AMiRo-OS

<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="1947px" preserveAspectRatio="none" style="width:19083px;height:1947px;" version="1.1" viewBox="0 0 19083 1947" width="19083px" zoomAndPan="magnify"><defs><filter height="300%" id="f168bdpv6hwrno" 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="9497" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="87" x="9498" y="37.6611">Overview</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="9544.5" y="58.6143"/><!--MD5=[915f6a2b4bff9d90dc7327d570275f1b]

cluster Configuration--><polygon fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" points="8875.6783,1619.8594,8885.6783,1609.8594,9181.6783,1609.8594,9181.6783,1925.8594,9171.6783,1935.8594,8875.6783,1935.8594,8875.6783,1619.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="9171.6783" x2="9180.6783" y1="1619.8594" y2="1610.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="8875.6783" x2="9171.6783" y1="1619.8594" y2="1619.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="9171.6783" x2="9171.6783" y1="1619.8594" y2="1935.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="107" x="8971.1783" y="1635.8545">Configuration</text><!--MD5=[1cb8ced355c85ab51f1ab55883ed8585]

cluster Primitives--><polygon fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" points="6790.6783,1281.8594,6800.6783,1271.8594,8202.6783,1271.8594,8202.6783,1849.3594,8192.6783,1859.3594,6790.6783,1859.3594,6790.6783,1281.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="8192.6783" x2="8201.6783" y1="1281.8594" y2="1272.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="6790.6783" x2="8192.6783" y1="1281.8594" y2="1281.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="8192.6783" x2="8192.6783" y1="1281.8594" y2="1859.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="77" x="7454.1783" y="1297.8545">Primitives</text><!--MD5=[ba9da179b6f0b3bb0ea21772c5f4ec75]

cluster OSAL--><polygon fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" points="576.6783,818.8594,586.6783,808.8594,6151.6783,808.8594,6151.6783,1814.8594,6141.6783,1824.8594,576.6783,1824.8594,576.6783,818.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="6141.6783" x2="6150.6783" y1="818.8594" y2="809.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="576.6783" x2="6141.6783" y1="818.8594" y2="818.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="6141.6783" x2="6141.6783" y1="818.8594" y2="1824.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="42" x="3339.1783" y="834.8545">OSAL</text><!--MD5=[3dab47d3fc3e186ff10f67819eb99ff8]

cluster time--><rect fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" height="121" style="stroke: #000000; stroke-width: 1.5;" width="442" x="5701.6783" y="985.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="34" x="5905.6783" y="1000.8545">time</text><!--MD5=[48ccbfc44b1b031f9b243763d7ad5184]

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]

cluster condition variable--><rect fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" height="514.5" style="stroke: #000000; stroke-width: 1.5;" width="726" x="4956.6783" y="979.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="140" x="5249.6783" y="994.3545">condition variable</text><!--MD5=[c7113df1f710ca294cbd01734aa00974]

cluster timer--><rect fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" height="508.5" style="stroke: #000000; stroke-width: 1.5;" width="798" x="3806.6783" y="972.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="4185.1783" y="987.8545">timer</text><!--MD5=[107bb3f79455a18bd83c75ada1ac7979]

cluster thread--><rect fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" height="685" style="stroke: #000000; stroke-width: 1.5;" width="1039" x="2759.6783" y="840.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="3253.1783" y="855.8545">thread</text><!--MD5=[8d74b40516bd265adb19f202ab81f40d]

cluster events--><rect fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" height="831" style="stroke: #000000; stroke-width: 1.5;" width="1642" x="1098.6783" y="985.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="54" x="1892.6783" y="1000.8545">events</text><!--MD5=[b978ecedb6f4da3f32705dc09c84a7d6]

cluster streams--><rect fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" height="109" style="stroke: #000000; stroke-width: 1.5;" width="226" x="864.6783" y="991.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="64" x="945.6783" y="1006.8545">streams</text><!--MD5=[62106fc051f244acf17caf792167c8db]

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]

cluster subscriber--><rect fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" height="634.5" style="stroke: #000000; stroke-width: 1.5;" width="4063" x="13115.6783" y="496.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="85" x="15104.6783" y="511.3545">subscriber</text><!--MD5=[810d0f07e53ef611b6d803ef30301147]

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]

cluster request--><rect fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" height="621.5" style="stroke: #000000; stroke-width: 1.5;" width="2645" x="9198.6783" y="143.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="62" x="10490.1783" y="158.3545">request</text><!--MD5=[e443ac33c80100c2d54e1f5fe669f6d7]

class urt_config--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="286.4844" id="urt_config" style="stroke: #A80036; stroke-width: 1.5;" width="290" x="8883.6783" y="1641.8594"/><ellipse cx="8993.4283" cy="1657.8594" fill="#BFBFBF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8996.3971,1663.5 Q8995.8189,1663.7969 8995.1783,1663.9375 Q8994.5377,1664.0938 8993.8346,1664.0938 Q8991.3346,1664.0938 8990.0064,1662.4531 Q8988.6939,1660.7969 8988.6939,1657.6719 Q8988.6939,1654.5469 8990.0064,1652.8906 Q8991.3346,1651.2344 8993.8346,1651.2344 Q8994.5377,1651.2344 8995.1783,1651.3906 Q8995.8346,1651.5469 8996.3971,1651.8438 L8996.3971,1654.5625 Q8995.7721,1653.9844 8995.1783,1653.7188 Q8994.5846,1653.4375 8993.9596,1653.4375 Q8992.6158,1653.4375 8991.9283,1654.5156 Q8991.2408,1655.5781 8991.2408,1657.6719 Q8991.2408,1659.7656 8991.9283,1660.8438 Q8992.6158,1661.9063 8993.9596,1661.9063 Q8994.5846,1661.9063 8995.1783,1661.6406 Q8995.7721,1661.3594 8996.3971,1660.7813 L8996.3971,1663.5 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="62" x="9013.9283" y="1662.0137">urt_config</text><line style="stroke: #A80036; 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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; 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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; 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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]

class urt_nrtsubscriber_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="154.4375" id="urt_nrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="821" x="14261.1783" y="580.8594"/><ellipse cx="14607.9283" cy="596.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M14607.4127,597.4219 Q14605.5533,596.7188 14604.8971,595.9531 Q14604.2564,595.1719 14604.2564,593.8594 Q14604.2564,592.1719 14605.3346,591.2031 Q14606.4127,590.2344 14608.2877,590.2344 Q14609.1471,590.2344 14609.9908,590.4375 Q14610.8502,590.625 14611.6939,591.0156 L14611.6939,593.4063 Q14610.9127,592.8438 14610.0846,592.5625 Q14609.2721,592.2656 14608.4752,592.2656 Q14607.6002,592.2656 14607.1158,592.625 Q14606.6471,592.9844 14606.6471,593.6406 Q14606.6471,594.1563 14606.9908,594.5 Q14607.3346,594.8281 14608.4283,595.2344 L14609.4908,595.6406 Q14610.9752,596.1875 14611.6783,597.0938 Q14612.3971,598 14612.3971,599.375 Q14612.3971,601.25 14611.2877,602.1719 Q14610.1783,603.0938 14607.9283,603.0938 Q14607.0064,603.0938 14606.0846,602.875 Q14605.1627,602.6563 14604.3033,602.2344 L14604.3033,599.7031 Q14605.2721,600.3906 14606.1939,600.7344 Q14607.1158,601.0781 14608.0064,601.0781 Q14608.9127,601.0781 14609.4127,600.6719 Q14609.9127,600.25 14609.9127,599.5156 Q14609.9127,598.9531 14609.5689,598.5469 Q14609.2408,598.125 14608.6158,597.875 L14607.4127,597.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="14628.4283" y="601.0137">urt_nrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="14262.1783" x2="15081.1783" y1="612.8594" y2="612.8594"/><ellipse cx="14272.1783" cy="640.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="14281.1783" y="643.8745">minLatency : urt_delay_t</text><ellipse cx="14272.1783" cy="653.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="14281.1783" y="656.6792">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="14262.1783" x2="14563.1783" y1="627.2617" y2="627.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="14563.1783" y="630.5698">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="14780.1783" x2="15081.1783" y1="627.2617" y2="627.2617"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="14262.1783" x2="15081.1783" y1="663.2734" y2="663.2734"/><ellipse cx="14272.1783" cy="674.2734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="14281.1783" y="677.4839">urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : void</text><ellipse cx="14272.1783" cy="687.0781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="715" x="14281.1783" y="690.2886">urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="14272.1783" cy="699.8828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="14281.1783" y="703.0933">urtNrtSubscriberFetchNextMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="14272.1783" cy="712.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="14281.1783" y="715.8979">urtNrtSubscriberFetchLatestMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="14272.1783" cy="725.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="14281.1783" y="728.7026">urtNrtSubscriberUnsubscribe (subscriber : urt_nrtsubscriber_t*) : urt_status_t</text><!--MD5=[5c7929572d87ccc448d875bea5da0fb1]

class urt_srtsubscriber_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="192.8516" id="urt_srtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1044" x="15117.6783" y="561.3594"/><ellipse cx="15576.4283" cy="577.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M15575.9127,577.9219 Q15574.0533,577.2188 15573.3971,576.4531 Q15572.7564,575.6719 15572.7564,574.3594 Q15572.7564,572.6719 15573.8346,571.7031 Q15574.9127,570.7344 15576.7877,570.7344 Q15577.6471,570.7344 15578.4908,570.9375 Q15579.3502,571.125 15580.1939,571.5156 L15580.1939,573.9063 Q15579.4127,573.3438 15578.5846,573.0625 Q15577.7721,572.7656 15576.9752,572.7656 Q15576.1002,572.7656 15575.6158,573.125 Q15575.1471,573.4844 15575.1471,574.1406 Q15575.1471,574.6563 15575.4908,575 Q15575.8346,575.3281 15576.9283,575.7344 L15577.9908,576.1406 Q15579.4752,576.6875 15580.1783,577.5938 Q15580.8971,578.5 15580.8971,579.875 Q15580.8971,581.75 15579.7877,582.6719 Q15578.6783,583.5938 15576.4283,583.5938 Q15575.5064,583.5938 15574.5846,583.375 Q15573.6627,583.1563 15572.8033,582.7344 L15572.8033,580.2031 Q15573.7721,580.8906 15574.6939,581.2344 Q15575.6158,581.5781 15576.5064,581.5781 Q15577.4127,581.5781 15577.9127,581.1719 Q15578.4127,580.75 15578.4127,580.0156 Q15578.4127,579.4531 15578.0689,579.0469 Q15577.7408,578.625 15577.1158,578.375 L15575.9127,577.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="15596.9283" y="581.5137">urt_srtsubscriber_t</text><line style="stroke: #A80036; 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]

