AMiRo-OS

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stroke-width: 1.5;" x1="8426.78" x2="8681.78" y1="1611.3594" y2="1611.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8426.78" x2="8681.78" y1="1619.3594" y2="1619.3594"/><ellipse cx="8436.78" cy="1631.2617" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="231" x="8445.78" y="1633.5698">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="8436.78" cy="1644.0664" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="8445.78" y="1646.3745">urtTimeNow (void) : urt_osTime_t</text><!--class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#f1xkwftqrlydvl)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="8092.28" y="1566.8594"/><ellipse cx="8193.53" cy="1582.8594" fill="#ADD8E6" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8194.3737,1589.6094 L8191.9206,1589.6094 L8191.9206,1579.3594 L8188.78,1579.3594 L8188.78,1577.2188 L8197.5144,1577.2188 L8197.5144,1579.3594 L8194.3737,1579.3594 L8194.3737,1589.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="8214.03" y="1587.0137">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8093.28" x2="8389.28" y1="1598.8594" y2="1598.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8093.28" x2="8389.28" y1="1606.8594" y2="1606.8594"/><ellipse cx="8103.28" cy="1618.7617" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="245" x="8112.28" y="1621.0698">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="8103.28" cy="1631.5664" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="253" x="8112.28" y="1633.8745">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="8103.28" cy="1644.3711" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="8112.28" y="1646.6792">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="8103.28" cy="1657.1758" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="8112.28" y="1659.4839">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--class urt_streams--><rect fill="#FEFECE" filter="url(#f1xkwftqrlydvl)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="209" x="3652.78" y="1158.8594"/><ellipse cx="3715.53" cy="1174.8594" fill="#FFFFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3719.7644,1170.625 L3714.4831,1170.625 L3714.4831,1173.2969 L3719.28,1173.2969 L3719.28,1175.4531 L3714.4831,1175.4531 L3714.4831,1180.8594 L3712.0456,1180.8594 L3712.0456,1168.4688 L3719.7644,1168.4688 L3719.7644,1170.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="3736.03" y="1179.0137">urt_streams</text><line style="stroke: #A80036; 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stroke-width: 1.0;"/><path d="M4956.1394,1595.3594 L4948.4206,1595.3594 L4948.4206,1582.9688 L4956.1394,1582.9688 L4956.1394,1585.125 L4950.8738,1585.125 L4950.8738,1587.7969 L4955.6394,1587.7969 L4955.6394,1589.9531 L4950.8738,1589.9531 L4950.8738,1593.2031 L4956.1394,1593.2031 L4956.1394,1595.3594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="126" x="4972.53" y="1593.5137">urt_condvarStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4891.28" x2="5147.28" y1="1605.3594" y2="1605.3594"/><ellipse cx="4901.28" cy="1617.2617" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="204" x="4910.28" y="1619.5698">URT_CONDVAR_STATUS_SIGNAL = 0</text><ellipse cx="4901.28" cy="1630.0664" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="232" x="4910.28" y="1632.3745">URT_CONDVAR_STATUS_BROADCAST = 1</text><ellipse cx="4901.28" cy="1642.8711" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="4910.28" y="1645.1792">URT_CONDVAR_STATUS_TIMEOUT = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4891.28" x2="5147.28" y1="1651.7734" y2="1651.7734"/><!--class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#f1xkwftqrlydvl)" height="99.2188" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="671" x="4683.78" y="1146.3594"/><ellipse cx="4964.53" cy="1162.3594" fill="#ADD8E6" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4965.3738,1169.1094 L4962.9206,1169.1094 L4962.9206,1158.8594 L4959.78,1158.8594 L4959.78,1156.7188 L4968.5144,1156.7188 L4968.5144,1158.8594 L4965.3738,1158.8594 L4965.3738,1169.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="4985.03" y="1166.5137">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4684.78" x2="5353.78" y1="1178.3594" y2="1178.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4684.78" x2="5353.78" y1="1186.3594" y2="1186.3594"/><ellipse cx="4694.78" cy="1198.2617" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="283" x="4703.78" y="1200.5698">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4694.78" cy="1211.0664" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="294" x="4703.78" y="1213.3745">urtConvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4694.78" cy="1223.8711" fill="#84BE84" 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="4703.78" y="1226.1792">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4694.78" cy="1236.6758" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="645" x="4703.78" y="1238.9839">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_condvarStatus_t</text><!