AMiRo-OS

# Copyright (C) 2018..2020  Thomas Schöpping et al.                            #

About & License

===============

µRtWare is a lightweight publish/subscribe middleware for real-time

applications. It was developed as part of the software habitat for the

Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.

Copyright (C) 2018..2020  Thomas Schöpping et al.

(a complete list of all authors is given below)

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU Lesser General Public License as published by

the Free Software Foundation, either version 3 of the License, or (at

your option) any later version.

This program is distributed in the hope that it will be useful, but

WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU

Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

This research/work was supported by the Cluster of Excellence

Cognitive Interaction Technology 'CITEC' (EXC 277) at Bielefeld

University, which is funded by the German Research Foundation (DFG).

Authors:

-   Thomas Schöpping          <tschoepp[at]cit-ec.uni-bielefeld.de>

-   Marc Rothmann

References:

[1] S. Herbrechtsmeier, T. Korthals, T. Schopping and U. Rückert, "AMiRo: A

    modular & customizable open-source mini robot platform," 2016 20th

    International Conference on System Theory, Control and Computing (ICSTCC),

    Sinaia, 2016, pp. 687-692.

--------------------------------------------------------------------------------

Contents

========

--------------------------------------------------------------------------------

TODO

<?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="772px" preserveAspectRatio="none" style="width:5482px;height:772px;" version="1.1" viewBox="0 0 5482 772" width="5482px" zoomAndPan="magnify"><defs><filter height="300%" id="f1yyfxywx3cwk" 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="2704" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="387" x="2555" y="37.6611">Operating System Abstraction Layer (OSAL)</text><!--MD5=[3dab47d3fc3e186ff10f67819eb99ff8]

cluster time--><rect fill="#FFFFFF" filter="url(#f1yyfxywx3cwk)" height="121" style="stroke: #000000; stroke-width: 1.5;" width="402" x="2133" y="190.4063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="34" x="2317" y="205.4014">time</text><!--MD5=[48ccbfc44b1b031f9b243763d7ad5184]

cluster mutex--><rect fill="#FFFFFF" filter="url(#f1yyfxywx3cwk)" height="134" style="stroke: #000000; stroke-width: 1.5;" width="314" x="759" y="183.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="49" x="891.5" y="198.9014">mutex</text><!--MD5=[2e45f233f6bb64aa81ebe67fb6de8946]

cluster condition variable--><rect fill="#FFFFFF" filter="url(#f1yyfxywx3cwk)" height="438" style="stroke: #000000; stroke-width: 1.5;" width="726" x="14" y="183.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="140" x="307" y="198.9014">condition variable</text><!--MD5=[c7113df1f710ca294cbd01734aa00974]

cluster timer--><rect fill="#FFFFFF" filter="url(#f1yyfxywx3cwk)" height="432" style="stroke: #000000; stroke-width: 1.5;" width="754" x="2553" y="177.4063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="2909.5" y="192.4014">timer</text><!--MD5=[107bb3f79455a18bd83c75ada1ac7979]

cluster thread--><rect fill="#FFFFFF" filter="url(#f1yyfxywx3cwk)" height="596" style="stroke: #000000; stroke-width: 1.5;" width="1039" x="1081" y="57.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="1574.5" y="72.9014">thread</text><!--MD5=[8d74b40516bd265adb19f202ab81f40d]

cluster events--><rect fill="#FFFFFF" filter="url(#f1yyfxywx3cwk)" height="571.5" style="stroke: #000000; stroke-width: 1.5;" width="1642" x="3315" y="190.4063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="54" x="4109" y="205.4014">events</text><!--MD5=[b978ecedb6f4da3f32705dc09c84a7d6]

cluster streams--><rect fill="#FFFFFF" filter="url(#f1yyfxywx3cwk)" height="109" style="stroke: #000000; stroke-width: 1.5;" width="226" x="4965" y="196.4063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="64" x="5046" y="211.4014">streams</text><!--MD5=[62106fc051f244acf17caf792167c8db]

cluster debug--><rect fill="#FFFFFF" filter="url(#f1yyfxywx3cwk)" height="96" style="stroke: #000000; stroke-width: 1.5;" width="262" x="5209" y="202.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="50" x="5315" y="217.9014">debug</text><!--MD5=[3677786d1f00795918091b0110bfa4af]

class urt_osTime_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="385" x="2141.5" y="217.4063"/><ellipse cx="2290.25" cy="233.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2291.0938,240.1563 L2288.6406,240.1563 L2288.6406,229.9063 L2285.5,229.9063 L2285.5,227.7656 L2294.2344,227.7656 L2294.2344,229.9063 L2291.0938,229.9063 L2291.0938,240.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="2310.75" y="237.5605">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2142.5" x2="2525.5" y1="249.4063" y2="249.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2142.5" x2="2525.5" y1="257.4063" y2="257.4063"/><ellipse cx="2152.5" cy="268.4063" 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="231" x="2161.5" y="271.6167">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="2152.5" cy="281.2109" 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="189" x="2161.5" y="284.4214">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="2152.5" cy="294.0156" 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="359" x="2161.5" y="297.2261">urtTimeAddUs (time : urt_osTime_t*, offset : urt_delay_t) : void</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]

class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="767" y="210.9063"/><ellipse cx="868.25" cy="226.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M869.0938,233.6563 L866.6406,233.6563 L866.6406,223.4063 L863.5,223.4063 L863.5,221.2656 L872.2344,221.2656 L872.2344,223.4063 L869.0938,223.4063 L869.0938,233.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="888.75" y="231.0605">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="768" x2="1064" y1="242.9063" y2="242.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="768" x2="1064" y1="250.9063" y2="250.9063"/><ellipse cx="778" cy="261.9063" 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="245" x="787" y="265.1167">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="778" cy="274.7109" 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="253" x="787" y="277.9214">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="778" cy="287.5156" 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="272" x="787" y="290.7261">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="778" cy="300.3203" 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="787" y="303.5308">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--MD5=[52fa11869cb40c93fa7702378ddd839e]

class urt_osCondvarWaitStatus_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="86.4141" id="urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="242" y="527.9063"/><ellipse cx="288.25" cy="543.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M292.3594,549.9063 L284.6406,549.9063 L284.6406,537.5156 L292.3594,537.5156 L292.3594,539.6719 L287.0938,539.6719 L287.0938,542.3438 L291.8594,542.3438 L291.8594,544.5 L287.0938,544.5 L287.0938,547.75 L292.3594,547.75 L292.3594,549.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="169" x="308.75" y="548.0605">urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="243" x2="511" y1="559.9063" y2="559.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="248" y="574.1167">URT_CONDVAR_WAITSTATUS_SIGNAL = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="248" y="586.9214">URT_CONDVAR_WAITSTATUS_BROADCAST = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="248" y="599.7261">URT_CONDVAR_WAITSTATUS_TIMEOUT = 0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="243" x2="511" y1="606.3203" y2="606.3203"/><!--MD5=[004fc5dee471033e8e4138c1c73f0692]

class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="99.2188" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="22" y="210.9063"/><ellipse cx="322.25" cy="226.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M323.0938,233.6563 L320.6406,233.6563 L320.6406,223.4063 L317.5,223.4063 L317.5,221.2656 L326.2344,221.2656 L326.2344,223.4063 L323.0938,223.4063 L323.0938,233.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="342.75" y="231.0605">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="23" x2="731" y1="242.9063" y2="242.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="23" x2="731" y1="250.9063" y2="250.9063"/><ellipse cx="33" cy="261.9063" 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="283" x="42" y="265.1167">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="33" cy="274.7109" 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="301" x="42" y="277.9214">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="33" cy="287.5156" 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="324" x="42" y="290.7261">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="33" cy="300.3203" 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="684" x="42" y="303.5308">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(#f1yyfxywx3cwk)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="2787" y="540.4063"/><ellipse cx="2857.75" cy="556.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2858.5938,563.1563 L2856.1406,563.1563 L2856.1406,552.9063 L2853,552.9063 L2853,550.7656 L2861.7344,550.7656 L2861.7344,552.9063 L2858.5938,552.9063 L2858.5938,563.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="2878.25" y="560.5605">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2788" x2="3072" y1="572.4063" y2="572.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2788" x2="3072" y1="580.4063" y2="580.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="2793" y="594.6167">urt_osTimerCallback_t (parameter : void*) : void</text><!--MD5=[0b340d7b925b1eab6a1b7e084f68a7c2]

class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="112.0234" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="737" x="2561.5" y="204.4063"/><ellipse cx="2883.75" cy="220.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2884.5938,227.1563 L2882.1406,227.1563 L2882.1406,216.9063 L2879,216.9063 L2879,214.7656 L2887.7344,214.7656 L2887.7344,216.9063 L2884.5938,216.9063 L2884.5938,227.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="2904.25" y="224.5605">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2562.5" x2="3297.5" y1="236.4063" y2="236.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2562.5" x2="3297.5" y1="244.4063" y2="244.4063"/><ellipse cx="2572.5" cy="255.4063" 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="240" x="2581.5" y="258.6167">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="2572.5" cy="268.2109" 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="660" x="2581.5" y="271.4214">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void</text><ellipse cx="2572.5" cy="281.0156" 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="711" x="2581.5" y="284.2261">urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void</text><ellipse cx="2572.5" cy="293.8203" 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="255" x="2581.5" y="297.0308">urtTimerReset (timer : urt_osTimer_t*) : void</text><ellipse cx="2572.5" cy="306.625" 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="271" x="2581.5" y="309.8354">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--MD5=[86c16d91227b9a9ec3b6b9b0285de4e9]

class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="1089.5" y="495.9063"/><ellipse cx="1125.65" cy="511.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1126.4938,518.6563 L1124.0406,518.6563 L1124.0406,508.4063 L1120.9,508.4063 L1120.9,506.2656 L1129.6344,506.2656 L1129.6344,508.4063 L1126.4938,508.4063 L1126.4938,518.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="1144.35" y="516.0605">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1090.5" x2="1285.5" y1="527.9063" y2="527.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="1095.5" y="542.1167">URT_THREAD_PRIO_LOW_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="1095.5" y="554.9214">URT_THREAD_PRIO_LOW_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="1095.5" y="567.7261">URT_THREAD_PRIO_NORMAL_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="1095.5" y="580.5308">URT_THREAD_PRIO_NORMAL_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="1095.5" y="593.3354">URT_THREAD_PRIO_HIGH_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="1095.5" y="606.1401">URT_THREAD_PRIO_HIGH_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="1095.5" y="618.9448">URT_THREAD_PRIO_RT_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="1095.5" y="631.7495">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1090.5" x2="1285.5" y1="638.3438" y2="638.3438"/><!--MD5=[69d8aab9aa387a2f5052ea3da80e80ea]

class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="1322" y="540.4063"/><ellipse cx="1369.75" cy="556.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1370.5938,563.1563 L1368.1406,563.1563 L1368.1406,552.9063 L1365,552.9063 L1365,550.7656 L1373.7344,550.7656 L1373.7344,552.9063 L1370.5938,552.9063 L1370.5938,563.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="1390.25" y="560.5605">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1323" x2="1573" y1="572.4063" y2="572.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1323" x2="1573" y1="580.4063" y2="580.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="1328" y="594.6167">urt_osThreadFunction_t (arg : void*) : void</text><!--MD5=[ab5f611d45c3fa10609c33f780d8c3e1]

class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="1609" y="533.9063"/><ellipse cx="1630.75" cy="549.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1634.8594,555.9063 L1627.1406,555.9063 L1627.1406,543.5156 L1634.8594,543.5156 L1634.8594,545.6719 L1629.5938,545.6719 L1629.5938,548.3438 L1634.3594,548.3438 L1634.3594,550.5 L1629.5938,550.5 L1629.5938,553.75 L1634.8594,553.75 L1634.8594,555.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="1646.25" y="554.0605">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1610" x2="1850" y1="565.9063" y2="565.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="1615" y="580.1167">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="1615" y="592.9214">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1610" x2="1850" y1="599.5156" y2="599.5156"/><!--MD5=[47d14ad2c233fae1b32b8d0a283e820a]

class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="137.6328" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="1886" y="501.9063"/><ellipse cx="1930.75" cy="517.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1934.8594,523.9063 L1927.1406,523.9063 L1927.1406,511.5156 L1934.8594,511.5156 L1934.8594,513.6719 L1929.5938,513.6719 L1929.5938,516.3438 L1934.3594,516.3438 L1934.3594,518.5 L1929.5938,518.5 L1929.5938,521.75 L1934.8594,521.75 L1934.8594,523.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="1951.25" y="522.0605">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1887" x2="2111" y1="533.9063" y2="533.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="1892" y="548.1167">URT_THREAD_STATE_INACTIVE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="1892" y="560.9214">URT_THREAD_STATE_RUNNING = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="1892" y="573.7261">URT_THREAD_STATE_READY = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="1892" y="586.5308">URT_THREAD_STATE_SLEEPING = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="1892" y="599.3354">URT_THREAD_STATE_SUSPENDED = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="1892" y="612.1401">URT_THREAD_STATE_WAITING = 5</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="1892" y="624.9448">URT_THREAD_STATE_TERMINATED = 6</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1887" x2="2111" y1="631.5391" y2="631.5391"/><!--MD5=[0a16224ede9ffa9bb2d34e085a076e6d]

class urt_osThread_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="350.5078" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="778" x="1328" y="84.9063"/><ellipse cx="1665.75" cy="100.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1666.5938,107.6563 L1664.1406,107.6563 L1664.1406,97.4063 L1661,97.4063 L1661,95.2656 L1669.7344,95.2656 L1669.7344,97.4063 L1666.5938,97.4063 L1666.5938,107.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="1686.25" y="105.0605">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1329" x2="2105" y1="116.9063" y2="116.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="1334" y="131.1167">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="1334" y="143.9214">URT_THREAD_SSLEP_MAX : unsigned int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="1334" y="156.7261">URT_THREAD_MSLEEP_MAX : unsigned int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="1334" y="169.5308">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1329" x2="2105" y1="176.125" y2="176.125"/><ellipse cx="1339" cy="187.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="248" x="1348" y="190.3354">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1329" x2="2105" y1="196.9297" y2="196.9297"/><ellipse cx="1339" cy="207.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="752" x="1348" y="211.1401">urtThreadInit (memory : void*, size : size_t, prio : urt_osThreadPrio_t, func : urt_osThreadFunction_t*, arg : void*) : urt_osThread_t*</text><ellipse cx="1339" cy="220.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="1348" y="223.9448">urtThreadStart (thread : urt_osThread_t*) : void</text><ellipse cx="1339" cy="233.5391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="1348" y="236.7495">urtThreadYield (void) : void</text><ellipse cx="1339" cy="246.3438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="1348" y="249.5542">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="1339" cy="259.1484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="304" x="1348" y="262.3589">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="1339" cy="271.9531" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="220" x="1348" y="275.1636">urtThreadSleep (seconds : float) : void</text><ellipse cx="1339" cy="284.7578" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="273" x="1348" y="287.9683">urtThreadSSleep (seconds : unsigned int) : void</text><ellipse cx="1339" cy="297.5625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="1348" y="300.7729">urtThreadMSleep (milliseconds : unsigned int) : void</text><ellipse cx="1339" cy="310.3672" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="1348" y="313.5776">urtThreadUSleep (microseconds : urt_delay_t) : void</text><ellipse cx="1339" cy="323.1719" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="1348" y="326.3823">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="1339" cy="335.9766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="1348" y="339.187">urtThreadExit (void) : void</text><ellipse cx="1339" cy="348.7813" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="518" x="1348" y="351.9917">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="1339" cy="361.5859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="264" x="1348" y="364.7964">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="1339" cy="374.3906" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="387" x="1348" y="377.6011">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="1339" cy="387.1953" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="237" x="1348" y="390.4058">urtThreadGetSelf (void) : urt_osThread_t*</text><ellipse cx="1339" cy="400" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="1348" y="403.2104">urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="1339" cy="412.8047" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="1348" y="416.0151">urtThreadGetSibling (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="1339" cy="425.6094" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="1348" y="428.8198">urtThreadGetParent (thread : urt_osThread_t*) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]

class urt_osEventMask_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="60.8047" id="urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.5;" width="280" x="3323" y="540.4063"/><ellipse cx="3400.25" cy="556.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3401.0938,563.1563 L3398.6406,563.1563 L3398.6406,552.9063 L3395.5,552.9063 L3395.5,550.7656 L3404.2344,550.7656 L3404.2344,552.9063 L3401.0938,552.9063 L3401.0938,563.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="3420.75" y="560.5605">urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3324" x2="3602" y1="572.4063" y2="572.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="268" x="3329" y="586.6167">URT_EVENTMASK_MAXPRIO : urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3324" x2="3602" y1="593.2109" y2="593.2109"/><!--MD5=[dc1cc33af288560680c15dec1e56eda0]