class urt_hrtsubscriber_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="268.875" id="urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="13123.6783" y="523.3594"/><ellipse cx="13601.9283" cy="539.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M13601.4127,539.9219 Q13599.5533,539.2188 13598.8971,538.4531 Q13598.2564,537.6719 13598.2564,536.3594 Q13598.2564,534.6719 13599.3346,533.7031 Q13600.4127,532.7344 13602.2877,532.7344 Q13603.1471,532.7344 13603.9908,532.9375 Q13604.8502,533.125 13605.6939,533.5156 L13605.6939,535.9063 Q13604.9127,535.3438 13604.0846,535.0625 Q13603.2721,534.7656 13602.4752,534.7656 Q13601.6002,534.7656 13601.1158,535.125 Q13600.6471,535.4844 13600.6471,536.1406 Q13600.6471,536.6563 13600.9908,537 Q13601.3346,537.3281 13602.4283,537.7344 L13603.4908,538.1406 Q13604.9752,538.6875 13605.6783,539.5938 Q13606.3971,540.5 13606.3971,541.875 Q13606.3971,543.75 13605.2877,544.6719 Q13604.1783,545.5938 13601.9283,545.5938 Q13601.0064,545.5938 13600.0846,545.375 Q13599.1627,545.1563 13598.3033,544.7344 L13598.3033,542.2031 Q13599.2721,542.8906 13600.1939,543.2344 Q13601.1158,543.5781 13602.0064,543.5781 Q13602.9127,543.5781 13603.4127,543.1719 Q13603.9127,542.75 13603.9127,542.0156 Q13603.9127,541.4531 13603.5689,541.0469 Q13603.2408,540.625 13602.6158,540.375 L13601.4127,539.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="13622.4283" y="543.5137">urt_hrtsubscriber_t</text><line style="stroke: #A80036; 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="9226.6783" x2="9448.6783" y1="590.8594" y2="590.8594"/><ellipse cx="9236.6783" cy="601.8594" 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="147" x="9245.6783" y="605.0698">prev : urt_baserequest_t*</text><ellipse cx="9236.6783" cy="614.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="9245.6783" y="617.8745">next : urt_baserequest_t*</text><ellipse cx="9236.6783" cy="627.4688" 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="9245.6783" y="630.6792">lock : urt_osMutex_t</text><ellipse cx="9236.6783" cy="640.2734" 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="126" x="9245.6783" y="643.4839">owner : urt_service_t*</text><ellipse cx="9236.6783" cy="653.0781" 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="180" x="9245.6783" y="656.2886">submissionTime : urt_osTime_t</text><ellipse cx="9236.6783" cy="665.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="9245.6783" y="669.0933">payload : void*</text><ellipse cx="9236.6783" cy="678.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="9245.6783" y="681.8979">evtSource : urt_osEventSource_t</text><ellipse cx="9236.6783" cy="691.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="9245.6783" y="694.7026">evtListener : urt_osEventListener_t</text><ellipse cx="9236.6783" cy="721.1016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="9245.6783" y="724.312">sumLatencies : uint64_t</text><ellipse cx="9236.6783" cy="733.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="9245.6783" y="737.1167">numCalls : uint64_t</text><ellipse cx="9236.6783" cy="746.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="108" x="9245.6783" y="749.9214">numFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9226.6783" x2="9241.6783" y1="707.6992" y2="707.6992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="9241.6783" y="711.0073">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; 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class urt_nrtrequest_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="167.2422" id="urt_nrtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="531" x="10613.1783" y="229.8594"/><ellipse cx="10823.4283" cy="245.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10822.9127,246.4219 Q10821.0533,245.7188 10820.3971,244.9531 Q10819.7564,244.1719 10819.7564,242.8594 Q10819.7564,241.1719 10820.8346,240.2031 Q10821.9127,239.2344 10823.7877,239.2344 Q10824.6471,239.2344 10825.4908,239.4375 Q10826.3502,239.625 10827.1939,240.0156 L10827.1939,242.4063 Q10826.4127,241.8438 10825.5846,241.5625 Q10824.7721,241.2656 10823.9752,241.2656 Q10823.1002,241.2656 10822.6158,241.625 Q10822.1471,241.9844 10822.1471,242.6406 Q10822.1471,243.1563 10822.4908,243.5 Q10822.8346,243.8281 10823.9283,244.2344 L10824.9908,244.6406 Q10826.4752,245.1875 10827.1783,246.0938 Q10827.8971,247 10827.8971,248.375 Q10827.8971,250.25 10826.7877,251.1719 Q10825.6783,252.0938 10823.4283,252.0938 Q10822.5064,252.0938 10821.5846,251.875 Q10820.6627,251.6563 10819.8033,251.2344 L10819.8033,248.7031 Q10820.7721,249.3906 10821.6939,249.7344 Q10822.6158,250.0781 10823.5064,250.0781 Q10824.4127,250.0781 10824.9127,249.6719 Q10825.4127,249.25 10825.4127,248.5156 Q10825.4127,247.9531 10825.0689,247.5469 Q10824.7408,247.125 10824.1158,246.875 L10822.9127,246.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="10843.9283" y="250.0137">urt_nrtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10614.1783" x2="11143.1783" y1="261.8594" y2="261.8594"/><ellipse cx="10624.1783" cy="289.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="10633.1783" y="292.8745">minLatency : urt_delay_t</text><ellipse cx="10624.1783" cy="302.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="10633.1783" y="305.6792">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10614.1783" x2="10782.6783" y1="276.2617" y2="276.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="10782.6783" y="279.5698">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10974.6783" x2="11143.1783" y1="276.2617" y2="276.2617"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="10614.1783" x2="11143.1783" y1="312.2734" y2="312.2734"/><ellipse cx="10624.1783" cy="323.2734" 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="297" x="10633.1783" y="326.4839">urtNrtRequestInit (request : urt_nrtrequest_t*) : void</text><ellipse cx="10624.1783" cy="336.0781" 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="367" x="10633.1783" y="339.2886">urtNrtRequestAcquire (request : urt_nrtrequest_t*) : urt_status_t</text><ellipse cx="10624.1783" cy="348.8828" 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="385" x="10633.1783" y="352.0933">urtNrtRequestTryAcquire (request : urt_nrtrequest_t*) : urt_status_t</text><ellipse cx="10624.1783" cy="361.6875" 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="370" x="10633.1783" y="364.8979">urtNrtRequestRelease (request : urt_nrtrequest_t*) : urt_status_t</text><ellipse cx="10624.1783" cy="374.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="505" x="10633.1783" y="377.7026">urtNrtRequestSubmit (request : urt_nrtrequest_t*, service : urt_service_t*) : urt_status_t</text><ellipse cx="10624.1783" cy="387.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="10633.1783" y="390.5073">urtNrtRequestRetrieve (request : urt_nrtrequest_t*) : urt_status_t</text><!--MD5=[e9d515ad43a4cecec056dd09bc14a3c2]

class urt_srtrequest_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="180.0469" id="urt_srtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="675" x="9903.1783" y="223.3594"/><ellipse cx="10185.9283" cy="239.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10185.4127,239.9219 Q10183.5533,239.2188 10182.8971,238.4531 Q10182.2564,237.6719 10182.2564,236.3594 Q10182.2564,234.6719 10183.3346,233.7031 Q10184.4127,232.7344 10186.2877,232.7344 Q10187.1471,232.7344 10187.9908,232.9375 Q10188.8502,233.125 10189.6939,233.5156 L10189.6939,235.9063 Q10188.9127,235.3438 10188.0846,235.0625 Q10187.2721,234.7656 10186.4752,234.7656 Q10185.6002,234.7656 10185.1158,235.125 Q10184.6471,235.4844 10184.6471,236.1406 Q10184.6471,236.6563 10184.9908,237 Q10185.3346,237.3281 10186.4283,237.7344 L10187.4908,238.1406 Q10188.9752,238.6875 10189.6783,239.5938 Q10190.3971,240.5 10190.3971,241.875 Q10190.3971,243.75 10189.2877,244.6719 Q10188.1783,245.5938 10185.9283,245.5938 Q10185.0064,245.5938 10184.0846,245.375 Q10183.1627,245.1563 10182.3033,244.7344 L10182.3033,242.2031 Q10183.2721,242.8906 10184.1939,243.2344 Q10185.1158,243.5781 10186.0064,243.5781 Q10186.9127,243.5781 10187.4127,243.1719 Q10187.9127,242.75 10187.9127,242.0156 Q10187.9127,241.4531 10187.5689,241.0469 Q10187.2408,240.625 10186.6158,240.375 L10185.4127,239.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="10206.4283" y="243.5137">urt_srtrequest_t</text><line style="stroke: #A80036; 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; stroke-width: 1.5;" x1="9904.1783" x2="10577.1783" y1="305.7734" y2="305.7734"/><ellipse cx="9914.1783" cy="316.7734" 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="297" x="9923.1783" y="319.9839">urtSrtRequestInit (request : urt_srtrequest_t*) : void</text><ellipse cx="9914.1783" cy="329.5781" 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="367" x="9923.1783" y="332.7886">urtSrtRequestAcquire (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9914.1783" cy="342.3828" 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="385" x="9923.1783" y="345.5933">urtSrtRequestTryAcquire (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9914.1783" cy="355.1875" 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="370" x="9923.1783" y="358.3979">urtSrtRequestRelease (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9914.1783" cy="367.9922" 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="505" x="9923.1783" y="371.2026">urtSrtRequestSubmit (request : urt_srtrequest_t*, service : urt_service_t*) : urt_status_t</text><ellipse cx="9914.1783" cy="380.7969" 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="371" x="9923.1783" y="384.0073">urtSrtRequestRetrieve (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9914.1783" cy="393.6016" 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="649" x="9923.1783" y="396.812">urtSrtCalculateUsefulness (request : urt_srtrequest_t*, usefulnesscb : urt_usefulness_f, cbparams : void*) : float</text><!--MD5=[240977dbca9212fa5365c87da90aa051]

class urt_frtrequest_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="268.875" id="urt_frtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="656" x="11179.6783" y="178.8594"/><ellipse cx="11454.4283" cy="194.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11453.9127,195.4219 Q11452.0533,194.7188 11451.3971,193.9531 Q11450.7564,193.1719 11450.7564,191.8594 Q11450.7564,190.1719 11451.8346,189.2031 Q11452.9127,188.2344 11454.7877,188.2344 Q11455.6471,188.2344 11456.4908,188.4375 Q11457.3502,188.625 11458.1939,189.0156 L11458.1939,191.4063 Q11457.4127,190.8438 11456.5846,190.5625 Q11455.7721,190.2656 11454.9752,190.2656 Q11454.1002,190.2656 11453.6158,190.625 Q11453.1471,190.9844 11453.1471,191.6406 Q11453.1471,192.1563 11453.4908,192.5 Q11453.8346,192.8281 11454.9283,193.2344 L11455.9908,193.6406 Q11457.4752,194.1875 11458.1783,195.0938 Q11458.8971,196 11458.8971,197.375 Q11458.8971,199.25 11457.7877,200.1719 Q11456.6783,201.0938 11454.4283,201.0938 Q11453.5064,201.0938 11452.5846,200.875 Q11451.6627,200.6563 11450.8033,200.2344 L11450.8033,197.7031 Q11451.7721,198.3906 11452.6939,198.7344 Q11453.6158,199.0781 11454.5064,199.0781 Q11455.4127,199.0781 11455.9127,198.6719 Q11456.4127,198.25 11456.4127,197.5156 Q11456.4127,196.9531 11456.0689,196.5469 Q11455.7408,196.125 11455.1158,195.875 L11453.9127,195.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="98" x="11474.9283" y="199.0137">urt_frtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11180.6783" x2="11834.6783" y1="210.8594" y2="210.8594"/><ellipse cx="11190.6783" cy="238.6641" 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="11199.6783" y="241.8745">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11180.6783" x2="11374.6783" y1="225.2617" y2="225.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="266" x="11374.6783" y="228.5698">URT_CFG_RPC_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11640.6783" x2="11834.6783" y1="225.2617" y2="225.2617"/><ellipse cx="11190.6783" cy="268.2734" 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="11199.6783" y="271.4839">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11180.6783" x2="11384.6783" y1="254.8711" y2="254.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="11384.6783" y="258.1792">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11630.6783" x2="11834.6783" y1="254.8711" y2="254.8711"/><ellipse cx="11190.6783" cy="297.8828" 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="11199.6783" y="301.0933">minLatency : urt_delay_t</text><ellipse cx="11190.6783" cy="310.6875" 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="11199.6783" y="313.8979">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11180.6783" x2="11280.6783" y1="284.4805" y2="284.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="454" x="11280.6783" y="287.7886">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="11734.6783" x2="11834.6783" y1="284.4805" y2="284.4805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11180.6783" x2="11834.6783" y1="320.4922" y2="320.4922"/><ellipse cx="11190.6783" cy="331.4922" 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="292" x="11199.6783" y="334.7026">urtFrtRequestInit (request : urt_frtrequest_t*) : void</text><ellipse cx="11190.6783" cy="344.2969" 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="362" x="11199.6783" y="347.5073">urtFrtRequestAcquire (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="11190.6783" cy="357.1016" 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="380" x="11199.6783" y="360.312">urtFrtRequestTryAcquire (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="11190.6783" cy="369.9063" 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="365" x="11199.6783" y="373.1167">urtFrtRequestRelease (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="11190.6783" cy="382.7109" 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="630" x="11199.6783" y="385.9214">urtFrtRequestSubmit (request : urt_frtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t</text><ellipse cx="11190.6783" cy="395.5156" 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="366" x="11199.6783" y="398.7261">urtFrtRequestRetrieve (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="11190.6783" cy="408.3203" 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="318" x="11199.6783" y="411.5308">urtDrtCalculateValidity (request : urt_frtrequest_t) : bool</text><ellipse cx="11190.6783" cy="437.9297" 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="419" x="11199.6783" y="441.1401">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="11180.6783" x2="11384.6783" y1="424.5273" y2="424.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="11384.6783" y="427.8354">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; 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class urt_hrtrequest_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="285.6797" id="urt_hrtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="661" x="9207.1783" y="170.3594"/><ellipse cx="9482.4283" cy="186.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9481.9127,186.9219 Q9480.0533,186.2188 9479.3971,185.4531 Q9478.7564,184.6719 9478.7564,183.3594 Q9478.7564,181.6719 9479.8346,180.7031 Q9480.9127,179.7344 9482.7877,179.7344 Q9483.6471,179.7344 9484.4908,179.9375 Q9485.3502,180.125 9486.1939,180.5156 L9486.1939,182.9063 Q9485.4127,182.3438 9484.5846,182.0625 Q9483.7721,181.7656 9482.9752,181.7656 Q9482.1002,181.7656 9481.6158,182.125 Q9481.1471,182.4844 9481.1471,183.1406 Q9481.1471,183.6563 9481.4908,184 Q9481.8346,184.3281 9482.9283,184.7344 L9483.9908,185.1406 Q9485.4752,185.6875 9486.1783,186.5938 Q9486.8971,187.5 9486.8971,188.875 Q9486.8971,190.75 9485.7877,191.6719 Q9484.6783,192.5938 9482.4283,192.5938 Q9481.5064,192.5938 9480.5846,192.375 Q9479.6627,192.1563 9478.8033,191.7344 L9478.8033,189.2031 Q9479.7721,189.8906 9480.6939,190.2344 Q9481.6158,190.5781 9482.5064,190.5781 Q9483.4127,190.5781 9483.9127,190.1719 Q9484.4127,189.75 9484.4127,189.0156 Q9484.4127,188.4531 9484.0689,188.0469 Q9483.7408,187.625 9483.1158,187.375 L9481.9127,186.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="9502.9283" y="190.5137">urt_hrtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9208.1783" x2="9867.1783" y1="202.3594" y2="202.3594"/><ellipse cx="9218.1783" cy="230.1641" 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="9227.1783" y="233.3745">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9208.1783" x2="9404.6783" y1="216.7617" y2="216.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="266" x="9404.6783" y="220.0698">URT_CFG_RPC_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9670.6783" x2="9867.1783" y1="216.7617" y2="216.7617"/><ellipse cx="9218.1783" cy="259.7734" 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="9227.1783" y="262.9839">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9208.1783" x2="9414.6783" y1="246.3711" y2="246.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="9414.6783" y="249.6792">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9660.6783" x2="9867.1783" y1="246.3711" y2="246.3711"/><ellipse cx="9218.1783" cy="289.3828" 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="145" x="9227.1783" y="292.5933">qosTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9208.1783" x2="9273.6783" y1="275.9805" y2="275.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="528" x="9273.6783" y="279.2886">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="9764.6783" x2="9867.1783" y1="305.5898" y2="305.5898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="9208.1783" x2="9867.1783" y1="341.6016" y2="341.6016"/><ellipse cx="9218.1783" cy="352.6016" 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="297" x="9227.1783" y="355.812">urtHrtRequestInit (request : urt_hrtrequest_t*) : void</text><ellipse cx="9218.1783" cy="365.4063" 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="367" x="9227.1783" y="368.6167">urtHrtRequestAcquire (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="9218.1783" cy="378.2109" 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="385" x="9227.1783" y="381.4214">urtHrtRequestTryAcquire (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="9218.1783" cy="391.0156" 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="370" x="9227.1783" y="394.2261">urtHrtRequestRelease (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="9218.1783" cy="403.8203" 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="635" x="9227.1783" y="407.0308">urtHrtRequestSubmit (request : urt_hrtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t</text><ellipse cx="9218.1783" cy="416.625" 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="371" x="9227.1783" y="419.8354">urtHrtRequestRetrieve (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="9218.1783" cy="446.2344" 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="424" x="9227.1783" y="449.4448">urtHrtRequestGetMaxJitter(request : urt_hrtrequest_t*) : urt_delay_t* const</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9208.1783" x2="9414.6783" y1="432.832" y2="432.832"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="9414.6783" y="436.1401">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9660.6783" x2="9867.1783" y1="432.832" y2="432.832"/><!--MD5=[e0c5ef58bc626bdfda028ecb031e1681]

