">minLatency : urt_delay_t</text><ellipse cx="3361" cy="252.0156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="3370" y="255.2261">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3351" x2="3652" y1="225.8086" y2="225.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="3652" y="229.1167">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3869" x2="4170" y1="225.8086" y2="225.8086"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3351" x2="4170" y1="261.8203" y2="261.8203"/><ellipse cx="3361" cy="272.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="3370" y="276.0308">urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : void</text><ellipse cx="3361" cy="285.625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="715" x="3370" y="288.8354">urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="3361" cy="298.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="3370" y="301.6401">urtNrtSubscriberFetchNextMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="3361" cy="311.2344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="3370" y="314.4448">urtNrtSubscriberFetchLatestMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="3361" cy="324.0391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="3370" y="327.2495">urtNrtSubscriberUnsubscribe (subscriber : urt_nrtsubscriber_t*) : urt_status_t</text><!--MD5=[5c7929572d87ccc448d875bea5da0fb1]
+class urt_srtsubscriber_t--><rect fill="#FEFECE" filter="url(#fb4h1to9ntmzd)" height="192.8516" id="urt_srtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1044" x="2270.5" y="159.9063"/><ellipse cx="2729.25" cy="175.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2728.7344,176.4688 Q2726.875,175.7656 2726.2188,175 Q2725.5781,174.2188 2725.5781,172.9063 Q2725.5781,171.2188 2726.6563,170.25 Q2727.7344,169.2813 2729.6094,169.2813 Q2730.4688,169.2813 2731.3125,169.4844 Q2732.1719,169.6719 2733.0156,170.0625 L2733.0156,172.4531 Q2732.2344,171.8906 2731.4063,171.6094 Q2730.5938,171.3125 2729.7969,171.3125 Q2728.9219,171.3125 2728.4375,171.6719 Q2727.9688,172.0313 2727.9688,172.6875 Q2727.9688,173.2031 2728.3125,173.5469 Q2728.6563,173.875 2729.75,174.2813 L2730.8125,174.6875 Q2732.2969,175.2344 2733,176.1406 Q2733.7188,177.0469 2733.7188,178.4219 Q2733.7188,180.2969 2732.6094,181.2188 Q2731.5,182.1406 2729.25,182.1406 Q2728.3281,182.1406 2727.4063,181.9219 Q2726.4844,181.7031 2725.625,181.2813 L2725.625,178.75 Q2726.5938,179.4375 2727.5156,179.7813 Q2728.4375,180.125 2729.3281,180.125 Q2730.2344,180.125 2730.7344,179.7188 Q2731.2344,179.2969 2731.2344,178.5625 Q2731.2344,178 2730.8906,177.5938 Q2730.5625,177.1719 2729.9375,176.9219 L2728.7344,176.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="2749.75" y="180.0605">urt_srtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2271.5" x2="3313.5" y1="191.9063" y2="191.9063"/><ellipse cx="2281.5" cy="202.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="2290.5" y="206.1167">usefulnesscb : urt_usefulness_f*</text><ellipse cx="2281.5" cy="215.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="2290.5" y="218.9214">cbparams : void*</text><ellipse cx="2281.5" cy="245.3203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="2290.5" y="248.5308">minLatency : urt_delay_t</text><ellipse cx="2281.5" cy="258.125" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="2290.5" y="261.3354">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2271.5" x2="2684" y1="231.918" y2="231.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2684" y="235.2261">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2901" x2="3313.5" y1="231.918" y2="231.918"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2271.5" x2="3313.5" y1="267.9297" y2="267.9297"/><ellipse cx="2281.5" cy="278.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="2290.5" y="282.1401">urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void</text><ellipse cx="2281.5" cy="291.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1018" x="2290.5" y="294.9448">urtSrtSubscriberSubscribe (subscriber : urt_srtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_usefulness_f*, cbparams : void*) : urt_status_t</text><ellipse cx="2281.5" cy="304.5391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="2290.5" y="307.7495">urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="2281.5" cy="317.3438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="2290.5" y="320.5542">urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="2281.5" cy="330.1484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="2290.5" y="333.3589">urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float</text><ellipse cx="2281.5" cy="342.9531" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="2290.5" y="346.1636">urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t</text><!--MD5=[17838fb05fe219fd399839979ec8a4a4]
+class urt_frtsubscriber_t--><rect fill="#FEFECE" filter="url(#fb4h1to9ntmzd)" height="226.4609" id="urt_frtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="974" x="1261.5" y="143.4063"/><ellipse cx="1686.75" cy="159.4063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1686.2344,159.9688 Q1684.375,159.2656 1683.7188,158.5 Q1683.0781,157.7188 1683.0781,156.4063 Q1683.0781,154.7188 1684.1563,153.75 Q1685.2344,152.7813 1687.1094,152.7813 Q1687.9688,152.7813 1688.8125,152.9844 Q1689.6719,153.1719 1690.5156,153.5625 L1690.5156,155.9531 Q1689.7344,155.3906 1688.9063,155.1094 Q1688.0938,154.8125 1687.2969,154.8125 Q1686.4219,154.8125 1685.9375,155.1719 Q1685.4688,155.5313 1685.4688,156.1875 Q1685.4688,156.7031 1685.8125,157.0469 Q1686.1563,157.375 1687.25,157.7813 L1688.3125,158.1875 Q1689.7969,158.7344 1690.5,159.6406 Q1691.2188,160.5469 1691.2188,161.9219 Q1691.2188,163.7969 1690.1094,164.7188 Q1689,165.6406 1686.75,165.6406 Q1685.8281,165.6406 1684.9063,165.4219 Q1683.9844,165.2031 1683.125,164.7813 L1683.125,162.25 Q1684.0938,162.9375 1685.0156,163.2813 Q1685.9375,163.625 1686.8281,163.625 Q1687.7344,163.625 1688.2344,163.2188 Q1688.7344,162.7969 1688.7344,162.0625 Q1688.7344,161.5 1688.3906,161.0938 Q1688.0625,160.6719 1687.4375,160.4219 L1686.2344,159.9688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="1707.25" y="163.5605">urt_frtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1262.5" x2="2234.5" y1="175.4063" y2="175.4063"/><ellipse cx="1272.5" cy="203.2109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="1281.5" y="206.4214">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1262.5" x2="1603" y1="189.8086" y2="189.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="1603" y="193.1167">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1894" x2="2234.5" y1="189.8086" y2="189.8086"/><ellipse cx="1272.5" cy="232.8203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="1281.5" y="236.0308">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1262.5" x2="1613" y1="219.418" y2="219.418"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="1613" y="222.7261">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1884" x2="2234.5" y1="219.418" y2="219.418"/><ellipse cx="1272.5" cy="262.4297" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="1281.5" y="265.6401">minLatency : urt_delay_t</text><ellipse cx="1272.5" cy="275.2344" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="1281.5" y="278.4448">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1262.5" x2="1494.5" y1="249.0273" y2="249.0273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="508" x="1494.5" y="252.3354">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ||  URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2002.5" x2="2234.5" y1="249.0273" y2="249.0273"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1262.5" x2="2234.5" y1="285.0391" y2="285.0391"/><ellipse cx="1272.5" cy="296.0391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="342" x="1281.5" y="299.2495">urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : void</text><ellipse cx="1272.5" cy="308.8438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="948" x="1281.5" y="312.0542">urtFrtSubscriberSubscribe (subscriber : urt_frtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="1272.5" cy="321.6484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="780" x="1281.5" y="324.8589">urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="1272.5" cy="334.4531" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="790" x="1281.5" y="337.6636">urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="1272.5" cy="347.2578" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="540" x="1281.5" y="350.4683">urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool</text><ellipse cx="1272.5" cy="360.0625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="441" x="1281.5" y="363.2729">urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t</text><!--MD5=[104dc879e5721421b987fcc467bc3a1d]
+class urt_hrtsubscriber_t--><rect fill="#FEFECE" filter="url(#fb4h1to9ntmzd)" height="268.875" id="urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="4206.5" y="121.9063"/><ellipse cx="4684.75" cy="137.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4684.2344,138.4688 Q4682.375,137.7656 4681.7188,137 Q4681.0781,136.2188 4681.0781,134.9063 Q4681.0781,133.2188 4682.1563,132.25 Q4683.2344,131.2813 4685.1094,131.2813 Q4685.9688,131.2813 4686.8125,131.4844 Q4687.6719,131.6719 4688.5156,132.0625 L4688.5156,134.4531 Q4687.7344,133.8906 4686.9063,133.6094 Q4686.0938,133.3125 4685.2969,133.3125 Q4684.4219,133.3125 4683.9375,133.6719 Q4683.4688,134.0313 4683.4688,134.6875 Q4683.4688,135.2031 4683.8125,135.5469 Q4684.1563,135.875 4685.25,136.2813 L4686.3125,136.6875 Q4687.7969,137.2344 4688.5,138.1406 Q4689.2188,139.0469 4689.2188,140.4219 Q4689.2188,142.2969 4688.1094,143.2188 Q4687,144.1406 4684.75,144.1406 Q4683.8281,144.1406 4682.9063,143.9219 Q4681.9844,143.7031 4681.125,143.2813 L4681.125,140.75 Q4682.0938,141.4375 4683.0156,141.7813 Q4683.9375,142.125 4684.8281,142.125 Q4685.7344,142.125 4686.2344,141.7188 Q4686.7344,141.2969 4686.7344,140.5625 Q4686.7344,140 4686.3906,139.5938 Q4686.0625,139.1719 4685.4375,138.9219 L4684.2344,138.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="4705.25" y="142.0605">urt_hrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4207.5" x2="5289.5" y1="153.9063" y2="153.9063"/><ellipse cx="4217.5" cy="164.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="151" x="4226.5" y="168.1167">next : urt_hrtsubscriber_t*</text><ellipse cx="4217.5" cy="194.5156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="4226.5" y="197.7261">deadlineOffset : urt_delay_t</text><ellipse cx="4217.5" cy="207.3203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="4226.5" y="210.5308">qosDeadlineTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4207.5" x2="4603" y1="181.1133" y2="181.1133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="4603" y="184.4214">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4894" x2="5289.5" y1="181.1133" y2="181.1133"/><ellipse cx="4217.5" cy="236.9297" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="4226.5" y="240.1401">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4207.5" x2="4613" y1="223.5273" y2="223.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="4613" y="226.8354">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4884" x2="5289.5" y1="223.5273" y2="223.5273"/><ellipse cx="4217.5" cy="266.5391" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="4226.5" y="269.7495">minLatency : urt_delay_t</text><ellipse cx="4217.5" cy="279.3438" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="4226.5" y="282.5542">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4207.5" x2="4496.5" y1="253.1367" y2="253.1367"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="4496.5" y="256.4448">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5000.5" x2="5289.5" y1="253.1367" y2="253.1367"/><ellipse cx="4217.5" cy="308.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="4226.5" y="312.1636">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4207.5" x2="4616" y1="295.5508" y2="295.5508"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="4616" y="298.8589">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4881" x2="5289.5" y1="295.5508" y2="295.5508"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4207.5" x2="5289.5" y1="318.7578" y2="318.7578"/><ellipse cx="4217.5" cy="329.7578" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="4226.5" y="332.9683">urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : void</text><ellipse cx="4217.5" cy="342.5625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1058" x="4226.5" y="345.7729">urtHrtSubscriberSubscribe (subscriber : urt_hrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, rate : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="4217.5" cy="355.3672" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="4226.5" y="358.5776">urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4217.5" cy="368.1719" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="4226.5" y="371.3823">urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4217.5" cy="380.9766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="4226.5" y="384.187">urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t</text><!--MD5=[e602aa6d45f270ad04f88c9ca5352b33]
+class urt_message_t--><rect fill="#FEFECE" filter="url(#fb4h1to9ntmzd)" height="141.6328" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="406" x="813.5" y="644.9063"/><ellipse cx="966.25" cy="660.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M965.7344,661.4688 Q963.875,660.7656 963.2188,660 Q962.5781,659.2188 962.5781,657.9063 Q962.5781,656.2188 963.6563,655.25 Q964.7344,654.2813 966.6094,654.2813 Q967.4688,654.2813 968.3125,654.4844 Q969.1719,654.6719 970.0156,655.0625 L970.0156,657.4531 Q969.2344,656.8906 968.4063,656.6094 Q967.5938,656.3125 966.7969,656.3125 Q965.9219,656.3125 965.4375,656.6719 Q964.9688,657.0313 964.9688,657.6875 Q964.9688,658.2031 965.3125,658.5469 Q965.6563,658.875 966.75,659.2813 L967.8125,659.6875 Q969.2969,660.2344 970,661.1406 Q970.7188,662.0469 970.7188,663.4219 Q970.7188,665.2969 969.6094,666.2188 Q968.5,667.1406 966.25,667.1406 Q965.3281,667.1406 964.4063,666.9219 Q963.4844,666.7031 962.625,666.2813 L962.625,663.75 Q963.5938,664.4375 964.5156,664.7813 Q965.4375,665.125 966.3281,665.125 Q967.2344,665.125 967.7344,664.7188 Q968.2344,664.2969 968.2344,663.5625 Q968.2344,663 967.8906,662.5938 Q967.5625,662.1719 966.9375,661.9219 L965.7344,661.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="986.75" y="665.0605">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="814.5" x2="1218.5" y1="676.9063" y2="676.9063"/><ellipse cx="824.5" cy="687.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="127" x="833.5" y="691.1167">next : urt_message_t*</text><ellipse cx="824.5" cy="700.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="833.5" y="703.9214">payload : void*</text><ellipse cx="824.5" cy="713.5156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="833.5" y="716.7261">originTime : urt_osTime_t</text><ellipse cx="824.5" cy="726.3203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="211" x="833.5" y="729.5308">numHrtConsumersLeft : unsigned int</text><ellipse cx="824.5" cy="755.9297" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="833.5" y="759.1401">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="814.5" x2="908" y1="742.5273" y2="742.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="908" y="745.8354">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1125" x2="1218.5" y1="742.5273" y2="742.5273"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="814.5" x2="1218.5" y1="765.7344" y2="765.7344"/><ellipse cx="824.5" cy="776.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="833.5" y="779.9448">urtMessageInit (message : urt_message_t*, payload : void*) : void</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]
+class urt_publisher_t--><rect fill="#FEFECE" filter="url(#fb4h1to9ntmzd)" height="128.8281" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="783" x="6" y="191.9063"/><ellipse cx="346.75" cy="207.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M346.2344,208.4688 Q344.375,207.7656 343.7188,207 Q343.0781,206.2188 343.0781,204.9063 Q343.0781,203.2188 344.1563,202.25 Q345.2344,201.2813 347.1094,201.2813 Q347.9688,201.2813 348.8125,201.4844 Q349.6719,201.6719 350.5156,202.0625 L350.5156,204.4531 Q349.7344,203.8906 348.9063,203.6094 Q348.0938,203.3125 347.2969,203.3125 Q346.4219,203.3125 345.9375,203.6719 Q345.4688,204.0313 345.4688,204.6875 Q345.4688,205.2031 345.8125,205.5469 Q346.1563,205.875 347.25,206.2813 L348.3125,206.6875 Q349.7969,207.2344 350.5,208.1406 Q351.2188,209.0469 351.2188,210.4219 Q351.2188,212.2969 350.1094,213.2188 Q349,214.1406 346.75,214.1406 Q345.8281,214.1406 344.9063,213.9219 Q343.9844,213.7031 343.125,213.2813 L343.125,210.75 Q344.0938,211.4375 345.0156,211.7813 Q345.9375,212.125 346.8281,212.125 Q347.7344,212.125 348.2344,211.7188 Q348.7344,211.2969 348.7344,210.5625 Q348.7344,210 348.3906,209.5938 Q348.0625,209.1719 347.4375,208.9219 L346.2344,208.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="367.25" y="212.0605">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7" x2="788" y1="223.9063" y2="223.9063"/><ellipse cx="17" cy="234.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="26" y="238.1167">topic : urt_topic_t*</text><ellipse cx="17" cy="264.5156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="149" x="26" y="267.7261">publishAttempts : uint64_t</text><ellipse cx="17" cy="277.3203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="26" y="280.5308">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7" x2="289" y1="251.1133" y2="251.1133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="289" y="254.4214">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="506" x2="788" y1="251.1133" y2="251.1133"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7" x2="788" y1="287.125" y2="287.125"/><ellipse cx="17" cy="298.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="572" x="26" y="301.3354">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void</text><ellipse cx="17" cy="310.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="757" x="26" y="314.1401">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[a1b1e66ec52c209a9fa2dab315cd7630]
+class urt_topic_t--><rect fill="#FEFECE" filter="url(#fb4h1to9ntmzd)" height="260.875" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="824.5" y="125.9063"/><ellipse cx="979.25" cy="141.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M978.7344,142.4688 Q976.875,141.7656 976.2188,141 Q975.5781,140.2188 975.5781,138.9063 Q975.5781,137.2188 976.6563,136.25 Q977.7344,135.2813 979.6094,135.2813 Q980.4688,135.2813 981.3125,135.4844 Q982.1719,135.6719 983.0156,136.0625 L983.0156,138.4531 Q982.2344,137.8906 981.4063,137.6094 Q980.5938,137.3125 979.7969,137.3125 Q978.9219,137.3125 978.4375,137.6719 Q977.9688,138.0313 977.9688,138.6875 Q977.9688,139.2031 978.3125,139.5469 Q978.6563,139.875 979.75,140.2813 L980.8125,140.6875 Q982.2969,141.2344 983,142.1406 Q983.7188,143.0469 983.7188,144.4219 Q983.7188,146.2969 982.6094,147.2188 Q981.5,148.1406 979.25,148.1406 Q978.3281,148.1406 977.4063,147.9219 Q976.4844,147.7031 975.625,147.2813 L975.625,144.75 Q976.5938,145.4375 977.5156,145.7813 Q978.4375,146.125 979.3281,146.125 Q980.2344,146.125 980.7344,145.7188 Q981.2344,145.2969 981.2344,144.5625 Q981.2344,144 980.8906,143.5938 Q980.5625,143.1719 979.9375,142.9219 L978.7344,142.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="999.75" y="146.0605">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="825.5" x2="1207.5" y1="157.9063" y2="157.9063"/><ellipse cx="835.5" cy="168.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="844.5" y="172.1167">next : urt_topic_t*</text><ellipse cx="835.5" cy="181.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="844.5" y="184.9214">id : urt_topicid_t</text><ellipse cx="835.5" cy="194.5156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="844.5" y="197.7261">lock : urt_osMutex_t</text><ellipse cx="835.5" cy="207.3203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="844.5" y="210.5308">evtSource : urt_osEventSource_t</text><ellipse cx="835.5" cy="220.125" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="844.5" y="223.3354">numHrtSubscribers : unsigned int</text><ellipse cx="835.5" cy="232.9297" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="844.5" y="236.1401">hrtReleased : urt_osCondvar_t</text><ellipse cx="835.5" cy="245.7344" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="209" x="844.5" y="248.9448">mandatoryMessage : urt_message_t</text><ellipse cx="835.5" cy="258.5391" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="844.5" y="261.7495">latestMessage : urt_message_t*</text><ellipse cx="835.5" cy="288.1484" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="212" x="844.5" y="291.3589">hrtSubscribers : urt_hrtsubscriber_t*</text><ellipse cx="835.5" cy="300.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="170" x="844.5" y="304.1636">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="825.5" x2="884" y1="274.7461" y2="274.7461"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="884" y="278.0542">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1149" x2="1207.5" y1="274.7461" y2="274.7461"/><ellipse cx="835.5" cy="330.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="844.5" y="333.7729">numMessagesPublished : uint64_t</text><ellipse cx="835.5" cy="343.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="844.5" y="346.5776">numMessagesDiscarded : uint64_t</text><ellipse cx="835.5" cy="356.1719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="844.5" y="359.3823">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="825.5" x2="908" y1="317.1602" y2="317.1602"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="908" y="320.4683">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1125" x2="1207.5" y1="317.1602" y2="317.1602"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="825.5" x2="1207.5" y1="365.9766" y2="365.9766"/><ellipse cx="835.5" cy="376.9766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="358" x="844.5" y="380.187">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[536025241394544a90bc53fb552f3a08]
+reverse link urt_message_t to urt_message_t--><path d="M1232.0028,689.5133 C1246.0209,695.6657 1254.5,704.4634 1254.5,715.9063 C1254.5,730.4083 1240.8815,740.6616 1219.6293,746.6663 " fill="none" id="urt_message_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1219.6293,685.1463,1223.956,690.9151,1230.9452,689.14,1226.6185,683.3712,1219.6293,685.1463" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1227.7203" y="680.7284">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="1227.2886" y="744.578">0,1</text><!--MD5=[aa8990705afdbad14c7f998fe04b6f05]
+reverse link urt_basesubscriber_t to urt_message_t--><path d="M2666.4993,531.9537 C2363.0553,565.7836 1589.5394,652.0201 1219.5884,693.2647 " fill="none" id="urt_basesubscriber_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2679.718,530.4799,2673.3117,527.1695,2667.7919,531.8097,2674.1982,535.1202,2679.718,530.4799" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2663.8717" y="527.9045">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="1227.2463" y="704.7964">0,1</text><!--MD5=[0585cd4928de92ce6927d9c389eadd29]
+link urt_nrtsubscriber_t to urt_basesubscriber_t--><path d="M3526.2283,333.4389 C3463.5669,353.1064 3395.689,373.5723 3332.5,390.9063 C3194.3193,428.812 3034.3631,465.5535 2924.6129,489.6812 " fill="none" id="urt_nrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="2926.0966,496.5221,2905.0621,493.9626,2923.1016,482.8462,2926.0966,496.5221" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6d81edfa5aa102b898ad487ae19b49f9]
+link urt_srtsubscriber_t to urt_basesubscriber_t--><path d="M2792.5,353.0363 C2792.5,378.3836 2792.5,405.5704 2792.5,430.41 " fill="none" id="urt_srtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="2799.5001,430.6313,2792.5,450.6312,2785.5001,430.6312,2799.5001,430.6313" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f626d284cba98e1d5d5fe914b1fa4188]
+link urt_frtsubscriber_t to urt_basesubscriber_t--><path d="M2169.1729,369.427 C2197.6878,376.7857 2225.9994,384.0058 2253.5,390.9063 C2391.7604,425.5991 2550.6746,462.7076 2659.9377,487.7957 " fill="none" id="urt_frtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="2661.8156,481.0446,2679.7455,492.337,2658.687,494.6905,2661.8156,481.0446" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[1ea71f2b33e56ab0ac5545988c1af396]
+link urt_hrtsubscriber_t to urt_basesubscriber_t--><path d="M4206.3442,387.8991 C4200.3691,388.9284 4194.4195,389.9315 4188.5,390.9063 C3728.3838,466.6802 3174.9618,500.1722 2925.6847,512.2261 " fill="none" id="urt_hrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="2925.7015,519.2331,2905.3912,513.1923,2925.0356,505.249,2925.7015,519.2331" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ea2ec5c5272e65289dabade75a749f58]
+reverse link urt_hrtsubscriber_t to urt_hrtsubscriber_t--><path d="M5302.8399,232.1588 C5317.3539,238.8647 5325.5,246.9473 5325.5,256.4063 C5325.5,268.2764 5312.6717,277.9788 5290.5292,285.5136 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="5290.5292,227.299,5294.6414,233.2226,5301.691,231.7052,5297.5788,225.7815,5290.5292,227.299" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5298.2077" y="223.8529">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="5298.2921" y="282.8861">0,1</text><!--MD5=[54fcf25ad8c5f1d36e678e42d5bfd4cc]
+reverse link urt_publisher_t to urt_topic_t--><path d="M802.3622,256.4063 C809.6684,256.4063 816.9747,256.4063 824.2809,256.4063 " fill="none" id="urt_publisher_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="789.2109,256.4063,795.2109,260.4063,801.2109,256.4063,795.2109,252.4063,789.2109,256.4063" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="797.2488" y="253.3239">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="808.6161" y="253.1852">1</text><!--MD5=[5025b4c4053b8e7c7ca8a657f09f21c0]
+link urt_publisher_t to urt_message_t--><path d="M484.5477,321.0241 C598.2489,405.4275 796.8827,552.8786 916.5977,641.7462 " fill="none" id="urt_publisher_t-&gt;urt_message_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="920.8228,644.8826,915.9805,636.3063,916.8081,641.9023,911.2121,642.7298,920.8228,644.8826" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b2afc1defaa6ed5a86f99c07f8466dd]
+reverse link urt_topic_t to urt_topic_t--><path d="M1220.5439,220.8703 C1234.8061,228.9814 1243.5,240.8267 1243.5,256.4063 C1243.5,275.9571 1229.809,289.6274 1208.6039,297.4171 " fill="none" id="urt_topic_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1208.6039,215.3954,1212.3907,221.5322,1219.5119,220.3971,1215.7251,214.2603,1208.6039,215.3954" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1216.2642" y="210.5724">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="1216.4986" y="295.798">0,1</text><!--MD5=[ed3fb6de0913094c41bd74c175d366df]
+reverse link urt_topic_t to urt_hrtsubscriber_t--><path d="M1163.0785,118.0086 C1193.9801,96.2116 1227.9195,76.9316 1263,64.9063 C1339.4129,38.7124 4091.2552,52.0293 4171,64.9063 C4247.3838,77.2405 4327.3368,98.1948 4402.5629,121.8264 " fill="none" id="urt_topic_t&lt;-urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1152.278,125.8156,1159.4839,125.5424,1162.0033,118.7857,1154.7973,119.0589,1152.278,125.8156" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1151.8964" y="114.9065">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="4361.9853" y="110.6867">0,1</text><!--MD5=[0b5167e958c0ed93ffc0c98ce399b54d]
+reverse link urt_topic_t to urt_message_t--><path d="M1016.5,400.3211 C1016.5,481.6692 1016.5,579.7848 1016.5,644.7927 " fill="none" id="urt_topic_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1016.5,387.1584,1012.5,393.1584,1016.5,399.1584,1020.5,393.1584,1016.5,387.1584" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1008.2813" y="406.793">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1008.0875" y="633.7783">1</text><!--MD5=[24f93dcf9afeb4dd37451f1adf8ffc7a]
 @startuml
 