--class urt_osTimerCallback_t--><rect fill="#FEFECE" filter="url(#f1xkwftqrlydvl)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="4008.28" y="1585.8594"/><ellipse cx="4079.03" cy="1601.8594" fill="#ADD8E6" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4079.8738,1608.6094 L4077.4206,1608.6094 L4077.4206,1598.3594 L4074.28,1598.3594 L4074.28,1596.2188 L4083.0144,1596.2188 L4083.0144,1598.3594 L4079.8738,1598.3594 L4079.8738,1608.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="4099.53" y="1606.0137">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4009.28" x2="4293.28" y1="1617.8594" y2="1617.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4009.28" x2="4293.28" y1="1625.8594" y2="1625.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="4014.28" y="1640.0698">urt_osTimerCallback_t (parameter : void*) : void</text><!--class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#f1xkwftqrlydvl)" height="99.2188" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="731" x="3896.78" y="1146.3594"/><ellipse cx="4216.03" cy="1162.3594" fill="#ADD8E6" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4216.8738,1169.1094 L4214.4206,1169.1094 L4214.4206,1158.8594 L4211.28,1158.8594 L4211.28,1156.7188 L4220.0144,1156.7188 L4220.0144,1158.8594 L4216.8738,1158.8594 L4216.8738,1169.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="4236.53" y="1166.5137">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3897.78" x2="4626.78" y1="1178.3594" y2="1178.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3897.78" x2="4626.78" y1="1186.3594" y2="1186.3594"/><ellipse cx="3907.78" cy="1198.2617" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="3916.78" y="1200.5698">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="3907.78" cy="1211.0664" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="705" x="3916.78" y="1213.3745">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="3907.78" cy="1223.8711" fill="#84BE84" 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="3916.78" y="1226.1792">urtTimerReset (timer : urt_osTimer_t*) : urt_status_t</text><ellipse cx="3907.78" cy="1236.6758" fill="#84BE84" 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="3916.78" y="1238.9839">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#f1xkwftqrlydvl)" height="48" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="5411.28" y="1592.3594"/><ellipse cx="5426.28" cy="1608.3594" fill="#ADD8E6" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5427.1238,1615.1094 L5424.6706,1615.1094 L5424.6706,1604.8594 L5421.53,1604.8594 L5421.53,1602.7188 L5430.2644,1602.7188 L5430.2644,1604.8594 L5427.1238,1604.8594 L5427.1238,1615.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="5440.28" y="1612.5137">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5412.28" x2="5560.28" y1="1624.3594" y2="1624.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5412.28" x2="5560.28" y1="1632.3594" y2="1632.3594"/><!--class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#f1xkwftqrlydvl)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="5857.28" y="1585.8594"/><ellipse cx="5905.03" cy="1601.8594" fill="#ADD8E6" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5905.8738,1608.6094 L5903.4206,1608.6094 L5903.4206,1598.3594 L5900.28,1598.3594 L5900.28,1596.2188 L5909.0144,1596.2188 L5909.0144,1598.3594 L5905.8738,1598.3594 L5905.8738,1608.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="5925.53" y="1606.0137">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5858.28" x2="6108.28" y1="1617.8594" y2="1617.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5858.28" x2="6108.28" y1="1625.8594" y2="1625.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="5863.28" y="1640.0698">urt_osThreadFunction_t (arg : void*) : void</text><!--class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#f1xkwftqrlydvl)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="6144.28" y="1579.3594"/><ellipse cx="6166.03" cy="1595.3594" fill="#EB937F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6170.1394,1601.3594 L6162.4206,1601.3594 L6162.4206,1588.9688 L6170.1394,1588.9688 L6170.1394,1591.125 L6164.8738,1591.125 L6164.8738,1593.7969 L6169.6394,1593.7969 L6169.6394,1595.9531 L6164.8738,1595.9531 L6164.8738,1599.2031 L6170.1394,1599.2031 L6170.1394,1601.3594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="6181.53" y="1599.5137">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6145.28" x2="6385.28" y1="1611.3594" y2="1611.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="6150.28" y="1625.5698">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="6150.28" y="1638.3745">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6145.28" x2="6385.28" y1="1644.9688" y2="1644.9688"/><!