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]

link urt_events to urt_status_t--><path d="M2367.3302,1099.0446 C2457.526,1145.313 2610.3594,1215.8685 2751.6783,1243.8594 C2876.3694,1268.5568 7213.7646,1215.4546 7327.6783,1271.8594 C7342.4506,1279.1739 7356.0414,1289.0176 7368.421,1300.3062 " fill="none" id="urt_events-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7372.224,1303.8547,7368.3726,1294.7901,7368.5683,1300.4435,7362.9148,1300.6392,7372.224,1303.8547" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[182342162f0b9b45ddce11acc6582c59]

reverse link urt_node_t to urt_node_t--><path d="M18759.1693,629.9558 C18774.0044,637.9479 18782.1783,647.2492 18782.1783,657.8594 C18782.1783,671.0449 18769.555,682.2089 18747.2115,691.3512 " fill="none" id="urt_node_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="18747.2115,624.3676,18750.9537,630.5317,18758.0829,629.4482,18754.3407,623.2841,18747.2115,624.3676" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="18755.683" y="620.9854">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="18755.7486" y="688.7016">0,1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]

reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M17997.915,786.326 C18017.8804,870.5894 18046.2965,974.2324 18064.4499,1024.9447 " fill="none" id="urt_node_t&lt;-urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="17994.9095,773.5121,17992.3854,780.267,17997.6498,785.195,18000.174,778.4401,17994.9095,773.5121" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="17987.8657" y="793.8488">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="18039.2465" y="1014.1224">0,1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]

reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M18020.3773,778.3416 C18044.78,863.9384 18071.2837,972.6183 18079.3308,1024.9447 " fill="none" id="urt_node_t&lt;-urt_nodeSetupCallback_t-1" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="18018.9957,773.5121,18017.6255,783.2652,18020.371,778.3192,18025.3169,781.0647,18018.9957,773.5121" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b913f036db99e36b937989146817bd94]

reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M17819.1855,781.932 C17717.4263,866.9553 17594.1504,973.3472 17538.7248,1024.9447 " fill="none" id="urt_node_t&lt;-urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="17829.2763,773.5121,17822.1067,774.2848,17820.0625,781.2001,17827.232,780.4274,17829.2763,773.5121" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="17811.104" y="793.8488">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="17535.8906" y="1014.1224">1</text><!--MD5=[b913f036db99e36b937989146817bd94]

reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M17849.5777,776.8154 C17751.049,862.758 17620.5455,972.6023 17553.334,1025.1571 " fill="none" id="urt_node_t&lt;-urt_nodeLoopCallback_t-1" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="17853.3624,773.5121,17843.9516,776.4166,17849.5954,776.7999,17849.2121,782.4438,17853.3624,773.5121" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[496dffc41052f1912ec8ad492f24fe61]

reverse link urt_node_t to urt_nodeShutdownCallback_t--><path d="M18259.6154,779.8982 C18276.494,789.1471 18292.9771,798.8137 18308.6783,808.8594 C18409.4258,873.3182 18509.4731,974.4999 18563.174,1025.0142 " fill="none" id="urt_node_t&lt;-urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="18247.8717,773.5623,18251.2529,779.9315,18258.4327,779.2601,18255.0515,772.8909,18247.8717,773.5623" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="18256.9888" y="793.5176">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="18533.17" y="1014.2062">0,1</text><!--MD5=[496dffc41052f1912ec8ad492f24fe61]

reverse link urt_node_t to urt_nodeShutdownCallback_t--><path d="M18287.2182,775.9225 C18306.723,786.3665 18325.7125,797.3648 18343.6783,808.8594 C18444.4258,873.3182 18544.4731,974.4999 18584.7499,1025.0142 " fill="none" id="urt_node_t&lt;-urt_nodeShutdownCallback_t-1" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="18282.7842,773.5623,18288.8493,781.3221,18287.1979,775.9117,18292.6083,774.2603,18282.7842,773.5623" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[536025241394544a90bc53fb552f3a08]

reverse link urt_message_t to urt_message_t--><path d="M12285.3419,1396.6455 C12299.86,1407.2983 12308.6783,1422.7029 12308.6783,1442.8594 C12308.6783,1467.9082 12295.0598,1485.6185 12273.8076,1495.9903 " fill="none" id="urt_message_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="12273.8076,1389.7285,12276.896,1396.2447,12284.0989,1395.9001,12281.0105,1389.3839,12273.8076,1389.7285" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12281.8986" y="1400.0227">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="12281.4669" y="1494.706">0,1</text><!--MD5=[aa8990705afdbad14c7f998fe04b6f05]

reverse link urt_basesubscriber_t to urt_message_t--><path d="M13207.9948,1135.2163 C13189.4046,1174.7336 13161.0199,1219.2243 13120.6783,1243.8594 C13052.9522,1285.2172 12843.0197,1259.2137 12764.6783,1271.8594 C12597.4604,1298.8514 12411.2566,1345.6752 12273.8546,1383.5081 " fill="none" id="urt_basesubscriber_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="13213.4521,1123.1395,13207.3362,1126.96,13208.5106,1134.0748,13214.6265,1130.2543,13213.4521,1123.1395" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="13202.772" y="1142.5921">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="12281.5156" y="1378.1815">0,1</text><!--MD5=[0585cd4928de92ce6927d9c389eadd29]

link urt_nrtsubscriber_t to urt_basesubscriber_t--><path d="M14451.6312,734.8674 C14385.1353,757.1934 14311.7143,780.9093 14243.6783,800.8594 C13932.8443,892.0047 13562.475,980.7788 13369.1226,1025.642 " fill="none" id="urt_nrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="13370.6174,1032.481,13349.5539,1030.1727,13367.4595,1018.8418,13370.6174,1032.481" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6d81edfa5aa102b898ad487ae19b49f9]

link urt_srtsubscriber_t to urt_basesubscriber_t--><path d="M15300.8948,754.3729 C15234.5184,771.3524 15165.1764,787.7559 15099.6783,800.8594 C14456.6975,929.4931 13675.7942,1013.2547 13369.2374,1043.3689 " fill="none" id="urt_srtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="13369.8871,1050.3387,13349.301,1045.3173,13368.5253,1036.4051,13369.8871,1050.3387" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f626d284cba98e1d5d5fe914b1fa4188]

link urt_frtsubscriber_t to urt_basesubscriber_t--><path d="M16315.7064,770.9425 C16270.1951,782.3538 16224.0732,792.7145 16179.6783,800.8594 C15107.3062,997.6024 13786.4636,1043.4343 13369.3451,1053.3207 " fill="none" id="urt_frtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="13369.4474,1060.3201,13349.2908,1053.7846,13369.1235,1046.3238,13369.4474,1060.3201" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[1ea71f2b33e56ab0ac5545988c1af396]

link urt_hrtsubscriber_t to urt_basesubscriber_t--><path d="M13520.4385,792.604 C13455.0589,853.2592 13380.0626,922.8362 13323.5957,975.2227 " fill="none" id="urt_hrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="13328.3446,980.3655,13308.9218,988.8363,13318.8229,970.1021,13328.3446,980.3655" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ea2ec5c5272e65289dabade75a749f58]

reverse link urt_hrtsubscriber_t to urt_hrtsubscriber_t--><path d="M14219.5895,625.5177 C14234.3717,634.4411 14242.6783,645.2217 14242.6783,657.8594 C14242.6783,673.5645 14229.85,686.4015 14207.7075,696.3706 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="14207.7075,619.3482,14211.1892,625.663,14218.3575,624.8779,14214.8757,618.5631,14207.7075,619.3482" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="14215.386" y="615.7698">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="14215.4704" y="693.8754">0,1</text><!--MD5=[54fcf25ad8c5f1d36e678e42d5bfd4cc]

reverse link urt_publisher_t to urt_topic_t--><path d="M12291.6416,657.8594 C12278.3937,657.8594 12265.1459,657.8594 12251.898,657.8594 " fill="none" id="urt_publisher_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="12304.8894,657.8594,12298.8894,653.8594,12292.8894,657.8594,12298.8894,661.8594,12304.8894,657.8594" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12288.8499" y="654.777">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12259.5628" y="654.6383">1</text><!--MD5=[5025b4c4053b8e7c7ca8a657f09f21c0]

link urt_publisher_t to urt_message_t--><path d="M12645.1841,722.4328 C12530.2388,866.5735 12253.2481,1213.918 12130.7148,1367.574 " 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="12127.492,1371.6154,12136.2307,1367.0728,12130.6094,1367.7062,12129.9761,1362.0849,12127.492,1371.6154" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b2afc1defaa6ed5a86f99c07f8466dd]