class urt_osEventFlags_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="48" id="urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="4044" y="705.9063"/><ellipse cx="4059" cy="721.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4059.8438,728.6563 L4057.3906,728.6563 L4057.3906,718.4063 L4054.25,718.4063 L4054.25,716.2656 L4062.9844,716.2656 L4062.9844,718.4063 L4059.8438,718.4063 L4059.8438,728.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="4073" y="726.0605">urt_osEventFlags_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4045" x2="4193" y1="737.9063" y2="737.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4045" x2="4193" y1="745.9063" y2="745.9063"/><!--MD5=[e2bbbd64e6979bf7b755747a6c0ba948]

class urt_osEventWait_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="86.4141" id="urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.5;" width="162" x="3675" y="527.9063"/><ellipse cx="3698.1" cy="543.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3702.2094,549.9063 L3694.4906,549.9063 L3694.4906,537.5156 L3702.2094,537.5156 L3702.2094,539.6719 L3696.9438,539.6719 L3696.9438,542.3438 L3701.7094,542.3438 L3701.7094,544.5 L3696.9438,544.5 L3696.9438,547.75 L3702.2094,547.75 L3702.2094,549.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="3713.9" y="548.0605">urt_osEventWait_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3676" x2="3836" y1="559.9063" y2="559.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="3681" y="574.1167">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="3681" y="586.9214">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="3681" y="599.7261">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3676" x2="3836" y1="606.3203" y2="606.3203"/><!--MD5=[d054ac2eda12ce4b1fe5a18c9be716c1]

class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="3872" y="527.9063"/><ellipse cx="4047.25" cy="543.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4048.0938,550.6563 L4045.6406,550.6563 L4045.6406,540.4063 L4042.5,540.4063 L4042.5,538.2656 L4051.2344,538.2656 L4051.2344,540.4063 L4048.0938,540.4063 L4048.0938,550.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="4067.75" y="548.0605">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3873" x2="4365" y1="559.9063" y2="559.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3873" x2="4365" y1="567.9063" y2="567.9063"/><ellipse cx="3883" cy="578.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="341" x="3892" y="582.1167">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="3883" cy="591.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="458" x="3892" y="594.9214">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="3883" cy="604.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="468" x="3892" y="607.7261">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]

class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="4401.5" y="533.9063"/><ellipse cx="4606.25" cy="549.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4607.0938,556.6563 L4604.6406,556.6563 L4604.6406,546.4063 L4601.5,546.4063 L4601.5,544.2656 L4610.2344,544.2656 L4610.2344,546.4063 L4607.0938,546.4063 L4607.0938,556.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="4626.75" y="554.0605">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4402.5" x2="4947.5" y1="565.9063" y2="565.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4402.5" x2="4947.5" y1="573.9063" y2="573.9063"/><ellipse cx="4412.5" cy="584.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="325" x="4421.5" y="588.1167">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="4412.5" cy="597.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="521" x="4421.5" y="600.9214">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--MD5=[04a3b5a37031e2a4d723f19d8adf86f5]

class urt_events--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="845" x="3333.5" y="217.4063"/><ellipse cx="3718.75" cy="233.4063" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3722.9844,229.1719 L3717.7031,229.1719 L3717.7031,231.8438 L3722.5,231.8438 L3722.5,234 L3717.7031,234 L3717.7031,239.4063 L3715.2656,239.4063 L3715.2656,227.0156 L3722.9844,227.0156 L3722.9844,229.1719 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="3739.25" y="237.5605">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3334.5" x2="4177.5" y1="249.4063" y2="249.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3334.5" x2="4177.5" y1="257.4063" y2="257.4063"/><ellipse cx="3344.5" cy="268.4063" 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="819" x="3353.5" y="271.6167">urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : void</text><ellipse cx="3344.5" cy="281.2109" 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="522" x="3353.5" y="284.4214">urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : void</text><ellipse cx="3344.5" cy="294.0156" 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="618" x="3353.5" y="297.2261">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(#f1yyfxywx3cwk)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="209" x="4973.5" y="223.4063"/><ellipse cx="5036.25" cy="239.4063" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5040.4844,235.1719 L5035.2031,235.1719 L5035.2031,237.8438 L5040,237.8438 L5040,240 L5035.2031,240 L5035.2031,245.4063 L5032.7656,245.4063 L5032.7656,233.0156 L5040.4844,233.0156 L5040.4844,235.1719 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="5056.75" y="243.5605">urt_streams</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4974.5" x2="5181.5" y1="255.4063" y2="255.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4974.5" x2="5181.5" y1="263.4063" y2="263.4063"/><ellipse cx="4984.5" cy="274.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="166" x="4993.5" y="277.6167">urtPrintf(fmt : char*, ... ) : int</text><ellipse cx="4984.5" cy="287.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="4993.5" y="290.4214">urtErrPrintf(fmt : char*, ... ) : int</text><!--MD5=[f106a25c06a671b3918b1a8f37571a4d]

class urt_debug--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="245" x="5217.5" y="229.9063"/><ellipse cx="5303.75" cy="245.9063" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5307.9844,241.6719 L5302.7031,241.6719 L5302.7031,244.3438 L5307.5,244.3438 L5307.5,246.5 L5302.7031,246.5 L5302.7031,251.9063 L5300.2656,251.9063 L5300.2656,239.5156 L5307.9844,239.5156 L5307.9844,241.6719 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="5324.25" y="250.0605">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5218.5" x2="5461.5" y1="261.9063" y2="261.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5218.5" x2="5461.5" y1="269.9063" y2="269.9063"/><ellipse cx="5228.5" cy="280.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="219" x="5237.5" y="284.1167">urtDebugAssert(condition : bool) : void</text><!--MD5=[7766572fa0c619a5409829048dc0b6d6]

link urt_osCondvar_t to urt_osCondvarWaitStatus_t--><path d="M377,309.9493 C377,368.2855 377,464.5429 377,522.4176 " fill="none" id="urt_osCondvar_t-&gt;urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="377,527.5507,381,518.5507,377,522.5507,373,518.5507,377,527.5507" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9b2507ea88616aeae65e3c4d63560016]

link urt_osCondvar_t to urt_osMutex_t--><path d="M732.0347,260.4063 C741.9278,260.4063 751.8209,260.4063 761.714,260.4063 " fill="none" id="urt_osCondvar_t-&gt;urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="766.8875,260.4063,757.8875,256.4063,761.8875,260.4063,757.8875,264.4063,766.8875,260.4063" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[83094e108045c8f9585007cdb3b7cb2e]

link urt_osTimer_t to urt_osTimerCallback_t--><path d="M2930,316.6355 C2930,380.1229 2930,481.527 2930,535.0795 " 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="2930,540.1097,2934,531.1097,2930,535.1097,2926,531.1097,2930,540.1097" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8d8c3240b5b2b5edf6544088e583ffa5]

link urt_osThread_t to urt_osThreadPrio_t--><path d="M1405.8418,436.025 C1371.6683,455.9771 1337.503,476.2167 1305,495.9063 C1300.4181,498.6819 1295.7508,501.5403 1291.0475,504.4461 " fill="none" id="urt_osThread_t-&gt;urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1286.7195,507.127,1296.4769,505.7882,1290.9701,504.494,1292.2642,498.9872,1286.7195,507.127" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d7d1d43fd970fb07a484642bc19fcb13]

link urt_osThread_t to urt_osThreadFunction_t--><path d="M1564.8137,436.0711 C1531.6384,474.3646 1499.924,510.9717 1477.9339,536.3543 " fill="none" id="urt_osThread_t-&gt;urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1474.4894,540.3302,1483.4057,536.147,1477.7633,536.5511,1477.3592,530.9087,1474.4894,540.3302" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6564761b32ad7eeb5abb8896c72cfca5]

link urt_osThread_t to urt_osThreadTerminateSignal_t--><path d="M1724.3547,436.0711 C1725.8029,470.6597 1727.1934,503.8725 1728.2321,528.6805 " 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="1728.4483,533.8441,1732.0683,524.6846,1728.2392,528.8484,1724.0753,525.0192,1728.4483,533.8441" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[92ba23225d8de8f8080583fedda5e6f8]

link urt_osThread_t to urt_osThreadState_t--><path d="M1876.541,436.0711 C1896.286,457.8116 1915.5373,479.0085 1932.7097,497.9165 " 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="1936.1161,501.6671,1933.0263,492.3154,1932.7545,497.9657,1927.1042,497.694,1936.1161,501.6671" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[78b286ab2177e5f7b31e6e832d821818]

link urt_osThread_t to urt_osTime_t--><path d="M2106.2402,260.4063 C2116.2156,260.4063 2126.191,260.4063 2136.1664,260.4063 " 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="2141.3829,260.4063,2132.3829,256.4063,2136.3829,260.4063,2132.3829,264.4063,2141.3829,260.4063" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[659af6ab57e6a38ebfd5c07c5616787c]

link urt_osEventListener_t to urt_osEventFlags_t--><path d="M4119,613.934 C4119,641.41 4119,676.3065 4119,700.6092 " fill="none" id="urt_osEventListener_t-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4119,705.6279,4123,696.6279,4119,700.6279,4115,696.6279,4119,705.6279" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[eac11679f26c499aa1c571e1f795945d]

link urt_osEventSource_t to urt_osEventFlags_t--><path d="M4545.3444,607.9841 C4438.2675,638.605 4289.6667,681.1005 4199.1503,706.9856 " fill="none" id="urt_osEventSource_t-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4194.0794,708.4357,4203.8323,709.807,4198.8867,707.0609,4201.6328,702.1153,4194.0794,708.4357" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0259cdb10c6c32168d1d17d25519d939]

link urt_events to urt_osEventSource_t--><path d="M3883.3002,303.4169 C4062.9667,364.1203 4388.1985,474.0055 4560.5849,532.2492 " 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="4565.3873,533.8717,4558.1413,527.2012,4560.6504,532.2711,4555.5804,534.7802,4565.3873,533.8717" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0ce043e0e9532fc393f3f8836f5de19a]

link urt_events to urt_osEventListener_t--><path d="M3806.4736,303.58 C3874.3757,361.6616 3994.6674,464.5557 4064.5482,524.3297 " 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="4068.6635,527.8499,4064.4244,518.96,4064.8639,524.5997,4059.2242,525.0393,4068.6635,527.8499" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[430bebba9cd89d3ba8f63b2078968bca]

link urt_events to urt_osEventMask_t--><path d="M3715.2596,303.58 C3656.4833,365.8668 3549.0751,479.6902 3495.3713,536.6016 " 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="3491.9126,540.2668,3500.9986,536.4662,3495.3441,536.6302,3495.1801,530.9757,3491.9126,540.2668" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b1b185abc2161e087cab32ae7fdb2c40]

link urt_events to urt_osEventFlags_t--><path d="M3723.6428,303.49 C3668.6239,382.3567 3570.8784,551.2459 3658,653.9063 C3682.3308,682.5766 3913.2829,709.5873 4038.765,722.3005 " fill="none" id="urt_events-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4043.9214,722.8209,4035.3686,717.9372,4038.9467,722.3187,4034.5652,725.8968,4043.9214,722.8209" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[706a1974d1b474cbba7e7b0213f243a1]

link urt_events to urt_osEventWait_t--><path d="M3756,303.58 C3756,361.0831 3756,462.5105 3756,522.5309 " 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="3756,527.8499,3760,518.8499,3756,522.8499,3752,518.8499,3756,527.8499" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[c46e4eed3b250d67081ad1f958672f83]

    + {method} urtTimeAddUs (time : urt_osTime_t*, offset : urt_delay_t) : void

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

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

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

    URT_THREAD_SSLEP_MAX : unsigned int

    URT_THREAD_MSLEEP_MAX : unsigned int

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

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

    + {method} urtThreadSSleep (seconds : unsigned int) : void

    + {method} urtThreadMSleep (milliseconds : unsigned int) : void

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

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

    + {method} urtTimeAddUs (time : urt_osTime_t*, offset : urt_delay_t) : void

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

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

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

    URT_THREAD_SSLEP_MAX : unsigned int

    URT_THREAD_MSLEEP_MAX : unsigned int

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

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

    + {method} urtThreadSSleep (seconds : unsigned int) : void

    + {method} urtThreadMSleep (milliseconds : unsigned int) : void

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

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

<?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="1794px" preserveAspectRatio="none" style="width:18960px;height:1794px;" version="1.1" viewBox="0 0 18960 1794" width="18960px" zoomAndPan="magnify"><defs><filter height="300%" id="f97ds0om13c08" 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="9419.5" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="87" x="9420.5" y="37.6611">Overview</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="9467" y="58.6143"/><!--MD5=[915f6a2b4bff9d90dc7327d570275f1b]

cluster Configuration--><polygon fill="#FFFFFF" filter="url(#f97ds0om13c08)" points="12199.3643,1466.8594,12209.3643,1456.8594,12505.3643,1456.8594,12505.3643,1772.8594,12495.3643,1782.8594,12199.3643,1782.8594,12199.3643,1466.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="12495.3643" x2="12504.3643" y1="1466.8594" y2="1457.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="12199.3643" x2="12495.3643" y1="1466.8594" y2="1466.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="12495.3643" x2="12495.3643" y1="1466.8594" y2="1782.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="107" x="12294.8643" y="1482.8545">Configuration</text><!--MD5=[1cb8ced355c85ab51f1ab55883ed8585]

cluster Primitives--><polygon fill="#FFFFFF" filter="url(#f97ds0om13c08)" points="6364.3643,882.3594,6374.3643,872.3594,7776.3643,872.3594,7776.3643,1418.3594,7766.3643,1428.3594,6364.3643,1428.3594,6364.3643,882.3594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7766.3643" x2="7775.3643" y1="882.3594" y2="873.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="6364.3643" x2="7766.3643" y1="882.3594" y2="882.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7766.3643" x2="7766.3643" y1="882.3594" y2="1428.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="77" x="7027.8643" y="898.3545">Primitives</text><!--MD5=[ba9da179b6f0b3bb0ea21772c5f4ec75]

cluster OSAL--><polygon fill="#FFFFFF" filter="url(#f97ds0om13c08)" points="578.3643,818.8594,588.3643,808.8594,6069.3643,808.8594,6069.3643,1661.8594,6059.3643,1671.8594,578.3643,1671.8594,578.3643,818.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="6059.3643" x2="6068.3643" y1="818.8594" y2="809.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="578.3643" x2="6059.3643" y1="818.8594" y2="818.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="6059.3643" x2="6059.3643" y1="818.8594" y2="1671.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="42" x="3298.8643" y="834.8545">OSAL</text><!--MD5=[3dab47d3fc3e186ff10f67819eb99ff8]

cluster time--><rect fill="#FFFFFF" filter="url(#f97ds0om13c08)" height="121" style="stroke: #000000; stroke-width: 1.5;" width="402" x="5659.3643" y="973.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="34" x="5843.3643" y="988.3545">time</text><!--MD5=[48ccbfc44b1b031f9b243763d7ad5184]

cluster mutex--><rect fill="#FFFFFF" filter="url(#f97ds0om13c08)" height="134" style="stroke: #000000; stroke-width: 1.5;" width="314" x="4581.3643" y="966.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="49" x="4713.8643" y="981.8545">mutex</text><!--MD5=[2e45f233f6bb64aa81ebe67fb6de8946]

cluster condition variable--><rect fill="#FFFFFF" filter="url(#f97ds0om13c08)" height="438" style="stroke: #000000; stroke-width: 1.5;" width="726" x="4914.3643" y="966.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="140" x="5207.3643" y="981.8545">condition variable</text><!--MD5=[c7113df1f710ca294cbd01734aa00974]

cluster timer--><rect fill="#FFFFFF" filter="url(#f97ds0om13c08)" height="432" style="stroke: #000000; stroke-width: 1.5;" width="754" x="3808.3643" y="960.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="4164.8643" y="975.3545">timer</text><!--MD5=[107bb3f79455a18bd83c75ada1ac7979]

cluster thread--><rect fill="#FFFFFF" filter="url(#f97ds0om13c08)" height="596" style="stroke: #000000; stroke-width: 1.5;" width="1039" x="2761.3643" y="840.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="3254.8643" y="855.8545">thread</text><!--MD5=[8d74b40516bd265adb19f202ab81f40d]

cluster events--><rect fill="#FFFFFF" filter="url(#f97ds0om13c08)" height="690.5" style="stroke: #000000; stroke-width: 1.5;" width="1642" x="1100.3643" y="973.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="54" x="1894.3643" y="988.3545">events</text><!--MD5=[b978ecedb6f4da3f32705dc09c84a7d6]

cluster streams--><rect fill="#FFFFFF" filter="url(#f97ds0om13c08)" height="109" style="stroke: #000000; stroke-width: 1.5;" width="226" x="866.3643" y="979.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="64" x="947.3643" y="994.3545">streams</text><!--MD5=[62106fc051f244acf17caf792167c8db]