 title **µRtWare**\nPublish-Subscribe System
@@ -63,10 +58,6 @@ title **µRtWare**\nPublish-Subscribe System
     + {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
@@ -80,14 +71,14 @@ title **µRtWare**\nPublish-Subscribe System
   }
 
     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
@@ -165,27 +156,24 @@ title **µRtWare**\nPublish-Subscribe System
 
 
 
-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
 
 
@@ -196,7 +184,7 @@ 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
diff --git a/doc/classdiagrams/pubsub.uml b/doc/classdiagrams/pubsub.uml
index 9ad88b3..335ba07 100644
--- a/doc/classdiagrams/pubsub.uml
+++ b/doc/classdiagrams/pubsub.uml
@@ -67,12 +67,6 @@ $group("subscriber") {
     + {field} numMessagesReceived : uint64_t
   }
 
-  /' Function type to be called when calculating the usefulness of a message. '/
-  $function("urt_srtusefulnessfunc_t") {
-    'Takes a delay and optionally parameters as arguments and returns a float in [0, 1].
-    urt_srtusefulnessfunc_t (dt : urt_delay_t, params : void*) : float
-  }
-
   /' NRT subscriber type. '/
   $structure("urt_nrtsubscriber_t") {
     .. URT_CFG_PUBSUB_PROFILING == true ..
@@ -96,7 +90,7 @@ $group("subscriber") {
   /' SRT subscriber type. '/
   $structure("urt_srtsubscriber_t") {
       'Callback to calculate usefulness of a message
-    + {field} usefulnesscb : urt_srtusefulnessfunc_t*
+    + {field} usefulnesscb : urt_usefulness_f*
       'Optional parameters for the usefulness callback function.
     + {field} cbparams : void*
     .. URT_CFG_PUBSUB_PROFILING == true ..
@@ -108,7 +102,7 @@ $group("subscriber") {
       'Initializes a urt_srtsubscriber_t object.
     + {method} urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void
       'Tries to subscribe to a topic, sets all parameters and optionally contributes a list of messages to the topic.
-    + {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
       'Fetches the next message in the buffer, optionally copies the payload and optionally returns the latency.
     + {method} urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t
       'Fetches the latest message, optionally copies the payload and optionally returns the latency.
@@ -238,27 +232,24 @@ $structure("urt_topic_t") {
 