reverse link urt_topic_t to urt_topic_t--><path d="M12263.3011,610.5283 C12277.8131,621.2674 12286.6783,637.0444 12286.6783,657.8594 C12286.6783,683.7266 12272.9873,701.8134 12251.7822,712.1199 " fill="none" id="urt_topic_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="12251.7822,603.5989,12254.8617,610.1194,12262.065,609.7847,12258.9855,603.2642,12251.7822,603.5989" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12259.4425" y="598.2583">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="12259.6769" y="711.0184">0,1</text><!--MD5=[ed3fb6de0913094c41bd74c175d366df]

reverse link urt_topic_t to urt_hrtsubscriber_t--><path d="M12202.7488,519.0526 C12229.4612,498.3667 12258.2733,479.083 12287.6783,464.3594 C12294.8123,460.7873 12297.2502,461.2539 12305.1783,460.3594 C12349.1769,455.395 13058.1797,455.395 13102.1783,460.3594 C13188.5788,470.108 13278.8527,494.6694 13361.1872,523.2907 " fill="none" id="urt_topic_t&lt;-urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="12192.2257,527.3571,12199.4137,526.7801,12201.6457,519.9231,12194.4577,520.5001,12192.2257,527.3571" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12191.6573" y="516.4532">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="13323.0057" y="512.1517">0,1</text><!--MD5=[0b5167e958c0ed93ffc0c98ce399b54d]

reverse link urt_topic_t to urt_message_t--><path d="M12061.6923,801.5865 C12064.0562,970.2786 12067.8815,1243.2683 12069.6816,1371.7275 " fill="none" id="urt_topic_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="12061.5071,788.3674,12057.5916,794.4229,12061.6754,800.3662,12065.5908,794.3107,12061.5071,788.3674" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12053.3816" y="808.4203">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12061.1663" y="1360.7112">1</text><!--MD5=[ed8977051960dfa72b850fe399f41716]

reverse link urt_baserequest_t to urt_baserequest_t--><path d="M9461.4923,603.1644 C9475.5586,613.3931 9484.6783,631.6248 9484.6783,657.8594 C9484.6783,690.7813 9470.3169,711.1002 9449.8406,718.8163 " fill="none" id="urt_baserequest_t&lt;-urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="9449.8406,596.9025,9453.2321,603.2663,9460.4108,602.5832,9457.0193,596.2195,9449.8406,596.9025" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9457.6453" y="589.3859">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="9457.6505" y="719.1552">0,1,2</text><!--MD5=[426f0ba47802c5735a37a0acd494a192]

reverse link urt_baserequest_t to urt_service_t--><path d="M9212.3935,657.8594 C9199.2944,657.8594 9186.1953,657.8594 9173.0963,657.8594 " fill="none" id="urt_baserequest_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="9225.4925,657.8594,9219.4925,653.8594,9213.4925,657.8594,9219.4925,661.8594,9225.4925,657.8594" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9209.6863" y="654.4384">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="9180.3248" y="654.7558">0,1</text><!--MD5=[09de7ef26922535bfe0682cb358ee29c]

reverse link urt_service_t to urt_baserequest_t--><path d="M9186.1953,657.8594 C9199.2944,657.8594 9212.3935,657.8594 9225.4925,657.8594 " fill="none" id="urt_service_t&lt;-urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="9173.0963,657.8594,9179.0963,661.8594,9185.0963,657.8594,9179.0963,653.8594,9173.0963,657.8594" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9181.1293" y="670.1315">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="9185.6812" y="670.3978">0,2,3</text><!--MD5=[dc2d1805b45628aba9d654613b3d05f9]

link urt_nrtrequest_t to urt_baserequest_t--><path d="M10734.7406,396.8729 C10691.2348,419.1262 10642.5473,441.1725 10595.6783,456.3594 C10198.2091,585.1505 9702.372,633.5868 9469.7415,650.1303 " fill="none" id="urt_nrtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="9470.1812,657.1166,9449.7441,651.5196,9469.2108,643.1502,9470.1812,657.1166" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d53ae0f00163daee879678d1d1554717]

link urt_nrtrequest_t to urt_service_t--><path d="M10744.7073,396.9635 C10699.1414,420.9957 10646.7824,444.0273 10595.6783,456.3594 C10519.7995,474.67 9265.7474,442.9704 9190.6783,464.3594 C9146.8045,476.8601 9102.9891,497.2838 9062.5665,520.2816 " 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="9058.1615,522.8055,9067.9591,521.8018,9062.4998,520.3197,9063.9819,514.8605,9058.1615,522.8055" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f9755d42ba41539dee622699d8be3a22]

link urt_srtrequest_t to urt_baserequest_t--><path d="M10020.0011,403.467 C9975.6211,421.2453 9929.2363,439.5828 9885.6783,456.3594 C9743.8708,510.9773 9580.2245,570.7265 9468.9463,610.8672 " fill="none" id="urt_srtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="9471.0182,617.5612,9449.8295,617.7561,9466.272,604.3903,9471.0182,617.5612" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[90efd84e0f70286880ba110c49a1e8f8]

link urt_srtrequest_t to urt_service_t--><path d="M10054.4636,403.4157 C10001.1818,425.0044 9942.2014,445.065 9885.6783,456.3594 C9847.8132,463.9256 9227.7831,453.6706 9190.6783,464.3594 C9146.9902,476.9447 9103.3399,497.329 9063.0363,520.2468 " 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="9058.6441,522.7619,9068.4419,521.7606,9062.983,520.2772,9064.4664,514.8183,9058.6441,522.7619" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bfc5f4e50344156edda6a5cfcff14fef]

link urt_frtrequest_t to urt_baserequest_t--><path d="M11192.1259,447.9436 C11181.9183,450.9583 11171.7521,453.7767 11161.6783,456.3594 C10840.1312,538.7962 9833.5004,620.5381 9470.1476,648.0948 " fill="none" id="urt_frtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="9470.4515,655.0917,9449.9809,649.6186,9469.3966,641.1315,9470.4515,655.0917" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[836450d5c472e7b2344319739fa0d5d1]

link urt_frtrequest_t to urt_service_t--><path d="M11198.2461,447.8675 C11186.0035,451.0741 11173.7866,453.9303 11161.6783,456.3594 C11107.9974,467.1286 9243.3454,449.3998 9190.6783,464.3594 C9146.7943,476.8242 9102.9743,497.2319 9062.5505,520.2253 " 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="9058.1453,522.7488,9067.943,521.7459,9062.4838,520.2634,9063.9663,514.8042,9058.1453,522.7488" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7c5d2ea3f0b69f804ad9b60a9539ac96]

link urt_hrtrequest_t to urt_baserequest_t--><path d="M9454.5978,456.4656 C9438.2226,484.6719 9421.2239,513.9521 9405.4276,541.1613 " fill="none" id="urt_hrtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="9411.3347,544.9284,9395.2394,558.7104,9399.2272,537.8994,9411.3347,544.9284" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[189d7bd823f9a098ae8eb3eaa3789ee1]

link urt_hrtrequest_t to urt_service_t--><path d="M9207.1515,447.3923 C9195.793,453.0067 9184.6053,458.6715 9173.6783,464.3594 C9140.776,481.4864 9106.6639,500.7148 9073.7506,520.2291 " 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="9069.3248,522.8591,9079.1052,521.6999,9073.6231,520.3047,9075.0182,514.8226,9069.3248,522.8591" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bcf13f9307d05af3b11663d6e8155fbe]

reverse link urt_service_t to urt_hrtrequest_t--><path d="M9115.2961,516.1717 C9146.392,498.0565 9178.059,480.298 9208.6783,464.3594 C9213.7776,461.705 9218.9336,459.0557 9224.1359,456.4142 " fill="none" id="urt_service_t&lt;-urt_hrtrequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="9103.8685,522.8591,9111.0673,523.2809,9114.2254,516.7982,9107.0266,516.3763,9103.8685,522.8591" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9108.8873" y="511.7008">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="9187.4532" y="476.2557">0,1</text><!--MD5=[05f2c35569573d3273c65d3342945557]

reverse link urt_service_t to urt_service_t--><path d="M9184.0715,616.8333 C9198.943,627.1247 9207.6783,640.8001 9207.6783,657.8594 C9207.6783,678.8555 9194.4461,694.7256 9172.8274,705.4697 " fill="none" id="urt_service_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="9172.8274,610.2491,9175.9838,616.7327,9183.1826,616.3128,9180.0263,609.8292,9172.8274,610.2491" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9180.8532" y="605.8581">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="9181.0126" y="703.608">0,1</text><!--MD5=[694e7400eb99f74d44ea388aed89d199]

reverse link urt_core_t to urt_node_t--><path d="M8574.4946,355.8843 C8736.0496,390.7637 8977.481,437.3705 9190.6783,456.3594 C9301.296,466.2118 17076.4294,450.9981 17186.6783,464.3594 C17318.0107,480.2759 17459.0225,510.4583 17585.0395,542.3333 " fill="none" id="urt_core_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8561.5472,353.0771,8566.5634,358.2576,8573.2747,355.6197,8568.2585,350.4392,8561.5472,353.0771" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8568.9667" y="367.1455">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="17538.0544" y="531.1299">0,1</text><!--MD5=[250695c91040478b50550bc37a8775c7]

reverse link urt_core_t to urt_topic_t--><path d="M8574.5042,355.7774 C8736.0653,390.5891 8977.5002,437.1566 9190.6783,456.3594 C9227.4878,459.6751 11817.3038,450.7829 11851.6783,464.3594 C11887.2296,478.4007 11920.3185,501.6743 11949.1777,527.3035 " fill="none" id="urt_core_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8561.5562,352.9758,8566.5745,358.1543,8573.2847,355.5137,8568.2665,350.3352,8561.5562,352.9758" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8568.976" y="351.4071">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="11922.2113" y="516.3965">0,1</text><!--MD5=[8d0a227ec56585cdbc167f8316b34b64]

reverse link urt_core_t to urt_service_t--><path d="M8572.141,442.9643 C8608.7719,468.9836 8647.3531,496.3882 8684.2469,522.5942 " fill="none" id="urt_core_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8561.3537,435.302,8563.9289,442.0376,8571.1369,442.251,8568.5616,435.5154,8561.3537,435.302" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8569.314" y="437.5648">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="8653.2858" y="511.866">0,1</text><!--MD5=[a42c921bb2ae3ef3cd6ba12c97758939]

reverse link urt_core_t to urt_osEventSource_t--><path d="M8204.4472,317.2797 C7005.9565,343.5232 388.5795,502.0593 102.6783,808.8594 C-29.1267,950.2992 -23.0732,1097.0114 102.6783,1243.8594 C167.1708,1319.1714 751.0237,1385.2894 1106.8808,1419.0502 " fill="none" id="urt_core_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8217.8696,316.9863,8211.7836,313.1184,8205.8725,317.2486,8211.9585,321.1165,8217.8696,316.9863" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8202.4527" y="313.8993">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1091.5018" y="1415.2924">1</text><!--MD5=[b9eb8460041bde16ab6e44c28de7b0fc]

reverse link urt_core_t to urt_osMutex_t--><path d="M8204.7962,319.5782 C7570.7271,343.9787 5493.4098,450.2238 4948.6783,808.8594 C4875.5825,856.9836 4825.8542,948.9887 4800.4481,1006.1131 " fill="none" id="urt_core_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8218.1388,319.0686,8211.9905,315.3005,8206.1475,319.5266,8212.2958,323.2947,8218.1388,319.0686" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8202.1847" y="316.0646">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4803.7907" y="995.1237">1</text><!--MD5=[fcff95a1517f1bbe30c2de95da1c3bda]

reverse link urt_core_t to urt_status_t--><path d="M8204.7486,325.8195 C7922.8216,355.9274 7393.3652,458.6592 7156.6783,808.8594 C7048.4187,969.0394 7031.5027,1096.5202 7156.6783,1243.8594 C7206.5406,1302.5503 7261.5396,1232.4065 7327.6783,1271.8594 C7342.1721,1280.5052 7355.6491,1291.3952 7368.0189,1303.4733 " fill="none" id="urt_core_t&lt;-urt_status_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8217.9845,324.44,8211.6021,321.0836,8206.0492,325.684,8212.4315,329.0404,8217.9845,324.44" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8202.0234" y="337.3591">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7355.0865" y="1292.9573">1</text><!--MD5=[f6f8ae0abb3c85244c8639cf15039f58]

link urt_core_t to urt_nodestage_t--><path d="M8329.9019,454.6224 C8290.2548,552.622 8239.492,686.942 8205.6783,808.8594 C8151.9488,1002.5845 8115.0584,1236.3644 8097.8105,1358.769 " fill="none" id="urt_core_t-&gt;urt_nodestage_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8097.1046,1363.7945,8102.318,1355.4386,8097.8003,1358.8431,8094.3958,1354.3255,8097.1046,1363.7945" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e894174e7ccaed139fbaaa0f9b9ae8dc]