cluster debug--><rect fill="#FFFFFF" filter="url(#f97ds0om13c08)" height="96" style="stroke: #000000; stroke-width: 1.5;" width="262" x="586.3643" y="985.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="50" x="692.3643" y="1000.8545">debug</text><!--MD5=[4e1a3510868d06a507f098bb08f0dae0]

cluster Middleware--><polygon fill="#FFFFFF" filter="url(#f97ds0om13c08)" points="7784.3643,89.3594,7794.3643,79.3594,18449.3643,79.3594,18449.3643,1430.8594,18439.3643,1440.8594,7784.3643,1440.8594,7784.3643,89.3594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="18439.3643" x2="18448.3643" y1="89.3594" y2="80.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7784.3643" x2="18439.3643" y1="89.3594" y2="89.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="18439.3643" x2="18439.3643" y1="89.3594" y2="1440.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="91" x="13067.3643" y="105.3545">Middleware</text><!--MD5=[b9de0669a29c7bc934fd916b09c39491]

cluster node--><rect fill="#FFFFFF" filter="url(#f97ds0om13c08)" height="566.5" style="stroke: #000000; stroke-width: 1.5;" width="1674" x="16767.3643" y="515.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="40" x="17584.3643" y="530.3545">node</text><!--MD5=[d74e2ef346f73688f9378f6d3d42598c]

cluster Publish-Subscribe System--><polygon fill="#FFFFFF" filter="url(#f97ds0om13c08)" points="11433.3643,474.3594,11443.3643,464.3594,16759.3643,464.3594,16759.3643,1422.8594,16749.3643,1432.8594,11433.3643,1432.8594,11433.3643,474.3594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="16749.3643" x2="16758.3643" y1="474.3594" y2="465.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="11433.3643" x2="16749.3643" y1="474.3594" y2="474.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="16749.3643" x2="16749.3643" y1="474.3594" y2="1432.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="205" x="13989.8643" y="490.3545">Publish-Subscribe System</text><!--MD5=[16a3bbbe805f94d6e6ce317c08ab945e]

cluster subscriber--><rect fill="#FFFFFF" filter="url(#f97ds0om13c08)" height="622" style="stroke: #000000; stroke-width: 1.5;" width="4062" x="12689.3643" y="496.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="85" x="14677.8643" y="511.3545">subscriber</text><!--MD5=[810d0f07e53ef611b6d803ef30301147]

cluster Remote Procedure Call System--><polygon fill="#FFFFFF" filter="url(#f97ds0om13c08)" points="8142.3643,121.3594,8152.3643,111.3594,11425.3643,111.3594,11425.3643,790.8594,11415.3643,800.8594,8142.3643,800.8594,8142.3643,121.3594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="11415.3643" x2="11424.3643" y1="121.3594" y2="112.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="8142.3643" x2="11415.3643" y1="121.3594" y2="121.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="11415.3643" x2="11415.3643" y1="121.3594" y2="800.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="244" x="9657.8643" y="137.3545">Remote Procedure Call System</text><!--MD5=[ecaf13b018fb9788c80013f5b3634b61]

cluster request--><rect fill="#FFFFFF" filter="url(#f97ds0om13c08)" height="621.5" style="stroke: #000000; stroke-width: 1.5;" width="2645" x="8772.3643" y="143.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="62" x="10063.8643" y="158.3545">request</text><!--MD5=[e443ac33c80100c2d54e1f5fe669f6d7]

class urt_config--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="286.4844" id="urt_config" style="stroke: #A80036; stroke-width: 1.5;" width="290" x="12207.3643" y="1488.8594"/><ellipse cx="12317.1143" cy="1504.8594" fill="#BFBFBF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12320.0831,1510.5 Q12319.5049,1510.7969 12318.8643,1510.9375 Q12318.2237,1511.0938 12317.5206,1511.0938 Q12315.0206,1511.0938 12313.6924,1509.4531 Q12312.3799,1507.7969 12312.3799,1504.6719 Q12312.3799,1501.5469 12313.6924,1499.8906 Q12315.0206,1498.2344 12317.5206,1498.2344 Q12318.2237,1498.2344 12318.8643,1498.3906 Q12319.5206,1498.5469 12320.0831,1498.8438 L12320.0831,1501.5625 Q12319.4581,1500.9844 12318.8643,1500.7188 Q12318.2706,1500.4375 12317.6456,1500.4375 Q12316.3018,1500.4375 12315.6143,1501.5156 Q12314.9268,1502.5781 12314.9268,1504.6719 Q12314.9268,1506.7656 12315.6143,1507.8438 Q12316.3018,1508.9063 12317.6456,1508.9063 Q12318.2706,1508.9063 12318.8643,1508.6406 Q12319.4581,1508.3594 12320.0831,1507.7813 L12320.0831,1510.5 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="62" x="12337.6143" y="1509.0137">urt_config</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12208.3643" x2="12496.3643" y1="1520.8594" y2="1520.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="159" x="12213.3643" y="1551.8745">URT_CFG_DELAY_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="12213.3643" y="1564.6792">URT_CFG_NODESTAGE_WIDTH : int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12208.3643" x2="12330.8643" y1="1535.2617" y2="1535.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="43" x="12330.8643" y="1538.5698">general</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12373.8643" x2="12496.3643" y1="1535.2617" y2="1535.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="12213.3643" y="1594.2886">URT_CFG_PUBSUB_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="222" x="12213.3643" y="1607.0933">URT_CFG_PUBSUB_TOPICID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="204" x="12213.3643" y="1619.8979">URT_CFG_PUBSUB_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="278" x="12213.3643" y="1632.7026">URT_CFG_PUBSUB_QOS_DEADLINECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="252" x="12213.3643" y="1645.5073">URT_CFG_PUBSUB_QOS_RATECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="12213.3643" y="1658.312">URT_CFG_PUBSUB_QOS_JITTERCHECKS : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12208.3643" x2="12301.8643" y1="1577.6758" y2="1577.6758"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="12301.8643" y="1580.9839">publish-subscribe</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12402.8643" x2="12496.3643" y1="1577.6758" y2="1577.6758"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="12213.3643" y="1687.9214">URT_CFG_RPC_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="12213.3643" y="1700.7261">URT_CFG_RPC_SERVICEID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="12213.3643" y="1713.5308">URT_CFG_RPC_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="253" x="12213.3643" y="1726.3354">URT_CFG_RPC_QOS_DEADLINECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="12213.3643" y="1739.1401">URT_CFG_RPC_QOS_JITTERCHECKS : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12208.3643" x2="12285.8643" y1="1671.3086" y2="1671.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="133" x="12285.8643" y="1674.6167">remote procedure calls</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12418.8643" x2="12496.3643" y1="1671.3086" y2="1671.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="12213.3643" y="1768.7495">URT_CFG_DEBUG_ENABLED : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12208.3643" x2="12334.8643" y1="1752.1367" y2="1752.1367"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="35" x="12334.8643" y="1755.4448">debug</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12369.8643" x2="12496.3643" y1="1752.1367" y2="1752.1367"/><!--MD5=[9f69b6f4e23017059189983d6906a1eb]

class urt_nodestage_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="158.4375" id="urt_nodestage_t" style="stroke: #A80036; stroke-width: 1.5;" width="216" x="7287.3643" y="964.3594"/><ellipse cx="7339.6143" cy="980.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7340.4581,987.1094 L7338.0049,987.1094 L7338.0049,976.8594 L7334.8643,976.8594 L7334.8643,974.7188 L7343.5987,974.7188 L7343.5987,976.8594 L7340.4581,976.8594 L7340.4581,987.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="103" x="7360.1143" y="984.5137">urt_nodestage_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7288.3643" x2="7502.3643" y1="996.3594" y2="996.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="7293.3643" y="1027.3745">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7288.3643" x2="7294.8643" y1="1010.7617" y2="1010.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="201" x="7294.8643" y="1014.0698">URT_CFG_NODESTAGE_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7495.8643" x2="7502.3643" y1="1010.7617" y2="1010.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="7293.3643" y="1056.9839">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7288.3643" x2="7291.3643" y1="1040.3711" y2="1040.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="7291.3643" y="1043.6792">URT_CFG_NODESTAGE_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7499.3643" x2="7502.3643" y1="1040.3711" y2="1040.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="7293.3643" y="1086.5933">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7288.3643" x2="7291.3643" y1="1069.9805" y2="1069.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="7291.3643" y="1073.2886">URT_CFG_NODESTAGE_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7499.3643" x2="7502.3643" y1="1069.9805" y2="1069.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="7293.3643" y="1116.2026">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7288.3643" x2="7291.3643" y1="1099.5898" y2="1099.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="7291.3643" y="1102.8979">URT_CFG_NODESTAGE_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7499.3643" x2="7502.3643" y1="1099.5898" y2="1099.5898"/><!--MD5=[a55671f9c3a4eb2d749fd774fc81a82b]

class urt_topicid_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="158.4375" id="urt_topicid_t" style="stroke: #A80036; stroke-width: 1.5;" width="244" x="6639.3643" y="964.3594"/><ellipse cx="6718.6143" cy="980.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6719.4581,987.1094 L6717.0049,987.1094 L6717.0049,976.8594 L6713.8643,976.8594 L6713.8643,974.7188 L6722.5987,974.7188 L6722.5987,976.8594 L6719.4581,976.8594 L6719.4581,987.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="77" x="6739.1143" y="984.5137">urt_topicid_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6640.3643" x2="6882.3643" y1="996.3594" y2="996.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="6645.3643" y="1027.3745">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6640.3643" x2="6646.8643" y1="1010.7617" y2="1010.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="229" x="6646.8643" y="1014.0698">URT_CFG_PUBSUB_TOPICID_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6875.8643" x2="6882.3643" y1="1010.7617" y2="1010.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6645.3643" y="1056.9839">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6640.3643" x2="6643.3643" y1="1040.3711" y2="1040.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="6643.3643" y="1043.6792">URT_CFG_PUBSUB_TOPICID_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6879.3643" x2="6882.3643" y1="1040.3711" y2="1040.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6645.3643" y="1086.5933">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6640.3643" x2="6643.3643" y1="1069.9805" y2="1069.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="6643.3643" y="1073.2886">URT_CFG_PUBSUB_TOPICID_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6879.3643" x2="6882.3643" y1="1069.9805" y2="1069.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6645.3643" y="1116.2026">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6640.3643" x2="6643.3643" y1="1099.5898" y2="1099.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="6643.3643" y="1102.8979">URT_CFG_PUBSUB_TOPICID_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6879.3643" x2="6882.3643" y1="1099.5898" y2="1099.5898"/><!--MD5=[4d8326c7af3a397210cbde406c7c860c]

class urt_serviceid_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="158.4375" id="urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.5;" width="232" x="6372.3643" y="964.3594"/><ellipse cx="6439.1143" cy="980.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6439.9581,987.1094 L6437.5049,987.1094 L6437.5049,976.8594 L6434.3643,976.8594 L6434.3643,974.7188 L6443.0987,974.7188 L6443.0987,976.8594 L6439.9581,976.8594 L6439.9581,987.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="90" x="6459.6143" y="984.5137">urt_serviceid_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6373.3643" x2="6603.3643" y1="996.3594" y2="996.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="6378.3643" y="1027.3745">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6373.3643" x2="6379.8643" y1="1010.7617" y2="1010.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="6379.8643" y="1014.0698">URT_CFG_RPC_SERVICEID_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6596.8643" x2="6603.3643" y1="1010.7617" y2="1010.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6378.3643" y="1056.9839">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6373.3643" x2="6376.3643" y1="1040.3711" y2="1040.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="6376.3643" y="1043.6792">URT_CFG_RPC_SERVICEID_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6600.3643" x2="6603.3643" y1="1040.3711" y2="1040.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6378.3643" y="1086.5933">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6373.3643" x2="6376.3643" y1="1069.9805" y2="1069.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="6376.3643" y="1073.2886">URT_CFG_RPC_SERVICEID_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6600.3643" x2="6603.3643" y1="1069.9805" y2="1069.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6378.3643" y="1116.2026">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6373.3643" x2="6376.3643" y1="1099.5898" y2="1099.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="6376.3643" y="1102.8979">URT_CFG_RPC_SERVICEID_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6600.3643" x2="6603.3643" y1="1099.5898" y2="1099.5898"/><!--MD5=[e750dab3ce4ebe0433cc930181355272]

class urt_status_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="278.4844" id="urt_status_t" style="stroke: #A80036; stroke-width: 1.5;" width="229" x="7538.8643" y="904.3594"/><ellipse cx="7611.6143" cy="920.3594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7615.7237,926.3594 L7608.0049,926.3594 L7608.0049,913.9688 L7615.7237,913.9688 L7615.7237,916.125 L7610.4581,916.125 L7610.4581,918.7969 L7615.2237,918.7969 L7615.2237,920.9531 L7610.4581,920.9531 L7610.4581,924.2031 L7615.7237,924.2031 L7615.7237,926.3594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="7632.1143" y="924.5137">urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7539.8643" x2="7766.8643" y1="936.3594" y2="936.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="119" x="7544.8643" y="950.5698">URT_STATUS_OK = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="7544.8643" y="963.3745">URT_STATUS_DEADLINEVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="7544.8643" y="976.1792">URT_STATUS_JITTERVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="166" x="7544.8643" y="988.9839">URT_STATUS_RATEVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="166" x="7544.8643" y="1001.7886">URT_STATUS_SYNC_PENDING</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="7544.8643" y="1014.5933">URT_STATUS_SYNC_ERROR</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="200" x="7544.8643" y="1027.3979">URT_STATUS_NODE_INVALEVTMASK</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="7544.8643" y="1057.0073">URT_STATUS_TOPIC_DUPLICATE</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="7544.8643" y="1069.812">URT_STATUS_PUBLISH_TIMEOUT</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="206" x="7544.8643" y="1082.6167">URT_STATUS_SUBSCRIBE_TOPICSET</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="7544.8643" y="1095.4214">URT_STATUS_FETCH_NOTOPIC</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="7544.8643" y="1108.2261">URT_STATUS_FETCH_NOMESSAGE</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="7544.8643" y="1121.0308">URT_STATUS_UNSUBSCRIBE_NOTOPIC</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7539.8643" x2="7548.3643" y1="1040.3945" y2="1040.3945"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7548.3643" y="1043.7026">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7758.3643" x2="7766.8643" y1="1040.3945" y2="1040.3945"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="7544.8643" y="1150.6401">URT_STATUS_SERVICE_DUPLICATE</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="201" x="7544.8643" y="1163.4448">URT_STATUS_REQUEST_BADOWNER</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="7544.8643" y="1176.2495">URT_STATUS_REQUEST_LOCKED</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7539.8643" x2="7560.8643" y1="1134.0273" y2="1134.0273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="7560.8643" y="1137.3354">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7745.8643" x2="7766.8643" y1="1134.0273" y2="1134.0273"/><!--MD5=[15452fea434e71f16c7de0feaca2b066]

class urt_delay_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="132.8281" id="urt_delay_t" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="6372.8643" y="1287.3594"/><ellipse cx="6425.1143" cy="1303.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6425.9581,1310.1094 L6423.5049,1310.1094 L6423.5049,1299.8594 L6420.3643,1299.8594 L6420.3643,1297.7188 L6429.0987,1297.7188 L6429.0987,1299.8594 L6425.9581,1299.8594 L6425.9581,1310.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="68" x="6445.6143" y="1307.5137">urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6373.8643" x2="6552.8643" y1="1319.3594" y2="1319.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6378.8643" y="1350.3745">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6373.8643" x2="6376.8643" y1="1333.7617" y2="1333.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="6376.8643" y="1337.0698">URT_CFG_DELAY_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6549.8643" x2="6552.8643" y1="1333.7617" y2="1333.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6378.8643" y="1379.9839">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6373.8643" x2="6376.8643" y1="1363.3711" y2="1363.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="6376.8643" y="1366.6792">URT_CFG_DELAY_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6549.8643" x2="6552.8643" y1="1363.3711" y2="1363.3711"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6373.8643" x2="6552.8643" y1="1386.5781" y2="1386.5781"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="6378.8643" y="1400.7886">URT_DELAY_IMMEDIATE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="6378.8643" y="1413.5933">URT_DELAY_INFINITE = 0xF..F</text><!--MD5=[81e47bc16a7baa7cb65c7bc48dd317d5]