--class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#f1xkwftqrlydvl)" height="124.8281" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="5596.28" y="1553.8594"/><ellipse cx="5641.03" cy="1569.8594" fill="#EB937F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5645.1394,1575.8594 L5637.4206,1575.8594 L5637.4206,1563.4688 L5645.1394,1563.4688 L5645.1394,1565.625 L5639.8738,1565.625 L5639.8738,1568.2969 L5644.6394,1568.2969 L5644.6394,1570.4531 L5639.8738,1570.4531 L5639.8738,1573.7031 L5645.1394,1573.7031 L5645.1394,1575.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="5661.53" y="1574.0137">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5597.28" x2="5821.28" y1="1585.8594" y2="1585.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="5602.28" y="1600.0698">URT_THREAD_STATE_RUNNING = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="5602.28" y="1612.8745">URT_THREAD_STATE_READY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="5602.28" y="1625.6792">URT_THREAD_STATE_SLEEPING = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="5602.28" y="1638.4839">URT_THREAD_STATE_SUSPENDED = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="5602.28" y="1651.2886">URT_THREAD_STATE_WAITING = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="5602.28" y="1664.0933">URT_THREAD_STATE_TERMINATED = 5</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5597.28" x2="5821.28" y1="1670.6875" y2="1670.6875"/><!--class urt_osThread_t--><rect fill="#FEFECE" filter="url(#f1xkwftqrlydvl)" height="460.9453" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="613" x="5544.78" y="965.3594"/><ellipse cx="5800.03" cy="981.3594" fill="#ADD8E6" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5800.8738,988.1094 L5798.4206,988.1094 L5798.4206,977.8594 L5795.28,977.8594 L5795.28,975.7188 L5804.0144,975.7188 L5804.0144,977.8594 L5800.8738,977.8594 L5800.8738,988.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="5820.53" y="985.5137">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5545.78" x2="6156.78" y1="997.3594" y2="997.3594"/><ellipse cx="5555.78" cy="1009.2617" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="280" x="5564.78" y="1011.5698">URT_THREAD_PRIO_LOW_MIN : urt_osThreadPrio_t</text><ellipse cx="5555.78" cy="1022.0664" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="283" x="5564.78" y="1024.3745">URT_THREAD_PRIO_LOW_MAX : urt_osThreadPrio_t</text><ellipse cx="5555.78" cy="1034.8711" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="302" x="5564.78" y="1037.1792">URT_THREAD_PRIO_NORMAL_MIN : urt_osThreadPrio_t</text><ellipse cx="5555.78" cy="1047.6758" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="305" x="5564.78" y="1049.9839">URT_THREAD_PRIO_NORMAL_MAX : urt_osThreadPrio_t</text><ellipse cx="5555.78" cy="1060.4805" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="284" x="5564.78" y="1062.7886">URT_THREAD_PRIO_HIGH_MIN : urt_osThreadPrio_t</text><ellipse cx="5555.78" cy="1073.2852" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="287" x="5564.78" y="1075.5933">URT_THREAD_PRIO_HIGH_MAX : urt_osThreadPrio_t</text><ellipse cx="5555.78" cy="1086.0898" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="270" x="5564.78" y="1088.3979">URT_THREAD_PRIO_RT_MIN : urt_osThreadPrio_t</text><ellipse cx="5555.78" cy="1098.8945" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="273" x="5564.78" y="1101.2026">URT_THREAD_PRIO_RT_MAX : urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5545.78" x2="6156.78" y1="1107.7969" y2="1107.7969"/><ellipse cx="5555.78" cy="1119.6992" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="5564.78" y="1122.0073">URT_THREAD_MAX_SLEEP : float</text><ellipse cx="5555.78" cy="1132.5039" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="5564.78" y="1134.812">URT_THREAD_MAX_SSLEP : unsigned int</text><ellipse cx="5555.78" cy="1145.3086" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="5564.78" y="1147.6167">URT_THREAD_MAX_MSLEEP : unsigned int</text><ellipse cx="5555.78" cy="1158.1133" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="232" x="5564.78" y="1160.4214">URT_THREAD_MAX_USLEEP : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5545.78" x2="6156.78" y1="1167.0156" y2="1167.0156"/><ellipse cx="5555.78" cy="1178.918" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="286" x="5564.78" y="1181.2261">URT_THREAD_WORKING_AREA (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5545.78" x2="6156.78" y1="1187.8203" y2="1187.8203"/><ellipse cx="5555.78" cy="1199.7227" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="587" x="5564.78" y="1202.0308">urtThreadInit (wa : void*, wasize : size_t, func : urt_osThreadFunction_t*, arg : void*) : urt_osThread_t*</text><ellipse cx="5555.78" cy="1212.5273" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="490" x="5564.78" y="1214.8354">urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void</text><ellipse