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]

link urt_core_t to urt_serviceid_t--><path d="M8218.1698,319.3235 C7858.7035,333.5462 7052.4074,375.1342 6967.6783,464.3594 C6733.2604,711.2163 6832.9237,1169.9957 6887.6249,1358.5807 " fill="none" id="urt_core_t-&gt;urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6889.0692,1363.5331,6890.3895,1353.7731,6887.6693,1358.733,6882.7094,1356.0129,6889.0692,1363.5331" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[addb2e74eebae0995b3a6bf162197d46]

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reverse link urt_node_t to urt_nodestage_t--><path d="M17393.8685,775.3358 C17324.2902,785.8057 17254.0589,794.7436 17186.6783,800.8594 C17073.8364,811.1016 13220.3338,796.7377 13107.6783,808.8594 C12195.8861,906.968 11998.8529,1116.5437 11090.6783,1243.8594 C9965.8485,1401.5477 8586.0443,1434.9179 8194.6929,1441.4026 " fill="none" id="urt_node_t&lt;-urt_nodestage_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="17406.8519,773.3634,17400.3191,770.31,17394.988,775.1659,17401.5208,778.2192,17406.8519,773.3634" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="17368.8354" y="793.6901">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8202.5689" y="1437.829">1</text><!--MD5=[ecbb69d8dc7b8a34ff21337736794c2a]

reverse link urt_node_t to urt_osEventListener_t--><path d="M17394.3834,775.3581 C17324.6381,785.8434 17254.2268,794.7788 17186.6783,800.8594 C17172.267,802.1567 527.9074,798.6254 517.6783,808.8594 C449.3411,877.2295 450.1587,1174.6817 517.6783,1243.8594 C562.4717,1289.7528 1610.3872,1252.9901 1671.6783,1271.8594 C1755.4064,1297.6362 1837.99,1357.9889 1888.1535,1399.6285 " fill="none" id="urt_node_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="17407.3978,773.3826,17400.8654,770.3284,17395.5337,775.1836,17402.0661,778.2378,17407.3978,773.3826" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="17273.9927" y="794.065">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1872.1106" y="1388.9057">1</text><!--MD5=[a052f483eba01ccbd89eefaa281cffa6]

reverse link urt_node_t to urt_osThreadFunction_t--><path d="M17394.3834,775.358 C17324.638,785.8433 17254.2268,794.7787 17186.6783,800.8594 C17172.318,802.1521 586.8712,798.6616 576.6783,808.8594 C508.3411,877.2295 508.7666,1175.0666 576.6783,1243.8594 C619.0681,1286.7992 2694.092,1246.1485 2748.6783,1271.8594 C2810.8295,1301.1335 2856.2052,1371.3255 2878.3939,1412.0981 " fill="none" id="urt_node_t&lt;-urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="17407.3978,773.3824,17400.8654,770.3281,17395.5337,775.1833,17402.0661,778.2375,17407.3978,773.3824" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="17345.3766" y="793.7104">0..*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2866.4165" y="1401.3074">1</text><!--MD5=[0cba389305cd35ebcbacaedacb3fbe88]

link urt_node_t to urt_status_t--><path d="M17407.1243,773.3667 C17333.2284,784.6958 17258.3416,794.3783 17186.6783,800.8594 C17144.4893,804.6749 11128.1113,800.0404 11086.6783,808.8594 C10620.9811,907.9832 10572.8832,1142.4499 10107.6783,1243.8594 C10039.4159,1258.7398 7655.2677,1240.815 7592.6783,1271.8594 C7578.0218,1279.129 7564.5061,1288.8655 7552.1666,1300.0205 " fill="none" id="urt_node_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7548.3749,1303.5268,7557.6985,1300.3533,7552.0459,1300.1322,7552.2671,1294.4796,7548.3749,1303.5268" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b00c0c61b5ae38465e12763fb588229]

link urt_nodeSetupCallback_t to urt_osEventMask_t--><path d="M18052.9118,1086.3887 C18011.4444,1131.1039 17926.7949,1212.494 17834.6783,1243.8594 C17735.5253,1277.6207 2847.6652,1229.9348 2751.6783,1271.8594 C2688.2359,1299.5694 2638.6799,1366.4074 2612.7163,1407.8373 " fill="none" id="urt_nodeSetupCallback_t-&gt;urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2609.9726,1412.2618,2618.1152,1406.7212,2612.6077,1408.0125,2611.3164,1402.505,2609.9726,1412.2618" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[aa0b59559007c8ad9b783f6dc5ed8ad9]

link urt_nodeLoopCallback_t to urt_osEventMask_t--><path d="M17472.4145,1086.535 C17415.195,1131.4391 17300.3455,1213.07 17186.6783,1243.8594 C17089.9219,1270.0681 2843.5397,1231.7322 2751.6783,1271.8594 C2688.2371,1299.572 2638.6807,1366.4091 2612.7167,1407.8382 " fill="none" id="urt_nodeLoopCallback_t-&gt;urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2609.9729,1412.2626,2618.1156,1406.7221,2612.6081,1408.0134,2611.3169,1402.5058,2609.9729,1412.2626" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b3fa89608aace108b23bbfcd22712ec]

link urt_publisher_t to urt_config--><path d="M12550.2685,722.4248 C12473.6742,752.7385 12377.3956,785.5239 12287.6783,800.8594 C12275.4631,802.9474 8727.4312,800.0868 8718.6783,808.8594 C8476.0203,1052.062 8555.3233,1279.6251 8718.6783,1581.8594 C8753.1859,1645.7042 8817.479,1692.7005 8878.6058,1725.2996 " fill="none" id="urt_publisher_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8883.3762,1727.8181,8877.2849,1720.0788,8878.9546,1725.4836,8873.5498,1727.1534,8883.3762,1727.8181" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[48a81098d0aa451a4923659bb2bbea3c]

link urt_publisher_t to urt_status_t--><path d="M12550.2695,722.431 C12473.6756,752.7463 12377.3969,785.5314 12287.6783,800.8594 C12261.3035,805.3654 8457.6079,795.0692 8434.6783,808.8594 C8246.9092,921.7861 8387.9299,1126.8486 8202.6783,1243.8594 C8087.9497,1316.3257 7713.1789,1209.4603 7592.6783,1271.8594 C7578.3016,1279.3041 7564.9993,1289.0802 7552.8165,1300.193 " fill="none" id="urt_publisher_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7549.0716,1303.6837,7558.3825,1300.4731,7552.7291,1300.2745,7552.9277,1294.6211,7549.0716,1303.6837" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[c16173558393ca1d9128284d70afa235]

link urt_publisher_t to urt_delay_t--><path d="M12550.2703,722.4355 C12473.6765,752.752 12377.3978,785.5367 12287.6783,800.8594 C12259.6877,805.6398 8225.5469,799.6722 8198.6783,808.8594 C7899.1426,911.2798 7933.0237,1138.0219 7634.6783,1243.8594 C7575.5996,1264.8175 6550.4506,1226.9871 6506.6783,1271.8594 C6410.4711,1370.4844 6435.64,1463.8074 6506.6783,1581.8594 C6568.6229,1684.7994 6702.2528,1738.295 6794.0715,1763.9821 " fill="none" id="urt_publisher_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6798.9594,1765.3343,6791.3517,1759.0794,6794.1404,1764.0011,6789.2187,1766.7898,6798.9594,1765.3343" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3f75a4ca5db56e37c381a718c71f2950]

reverse link urt_topic_t to urt_topicid_t--><path d="M11872.1683,793.5503 C11865.3804,796.2671 11858.5421,798.7198 11851.6783,800.8594 C11826.0475,808.8492 8008.9706,795.5086 7985.6783,808.8594 C7791.0544,920.4152 7920.4288,1125.8027 7729.6783,1243.8594 C7653.5325,1290.9866 7407.2263,1230.7342 7327.6783,1271.8594 C7288.1423,1292.2989 7255.6907,1329.3253 7232.0209,1363.7099 " fill="none" id="urt_topic_t&lt;-urt_topicid_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11884.3267,788.3852,11877.2404,787.0496,11873.282,793.0772,11880.3683,794.4127,11884.3267,788.3852" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11852.2263" y="802.001">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7227.74" y="1352.7747">1</text><!--MD5=[2ea2859f8de074b5c128ff5997404a58]

reverse link urt_topic_t to urt_osMutex_t--><path d="M11872.1709,793.5585 C11865.3822,796.273 11858.5431,798.7229 11851.6783,800.8594 C11828.7923,807.9821 4969.8567,797.6355 4948.6783,808.8594 C4870.2056,850.4475 4821.5428,946.9248 4797.9231,1006.2453 " fill="none" id="urt_topic_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11884.3305,788.3973,11877.2446,787.0595,11873.2844,793.0859,11880.3703,794.4236,11884.3305,788.3973" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11874.4245" y="808.4519">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4800.9107" y="995.2745">1</text><!--MD5=[ee40dc1875ed5325eec4e6c8c8102744]

reverse link urt_topic_t to urt_osEventSource_t--><path d="M11872.1721,793.5626 C11865.3831,796.2759 11858.5436,798.7245 11851.6783,800.8594 C11832.7644,806.7411 456.6793,794.8486 442.6783,808.8594 C306.0189,945.6146 320.9807,1093.6346 442.6783,1243.8594 C525.1341,1345.6437 860.6933,1397.4897 1107.0062,1422.3305 " fill="none" id="urt_topic_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11884.3324,788.4033,11877.2467,787.0645,11873.2856,793.0902,11880.3713,794.429,11884.3324,788.4033" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11852.7405" y="808.1802">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1090.7628" y="1434.0183">1</text><!--MD5=[fd684a39d2d7f503df403fc4f1515616]

reverse link urt_topic_t to urt_osCondvar_t--><path d="M11872.1705,793.5572 C11865.3819,796.2721 11858.5429,798.7224 11851.6783,800.8594 C11810.8471,813.5702 5734.6261,796.5292 5693.6783,808.8594 C5565.338,847.5054 5440.3849,945.9695 5372.3643,1006.2581 " fill="none" id="urt_topic_t&lt;-urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11884.3299,788.3954,11877.2439,787.058,11873.284,793.0846,11880.37,794.4219,11884.3299,788.3954" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11865.9613" y="808.4499">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5371.2108" y="995.2891">1</text><!--MD5=[f5e2f818dfb7c47ef0a661b061d2efd0]

link urt_topic_t to urt_config--><path d="M11884.3254,788.3809 C11873.5762,793.208 11862.6598,797.4343 11851.6783,800.8594 C11829.4961,807.7781 8522.0891,792.4093 8505.6783,808.8594 C8263.0384,1052.0801 8311.6141,1298.3642 8505.6783,1581.8594 C8549.3464,1645.6511 8739.957,1708.3853 8878.4845,1746.845 " fill="none" id="urt_topic_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8883.3901,1748.2028,8875.7833,1741.9468,8878.5713,1746.8689,8873.6492,1749.6569,8883.3901,1748.2028" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[a01366c261f16bb61c03de8616a1256c]

reverse link urt_topic_t to urt_osTimer_t--><path d="M11872.171,793.5589 C11865.3823,796.2733 11858.5431,798.7231 11851.6783,800.8594 C11803.6979,815.7907 4664.0855,795.3758 4615.6783,808.8594 C4482.5918,845.9299 4349.4489,939.0216 4272.4507,999.7386 " fill="none" id="urt_topic_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11884.3307,788.398,11877.2448,787.0601,11873.2845,793.0864,11880.3704,794.4242,11884.3307,788.398" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11865.9622" y="808.4527">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="4282.2872" y="988.6611">0,1</text><!--MD5=[23aed2412a22c58889d68b772ca9654f]

link urt_topic_t to urt_status_t--><path d="M11884.3262,788.3834 C11873.5768,793.2098 11862.6601,797.4353 11851.6783,800.8594 C11827.6126,808.3631 8243.28,795.866 8221.6783,808.8594 C8033.9164,921.7981 8173.4801,1124.5841 7989.6783,1243.8594 C7915.4891,1292.0033 7670.7096,1230.2301 7592.6783,1271.8594 C7578.5444,1279.3998 7565.4319,1289.1647 7553.3923,1300.2053 " fill="none" id="urt_topic_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7549.6903,1303.6716,7558.9939,1300.4401,7553.3401,1300.2542,7553.5261,1294.6004,7549.6903,1303.6716" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[40d97a101b79fe2b6aede42ee911a5e3]