class urt_usefulness_f--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="60.8047" id="urt_usefulness_f" style="stroke: #A80036; stroke-width: 1.5;" width="334" x="6918.3643" y="1012.8594"/><ellipse cx="7030.1143" cy="1028.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7034.3487,1024.625 L7029.0674,1024.625 L7029.0674,1027.2969 L7033.8643,1027.2969 L7033.8643,1029.4531 L7029.0674,1029.4531 L7029.0674,1034.8594 L7026.6299,1034.8594 L7026.6299,1022.4688 L7034.3487,1022.4688 L7034.3487,1024.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="7050.6143" y="1033.0137">urt_usefulness_f</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6919.3643" x2="7251.3643" y1="1044.8594" y2="1044.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6919.3643" x2="7251.3643" y1="1052.8594" y2="1052.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="322" x="6924.3643" y="1067.0698">urt_usefulness_f (dt : urt_delay_t, params : void*) : float</text><!--MD5=[3677786d1f00795918091b0110bfa4af]

class urt_osTime_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="385" x="5667.8643" y="1000.3594"/><ellipse cx="5816.6143" cy="1016.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5817.4581,1023.1094 L5815.0049,1023.1094 L5815.0049,1012.8594 L5811.8643,1012.8594 L5811.8643,1010.7188 L5820.5987,1010.7188 L5820.5987,1012.8594 L5817.4581,1012.8594 L5817.4581,1023.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="5837.1143" y="1020.5137">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5668.8643" x2="6051.8643" y1="1032.3594" y2="1032.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5668.8643" x2="6051.8643" y1="1040.3594" y2="1040.3594"/><ellipse cx="5678.8643" cy="1051.3594" 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="231" x="5687.8643" y="1054.5698">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="5678.8643" cy="1064.1641" 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="189" x="5687.8643" y="1067.3745">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="5678.8643" cy="1076.9688" 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="359" x="5687.8643" y="1080.1792">urtTimeAddUs (time : urt_osTime_t*, offset : urt_delay_t) : void</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]

class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="4589.3643" y="993.8594"/><ellipse cx="4690.6143" cy="1009.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4691.4581,1016.6094 L4689.0049,1016.6094 L4689.0049,1006.3594 L4685.8643,1006.3594 L4685.8643,1004.2188 L4694.5987,1004.2188 L4694.5987,1006.3594 L4691.4581,1006.3594 L4691.4581,1016.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="4711.1143" y="1014.0137">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4590.3643" x2="4886.3643" y1="1025.8594" y2="1025.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4590.3643" x2="4886.3643" y1="1033.8594" y2="1033.8594"/><ellipse cx="4600.3643" cy="1044.8594" 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="245" x="4609.3643" y="1048.0698">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="4600.3643" cy="1057.6641" 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="253" x="4609.3643" y="1060.8745">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="4600.3643" cy="1070.4688" 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="272" x="4609.3643" y="1073.6792">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="4600.3643" cy="1083.2734" 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="265" x="4609.3643" y="1086.4839">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--MD5=[52fa11869cb40c93fa7702378ddd839e]

class urt_osCondvarWaitStatus_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="86.4141" id="urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="5142.3643" y="1310.8594"/><ellipse cx="5188.6143" cy="1326.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5192.7237,1332.8594 L5185.0049,1332.8594 L5185.0049,1320.4688 L5192.7237,1320.4688 L5192.7237,1322.625 L5187.4581,1322.625 L5187.4581,1325.2969 L5192.2237,1325.2969 L5192.2237,1327.4531 L5187.4581,1327.4531 L5187.4581,1330.7031 L5192.7237,1330.7031 L5192.7237,1332.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="169" x="5209.1143" y="1331.0137">urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5143.3643" x2="5411.3643" y1="1342.8594" y2="1342.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="5148.3643" y="1357.0698">URT_CONDVAR_WAITSTATUS_SIGNAL = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="5148.3643" y="1369.8745">URT_CONDVAR_WAITSTATUS_BROADCAST = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="5148.3643" y="1382.6792">URT_CONDVAR_WAITSTATUS_TIMEOUT = 0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5143.3643" x2="5411.3643" y1="1389.2734" y2="1389.2734"/><!--MD5=[004fc5dee471033e8e4138c1c73f0692]

class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="99.2188" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="4922.3643" y="993.8594"/><ellipse cx="5222.6143" cy="1009.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5223.4581,1016.6094 L5221.0049,1016.6094 L5221.0049,1006.3594 L5217.8643,1006.3594 L5217.8643,1004.2188 L5226.5987,1004.2188 L5226.5987,1006.3594 L5223.4581,1006.3594 L5223.4581,1016.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="5243.1143" y="1014.0137">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4923.3643" x2="5631.3643" y1="1025.8594" y2="1025.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4923.3643" x2="5631.3643" y1="1033.8594" y2="1033.8594"/><ellipse cx="4933.3643" cy="1044.8594" 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="283" x="4942.3643" y="1048.0698">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4933.3643" cy="1057.6641" 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="301" x="4942.3643" y="1060.8745">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4933.3643" cy="1070.4688" 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="324" x="4942.3643" y="1073.6792">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4933.3643" cy="1083.2734" 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="684" x="4942.3643" y="1086.4839">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(#f97ds0om13c08)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="4042.3643" y="1323.3594"/><ellipse cx="4113.1143" cy="1339.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4113.9581,1346.1094 L4111.5049,1346.1094 L4111.5049,1335.8594 L4108.3643,1335.8594 L4108.3643,1333.7188 L4117.0987,1333.7188 L4117.0987,1335.8594 L4113.9581,1335.8594 L4113.9581,1346.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="4133.6143" y="1343.5137">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4043.3643" x2="4327.3643" y1="1355.3594" y2="1355.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4043.3643" x2="4327.3643" y1="1363.3594" y2="1363.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="4048.3643" y="1377.5698">urt_osTimerCallback_t (parameter : void*) : void</text><!--MD5=[0b340d7b925b1eab6a1b7e084f68a7c2]

class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="112.0234" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="737" x="3816.8643" y="987.3594"/><ellipse cx="4139.1143" cy="1003.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4139.9581,1010.1094 L4137.5049,1010.1094 L4137.5049,999.8594 L4134.3643,999.8594 L4134.3643,997.7188 L4143.0987,997.7188 L4143.0987,999.8594 L4139.9581,999.8594 L4139.9581,1010.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="4159.6143" y="1007.5137">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3817.8643" x2="4552.8643" y1="1019.3594" y2="1019.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3817.8643" x2="4552.8643" y1="1027.3594" y2="1027.3594"/><ellipse cx="3827.8643" cy="1038.3594" 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="240" x="3836.8643" y="1041.5698">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="3827.8643" cy="1051.1641" 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="660" x="3836.8643" y="1054.3745">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void</text><ellipse cx="3827.8643" cy="1063.9688" 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="711" x="3836.8643" y="1067.1792">urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void</text><ellipse cx="3827.8643" cy="1076.7734" 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="255" x="3836.8643" y="1079.9839">urtTimerReset (timer : urt_osTimer_t*) : void</text><ellipse cx="3827.8643" cy="1089.5781" 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="271" x="3836.8643" y="1092.7886">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--MD5=[86c16d91227b9a9ec3b6b9b0285de4e9]

class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="3317.8643" y="1278.8594"/><ellipse cx="3354.0143" cy="1294.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3354.8581,1301.6094 L3352.4049,1301.6094 L3352.4049,1291.3594 L3349.2643,1291.3594 L3349.2643,1289.2188 L3357.9987,1289.2188 L3357.9987,1291.3594 L3354.8581,1291.3594 L3354.8581,1301.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="3372.7143" y="1299.0137">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3318.8643" x2="3513.8643" y1="1310.8594" y2="1310.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="3323.8643" y="1325.0698">URT_THREAD_PRIO_LOW_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="3323.8643" y="1337.8745">URT_THREAD_PRIO_LOW_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="3323.8643" y="1350.6792">URT_THREAD_PRIO_NORMAL_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="3323.8643" y="1363.4839">URT_THREAD_PRIO_NORMAL_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="3323.8643" y="1376.2886">URT_THREAD_PRIO_HIGH_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="3323.8643" y="1389.0933">URT_THREAD_PRIO_HIGH_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="3323.8643" y="1401.8979">URT_THREAD_PRIO_RT_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="3323.8643" y="1414.7026">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3318.8643" x2="3513.8643" y1="1421.2969" y2="1421.2969"/><!--MD5=[69d8aab9aa387a2f5052ea3da80e80ea]

class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="2769.3643" y="1323.3594"/><ellipse cx="2817.1143" cy="1339.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2817.9581,1346.1094 L2815.5049,1346.1094 L2815.5049,1335.8594 L2812.3643,1335.8594 L2812.3643,1333.7188 L2821.0987,1333.7188 L2821.0987,1335.8594 L2817.9581,1335.8594 L2817.9581,1346.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="2837.6143" y="1343.5137">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2770.3643" x2="3020.3643" y1="1355.3594" y2="1355.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2770.3643" x2="3020.3643" y1="1363.3594" y2="1363.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="2775.3643" y="1377.5698">urt_osThreadFunction_t (arg : void*) : void</text><!--MD5=[ab5f611d45c3fa10609c33f780d8c3e1]

class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="3550.3643" y="1316.8594"/><ellipse cx="3572.1143" cy="1332.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3576.2237,1338.8594 L3568.5049,1338.8594 L3568.5049,1326.4688 L3576.2237,1326.4688 L3576.2237,1328.625 L3570.9581,1328.625 L3570.9581,1331.2969 L3575.7237,1331.2969 L3575.7237,1333.4531 L3570.9581,1333.4531 L3570.9581,1336.7031 L3576.2237,1336.7031 L3576.2237,1338.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="3587.6143" y="1337.0137">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3551.3643" x2="3791.3643" y1="1348.8594" y2="1348.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="3556.3643" y="1363.0698">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="3556.3643" y="1375.8745">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3551.3643" x2="3791.3643" y1="1382.4688" y2="1382.4688"/><!--MD5=[47d14ad2c233fae1b32b8d0a283e820a]

class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="137.6328" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="3056.3643" y="1284.8594"/><ellipse cx="3101.1143" cy="1300.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3105.2237,1306.8594 L3097.5049,1306.8594 L3097.5049,1294.4688 L3105.2237,1294.4688 L3105.2237,1296.625 L3099.9581,1296.625 L3099.9581,1299.2969 L3104.7237,1299.2969 L3104.7237,1301.4531 L3099.9581,1301.4531 L3099.9581,1304.7031 L3105.2237,1304.7031 L3105.2237,1306.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="3121.6143" y="1305.0137">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3057.3643" x2="3281.3643" y1="1316.8594" y2="1316.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="3062.3643" y="1331.0698">URT_THREAD_STATE_INACTIVE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="3062.3643" y="1343.8745">URT_THREAD_STATE_RUNNING = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="3062.3643" y="1356.6792">URT_THREAD_STATE_READY = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="3062.3643" y="1369.4839">URT_THREAD_STATE_SLEEPING = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="3062.3643" y="1382.2886">URT_THREAD_STATE_SUSPENDED = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="3062.3643" y="1395.0933">URT_THREAD_STATE_WAITING = 5</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="3062.3643" y="1407.8979">URT_THREAD_STATE_TERMINATED = 6</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3057.3643" x2="3281.3643" y1="1414.4922" y2="1414.4922"/><!--MD5=[0a16224ede9ffa9bb2d34e085a076e6d]

class urt_osThread_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="350.5078" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="778" x="3003.3643" y="867.8594"/><ellipse cx="3341.1143" cy="883.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3341.9581,890.6094 L3339.5049,890.6094 L3339.5049,880.3594 L3336.3643,880.3594 L3336.3643,878.2188 L3345.0987,878.2188 L3345.0987,880.3594 L3341.9581,880.3594 L3341.9581,890.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="3361.6143" y="888.0137">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3004.3643" x2="3780.3643" y1="899.8594" y2="899.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="3009.3643" y="914.0698">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="3009.3643" y="926.8745">URT_THREAD_SSLEP_MAX : unsigned int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="3009.3643" y="939.6792">URT_THREAD_MSLEEP_MAX : unsigned int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="3009.3643" y="952.4839">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="3004.3643" x2="3780.3643" y1="959.0781" y2="959.0781"/><ellipse cx="3014.3643" 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="3023.3643" y="973.2886">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3004.3643" x2="3780.3643" y1="979.8828" y2="979.8828"/><ellipse cx="3014.3643" 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="752" x="3023.3643" y="994.0933">urtThreadInit (memory : void*, size : size_t, prio : urt_osThreadPrio_t, func : urt_osThreadFunction_t*, arg : void*) : urt_osThread_t*</text><ellipse cx="3014.3643" 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="272" x="3023.3643" y="1006.8979">urtThreadStart (thread : urt_osThread_t*) : void</text><ellipse cx="3014.3643" 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="3023.3643" y="1019.7026">urtThreadYield (void) : void</text><ellipse cx="3014.3643" 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="3023.3643" y="1032.5073">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="3014.3643" 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="3023.3643" y="1045.312">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="3014.3643" 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="220" x="3023.3643" y="1058.1167">urtThreadSleep (seconds : float) : void</text><ellipse cx="3014.3643" 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="273" x="3023.3643" y="1070.9214">urtThreadSSleep (seconds : unsigned int) : void</text><ellipse cx="3014.3643" 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="297" x="3023.3643" y="1083.7261">urtThreadMSleep (milliseconds : unsigned int) : void</text><ellipse cx="3014.3643" 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="297" x="3023.3643" y="1096.5308">urtThreadUSleep (microseconds : urt_delay_t) : void</text><ellipse cx="3014.3643" 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="271" x="3023.3643" y="1109.3354">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="3014.3643" 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="146" x="3023.3643" y="1122.1401">urtThreadExit (void) : void</text><ellipse cx="3014.3643" 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="518" x="3023.3643" y="1134.9448">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="3014.3643" 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="264" x="3023.3643" y="1147.7495">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="3014.3643" 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="387" x="3023.3643" y="1160.5542">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="3014.3643" 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="237" x="3023.3643" y="1173.3589">urtThreadGetSelf (void) : urt_osThread_t*</text><ellipse cx="3014.3643" 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="380" x="3023.3643" y="1186.1636">urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="3014.3643" 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="371" x="3023.3643" y="1198.9683">urtThreadGetSibling (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="3014.3643" 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="370" x="3023.3643" y="1211.7729">urtThreadGetParent (thread : urt_osThread_t*) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]

class urt_osEventMask_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="60.8047" id="urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.5;" width="280" x="2454.3643" y="1323.3594"/><ellipse cx="2531.6143" cy="1339.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2532.4581,1346.1094 L2530.0049,1346.1094 L2530.0049,1335.8594 L2526.8643,1335.8594 L2526.8643,1333.7188 L2535.5987,1333.7188 L2535.5987,1335.8594 L2532.4581,1335.8594 L2532.4581,1346.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="2552.1143" y="1343.5137">urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2455.3643" x2="2733.3643" y1="1355.3594" y2="1355.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="268" x="2460.3643" y="1369.5698">URT_EVENTMASK_MAXPRIO : urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2455.3643" x2="2733.3643" y1="1376.1641" y2="1376.1641"/><!--MD5=[dc1cc33af288560680c15dec1e56eda0]

class urt_osEventFlags_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="48" id="urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="1863.3643" y="1607.8594"/><ellipse cx="1878.3643" cy="1623.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1879.2081,1630.6094 L1876.7549,1630.6094 L1876.7549,1620.3594 L1873.6143,1620.3594 L1873.6143,1618.2188 L1882.3487,1618.2188 L1882.3487,1620.3594 L1879.2081,1620.3594 L1879.2081,1630.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="1892.3643" y="1628.0137">urt_osEventFlags_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1864.3643" x2="2012.3643" y1="1639.8594" y2="1639.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1864.3643" x2="2012.3643" y1="1647.8594" y2="1647.8594"/><!--MD5=[e2bbbd64e6979bf7b755747a6c0ba948]

class urt_osEventWait_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="86.4141" id="urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.5;" width="162" x="2220.3643" y="1310.8594"/><ellipse cx="2243.4643" cy="1326.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2247.5737,1332.8594 L2239.8549,1332.8594 L2239.8549,1320.4688 L2247.5737,1320.4688 L2247.5737,1322.625 L2242.3081,1322.625 L2242.3081,1325.2969 L2247.0737,1325.2969 L2247.0737,1327.4531 L2242.3081,1327.4531 L2242.3081,1330.7031 L2247.5737,1330.7031 L2247.5737,1332.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="2259.2643" y="1331.0137">urt_osEventWait_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2221.3643" x2="2381.3643" y1="1342.8594" y2="1342.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="2226.3643" y="1357.0698">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="2226.3643" y="1369.8745">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="2226.3643" y="1382.6792">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2221.3643" x2="2381.3643" y1="1389.2734" y2="1389.2734"/><!--MD5=[d054ac2eda12ce4b1fe5a18c9be716c1]