cx="5555.78" cy="1225.332" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="5564.78" y="1227.6401">urtThreadYield (void) : void</text><ellipse cx="5555.78" cy="1238.1367" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="389" x="5564.78" y="1240.4448">urtThreadGetPriority (thread : urt_osThread_t*) : urt_osThreadPrio_t</text><ellipse cx="5555.78" cy="1250.9414" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="453" x="5564.78" y="1253.2495">urtThreadSetPriority (thread : urt_osThread_t*, prio : urt_osThreadPrio_t) : void</text><ellipse cx="5555.78" cy="1263.7461" fill="#84BE84" 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="5564.78" y="1266.0542">urtThreadSuspend (void) : void</text><ellipse cx="5555.78" cy="1276.5508" fill="#84BE84" 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="5564.78" y="1278.8589">urtThreadResume (thread : urt_osThread_t*) : urt_status_t</text><ellipse cx="5555.78" cy="1289.3555" fill="#84BE84" 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="5564.78" y="1291.6636">urtThreadSleep (seconds : float) : void</text><ellipse cx="5555.78" cy="1302.1602" fill="#84BE84" 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="5564.78" y="1304.4683">urtThreadSSleep (seconds : usnigned int) : void</text><ellipse cx="5555.78" cy="1314.9648" fill="#84BE84" 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="5564.78" y="1317.2729">urtThreadMSleep (milliseconds : unsigned int) : void</text><ellipse cx="5555.78" cy="1327.7695" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="305" x="5564.78" y="1330.0776">urtThreadUSleep (microseconds : unsigned int) : void</text><ellipse cx="5555.78" cy="1340.5742" fill="#84BE84" 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="5564.78" y="1342.8823">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="5555.78" cy="1353.3789" fill="#84BE84" 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="5564.78" y="1355.687">urtThreadExit (void) : void</text><ellipse cx="5555.78" cy="1366.1836" fill="#84BE84" 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="5564.78" y="1368.4917">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="5555.78" cy="1378.9883" fill="#84BE84" 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="5564.78" y="1381.2964">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="5555.78" cy="1391.793" fill="#84BE84" 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="5564.78" y="1394.1011">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="5555.78" cy="1404.5977" fill="#84BE84" 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="5564.78" y="1406.9058">urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="5555.78" cy="1417.4023" fill="#84BE84" 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="5564.78" y="1419.7104">urtThreadGetSibling (thread : urt_osThread_t*) : urt_psThread_t*</text><!--class urt_osEventMask_t--><rect fill="#FEFECE" filter="url(#f1xkwftqrlydvl)" height="60.8047" id="urt_osEventMask_t" style="stroke: #A80036; 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stroke-width: 1.0;"/><path d="M6790.8894,1595.3594 L6783.1706,1595.3594 L6783.1706,1582.9688 L6790.8894,1582.9688 L6790.8894,1585.125 L6785.6238,1585.125 L6785.6238,1587.7969 L6790.3894,1587.7969 L6790.3894,1589.9531 L6785.6238,1589.9531 L6785.6238,1593.2031 L6790.8894,1593.2031 L6790.8894,1595.3594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="141" x="6800.78" y="1593.5137">urt_osEventWaitType_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6772.78" x2="6943.78" y1="1605.3594" y2="1605.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="6777.78" y="1619.5698">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="6777.78" y="1632.3745">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="6777.78" y="1645.1792">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; 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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="341" x="7000.28" y="1627.5698">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="6991.28" cy="1638.0664" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="458" x="7000.28" y="1640.3745">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="6991.28" cy="1650.8711" fill="#84BE84" 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="7000.28" y="1653.1792">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#f1xkwftqrlydvl)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="7509.78" y="1579.3594"/><ellipse cx="7714.53" cy="1595.3594" fill="#ADD8E6" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7715.3738,1602.1094 L7712.9206,1602.1094 L7712.9206,1591.8594 L7709.78,1591.8594 L7709.78,1589.7188 L7718.5144,1589.7188 L7718.5144,1591.8594 L7715.3738,1591.8594 L7715.3738,1602.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="7735.03" y="1599.5137">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7510.78" x2="8055.78" y1="1611.3594" y2="1611.