 !startsub DEPENDENCIES
 
-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
 
 !endsub
diff --git a/doc/classdiagrams/rpc.svg b/doc/classdiagrams/rpc.svg
index 7d5535b..78d45a4 100644
--- a/doc/classdiagrams/rpc.svg
+++ b/doc/classdiagrams/rpc.svg
@@ -1,8 +1,24 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="387px" preserveAspectRatio="none" style="width:655px;height:387px;" version="1.1" viewBox="0 0 655 387" width="655px" zoomAndPan="magnify"><defs><filter height="300%" id="f1mxz0fta70cve" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="286" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="277" x="192" y="37.6611">Remote Procedure Call System</text><!--MD5=[3226071078d8aeaa18fbafa5359ddee6]
-class urt_servicefunc_t--><rect fill="#FEFECE" filter="url(#f1mxz0fta70cve)" height="60.8047" id="urt_servicefunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="451" x="81.5" y="315.9063"/><ellipse cx="249.75" cy="331.9063" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M253.9844,327.6719 L248.7031,327.6719 L248.7031,330.3438 L253.5,330.3438 L253.5,332.5 L248.7031,332.5 L248.7031,337.9063 L246.2656,337.9063 L246.2656,325.5156 L253.9844,325.5156 L253.9844,327.6719 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="106" x="270.25" y="336.0605">urt_servicefunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="82.5" x2="531.5" y1="347.9063" y2="347.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="82.5" x2="531.5" y1="355.9063" y2="355.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="439" x="87.5" y="370.1167">urt_servicefunc_t (arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[e60e0f8379a14e7a4a292c65add9d735]
-class urt_service_t--><rect fill="#FEFECE" filter="url(#f1mxz0fta70cve)" height="205.6563" id="urt_service_t" style="stroke: #A80036; stroke-width: 1.5;" width="602" x="6" y="49.9063"/><ellipse cx="263.25" cy="65.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M262.7344,66.4688 Q260.875,65.7656 260.2188,65 Q259.5781,64.2188 259.5781,62.9063 Q259.5781,61.2188 260.6563,60.25 Q261.7344,59.2813 263.6094,59.2813 Q264.4688,59.2813 265.3125,59.4844 Q266.1719,59.6719 267.0156,60.0625 L267.0156,62.4531 Q266.2344,61.8906 265.4063,61.6094 Q264.5938,61.3125 263.7969,61.3125 Q262.9219,61.3125 262.4375,61.6719 Q261.9688,62.0313 261.9688,62.6875 Q261.9688,63.2031 262.3125,63.5469 Q262.6563,63.875 263.75,64.2813 L264.8125,64.6875 Q266.2969,65.2344 267,66.1406 Q267.7188,67.0469 267.7188,68.4219 Q267.7188,70.2969 266.6094,71.2188 Q265.5,72.1406 263.25,72.1406 Q262.3281,72.1406 261.4063,71.9219 Q260.4844,71.7031 259.625,71.2813 L259.625,68.75 Q260.5938,69.4375 261.5156,69.7813 Q262.4375,70.125 263.3281,70.125 Q264.2344,70.125 264.7344,69.7188 Q265.2344,69.2969 265.2344,68.5625 Q265.2344,68 264.8906,67.5938 Q264.5625,67.1719 263.9375,66.9219 L262.7344,66.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="283.75" y="70.0605">urt_service_t</text><line style="stroke: #A80036; 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+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="711px" preserveAspectRatio="none" style="width:3311px;height:711px;" version="1.1" viewBox="0 0 3311 711" width="3311px" zoomAndPan="magnify"><defs><filter height="300%" id="fy5ljrkv57pn0" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="1614" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="277" x="1520" y="37.6611">Remote Procedure Call System</text><!--MD5=[ecaf13b018fb9788c80013f5b3634b61]
+cluster request--><rect fill="#FFFFFF" filter="url(#fy5ljrkv57pn0)" height="615" style="stroke: #000000; stroke-width: 1.5;" width="2646" x="14" y="57.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="62" x="1306" y="72.9014">request</text><!--MD5=[7294e1cfaeb111bef046bc5d07a96458]
+class urt_baserequest_t--><rect fill="#FEFECE" filter="url(#fy5ljrkv57pn0)" height="197.6563" id="urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="224" x="1506" y="466.9063"/><ellipse cx="1556.25" cy="482.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1555.7344,483.4688 Q1553.875,482.7656 1553.2188,482 Q1552.5781,481.2188 1552.5781,479.9063 Q1552.5781,478.2188 1553.6563,477.25 Q1554.7344,476.2813 1556.6094,476.2813 Q1557.4688,476.2813 1558.3125,476.4844 Q1559.1719,476.6719 1560.0156,477.0625 L1560.0156,479.4531 Q1559.2344,478.8906 1558.4063,478.6094 Q1557.5938,478.3125 1556.7969,478.3125 Q1555.9219,478.3125 1555.4375,478.6719 Q1554.9688,479.0313 1554.9688,479.6875 Q1554.9688,480.2031 1555.3125,480.5469 Q1555.6563,480.875 1556.75,481.2813 L1557.8125,481.6875 Q1559.2969,482.2344 1560,483.1406 Q1560.7188,484.0469 1560.7188,485.4219 Q1560.7188,487.2969 1559.6094,488.2188 Q1558.5,489.1406 1556.25,489.1406 Q1555.3281,489.1406 1554.4063,488.9219 Q1553.4844,488.7031 1552.625,488.2813 L1552.625,485.75 Q1553.5938,486.4375 1554.5156,486.7813 Q1555.4375,487.125 1556.3281,487.125 Q1557.2344,487.125 1557.7344,486.7188 Q1558.2344,486.2969 1558.2344,485.5625 Q1558.2344,485 1557.8906,484.5938 Q1557.5625,484.1719 1556.9375,483.9219 L1555.7344,483.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="1576.75" y="487.0605">urt_baserequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1507" x2="1729" y1="498.9063" y2="498.9063"/><ellipse cx="1517" cy="509.9063" 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="147" x="1526" y="513.1167">prev : urt_baserequest_t*</text><ellipse cx="1517" cy="522.7109" 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="146" x="1526" y="525.9214">next : urt_baserequest_t*</text><ellipse cx="1517" cy="535.5156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="1526" y="538.7261">lock : urt_osMutex_t</text><ellipse cx="1517" cy="548.3203" 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="126" x="1526" y="551.5308">owner : urt_service_t*</text><ellipse cx="1517" cy="561.125" 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="180" x="1526" y="564.3354">submissionTime : urt_osTime_t</text><ellipse cx="1517" cy="573.9297" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="1526" y="577.1401">payload : void*</text><ellipse cx="1517" cy="586.7344" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="1526" y="589.9448">evtSource : urt_osEventSource_t</text><ellipse cx="1517" cy="599.5391" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="1526" y="602.7495">evtListener : urt_osEventListener_t</text><ellipse cx="1517" cy="629.1484" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="1526" y="632.3589">sumLatencies : uint64_t</text><ellipse cx="1517" cy="641.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="1526" y="645.1636">numCalls : uint64_t</text><ellipse cx="1517" cy="654.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="108" x="1526" y="657.9683">numFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1507" x2="1522" y1="615.7461" y2="615.7461"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="1522" y="619.0542">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1714" x2="1729" y1="615.7461" y2="615.7461"/><!--MD5=[65269c71e9a2a076bc4014c9b128c9e6]
+class urt_nrtrequest_t--><rect fill="#FEFECE" filter="url(#fy5ljrkv57pn0)" height="167.2422" id="urt_nrtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="531" x="22.5" y="144.4063"/><ellipse cx="232.75" cy="160.4063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M232.2344,160.9688 Q230.375,160.2656 229.7188,159.5 Q229.0781,158.7188 229.0781,157.4063 Q229.0781,155.7188 230.1563,154.75 Q231.2344,153.7813 233.1094,153.7813 Q233.9688,153.7813 234.8125,153.9844 Q235.6719,154.1719 236.5156,154.5625 L236.5156,156.9531 Q235.7344,156.3906 234.9063,156.1094 Q234.0938,155.8125 233.2969,155.8125 Q232.4219,155.8125 231.9375,156.1719 Q231.4688,156.5313 231.4688,157.1875 Q231.4688,157.7031 231.8125,158.0469 Q232.1563,158.375 233.25,158.7813 L234.3125,159.1875 Q235.7969,159.7344 236.5,160.6406 Q237.2188,161.5469 237.2188,162.9219 Q237.2188,164.7969 236.1094,165.7188 Q235,166.6406 232.75,166.6406 Q231.8281,166.6406 230.9063,166.4219 Q229.9844,166.2031 229.125,165.7813 L229.125,163.25 Q230.0938,163.9375 231.0156,164.2813 Q231.9375,164.625 232.8281,164.625 Q233.7344,164.625 234.2344,164.2188 Q234.7344,163.7969 234.7344,163.0625 Q234.7344,162.5 234.3906,162.0938 Q234.0625,161.6719 233.4375,161.4219 L232.2344,160.9688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="253.25" y="164.5605">urt_nrtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="23.5" x2="552.5" y1="176.4063" y2="176.4063"/><ellipse cx="33.5" cy="204.2109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="42.5" y="207.4214">minLatency : urt_delay_t</text><ellipse cx="33.5" cy="217.0156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="42.5" y="220.2261">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="23.5" x2="192" y1="190.8086" y2="190.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="192" y="194.1167">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="384" x2="552.5" y1="190.8086" y2="190.8086"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="23.5" x2="552.5" y1="226.8203" y2="226.8203"/><ellipse cx="33.5" cy="237.8203" 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="297" x="42.5" y="241.0308">urtNrtRequestInit (request : urt_nrtrequest_t*) : void</text><ellipse cx="33.5" cy="250.625" 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="367" x="42.5" y="253.8354">urtNrtRequestAcquire (request : urt_nrtrequest_t*) : urt_status_t</text><ellipse cx="33.5" cy="263.4297" 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="385" x="42.5" y="266.6401">urtNrtRequestTryAcquire (request : urt_nrtrequest_t*) : urt_status_t</text><ellipse cx="33.5" cy="276.2344" 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="370" x="42.5" y="279.4448">urtNrtRequestRelease (request : urt_nrtrequest_t*) : urt_status_t</text><ellipse cx="33.5" cy="289.0391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="505" x="42.5" y="292.2495">urtNrtRequestSubmit (request : urt_nrtrequest_t*, service : urt_service_t*) : urt_status_t</text><ellipse cx="33.5" cy="301.8438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="42.5" y="305.0542">urtNrtRequestRetrieve (request : urt_nrtrequest_t*) : urt_status_t</text><!--MD5=[e9d515ad43a4cecec056dd09bc14a3c2]
+class urt_srtrequest_t--><rect fill="#FEFECE" filter="url(#fy5ljrkv57pn0)" height="180.0469" id="urt_srtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="675" x="1280.5" y="137.9063"/><ellipse cx="1563.25" cy="153.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1562.7344,154.4688 Q1560.875,153.7656 1560.2188,153 Q1559.5781,152.2188 1559.5781,150.9063 Q1559.5781,149.2188 1560.6563,148.25 Q1561.7344,147.2813 1563.6094,147.2813 Q1564.4688,147.2813 1565.3125,147.4844 Q1566.1719,147.6719 1567.0156,148.0625 L1567.0156,150.4531 Q1566.2344,149.8906 1565.4063,149.6094 Q1564.5938,149.3125 1563.7969,149.3125 Q1562.9219,149.3125 1562.4375,149.6719 Q1561.9688,150.0313 1561.9688,150.6875 Q1561.9688,151.2031 1562.3125,151.5469 Q1562.6563,151.875 1563.75,152.2813 L1564.8125,152.6875 Q1566.2969,153.2344 1567,154.1406 Q1567.7188,155.0469 1567.7188,156.4219 Q1567.7188,158.2969 1566.6094,159.2188 Q1565.5,160.1406 1563.25,160.1406 Q1562.3281,160.1406 1561.4063,159.9219 Q1560.4844,159.7031 1559.625,159.2813 L1559.625,156.75 Q1560.5938,157.4375 1561.5156,157.7813 Q1562.4375,158.125 1563.3281,158.125 Q1564.2344,158.125 1564.7344,157.7188 Q1565.2344,157.2969 1565.2344,156.5625 Q1565.2344,156 1564.8906,155.5938 Q1564.5625,155.1719 1563.9375,154.9219 L1562.7344,154.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="1583.75" y="158.0605">urt_srtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1281.5" x2="1954.5" y1="169.9063" y2="169.9063"/><ellipse cx="1291.5" cy="197.7109" 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="138" x="1300.5" y="200.9214">minLatency : urt_delay_t</text><ellipse cx="1291.5" cy="210.5156" 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="141" x="1300.5" y="213.7261">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1281.5" x2="1522" y1="184.3086" y2="184.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="1522" y="187.6167">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1714" x2="1954.5" y1="184.3086" y2="184.3086"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1281.5" x2="1954.5" y1="220.3203" y2="220.3203"/><ellipse cx="1291.5" cy="231.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="1300.5" y="234.5308">urtSrtRequestInit (request : urt_srtrequest_t*) : void</text><ellipse cx="1291.5" cy="244.125" 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="367" x="1300.5" y="247.3354">urtSrtRequestAcquire (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="1291.5" cy="256.9297" 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="385" x="1300.5" y="260.1401">urtSrtRequestTryAcquire (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="1291.5" cy="269.7344" 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="370" x="1300.5" y="272.9448">urtSrtRequestRelease (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="1291.5" cy="282.5391" 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="505" x="1300.5" y="285.7495">urtSrtRequestSubmit (request : urt_srtrequest_t*, service : urt_service_t*) : urt_status_t</text><ellipse cx="1291.5" cy="295.3438" 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="371" x="1300.5" y="298.5542">urtSrtRequestRetrieve (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="1291.5" cy="308.1484" 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="649" x="1300.5" y="311.3589">urtSrtCalculateUsefulness (request : urt_srtrequest_t*, usefulnesscb : urt_usefulness_f, cbparams : void*) : float</text><!--MD5=[240977dbca9212fa5365c87da90aa051]
+class urt_frtrequest_t--><rect fill="#FEFECE" filter="url(#fy5ljrkv57pn0)" height="268.875" id="urt_frtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="656" x="589" y="93.4063"/><ellipse cx="863.75" cy="109.4063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M863.2344,109.9688 Q861.375,109.2656 860.7188,108.5 Q860.0781,107.7188 860.0781,106.4063 Q860.0781,104.7188 861.1563,103.75 Q862.2344,102.7813 864.1094,102.7813 Q864.9688,102.7813 865.8125,102.9844 Q866.6719,103.1719 867.5156,103.5625 L867.5156,105.9531 Q866.7344,105.3906 865.9063,105.1094 Q865.0938,104.8125 864.2969,104.8125 Q863.4219,104.8125 862.9375,105.1719 Q862.4688,105.5313 862.4688,106.1875 Q862.4688,106.7031 862.8125,107.0469 Q863.1563,107.375 864.25,107.7813 L865.3125,108.1875 Q866.7969,108.7344 867.5,109.6406 Q868.2188,110.5469 868.2188,111.9219 Q868.2188,113.7969 867.1094,114.7188 Q866,115.6406 863.75,115.6406 Q862.8281,115.6406 861.9063,115.4219 Q860.9844,115.2031 860.125,114.7813 L860.125,112.25 Q861.0938,112.9375 862.0156,113.2813 Q862.9375,113.625 863.8281,113.625 Q864.7344,113.625 865.2344,113.2188 Q865.7344,112.7969 865.7344,112.0625 Q865.7344,111.5 865.3906,111.0938 Q865.0625,110.6719 864.4375,110.4219 L863.2344,109.9688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="98" x="884.25" y="113.5605">urt_frtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="590" x2="1244" y1="125.4063" y2="125.4063"/><ellipse cx="600" cy="153.2109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="609" y="156.4214">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="590" x2="784" y1="139.8086" y2="139.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="266" x="784" y="143.1167">URT_CFG_RPC_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1050" x2="1244" y1="139.8086" y2="139.8086"/><ellipse cx="600" cy="182.8203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="609" y="186.0308">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="590" x2="794" y1="169.418" y2="169.418"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="794" y="172.7261">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1040" x2="1244" y1="169.418" y2="169.418"/><ellipse cx="600" cy="212.4297" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="609" y="215.6401">minLatency : urt_delay_t</text><ellipse cx="600" cy="225.2344" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="609" y="228.4448">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="590" x2="690" y1="199.0273" y2="199.0273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="454" x="690" y="202.3354">URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1144" x2="1244" y1="199.0273" y2="199.0273"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="590" x2="1244" y1="235.0391" y2="235.0391"/><ellipse cx="600" cy="246.0391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="292" x="609" y="249.2495">urtFrtRequestInit (request : urt_frtrequest_t*) : void</text><ellipse cx="600" cy="258.8438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="362" x="609" y="262.0542">urtFrtRequestAcquire (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="600" cy="271.6484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="609" y="274.8589">urtFrtRequestTryAcquire (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="600" cy="284.4531" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="365" x="609" y="287.6636">urtFrtRequestRelease (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="600" cy="297.2578" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="630" x="609" y="300.4683">urtFrtRequestSubmit (request : urt_frtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t</text><ellipse cx="600" cy="310.0625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="366" x="609" y="313.2729">urtFrtRequestRetrieve (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="600" cy="322.8672" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="318" x="609" y="326.0776">urtDrtCalculateValidity (request : urt_frtrequest_t) : bool</text><ellipse cx="600" cy="352.4766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="419" x="609" y="355.687">urtFrtRequestGetMaxJitter(request : urt_frtrequest_t*) : urt_delay_t* const</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="590" x2="794" y1="339.0742" y2="339.0742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="794" y="342.3823">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1040" x2="1244" y1="339.0742" y2="339.0742"/><!--MD5=[2b0c3d572fefe037473ca776bdd2f803]
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stroke-width: 1.5;" x1="1991.5" x2="2650.5" y1="116.9063" y2="116.9063"/><ellipse cx="2001.5" cy="144.7109" 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="157" x="2010.5" y="147.9214">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1991.5" x2="2188" y1="131.3086" y2="131.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="266" x="2188" y="134.6167">URT_CFG_RPC_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2454" x2="2650.5" y1="131.3086" y2="131.3086"/><ellipse cx="2001.5" cy="174.3203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="2010.5" y="177.5308">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1991.5" x2="2198" y1="160.918" y2="160.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="2198" y="164.2261">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2444" x2="2650.5" y1="160.918" y2="160.918"/><ellipse cx="2001.5" cy="203.9297" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="2010.5" y="207.1401">qosTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1991.5" x2="2057" y1="190.5273" y2="190.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="528" x="2057" y="193.8354">URT_CFG_RPC_QOS_DEADLINECHECKS == true || URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2585" x2="2650.5" y1="190.5273" y2="190.5273"/><ellipse cx="2001.5" cy="233.5391" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="2010.5" y="236.7495">minLatency : urt_delay_t</text><ellipse cx="2001.5" cy="246.3438" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="2010.5" y="249.5542">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1991.5" x2="2094" y1="220.1367" y2="220.1367"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="454" x="2094" y="223.4448">URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2548" x2="2650.5" y1="220.1367" y2="220.1367"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1991.5" x2="2650.5" y1="256.1484" y2="256.1484"/><ellipse cx="2001.5" cy="267.1484" 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="297" x="2010.5" y="270.3589">urtHrtRequestInit (request : urt_hrtrequest_t*) : void</text><ellipse cx="2001.5" cy="279.9531" 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="367" x="2010.5" y="283.1636">urtHrtRequestAcquire (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="2001.5" cy="292.7578" 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="385" x="2010.5" y="295.9683">urtHrtRequestTryAcquire (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="2001.5" cy="305.5625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="2010.5" y="308.7729">urtHrtRequestRelease (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="2001.5" cy="318.3672" 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="635" x="2010.5" y="321.5776">urtHrtRequestSubmit (request : urt_hrtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t</text><ellipse cx="2001.5" cy="331.1719" 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="371" x="2010.5" y="334.3823">urtHrtRequestRetrieve (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="2001.5" cy="360.7813" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="424" x="2010.5" y="363.9917">urtHrtRequestGetMaxJitter(request : urt_hrtrequest_t*) : urt_delay_t* const</text><line style="stroke: #A80036; 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stroke-width: 1.5;" x1="2669" x2="3263" y1="462.9063" y2="462.9063"/><ellipse cx="2679" cy="473.9063" 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="115" x="2688" y="477.1167">next : urt_service_t*</text><ellipse cx="2679" cy="486.7109" 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="105" x="2688" y="489.9214">id : urt_serviceid_t</text><ellipse cx="2679" cy="499.5156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="2688" y="502.7261">lock : urt_osMutex_t</text><ellipse cx="2679" cy="512.3203" 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="236" x="2688" y="515.5308">requestQueue_front : urt_baserequest_t*</text><ellipse cx="2679" cy="525.125" 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="240" x="2688" y="528.3354">requestQueue_hrtBack : urt_hrtrequest_t*</text><ellipse cx="2679" cy="537.9297" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="256" x="2688" y="541.1401">requestQueue_fsrtBack : urt_baserequest_t*</text><ellipse cx="2679" cy="550.7344" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="2688" y="553.9448">requestQueue_back : urt_baserequest_t*</text><ellipse cx="2679" cy="563.5391" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="2688" y="566.7495">evtSource : urt_osEventSource_t</text><ellipse cx="2679" cy="576.3438" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="2688" y="579.5542">evtListener : urt_osEventListener_t</text><ellipse cx="2679" cy="605.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="2688" y="609.1636">numCalls : uint64_t</text><ellipse cx="2679" cy="618.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="2688" y="621.9683">numOwnershipLost : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2669" x2="2870" y1="592.5508" y2="592.5508"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="2870" y="595.8589">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3062" x2="3263" y1="592.5508" y2="592.5508"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2669" x2="3263" y1="628.5625" y2="628.5625"/><ellipse cx="2679" cy="639.5625" 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="412" x="2688" y="642.7729">urtServiceInit (service : urt_service_t*, id : urt_serviceid_t) : urt_status_t</text><ellipse cx="2679" cy="652.3672" 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="549" x="2688" y="655.5776">urtServiceDispatch (service : urt_service_t*, payload : void*, bytes : size_t) : urt_baserequest_t*</text><ellipse cx="2679" cy="665.1719" 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="552" x="2688" y="668.3823">urtServiceAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="2679" cy="677.9766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="2688" y="681.187">urtServiceTryAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="2679" cy="690.7813" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="365" x="2688" y="693.9917">urtServiceRespond (request : urt_baserequest_t*) : urt_status_t</text><!--MD5=[ed8977051960dfa72b850fe399f41716]
+reverse link urt_baserequest_t to urt_baserequest_t--><path d="M1741.814,512.1653 C1755.8803,522.2156 1765,540.1293 1765,565.9063 C1765,598.254 1750.6385,618.2185 1730.1623,625.8 " fill="none" id="urt_baserequest_t&lt;-urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1730.1623,506.0126,1733.6002,512.3514,1740.7737,511.616,1737.3358,505.2771,1730.1623,506.0126" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1737.967" y="498.5674">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1737.9722" y="626.0741">0,1,2</text><!--MD5=[426f0ba47802c5735a37a0acd494a192]
+reverse link urt_baserequest_t to urt_service_t--><path d="M1743.5015,565.9063 C2051.6401,565.9063 2359.7787,565.9063 2667.9172,565.9063 " fill="none" id="urt_baserequest_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1730.2236,565.9063,1736.2236,569.9063,1742.2236,565.9063,1736.2236,561.9063,1730.2236,565.9063" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1738.0324" y="562.4852">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="2639.7338" y="562.7799">0,1</text><!--MD5=[09de7ef26922535bfe0682cb358ee29c]
+reverse link urt_service_t to urt_baserequest_t--><path d="M2654.6393,565.9063 C2346.5008,565.9063 2038.3622,565.9063 1730.2236,565.9063 " fill="none" id="urt_service_t&lt;-urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2667.9172,565.9063,2661.9172,561.9063,2655.9172,565.9063,2661.9172,569.9063,2667.9172,565.9063" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2651.8931" y="578.1784">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1738.0372" y="578.4447">0,2,3</text><!--MD5=[dc2d1805b45628aba9d654613b3d05f9]
+link urt_nrtrequest_t to urt_baserequest_t--><path d="M433.6468,311.4139 C476.7848,333.399 524.8484,355.3038 571,370.9063 C889.5746,478.6069 1283.96,531.7007 1485.6314,553.4172 " fill="none" id="urt_nrtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="1486.5654,546.4769,1505.7169,555.5446,1485.0908,560.399,1486.5654,546.4769" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d53ae0f00163daee879678d1d1554717]
+link urt_nrtrequest_t to urt_service_t--><path d="M423.5759,311.5727 C468.8143,335.2921 520.5745,358.1235 571,370.9063 C1020.3839,484.8246 2201.6822,328.467 2662.7282,430.6481 " fill="none" id="urt_nrtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2667.7827,431.7854,2659.8802,425.9073,2662.9046,430.6878,2658.1242,433.7122,2667.7827,431.7854" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f9755d42ba41539dee622699d8be3a22]
+link urt_srtrequest_t to urt_baserequest_t--><path d="M1618,318.0401 C1618,357.5399 1618,404.4493 1618,446.7749 " fill="none" id="urt_srtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="1625.0001,446.8115,1618,466.8114,1611.0001,446.8114,1625.0001,446.8115" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[90efd84e0f70286880ba110c49a1e8f8]
+link urt_srtrequest_t to urt_service_t--><path d="M1811.7638,317.982 C1863.1909,338.5355 1919.3641,358.0775 1973,370.9063 C2271.1998,442.2308 2364.5822,354.5486 2662.9057,430.6454 " fill="none" id="urt_srtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2667.7566,431.8926,2660.0361,425.7776,2662.9141,430.6476,2658.0441,433.5256,2667.7566,431.8926" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bfc5f4e50344156edda6a5cfcff14fef]
+link urt_frtrequest_t to urt_baserequest_t--><path d="M1196.068,362.464 C1296.7001,410.9856 1405.5363,463.463 1487.4629,502.9654 " fill="none" id="urt_frtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="1490.5993,496.7064,1505.5743,511.6982,1484.5188,509.3171,1490.5993,496.7064" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[836450d5c472e7b2344319739fa0d5d1]
+link urt_frtrequest_t to urt_service_t--><path d="M1228.9679,362.4745 C1240.3676,365.5879 1251.7344,368.4183 1263,370.9063 C1869.9387,504.9465 2056.3997,289.0249 2662.8682,430.6596 " fill="none" id="urt_frtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2667.7766,431.8116,2659.9288,425.8608,2662.9089,430.669,2658.1007,433.6491,2667.7766,431.8116" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7c5d2ea3f0b69f804ad9b60a9539ac96]
+link urt_hrtrequest_t to urt_baserequest_t--><path d="M2023.3742,371.0037 C1927.342,417.1757 1825.8142,465.9899 1748.3869,503.2166 " fill="none" id="urt_hrtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="1751.3031,509.5816,1730.245,511.9393,1745.2367,496.9642,1751.3031,509.5816" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[189d7bd823f9a098ae8eb3eaa3789ee1]
+link urt_hrtrequest_t to urt_service_t--><path d="M2581.4546,371.0037 C2617.6563,390.0787 2654.9397,409.6047 2691.3902,428.5782 " fill="none" id="urt_hrtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2695.8311,430.8893,2689.6942,423.1861,2691.3958,428.581,2686.0009,430.2826,2695.8311,430.8893" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bcf13f9307d05af3b11663d6e8155fbe]
+reverse link urt_service_t to urt_hrtrequest_t--><path d="M2709.7554,424.6371 C2676.1334,406.9081 2641.5096,388.7605 2607.4286,371.0037 " fill="none" id="urt_service_t&lt;-urt_hrtrequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2721.6036,430.8893,2718.1639,424.5514,2710.9906,425.2889,2714.4303,431.6268,2721.6036,430.8893" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2699.2432" y="419.73">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="2601.6819" y="390.8474">0,1</text><!--MD5=[05f2c35569573d3273c65d3342945557]
+reverse link urt_service_t to urt_service_t--><path d="M3275.8204,525.8884 C3290.4318,535.9664 3299,549.3057 3299,565.9063 C3299,586.5362 3285.7678,602.1295 3264.1491,612.6862 " fill="none" id="urt_service_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3264.1491,519.1264,3267.3355,525.5953,3274.5323,525.1421,3271.3459,518.6731,3264.1491,519.1264" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3272.1749" y="514.7575">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="3272.3343" y="610.8024">0,1</text><!--MD5=[ad377685d0f8dbb47816a1720242adb8]
 @startuml
 
 title **µRtWare**\nRemote Procedure Call System
@@ -19,31 +35,133 @@ title **µRtWare**\nRemote Procedure Call System
 
 
 
-  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
 }
 
 
 
 
-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
 
 
 
@@ -53,7 +171,7 @@ 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
diff --git a/doc/classdiagrams/rpc.uml b/doc/classdiagrams/rpc.uml
index 78fb60d..93d8f69 100644
--- a/doc/classdiagrams/rpc.uml
+++ b/doc/classdiagrams/rpc.uml
@@ -31,9 +31,146 @@ title **µRtWare**\nRemote Procedure Call System
 