reverse link urt_message_t to urt_osTime_t--><path d="M11854.3542,1429.2424 C10901.0957,1369.2373 7080.788,1128.7593 6135.1982,1069.237 " fill="none" id="urt_message_t&lt;-urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11867.4942,1430.0695,11861.7574,1425.7004,11855.5179,1429.3155,11861.2547,1433.6846,11867.4942,1430.0695" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11851.4011" y="1426.3536">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6142.9794" y="1082.0491">1</text><!--MD5=[2bb9471b6fda5815e085c87a24a67f11]

link urt_message_t to urt_config--><path d="M11905.7667,1514.0269 C11839.4954,1539.6579 11761.6299,1566.1139 11688.6783,1581.8594 C11203.7829,1686.5171 9667.8963,1758.1631 9179.4049,1778.7643 " fill="none" id="urt_message_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="9174.061,1778.9894,9183.2215,1782.6068,9179.0566,1778.7788,9182.8846,1774.6139,9174.061,1778.9894" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[570f5794230ed2cf7946261591bb6cd1]

link urt_message_t to urt_status_t--><path d="M11952.6796,1371.6349 C11875.5788,1329.364 11771.0139,1279.8534 11671.1783,1257.8594 C11616.0963,1245.7247 7663.4016,1239.1897 7610.1783,1257.8594 C7585.8208,1266.4036 7564.4012,1281.758 7545.933,1300.0989 " fill="none" id="urt_message_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7542.2788,1303.8058,7551.4457,1300.2048,7545.789,1300.2451,7545.7487,1294.5884,7542.2788,1303.8058" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0614ecc40a2323571c35dab79c646fe8]

reverse link urt_basesubscriber_t to urt_osEventListener_t--><path d="M13110.6842,1060.1184 C12414.6151,1083.4563 8968.7767,1196.5035 6151.6783,1243.8594 C6041.9688,1245.7036 2306.8194,1240.4759 2201.6783,1271.8594 C2117.4696,1296.9948 2034.6871,1357.8278 1984.6424,1399.7169 " fill="none" id="urt_basesubscriber_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="13123.9316,1059.6739,13117.8008,1055.8774,13111.9384,1060.0763,13118.0691,1063.8729,13123.9316,1059.6739" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="13108.0877" y="1072.5178">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1983.6492" y="1388.6902">1</text><!--MD5=[60df476f9c89db6ca6af2af6f6dc5b29]

reverse link urt_basesubscriber_t to urt_osTime_t--><path d="M13110.7679,1055.8594 C10785.7174,1055.8594 8460.6669,1055.8594 6135.6164,1055.8594 " fill="none" id="urt_basesubscriber_t&lt;-urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="13123.9906,1055.8594,13117.9906,1051.8594,13111.9906,1055.8594,13117.9906,1059.8594,13123.9906,1055.8594" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="13108.1506" y="1052.4392">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6143.4126" y="1052.6517">1</text><!--MD5=[45abaca6e1a4b5e9e9e5f81f99145f21]

link urt_basesubscriber_t to urt_config--><path d="M13202.3909,1123.3264 C13137.1266,1243.1293 12982.2635,1489.1129 12768.6783,1581.8594 C12435.561,1726.5111 9835.7551,1773.2904 9178.9877,1782.8591 " fill="none" id="urt_basesubscriber_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="9173.7245,1782.9356,9182.7817,1786.8043,9178.724,1782.8629,9182.6654,1778.8051,9173.7245,1782.9356" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[fb477f5fd8787be5b7605dfea5d27dc3]

link urt_basesubscriber_t to urt_status_t--><path d="M13124.044,1068.9047 C12805.4754,1105.1137 11870.508,1206.6387 11090.6783,1243.8594 C11042.1487,1246.1757 7636.2371,1250.3391 7592.6783,1271.8594 C7578.0105,1279.1061 7564.4872,1288.8274 7552.1431,1299.9731 " fill="none" id="urt_basesubscriber_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7548.3501,1303.4767,7557.6755,1300.3085,7552.0231,1300.0841,7552.2474,1294.4317,7548.3501,1303.4767" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[c18fda7f16d94dac1a94387e8df76308]

reverse link urt_nrtsubscriber_t to urt_delay_t--><path d="M14471.9173,739.3606 C14401.079,764.2825 14319.9906,788.3924 14243.6783,800.8594 C14205.168,807.1508 8660.6038,793.6282 8624.6783,808.8594 C8376.6857,914 8449.7901,1136.6651 8202.6783,1243.8594 C8123.463,1278.2221 6709.1826,1210.2551 6648.6783,1271.8594 C6552.1362,1370.1566 6590.5689,1456.9354 6648.6783,1581.8594 C6679.6534,1648.4498 6744.4183,1701.0253 6799.015,1735.9722 " fill="none" id="urt_nrtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="14484.5628,734.8651,14477.5696,733.106,14473.256,738.8847,14480.2493,740.6438,14484.5628,734.8651" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="14457.7499" y="755.2355">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6771.308" y="1728.7336">0,2</text><!--MD5=[cf4e9b81c32b9b138596f59fa1fb3fd6]

link urt_nrtsubscriber_t to urt_config--><path d="M14484.2871,734.8902 C14410.6145,761.3296 14324.465,787.5932 14243.6783,800.8594 C14172.2184,812.594 11707.9177,795.853 11636.6783,808.8594 C10658.7301,987.4057 9569.1544,1508.8386 9178.257,1707.1143 " fill="none" id="urt_nrtsubscriber_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="9173.6904,1709.432,9183.5262,1708.9254,9178.149,1707.169,9179.9054,1701.7917,9173.6904,1709.432" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[249ee4d4a0d0f021e94ff447977fc36f]

link urt_nrtsubscriber_t to urt_status_t--><path d="M14484.5624,734.8625 C14410.833,761.3424 14324.5721,787.6413 14243.6783,800.8594 C14225.2319,803.8735 8876.6986,799.2311 8860.6783,808.8594 C8672.8759,921.7307 8815.0244,1128.5996 8628.6783,1243.8594 C8530.7447,1304.4338 7695.4292,1219.8738 7592.6783,1271.8594 C7578.08,1279.2452 7564.6027,1289.0584 7552.2869,1300.2607 " fill="none" id="urt_nrtsubscriber_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7548.5021,1303.7807,7557.8165,1300.5804,7552.1634,1300.3755,7552.3683,1294.7224,7548.5021,1303.7807" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[1ffa2ec21542e79acf15fa09492f4ab5]

reverse link urt_srtsubscriber_t to urt_usefulness_f--><path d="M15317.3418,757.6339 C15246.3225,775.556 15170.9992,791.4973 15099.6783,800.8594 C14998.1601,814.1855 11515.6785,799.9435 11413.6783,808.8594 C10289.7204,907.1053 10035.1925,1130.3014 8912.6783,1243.8594 C8807.5027,1254.4994 8059.5424,1231.8875 7961.6783,1271.8594 C7890.2139,1301.0485 7829.3533,1371.2727 7798.4451,1412.0735 " fill="none" id="urt_srtsubscriber_t&lt;-urt_usefulness_f" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="15330.0858,754.3853,15323.2837,751.9914,15318.4577,757.3495,15325.2598,759.7434,15330.0858,754.3853" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="15306.6889" y="774.4274">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="7780.872" y="1401.2777">0,1</text><!--MD5=[af3bb42c2cc648980c9a8c0bd0e49df3]

reverse link urt_srtsubscriber_t to urt_delay_t--><path d="M15317.3482,757.6821 C15246.3284,775.6012 15171.0034,791.5291 15099.6783,800.8594 C15078.1189,803.6797 8857.5711,800.0822 8837.6783,808.8594 C8597.9331,914.6408 8678.6234,1136.2829 8439.6783,1243.8594 C8396.1064,1263.4761 6753.1907,1237.7971 6719.6783,1271.8594 C6623.0508,1370.0727 6672.6187,1452.3677 6719.6783,1581.8594 C6738.5983,1633.9206 6777.3723,1681.948 6813.1177,1718.2044 " fill="none" id="urt_srtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="15330.0922,754.4339,15323.2901,752.0397,15318.464,757.3977,15325.266,759.7919,15330.0922,754.4339" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="15299.0632" y="774.1541">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6783.6501" y="1707.1772">0,2</text><!--MD5=[57f9c03e706aa97ce919c51d40a1f0dd]

link urt_srtsubscriber_t to urt_config--><path d="M15329.7163,754.3766 C15255.1146,773.5766 15175.1521,790.8813 15099.6783,800.8594 C14989.9103,815.3713 13216.6123,795.6634 13106.6783,808.8594 C12700.7061,857.5906 9866.4133,1572.507 9178.7324,1746.7702 " fill="none" id="urt_srtsubscriber_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="9173.722,1748.0399,9183.4289,1749.7062,9178.5688,1746.8115,9181.4634,1741.9513,9173.722,1748.0399" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ddfd53c980ad9ebb8f86954377552edb]

link urt_srtsubscriber_t to urt_status_t--><path d="M15330.0921,754.4331 C15255.388,773.664 15175.2858,790.9683 15099.6783,800.8594 C15089.0208,802.2536 8916.832,801.8563 8908.6783,808.8594 C8760.286,936.3122 8988.7163,1114.8465 8841.6783,1243.8594 C8789.5071,1289.635 7654.6814,1240.6688 7592.6783,1271.8594 C7578.0631,1279.2116 7564.5745,1289.0025 7552.2518,1300.1912 " fill="none" id="urt_srtsubscriber_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7548.465,1303.7072,7557.7821,1300.5147,7552.1291,1300.3051,7552.3387,1294.6521,7548.465,1303.7072" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b350769e483c42ea2704e388ea6a04f2]

reverse link urt_frtsubscriber_t to urt_delay_t--><path d="M16319.0197,774.0041 C16272.5287,785.0513 16225.2672,794.4908 16179.6783,800.8594 C16155.407,804.25 9144.4285,799.748 9121.6783,808.8594 C8861.3654,913.1144 8924.2691,1137.8191 8664.6783,1243.8594 C8616.2515,1263.6413 6818.392,1234.5957 6781.6783,1271.8594 C6662.7075,1392.6124 6774.0143,1609.198 6843.4996,1718.2561 " fill="none" id="urt_frtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="16331.7859,770.9261,16325.0155,768.4439,16320.1202,773.7388,16326.8906,776.221,16331.7859,770.9261" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="16298.7622" y="791.4588">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6813.1363" y="1707.2346">0..4</text><!--MD5=[7be759a40cf40f1b9231b6649fee3f4f]

link urt_frtsubscriber_t to urt_config--><path d="M17035.5708,770.929 C17085.8275,783.2505 17137.2401,793.8491 17186.6783,800.8594 C17198.2983,802.5071 18868.3992,800.541 18876.6783,808.8594 C18944.87,877.3746 18943.0525,1173.582 18876.6783,1243.8594 C18528.5156,1612.4957 10391.2438,1762.1536 9179.1046,1782.4309 " fill="none" id="urt_frtsubscriber_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="9173.8148,1782.5193,9182.8805,1786.368,9178.8141,1782.4356,9182.7466,1778.3691,9173.8148,1782.5193" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[29df74e07807e6378398cb43d45b3c27]

link urt_frtsubscriber_t to urt_status_t--><path d="M16331.7831,770.9067 C16281.2067,783.2781 16229.4456,793.8963 16179.6783,800.8594 C16038.2501,820.647 11180.5801,792.8173 11038.6783,808.8594 C10172.2709,906.8074 9991.2373,1138.6775 9125.6783,1243.8594 C9041.1195,1254.1349 7668.8527,1233.7379 7592.6783,1271.8594 C7578.0478,1279.1812 7564.5492,1288.9521 7552.2203,1300.1284 " fill="none" id="urt_frtsubscriber_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7548.4317,1303.6409,7557.7511,1300.4552,7552.0983,1300.2414,7552.312,1294.5886,7548.4317,1303.6409" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bc1cc9ca99c1274e9c895cd105ca1d4c]