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7510.78" x2="8055.78" y1="1619.3594" y2="1619.3594"/><ellipse cx="7520.78" cy="1631.2617" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="325" x="7529.78" y="1633.5698">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="7520.78" cy="1644.0664" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="521" x="7529.78" y="1646.3745">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--class urt_events--><rect fill="#FEFECE" filter="url(#f1xkwftqrlydvl)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="735" x="6441.78" y="1152.8594"/><ellipse cx="6772.03" cy="1168.8594" fill="#FFFFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6776.2644,1164.625 L6770.9831,1164.625 L6770.9831,1167.2969 L6775.78,1167.2969 L6775.78,1169.4531 L6770.9831,1169.4531 L6770.9831,1174.8594 L6768.5456,1174.8594 L6768.5456,1162.4688 L6776.2644,1162.4688 L6776.2644,1164.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="6792.53" y="1173.0137">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6442.78" x2="7175.78" y1="1184.8594" y2="1184.8594"/><line style="stroke: #A80036; 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stroke-width: 1.5;" x1="3128.78" x2="3577.78" y1="736.3594" y2="736.3594"/><ellipse cx="3138.78" cy="748.2617" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="127" x="3147.78" y="750.5698">next : urt_message_t*</text><ellipse cx="3138.78" cy="761.0664" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="3147.78" y="763.3745">payload : void*</text><ellipse cx="3138.78" cy="773.8711" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="3147.78" y="776.1792">originTime : urt_osTime_t</text><ellipse cx="3138.78" cy="786.6758" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="3147.78" y="788.9839">lock : urt_osMutex_t</text><ellipse cx="3138.78" cy="799.4805" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="211" x="3147.78" y="801.7886">numHrtConsumersLeft : unsigned int</text><ellipse cx="3138.78" cy="812.2852" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="3147.78" y="814.5933">hrtConsumersLeft : urt_osCondvar_t</text><ellipse cx="3138.78" cy="841.8945" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="3147.78" y="844.2026">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="3128.78" x2="3309.78" y1="827.5898" y2="827.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="87" x="3309.78" y="830.8979">evaluation data</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="3396.78" x2="3577.78" y1="827.5898" y2="827.5898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3128.78" x2="3577.78" y1="850.7969" y2="850.7969"/><ellipse cx="3138.78" cy="862.6992" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="425" x="3147.78" y="865.0073">urtMessageInit (message : urt_message_t*, payload : void*) : urt_status_t</text><!--class urt_subscriber_t--><rect fill="#FEFECE" filter="url(#f1xkwftqrlydvl)" height="244.0703" id="urt_subscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="851" x="1932.78" y="122.3594"/><ellipse cx="2303.53" cy="138.3594" fill="#D3D3D3" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2303.0144,138.9219 Q2301.155,138.2188 2300.5066,137.4453 Q2299.8581,136.6719 2299.8581,135.3594 Q2299.8581,133.6719 2300.9362,132.7031 Q2302.0144,131.7344 2303.8894,131.7344 Q2304.7487,131.7344 2305.6003,131.9297 Q2306.4519,132.125 2307.2956,132.5156 L2307.2956,134.9063 Q2306.5144,134.3438 2305.6941,134.0547 Q2304.8737,133.7656 2304.0769,133.7656 Q2303.2019,133.7656 2302.7253,134.125 Q2302.2487,134.4844 2302.2487,135.1406 Q2302.2487,135.6563 2302.5925,135.9922 Q2302.9362,136.3281 2304.03,136.7344 L2305.0925,137.1406 Q2306.5769,137.6875 2307.2878,138.5938 Q2307.9987,139.5 2307.9987,140.875 Q2307.9987,142.75 2306.8894,143.6719 Q2305.78,144.5938 2303.53,144.5938 Q2302.6081,144.5938 2301.6862,144.375 Q2300.7644,144.1563 2299.905,143.7344 L2299.905,141.2031 Q2300.8737,141.8906 2301.7956,142.2344 Q2302.7175,142.5781 2303.6081,142.5781 Q2304.5144,142.5781 2305.0144,142.1641 Q2305.5144,141.75 2305.5144,141.0156 Q2305.5144,140.4531 2305.1784,140.0391 Q2304.8425,139.625 2304.2175,139.375 L2303.0144,138.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="2324.03" y="142.5137">urt_subscriber_t</text><line style="stroke: #A80036; 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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="175" x="1952.78" y="219.7886">lastMessage : urt_message_t*</text><ellipse cx="1943.78" cy="230.2852" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="1952.78" y="232.5933">lastMessageTime : urt_osTime_t</text><ellipse cx="1943.78" cy="259.8945" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="1952.78" y="262.2026">minLatency : urt_delay_t</text><ellipse cx="1943.78" cy="272.6992" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="1952.78" y="275.0073">maxLatency : urt_delay_t</text><ellipse cx="1943.78" cy="285.5039" fill="none" rx="3" ry="3" style="stroke: #038048; 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@startuml