 !startsub ENTITIES
 
-/' Function type to be called when executing an RPC. '/
-$function("urt_servicefunc_t") {
-  urt_servicefunc_t (arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t
+$group("request") {
+  /' Base request structure type. '/
+  $structure("urt_baserequest_t") {
+      'Pointer to the previous request in a queue.
+    + {field} prev : urt_baserequest_t*
+      'Pointer to the next request in a queue.
+    + {field} next : urt_baserequest_t*
+      'Lock for exclusive access.
+    + {field} lock : urt_osMutex_t
+      'Pointer to the owning service.
+    + {field} owner : urt_service_t*
+      'Time when the request was submitted.
+    + {field} submissionTime : urt_osTime_t
+      'Pointer to an optional payload of the service request.
+    + {field} payload : void*
+      'Source for service events.
+    + {field} evtSource : urt_osEventSource_t
+      'Listener to service events.
+    + {field} evtListener : urt_osEventListener_t
+    .. URT_CFG_RPC_PROFILING == true ..
+      'Sum of all latencies.
+    + {field} sumLatencies : uint64_t
+      'Number of calls emitted.
+    + {field} numCalls : uint64_t
+      'Number of calls that were not processed successfully.
+    + {field} numFails : uint64_t
+  }
+
+  /' NRT request type. '/
+  $structure("urt_nrtrequest_t") {
+    .. URT_CFG_RPC_PROFILING == true ..
+      'Minimum latency ever detected.
+    + {field} minLatency : urt_delay_t
+      'Maximum latency ever detected.
+    + {field} maxLatency : urt_delay_t
+    __
+      'Initializes a urt_nrtrequest_t object.
+    + {method} urtNrtRequestInit (request : urt_nrtrequest_t*) : void
+      'Acquire and lock an NRT request (blocking).
+    + {method} urtNrtRequestAcquire (request : urt_nrtrequest_t*) : urt_status_t
+      'Try to acquire and lock an NRT request (non blocking).
+    + {method} urtNrtRequestTryAcquire (request : urt_nrtrequest_t*) : urt_status_t
+      'Release an acquired/locked NRT request.
+    + {method} urtNrtRequestRelease (request : urt_nrtrequest_t*) : urt_status_t
+      'Submit an NRT request to the specified service.
+    + {method} urtNrtRequestSubmit (request : urt_nrtrequest_t*, service : urt_service_t*) : urt_status_t
+      'Retrieve an NRT request, thereby removing it from the service's request queue if required.
+    + {method} urtNrtRequestRetrieve (request : urt_nrtrequest_t*) : urt_status_t
+  }
+
+  /' SRT request type. '/
+  $structure("urt_srtrequest_t") {
+    .. URT_CFG_RPC_PROFILING == true ..
+      'Minimum latency ever detected.
+    + {field} minLatency : urt_delay_t
+      'Maximum latency ever detected.
+    + {field} maxLatency : urt_delay_t
+    __
+      'Initializes a urt_srtrequest_t object.
+    + {method} urtSrtRequestInit (request : urt_srtrequest_t*) : void
+      'Acquire and lock an SRT request (blocking).
+    + {method} urtSrtRequestAcquire (request : urt_srtrequest_t*) : urt_status_t
+      'Try to acquire and lock an SRT request (non blocking).
+    + {method} urtSrtRequestTryAcquire (request : urt_srtrequest_t*) : urt_status_t
+      'Release an acquired/locked SRT request.
+    + {method} urtSrtRequestRelease (request : urt_srtrequest_t*) : urt_status_t
+      'Submit an SRT request to the specified service.
+    + {method} urtSrtRequestSubmit (request : urt_srtrequest_t*, service : urt_service_t*) : urt_status_t
+      'Retrieve an SRT request, thereby removing it from the service's request queue if required.
+    + {method} urtSrtRequestRetrieve (request : urt_srtrequest_t*) : urt_status_t
+      'Calculate the usefulness on an SRT RPC response.
+    + {method} urtSrtCalculateUsefulness (request : urt_srtrequest_t*, usefulnesscb : urt_usefulness_f, cbparams : void*) : float
+  }
+
+  /' FRT request type. '/
+  $structure("urt_frtrequest_t") {
+    .. URT_CFG_RPC_QOS_DEADLINECHECKS == true ..
+      'Maximum temporal offset between sending and consuming the FRT request.
+    + {field} deadlineOffset : urt_delay_t
+    .. URT_CFG_RPC_QOS_JITTERCHECKS == true ..
+      'Maximum expected jitter.
+    + {field} maxJitter : urt_delay_t
+    .. URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true ..
+      'Minimum latency ever detected (to calculate jitter).
+    + {field} minLatency : urt_delay_t
+      'Maximum latency ever detected (to calculate jitter).
+    + {field} maxLatency : urt_delay_t
+    __
+      'Initializes a urt_frtrequest_t object.
+    + {method} urtFrtRequestInit (request : urt_frtrequest_t*) : void
+      'Acquire and lock an FRT request (blocking).
+    + {method} urtFrtRequestAcquire (request : urt_frtrequest_t*) : urt_status_t
+      'Try to acquire and lock an FRT request (non blocking).
+    + {method} urtFrtRequestTryAcquire (request : urt_frtrequest_t*) : urt_status_t
+      'Release an acquired/locked FRT request.
+    + {method} urtFrtRequestRelease (request : urt_frtrequest_t*) : urt_status_t
+      'Submit an FRT request to the specified service.
+    + {method} urtFrtRequestSubmit (request : urt_frtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t
+      'Retrieve an FRT request, thereby removing it from the service's request queue if required.
+    + {method} urtFrtRequestRetrieve (request : urt_frtrequest_t*) : urt_status_t
+      'Calculate the validity on an FRT RPC response.
+    + {method} urtDrtCalculateValidity (request : urt_frtrequest_t) : bool
+    .. URT_CFG_RPC_QOS_JITTERCHECKS == true ..
+      'Get a pointer to the request's maximum jitter value.
+    + {method} urtFrtRequestGetMaxJitter(request : urt_frtrequest_t*) : urt_delay_t* const
+  }
+
+  /' HRT request type. '/
+  $structure("urt_hrtrequest_t") {
+    .. URT_CFG_RPC_QOS_DEADLINECHECKS == true ..
+      'Maximum temporal offset between sending and consuming the HRT request.
+    + {field} deadlineOffset : urt_delay_t
+    .. URT_CFG_RPC_QOS_JITTERCHECKS == true ..
+      'Maximum expected jitter.
+    + {field} maxJitter : urt_delay_t
+    .. URT_CFG_RPC_QOS_DEADLINECHECKS == true || URT_CFG_RPC_QOS_JITTERCHECKS == true ..
+      'QoS timer to detect missed deadlines and/or jitter.
+    + {field} qosTimer : urt_osTimer_t
+    .. URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true ..
+      'Minimum latency ever detected (to calculate jitter).
+    + {field} minLatency : urt_delay_t
+      'Maximum latency ever detected (to calculate jitter).
+    + {field} maxLatency : urt_delay_t
+    __
+      'Initializes a urt_hrtrequest_t object.
+    + {method} urtHrtRequestInit (request : urt_hrtrequest_t*) : void
+      'Acquire and lock an HRT request (blocking).
+    + {method} urtHrtRequestAcquire (request : urt_hrtrequest_t*) : urt_status_t
+      'Try to acquire and lock an HRT request (non blocking).
+    + {method} urtHrtRequestTryAcquire (request : urt_hrtrequest_t*) : urt_status_t
+      'Release an acquired/locked HRT request.
+    + {method} urtHrtRequestRelease (request : urt_hrtrequest_t*) : urt_status_t
+      'Submit an HRT request to the specified service.
+    + {method} urtHrtRequestSubmit (request : urt_hrtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t
+      'Retrieve an HRT request, thereby removing it from the service's request queue if required.
+    + {method} urtHrtRequestRetrieve (request : urt_hrtrequest_t*) : urt_status_t
+    .. URT_CFG_RPC_QOS_JITTERCHECKS == true ..
+      'Get a pointer to the request's maximum jitter value.
+    + {method} urtHrtRequestGetMaxJitter(request : urt_hrtrequest_t*) : urt_delay_t* const
+  }
 }
 
 /' Service structure type. '/
@@ -42,26 +179,36 @@ $structure("urt_service_t") {
   + {field} next : urt_service_t*
     'Identifier of the service.
   + {field} id : urt_serviceid_t
-    'Mutex lock for exclusive access.'
+    'Mutex lock for exclusive access.
   + {field} lock : urt_osMutex_t
-    'Callback function to be executed by the service.
-  + {field} callback : urt_servicefunc_t*
+    'Pointer to the first element in a queue of pending requests.
+  + {field} requestQueue_front : urt_baserequest_t*
+    'Pointer to the last HRT request in a queue of pending requests.
+  + {field} requestQueue_hrtBack : urt_hrtrequest_t*
+    'Pointer to the last FRT/SRT request in a queue pf pending requests.
+  + {field} requestQueue_fsrtBack : urt_baserequest_t*
+    'Pointer to the last element in a queue of pending requests.
+  + {field} requestQueue_back : urt_baserequest_t*
+    'Event source to be fired by requests.
+  + {field} evtSource : urt_osEventSource_t
+    'Event listener to notify the service thread.
+  + {field} evtListener : urt_osEventListener_t
   .. URT_CFG_RPC_PROFILING == true ..
-    'Sum of all durations.
-  + {field} sumDurations : uint64_t
-    'Number of executed calls.
+    'Number of calls.
   + {field} numCalls : uint64_t
-    'Number of failed calls due to timeout.
-  + {field} numTimeouts : uint64_t
-    'Minimum duration ever detected (to calculate jitter).
-  + {field} minDuration : urt_delay_t
-    'Maximum duration ever detected (to calculate jitter).
-  + {field} maxDuration : urt_delay_t
+    'Number of lost ownerships.
+  + {field} numOwnershipLost : uint64_t
   __
     'Initializes a urt_service_t object.
-  + {method} urtServiceInit(service : urt_service_t*, id : urt_serviceid_t, callback : urt_servicefunc_t*) : urt_status_t
-    'Executes an RPC with given arguments and return parameters as well as a timout, in case the RPC may delay execution significantly.
-  + {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
+    'Dispatch the next pending request.
+  + {method} urtServiceDispatch (service : urt_service_t*, payload : void*, bytes : size_t) : urt_baserequest_t*
+    'Acquire and lock the specified request (blocking).
+  + {method} urtServiceAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t
+    'Acquire and lock the specified request (non blocking).
+  + {method} urtServiceTryAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t
+    'Respond to a request.
+  + {method} urtServiceRespond (request : urt_baserequest_t*) : urt_status_t
 }
 