class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="1691.3643" y="1310.8594"/><ellipse cx="1866.6143" cy="1326.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1867.4581,1333.6094 L1865.0049,1333.6094 L1865.0049,1323.3594 L1861.8643,1323.3594 L1861.8643,1321.2188 L1870.5987,1321.2188 L1870.5987,1323.3594 L1867.4581,1323.3594 L1867.4581,1333.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="1887.1143" y="1331.0137">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1692.3643" x2="2184.3643" y1="1342.8594" y2="1342.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1692.3643" x2="2184.3643" y1="1350.8594" y2="1350.8594"/><ellipse cx="1702.3643" cy="1361.8594" 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="1711.3643" y="1365.0698">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="1702.3643" cy="1374.6641" 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="1711.3643" y="1377.8745">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="1702.3643" cy="1387.4688" 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="1711.3643" y="1390.6792">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]

class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="1108.8643" y="1316.8594"/><ellipse cx="1313.6143" cy="1332.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1314.4581,1339.6094 L1312.0049,1339.6094 L1312.0049,1329.3594 L1308.8643,1329.3594 L1308.8643,1327.2188 L1317.5987,1327.2188 L1317.5987,1329.3594 L1314.4581,1329.3594 L1314.4581,1339.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="1334.1143" y="1337.0137">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1109.8643" x2="1654.8643" y1="1348.8594" y2="1348.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1109.8643" x2="1654.8643" y1="1356.8594" y2="1356.8594"/><ellipse cx="1119.8643" cy="1367.8594" 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="1128.8643" y="1371.0698">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="1119.8643" cy="1380.6641" 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="1128.8643" y="1383.8745">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--MD5=[04a3b5a37031e2a4d723f19d8adf86f5]

class urt_events--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="845" x="1883.8643" y="1000.3594"/><ellipse cx="2269.1143" cy="1016.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2273.3487,1012.125 L2268.0674,1012.125 L2268.0674,1014.7969 L2272.8643,1014.7969 L2272.8643,1016.9531 L2268.0674,1016.9531 L2268.0674,1022.3594 L2265.6299,1022.3594 L2265.6299,1009.9688 L2273.3487,1009.9688 L2273.3487,1012.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="2289.6143" y="1020.5137">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1884.8643" x2="2727.8643" y1="1032.3594" y2="1032.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1884.8643" x2="2727.8643" y1="1040.3594" y2="1040.3594"/><ellipse cx="1894.8643" cy="1051.3594" 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="819" x="1903.8643" y="1054.5698">urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : void</text><ellipse cx="1894.8643" cy="1064.1641" 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="522" x="1903.8643" y="1067.3745">urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : void</text><ellipse cx="1894.8643" cy="1076.9688" 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="618" x="1903.8643" y="1080.1792">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(#f97ds0om13c08)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="209" x="874.8643" y="1006.3594"/><ellipse cx="937.6143" cy="1022.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M941.8487,1018.125 L936.5674,1018.125 L936.5674,1020.7969 L941.3643,1020.7969 L941.3643,1022.9531 L936.5674,1022.9531 L936.5674,1028.3594 L934.1299,1028.3594 L934.1299,1015.9688 L941.8487,1015.9688 L941.8487,1018.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="958.1143" y="1026.5137">urt_streams</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="875.8643" x2="1082.8643" y1="1038.3594" y2="1038.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="875.8643" x2="1082.8643" y1="1046.3594" y2="1046.3594"/><ellipse cx="885.8643" 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="166" x="894.8643" y="1060.5698">urtPrintf(fmt : char*, ... ) : int</text><ellipse cx="885.8643" 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="183" x="894.8643" y="1073.3745">urtErrPrintf(fmt : char*, ... ) : int</text><!--MD5=[f106a25c06a671b3918b1a8f37571a4d]

class urt_debug--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="245" x="594.8643" y="1012.8594"/><ellipse cx="681.1143" cy="1028.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M685.3487,1024.625 L680.0674,1024.625 L680.0674,1027.2969 L684.8643,1027.2969 L684.8643,1029.4531 L680.0674,1029.4531 L680.0674,1034.8594 L677.6299,1034.8594 L677.6299,1022.4688 L685.3487,1022.4688 L685.3487,1024.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="701.6143" y="1033.0137">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="595.8643" x2="838.8643" y1="1044.8594" y2="1044.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="595.8643" x2="838.8643" y1="1052.8594" y2="1052.8594"/><ellipse cx="605.8643" 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="219" x="614.8643" y="1067.0698">urtDebugAssert(condition : bool) : void</text><!--MD5=[89d25e87afdd75480e1ec2bd05524873]

class urt_core_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="281.6797" id="urt_core_t" style="stroke: #A80036; stroke-width: 1.5;" width="343" x="7791.8643" y="172.3594"/><ellipse cx="7927.6143" cy="188.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7927.0987,188.9219 Q7925.2393,188.2188 7924.5831,187.4531 Q7923.9424,186.6719 7923.9424,185.3594 Q7923.9424,183.6719 7925.0206,182.7031 Q7926.0987,181.7344 7927.9737,181.7344 Q7928.8331,181.7344 7929.6768,181.9375 Q7930.5362,182.125 7931.3799,182.5156 L7931.3799,184.9063 Q7930.5987,184.3438 7929.7706,184.0625 Q7928.9581,183.7656 7928.1612,183.7656 Q7927.2862,183.7656 7926.8018,184.125 Q7926.3331,184.4844 7926.3331,185.1406 Q7926.3331,185.6563 7926.6768,186 Q7927.0206,186.3281 7928.1143,186.7344 L7929.1768,187.1406 Q7930.6612,187.6875 7931.3643,188.5938 Q7932.0831,189.5 7932.0831,190.875 Q7932.0831,192.75 7930.9737,193.6719 Q7929.8643,194.5938 7927.6143,194.5938 Q7926.6924,194.5938 7925.7706,194.375 Q7924.8487,194.1563 7923.9893,193.7344 L7923.9893,191.2031 Q7924.9581,191.8906 7925.8799,192.2344 Q7926.8018,192.5781 7927.6924,192.5781 Q7928.5987,192.5781 7929.0987,192.1719 Q7929.5987,191.75 7929.5987,191.0156 Q7929.5987,190.4531 7929.2549,190.0469 Q7928.9268,189.625 7928.3018,189.375 L7927.0987,188.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="63" x="7948.1143" y="192.5137">urt_core_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7792.8643" x2="8133.8643" y1="204.3594" y2="204.3594"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8643" y="212.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="7811.8643" y="218.5698">_nodes : urt_node_t*</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8643" y="225.1641"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="192" x="7811.8643" y="231.3745">_evtSource : urt_osEventSource_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8643" y="237.9688"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="7811.8643" y="244.1792">_lock : urt_osMutex_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8643" y="250.7734"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="122" x="7811.8643" y="256.9839">_status : urt_status_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8643" y="280.3828"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="117" x="7811.8643" y="286.5933">_topics : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7792.8643" x2="7858.3643" y1="269.9805" y2="269.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7858.3643" y="273.2886">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8068.3643" x2="8133.8643" y1="269.9805" y2="269.9805"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8643" y="309.9922"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="145" x="7811.8643" y="316.2026">_services : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7792.8643" x2="7870.8643" y1="299.5898" y2="299.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="7870.8643" y="302.8979">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8055.8643" x2="8133.8643" y1="299.5898" y2="299.5898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7792.8643" x2="8133.8643" y1="322.7969" y2="322.7969"/><ellipse cx="7802.8643" 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="7811.8643" y="337.0073">urtCoreInit (void) : void</text><ellipse cx="7802.8643" 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="7811.8643" y="349.812">urtCoreGetStatus (void) : urt_status_t</text><ellipse cx="7802.8643" 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="7811.8643" y="362.6167">urtCoreStartNodes (void) : void</text><ellipse cx="7802.8643" 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="7811.8643" y="375.4214">urtCoreSynchronize (node : urt_node_t*) : urt_status_t</text><ellipse cx="7802.8643" 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="7811.8643" y="388.2261">urtCoreStopNodes (reason : urt_status_t) : urt_status_t</text><ellipse cx="7802.8643" 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="7811.8643" 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="7792.8643" x2="7858.3643" y1="401.2227" y2="401.2227"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7858.3643" y="404.5308">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8068.3643" x2="8133.8643" y1="401.2227" y2="401.2227"/><ellipse cx="7802.8643" 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="7811.8643" y="447.4448">urtCoreGetService (id : urt_serviceid_t) : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7792.8643" x2="7870.8643" y1="430.832" y2="430.832"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="7870.8643" y="434.1401">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8055.8643" x2="8133.8643" y1="430.832" y2="430.832"/><!--MD5=[a7dea26996a1231aa68629b332780450]

class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="17424.3643" y="1012.8594"/><ellipse cx="17570.1143" cy="1028.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17570.9581,1035.6094 L17568.5049,1035.6094 L17568.5049,1025.3594 L17565.3643,1025.3594 L17565.3643,1023.2188 L17574.0987,1023.2188 L17574.0987,1025.3594 L17570.9581,1025.3594 L17570.9581,1035.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="17590.6143" y="1033.0137">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="17425.3643" x2="17879.3643" y1="1044.8594" y2="1044.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="17425.3643" x2="17879.3643" y1="1052.8594" y2="1052.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="17430.3643" y="1067.0698">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]

class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="16775.3643" y="1012.8594"/><ellipse cx="17003.6143" cy="1028.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17004.4581,1035.6094 L17002.0049,1035.6094 L17002.0049,1025.3594 L16998.8643,1025.3594 L16998.8643,1023.2188 L17007.5987,1023.2188 L17007.5987,1025.3594 L17004.4581,1025.3594 L17004.4581,1035.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="17024.1143" y="1033.0137">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="16776.3643" x2="17388.3643" y1="1044.8594" y2="1044.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="16776.3643" x2="17388.3643" y1="1052.8594" y2="1052.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="16781.3643" y="1067.0698">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(#f97ds0om13c08)" height="60.8047" id="urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="518" x="17915.3643" y="1012.8594"/><ellipse cx="18079.6143" cy="1028.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M18080.4581,1035.6094 L18078.0049,1035.6094 L18078.0049,1025.3594 L18074.8643,1025.3594 L18074.8643,1023.2188 L18083.5987,1023.2188 L18083.5987,1025.3594 L18080.4581,1025.3594 L18080.4581,1035.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="181" x="18100.1143" y="1033.0137">urt_nodeShutdownCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="17916.3643" x2="18432.3643" y1="1044.8594" y2="1044.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="17916.3643" x2="18432.3643" y1="1052.8594" y2="1052.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="506" x="17921.3643" y="1067.0698">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(#f97ds0om13c08)" height="231.2656" id="urt_node_t" style="stroke: #A80036; stroke-width: 1.5;" width="1541" x="16778.8643" y="542.3594"/><ellipse cx="17511.6143" cy="558.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17511.0987,558.9219 Q17509.2393,558.2188 17508.5831,557.4531 Q17507.9424,556.6719 17507.9424,555.3594 Q17507.9424,553.6719 17509.0206,552.7031 Q17510.0987,551.7344 17511.9737,551.7344 Q17512.8331,551.7344 17513.6768,551.9375 Q17514.5362,552.125 17515.3799,552.5156 L17515.3799,554.9063 Q17514.5987,554.3438 17513.7706,554.0625 Q17512.9581,553.7656 17512.1612,553.7656 Q17511.2862,553.7656 17510.8018,554.125 Q17510.3331,554.4844 17510.3331,555.1406 Q17510.3331,555.6563 17510.6768,556 Q17511.0206,556.3281 17512.1143,556.7344 L17513.1768,557.1406 Q17514.6612,557.6875 17515.3643,558.5938 Q17516.0831,559.5 17516.0831,560.875 Q17516.0831,562.75 17514.9737,563.6719 Q17513.8643,564.5938 17511.6143,564.5938 Q17510.6924,564.5938 17509.7706,564.375 Q17508.8487,564.1563 17507.9893,563.7344 L17507.9893,561.2031 Q17508.9581,561.8906 17509.8799,562.2344 Q17510.8018,562.5781 17511.6924,562.5781 Q17512.5987,562.5781 17513.0987,562.1719 Q17513.5987,561.75 17513.5987,561.0156 Q17513.5987,560.4531 17513.2549,560.0469 Q17512.9268,559.625 17512.3018,559.375 L17511.0987,558.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="67" x="17532.1143" y="562.5137">urt_node_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="16779.8643" x2="18318.8643" y1="574.3594" y2="574.3594"/><ellipse cx="16789.8643" 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="16798.8643" y="588.5698">next : urt_node_t*</text><ellipse cx="16789.8643" 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="16798.8643" y="601.3745">thread : urt_osThread_t*</text><ellipse cx="16789.8643" 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="16798.8643" y="614.1792">setupcallback : urt_nodeSetupCallback_t*</text><ellipse cx="16789.8643" 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="16798.8643" y="626.9839">setupparams : void*</text><ellipse cx="16789.8643" 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="16798.8643" y="639.7886">loopcallback : urt_nodeLoopCallback_t*</text><ellipse cx="16789.8643" 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="16798.8643" y="652.5933">loopparams : void*</text><ellipse cx="16789.8643" 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="16798.8643" y="665.3979">shutdowncallback : urt_nodeShutdownCallback_t*</text><ellipse cx="16789.8643" 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="16798.8643" y="678.2026">shutdownparams : void*</text><ellipse cx="16789.8643" 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="16798.8643" y="691.0073">stage : urt_nodestage_t</text><ellipse cx="16789.8643" 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="16798.8643" y="703.812">listener : urt_osEventListener_t</text><ellipse cx="16789.8643" 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="16798.8643" y="733.4214">loops : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16779.8643" x2="17341.3643" y1="716.8086" y2="716.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="416" x="17341.3643" 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="17757.3643" x2="18318.8643" y1="716.8086" y2="716.8086"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="16779.8643" x2="18318.8643" y1="740.0156" y2="740.0156"/><rect fill="#F24D5C" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="16786.8643" y="748.0156"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="179" x="16798.8643" y="754.2261">_main : urt_osThreadFunction_t</text><ellipse cx="16789.8643" 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="16798.8643" 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(#f97ds0om13c08)" height="141.6328" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="406" x="12405.3643" y="1282.8594"/><ellipse cx="12558.1143" cy="1298.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12557.5987,1299.4219 Q12555.7393,1298.7188 12555.0831,1297.9531 Q12554.4424,1297.1719 12554.4424,1295.8594 Q12554.4424,1294.1719 12555.5206,1293.2031 Q12556.5987,1292.2344 12558.4737,1292.2344 Q12559.3331,1292.2344 12560.1768,1292.4375 Q12561.0362,1292.625 12561.8799,1293.0156 L12561.8799,1295.4063 Q12561.0987,1294.8438 12560.2706,1294.5625 Q12559.4581,1294.2656 12558.6612,1294.2656 Q12557.7862,1294.2656 12557.3018,1294.625 Q12556.8331,1294.9844 12556.8331,1295.6406 Q12556.8331,1296.1563 12557.1768,1296.5 Q12557.5206,1296.8281 12558.6143,1297.2344 L12559.6768,1297.6406 Q12561.1612,1298.1875 12561.8643,1299.0938 Q12562.5831,1300 12562.5831,1301.375 Q12562.5831,1303.25 12561.4737,1304.1719 Q12560.3643,1305.0938 12558.1143,1305.0938 Q12557.1924,1305.0938 12556.2706,1304.875 Q12555.3487,1304.6563 12554.4893,1304.2344 L12554.4893,1301.7031 Q12555.4581,1302.3906 12556.3799,1302.7344 Q12557.3018,1303.0781 12558.1924,1303.0781 Q12559.0987,1303.0781 12559.5987,1302.6719 Q12560.0987,1302.25 12560.0987,1301.5156 Q12560.0987,1300.9531 12559.7549,1300.5469 Q12559.4268,1300.125 12558.8018,1299.875 L12557.5987,1299.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="12578.6143" y="1303.0137">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12406.3643" x2="12810.3643" y1="1314.8594" y2="1314.8594"/><ellipse cx="12416.3643" cy="1325.8594" 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="12425.3643" y="1329.0698">next : urt_message_t*</text><ellipse cx="12416.3643" cy="1338.6641" 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="12425.3643" y="1341.8745">payload : void*</text><ellipse cx="12416.3643" cy="1351.4688" 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="12425.3643" y="1354.6792">originTime : urt_osTime_t</text><ellipse cx="12416.3643" cy="1364.2734" 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="12425.3643" y="1367.4839">numHrtConsumersLeft : unsigned int</text><ellipse cx="12416.3643" cy="1393.8828" 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="12425.3643" y="1397.0933">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12406.3643" x2="12499.8643" y1="1380.4805" y2="1380.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12499.8643" y="1383.7886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12716.8643" x2="12810.3643" y1="1380.4805" y2="1380.4805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="12406.3643" x2="12810.3643" y1="1403.6875" y2="1403.6875"/><ellipse cx="12416.3643" cy="1414.6875" 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="12425.3643" y="1417.8979">urtMessageInit (message : urt_message_t*, payload : void*) : void</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]