title **µRtWare**\nOverview\n

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

  + URT_CONFIG_DEBUG : bool

  + URT_CONFIG_DELAY_WIDTH

  + URT_CONFIG_TOPICID_WIDTH

  + URT_CONFIG_NODESYNC_TYPE

}

package "primitives" {

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

    .. either ..

    uint32_t

    .. or ..

    uint64_t

  }

  urt_delay_t ..> urt_config

  enum urt_status_t {

    URT_STATUS_OK = 0

    URT_STATUS_WARNING = 1

    URT_STATUS_ERROR = -1

  }

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

    uin8_t

    .. or ..

    uint16_t

    .. or ..

    uint32_t

    .. or ..

    uint64_t

  }

  urt_topicid_t ..> urt_config

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

    + urtDebugAssert(condition : bool) : void

  }

  class urt_nodesync_t <<T,lightblue>> {

    uin8_t

    .. or ..

    int8_t

    .. or ..

    uint16_t

    .. or ..

    int16_t

    .. or ..

    uint32_t

    .. or ..

    int32_t

    .. or ..

    uint64_t

    .. or ..

    int64_t

  }

  urt_nodesync_t ..> urt_config

} 

package "OSAL" {

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

    + urtTime2Us (t : urt_osTime_t*) : uint64_t

    + urtTimeNow (void) : urt_osTime_t

  }

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

    + urtMutexInit (mutex : urt_osMutex_t*) : void

    + urtMutexLock (mutex : urt_osMutex_t*) : void

    + urtMutexTryLock (mutex : urt_osMutex_t*) : bool

    + urtMutexUnlock (mutex : urt_osMutex_t*) : void

  }

  package "condition variable" {

    enum urt_condvarStatus_t {

      + URT_CONDVAR_STATUS_SIGNAL = 0

      + URT_CONDVAR_STATUS_BROADCAST = 1

      + URT_CONDVAR_STATUS_TIMEOUT = 2

    }

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

      + urtCondvarInit (condvar : urt_osCondvar_t*) : void

      + urtConvarSignal (condvar : urt_osCondvar_t*) : void

      + urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void

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

    }

    urt_osCondvar_t ..> urt_osMutex_t

    urt_osCondvar_t ..> urt_delay_t

    urt_osCondvar_t ..> urt_condvarStatus_t

  } 

  package "timer" {

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

      urt_osTimerCallback_t (parameter : void*) : void

    }

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

      + urtTimerInit (timer : urt_osTimer_t*) : void

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

      + urtTimerReset (timer : urt_osTimer_t*) : urt_status_t

      + urtTimerIsArmed (timer : urt_osTimer_t*) : bool

    }

    urt_osTimer_t ..> urt_delay_t

    urt_osTimer_t ..> urt_status_t

    urt_osTimer_t ..> urt_osTimerCallback_t

  } 

  package "thread" {

    class urt_osThreadPrio_t <<(T,lightblue)>>

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

      urt_osThreadFunction_t (arg : void*) : void

    }

    enum urt_osThreadTerminateSignal_t {

      URT_THREAD_TERMINATE_REQUEST = 15

      URT_THREAD_TERMINATE_KILL = 9

    }

    enum urt_osThreadState_t {

      URT_THREAD_STATE_RUNNING = 0

      URT_THREAD_STATE_READY = 1

      URT_THREAD_STATE_SLEEPING = 2

      URT_THREAD_STATE_SUSPENDED = 3

      URT_THREAD_STATE_WAITING = 4

      URT_THREAD_STATE_TERMINATED = 5

    }

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

      + URT_THREAD_PRIO_LOW_MIN : urt_osThreadPrio_t

      + URT_THREAD_PRIO_LOW_MAX : urt_osThreadPrio_t

      + URT_THREAD_PRIO_NORMAL_MIN : urt_osThreadPrio_t

      + URT_THREAD_PRIO_NORMAL_MAX : urt_osThreadPrio_t

      + URT_THREAD_PRIO_HIGH_MIN : urt_osThreadPrio_t

      + URT_THREAD_PRIO_HIGH_MAX : urt_osThreadPrio_t

      + URT_THREAD_PRIO_RT_MIN : urt_osThreadPrio_t

      + URT_THREAD_PRIO_RT_MAX : urt_osThreadPrio_t

      ..

      + URT_THREAD_MAX_SLEEP : float

      + URT_THREAD_MAX_SSLEP : unsigned int

      + URT_THREAD_MAX_MSLEEP : unsigned int

      + URT_THREAD_MAX_USLEEP : unsigned int

      __

      + URT_THREAD_WORKING_AREA (varname, stacksize)

      ..