 !endsub
@@ -70,12 +217,27 @@ $structure("urt_service_t") {
 
 !startsub DEPENDENCIES
 
-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
 
 !endsub
 
 /'### OUTRO ##################################################################'/
 
 @enduml
-
diff --git a/doc/classdiagrams/urtware.svg b/doc/classdiagrams/urtware.svg
index 0cbb4c7..d33ce09 100644
--- a/doc/classdiagrams/urtware.svg
+++ b/doc/classdiagrams/urtware.svg
@@ -1,52 +1,63 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="872px" preserveAspectRatio="none" style="width:7729px;height:872px;" version="1.1" viewBox="0 0 7729 872" width="7729px" zoomAndPan="magnify"><defs><filter height="300%" id="f809dau48hy9h" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="3822.5" y="16.708">µRtWare</text><!--MD5=[b9de0669a29c7bc934fd916b09c39491]
-cluster node--><rect fill="#FFFFFF" filter="url(#f809dau48hy9h)" height="446.5" style="stroke: #000000; stroke-width: 1.5;" width="1674" x="5389" y="369.9531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="40" x="6206" y="384.9482">node</text><!--MD5=[d74e2ef346f73688f9378f6d3d42598c]
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-class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#f809dau48hy9h)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="5950" y="747.4531"/><ellipse cx="6095.75" cy="763.4531" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6096.5938,770.2031 L6094.1406,770.2031 L6094.1406,759.9531 L6091,759.9531 L6091,757.8125 L6099.7344,757.8125 L6099.7344,759.9531 L6096.5938,759.9531 L6096.5938,770.2031 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="6116.25" y="767.6074">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5951" x2="6405" y1="779.4531" y2="779.4531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5951" x2="6405" y1="787.4531" y2="787.4531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="5956" y="801.6636">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]
-class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#f809dau48hy9h)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="6441" y="747.4531"/><ellipse cx="6669.25" cy="763.4531" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6670.0938,770.2031 L6667.6406,770.2031 L6667.6406,759.9531 L6664.5,759.9531 L6664.5,757.8125 L6673.2344,757.8125 L6673.2344,759.9531 L6670.0938,759.9531 L6670.0938,770.2031 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="6689.75" y="767.6074">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6442" x2="7054" y1="779.4531" y2="779.4531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6442" x2="7054" y1="787.4531" y2="787.4531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="6447" y="801.6636">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(#f809dau48hy9h)" height="60.8047" id="urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="518" x="5397" y="747.4531"/><ellipse cx="5561.25" cy="763.4531" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5562.0938,770.2031 L5559.6406,770.2031 L5559.6406,759.9531 L5556.5,759.9531 L5556.5,757.8125 L5565.2344,757.8125 L5565.2344,759.9531 L5562.0938,759.9531 L5562.0938,770.2031 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="181" x="5581.75" y="767.6074">urt_nodeShutdownCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5398" x2="5914" y1="779.4531" y2="779.4531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5398" x2="5914" y1="787.4531" y2="787.4531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="506" x="5403" y="801.6636">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(#f809dau48hy9h)" height="231.2656" id="urt_node_t" style="stroke: #A80036; stroke-width: 1.5;" width="1541" x="5407.5" y="396.9531"/><ellipse cx="6140.25" cy="412.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6139.7344,413.5156 Q6137.875,412.8125 6137.2188,412.0469 Q6136.5781,411.2656 6136.5781,409.9531 Q6136.5781,408.2656 6137.6563,407.2969 Q6138.7344,406.3281 6140.6094,406.3281 Q6141.4688,406.3281 6142.3125,406.5313 Q6143.1719,406.7188 6144.0156,407.1094 L6144.0156,409.5 Q6143.2344,408.9375 6142.4063,408.6563 Q6141.5938,408.3594 6140.7969,408.3594 Q6139.9219,408.3594 6139.4375,408.7188 Q6138.9688,409.0781 6138.9688,409.7344 Q6138.9688,410.25 6139.3125,410.5938 Q6139.6563,410.9219 6140.75,411.3281 L6141.8125,411.7344 Q6143.2969,412.2813 6144,413.1875 Q6144.7188,414.0938 6144.7188,415.4688 Q6144.7188,417.3438 6143.6094,418.2656 Q6142.5,419.1875 6140.25,419.1875 Q6139.3281,419.1875 6138.4063,418.9688 Q6137.4844,418.75 6136.625,418.3281 L6136.625,415.7969 Q6137.5938,416.4844 6138.5156,416.8281 Q6139.4375,417.1719 6140.3281,417.1719 Q6141.2344,417.1719 6141.7344,416.7656 Q6142.2344,416.3438 6142.2344,415.6094 Q6142.2344,415.0469 6141.8906,414.6406 Q6141.5625,414.2188 6140.9375,413.9688 L6139.7344,413.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="67" x="6160.75" y="417.1074">urt_node_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5408.5" x2="6947.5" y1="428.9531" y2="428.9531"/><ellipse cx="5418.5" cy="439.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="102" x="5427.5" y="443.1636">next : urt_node_t*</text><ellipse cx="5418.5" cy="452.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="5427.5" y="455.9683">thread : urt_osThread_t*</text><ellipse cx="5418.5" cy="465.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="5427.5" y="468.7729">setupcallback : urt_nodeSetupCallback_t*</text><ellipse cx="5418.5" cy="478.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="117" x="5427.5" y="481.5776">setupparams : void*</text><ellipse cx="5418.5" cy="491.1719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="221" x="5427.5" y="494.3823">loopcallback : urt_nodeLoopCallback_t*</text><ellipse cx="5418.5" cy="503.9766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="109" x="5427.5" y="507.187">loopparams : void*</text><ellipse cx="5418.5" cy="516.7813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="281" x="5427.5" y="519.9917">shutdowncallback : urt_nodeShutdownCallback_t*</text><ellipse cx="5418.5" cy="529.5859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="140" x="5427.5" y="532.7964">shutdownparams : void*</text><ellipse cx="5418.5" cy="542.3906" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="5427.5" y="545.6011">stage : urt_nodestage_t</text><ellipse cx="5418.5" cy="555.1953" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="178" x="5427.5" y="558.4058">listener : urt_osEventListener_t</text><ellipse cx="5418.5" cy="584.8047" fill="none" 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="5427.5" y="588.0151">loops : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5408.5" x2="5970" y1="571.4023" y2="571.4023"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="416" x="5970" y="574.7104">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="6386" x2="6947.5" y1="571.4023" y2="571.4023"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5408.5" x2="6947.5" y1="594.6094" y2="594.6094"/><rect fill="#F24D5C" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="5415.5" y="602.6094"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="179" x="5427.5" y="608.8198">_main : urt_osThreadFunction_t</text><ellipse cx="5418.5" cy="618.4141" fill="#84BE84" 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="5427.5" y="621.6245">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(#f809dau48hy9h)" height="141.6328" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="406" x="839" y="706.9531"/><ellipse cx="991.75" cy="722.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M991.2344,723.5156 Q989.375,722.8125 988.7188,722.0469 Q988.0781,721.2656 988.0781,719.9531 Q988.0781,718.2656 989.1563,717.2969 Q990.2344,716.3281 992.1094,716.3281 Q992.9688,716.3281 993.8125,716.5313 Q994.6719,716.7188 995.5156,717.1094 L995.5156,719.5 Q994.7344,718.9375 993.9063,718.6563 Q993.0938,718.3594 992.2969,718.3594 Q991.4219,718.3594 990.9375,718.7188 Q990.4688,719.0781 990.4688,719.7344 Q990.4688,720.25 990.8125,720.5938 Q991.1563,720.9219 992.25,721.3281 L993.3125,721.7344 Q994.7969,722.2813 995.5,723.1875 Q996.2188,724.0938 996.2188,725.4688 Q996.2188,727.3438 995.1094,728.2656 Q994,729.1875 991.75,729.1875 Q990.8281,729.1875 989.9063,728.9688 Q988.9844,728.75 988.125,728.3281 L988.125,725.7969 Q989.0938,726.4844 990.0156,726.8281 Q990.9375,727.1719 991.8281,727.1719 Q992.7344,727.1719 993.2344,726.7656 Q993.7344,726.3438 993.7344,725.6094 Q993.7344,725.0469 993.3906,724.6406 Q993.0625,724.2188 992.4375,723.9688 L991.2344,723.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="1012.25" y="727.1074">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="840" x2="1244" y1="738.9531" y2="738.9531"/><ellipse cx="850" cy="749.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="127" x="859" y="753.1636">next : urt_message_t*</text><ellipse cx="850" cy="762.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="859" y="765.9683">payload : void*</text><ellipse cx="850" cy="775.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="859" y="778.7729">originTime : urt_osTime_t</text><ellipse cx="850" cy="788.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="211" x="859" y="791.5776">numHrtConsumersLeft : unsigned int</text><ellipse cx="850" cy="817.9766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="859" y="821.187">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="840" x2="933.5" y1="804.5742" y2="804.5742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="933.5" y="807.8823">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1150.5" x2="1244" y1="804.5742" y2="804.5742"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="840" x2="1244" y1="827.7813" y2="827.7813"/><ellipse cx="850" cy="838.7813" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="859" y="841.9917">urtMessageInit (message : urt_message_t*, payload : void*) : void</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]
-class urt_publisher_t--><rect fill="#FEFECE" filter="url(#f809dau48hy9h)" height="128.8281" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="783" x="22.5" y="447.9531"/><ellipse cx="363.25" cy="463.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M362.7344,464.5156 Q360.875,463.8125 360.2188,463.0469 Q359.5781,462.2656 359.5781,460.9531 Q359.5781,459.2656 360.6563,458.2969 Q361.7344,457.3281 363.6094,457.3281 Q364.4688,457.3281 365.3125,457.5313 Q366.1719,457.7188 367.0156,458.1094 L367.0156,460.5 Q366.2344,459.9375 365.4063,459.6563 Q364.5938,459.3594 363.7969,459.3594 Q362.9219,459.3594 362.4375,459.7188 Q361.9688,460.0781 361.9688,460.7344 Q361.9688,461.25 362.3125,461.5938 Q362.6563,461.9219 363.75,462.3281 L364.8125,462.7344 Q366.2969,463.2813 367,464.1875 Q367.7188,465.0938 367.7188,466.4688 Q367.7188,468.3438 366.6094,469.2656 Q365.5,470.1875 363.25,470.1875 Q362.3281,470.1875 361.4063,469.9688 Q360.4844,469.75 359.625,469.3281 L359.625,466.7969 Q360.5938,467.4844 361.5156,467.8281 Q362.4375,468.1719 363.3281,468.1719 Q364.2344,468.1719 364.7344,467.7656 Q365.2344,467.3438 365.2344,466.6094 Q365.2344,466.0469 364.8906,465.6406 Q364.5625,465.2188 363.9375,464.9688 L362.7344,464.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="383.75" y="468.1074">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="23.5" x2="804.5" y1="479.9531" y2="479.9531"/><ellipse cx="33.5" cy="490.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="42.5" y="494.1636">topic : urt_topic_t*</text><ellipse cx="33.5" cy="520.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="149" x="42.5" y="523.7729">publishAttempts : uint64_t</text><ellipse cx="33.5" cy="533.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="42.5" y="536.5776">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="23.5" x2="305.5" y1="507.1602" y2="507.1602"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="305.5" y="510.4683">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="522.5" x2="804.5" y1="507.1602" y2="507.1602"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="23.5" x2="804.5" y1="543.1719" y2="543.1719"/><ellipse cx="33.5" cy="554.1719" 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="572" x="42.5" y="557.3823">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void</text><ellipse cx="33.5" cy="566.9766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="757" x="42.5" y="570.187">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(#f809dau48hy9h)" height="260.875" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="841" y="381.9531"/><ellipse cx="995.75" cy="397.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M995.2344,398.5156 Q993.375,397.8125 992.7188,397.0469 Q992.0781,396.2656 992.0781,394.9531 Q992.0781,393.2656 993.1563,392.2969 Q994.2344,391.3281 996.1094,391.3281 Q996.9688,391.3281 997.8125,391.5313 Q998.6719,391.7188 999.5156,392.1094 L999.5156,394.5 Q998.7344,393.9375 997.9063,393.6563 Q997.0938,393.3594 996.2969,393.3594 Q995.4219,393.3594 994.9375,393.7188 Q994.4688,394.0781 994.4688,394.7344 Q994.4688,395.25 994.8125,395.5938 Q995.1563,395.9219 996.25,396.3281 L997.3125,396.7344 Q998.7969,397.2813 999.5,398.1875 Q1000.2188,399.0938 1000.2188,400.4688 Q1000.2188,402.3438 999.1094,403.2656 Q998,404.1875 995.75,404.1875 Q994.8281,404.1875 993.9063,403.9688 Q992.9844,403.75 992.125,403.3281 L992.125,400.7969 Q993.0938,401.4844 994.0156,401.8281 Q994.9375,402.1719 995.8281,402.1719 Q996.7344,402.1719 997.2344,401.7656 Q997.7344,401.3438 997.7344,400.6094 Q997.7344,400.0469 997.3906,399.6406 Q997.0625,399.2188 996.4375,398.9688 L995.2344,398.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="1016.25" y="402.1074">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="842" x2="1224" y1="413.9531" y2="413.9531"/><ellipse cx="852" cy="424.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="861" y="428.1636">next : urt_topic_t*</text><ellipse cx="852" cy="437.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="861" y="440.9683">id : urt_topicid_t</text><ellipse cx="852" cy="450.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="861" y="453.7729">lock : urt_osMutex_t</text><ellipse cx="852" cy="463.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="861" y="466.5776">evtSource : urt_osEventSource_t</text><ellipse cx="852" cy="476.1719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="861" y="479.3823">numHrtSubscribers : unsigned int</text><ellipse cx="852" cy="488.9766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="861" y="492.187">hrtReleased : urt_osCondvar_t</text><ellipse cx="852" cy="501.7813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="209" x="861" y="504.9917">mandatoryMessage : urt_message_t</text><ellipse cx="852" cy="514.5859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="861" y="517.7964">latestMessage : urt_message_t*</text><ellipse cx="852" cy="544.1953" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="212" x="861" y="547.4058">hrtSubscribers : urt_hrtsubscriber_t*</text><ellipse cx="852" cy="557" fill="none" 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="861" y="560.2104">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="842" x2="900.5" y1="530.793" y2="530.793"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="900.5" y="534.1011">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1165.5" x2="1224" y1="530.793" y2="530.793"/><ellipse cx="852" cy="586.6094" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="861" y="589.8198">numMessagesPublished : uint64_t</text><ellipse cx="852" cy="599.4141" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="861" y="602.6245">numMessagesDiscarded : uint64_t</text><ellipse cx="852" cy="612.2188" fill="none" 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="861" y="615.4292">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="842" x2="924.5" y1="573.207" y2="573.207"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="924.5" y="576.5151">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1141.5" x2="1224" y1="573.207" y2="573.207"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="842" x2="1224" y1="622.0234" y2="622.0234"/><ellipse cx="852" cy="633.0234" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="358" x="861" y="636.2339">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[50a042e24f957794dab9ba3ea8701c50]
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-class urt_srtusefulnessfunc_t--><rect fill="#FEFECE" filter="url(#f809dau48hy9h)" height="60.8047" id="urt_srtusefulnessfunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="374" x="4636" y="747.4531"/><ellipse cx="4745.25" cy="763.4531" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4749.4844,759.2188 L4744.2031,759.2188 L4744.2031,761.8906 L4749,761.8906 L4749,764.0469 L4744.2031,764.0469 L4744.2031,769.4531 L4741.7656,769.4531 L4741.7656,757.0625 L4749.4844,757.0625 L4749.4844,759.2188 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="147" x="4765.75" y="767.6074">urt_srtusefulnessfunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4637" x2="5009" y1="779.4531" y2="779.4531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4637" x2="5009" y1="787.4531" y2="787.4531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="362" x="4642" y="801.6636">urt_srtusefulnessfunc_t (dt : urt_delay_t, params : void*) : float</text><!--MD5=[9ff46073dd541e50679ef35e851c67d6]
-class urt_nrtsubscriber_t--><rect fill="#FEFECE" filter="url(#f809dau48hy9h)" height="154.4375" id="urt_nrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="821" x="1278.5" y="435.4531"/><ellipse cx="1625.25" cy="451.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1624.7344,452.0156 Q1622.875,451.3125 1622.2188,450.5469 Q1621.5781,449.7656 1621.5781,448.4531 Q1621.5781,446.7656 1622.6563,445.7969 Q1623.7344,444.8281 1625.6094,444.8281 Q1626.4688,444.8281 1627.3125,445.0313 Q1628.1719,445.2188 1629.0156,445.6094 L1629.0156,448 Q1628.2344,447.4375 1627.4063,447.1563 Q1626.5938,446.8594 1625.7969,446.8594 Q1624.9219,446.8594 1624.4375,447.2188 Q1623.9688,447.5781 1623.9688,448.2344 Q1623.9688,448.75 1624.3125,449.0938 Q1624.6563,449.4219 1625.75,449.8281 L1626.8125,450.2344 Q1628.2969,450.7813 1629,451.6875 Q1629.7188,452.5938 1629.7188,453.9688 Q1629.7188,455.8438 1628.6094,456.7656 Q1627.5,457.6875 1625.25,457.6875 Q1624.3281,457.6875 1623.4063,457.4688 Q1622.4844,457.25 1621.625,456.8281 L1621.625,454.2969 Q1622.5938,454.9844 1623.5156,455.3281 Q1624.4375,455.6719 1625.3281,455.6719 Q1626.2344,455.6719 1626.7344,455.2656 Q1627.2344,454.8438 1627.2344,454.1094 Q1627.2344,453.5469 1626.8906,453.1406 Q1626.5625,452.7188 1625.9375,452.4688 L1624.7344,452.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="1645.75" y="455.6074">urt_nrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1279.5" x2="2098.5" y1="467.4531" y2="467.4531"/><ellipse cx="1289.5" cy="495.2578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="1298.5" y="498.4683">minLatency : urt_delay_t</text><ellipse cx="1289.5" cy="508.0625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="1298.5" y="511.2729">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1279.5" x2="1580.5" y1="481.8555" y2="481.8555"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="1580.5" y="485.1636">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1797.5" x2="2098.5" y1="481.8555" y2="481.8555"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1279.5" x2="2098.5" y1="517.8672" y2="517.8672"/><ellipse cx="1289.5" cy="528.8672" fill="#84BE84" 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="1298.5" y="532.0776">urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : void</text><ellipse cx="1289.5" cy="541.6719" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="715" x="1298.5" y="544.8823">urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="1289.5" cy="554.4766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="1298.5" y="557.687">urtNrtSubscriberFetchNextMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="1289.5" cy="567.2813" fill="#84BE84" 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="1298.5" y="570.4917">urtNrtSubscriberFetchLatestMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="1289.5" cy="580.0859" fill="#84BE84" 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="1298.5" y="583.2964">urtNrtSubscriberUnsubscribe (subscriber : urt_nrtsubscriber_t*) : urt_status_t</text><!--MD5=[5c7929572d87ccc448d875bea5da0fb1]
-class urt_srtsubscriber_t--><rect fill="#FEFECE" filter="url(#f809dau48hy9h)" height="192.8516" id="urt_srtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="4281" y="415.9531"/><ellipse cx="4759.75" cy="431.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4759.2344,432.5156 Q4757.375,431.8125 4756.7188,431.0469 Q4756.0781,430.2656 4756.0781,428.9531 Q4756.0781,427.2656 4757.1563,426.2969 Q4758.2344,425.3281 4760.1094,425.3281 Q4760.9688,425.3281 4761.8125,425.5313 Q4762.6719,425.7188 4763.5156,426.1094 L4763.5156,428.5 Q4762.7344,427.9375 4761.9063,427.6563 Q4761.0938,427.3594 4760.2969,427.3594 Q4759.4219,427.3594 4758.9375,427.7188 Q4758.4688,428.0781 4758.4688,428.7344 Q4758.4688,429.25 4758.8125,429.5938 Q4759.1563,429.9219 4760.25,430.3281 L4761.3125,430.7344 Q4762.7969,431.2813 4763.5,432.1875 Q4764.2188,433.0938 4764.2188,434.4688 Q4764.2188,436.3438 4763.1094,437.2656 Q4762,438.1875 4759.75,438.1875 Q4758.8281,438.1875 4757.9063,437.9688 Q4756.9844,437.75 4756.125,437.3281 L4756.125,434.7969 Q4757.0938,435.4844 4758.0156,435.8281 Q4758.9375,436.1719 4759.8281,436.1719 Q4760.7344,436.1719 4761.2344,435.7656 Q4761.7344,435.3438 4761.7344,434.6094 Q4761.7344,434.0469 4761.3906,433.6406 Q4761.0625,433.2188 4760.4375,432.9688 L4759.2344,432.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="4780.25" y="436.1074">urt_srtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4282" x2="5364" y1="447.9531" y2="447.9531"/><ellipse cx="4292" cy="458.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="229" x="4301" y="462.1636">usefulnesscb : urt_srtusefulnessfunc_t*</text><ellipse cx="4292" cy="471.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="4301" y="474.9683">cbparams : void*</text><ellipse cx="4292" cy="501.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="4301" y="504.5776">minLatency : urt_delay_t</text><ellipse cx="4292" cy="514.1719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="4301" y="517.3823">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4282" x2="4714.5" y1="487.9648" y2="487.9648"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="4714.5" y="491.2729">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4931.5" x2="5364" y1="487.9648" y2="487.9648"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4282" x2="5364" y1="523.9766" y2="523.9766"/><ellipse cx="4292" cy="534.9766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="4301" y="538.187">urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void</text><ellipse cx="4292" cy="547.7813" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1058" x="4301" y="550.9917">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="4292" cy="560.5859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="4301" y="563.7964">urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4292" cy="573.3906" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="4301" y="576.6011">urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4292" cy="586.1953" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="4301" y="589.4058">urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float</text><ellipse cx="4292" cy="599" fill="#84BE84" 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="4301" y="602.2104">urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t</text><!--MD5=[17838fb05fe219fd399839979ec8a4a4]
-class urt_frtsubscriber_t--><rect fill="#FEFECE" filter="url(#f809dau48hy9h)" height="226.4609" id="urt_frtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="974" x="3272" y="399.4531"/><ellipse cx="3697.25" cy="415.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3696.7344,416.0156 Q3694.875,415.3125 3694.2188,414.5469 Q3693.5781,413.7656 3693.5781,412.4531 Q3693.5781,410.7656 3694.6563,409.7969 Q3695.7344,408.8281 3697.6094,408.8281 Q3698.4688,408.8281 3699.3125,409.0313 Q3700.1719,409.2188 3701.0156,409.6094 L3701.0156,412 Q3700.2344,411.4375 3699.4063,411.1563 Q3698.5938,410.8594 3697.7969,410.8594 Q3696.9219,410.8594 3696.4375,411.2188 Q3695.9688,411.5781 3695.9688,412.2344 Q3695.9688,412.75 3696.3125,413.0938 Q3696.6563,413.4219 3697.75,413.8281 L3698.8125,414.2344 Q3700.2969,414.7813 3701,415.6875 Q3701.7188,416.5938 3701.7188,417.9688 Q3701.7188,419.8438 3700.6094,420.7656 Q3699.5,421.6875 3697.25,421.6875 Q3696.3281,421.6875 3695.4063,421.4688 Q3694.4844,421.25 3693.625,420.8281 L3693.625,418.2969 Q3694.5938,418.9844 3695.5156,419.3281 Q3696.4375,419.6719 3697.3281,419.6719 Q3698.2344,419.6719 3698.7344,419.2656 Q3699.2344,418.8438 3699.2344,418.1094 Q3699.2344,417.5469 3698.8906,417.1406 Q3698.5625,416.7188 3697.9375,416.4688 L3696.7344,416.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="3717.75" y="419.6074">urt_frtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3273" x2="4245" y1="431.4531" y2="431.4531"/><ellipse cx="3283" cy="459.2578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="3292" y="462.4683">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3273" x2="3613.5" y1="445.8555" y2="445.8555"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="3613.5" y="449.1636">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3904.5" x2="4245" y1="445.8555" y2="445.8555"/><ellipse cx="3283" cy="488.8672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="3292" y="492.0776">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3273" x2="3623.5" y1="475.4648" y2="475.4648"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3623.5" y="478.7729">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3894.5" x2="4245" y1="475.4648" y2="475.4648"/><ellipse cx="3283" cy="518.4766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="3292" y="521.687">minLatency : urt_delay_t</text><ellipse cx="3283" cy="531.2813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="3292" y="534.4917">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3273" x2="3505" y1="505.0742" y2="505.0742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="508" x="3505" y="508.3823">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="4013" x2="4245" y1="505.0742" y2="505.0742"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3273" x2="4245" y1="541.0859" y2="541.0859"/><ellipse cx="3283" cy="552.0859" fill="#84BE84" 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="3292" y="555.2964">urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : void</text><ellipse cx="3283" cy="564.8906" fill="#84BE84" 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="3292" y="568.1011">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="3283" cy="577.6953" fill="#84BE84" 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="3292" y="580.9058">urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="3283" cy="590.5" fill="#84BE84" 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="3292" y="593.7104">urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="3283" cy="603.3047" fill="#84BE84" 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="3292" y="606.5151">urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool</text><ellipse cx="3283" cy="616.1094" fill="#84BE84" 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="3292" y="619.3198">urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t</text><!--MD5=[104dc879e5721421b987fcc467bc3a1d]
-class urt_hrtsubscriber_t--><rect fill="#FEFECE" filter="url(#f809dau48hy9h)" height="268.875" id="urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="2135" y="377.9531"/><ellipse cx="2613.25" cy="393.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2612.7344,394.5156 Q2610.875,393.8125 2610.2188,393.0469 Q2609.5781,392.2656 2609.5781,390.9531 Q2609.5781,389.2656 2610.6563,388.2969 Q2611.7344,387.3281 2613.6094,387.3281 Q2614.4688,387.3281 2615.3125,387.5313 Q2616.1719,387.7188 2617.0156,388.1094 L2617.0156,390.5 Q2616.2344,389.9375 2615.4063,389.6563 Q2614.5938,389.3594 2613.7969,389.3594 Q2612.9219,389.3594 2612.4375,389.7188 Q2611.9688,390.0781 2611.9688,390.7344 Q2611.9688,391.25 2612.3125,391.5938 Q2612.6563,391.9219 2613.75,392.3281 L2614.8125,392.7344 Q2616.2969,393.2813 2617,394.1875 Q2617.7188,395.0938 2617.7188,396.4688 Q2617.7188,398.3438 2616.6094,399.2656 Q2615.5,400.1875 2613.25,400.1875 Q2612.3281,400.1875 2611.4063,399.9688 Q2610.4844,399.75 2609.625,399.3281 L2609.625,396.7969 Q2610.5938,397.4844 2611.5156,397.8281 Q2612.4375,398.1719 2613.3281,398.1719 Q2614.2344,398.1719 2614.7344,397.7656 Q2615.2344,397.3438 2615.2344,396.6094 Q2615.2344,396.0469 2614.8906,395.6406 Q2614.5625,395.2188 2613.9375,394.9688 L2612.7344,394.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="2633.75" y="398.1074">urt_hrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2136" x2="3218" y1="409.9531" y2="409.9531"/><ellipse cx="2146" cy="420.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="151" x="2155" y="424.1636">next : urt_hrtsubscriber_t*</text><ellipse cx="2146" cy="450.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="2155" y="453.7729">deadlineOffset : urt_delay_t</text><ellipse cx="2146" cy="463.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="2155" y="466.5776">qosDeadlineTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2136" x2="2531.5" y1="437.1602" y2="437.1602"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="2531.5" y="440.4683">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2822.5" x2="3218" y1="437.1602" y2="437.1602"/><ellipse cx="2146" cy="492.9766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="2155" y="496.187">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2136" x2="2541.5" y1="479.5742" y2="479.5742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="2541.5" y="482.8823">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2812.5" x2="3218" y1="479.5742" y2="479.5742"/><ellipse cx="2146" cy="522.5859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="2155" y="525.7964">minLatency : urt_delay_t</text><ellipse cx="2146" cy="535.3906" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="2155" y="538.6011">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2136" x2="2425" y1="509.1836" y2="509.1836"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="2425" y="512.4917">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="2929" x2="3218" y1="509.1836" y2="509.1836"/><ellipse cx="2146" cy="565" fill="none" 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="2155" y="568.2104">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2136" x2="2544.5" y1="551.5977" y2="551.5977"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="2544.5" y="554.9058">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2809.5" x2="3218" y1="551.5977" y2="551.5977"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2136" x2="3218" y1="574.8047" y2="574.8047"/><ellipse cx="2146" cy="585.8047" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="2155" y="589.0151">urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : void</text><ellipse cx="2146" cy="598.6094" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1058" x="2155" y="601.8198">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="2146" cy="611.4141" fill="#84BE84" 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="2155" y="614.6245">urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="2146" cy="624.2188" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="2155" y="627.4292">urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="2146" cy="637.0234" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="2155" y="640.2339">urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t</text><!--MD5=[3226071078d8aeaa18fbafa5359ddee6]