class urt_publisher_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="128.8281" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="783" x="11878.8643" y="593.3594"/><ellipse cx="12219.6143" cy="609.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12219.0987,609.9219 Q12217.2393,609.2188 12216.5831,608.4531 Q12215.9424,607.6719 12215.9424,606.3594 Q12215.9424,604.6719 12217.0206,603.7031 Q12218.0987,602.7344 12219.9737,602.7344 Q12220.8331,602.7344 12221.6768,602.9375 Q12222.5362,603.125 12223.3799,603.5156 L12223.3799,605.9063 Q12222.5987,605.3438 12221.7706,605.0625 Q12220.9581,604.7656 12220.1612,604.7656 Q12219.2862,604.7656 12218.8018,605.125 Q12218.3331,605.4844 12218.3331,606.1406 Q12218.3331,606.6563 12218.6768,607 Q12219.0206,607.3281 12220.1143,607.7344 L12221.1768,608.1406 Q12222.6612,608.6875 12223.3643,609.5938 Q12224.0831,610.5 12224.0831,611.875 Q12224.0831,613.75 12222.9737,614.6719 Q12221.8643,615.5938 12219.6143,615.5938 Q12218.6924,615.5938 12217.7706,615.375 Q12216.8487,615.1563 12215.9893,614.7344 L12215.9893,612.2031 Q12216.9581,612.8906 12217.8799,613.2344 Q12218.8018,613.5781 12219.6924,613.5781 Q12220.5987,613.5781 12221.0987,613.1719 Q12221.5987,612.75 12221.5987,612.0156 Q12221.5987,611.4531 12221.2549,611.0469 Q12220.9268,610.625 12220.3018,610.375 L12219.0987,609.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="12240.1143" y="613.5137">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11879.8643" x2="12660.8643" y1="625.3594" y2="625.3594"/><ellipse cx="11889.8643" 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="11898.8643" y="639.5698">topic : urt_topic_t*</text><ellipse cx="11889.8643" 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="11898.8643" y="669.1792">publishAttempts : uint64_t</text><ellipse cx="11889.8643" 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="11898.8643" y="681.9839">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11879.8643" x2="12161.8643" y1="652.5664" y2="652.5664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12161.8643" y="655.8745">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12378.8643" x2="12660.8643" y1="652.5664" y2="652.5664"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11879.8643" x2="12660.8643" y1="688.5781" y2="688.5781"/><ellipse cx="11889.8643" 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="11898.8643" y="702.7886">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void</text><ellipse cx="11889.8643" 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="11898.8643" 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(#f97ds0om13c08)" height="260.875" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="11441.3643" y="527.3594"/><ellipse cx="11596.1143" cy="543.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11595.5987,543.9219 Q11593.7393,543.2188 11593.0831,542.4531 Q11592.4424,541.6719 11592.4424,540.3594 Q11592.4424,538.6719 11593.5206,537.7031 Q11594.5987,536.7344 11596.4737,536.7344 Q11597.3331,536.7344 11598.1768,536.9375 Q11599.0362,537.125 11599.8799,537.5156 L11599.8799,539.9063 Q11599.0987,539.3438 11598.2706,539.0625 Q11597.4581,538.7656 11596.6612,538.7656 Q11595.7862,538.7656 11595.3018,539.125 Q11594.8331,539.4844 11594.8331,540.1406 Q11594.8331,540.6563 11595.1768,541 Q11595.5206,541.3281 11596.6143,541.7344 L11597.6768,542.1406 Q11599.1612,542.6875 11599.8643,543.5938 Q11600.5831,544.5 11600.5831,545.875 Q11600.5831,547.75 11599.4737,548.6719 Q11598.3643,549.5938 11596.1143,549.5938 Q11595.1924,549.5938 11594.2706,549.375 Q11593.3487,549.1563 11592.4893,548.7344 L11592.4893,546.2031 Q11593.4581,546.8906 11594.3799,547.2344 Q11595.3018,547.5781 11596.1924,547.5781 Q11597.0987,547.5781 11597.5987,547.1719 Q11598.0987,546.75 11598.0987,546.0156 Q11598.0987,545.4531 11597.7549,545.0469 Q11597.4268,544.625 11596.8018,544.375 L11595.5987,543.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="11616.6143" y="547.5137">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11442.3643" x2="11824.3643" y1="559.3594" y2="559.3594"/><ellipse cx="11452.3643" 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="11461.3643" y="573.5698">next : urt_topic_t*</text><ellipse cx="11452.3643" 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="11461.3643" y="586.3745">id : urt_topicid_t</text><ellipse cx="11452.3643" 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="11461.3643" y="599.1792">lock : urt_osMutex_t</text><ellipse cx="11452.3643" 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="11461.3643" y="611.9839">evtSource : urt_osEventSource_t</text><ellipse cx="11452.3643" 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="11461.3643" y="624.7886">numHrtSubscribers : unsigned int</text><ellipse cx="11452.3643" 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="11461.3643" y="637.5933">hrtReleased : urt_osCondvar_t</text><ellipse cx="11452.3643" 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="11461.3643" y="650.3979">mandatoryMessage : urt_message_t</text><ellipse cx="11452.3643" 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="11461.3643" y="663.2026">latestMessage : urt_message_t*</text><ellipse cx="11452.3643" 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="11461.3643" y="692.812">hrtSubscribers : urt_hrtsubscriber_t*</text><ellipse cx="11452.3643" 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="11461.3643" y="705.6167">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11442.3643" x2="11500.8643" y1="676.1992" y2="676.1992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="11500.8643" 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="11765.8643" x2="11824.3643" y1="676.1992" y2="676.1992"/><ellipse cx="11452.3643" 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="11461.3643" y="735.2261">numMessagesPublished : uint64_t</text><ellipse cx="11452.3643" 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="11461.3643" y="748.0308">numMessagesDiscarded : uint64_t</text><ellipse cx="11452.3643" 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="11461.3643" y="760.8354">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11442.3643" x2="11524.8643" y1="718.6133" y2="718.6133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="11524.8643" y="721.9214">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11741.8643" x2="11824.3643" y1="718.6133" y2="718.6133"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11442.3643" x2="11824.3643" y1="767.4297" y2="767.4297"/><ellipse cx="11452.3643" 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="11461.3643" 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(#f97ds0om13c08)" height="133.6328" id="urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="225" x="12769.8643" y="976.3594"/><ellipse cx="12812.3143" cy="992.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12811.7987,992.9219 Q12809.9393,992.2188 12809.2831,991.4531 Q12808.6424,990.6719 12808.6424,989.3594 Q12808.6424,987.6719 12809.7206,986.7031 Q12810.7987,985.7344 12812.6737,985.7344 Q12813.5331,985.7344 12814.3768,985.9375 Q12815.2362,986.125 12816.0799,986.5156 L12816.0799,988.9063 Q12815.2987,988.3438 12814.4706,988.0625 Q12813.6581,987.7656 12812.8612,987.7656 Q12811.9862,987.7656 12811.5018,988.125 Q12811.0331,988.4844 12811.0331,989.1406 Q12811.0331,989.6563 12811.3768,990 Q12811.7206,990.3281 12812.8143,990.7344 L12813.8768,991.1406 Q12815.3612,991.6875 12816.0643,992.5938 Q12816.7831,993.5 12816.7831,994.875 Q12816.7831,996.75 12815.6737,997.6719 Q12814.5643,998.5938 12812.3143,998.5938 Q12811.3924,998.5938 12810.4706,998.375 Q12809.5487,998.1563 12808.6893,997.7344 L12808.6893,995.2031 Q12809.6581,995.8906 12810.5799,996.2344 Q12811.5018,996.5781 12812.3924,996.5781 Q12813.2987,996.5781 12813.7987,996.1719 Q12814.2987,995.75 12814.2987,995.0156 Q12814.2987,994.4531 12813.9549,994.0469 Q12813.6268,993.625 12813.0018,993.375 L12811.7987,992.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="132" x="12832.4143" y="996.5137">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12770.8643" x2="12993.8643" y1="1008.3594" y2="1008.3594"/><ellipse cx="12780.8643" cy="1019.3594" 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="12789.8643" y="1022.5698">topic : urt_topic_t*</text><ellipse cx="12780.8643" cy="1032.1641" 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="198" x="12789.8643" y="1035.3745">evtListener : urt_osEventListener_t</text><ellipse cx="12780.8643" cy="1044.9688" 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="175" x="12789.8643" y="1048.1792">lastMessage : urt_message_t*</text><ellipse cx="12780.8643" cy="1057.7734" 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="12789.8643" y="1060.9839">lastMessageTime : urt_osTime_t</text><ellipse cx="12780.8643" cy="1087.3828" 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="136" x="12789.8643" y="1090.5933">sumLatencies : uint64_t</text><ellipse cx="12780.8643" cy="1100.1875" 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="190" x="12789.8643" y="1103.3979">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12770.8643" x2="12773.8643" y1="1073.9805" y2="1073.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12773.8643" y="1077.2886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12990.8643" x2="12993.8643" y1="1073.9805" y2="1073.9805"/><!--MD5=[9ff46073dd541e50679ef35e851c67d6]

class urt_nrtsubscriber_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="154.4375" id="urt_nrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="821" x="14913.8643" y="580.8594"/><ellipse cx="15260.6143" cy="596.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M15260.0987,597.4219 Q15258.2393,596.7188 15257.5831,595.9531 Q15256.9424,595.1719 15256.9424,593.8594 Q15256.9424,592.1719 15258.0206,591.2031 Q15259.0987,590.2344 15260.9737,590.2344 Q15261.8331,590.2344 15262.6768,590.4375 Q15263.5362,590.625 15264.3799,591.0156 L15264.3799,593.4063 Q15263.5987,592.8438 15262.7706,592.5625 Q15261.9581,592.2656 15261.1612,592.2656 Q15260.2862,592.2656 15259.8018,592.625 Q15259.3331,592.9844 15259.3331,593.6406 Q15259.3331,594.1563 15259.6768,594.5 Q15260.0206,594.8281 15261.1143,595.2344 L15262.1768,595.6406 Q15263.6612,596.1875 15264.3643,597.0938 Q15265.0831,598 15265.0831,599.375 Q15265.0831,601.25 15263.9737,602.1719 Q15262.8643,603.0938 15260.6143,603.0938 Q15259.6924,603.0938 15258.7706,602.875 Q15257.8487,602.6563 15256.9893,602.2344 L15256.9893,599.7031 Q15257.9581,600.3906 15258.8799,600.7344 Q15259.8018,601.0781 15260.6924,601.0781 Q15261.5987,601.0781 15262.0987,600.6719 Q15262.5987,600.25 15262.5987,599.5156 Q15262.5987,598.9531 15262.2549,598.5469 Q15261.9268,598.125 15261.3018,597.875 L15260.0987,597.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="15281.1143" y="601.0137">urt_nrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="14914.8643" x2="15733.8643" y1="612.8594" y2="612.8594"/><ellipse cx="14924.8643" 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="14933.8643" y="643.8745">minLatency : urt_delay_t</text><ellipse cx="14924.8643" 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="14933.8643" y="656.6792">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="14914.8643" x2="15215.8643" y1="627.2617" y2="627.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="15215.8643" y="630.5698">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15432.8643" x2="15733.8643" y1="627.2617" y2="627.2617"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="14914.8643" x2="15733.8643" y1="663.2734" y2="663.2734"/><ellipse cx="14924.8643" 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="14933.8643" y="677.4839">urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : void</text><ellipse cx="14924.8643" 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="14933.8643" y="690.2886">urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="14924.8643" 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="14933.8643" y="703.0933">urtNrtSubscriberFetchNextMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="14924.8643" 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="14933.8643" y="715.8979">urtNrtSubscriberFetchLatestMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="14924.8643" 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="14933.8643" y="728.7026">urtNrtSubscriberUnsubscribe (subscriber : urt_nrtsubscriber_t*) : urt_status_t</text><!--MD5=[5c7929572d87ccc448d875bea5da0fb1]

class urt_srtsubscriber_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="192.8516" id="urt_srtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1044" x="13834.3643" y="561.3594"/><ellipse cx="14293.1143" cy="577.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M14292.5987,577.9219 Q14290.7393,577.2188 14290.0831,576.4531 Q14289.4424,575.6719 14289.4424,574.3594 Q14289.4424,572.6719 14290.5206,571.7031 Q14291.5987,570.7344 14293.4737,570.7344 Q14294.3331,570.7344 14295.1768,570.9375 Q14296.0362,571.125 14296.8799,571.5156 L14296.8799,573.9063 Q14296.0987,573.3438 14295.2706,573.0625 Q14294.4581,572.7656 14293.6612,572.7656 Q14292.7862,572.7656 14292.3018,573.125 Q14291.8331,573.4844 14291.8331,574.1406 Q14291.8331,574.6563 14292.1768,575 Q14292.5206,575.3281 14293.6143,575.7344 L14294.6768,576.1406 Q14296.1612,576.6875 14296.8643,577.5938 Q14297.5831,578.5 14297.5831,579.875 Q14297.5831,581.75 14296.4737,582.6719 Q14295.3643,583.5938 14293.1143,583.5938 Q14292.1924,583.5938 14291.2706,583.375 Q14290.3487,583.1563 14289.4893,582.7344 L14289.4893,580.2031 Q14290.4581,580.8906 14291.3799,581.2344 Q14292.3018,581.5781 14293.1924,581.5781 Q14294.0987,581.5781 14294.5987,581.1719 Q14295.0987,580.75 14295.0987,580.0156 Q14295.0987,579.4531 14294.7549,579.0469 Q14294.4268,578.625 14293.8018,578.375 L14292.5987,577.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="14313.6143" y="581.5137">urt_srtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="13835.3643" x2="14877.3643" y1="593.3594" y2="593.3594"/><ellipse cx="13845.3643" 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="13854.3643" y="607.5698">usefulnesscb : urt_usefulness_f*</text><ellipse cx="13845.3643" 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="13854.3643" y="620.3745">cbparams : void*</text><ellipse cx="13845.3643" 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="13854.3643" y="649.9839">minLatency : urt_delay_t</text><ellipse cx="13845.3643" 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="13854.3643" y="662.7886">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13835.3643" x2="14247.8643" y1="633.3711" y2="633.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="14247.8643" y="636.6792">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="14464.8643" x2="14877.3643" y1="633.3711" y2="633.3711"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="13835.3643" x2="14877.3643" y1="669.3828" y2="669.3828"/><ellipse cx="13845.3643" 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="13854.3643" y="683.5933">urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void</text><ellipse cx="13845.3643" 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="13854.3643" 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="13845.3643" 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="13854.3643" y="709.2026">urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="13845.3643" 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="13854.3643" y="722.0073">urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="13845.3643" 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="13854.3643" y="734.812">urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float</text><ellipse cx="13845.3643" 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="13854.3643" y="747.6167">urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t</text><!--MD5=[17838fb05fe219fd399839979ec8a4a4]

class urt_frtsubscriber_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="226.4609" id="urt_frtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="974" x="15769.3643" y="544.8594"/><ellipse cx="16194.6143" cy="560.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M16194.0987,561.4219 Q16192.2393,560.7188 16191.5831,559.9531 Q16190.9424,559.1719 16190.9424,557.8594 Q16190.9424,556.1719 16192.0206,555.2031 Q16193.0987,554.2344 16194.9737,554.2344 Q16195.8331,554.2344 16196.6768,554.4375 Q16197.5362,554.625 16198.3799,555.0156 L16198.3799,557.4063 Q16197.5987,556.8438 16196.7706,556.5625 Q16195.9581,556.2656 16195.1612,556.2656 Q16194.2862,556.2656 16193.8018,556.625 Q16193.3331,556.9844 16193.3331,557.6406 Q16193.3331,558.1563 16193.6768,558.5 Q16194.0206,558.8281 16195.1143,559.2344 L16196.1768,559.6406 Q16197.6612,560.1875 16198.3643,561.0938 Q16199.0831,562 16199.0831,563.375 Q16199.0831,565.25 16197.9737,566.1719 Q16196.8643,567.0938 16194.6143,567.0938 Q16193.6924,567.0938 16192.7706,566.875 Q16191.8487,566.6563 16190.9893,566.2344 L16190.9893,563.7031 Q16191.9581,564.3906 16192.8799,564.7344 Q16193.8018,565.0781 16194.6924,565.0781 Q16195.5987,565.0781 16196.0987,564.6719 Q16196.5987,564.25 16196.5987,563.5156 Q16196.5987,562.9531 16196.2549,562.5469 Q16195.9268,562.125 16195.3018,561.875 L16194.0987,561.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="16215.1143" y="565.0137">urt_frtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="15770.3643" x2="16742.3643" y1="576.8594" y2="576.8594"/><ellipse cx="15780.3643" 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="15789.3643" y="607.8745">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15770.3643" x2="16110.8643" y1="591.2617" y2="591.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="16110.8643" 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="16401.8643" x2="16742.3643" y1="591.2617" y2="591.2617"/><ellipse cx="15780.3643" 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="15789.3643" y="637.4839">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15770.3643" x2="16120.8643" y1="620.8711" y2="620.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="16120.8643" 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="16391.8643" x2="16742.3643" y1="620.8711" y2="620.8711"/><ellipse cx="15780.3643" 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="15789.3643" y="667.0933">minLatency : urt_delay_t</text><ellipse cx="15780.3643" 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="15789.3643" y="679.8979">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15770.3643" x2="16002.3643" y1="650.4805" y2="650.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="508" x="16002.3643" 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="16510.3643" x2="16742.3643" y1="650.4805" y2="650.4805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="15770.3643" x2="16742.3643" y1="686.4922" y2="686.4922"/><ellipse cx="15780.3643" 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="15789.3643" y="700.7026">urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : void</text><ellipse cx="15780.3643" 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="15789.3643" 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="15780.3643" 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="15789.3643" y="726.312">urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="15780.3643" 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="15789.3643" y="739.1167">urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="15780.3643" 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="15789.3643" y="751.9214">urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool</text><ellipse cx="15780.3643" 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="15789.3643" y="764.7261">urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t</text><!--MD5=[104dc879e5721421b987fcc467bc3a1d]