      + urtThreadInit (wa : void*, wasize : size_t, func : urt_osThreadFunction_t*, arg : void*) : urt_osThread_t*

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

      + urtThreadYield (void) : void

      + urtThreadGetPriority (thread : urt_osThread_t*) : urt_osThreadPrio_t

      + urtThreadSetPriority (thread : urt_osThread_t*, prio : urt_osThreadPrio_t) : void

      + urtThreadSuspend (void) : void

      + urtThreadResume (thread : urt_osThread_t*) : urt_status_t

      + urtThreadSleep (seconds : float) : void

      + urtThreadSSleep (seconds : usnigned int) : void

      + urtThreadMSleep (milliseconds : unsigned int) : void

      + urtThreadUSleep (microseconds : unsigned int) : void

      + urtThreadSleepUntil (time : urt_osTime_t) : void

      + urtThreadExit (void) : void

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

      + urtThreadJoin (thread : urt_osThread_t*) : void

      + urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t

      + urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*

      + urtThreadGetSibling (thread : urt_osThread_t*) : urt_psThread_t*

    }

    urt_osThread_t ..> urt_osThreadPrio_t

    urt_osThread_t ..> urt_osThreadFunction_t

    urt_osThread_t ..> urt_osTime_t

    urt_osThread_t ..> urt_osThreadTerminateSignal_t

    urt_osThread_t ..> urt_osThreadState_t

  } 

  package "events" {

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

      + URT_EVENTMASK_MAXPRIO : urt_osEventMask_t

    }

    class urt_osEventFlags_t <<(T,lightblue)>>

    enum urt_osEventWaitType_t {

      URT_EVENT_WAIT_ONE = 0

      URT_EVENT_WAIT_ANY = 1

      URT_EVENT_WAIT_ALL = 2

    }

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

      + urtEventListenerInit (listener : urt_osEventListener_t*) : void

      + urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t

      + urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t

    }

    urt_osEventListener_t ..> urt_osEventFlags_t

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

      + urtEventSourceInit (source : urt_osEventSource_t*) : void

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

    }

    urt_osEventSource_t ..> urt_osEventFlags_t

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

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

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

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

    }

    urt_events ..> urt_osEventSource_t

    urt_events ..> urt_osEventListener_t

    urt_events ..> urt_osEventMask_t

    urt_events ..> urt_status_t

    urt_events ..> urt_osEventWaitType_t

    urt_events ..> urt_delay_t

  } 

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

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

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

    }

} 

package "middleware" {

  package "real-time class" {

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

      + class : urt_rtclasstype_t

      + params : urt_rtclassparams_t

    }

    urt_rtclass_t "1" *- - "1" urt_rtclasstype_t

    urt_rtclass_t "1" *- - "1" urt_rtclassparams_t

    enum urt_rtclasstype_t {

      URT_RTCLASS_HARD = 0

      URT_RTCLASS_FIRM = 1

      URT_RTCLASS_SOFT = 2

      URT_RTCLASS_NONE = 3

    }

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

      + hrt : urt_hrtparams_t

      + frt : urt_frtparams_t

      + srt : urt_srtparans_t

      + nrt : urt_nrtparams_t

    }

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

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

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

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

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

      + deadlineOffset : urt_delay_t

      + expectedRate : urt_delay_t

      + qosTimer : urt_osTimer_t

    }

    urt_hrtparams_t ..> urt_delay_t

    urt_hrtparams_t "1" *- - "1" urt_osTimer_t

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

      + deadlineOffset : urt_delay_t

      + expectedRate : urt_delay_t

      + qosTimer : urt_osTimer_t

      + callback : urt_osTimerCallback_t

      + cbparams : void*

    }

    urt_frtparams_t ..> urt_delay_t

    urt_frtparams_t "1" *- - "1" urt_osTimer_t

    urt_frtparams_t "1" *- - "1" urt_osTimerCallback_t

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

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

      + params : void*

    }

    urt_srtparams_t ..> urt_delay_t

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

    }

  } 

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

    + next : urt_message_t*

    + payload : void*

    + originTime : urt_osTime_t

    + lock : urt_osMutex_t

    + numHrtConsumersLeft : unsigned int

    + hrtConsumersLeft : urt_osCondvar_t

    - - evaluation data - -

    + numConsumersLeft : unsigned int

    __

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

  }

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

  urt_message_t "1" *- - "1" urt_osTime_t

  urt_message_t "1" *- - "1" urt_osMutex_t

  urt_message_t "1" *- - "1" urt_osCondvar_t