-class urt_servicefunc_t--><rect fill="#FEFECE" filter="url(#f809dau48hy9h)" height="60.8047" id="urt_servicefunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="451" x="7154.5" y="747.4531"/><ellipse cx="7322.75" cy="763.4531" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7326.9844,759.2188 L7321.7031,759.2188 L7321.7031,761.8906 L7326.5,761.8906 L7326.5,764.0469 L7321.7031,764.0469 L7321.7031,769.4531 L7319.2656,769.4531 L7319.2656,757.0625 L7326.9844,757.0625 L7326.9844,759.2188 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="106" x="7343.25" y="767.6074">urt_servicefunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7155.5" x2="7604.5" y1="779.4531" y2="779.4531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7155.5" x2="7604.5" y1="787.4531" y2="787.4531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="439" x="7160.5" y="801.6636">urt_servicefunc_t (arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[e60e0f8379a14e7a4a292c65add9d735]
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+cluster request--><rect fill="#FFFFFF" filter="url(#f1rypo70thvq1p)" height="621.5" style="stroke: #000000; stroke-width: 1.5;" width="2646" x="7661" y="69.4531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="62" x="8953" y="84.4482">request</text><!--MD5=[a7dea26996a1231aa68629b332780450]
+class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#f1rypo70thvq1p)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="5357" y="815.4531"/><ellipse cx="5502.75" cy="831.4531" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5503.5938,838.2031 L5501.1406,838.2031 L5501.1406,827.9531 L5498,827.9531 L5498,825.8125 L5506.7344,825.8125 L5506.7344,827.9531 L5503.5938,827.9531 L5503.5938,838.2031 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="5523.25" y="835.6074">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5358" x2="5812" y1="847.4531" y2="847.4531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5358" x2="5812" y1="855.4531" y2="855.4531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="5363" y="869.6636">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]
+class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#f1rypo70thvq1p)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="5848" y="815.4531"/><ellipse cx="6076.25" cy="831.4531" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6077.0938,838.2031 L6074.6406,838.2031 L6074.6406,827.9531 L6071.5,827.9531 L6071.5,825.8125 L6080.2344,825.8125 L6080.2344,827.9531 L6077.0938,827.9531 L6077.0938,838.2031 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="6096.75" y="835.6074">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5849" x2="6461" y1="847.4531" y2="847.4531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5849" x2="6461" y1="855.4531" y2="855.4531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="5854" y="869.6636">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(#f1rypo70thvq1p)" height="60.8047" id="urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="518" x="6497" y="815.4531"/><ellipse cx="6661.25" cy="831.4531" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6662.0938,838.2031 L6659.6406,838.2031 L6659.6406,827.9531 L6656.5,827.9531 L6656.5,825.8125 L6665.2344,825.8125 L6665.2344,827.9531 L6662.0938,827.9531 L6662.0938,838.2031 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="181" x="6681.75" y="835.6074">urt_nodeShutdownCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6498" x2="7014" y1="847.4531" y2="847.4531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6498" x2="7014" y1="855.4531" y2="855.4531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="506" x="6503" y="869.6636">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(#f1rypo70thvq1p)" height="231.2656" id="urt_node_t" style="stroke: #A80036; stroke-width: 1.5;" width="1541" x="5384.5" y="468.4531"/><ellipse cx="6117.25" cy="484.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6116.7344,485.0156 Q6114.875,484.3125 6114.2188,483.5469 Q6113.5781,482.7656 6113.5781,481.4531 Q6113.5781,479.7656 6114.6563,478.7969 Q6115.7344,477.8281 6117.6094,477.8281 Q6118.4688,477.8281 6119.3125,478.0313 Q6120.1719,478.2188 6121.0156,478.6094 L6121.0156,481 Q6120.2344,480.4375 6119.4063,480.1563 Q6118.5938,479.8594 6117.7969,479.8594 Q6116.9219,479.8594 6116.4375,480.2188 Q6115.9688,480.5781 6115.9688,481.2344 Q6115.9688,481.75 6116.3125,482.0938 Q6116.6563,482.4219 6117.75,482.8281 L6118.8125,483.2344 Q6120.2969,483.7813 6121,484.6875 Q6121.7188,485.5938 6121.7188,486.9688 Q6121.7188,488.8438 6120.6094,489.7656 Q6119.5,490.6875 6117.25,490.6875 Q6116.3281,490.6875 6115.4063,490.4688 Q6114.4844,490.25 6113.625,489.8281 L6113.625,487.2969 Q6114.5938,487.9844 6115.5156,488.3281 Q6116.4375,488.6719 6117.3281,488.6719 Q6118.2344,488.6719 6118.7344,488.2656 Q6119.2344,487.8438 6119.2344,487.1094 Q6119.2344,486.5469 6118.8906,486.1406 Q6118.5625,485.7188 6117.9375,485.4688 L6116.7344,485.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="67" x="6137.75" y="488.6074">urt_node_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5385.5" x2="6924.5" y1="500.4531" y2="500.4531"/><ellipse cx="5395.5" cy="511.4531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="102" x="5404.5" y="514.6636">next : urt_node_t*</text><ellipse cx="5395.5" cy="524.2578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="5404.5" y="527.4683">thread : urt_osThread_t*</text><ellipse cx="5395.5" cy="537.0625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="5404.5" y="540.2729">setupcallback : urt_nodeSetupCallback_t*</text><ellipse cx="5395.5" cy="549.8672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="117" x="5404.5" y="553.0776">setupparams : void*</text><ellipse cx="5395.5" cy="562.6719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="221" x="5404.5" y="565.8823">loopcallback : urt_nodeLoopCallback_t*</text><ellipse cx="5395.5" cy="575.4766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="109" x="5404.5" y="578.687">loopparams : void*</text><ellipse cx="5395.5" cy="588.2813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="281" x="5404.5" y="591.4917">shutdowncallback : urt_nodeShutdownCallback_t*</text><ellipse cx="5395.5" cy="601.0859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="140" x="5404.5" y="604.2964">shutdownparams : void*</text><ellipse cx="5395.5" cy="613.8906" fill="none" 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="5404.5" y="617.1011">stage : urt_nodestage_t</text><ellipse cx="5395.5" cy="626.6953" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="178" x="5404.5" y="629.9058">listener : urt_osEventListener_t</text><ellipse cx="5395.5" cy="656.3047" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="88" x="5404.5" y="659.5151">loops : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5385.5" x2="5947" y1="642.9023" y2="642.9023"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="416" x="5947" y="646.2104">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="6363" x2="6924.5" y1="642.9023" y2="642.9023"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5385.5" x2="6924.5" y1="666.1094" y2="666.1094"/><rect fill="#F24D5C" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="5392.5" y="674.1094"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="179" x="5404.5" y="680.3198">_main : urt_osThreadFunction_t</text><ellipse cx="5395.5" cy="689.9141" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1515" x="5404.5" y="693.1245">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(#f1rypo70thvq1p)" height="141.6328" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="406" x="830" y="972.9531"/><ellipse cx="982.75" cy="988.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M982.2344,989.5156 Q980.375,988.8125 979.7188,988.0469 Q979.0781,987.2656 979.0781,985.9531 Q979.0781,984.2656 980.1563,983.2969 Q981.2344,982.3281 983.1094,982.3281 Q983.9688,982.3281 984.8125,982.5313 Q985.6719,982.7188 986.5156,983.1094 L986.5156,985.5 Q985.7344,984.9375 984.9063,984.6563 Q984.0938,984.3594 983.2969,984.3594 Q982.4219,984.3594 981.9375,984.7188 Q981.4688,985.0781 981.4688,985.7344 Q981.4688,986.25 981.8125,986.5938 Q982.1563,986.9219 983.25,987.3281 L984.3125,987.7344 Q985.7969,988.2813 986.5,989.1875 Q987.2188,990.0938 987.2188,991.4688 Q987.2188,993.3438 986.1094,994.2656 Q985,995.1875 982.75,995.1875 Q981.8281,995.1875 980.9063,994.9688 Q979.9844,994.75 979.125,994.3281 L979.125,991.7969 Q980.0938,992.4844 981.0156,992.8281 Q981.9375,993.1719 982.8281,993.1719 Q983.7344,993.1719 984.2344,992.7656 Q984.7344,992.3438 984.7344,991.6094 Q984.7344,991.0469 984.3906,990.6406 Q984.0625,990.2188 983.4375,989.9688 L982.2344,989.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="1003.25" y="993.1074">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="831" x2="1235" y1="1004.9531" y2="1004.9531"/><ellipse cx="841" cy="1015.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="127" x="850" y="1019.1636">next : urt_message_t*</text><ellipse cx="841" cy="1028.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="850" y="1031.9683">payload : void*</text><ellipse cx="841" cy="1041.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="850" y="1044.7729">originTime : urt_osTime_t</text><ellipse cx="841" cy="1054.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="211" x="850" y="1057.5776">numHrtConsumersLeft : unsigned int</text><ellipse cx="841" cy="1083.9766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="850" y="1087.187">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="831" x2="924.5" y1="1070.5742" y2="1070.5742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="924.5" y="1073.8823">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1141.5" x2="1235" y1="1070.5742" y2="1070.5742"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="831" x2="1235" y1="1093.7813" y2="1093.7813"/><ellipse cx="841" cy="1104.7813" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="850" y="1107.9917">urtMessageInit (message : urt_message_t*, payload : void*) : void</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]
+class urt_publisher_t--><rect fill="#FEFECE" filter="url(#f1rypo70thvq1p)" height="128.8281" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="783" x="22.5" y="519.4531"/><ellipse cx="363.25" cy="535.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M362.7344,536.0156 Q360.875,535.3125 360.2188,534.5469 Q359.5781,533.7656 359.5781,532.4531 Q359.5781,530.7656 360.6563,529.7969 Q361.7344,528.8281 363.6094,528.8281 Q364.4688,528.8281 365.3125,529.0313 Q366.1719,529.2188 367.0156,529.6094 L367.0156,532 Q366.2344,531.4375 365.4063,531.1563 Q364.5938,530.8594 363.7969,530.8594 Q362.9219,530.8594 362.4375,531.2188 Q361.9688,531.5781 361.9688,532.2344 Q361.9688,532.75 362.3125,533.0938 Q362.6563,533.4219 363.75,533.8281 L364.8125,534.2344 Q366.2969,534.7813 367,535.6875 Q367.7188,536.5938 367.7188,537.9688 Q367.7188,539.8438 366.6094,540.7656 Q365.5,541.6875 363.25,541.6875 Q362.3281,541.6875 361.4063,541.4688 Q360.4844,541.25 359.625,540.8281 L359.625,538.2969 Q360.5938,538.9844 361.5156,539.3281 Q362.4375,539.6719 363.3281,539.6719 Q364.2344,539.6719 364.7344,539.2656 Q365.2344,538.8438 365.2344,538.1094 Q365.2344,537.5469 364.8906,537.1406 Q364.5625,536.7188 363.9375,536.4688 L362.7344,536.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="383.75" y="539.6074">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="23.5" x2="804.5" y1="551.4531" y2="551.4531"/><ellipse cx="33.5" cy="562.4531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="42.5" y="565.6636">topic : urt_topic_t*</text><ellipse cx="33.5" cy="592.0625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="149" x="42.5" y="595.2729">publishAttempts : uint64_t</text><ellipse cx="33.5" cy="604.8672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="42.5" y="608.0776">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="23.5" x2="305.5" y1="578.6602" y2="578.6602"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="305.5" y="581.9683">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="522.5" x2="804.5" y1="578.6602" y2="578.6602"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="23.5" x2="804.5" y1="614.6719" y2="614.6719"/><ellipse cx="33.5" cy="625.6719" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="572" x="42.5" y="628.8823">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void</text><ellipse cx="33.5" cy="638.4766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="757" x="42.5" y="641.687">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(#f1rypo70thvq1p)" height="260.875" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="841" y="453.4531"/><ellipse cx="995.75" cy="469.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M995.2344,470.0156 Q993.375,469.3125 992.7188,468.5469 Q992.0781,467.7656 992.0781,466.4531 Q992.0781,464.7656 993.1563,463.7969 Q994.2344,462.8281 996.1094,462.8281 Q996.9688,462.8281 997.8125,463.0313 Q998.6719,463.2188 999.5156,463.6094 L999.5156,466 Q998.7344,465.4375 997.9063,465.1563 Q997.0938,464.8594 996.2969,464.8594 Q995.4219,464.8594 994.9375,465.2188 Q994.4688,465.5781 994.4688,466.2344 Q994.4688,466.75 994.8125,467.0938 Q995.1563,467.4219 996.25,467.8281 L997.3125,468.2344 Q998.7969,468.7813 999.5,469.6875 Q1000.2188,470.5938 1000.2188,471.9688 Q1000.2188,473.8438 999.1094,474.7656 Q998,475.6875 995.75,475.6875 Q994.8281,475.6875 993.9063,475.4688 Q992.9844,475.25 992.125,474.8281 L992.125,472.2969 Q993.0938,472.9844 994.0156,473.3281 Q994.9375,473.6719 995.8281,473.6719 Q996.7344,473.6719 997.2344,473.2656 Q997.7344,472.8438 997.7344,472.1094 Q997.7344,471.5469 997.3906,471.1406 Q997.0625,470.7188 996.4375,470.4688 L995.2344,470.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="1016.25" y="473.6074">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="842" x2="1224" y1="485.4531" y2="485.4531"/><ellipse cx="852" cy="496.4531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="861" y="499.6636">next : urt_topic_t*</text><ellipse cx="852" cy="509.2578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="861" y="512.4683">id : urt_topicid_t</text><ellipse cx="852" cy="522.0625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="861" y="525.2729">lock : urt_osMutex_t</text><ellipse cx="852" cy="534.8672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="861" y="538.0776">evtSource : urt_osEventSource_t</text><ellipse cx="852" cy="547.6719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="861" y="550.8823">numHrtSubscribers : unsigned int</text><ellipse cx="852" cy="560.4766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="861" y="563.687">hrtReleased : urt_osCondvar_t</text><ellipse cx="852" cy="573.2813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="209" x="861" y="576.4917">mandatoryMessage : urt_message_t</text><ellipse cx="852" cy="586.0859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="861" y="589.2964">latestMessage : urt_message_t*</text><ellipse cx="852" cy="615.6953" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="212" x="861" y="618.9058">hrtSubscribers : urt_hrtsubscriber_t*</text><ellipse cx="852" cy="628.5" fill="none" 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="861" y="631.7104">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="842" x2="900.5" y1="602.293" y2="602.293"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="900.5" y="605.6011">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1165.5" x2="1224" y1="602.293" y2="602.293"/><ellipse cx="852" cy="658.1094" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="861" y="661.3198">numMessagesPublished : uint64_t</text><ellipse cx="852" cy="670.9141" fill="none" 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="861" y="674.1245">numMessagesDiscarded : uint64_t</text><ellipse cx="852" cy="683.7188" fill="none" 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="861" y="686.9292">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="842" x2="924.5" y1="644.707" y2="644.707"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="924.5" y="648.0151">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1141.5" x2="1224" y1="644.707" y2="644.707"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="842" x2="1224" y1="693.5234" y2="693.5234"/><ellipse cx="852" cy="704.5234" fill="#84BE84" 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="861" y="707.7339">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[50a042e24f957794dab9ba3ea8701c50]
+class urt_basesubscriber_t--><rect fill="#FEFECE" filter="url(#f1rypo70thvq1p)" height="133.6328" id="urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="225" x="2564.5" y="778.9531"/><ellipse cx="2606.95" cy="794.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2606.4344,795.5156 Q2604.575,794.8125 2603.9188,794.0469 Q2603.2781,793.2656 2603.2781,791.9531 Q2603.2781,790.2656 2604.3563,789.2969 Q2605.4344,788.3281 2607.3094,788.3281 Q2608.1688,788.3281 2609.0125,788.5313 Q2609.8719,788.7188 2610.7156,789.1094 L2610.7156,791.5 Q2609.9344,790.9375 2609.1063,790.6563 Q2608.2938,790.3594 2607.4969,790.3594 Q2606.6219,790.3594 2606.1375,790.7188 Q2605.6688,791.0781 2605.6688,791.7344 Q2605.6688,792.25 2606.0125,792.5938 Q2606.3563,792.9219 2607.45,793.3281 L2608.5125,793.7344 Q2609.9969,794.2813 2610.7,795.1875 Q2611.4188,796.0938 2611.4188,797.4688 Q2611.4188,799.3438 2610.3094,800.2656 Q2609.2,801.1875 2606.95,801.1875 Q2606.0281,801.1875 2605.1063,800.9688 Q2604.1844,800.75 2603.325,800.3281 L2603.325,797.7969 Q2604.2938,798.4844 2605.2156,798.8281 Q2606.1375,799.1719 2607.0281,799.1719 Q2607.9344,799.1719 2608.4344,798.7656 Q2608.9344,798.3438 2608.9344,797.6094 Q2608.9344,797.0469 2608.5906,796.6406 Q2608.2625,796.2188 2607.6375,795.9688 L2606.4344,795.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="132" x="2627.05" y="799.1074">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2565.5" x2="2788.5" y1="810.9531" y2="810.9531"/><ellipse cx="2575.5" cy="821.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="2584.5" y="825.1636">topic : urt_topic_t*</text><ellipse cx="2575.5" cy="834.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="2584.5" y="837.9683">evtListener : urt_osEventListener_t</text><ellipse cx="2575.5" cy="847.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="175" x="2584.5" y="850.7729">lastMessage : urt_message_t*</text><ellipse cx="2575.5" cy="860.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="2584.5" y="863.5776">lastMessageTime : urt_osTime_t</text><ellipse cx="2575.5" cy="889.9766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="2584.5" y="893.187">sumLatencies : uint64_t</text><ellipse cx="2575.5" cy="902.7813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="2584.5" y="905.9917">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2565.5" x2="2568.5" y1="876.5742" y2="876.5742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2568.5" y="879.8823">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2785.5" x2="2788.5" y1="876.5742" y2="876.5742"/><!--MD5=[9ff46073dd541e50679ef35e851c67d6]
+class urt_nrtsubscriber_t--><rect fill="#FEFECE" filter="url(#f1rypo70thvq1p)" height="154.4375" id="urt_nrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="821" x="1278.5" y="506.9531"/><ellipse cx="1625.25" cy="522.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1624.7344,523.5156 Q1622.875,522.8125 1622.2188,522.0469 Q1621.5781,521.2656 1621.5781,519.9531 Q1621.5781,518.2656 1622.6563,517.2969 Q1623.7344,516.3281 1625.6094,516.3281 Q1626.4688,516.3281 1627.3125,516.5313 Q1628.1719,516.7188 1629.0156,517.1094 L1629.0156,519.5 Q1628.2344,518.9375 1627.4063,518.6563 Q1626.5938,518.3594 1625.7969,518.3594 Q1624.9219,518.3594 1624.4375,518.7188 Q1623.9688,519.0781 1623.9688,519.7344 Q1623.9688,520.25 1624.3125,520.5938 Q1624.6563,520.9219 1625.75,521.3281 L1626.8125,521.7344 Q1628.2969,522.2813 1629,523.1875 Q1629.7188,524.0938 1629.7188,525.4688 Q1629.7188,527.3438 1628.6094,528.2656 Q1627.5,529.1875 1625.25,529.1875 Q1624.3281,529.1875 1623.4063,528.9688 Q1622.4844,528.75 1621.625,528.3281 L1621.625,525.7969 Q1622.5938,526.4844 1623.5156,526.8281 Q1624.4375,527.1719 1625.3281,527.1719 Q1626.2344,527.1719 1626.7344,526.7656 Q1627.2344,526.3438 1627.2344,525.6094 Q1627.2344,525.0469 1626.8906,524.6406 Q1626.5625,524.2188 1625.9375,523.9688 L1624.7344,523.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="1645.75" y="527.1074">urt_nrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1279.5" x2="2098.5" y1="538.9531" y2="538.9531"/><ellipse cx="1289.5" cy="566.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="1298.5" y="569.9683">minLatency : urt_delay_t</text><ellipse cx="1289.5" cy="579.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="1298.5" y="582.7729">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1279.5" x2="1580.5" y1="553.3555" y2="553.3555"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="1580.5" y="556.6636">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1797.5" x2="2098.5" y1="553.3555" y2="553.3555"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1279.5" x2="2098.5" y1="589.3672" y2="589.3672"/><ellipse cx="1289.5" cy="600.3672" 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="347" x="1298.5" y="603.5776">urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : void</text><ellipse cx="1289.5" cy="613.1719" 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="715" x="1298.5" y="616.3823">urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="1289.5" cy="625.9766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="1298.5" y="629.187">urtNrtSubscriberFetchNextMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="1289.5" cy="638.7813" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="1298.5" y="641.9917">urtNrtSubscriberFetchLatestMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="1289.5" cy="651.5859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="1298.5" y="654.7964">urtNrtSubscriberUnsubscribe (subscriber : urt_nrtsubscriber_t*) : urt_status_t</text><!--MD5=[5c7929572d87ccc448d875bea5da0fb1]
+class urt_srtsubscriber_t--><rect fill="#FEFECE" filter="url(#f1rypo70thvq1p)" height="192.8516" id="urt_srtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1044" x="4281" y="487.4531"/><ellipse cx="4739.75" cy="503.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4739.2344,504.0156 Q4737.375,503.3125 4736.7188,502.5469 Q4736.0781,501.7656 4736.0781,500.4531 Q4736.0781,498.7656 4737.1563,497.7969 Q4738.2344,496.8281 4740.1094,496.8281 Q4740.9688,496.8281 4741.8125,497.0313 Q4742.6719,497.2188 4743.5156,497.6094 L4743.5156,500 Q4742.7344,499.4375 4741.9063,499.1563 Q4741.0938,498.8594 4740.2969,498.8594 Q4739.4219,498.8594 4738.9375,499.2188 Q4738.4688,499.5781 4738.4688,500.2344 Q4738.4688,500.75 4738.8125,501.0938 Q4739.1563,501.4219 4740.25,501.8281 L4741.3125,502.2344 Q4742.7969,502.7813 4743.5,503.6875 Q4744.2188,504.5938 4744.2188,505.9688 Q4744.2188,507.8438 4743.1094,508.7656 Q4742,509.6875 4739.75,509.6875 Q4738.8281,509.6875 4737.9063,509.4688 Q4736.9844,509.25 4736.125,508.8281 L4736.125,506.2969 Q4737.0938,506.9844 4738.0156,507.3281 Q4738.9375,507.6719 4739.8281,507.6719 Q4740.7344,507.6719 4741.2344,507.2656 Q4741.7344,506.8438 4741.7344,506.1094 Q4741.7344,505.5469 4741.3906,505.1406 Q4741.0625,504.7188 4740.4375,504.4688 L4739.2344,504.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="4760.25" y="507.6074">urt_srtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4282" x2="5324" y1="519.4531" y2="519.4531"/><ellipse cx="4292" cy="530.4531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="4301" y="533.6636">usefulnesscb : urt_usefulness_f*</text><ellipse cx="4292" cy="543.2578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="4301" y="546.4683">cbparams : void*</text><ellipse cx="4292" cy="572.8672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="4301" y="576.0776">minLatency : urt_delay_t</text><ellipse cx="4292" cy="585.6719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="4301" y="588.8823">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4282" x2="4694.5" y1="559.4648" y2="559.4648"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="4694.5" y="562.7729">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4911.5" x2="5324" y1="559.4648" y2="559.4648"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4282" x2="5324" y1="595.4766" y2="595.4766"/><ellipse cx="4292" cy="606.4766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="4301" y="609.687">urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void</text><ellipse cx="4292" cy="619.2813" fill="#84BE84" 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="4301" y="622.4917">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="4292" cy="632.0859" fill="#84BE84" 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="4301" y="635.2964">urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4292" cy="644.8906" fill="#84BE84" 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="4301" y="648.1011">urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4292" cy="657.6953" fill="#84BE84" 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="4301" y="660.9058">urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float</text><ellipse cx="4292" cy="670.5" fill="#84BE84" 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="4301" y="673.7104">urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t</text><!--MD5=[17838fb05fe219fd399839979ec8a4a4]
+class urt_frtsubscriber_t--><rect fill="#FEFECE" filter="url(#f1rypo70thvq1p)" height="226.4609" id="urt_frtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="974" x="3272" y="470.9531"/><ellipse cx="3697.25" cy="486.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3696.7344,487.5156 Q3694.875,486.8125 3694.2188,486.0469 Q3693.5781,485.2656 3693.5781,483.9531 Q3693.5781,482.2656 3694.6563,481.2969 Q3695.7344,480.3281 3697.6094,480.3281 Q3698.4688,480.3281 3699.3125,480.5313 Q3700.1719,480.7188 3701.0156,481.1094 L3701.0156,483.5 Q3700.2344,482.9375 3699.4063,482.6563 Q3698.5938,482.3594 3697.7969,482.3594 Q3696.9219,482.3594 3696.4375,482.7188 Q3695.9688,483.0781 3695.9688,483.7344 Q3695.9688,484.25 3696.3125,484.5938 Q3696.6563,484.9219 3697.75,485.3281 L3698.8125,485.7344 Q3700.2969,486.2813 3701,487.1875 Q3701.7188,488.0938 3701.7188,489.4688 Q3701.7188,491.3438 3700.6094,492.2656 Q3699.5,493.1875 3697.25,493.1875 Q3696.3281,493.1875 3695.4063,492.9688 Q3694.4844,492.75 3693.625,492.3281 L3693.625,489.7969 Q3694.5938,490.4844 3695.5156,490.8281 Q3696.4375,491.1719 3697.3281,491.1719 Q3698.2344,491.1719 3698.7344,490.7656 Q3699.2344,490.3438 3699.2344,489.6094 Q3699.2344,489.0469 3698.8906,488.6406 Q3698.5625,488.2188 3697.9375,487.9688 L3696.7344,487.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="3717.75" y="491.1074">urt_frtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3273" x2="4245" y1="502.9531" y2="502.9531"/><ellipse cx="3283" cy="530.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="3292" y="533.9683">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3273" x2="3613.5" y1="517.3555" y2="517.3555"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="3613.5" y="520.6636">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3904.5" x2="4245" y1="517.3555" y2="517.3555"/><ellipse cx="3283" cy="560.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="3292" y="563.5776">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3273" x2="3623.5" y1="546.9648" y2="546.9648"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3623.5" y="550.2729">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3894.5" x2="4245" y1="546.9648" y2="546.9648"/><ellipse cx="3283" cy="589.9766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="3292" y="593.187">minLatency : urt_delay_t</text><ellipse cx="3283" cy="602.7813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="3292" y="605.9917">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3273" x2="3505" y1="576.5742" y2="576.5742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="508" x="3505" y="579.8823">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="4013" x2="4245" y1="576.5742" y2="576.5742"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3273" x2="4245" y1="612.5859" y2="612.5859"/><ellipse cx="3283" cy="623.5859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="342" x="3292" y="626.7964">urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : void</text><ellipse cx="3283" cy="636.3906" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="948" x="3292" y="639.6011">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="3283" cy="649.1953" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="780" x="3292" y="652.4058">urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="3283" cy="662" fill="#84BE84" 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="3292" y="665.2104">urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="3283" cy="674.8047" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="540" x="3292" y="678.0151">urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool</text><ellipse cx="3283" cy="687.6094" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="441" x="3292" y="690.8198">urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t</text><!--MD5=[104dc879e5721421b987fcc467bc3a1d]