reverse link urt_hrtsubscriber_t to urt_delay_t--><path d="M13163.2196,794.5191 C13148.5885,796.8703 13134.0525,798.9959 13119.6783,800.8594 C13087.2552,805.0629 8442.1037,796.8918 8411.6783,808.8594 C8147.1086,912.9254 8206.2576,1137.3097 7942.6783,1243.8594 C7872.3573,1272.2861 6630.759,1217.6787 6577.6783,1271.8594 C6481.2589,1370.2769 6511.9889,1460.7494 6577.6783,1581.8594 C6624.2795,1667.7769 6724.7242,1723.0317 6799.1218,1753.865 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="13176.1001,792.3957,13169.5294,789.4249,13164.2599,794.3476,13170.8306,797.3184,13176.1001,792.3957" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="13141.1075" y="812.2372">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6767.2698" y="1747.9963">0..5</text><!--MD5=[47265b8b91af56102ad98d46909bef01]

reverse link urt_hrtsubscriber_t to urt_osTimer_t--><path d="M13163.2215,794.5336 C13148.5898,796.8805 13134.0532,799.0013 13119.6783,800.8594 C13061.11,808.4299 4672.5695,793.0177 4615.6783,808.8594 C4482.5887,845.9189 4349.4468,939.0139 4272.4495,999.7345 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="13176.1024,792.4138,13169.5325,789.4412,13164.2617,794.3624,13170.8316,797.335,13176.1024,792.4138" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="13149.5475" y="812.2563">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4272.4921" y="988.6564">1</text><!--MD5=[c255c4720016d78ffa1594ef43d10003]

link urt_hrtsubscriber_t to urt_config--><path d="M13176.0993,792.3899 C13157.1179,795.5983 13138.2628,798.4477 13119.6783,800.8594 C13105.502,802.699 9012.7767,798.7414 9002.6783,808.8594 C8786.4939,1025.4643 8888.1674,1421.9845 8966.8869,1636.9178 " fill="none" id="urt_hrtsubscriber_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8968.6255,1641.6455,8969.2735,1631.818,8966.8998,1636.9527,8961.7651,1634.579,8968.6255,1641.6455" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[acfaba0e8df90d54cbfcf78ceb19e2ee]

link urt_hrtsubscriber_t to urt_status_t--><path d="M13176.0998,792.3936 C13157.1182,795.6009 13138.263,798.4491 13119.6783,800.8594 C13104.2795,802.8565 8660.9861,800.8585 8647.6783,808.8594 C8459.893,921.7591 8601.6205,1127.9492 8415.6783,1243.8594 C8338.0318,1292.2617 7674.1764,1230.2681 7592.6783,1271.8594 C7578.2577,1279.2187 7564.9262,1288.9381 7552.7254,1300.0158 " fill="none" id="urt_hrtsubscriber_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7548.9752,1303.4962,7558.293,1300.3057,7552.6401,1300.0949,7552.8509,1294.442,7548.9752,1303.4962" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8a07eed8d365d510d46940e8916e2aca]

reverse link urt_baserequest_t to urt_osMutex_t--><path d="M9267.7728,766.9166 C9254.196,780.6265 9238.7878,792.6878 9221.6783,800.8594 C9194.9018,813.648 4974.8925,794.9547 4948.6783,808.8594 C4870.2204,850.4755 4821.5526,946.9433 4797.928,1006.2545 " fill="none" id="urt_baserequest_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9276.878,757.1893,9269.8575,758.8362,9268.6775,765.9501,9275.698,764.3032,9276.878,757.1893" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9264.5242" y="776.4498">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4791.7912" y="995.285">1</text><!--MD5=[7c9c768598bcd949a3bf11c8b3a21e4b]

reverse link urt_baserequest_t to urt_osTime_t--><path d="M9267.7412,766.8506 C9254.1686,780.5693 9238.77,792.6506 9221.6783,800.8594 C9205.6026,808.5803 7955.4754,807.717 7937.6783,808.8594 C7277.542,851.2331 6502.276,964.2401 6135.5294,1021.5337 " fill="none" id="urt_baserequest_t&lt;-urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9276.8443,757.119,9269.8243,758.7683,9268.6468,765.8826,9275.6668,764.2333,9276.8443,757.119" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9272.8482" y="776.7092">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6143.3225" y="1017.0924">1</text><!--MD5=[abb05cad5cff2c76ceafdc2a055c056c]

reverse link urt_baserequest_t to urt_osEventSource_t--><path d="M9267.7799,766.9314 C9254.2022,780.6394 9238.7918,792.6962 9221.6783,800.8594 C9207.6994,807.5274 311.625,797.9029 300.6783,808.8594 C164.0323,945.628 176.9759,1095.2812 300.6783,1243.8594 C401.396,1364.8307 821.5181,1412.5383 1107.0969,1431.1651 " fill="none" id="urt_baserequest_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9276.8855,757.205,9269.8649,758.8514,9268.6844,765.9652,9275.705,764.3188,9276.8855,757.205" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9263.0423" y="776.7173">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1090.8562" y="1443.1152">1</text><!--MD5=[6e4cdc2fe71f4b9ae682dc44b1d45b47]

reverse link urt_baserequest_t to urt_osEventListener_t--><path d="M9267.7798,766.9312 C9254.2021,780.6392 9238.7917,792.696 9221.6783,800.8594 C9207.9219,807.4214 453.4506,798.0772 442.6783,808.8594 C374.3558,877.2442 375.1076,1174.7317 442.6783,1243.8594 C490.4174,1292.6985 1606.3912,1251.8128 1671.6783,1271.8594 C1755.4255,1297.5743 1838.0043,1357.9424 1888.1615,1399.6024 " fill="none" id="urt_baserequest_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9276.8854,757.2048,9269.8648,758.8512,9268.6843,765.965,9275.7049,764.3186,9276.8854,757.2048" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9253.0921" y="776.7171">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1872.1199" y="1388.8756">1</text><!--MD5=[8b261aef1d2e0a451326ad6807af1e66]

reverse link urt_nrtrequest_t to urt_delay_t--><path d="M10733.4456,402.9131 C10690.6288,424.7767 10642.6302,445.105 10595.6783,456.3594 C10575.2567,461.2545 7588.9356,452.3933 7571.6783,464.3594 C7440.3155,555.4454 7544.7101,676.1738 7444.6783,800.8594 C7219.6607,1081.3348 7108.5055,1129.2462 6767.6783,1243.8594 C6725.1337,1258.1663 6395.2976,1239.0389 6364.6783,1271.8594 C6270.6916,1372.6027 6286.7787,1468.218 6364.6783,1581.8594 C6415.3376,1655.7622 6662.798,1727.9495 6799.1256,1762.9595 " fill="none" id="urt_nrtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="10745.0871,396.8666,10737.9188,396.0825,10734.4379,402.3979,10741.6063,403.1819,10745.0871,396.8666" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10724.8329" y="417.0339">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6771.1128" y="1773.891">0,2</text><!--MD5=[8aa30e666b650ddcf5fdd53ac0c33b2b]

link urt_nrtrequest_t to urt_config--><path d="M11012.7629,396.9179 C11058.5735,421.0274 11111.2586,444.1168 11162.6783,456.3594 C11175.921,459.5124 18993.8502,454.9403 19003.6783,464.3594 C19046.7465,505.6352 19037.1696,1206.0743 19018.6783,1243.8594 C18911.0569,1463.7733 18814.4244,1500.0013 18583.6783,1581.8594 C18121.4635,1745.832 10360.7152,1780.0853 9179.0197,1784.3581 " fill="none" id="urt_nrtrequest_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="9173.8616,1784.3767,9182.8761,1788.344,9178.8616,1784.3585,9182.847,1780.344,9173.8616,1784.3767" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4d5eda3ecbcd41d6d2b940fb4748a5e6]

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]

reverse link urt_srtrequest_t to urt_delay_t--><path d="M10042.681,408.4355 C9992.5789,428.1848 9938.0865,446.0982 9885.6783,456.3594 C9827.7228,467.7067 7816.7124,449.0389 7759.6783,464.3594 C7087.5851,644.8969 7046.0308,980.9661 6401.6783,1243.8594 C6355.7657,1262.5916 6324.0245,1232.6424 6293.6783,1271.8594 C6209.3611,1380.8242 6213.4835,1469.8259 6293.6783,1581.8594 C6353.5649,1665.5221 6647.6583,1735.9124 6799.1266,1767.3102 " fill="none" id="urt_srtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="10054.9809,403.5162,10047.9245,402.0303,10043.839,407.9724,10050.8953,409.4583,10054.9809,403.5162" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10031.8644" y="423.3685">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6771.1139" y="1778.5884">0,1</text><!--MD5=[421371e2a1201d214a6175d8cede910e]

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

  package "Configuration" <<Node>> {

  class urt_config <<C,BFBFBF>> {

  .. general ..

  URT_CFG_DELAY_WIDTH : int

  URT_CFG_NODESTAGE_WIDTH : int

  .. 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

}

}

  package "Primitives" <<Node>> {

  class urt_nodestage_t <<T,00CFFF>> {

  .. URT_CFG_NODESTAGE_WIDTH == 8 ..

  uin8_t

  .. URT_CFG_NODESTAGE_WIDTH == 16 ..

  uint16_t

  .. URT_CFG_NODESTAGE_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_NODESTAGE_WIDTH == 64 ..

  uint64_t

}

  class urt_topicid_t <<T,00CFFF>> {

  .. URT_CFG_PUBSUB_TOPICID_WIDTH == 8 ..

  uin8_t

  .. URT_CFG_PUBSUB_TOPICID_WIDTH == 16 ..

  uint16_t

  .. URT_CFG_PUBSUB_TOPICID_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_PUBSUB_TOPICID_WIDTH == 64 ..

  uint64_t

}

  class urt_serviceid_t <<T,00CFFF>> {

  .. URT_CFG_RPC_SERVICEID_WIDTH == 8 ..

  uin8_t

  .. URT_CFG_RPC_SERVICEID_WIDTH == 16 ..

  uint16_t

  .. URT_CFG_RPC_SERVICEID_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_RPC_SERVICEID_WIDTH == 64 ..

  uint64_t

}

  class urt_status_t <<E,FF7F3F>> {

  URT_STATUS_OK = 0

  URT_STATUS_DEADLINEVIOLATION

  URT_STATUS_JITTERVIOLATION

  URT_STATUS_RATEVIOLATION

  URT_STATUS_SYNC_PENDING

  URT_STATUS_SYNC_ERROR

  URT_STATUS_NODE_INVALEVTMASK

  .. URT_CFG_PUBSUB_ENABLED == true ..

  URT_STATUS_TOPIC_DUPLICATE

  URT_STATUS_PUBLISH_TIMEOUT

  URT_STATUS_SUBSCRIBE_TOPICSET

  URT_STATUS_FETCH_NOTOPIC

  URT_STATUS_FETCH_NOMESSAGE

  URT_STATUS_UNSUBSCRIBE_NOTOPIC

  .. URT_CFG_RPC_ENABLED == true ..

  URT_STATUS_SERVICE_DUPLICATE

  URT_STATUS_REQUEST_BADOWNER

  URT_STATUS_REQUEST_LOCKED

}

  class urt_delay_t <<T,00CFFF>> {

  .. URT_CFG_DELAY_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_DELAY_WIDTH == 64 ..

  uint64_t

  __

  URT_DELAY_IMMEDIATE = 0

  URT_DELAY_INFINITE = 0xF..F

}

  class urt_usefulness_f <<F,E0E0E0>> {

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

}

}

  package "OSAL" <<Node>> {

  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*

  }

}

  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>> {

    class urt_osCondvarWaitStatus_t <<E,FF7F3F>> {

    URT_CONDVAR_WAITSTATUS_SIGNAL = 1

    URT_CONDVAR_WAITSTATUS_BROADCAST = 2

    URT_CONDVAR_WAITSTATUS_TIMEOUT = 0

  }

    class urt_osCondvar_t <<T,00CFFF>> {

    + {method} urtCondvarInit (condvar : urt_osCondvar_t*) : void

    + {method} urtCondvarSignal (condvar : urt_osCondvar_t*) : void

    + {method} urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void

    + {method} urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_osCondvarWaitStatus_t

  }

}

  package "timer" <<Rectangle>> {

    class urt_osTimerCallback_t <<T,00CFFF>> {

    urt_osTimerCallback_t (parameter : void*) : void

  }

    class urt_osTimer_t <<T,00CFFF>> {

    + {method} urtTimerInit (timer : urt_osTimer_t*) : void

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

    + {method} urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t

    + {method} urtTimerReset (timer : urt_osTimer_t*) : urt_status_t

    + {method} urtTimerIsArmed (timer : urt_osTimer_t*) : bool

  }

} 

  package "thread" <<Rectangle>> {

    class urt_osThreadPrio_t <<T,00CFFF>> {

    URT_THREAD_PRIO_LOW_MIN

    URT_THREAD_PRIO_LOW_MAX

    URT_THREAD_PRIO_NORMAL_MIN

    URT_THREAD_PRIO_NORMAL_MAX

    URT_THREAD_PRIO_HIGH_MIN

    URT_THREAD_PRIO_HIGH_MAX

    URT_THREAD_PRIO_RT_MIN

    URT_THREAD_PRIO_RT_MAX

  }

    class urt_osThreadFunction_t <<T,00CFFF>> {

    urt_osThreadFunction_t (arg : void*) : void

  }

    class urt_osThreadTerminateSignal_t <<E,FF7F3F>> {

    URT_THREAD_TERMINATE_REQUEST = 15

    URT_THREAD_TERMINATE_KILL = 9

  }

    class urt_osThreadState_t <<E,FF7F3F>> {

    URT_THREAD_STATE_INACTIVE = 0

    URT_THREAD_STATE_RUNNING = 1

    URT_THREAD_STATE_READY = 2

    URT_THREAD_STATE_SLEEPING = 3

    URT_THREAD_STATE_SUSPENDED = 4

    URT_THREAD_STATE_WAITING = 5

    URT_THREAD_STATE_TERMINATED = 6

  }

    class urt_osThread_t <<T,00CFFF>> {

    URT_THREAD_SLEEP_MAX : float

    URT_THREAD_SSLEP_MAX : urt_delay_t

    URT_THREAD_MSLEEP_MAX : urt_delay_t

    URT_THREAD_USLEEP_MAX : urt_delay_t

    - -

    + {method} URT_THREAD_MEMORY (varname, stacksize)

    ..