class urt_hrtsubscriber_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="268.875" id="urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="12697.3643" y="523.3594"/><ellipse cx="13175.6143" cy="539.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M13175.0987,539.9219 Q13173.2393,539.2188 13172.5831,538.4531 Q13171.9424,537.6719 13171.9424,536.3594 Q13171.9424,534.6719 13173.0206,533.7031 Q13174.0987,532.7344 13175.9737,532.7344 Q13176.8331,532.7344 13177.6768,532.9375 Q13178.5362,533.125 13179.3799,533.5156 L13179.3799,535.9063 Q13178.5987,535.3438 13177.7706,535.0625 Q13176.9581,534.7656 13176.1612,534.7656 Q13175.2862,534.7656 13174.8018,535.125 Q13174.3331,535.4844 13174.3331,536.1406 Q13174.3331,536.6563 13174.6768,537 Q13175.0206,537.3281 13176.1143,537.7344 L13177.1768,538.1406 Q13178.6612,538.6875 13179.3643,539.5938 Q13180.0831,540.5 13180.0831,541.875 Q13180.0831,543.75 13178.9737,544.6719 Q13177.8643,545.5938 13175.6143,545.5938 Q13174.6924,545.5938 13173.7706,545.375 Q13172.8487,545.1563 13171.9893,544.7344 L13171.9893,542.2031 Q13172.9581,542.8906 13173.8799,543.2344 Q13174.8018,543.5781 13175.6924,543.5781 Q13176.5987,543.5781 13177.0987,543.1719 Q13177.5987,542.75 13177.5987,542.0156 Q13177.5987,541.4531 13177.2549,541.0469 Q13176.9268,540.625 13176.3018,540.375 L13175.0987,539.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="13196.1143" y="543.5137">urt_hrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12698.3643" x2="13780.3643" y1="555.3594" y2="555.3594"/><ellipse cx="12708.3643" 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="12717.3643" y="569.5698">next : urt_hrtsubscriber_t*</text><ellipse cx="12708.3643" 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="12717.3643" y="599.1792">deadlineOffset : urt_delay_t</text><ellipse cx="12708.3643" 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="12717.3643" y="611.9839">qosDeadlineTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12698.3643" x2="13093.8643" y1="582.5664" y2="582.5664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="13093.8643" 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="13384.8643" x2="13780.3643" y1="582.5664" y2="582.5664"/><ellipse cx="12708.3643" 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="12717.3643" y="641.5933">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12698.3643" x2="13103.8643" y1="624.9805" y2="624.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="13103.8643" 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="13374.8643" x2="13780.3643" y1="624.9805" y2="624.9805"/><ellipse cx="12708.3643" 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="12717.3643" y="671.2026">minLatency : urt_delay_t</text><ellipse cx="12708.3643" 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="12717.3643" y="684.0073">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12698.3643" x2="12987.3643" y1="654.5898" y2="654.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="12987.3643" 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="13491.3643" x2="13780.3643" y1="654.5898" y2="654.5898"/><ellipse cx="12708.3643" 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="12717.3643" y="713.6167">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12698.3643" x2="13106.8643" y1="697.0039" y2="697.0039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="13106.8643" 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="13371.8643" x2="13780.3643" y1="697.0039" y2="697.0039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="12698.3643" x2="13780.3643" y1="720.2109" y2="720.2109"/><ellipse cx="12708.3643" 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="12717.3643" y="734.4214">urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : void</text><ellipse cx="12708.3643" 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="12717.3643" 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="12708.3643" 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="12717.3643" y="760.0308">urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="12708.3643" 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="12717.3643" y="772.8354">urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="12708.3643" 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="12717.3643" y="785.6401">urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t</text><!--MD5=[e60e0f8379a14e7a4a292c65add9d735]

class urt_service_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="269.6797" id="urt_service_t" style="stroke: #A80036; stroke-width: 1.5;" width="596" x="8150.3643" y="522.8594"/><ellipse cx="8404.6143" cy="538.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8404.0987,539.4219 Q8402.2393,538.7188 8401.5831,537.9531 Q8400.9424,537.1719 8400.9424,535.8594 Q8400.9424,534.1719 8402.0206,533.2031 Q8403.0987,532.2344 8404.9737,532.2344 Q8405.8331,532.2344 8406.6768,532.4375 Q8407.5362,532.625 8408.3799,533.0156 L8408.3799,535.4063 Q8407.5987,534.8438 8406.7706,534.5625 Q8405.9581,534.2656 8405.1612,534.2656 Q8404.2862,534.2656 8403.8018,534.625 Q8403.3331,534.9844 8403.3331,535.6406 Q8403.3331,536.1563 8403.6768,536.5 Q8404.0206,536.8281 8405.1143,537.2344 L8406.1768,537.6406 Q8407.6612,538.1875 8408.3643,539.0938 Q8409.0831,540 8409.0831,541.375 Q8409.0831,543.25 8407.9737,544.1719 Q8406.8643,545.0938 8404.6143,545.0938 Q8403.6924,545.0938 8402.7706,544.875 Q8401.8487,544.6563 8400.9893,544.2344 L8400.9893,541.7031 Q8401.9581,542.3906 8402.8799,542.7344 Q8403.8018,543.0781 8404.6924,543.0781 Q8405.5987,543.0781 8406.0987,542.6719 Q8406.5987,542.25 8406.5987,541.5156 Q8406.5987,540.9531 8406.2549,540.5469 Q8405.9268,540.125 8405.3018,539.875 L8404.0987,539.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="8425.1143" y="543.0137">urt_service_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8151.3643" x2="8745.3643" y1="554.8594" y2="554.8594"/><ellipse cx="8161.3643" 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="8170.3643" y="569.0698">next : urt_service_t*</text><ellipse cx="8161.3643" 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="8170.3643" y="581.8745">id : urt_serviceid_t</text><ellipse cx="8161.3643" 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="8170.3643" y="594.6792">lock : urt_osMutex_t</text><ellipse cx="8161.3643" 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="8170.3643" y="607.4839">requestQueue_front : urt_baserequest_t*</text><ellipse cx="8161.3643" 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="8170.3643" y="620.2886">requestQueue_hrtBack : urt_hrtrequest_t*</text><ellipse cx="8161.3643" 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="8170.3643" y="633.0933">requestQueue_fsrtBack : urt_baserequest_t*</text><ellipse cx="8161.3643" 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="8170.3643" y="645.8979">requestQueue_back : urt_baserequest_t*</text><ellipse cx="8161.3643" 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="8170.3643" y="658.7026">evtSource : urt_osEventSource_t</text><ellipse cx="8161.3643" 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="8170.3643" y="671.5073">evtListener : urt_osEventListener_t</text><ellipse cx="8161.3643" 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="8170.3643" y="701.1167">numCalls : uint64_t</text><ellipse cx="8161.3643" 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="8170.3643" y="713.9214">numOwnershipLost : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8151.3643" x2="8352.3643" y1="684.5039" y2="684.5039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="8352.3643" y="687.812">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8544.3643" x2="8745.3643" y1="684.5039" y2="684.5039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8151.3643" x2="8745.3643" y1="720.5156" y2="720.5156"/><ellipse cx="8161.3643" 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="8170.3643" y="734.7261">urtServiceInit (service : urt_service_t*, id : urt_serviceid_t) : urt_status_t</text><ellipse cx="8161.3643" 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="8170.3643" y="747.5308">urtServiceDispatch (service : urt_service_t*, payload : void*, bytes : size_t) : urt_baserequest_t*</text><ellipse cx="8161.3643" 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="8170.3643" y="760.3354">urtServiceAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="8161.3643" 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="8170.3643" y="773.1401">urtServiceTryAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="8161.3643" 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="8170.3643" y="785.9448">urtServiceRespond (request : urt_baserequest_t*) : urt_status_t</text><!--MD5=[7294e1cfaeb111bef046bc5d07a96458]

class urt_baserequest_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="197.6563" id="urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="224" x="8799.3643" y="558.8594"/><ellipse cx="8849.6143" cy="574.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8849.0987,575.4219 Q8847.2393,574.7188 8846.5831,573.9531 Q8845.9424,573.1719 8845.9424,571.8594 Q8845.9424,570.1719 8847.0206,569.2031 Q8848.0987,568.2344 8849.9737,568.2344 Q8850.8331,568.2344 8851.6768,568.4375 Q8852.5362,568.625 8853.3799,569.0156 L8853.3799,571.4063 Q8852.5987,570.8438 8851.7706,570.5625 Q8850.9581,570.2656 8850.1612,570.2656 Q8849.2862,570.2656 8848.8018,570.625 Q8848.3331,570.9844 8848.3331,571.6406 Q8848.3331,572.1563 8848.6768,572.5 Q8849.0206,572.8281 8850.1143,573.2344 L8851.1768,573.6406 Q8852.6612,574.1875 8853.3643,575.0938 Q8854.0831,576 8854.0831,577.375 Q8854.0831,579.25 8852.9737,580.1719 Q8851.8643,581.0938 8849.6143,581.0938 Q8848.6924,581.0938 8847.7706,580.875 Q8846.8487,580.6563 8845.9893,580.2344 L8845.9893,577.7031 Q8846.9581,578.3906 8847.8799,578.7344 Q8848.8018,579.0781 8849.6924,579.0781 Q8850.5987,579.0781 8851.0987,578.6719 Q8851.5987,578.25 8851.5987,577.5156 Q8851.5987,576.9531 8851.2549,576.5469 Q8850.9268,576.125 8850.3018,575.875 L8849.0987,575.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="8870.1143" y="579.0137">urt_baserequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8800.3643" x2="9022.3643" y1="590.8594" y2="590.8594"/><ellipse cx="8810.3643" 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="8819.3643" y="605.0698">prev : urt_baserequest_t*</text><ellipse cx="8810.3643" 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="8819.3643" y="617.8745">next : urt_baserequest_t*</text><ellipse cx="8810.3643" 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="8819.3643" y="630.6792">lock : urt_osMutex_t</text><ellipse cx="8810.3643" 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="8819.3643" y="643.4839">owner : urt_service_t*</text><ellipse cx="8810.3643" 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="8819.3643" y="656.2886">submissionTime : urt_osTime_t</text><ellipse cx="8810.3643" 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="8819.3643" y="669.0933">payload : void*</text><ellipse cx="8810.3643" 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="8819.3643" y="681.8979">evtSource : urt_osEventSource_t</text><ellipse cx="8810.3643" 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="8819.3643" y="694.7026">evtListener : urt_osEventListener_t</text><ellipse cx="8810.3643" 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="8819.3643" y="724.312">sumLatencies : uint64_t</text><ellipse cx="8810.3643" 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="8819.3643" y="737.1167">numCalls : uint64_t</text><ellipse cx="8810.3643" 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="8819.3643" y="749.9214">numFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8800.3643" x2="8815.3643" y1="707.6992" y2="707.6992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="8815.3643" y="711.0073">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9007.3643" x2="9022.3643" y1="707.6992" y2="707.6992"/><!--MD5=[65269c71e9a2a076bc4014c9b128c9e6]

class urt_nrtrequest_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="167.2422" id="urt_nrtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="531" x="10186.8643" y="229.8594"/><ellipse cx="10397.1143" cy="245.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10396.5987,246.4219 Q10394.7393,245.7188 10394.0831,244.9531 Q10393.4424,244.1719 10393.4424,242.8594 Q10393.4424,241.1719 10394.5206,240.2031 Q10395.5987,239.2344 10397.4737,239.2344 Q10398.3331,239.2344 10399.1768,239.4375 Q10400.0362,239.625 10400.8799,240.0156 L10400.8799,242.4063 Q10400.0987,241.8438 10399.2706,241.5625 Q10398.4581,241.2656 10397.6612,241.2656 Q10396.7862,241.2656 10396.3018,241.625 Q10395.8331,241.9844 10395.8331,242.6406 Q10395.8331,243.1563 10396.1768,243.5 Q10396.5206,243.8281 10397.6143,244.2344 L10398.6768,244.6406 Q10400.1612,245.1875 10400.8643,246.0938 Q10401.5831,247 10401.5831,248.375 Q10401.5831,250.25 10400.4737,251.1719 Q10399.3643,252.0938 10397.1143,252.0938 Q10396.1924,252.0938 10395.2706,251.875 Q10394.3487,251.6563 10393.4893,251.2344 L10393.4893,248.7031 Q10394.4581,249.3906 10395.3799,249.7344 Q10396.3018,250.0781 10397.1924,250.0781 Q10398.0987,250.0781 10398.5987,249.6719 Q10399.0987,249.25 10399.0987,248.5156 Q10399.0987,247.9531 10398.7549,247.5469 Q10398.4268,247.125 10397.8018,246.875 L10396.5987,246.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="10417.6143" y="250.0137">urt_nrtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10187.8643" x2="10716.8643" y1="261.8594" y2="261.8594"/><ellipse cx="10197.8643" 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="10206.8643" y="292.8745">minLatency : urt_delay_t</text><ellipse cx="10197.8643" 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="10206.8643" y="305.6792">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10187.8643" x2="10356.3643" y1="276.2617" y2="276.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="10356.3643" y="279.5698">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10548.3643" x2="10716.8643" y1="276.2617" y2="276.2617"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="10187.8643" x2="10716.8643" y1="312.2734" y2="312.2734"/><ellipse cx="10197.8643" 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="10206.8643" y="326.4839">urtNrtRequestInit (request : urt_nrtrequest_t*) : void</text><ellipse cx="10197.8643" 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="10206.8643" y="339.2886">urtNrtRequestAcquire (request : urt_nrtrequest_t*) : urt_status_t</text><ellipse cx="10197.8643" 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="10206.8643" y="352.0933">urtNrtRequestTryAcquire (request : urt_nrtrequest_t*) : urt_status_t</text><ellipse cx="10197.8643" 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="10206.8643" y="364.8979">urtNrtRequestRelease (request : urt_nrtrequest_t*) : urt_status_t</text><ellipse cx="10197.8643" 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="10206.8643" y="377.7026">urtNrtRequestSubmit (request : urt_nrtrequest_t*, service : urt_service_t*) : urt_status_t</text><ellipse cx="10197.8643" 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="10206.8643" y="390.5073">urtNrtRequestRetrieve (request : urt_nrtrequest_t*) : urt_status_t</text><!--MD5=[e9d515ad43a4cecec056dd09bc14a3c2]