+class urt_hrtsubscriber_t--><rect fill="#FEFECE" filter="url(#f1rypo70thvq1p)" height="268.875" id="urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="2135" y="449.4531"/><ellipse cx="2613.25" cy="465.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2612.7344,466.0156 Q2610.875,465.3125 2610.2188,464.5469 Q2609.5781,463.7656 2609.5781,462.4531 Q2609.5781,460.7656 2610.6563,459.7969 Q2611.7344,458.8281 2613.6094,458.8281 Q2614.4688,458.8281 2615.3125,459.0313 Q2616.1719,459.2188 2617.0156,459.6094 L2617.0156,462 Q2616.2344,461.4375 2615.4063,461.1563 Q2614.5938,460.8594 2613.7969,460.8594 Q2612.9219,460.8594 2612.4375,461.2188 Q2611.9688,461.5781 2611.9688,462.2344 Q2611.9688,462.75 2612.3125,463.0938 Q2612.6563,463.4219 2613.75,463.8281 L2614.8125,464.2344 Q2616.2969,464.7813 2617,465.6875 Q2617.7188,466.5938 2617.7188,467.9688 Q2617.7188,469.8438 2616.6094,470.7656 Q2615.5,471.6875 2613.25,471.6875 Q2612.3281,471.6875 2611.4063,471.4688 Q2610.4844,471.25 2609.625,470.8281 L2609.625,468.2969 Q2610.5938,468.9844 2611.5156,469.3281 Q2612.4375,469.6719 2613.3281,469.6719 Q2614.2344,469.6719 2614.7344,469.2656 Q2615.2344,468.8438 2615.2344,468.1094 Q2615.2344,467.5469 2614.8906,467.1406 Q2614.5625,466.7188 2613.9375,466.4688 L2612.7344,466.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="2633.75" y="469.6074">urt_hrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2136" x2="3218" y1="481.4531" y2="481.4531"/><ellipse cx="2146" cy="492.4531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="151" x="2155" y="495.6636">next : urt_hrtsubscriber_t*</text><ellipse cx="2146" cy="522.0625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="2155" y="525.2729">deadlineOffset : urt_delay_t</text><ellipse cx="2146" cy="534.8672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="2155" y="538.0776">qosDeadlineTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2136" x2="2531.5" y1="508.6602" y2="508.6602"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="2531.5" y="511.9683">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2822.5" x2="3218" y1="508.6602" y2="508.6602"/><ellipse cx="2146" cy="564.4766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="2155" y="567.687">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2136" x2="2541.5" y1="551.0742" y2="551.0742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="2541.5" y="554.3823">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2812.5" x2="3218" y1="551.0742" y2="551.0742"/><ellipse cx="2146" cy="594.0859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="2155" y="597.2964">minLatency : urt_delay_t</text><ellipse cx="2146" cy="606.8906" fill="none" 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="2155" y="610.1011">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2136" x2="2425" y1="580.6836" y2="580.6836"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="2425" y="583.9917">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="2929" x2="3218" y1="580.6836" y2="580.6836"/><ellipse cx="2146" cy="636.5" fill="none" 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="2155" y="639.7104">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2136" x2="2544.5" y1="623.0977" y2="623.0977"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="2544.5" y="626.4058">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2809.5" x2="3218" y1="623.0977" y2="623.0977"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2136" x2="3218" y1="646.3047" y2="646.3047"/><ellipse cx="2146" cy="657.3047" fill="#84BE84" 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="2155" y="660.5151">urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : void</text><ellipse cx="2146" cy="670.1094" fill="#84BE84" 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="2155" y="673.3198">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="2146" cy="682.9141" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="2155" y="686.1245">urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="2146" cy="695.7188" fill="#84BE84" 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="2155" y="698.9292">urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="2146" cy="708.5234" fill="#84BE84" 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="2155" y="711.7339">urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t</text><!--MD5=[e60e0f8379a14e7a4a292c65add9d735]
+class urt_service_t--><rect fill="#FEFECE" filter="url(#f1rypo70thvq1p)" height="269.6797" id="urt_service_t" style="stroke: #A80036; stroke-width: 1.5;" width="596" x="7039" y="448.9531"/><ellipse cx="7293.25" cy="464.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7292.7344,465.5156 Q7290.875,464.8125 7290.2188,464.0469 Q7289.5781,463.2656 7289.5781,461.9531 Q7289.5781,460.2656 7290.6563,459.2969 Q7291.7344,458.3281 7293.6094,458.3281 Q7294.4688,458.3281 7295.3125,458.5313 Q7296.1719,458.7188 7297.0156,459.1094 L7297.0156,461.5 Q7296.2344,460.9375 7295.4063,460.6563 Q7294.5938,460.3594 7293.7969,460.3594 Q7292.9219,460.3594 7292.4375,460.7188 Q7291.9688,461.0781 7291.9688,461.7344 Q7291.9688,462.25 7292.3125,462.5938 Q7292.6563,462.9219 7293.75,463.3281 L7294.8125,463.7344 Q7296.2969,464.2813 7297,465.1875 Q7297.7188,466.0938 7297.7188,467.4688 Q7297.7188,469.3438 7296.6094,470.2656 Q7295.5,471.1875 7293.25,471.1875 Q7292.3281,471.1875 7291.4063,470.9688 Q7290.4844,470.75 7289.625,470.3281 L7289.625,467.7969 Q7290.5938,468.4844 7291.5156,468.8281 Q7292.4375,469.1719 7293.3281,469.1719 Q7294.2344,469.1719 7294.7344,468.7656 Q7295.2344,468.3438 7295.2344,467.6094 Q7295.2344,467.0469 7294.8906,466.6406 Q7294.5625,466.2188 7293.9375,465.9688 L7292.7344,465.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="7313.75" y="469.1074">urt_service_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7040" x2="7634" y1="480.9531" y2="480.9531"/><ellipse cx="7050" cy="491.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="115" x="7059" y="495.1636">next : urt_service_t*</text><ellipse cx="7050" cy="504.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="105" x="7059" y="507.9683">id : urt_serviceid_t</text><ellipse cx="7050" cy="517.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="7059" y="520.7729">lock : urt_osMutex_t</text><ellipse cx="7050" cy="530.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="7059" y="533.5776">requestQueue_front : urt_baserequest_t*</text><ellipse cx="7050" cy="543.1719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="7059" y="546.3823">requestQueue_hrtBack : urt_hrtrequest_t*</text><ellipse cx="7050" cy="555.9766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="256" x="7059" y="559.187">requestQueue_fsrtBack : urt_baserequest_t*</text><ellipse cx="7050" cy="568.7813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="7059" y="571.9917">requestQueue_back : urt_baserequest_t*</text><ellipse cx="7050" cy="581.5859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="7059" y="584.7964">evtSource : urt_osEventSource_t</text><ellipse cx="7050" cy="594.3906" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="7059" y="597.6011">evtListener : urt_osEventListener_t</text><ellipse cx="7050" cy="624" fill="none" 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="7059" y="627.2104">numCalls : uint64_t</text><ellipse cx="7050" cy="636.8047" fill="none" 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="7059" y="640.0151">numOwnershipLost : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7040" x2="7241" y1="610.5977" y2="610.5977"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="7241" y="613.9058">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7433" x2="7634" y1="610.5977" y2="610.5977"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7040" x2="7634" y1="646.6094" y2="646.6094"/><ellipse cx="7050" cy="657.6094" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="412" x="7059" y="660.8198">urtServiceInit (service : urt_service_t*, id : urt_serviceid_t) : urt_status_t</text><ellipse cx="7050" cy="670.4141" fill="#84BE84" 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="7059" y="673.6245">urtServiceDispatch (service : urt_service_t*, payload : void*, bytes : size_t) : urt_baserequest_t*</text><ellipse cx="7050" cy="683.2188" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="552" x="7059" y="686.4292">urtServiceAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="7050" cy="696.0234" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="7059" y="699.2339">urtServiceTryAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="7050" cy="708.8281" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="365" x="7059" y="712.0386">urtServiceRespond (request : urt_baserequest_t*) : urt_status_t</text><!--MD5=[7294e1cfaeb111bef046bc5d07a96458]
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stroke-width: 1.5;" x1="8933" x2="9587" y1="136.9531" y2="136.9531"/><ellipse cx="8943" cy="164.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="8952" y="167.9683">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8933" x2="9127" y1="151.3555" y2="151.3555"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="266" x="9127" y="154.6636">URT_CFG_RPC_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9393" x2="9587" y1="151.3555" y2="151.3555"/><ellipse cx="8943" cy="194.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="8952" y="197.5776">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8933" x2="9137" y1="180.9648" y2="180.9648"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="9137" y="184.2729">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9383" x2="9587" y1="180.9648" y2="180.9648"/><ellipse cx="8943" cy="223.9766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="8952" y="227.187">minLatency : urt_delay_t</text><ellipse cx="8943" cy="236.7813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="8952" y="239.9917">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8933" x2="9033" y1="210.5742" y2="210.5742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="454" x="9033" y="213.8823">URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9487" x2="9587" y1="210.5742" y2="210.5742"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8933" x2="9587" y1="246.5859" y2="246.5859"/><ellipse cx="8943" cy="257.5859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="292" x="8952" y="260.7964">urtFrtRequestInit (request : urt_frtrequest_t*) : void</text><ellipse cx="8943" cy="270.3906" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="362" x="8952" y="273.6011">urtFrtRequestAcquire (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="8943" cy="283.1953" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="8952" y="286.4058">urtFrtRequestTryAcquire (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="8943" cy="296" fill="#84BE84" 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="8952" y="299.2104">urtFrtRequestRelease (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="8943" cy="308.8047" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="630" x="8952" y="312.0151">urtFrtRequestSubmit (request : urt_frtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t</text><ellipse cx="8943" cy="321.6094" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="366" x="8952" y="324.8198">urtFrtRequestRetrieve (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="8943" cy="334.4141" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="318" x="8952" y="337.6245">urtDrtCalculateValidity (request : urt_frtrequest_t) : bool</text><ellipse cx="8943" cy="364.0234" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="419" x="8952" y="367.2339">urtFrtRequestGetMaxJitter(request : urt_frtrequest_t*) : urt_delay_t* const</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8933" x2="9137" y1="350.6211" y2="350.6211"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="9137" y="353.9292">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9383" x2="9587" y1="350.6211" y2="350.6211"/><!--MD5=[2b0c3d572fefe037473ca776bdd2f803]
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stroke-width: 1.5;" x1="7670.5" x2="8329.5" y1="128.4531" y2="128.4531"/><ellipse cx="7680.5" cy="156.2578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="7689.5" y="159.4683">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7670.5" x2="7867" y1="142.8555" y2="142.8555"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="266" x="7867" y="146.1636">URT_CFG_RPC_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8133" x2="8329.5" y1="142.8555" y2="142.8555"/><ellipse cx="7680.5" cy="185.8672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="7689.5" y="189.0776">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7670.5" x2="7877" y1="172.4648" y2="172.4648"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="7877" y="175.7729">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8123" x2="8329.5" y1="172.4648" y2="172.4648"/><ellipse cx="7680.5" cy="215.4766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="7689.5" y="218.687">qosTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7670.5" x2="7736" y1="202.0742" y2="202.0742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="528" x="7736" y="205.3823">URT_CFG_RPC_QOS_DEADLINECHECKS == true || URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; 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stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8227" x2="8329.5" y1="231.6836" y2="231.6836"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7670.5" x2="8329.5" y1="267.6953" y2="267.6953"/><ellipse cx="7680.5" cy="278.6953" fill="#84BE84" 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="7689.5" y="281.9058">urtHrtRequestInit (request : urt_hrtrequest_t*) : void</text><ellipse cx="7680.5" cy="291.5" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="367" x="7689.5" y="294.7104">urtHrtRequestAcquire (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="7680.5" cy="304.3047" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="385" x="7689.5" y="307.5151">urtHrtRequestTryAcquire (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="7680.5" cy="317.1094" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; 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+reverse link urt_message_t to urt_message_t--><path d="M1248.5028,1017.5601 C1262.5209,1023.7125 1271,1032.5102 1271,1043.9531 C1271,1058.4551 1257.3815,1068.7084 1236.1293,1074.7131 " fill="none" id="urt_message_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1236.1293,1013.1931,1240.456,1018.962,1247.4452,1017.1869,1243.1185,1011.418,1236.1293,1013.1931" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1244.2203" y="1008.7753">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="1243.7886" y="1072.6249">0,1</text><!--MD5=[aa8990705afdbad14c7f998fe04b6f05]
+reverse link urt_basesubscriber_t to urt_message_t--><path d="M2568.7112,918.1333 C2566.1446,919.1376 2563.5726,920.0801 2561,920.9531 C2321.2643,1002.3021 1593.9511,1030.6718 1236.1648,1039.8784 " fill="none" id="urt_basesubscriber_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2580.6632,913.0124,2573.5728,911.6986,2569.633,917.7383,2576.7234,919.0521,2580.6632,913.0124" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2562.316" y="932.794">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="1243.8254" y="1036.5383">0,1</text><!--MD5=[0585cd4928de92ce6927d9c389eadd29]
+link urt_nrtsubscriber_t to urt_basesubscriber_t--><path d="M1891.7135,661.0027 C1962.4365,685.3368 2042.9049,710.2157 2118,726.9531 C2304.8793,768.6053 2368.4942,720.082 2545.1263,773.9702 " fill="none" id="urt_nrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="2547.3836,767.3426,2564.314,780.0847,2543.1328,780.6817,2547.3836,767.3426" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6d81edfa5aa102b898ad487ae19b49f9]
+link urt_srtsubscriber_t to urt_basesubscriber_t--><path d="M4478.0414,680.4988 C4407.9682,698.4065 4333.9284,715.1589 4264,726.9531 C3730.3517,816.9585 3084.2591,838.8977 2810.1996,844.2383 " fill="none" id="urt_srtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="2810.0655,851.242,2789.9385,844.6159,2809.8046,837.2444,2810.0655,851.242" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f626d284cba98e1d5d5fe914b1fa4188]
+link urt_frtsubscriber_t to urt_basesubscriber_t--><path d="M3371.4405,697.0088 C3332.2104,707.5233 3292.881,717.6928 3255,726.9531 C3103.1803,764.0664 2927.0543,799.2045 2809.5003,821.5426 " fill="none" id="urt_frtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="2810.6553,828.4482,2789.7026,825.2889,2808.0523,814.6923,2810.6553,828.4482" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[1ea71f2b33e56ab0ac5545988c1af396]
+link urt_hrtsubscriber_t to urt_basesubscriber_t--><path d="M2677,718.7905 C2677,732.2868 2677,745.7288 2677,758.5427 " fill="none" id="urt_hrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="2684.0001,758.7395,2677,778.7395,2670.0001,758.7394,2684.0001,758.7395" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ea2ec5c5272e65289dabade75a749f58]
+reverse link urt_hrtsubscriber_t to urt_hrtsubscriber_t--><path d="M3231.3399,559.5191 C3245.8539,566.2767 3254,574.4213 3254,583.9531 C3254,595.9145 3241.1717,605.6916 3219.0292,613.2843 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3219.0292,554.6219,3223.1257,560.5564,3230.1793,559.0575,3226.0828,553.123,3219.0292,554.6219" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3226.7077" y="551.1727">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="3226.7921" y="610.66">0,1</text><!--MD5=[54fcf25ad8c5f1d36e678e42d5bfd4cc]
+reverse link urt_publisher_t to urt_topic_t--><path d="M818.8622,583.9531 C826.1684,583.9531 833.4747,583.9531 840.7809,583.9531 " fill="none" id="urt_publisher_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="805.7109,583.9531,811.7109,587.9531,817.7109,583.9531,811.7109,579.9531,805.7109,583.9531" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="813.7488" y="580.8708">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="825.1161" y="580.7321">1</text><!--MD5=[5025b4c4053b8e7c7ca8a657f09f21c0]
+link urt_publisher_t to urt_message_t--><path d="M501.0477,648.6412 C614.7489,733.1365 813.3827,880.748 933.0977,969.7123 " fill="none" id="urt_publisher_t-&gt;urt_message_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="937.3228,972.8521,932.4848,964.2735,933.3096,969.8699,927.7132,970.6947,937.3228,972.8521" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b2afc1defaa6ed5a86f99c07f8466dd]
+reverse link urt_topic_t to urt_topic_t--><path d="M1237.0439,548.1437 C1251.3061,556.3173 1260,568.2537 1260,583.9531 C1260,603.6543 1246.309,617.4297 1225.1039,625.2794 " fill="none" id="urt_topic_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1225.1039,542.6268,1228.8728,548.7746,1235.9972,547.6602,1232.2284,541.5124,1225.1039,542.6268" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1232.7642" y="537.7915">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="1232.9986" y="623.6727">0,1</text><!--MD5=[ed3fb6de0913094c41bd74c175d366df]
+reverse link urt_topic_t to urt_hrtsubscriber_t--><path d="M1177.7361,444.9498 C1204.5888,424.3434 1233.5161,405.1369 1263,390.4531 C1270.1417,386.8963 1272.5719,387.3476 1280.5,386.4531 C1325.7131,381.3517 2054.2869,381.3517 2099.5,386.4531 C2187.5516,396.388 2279.7005,420.9069 2363.8741,449.4215 " fill="none" id="urt_topic_t&lt;-urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1167.1558,453.2225,1174.3463,452.6778,1176.6091,445.831,1169.4186,446.3756,1167.1558,453.2225" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1166.6804" y="442.3054">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="2325.1934" y="438.2847">0,1</text><!--MD5=[0b5167e958c0ed93ffc0c98ce399b54d]
+reverse link urt_topic_t to urt_message_t--><path d="M1033,727.7196 C1033,809.1756 1033,907.505 1033,972.6655 " fill="none" id="urt_topic_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1033,714.5402,1029,720.5402,1033,726.5402,1037,720.5402,1033,714.5402" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1024.7688" y="734.5977">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1024.6063" y="962.0014">1</text><!--MD5=[ed8977051960dfa72b850fe399f41716]
+reverse link urt_baserequest_t to urt_baserequest_t--><path d="M8755.2263,542.5268 C8769.0583,550.3592 8778,564.168 8778,583.9531 C8778,609.0273 8763.6385,624.5028 8743.1623,630.3796 " fill="none" id="urt_baserequest_t&lt;-urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8743.1623,537.5266,8747.1735,543.5191,8754.2478,542.1213,8750.2366,536.1288,8743.1623,537.5266" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8750.967" y="530.9863">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="8750.9722" y="629.8331">0,1,2</text><!--MD5=[426f0ba47802c5735a37a0acd494a192]
+reverse link urt_baserequest_t to urt_service_t--><path d="M8505.3111,583.9531 C8215.2829,583.9531 7925.2547,583.9531 7635.2266,583.9531 " fill="none" id="urt_baserequest_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8518.6838,583.9531,8512.6838,579.9531,8506.6838,583.9531,8512.6838,587.9531,8518.6838,583.9531" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8502.8688" y="580.5321">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="7643.4139" y="580.8268">0,1</text><!--MD5=[09de7ef26922535bfe0682cb358ee29c]
+reverse link urt_service_t to urt_baserequest_t--><path d="M7648.5992,583.9531 C7938.6274,583.9531 8228.6556,583.9531 8518.6838,583.9531 " fill="none" id="urt_service_t&lt;-urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="7635.2266,583.9531,7641.2266,587.9531,7647.2266,583.9531,7641.2266,579.9531,7635.2266,583.9531" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7643.2545" y="596.2253">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="8478.8645" y="596.4916">0,2,3</text><!--MD5=[dc2d1805b45628aba9d654613b3d05f9]
+link urt_nrtrequest_t to urt_baserequest_t--><path d="M8631,323.2868 C8631,365.7056 8631,417.9394 8631,464.4822 " fill="none" id="urt_nrtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="8638.0001,464.7207,8631,484.7206,8624.0001,464.7206,8638.0001,464.7207" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d53ae0f00163daee879678d1d1554717]
+link urt_nrtrequest_t to urt_service_t--><path d="M8496.6284,323.0707 C8451.1438,347.0238 8398.9343,370.0051 8348,382.4531 C8272.9806,400.7873 7727.2096,369.0754 7653,390.4531 C7609.3119,403.0384 7565.6616,423.4227 7525.358,446.3405 " fill="none" id="urt_nrtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7520.9658,448.8556,7530.7636,447.8544,7525.3047,446.3709,7526.7881,440.9121,7520.9658,448.8556" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f9755d42ba41539dee622699d8be3a22]
+link urt_srtrequest_t to urt_baserequest_t--><path d="M9755.3342,329.5383 C9706.9422,348.704 9655.1353,367.6103 9606,382.4531 C9310.2555,471.7919 8952.1982,534.6051 8763.0082,564.3824 " fill="none" id="urt_srtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="8763.8519,571.3354,8743.0112,567.5055,8761.6915,557.5031,8763.8519,571.3354" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[90efd84e0f70286880ba110c49a1e8f8]
+link urt_srtrequest_t to urt_service_t--><path d="M9775.3002,329.5975 C9721.8984,351.26 9662.7276,371.3364 9606,382.4531 C9552.7622,392.8859 7705.1858,375.6291 7653,390.4531 C7609.1163,402.9188 7565.2964,423.3268 7524.8725,446.3203 " fill="none" id="urt_srtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7520.4674,448.8438,7530.2651,447.8412,7524.806,446.3585,7526.2886,440.8994,7520.4674,448.8438" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bfc5f4e50344156edda6a5cfcff14fef]
+link urt_frtrequest_t to urt_baserequest_t--><path d="M9014.1097,374.1259 C8927.6867,421.4593 8833.9976,472.7724 8760.9016,512.8067 " fill="none" id="urt_frtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="8764.1603,519.003,8743.2564,522.4709,8757.4352,506.724,8764.1603,519.003" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[836450d5c472e7b2344319739fa0d5d1]
+link urt_frtrequest_t to urt_service_t--><path d="M8950.0775,374.0524 C8937.9986,377.2175 8925.9462,380.0423 8914,382.4531 C8845.3274,396.3115 7720.3692,371.2343 7653,390.4531 C7609.1303,402.9681 7565.3167,423.3981 7524.8945,446.3976 " fill="none" id="urt_frtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7520.4896,448.9217,7530.2872,447.9178,7524.8279,446.4359,7526.3098,440.9766,7520.4896,448.9217" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7c5d2ea3f0b69f804ad9b60a9539ac96]
+link urt_hrtrequest_t to urt_baserequest_t--><path d="M8330.7138,378.3705 C8336.4965,379.8132 8342.2616,381.1766 8348,382.4531 C8366.1336,386.4867 8499.0599,380.913 8515,390.4531 C8544.8504,408.3184 8567.951,437.0791 8585.3922,467.0244 " fill="none" id="urt_hrtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="8591.6096,463.8052,8595.0156,484.7193,8579.3108,470.494,8591.6096,463.8052" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[189d7bd823f9a098ae8eb3eaa3789ee1]
+link urt_hrtrequest_t to urt_service_t--><path d="M7669.4732,373.486 C7658.1147,379.1004 7646.927,384.7652 7636,390.4531 C7603.0976,407.5801 7568.9856,426.8085 7536.0723,446.3228 " fill="none" id="urt_hrtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7531.6465,448.9528,7541.4269,447.7936,7535.9448,446.3985,7537.3399,440.9164,7531.6465,448.9528" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bcf13f9307d05af3b11663d6e8155fbe]
+reverse link urt_service_t to urt_hrtrequest_t--><path d="M7577.6178,442.2654 C7608.7137,424.1502 7640.3807,406.3917 7671,390.4531 C7676.0992,387.7987 7681.2553,385.1494 7686.4576,382.5079 " fill="none" id="urt_service_t&lt;-urt_hrtrequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="7566.1902,448.9528,7573.389,449.3747,7576.5471,442.8919,7569.3483,442.4701,7566.1902,448.9528" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7571.209" y="437.7945">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="7649.7749" y="402.3495">0,1</text><!--MD5=[05f2c35569573d3273c65d3342945557]
+reverse link urt_service_t to urt_service_t--><path d="M7647.2443,553.1615 C7661.5974,560.9463 7670,571.2101 7670,583.9531 C7670,599.9443 7656.7678,612.0314 7635.1491,620.2144 " fill="none" id="urt_service_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="7635.1491,547.6918,7638.9678,553.8088,7646.083,552.6365,7642.2643,546.5195,7635.1491,547.6918" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7643.1749" y="543.6023">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="7643.3343" y="618.0513">0,1</text><!--MD5=[694e7400eb99f74d44ea388aed89d199]
+reverse link urt_core_t to urt_node_t--><path d="M6155,393.6297 C6155,418.7185 6155,444.3245 6155,468.2869 " fill="none" id="urt_core_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="6155,380.5684,6151,386.5684,6155,392.5684,6159,386.5684,6155,380.5684" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6146.7938" y="400.31">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6134.3594" y="457.4592">0,1</text><!--MD5=[250695c91040478b50550bc37a8775c7]
+reverse link urt_core_t to urt_topic_t--><path d="M5970.1881,241.7639 C5104.8953,253.0143 1486.5002,305.0128 1263,390.4531 C1225.5905,404.7541 1189.939,427.8725 1158.3539,453.2357 " fill="none" id="urt_core_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="5983.3455,241.5932,5977.2941,237.6714,5971.3465,241.749,5977.3979,245.6708,5983.3455,241.5932" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5967.3862" y="238.4275">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="1145.0228" y="442.3194">0,1</text><!--MD5=[8d0a227ec56585cdbc167f8316b34b64]
+reverse link urt_core_t to urt_service_t--><path d="M6339.6834,250.2239 C6520.9052,265.6126 6802.5453,302.5572 7031,390.4531 C7070.7444,405.7444 7110.8841,426.4946 7148.4262,448.7433 " fill="none" id="urt_core_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="6326.5402,249.1307,6332.1879,253.6144,6338.4989,250.1255,6332.8512,245.6419,6326.5402,249.1307" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6334.4944" y="246.3066">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="7117.5667" y="438.0182">0,1</text><!--MD5=[60c4a790664b06acf20491face248cbe]
 @startuml
 