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

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

    + {method} urtThreadYield (void) : void

    + {method} urtThreadGetPriority (void) : urt_osThreadPrio_t

    + {method} urtThreadSetPriority (prio : urt_osThreadPrio_t) : void

    + {method} urtThreadSuspend (thread : urt_osThread_t*) : void

    + {method} urtThreadResume (thread : urt_osThread_t*) : urt_status_t

    + {method} urtThreadSleep (seconds : float) : void

    + {method} urtThreadSSleep (seconds : urt_delay_t) : void

    + {method} urtThreadMSleep (milliseconds : urt_delay_t) : void

    + {method} urtThreadUSleep (microseconds : urt_delay_t) : void

    + {method} urtThreadSleepUntil (time : urt_osTime_t) : void

    + {method} urtThreadExit (void) : void

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

    + {method} urtThreadJoin (thread : urt_osThread_t*) : void

    + {method} urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t

    + {method} urtThreadGetSelf (void) : urt_osThread_t*

    + urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*

    + urtThreadGetSibling (thread : urt_osThread_t*) : urt_osThread_t*

    + urtThreadGetParent (thread : urt_osThread_t*) : urt_osThread_t*

  }

} 

  package "events" <<Rectangle>> {

    class urt_osEventMask_t <<T,00CFFF>> {

    URT_EVENTMASK_MAXPRIO : urt_osEventMask_t

  }

    class urt_osEventFlags_t <<T,00CFFF>> {

  }

    class urt_osEventWait_t <<E,FF7F3F>> {

    URT_EVENT_WAIT_ONE = 0

    URT_EVENT_WAIT_ANY = 1

    URT_EVENT_WAIT_ALL = 2

  }

    class urt_osEventListener_t <<T,00CFFF>> {

    + {method} urtEventListenerInit (listener : urt_osEventListener_t*) : void

    + {method} urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t

    + {method} urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t

  }

    class urt_osEventSource_t <<T,00CFFF>> {

    + {method} urtEventSourceInit (source : urt_osEventSource_t*) : void

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

  }

    class urt_events <<F,E0E0E0>> {

    + {method} urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : urt_status_t

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

    + {method} urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWait_t, timeout : urt_delay_t) : urt_osEventMask_t

  }

} 

  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

  }

}

}

  package "Middleware" <<Node>> {

  class urt_core_t <<S,BFAFFF>> {

  - {field} {static} _nodes : urt_node_t*

  - {field} {static} _evtSource : urt_osEventSource_t

  - {field} {static} _lock : urt_osMutex_t

  - {field} {static} _status : urt_status_t

  .. URT_CFG_PUBSUB_ENABLED == true ..

  - {field} {static} _topics : urt_topic_t*

  .. URT_CFG_RPC_ENABLED == true ..

  - {field} {static} _services : urt_service_t*

  __

  + {method} urtCoreInit (void) : void

  + {method} urtCoreGetStatus (void) : urt_status_t

  + {method} urtCoreStartNodes (void) : void

  + {method} urtCoreSynchronize (node : urt_node_t*) : urt_status_t

  + {method} urtCoreStopNodes (reason : urt_status_t) : urt_status_t

  .. URT_CFG_PUBSUB_ENABLED == true ..

  + {method} urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*

  .. URT_CFG_RPC_ENABLED == true ..

  + {method} urtCoreGetService (id : urt_serviceid_t) : urt_service_t*

}

  package "node" <<Rectangle>> {

    class urt_nodeSetupCallback_t <<T,00CFFF>> {

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

  }

    class urt_nodeLoopCallback_t <<T,00CFFF>> {

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

  }

    class urt_nodeShutdownCallback_t <<T,00CFFF>> {

    urt_nodeShutdownCallback_t (node : urt_node_t*, cause : urt_status_t, arg : void*) : void

  }

    class urt_node_t <<S,BFAFFF>> {

    + {field} next : urt_node_t*

    + {field} thread : urt_osThread_t*

    + {field} setupcallback : urt_nodeSetupCallback_t*

    + {field} setupparams : void*

    + {field} loopcallback : urt_nodeLoopCallback_t*

    + {field} loopparams : void*

    + {field} shutdowncallback : urt_nodeShutdownCallback_t*

    + {field} shutdownparams : void*

    + {field} stage : urt_nodestage_t

    + {field} listener : urt_osEventListener_t

    .. URT_CFG_PUBSUB_PROFILING == true || URT_CFG_RPC_PROFILING = true ..

    + {field} loops : uint64_t

    __

    - {method} {static} _main : urt_osThreadFunction_t

    + {method} 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

  }

} 

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

  class urt_message_t <<S,BFAFFF>> {

  + {field} next : urt_message_t*

  + {field} payload : void*

  + {field} originTime : urt_osTime_t

  + {field} numHrtConsumersLeft : unsigned int

  .. URT_CFG_PUBSUB_PROFILING == true ..

  + {field} numConsumersLeft : unsigned int

  __

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

}

  package "subscriber" <<Rectangle>> {

    class urt_basesubscriber_t <<S,BFAFFF>> {

    + {field} topic : urt_topic_t*

    + {field} evtListener : urt_osEventListener_t

    + {field} lastMessage : urt_message_t*

    + {field} lastMessageTime : urt_osTime_t

    .. URT_CFG_PUBSUB_PROFILING == true ..

    + {field} sumLatencies : uint64_t

    + {field} numMessagesReceived : uint64_t

  }

    class urt_nrtsubscriber_t <<S,BFAFFF>> {

    .. URT_CFG_PUBSUB_PROFILING == true ..

    + {field} minLatency : urt_delay_t

    + {field} maxLatency : urt_delay_t

    __

    + {method} urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : void

    + {method} urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t

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

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

    + {method} urtNrtSubscriberUnsubscribe (subscriber : urt_nrtsubscriber_t*) : urt_status_t

  }

    class urt_srtsubscriber_t <<S,BFAFFF>> {

    + {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_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

    + {method} urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t

  }

    class urt_frtsubscriber_t <<S,BFAFFF>> {

    .. URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true ..

    + {field} deadlineOffset : urt_delay_t

    .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ..

    + {field} maxJitter : urt_delay_t

    .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ||  URT_CFG_PUBSUB_PROFILING == true ..

    + {field} minLatency : urt_delay_t

    + {field} maxLatency : urt_delay_t

    __

    + {method} urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : void

    + {method} urtFrtSubscriberSubscribe (subscriber : urt_frtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, jitter : urt_delay_t) : urt_status_t

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

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

    + {method} urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool

    + {method} urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t

  }

    class urt_hrtsubscriber_t <<S,BFAFFF>> {

    + {field} next : urt_hrtsubscriber_t*

    .. URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true ..

    + {field} deadlineOffset : urt_delay_t

    + {field} qosDeadlineTimer : urt_osTimer_t

    .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ..

    + {field} maxJitter : urt_delay_t

    .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true..

    + {field} minLatency : urt_delay_t

    + {field} maxLatency : urt_delay_t

    .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..

    + {field} expectedRate : urt_delay_t

    __

    + {method} urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : void

    + {method} 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

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

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

    + {method} urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t

  }

} 

  class urt_publisher_t <<S,BFAFFF>> {

  + {field} topic : urt_topic_t*

  .. URT_CFG_PUBSUB_PROFILING == true ..

  + {field} publishAttempts : uint64_t

  + {field} publishFails : uint64_t

  __

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

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

}

  class urt_topic_t <<S,BFAFFF>> {

  + {field} next : urt_topic_t*

  + {field} id : urt_topicid_t

  + {field} lock : urt_osMutex_t

  + {field} evtSource : urt_osEventSource_t

  + {field} numHrtSubscribers : unsigned int

  + {field} hrtReleased : urt_osCondvar_t

  + {field} mandatoryMessage : urt_message_t

  + {field} latestMessage : urt_message_t*

  .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..

  + {field} hrtSubscribers : urt_hrtsubscriber_t*

  + {field} qosRateTimer : urt_osTimer_t

  .. URT_CFG_PUBSUB_PROFILING == true ..

  + {field} numMessagesPublished : uint64_t

  + {field} numMessagesDiscarded : uint64_t

  + {field} numSubscribers : unsigned int

  __

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

}

}

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

  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} 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} numCalls : uint64_t

  + {field} numOwnershipLost : uint64_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_usefulness_f ..> urt_delay_t

urt_nodestage_t ..> urt_config

urt_topicid_t ..> urt_config

urt_serviceid_t ..> urt_config

urt_delay_t ..> urt_config

urt_osCondvar_t ..> urt_osCondvarWaitStatus_t

urt_osCondvar_t .> urt_osMutex_t

urt_osTimer_t ..> urt_osTimerCallback_t

urt_osThread_t ..> urt_osThreadPrio_t

urt_osThread_t ..> urt_osThreadFunction_t

urt_osThread_t ..> urt_osThreadTerminateSignal_t

urt_osThread_t ..> urt_osThreadState_t

urt_osThread_t .> urt_osTime_t

urt_osEventListener_t ..> urt_osEventFlags_t

urt_osEventSource_t ..> urt_osEventFlags_t

urt_events ..> urt_osEventSource_t

urt_events ..> urt_osEventListener_t

urt_events ..> urt_osEventMask_t

urt_events ..> urt_osEventFlags_t

urt_events ..> urt_osEventWait_t

urt_osCondvar_t ..> urt_delay_t

urt_osThread_t ..> urt_delay_t

urt_osThread_t ..> urt_status_t

urt_osTimer_t ..> urt_delay_t

urt_osTimer_t ..> urt_status_t

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 <.. 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 <.. urt_nodeShutdownCallback_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_srtsubscriber_t - -|> urt_basesubscriber_t

urt_frtsubscriber_t - -|> urt_basesubscriber_t

urt_hrtsubscriber_t - -|> urt_basesubscriber_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" *- - "1" urt_message_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" 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 "1" *- - "1" urt_status_t

urt_core_t ..> urt_nodestage_t

urt_core_t ..> urt_topicid_t

urt_core_t ..> urt_serviceid_t

urt_node_t "1" o- - "1" urt_osThread_t

urt_node_t "1" *- - "1" urt_nodestage_t

urt_node_t "1" *- - "1" urt_osEventListener_t

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

urt_node_t ..> urt_status_t

urt_nodeSetupCallback_t ..> urt_osEventMask_t

urt_nodeLoopCallback_t ..> urt_osEventMask_t

urt_publisher_t ..> urt_config

urt_publisher_t ..> urt_status_t

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 ..> urt_status_t

urt_message_t "1" *- - "1" urt_osTime_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 ..> urt_config

urt_nrtsubscriber_t ..> urt_status_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

urt_frtsubscriber_t ..> urt_config

urt_frtsubscriber_t ..> urt_status_t

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_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 ..> urt_status_t

@enduml

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

(GPL source distribution)

Java Runtime: OpenJDK Runtime Environment

JVM: OpenJDK 64-Bit Server VM

Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04

Operating System: Linux

Default Encoding: UTF-8

Language: en

Country: US

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