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

    + next : urt_subscriber_t*

    + topic : urt_topic_t*

    + evtListener : urt_osEventListener_t

    + rtclass : urt_rtclass_t

    + lastMessage : urt_message_t*

    + lastMessageTime : urt_osTime_t

    - - evaluation data - -

    + minLatency : urt_delay_t

    + maxLatency : urt_delay_t

    + sumLatencies : uint64_t

    + numMessagesReceived : unsigned int

    __

    + urtSubscriberInit (subscriber : urt_subscriber_t*) : urt_status_t

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

    + urtSubscriberUnsubscribe (subscriber : urt_subscriber_t*) : urt_status_t

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

  }

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

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

  urt_subscriber_t "1" *- - "1" urt_osEventListener_t

  urt_subscriber_t "1" *- - "1" urt_rtclass_t

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

  urt_subscriber_t "1" *- - "1" urt_osTime_t

  urt_subscriber_t "1" *- - "2" urt_delay_t

  urt_subscriber_t ..> urt_status_t

  urt_subscriber_t ..> urt_topicid_t

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

    + topic : urt_topic_t*

    - - evaluation data - -

    + publishAttempts : unsigned int

    + publishFails : unsigned int

    __

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

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

  }

  urt_publisher_t "1" o- - "1" urt_topic_t

  urt_publisher_t ..> urt_message_t

  urt_publisher_t ..> urt_osTime_t

  urt_publisher_t ..> urt_delay_t

  urt_publisher_t ..> urt_status_t

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

    + next : urt_topic_t*

    + lock : urt_osMutex_t

    + evtSource : urt_osEventSource_t

    + numHrtSubscribers : unsigned int

    + hrtSubscribers : urt_subscriber_t*

    + qosTimer : urt_osTimer_t

    + mandatoryMessage : urt_message_t

    + latestMessage : urt_message_t*

    + id : urt_topicid_t

    - - evaluation data - -

    + numDiscardedMessages : unsigned int

    + numSubscribers : unsigned int

    __

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

  }

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

  urt_topic_t "1" *- - "1" urt_osMutex_t

  urt_topic_t "1" *- - "1" urt_osEventSource_t

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

  urt_topic_t "1" *- - "1" urt_osTimer_t

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

  urt_topic_t "1" *- - "1" urt_message_t

  urt_topic_t "1" *- - "1" urt_topicid_t

  urt_topic_t ..> urt_osTime_t

  urt_topic_t ..> urt_status_t

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

    - {static} _nodes : urt_node_t*

    - {static} _topics : urt_topic_t*

    - {static} _evtSource : urt_osEventSource_t

    - {static} _lock : urt_osMutex_t

    __

    + urtCoreInit (void) : urt_status_t

    + urtCoreStartNodes (void) : urt_status_t

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

    + urtCoreStopNodes (void) : urt_status_t

    + urtCoreRetrieveTopic (id : urt_topicid_t) : urt_topic_t*

  }

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

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

  urt_core_t "1" *- - "1" urt_osEventSource_t

  urt_core_t "1" *- - "1" urt_osMutex_t

  urt_core_t ..> urt_status_t

  urt_core_t - -> urt_nodesync_t

  urt_core_t ..> urt_topicid_t

  package "node" {

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

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

    }

    urt_nodeSetupCallback_t ..> urt_node_t

    urt_nodeSetupCallback_t ..> urt_status_t

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

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

    }

    urt_nodeLoopCallback_t ..> urt_node_t

    urt_nodeLoopCallback_t ..> urt_osEventMask_t

    urt_nodeLoopCallback_t ..> urt_status_t

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

      + next : urt_node_t*

      + thread : urt_osThread_t*

      + setupcallback : urt_nodeSetupCallback_t*

      + setupparams : void*

      + loopcallback : urt_nodeLoopCallback_t*

      + loopparams : void*

      + stage : urt_nodesync_t

      + listener : urt_osEventListener_t

      __

      - {static} _main : urt_osThreadFunction_t

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

    }

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

    urt_node_t "1" o- - "1" urt_osThread_t

    urt_node_t "1" o- - "1" urt_nodeSetupCallback_t

    urt_node_t "1" o- - "1" urt_nodeLoopCallback_t

    urt_node_t "1" *- - "1" urt_nodesync_t

    urt_node_t "1" *- - "1" urt_osEventMask_t

    urt_node_t "1" *- - "1" urt_osEventWaitType_t

    urt_node_t "1" *- - "1" urt_osEventListener_t

    urt_node_t ..> urt_osThreadTerminateSignal_t

  } 

} 

@enduml

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

(GPL source distribution)

Java Runtime: OpenJDK Runtime Environment

JVM: OpenJDK 64-Bit Server VM

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

Operating System: Linux

OS Version: 4.15.0-38-generic

Default Encoding: UTF-8

Language: en

Country: US

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