 title **µRtWare**
@@ -140,10 +151,6 @@ title **µRtWare**
     + {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
@@ -157,14 +164,14 @@ title **µRtWare**
   }
 
     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
@@ -243,24 +250,110 @@ title **µRtWare**
 
   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
 }
 
 }
@@ -268,47 +361,60 @@ title **µRtWare**
 
 
 
-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
 
 
 
@@ -318,7 +424,7 @@ 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
diff --git a/doc/classdiagrams/urtware.uml b/doc/classdiagrams/urtware.uml
index 2d09b2c..b08d804 100644
--- a/doc/classdiagrams/urtware.uml
+++ b/doc/classdiagrams/urtware.uml
@@ -132,21 +132,21 @@ $module("Remote Procedure Call System") {
 
 !startsub DEPENDENCIES
 
-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
 
 !includesub pubsub.uml!DEPENDENCIES
 
 !includesub rpc.uml!DEPENDENCIES
 
-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
 
 !endsub
 
diff --git a/doc/componentdiagrams/µRtWare.svg b/doc/componentdiagrams/µRtWare.svg
index 362a0fd..41dd6ea 100644
--- a/doc/componentdiagrams/µRtWare.svg
+++ b/doc/componentdiagrams/µRtWare.svg
@@ -1,24 +1,23 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="232px" preserveAspectRatio="none" style="width:485px;height:232px;" version="1.1" viewBox="0 0 485 232" width="485px" zoomAndPan="magnify"><defs><filter height="300%" id="f1jutassn3u6p6" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><!--MD5=[6453d75e9418050e260cec6f688958e6]
-cluster µRtWare_node--><polygon fill="#FFFFFF" filter="url(#f1jutassn3u6p6)" points="143,26,153,16,372,16,372,210,362,220,143,220,143,26" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="362" x2="371" y1="26" y2="17"/><line style="stroke: #000000; stroke-width: 1.5;" x1="143" x2="362" y1="26" y2="26"/><line style="stroke: #000000; stroke-width: 1.5;" x1="362" x2="362" y1="26" y2="220"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="67" x="220" y="41.9951">µRtWare</text><!--MD5=[fd40ccbe8774676953ddf61024a14cbe]
-entity urtware.h--><ellipse cx="191" cy="77" fill="#FEFECE" filter="url(#f1jutassn3u6p6)" rx="8" ry="8" style="stroke: #A80036; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="65" x="158.5" y="106.9951">urtware.h</text><!--MD5=[ee46182f0107dd9daf1ed8ff1f2d296f]
-entity urtware.hpp--><ellipse cx="315" cy="77" fill="#FEFECE" filter="url(#f1jutassn3u6p6)" rx="8" ry="8" style="stroke: #A80036; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="83" x="273.5" y="106.9951">urtware.hpp</text><!--MD5=[2ba4cb89ad92ecc55d806d1b58fad40b]
-entity µRtWare--><rect fill="#FEFECE" filter="url(#f1jutassn3u6p6)" height="46.2969" style="stroke: #A80036; stroke-width: 1.5;" width="99" x="207.5" y="166"/><rect fill="#FEFECE" height="10" style="stroke: #A80036; stroke-width: 1.5;" width="15" x="286.5" y="171"/><rect fill="#FEFECE" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="284.5" y="173"/><rect fill="#FEFECE" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="284.5" y="177"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="59" x="222.5" y="198.9951">µRtWare</text><!--MD5=[d0dd69a14be837f7f3c90f75114d3962]
-entity urt_osal.h--><ellipse cx="440" cy="77" fill="#FEFECE" filter="url(#f1jutassn3u6p6)" rx="8" ry="8" style="stroke: #A80036; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="67" x="406.5" y="106.9951">urt_osal.h</text><!--MD5=[52e703b0f56369573ced850c1d612a7d]
-entity urtwareconf.h--><ellipse cx="61" cy="77" fill="#FEFECE" filter="url(#f1jutassn3u6p6)" rx="8" ry="8" style="stroke: #A80036; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="95" x="13.5" y="106.9951">urtwareconf.h</text><!--MD5=[4a3605c6554f9d69a4d0f086ddf56b5f]
-reverse link urt_osal.h to µRtWare--><path d="M422.1903,87.8999 C392.856,105.8532 333.7506,142.027 294.7781,165.879 " fill="none" id="urt_osal.h&lt;-µRtWare" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M423.8847,76.9474 A9,9 0 0 0 432.7143 91.3744" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--MD5=[3a30f5b64b239cc7733a184d2bf0b05c]
-reverse link urtwareconf.h to µRtWare--><path d="M79.0383,87.3076 C110.1045,105.0597 174.4261,141.8149 216.63,165.9314 " fill="none" id="urtwareconf.h&lt;-µRtWare" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M68.6672,91.1219 A9,9 0 0 0 77.0592 76.4361" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--MD5=[2db42f0cea6f9a2448bf6fce9057241f]
-link urtware.h to µRtWare--><path d="M196.4011,86.1654 C206.5606,103.4059 228.7979,141.1419 243.3235,165.7914 " fill="none" id="urtware.h-µRtWare" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b7da49829622cf1b4f67c91d44023ac0]
-link urtware.hpp to µRtWare--><path d="M310.2536,86.1654 C301.3255,103.4059 281.7836,141.1419 269.0187,165.7914 " fill="none" id="urtware.hpp-µRtWare" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[a1501929033370bfd88357139c5f763d]
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="232px" preserveAspectRatio="none" style="width:527px;height:232px;" version="1.1" viewBox="0 0 527 232" width="527px" zoomAndPan="magnify"><defs><filter height="300%" id="f1cgvxlcmt87dp" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><!--MD5=[6453d75e9418050e260cec6f688958e6]
+cluster µRtWare_node--><polygon fill="#FFFFFF" filter="url(#f1cgvxlcmt87dp)" points="14,26,24,16,505,16,505,210,495,220,14,220,14,26" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="495" x2="504" y1="26" y2="17"/><line style="stroke: #000000; stroke-width: 1.5;" x1="14" x2="495" y1="26" y2="26"/><line style="stroke: #000000; stroke-width: 1.5;" x1="495" x2="495" y1="26" y2="220"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="67" x="222" y="41.9951">µRtWare</text><!--MD5=[fd40ccbe8774676953ddf61024a14cbe]
+entity urtware.h--><ellipse cx="324" cy="77" fill="#FEFECE" filter="url(#f1cgvxlcmt87dp)" rx="8" ry="8" style="stroke: #A80036; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="65" x="291.5" y="106.9951">urtware.h</text><!--MD5=[ee46182f0107dd9daf1ed8ff1f2d296f]
+entity urtware.hpp--><ellipse cx="448" cy="77" fill="#FEFECE" filter="url(#f1cgvxlcmt87dp)" rx="8" ry="8" style="stroke: #A80036; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="83" x="406.5" y="106.9951">urtware.hpp</text><!--MD5=[52e703b0f56369573ced850c1d612a7d]
+entity urtwareconf.h--><ellipse cx="194" cy="77" fill="#FEFECE" filter="url(#f1cgvxlcmt87dp)" rx="8" ry="8" style="stroke: #A80036; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="95" x="146.5" y="106.9951">urtwareconf.h</text><!--MD5=[d0dd69a14be837f7f3c90f75114d3962]
+entity urt_osal.h--><ellipse cx="63" cy="77" fill="#FEFECE" filter="url(#f1cgvxlcmt87dp)" rx="8" ry="8" style="stroke: #A80036; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="67" x="29.5" y="106.9951">urt_osal.h</text><!--MD5=[2ba4cb89ad92ecc55d806d1b58fad40b]
+entity µRtWare--><rect fill="#FEFECE" filter="url(#f1cgvxlcmt87dp)" height="46.2969" style="stroke: #A80036; stroke-width: 1.5;" width="99" x="209.5" y="166"/><rect fill="#FEFECE" height="10" style="stroke: #A80036; stroke-width: 1.5;" width="15" x="288.5" y="171"/><rect fill="#FEFECE" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="286.5" y="173"/><rect fill="#FEFECE" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="286.5" y="177"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="59" x="224.5" y="198.9951">µRtWare</text><!--MD5=[4a3605c6554f9d69a4d0f086ddf56b5f]
+reverse link urt_osal.h to µRtWare--><path d="M81.0383,87.3076 C112.1045,105.0597 176.4261,141.8149 218.63,165.9314 " fill="none" id="urt_osal.h&lt;-µRtWare" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M70.6672,91.1219 A9,9 0 0 0 79.0592 76.4361" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--MD5=[3a30f5b64b239cc7733a184d2bf0b05c]
+reverse link urtwareconf.h to µRtWare--><path d="M204.3442,94.8238 C215.4968,114.0406 233.2928,144.7045 245.5307,165.7914 " fill="none" id="urtwareconf.h&lt;-µRtWare" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M193.5497,93.0728 A9,9 0 0 0 208.1789 84.5826" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--MD5=[2db42f0cea6f9a2448bf6fce9057241f]
+link urtware.h to µRtWare--><path d="M318.6808,86.1654 C308.6751,103.4059 286.7748,141.1419 272.4693,165.7914 " fill="none" id="urtware.h-µRtWare" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b7da49829622cf1b4f67c91d44023ac0]
+link urtware.hpp to µRtWare--><path d="M438.8841,82.402 C413.8872,97.215 343.1325,139.1437 298.1717,165.7872 " fill="none" id="urtware.hpp-µRtWare" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6c3159d687cf3c3a7cd395a46050e904]
 @startuml
 skinparam componentStyle uml2
 
 
-interface urt_osal.h
-interface urtwareconf.h
-
 node "µRtWare" as µRtWare_node {
 	interface urtware.h
 	interface urtware.hpp
+	interface urtwareconf.h
+	interface urt_osal.h
 
 	component µRtWare
 	µRtWare -up-( urt_osal.h
@@ -33,7 +32,7 @@ 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
diff --git a/doc/componentdiagrams/µRtWare.uml b/doc/componentdiagrams/µRtWare.uml
index e2121e2..2b627f2 100644
--- a/doc/componentdiagrams/µRtWare.uml
+++ b/doc/componentdiagrams/µRtWare.uml
@@ -26,12 +26,11 @@ skinparam componentStyle uml2
 ' µRtWare
 '-------------------------------------------------------------------------------
 
-interface urt_osal.h
-interface urtwareconf.h
-
 node "µRtWare" as µRtWare_node {
 	interface urtware.h
 	interface urtware.hpp
+	interface urtwareconf.h
+	interface urt_osal.h
 
 	component µRtWare
 	µRtWare -up-( urt_osal.h