class urt_srtrequest_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="180.0469" id="urt_srtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="675" x="9476.8643" y="223.3594"/><ellipse cx="9759.6143" cy="239.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9759.0987,239.9219 Q9757.2393,239.2188 9756.5831,238.4531 Q9755.9424,237.6719 9755.9424,236.3594 Q9755.9424,234.6719 9757.0206,233.7031 Q9758.0987,232.7344 9759.9737,232.7344 Q9760.8331,232.7344 9761.6768,232.9375 Q9762.5362,233.125 9763.3799,233.5156 L9763.3799,235.9063 Q9762.5987,235.3438 9761.7706,235.0625 Q9760.9581,234.7656 9760.1612,234.7656 Q9759.2862,234.7656 9758.8018,235.125 Q9758.3331,235.4844 9758.3331,236.1406 Q9758.3331,236.6563 9758.6768,237 Q9759.0206,237.3281 9760.1143,237.7344 L9761.1768,238.1406 Q9762.6612,238.6875 9763.3643,239.5938 Q9764.0831,240.5 9764.0831,241.875 Q9764.0831,243.75 9762.9737,244.6719 Q9761.8643,245.5938 9759.6143,245.5938 Q9758.6924,245.5938 9757.7706,245.375 Q9756.8487,245.1563 9755.9893,244.7344 L9755.9893,242.2031 Q9756.9581,242.8906 9757.8799,243.2344 Q9758.8018,243.5781 9759.6924,243.5781 Q9760.5987,243.5781 9761.0987,243.1719 Q9761.5987,242.75 9761.5987,242.0156 Q9761.5987,241.4531 9761.2549,241.0469 Q9760.9268,240.625 9760.3018,240.375 L9759.0987,239.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="9780.1143" y="243.5137">urt_srtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9477.8643" x2="10150.8643" y1="255.3594" y2="255.3594"/><ellipse cx="9487.8643" 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="9496.8643" y="286.3745">minLatency : urt_delay_t</text><ellipse cx="9487.8643" 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="9496.8643" y="299.1792">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9477.8643" x2="9718.3643" y1="269.7617" y2="269.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="9718.3643" y="273.0698">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9910.3643" x2="10150.8643" y1="269.7617" y2="269.7617"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="9477.8643" x2="10150.8643" y1="305.7734" y2="305.7734"/><ellipse cx="9487.8643" 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="9496.8643" y="319.9839">urtSrtRequestInit (request : urt_srtrequest_t*) : void</text><ellipse cx="9487.8643" 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="9496.8643" y="332.7886">urtSrtRequestAcquire (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9487.8643" 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="9496.8643" y="345.5933">urtSrtRequestTryAcquire (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9487.8643" 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="9496.8643" y="358.3979">urtSrtRequestRelease (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9487.8643" 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="9496.8643" y="371.2026">urtSrtRequestSubmit (request : urt_srtrequest_t*, service : urt_service_t*) : urt_status_t</text><ellipse cx="9487.8643" 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="9496.8643" y="384.0073">urtSrtRequestRetrieve (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9487.8643" 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="9496.8643" 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(#f97ds0om13c08)" height="268.875" id="urt_frtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="656" x="10753.3643" y="178.8594"/><ellipse cx="11028.1143" cy="194.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11027.5987,195.4219 Q11025.7393,194.7188 11025.0831,193.9531 Q11024.4424,193.1719 11024.4424,191.8594 Q11024.4424,190.1719 11025.5206,189.2031 Q11026.5987,188.2344 11028.4737,188.2344 Q11029.3331,188.2344 11030.1768,188.4375 Q11031.0362,188.625 11031.8799,189.0156 L11031.8799,191.4063 Q11031.0987,190.8438 11030.2706,190.5625 Q11029.4581,190.2656 11028.6612,190.2656 Q11027.7862,190.2656 11027.3018,190.625 Q11026.8331,190.9844 11026.8331,191.6406 Q11026.8331,192.1563 11027.1768,192.5 Q11027.5206,192.8281 11028.6143,193.2344 L11029.6768,193.6406 Q11031.1612,194.1875 11031.8643,195.0938 Q11032.5831,196 11032.5831,197.375 Q11032.5831,199.25 11031.4737,200.1719 Q11030.3643,201.0938 11028.1143,201.0938 Q11027.1924,201.0938 11026.2706,200.875 Q11025.3487,200.6563 11024.4893,200.2344 L11024.4893,197.7031 Q11025.4581,198.3906 11026.3799,198.7344 Q11027.3018,199.0781 11028.1924,199.0781 Q11029.0987,199.0781 11029.5987,198.6719 Q11030.0987,198.25 11030.0987,197.5156 Q11030.0987,196.9531 11029.7549,196.5469 Q11029.4268,196.125 11028.8018,195.875 L11027.5987,195.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="98" x="11048.6143" y="199.0137">urt_frtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10754.3643" x2="11408.3643" y1="210.8594" y2="210.8594"/><ellipse cx="10764.3643" 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="10773.3643" y="241.8745">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10754.3643" x2="10948.3643" y1="225.2617" y2="225.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="266" x="10948.3643" 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="11214.3643" x2="11408.3643" y1="225.2617" y2="225.2617"/><ellipse cx="10764.3643" 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="10773.3643" y="271.4839">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10754.3643" x2="10958.3643" y1="254.8711" y2="254.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="10958.3643" 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="11204.3643" x2="11408.3643" y1="254.8711" y2="254.8711"/><ellipse cx="10764.3643" 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="10773.3643" y="301.0933">minLatency : urt_delay_t</text><ellipse cx="10764.3643" 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="10773.3643" y="313.8979">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10754.3643" x2="10854.3643" y1="284.4805" y2="284.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="454" x="10854.3643" 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="11308.3643" x2="11408.3643" y1="284.4805" y2="284.4805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="10754.3643" x2="11408.3643" y1="320.4922" y2="320.4922"/><ellipse cx="10764.3643" 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="10773.3643" y="334.7026">urtFrtRequestInit (request : urt_frtrequest_t*) : void</text><ellipse cx="10764.3643" 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="10773.3643" y="347.5073">urtFrtRequestAcquire (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="10764.3643" 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="10773.3643" y="360.312">urtFrtRequestTryAcquire (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="10764.3643" 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="10773.3643" y="373.1167">urtFrtRequestRelease (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="10764.3643" 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="10773.3643" y="385.9214">urtFrtRequestSubmit (request : urt_frtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t</text><ellipse cx="10764.3643" 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="10773.3643" y="398.7261">urtFrtRequestRetrieve (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="10764.3643" 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="10773.3643" y="411.5308">urtDrtCalculateValidity (request : urt_frtrequest_t) : bool</text><ellipse cx="10764.3643" 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="10773.3643" 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="10754.3643" x2="10958.3643" y1="424.5273" y2="424.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="10958.3643" y="427.8354">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11204.3643" x2="11408.3643" y1="424.5273" y2="424.5273"/><!--MD5=[2b0c3d572fefe037473ca776bdd2f803]

class urt_hrtrequest_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="285.6797" id="urt_hrtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="661" x="8780.8643" y="170.3594"/><ellipse cx="9056.1143" cy="186.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9055.5987,186.9219 Q9053.7393,186.2188 9053.0831,185.4531 Q9052.4424,184.6719 9052.4424,183.3594 Q9052.4424,181.6719 9053.5206,180.7031 Q9054.5987,179.7344 9056.4737,179.7344 Q9057.3331,179.7344 9058.1768,179.9375 Q9059.0362,180.125 9059.8799,180.5156 L9059.8799,182.9063 Q9059.0987,182.3438 9058.2706,182.0625 Q9057.4581,181.7656 9056.6612,181.7656 Q9055.7862,181.7656 9055.3018,182.125 Q9054.8331,182.4844 9054.8331,183.1406 Q9054.8331,183.6563 9055.1768,184 Q9055.5206,184.3281 9056.6143,184.7344 L9057.6768,185.1406 Q9059.1612,185.6875 9059.8643,186.5938 Q9060.5831,187.5 9060.5831,188.875 Q9060.5831,190.75 9059.4737,191.6719 Q9058.3643,192.5938 9056.1143,192.5938 Q9055.1924,192.5938 9054.2706,192.375 Q9053.3487,192.1563 9052.4893,191.7344 L9052.4893,189.2031 Q9053.4581,189.8906 9054.3799,190.2344 Q9055.3018,190.5781 9056.1924,190.5781 Q9057.0987,190.5781 9057.5987,190.1719 Q9058.0987,189.75 9058.0987,189.0156 Q9058.0987,188.4531 9057.7549,188.0469 Q9057.4268,187.625 9056.8018,187.375 L9055.5987,186.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="9076.6143" y="190.5137">urt_hrtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8781.8643" x2="9440.8643" y1="202.3594" y2="202.3594"/><ellipse cx="8791.8643" 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="8800.8643" y="233.3745">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8781.8643" x2="8978.3643" y1="216.7617" y2="216.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="266" x="8978.3643" 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="9244.3643" x2="9440.8643" y1="216.7617" y2="216.7617"/><ellipse cx="8791.8643" 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="8800.8643" y="262.9839">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8781.8643" x2="8988.3643" y1="246.3711" y2="246.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="8988.3643" 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="9234.3643" x2="9440.8643" y1="246.3711" y2="246.3711"/><ellipse cx="8791.8643" 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="8800.8643" y="292.5933">qosTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8781.8643" x2="8847.3643" y1="275.9805" y2="275.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="528" x="8847.3643" y="279.2886">URT_CFG_RPC_QOS_DEADLINECHECKS == true || URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9375.3643" x2="9440.8643" y1="275.9805" y2="275.9805"/><ellipse cx="8791.8643" cy="318.9922" 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="8800.8643" y="322.2026">minLatency : urt_delay_t</text><ellipse cx="8791.8643" cy="331.7969" 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="8800.8643" y="335.0073">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8781.8643" x2="8884.3643" y1="305.5898" y2="305.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="454" x="8884.3643" y="308.8979">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="9338.3643" x2="9440.8643" y1="305.5898" y2="305.5898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8781.8643" x2="9440.8643" y1="341.6016" y2="341.6016"/><ellipse cx="8791.8643" 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="8800.8643" y="355.812">urtHrtRequestInit (request : urt_hrtrequest_t*) : void</text><ellipse cx="8791.8643" 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="8800.8643" y="368.6167">urtHrtRequestAcquire (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8791.8643" 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="8800.8643" y="381.4214">urtHrtRequestTryAcquire (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8791.8643" 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="8800.8643" y="394.2261">urtHrtRequestRelease (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8791.8643" 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="8800.8643" y="407.0308">urtHrtRequestSubmit (request : urt_hrtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t</text><ellipse cx="8791.8643" 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="8800.8643" y="419.8354">urtHrtRequestRetrieve (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8791.8643" 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="8800.8643" 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="8781.8643" x2="8988.3643" y1="432.832" y2="432.832"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="8988.3643" 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="9234.3643" x2="9440.8643" y1="432.832" y2="432.832"/><!--MD5=[e0c5ef58bc626bdfda028ecb031e1681]

link urt_usefulness_f to urt_delay_t--><path d="M7061.2179,1073.8832 C7028.8156,1112.8908 6967.6243,1180.0036 6901.3643,1218.8594 C6792.7962,1282.5252 6651.1838,1319.0539 6558.8048,1337.6751 " 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="6553.8939,1338.6575,6563.5037,1340.8142,6558.7967,1337.6766,6561.9343,1332.9697,6553.8939,1338.6575" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5fff9a13948f7f5b5e6ca18c1c7a9716]

link urt_nodestage_t to urt_config--><path d="M7432.5253,1122.6352 C7453.4493,1158.1699 7483.1297,1196.9399 7521.3643,1218.8594 C7936.8226,1457.037 11430.9515,1598.1146 12202.1384,1626.5195 " 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="12207.1934,1626.7055,12198.3467,1622.377,12202.1968,1626.5215,12198.0523,1630.3716,12207.1934,1626.7055" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7db439499cb1afd557b9be4c8c52b2ba]

link urt_topicid_t to urt_config--><path d="M6808.6112,1122.8 C6832.5076,1156.8365 6864.3216,1194.3224 6901.3643,1218.8594 C7206.8472,1421.2103 7333.4375,1383.6348 7695.3643,1440.8594 C8593.9538,1582.9362 11506.8193,1622.7826 12202.2579,1630.375 " 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="12207.324,1630.4301,12198.3681,1626.3323,12202.3243,1630.3756,12198.281,1634.3319,12207.324,1630.4301" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e851a4e79ca88682282ceaaad2100c63]

link urt_serviceid_t to urt_config--><path d="M6538.9962,1122.5672 C6561.9762,1154.7914 6591.0223,1190.9361 6622.3643,1218.8594 C6766.4076,1347.1907 6810.2962,1386.3874 6995.3643,1440.8594 C7506.2426,1591.2287 11386.3478,1625.3974 12202.1436,1630.9466 " 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="12207.1932,1630.9808,12198.2206,1626.9197,12202.1933,1630.9468,12198.1662,1634.9195,12207.1932,1630.9808" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[844001065b3bef53527c5dd4ba0c22e5]

link urt_delay_t to urt_config--><path d="M6553.9975,1393.5635 C6599.419,1411.5068 6655.8148,1430.8881 6708.3643,1440.8594 C7261.2251,1545.7647 11361.8137,1616.1259 12202.1521,1629.5292 " 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="12207.3522,1629.612,12198.4171,1625.469,12202.3528,1629.5323,12198.2896,1633.468,12207.3522,1629.612" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7766572fa0c619a5409829048dc0b6d6]

link urt_osCondvar_t to urt_osCondvarWaitStatus_t--><path d="M5277.3643,1092.9024 C5277.3643,1151.2386 5277.3643,1247.496 5277.3643,1305.3707 " 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="5277.3643,1310.5038,5281.3643,1301.5038,5277.3643,1305.5038,5273.3643,1301.5038,5277.3643,1310.5038" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9b2507ea88616aeae65e3c4d63560016]

link urt_osCondvar_t to urt_osMutex_t--><path d="M4922.2276,1043.3594 C4912.3954,1043.3594 4902.5632,1043.3594 4892.731,1043.3594 " 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="4887.5894,1043.3594,4896.5894,1047.3594,4892.5894,1043.3594,4896.5894,1039.3594,4887.5894,1043.3594" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[83094e108045c8f9585007cdb3b7cb2e]

link urt_osTimer_t to urt_osTimerCallback_t--><path d="M4185.3643,1099.5886 C4185.3643,1163.076 4185.3643,1264.4801 4185.3643,1318.0326 " 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="4185.3643,1323.0628,4189.3643,1314.0628,4185.3643,1318.0628,4181.3643,1314.0628,4185.3643,1323.0628" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8d8c3240b5b2b5edf6544088e583ffa5]

link urt_osThread_t to urt_osThreadPrio_t--><path d="M3405.9423,1219.0242 C3407.4033,1237.926 3408.8325,1256.4169 3410.1413,1273.3499 " 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="3410.5436,1278.5536,3413.8379,1269.272,3410.1582,1273.5685,3405.8617,1269.8887,3410.5436,1278.5536" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d7d1d43fd970fb07a484642bc19fcb13]

link urt_osThread_t to urt_osThreadFunction_t--><path d="M3111.1874,1219.0242 C3048.8843,1257.948 2989.3699,1295.1296 2948.6781,1320.5517 " 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="2944.3057,1323.2833,2954.0579,1321.9069,2948.5461,1320.634,2949.819,1315.1222,2944.3057,1323.2833" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6564761b32ad7eeb5abb8896c72cfca5]

link urt_osThread_t to urt_osThreadTerminateSignal_t--><path d="M3550.2081,1219.0242 C3581.8078,1254.1917 3612.1296,1287.9369 3634.5351,1312.8721 " 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="3638.062,1316.7972,3635.022,1307.4292,3634.7201,1313.078,3629.0713,1312.7762,3638.062,1316.7972" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[92ba23225d8de8f8080583fedda5e6f8]

link urt_osThread_t to urt_osThreadState_t--><path d="M3266.2024,1219.0242 C3250.7186,1240.5835 3235.6187,1261.6083 3222.1251,1280.3964 " 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="3219.0917,1284.6202,3227.5908,1279.6437,3222.0085,1280.5591,3221.0931,1274.9768,3219.0917,1284.6202" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[78b286ab2177e5f7b31e6e832d821818]

link urt_osThread_t to urt_osTime_t--><path d="M3629.6488,867.7821 C3688.13,836.8992 3752.7527,812.206 3817.8643,804.8594 C3842.8861,802.0362 5605.8425,802.0362 5630.8643,804.8594 C5733.4672,816.4362 5805.1029,929.2631 5838.6942,995.5008 " 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="5841.0469,1000.1874,5840.5838,990.3494,5838.8036,995.7188,5833.4342,993.9386,5841.0469,1000.1874" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[659af6ab57e6a38ebfd5c07c5616787c]

link urt_osEventListener_t to urt_osEventFlags_t--><path d="M1938.3643,1396.9919 C1938.3643,1454.0854 1938.3643,1553.2513 1938.3643,1602.4427 " 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="1938.3643,1607.6164,1942.3643,1598.6164,1938.3643,1602.6164,1934.3643,1598.6164,1938.3643,1607.6164" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[eac11679f26c499aa1c571e1f795945d]

link urt_osEventSource_t to urt_osEventFlags_t--><path d="M1456.4842,1390.9193 C1570.4237,1447.8891 1785.8518,1555.6031 1885.434,1605.3942 " 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="1890.0875,1607.721,1883.8266,1600.1183,1885.6154,1605.4848,1880.2488,1607.2736,1890.0875,1607.721" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0259cdb10c6c32168d1d17d25519d939]

link urt_events to urt_osEventSource_t--><path d="M2178.3715,1086.37 C1997.7275,1147.0734 1670.7262,1256.9586 1497.4019,1315.2023 " 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="1492.5734,1316.8248,1502.3787,1317.7495,1497.3129,1315.2321,1499.8304,1310.1663,1492.5734,1316.8248" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0ce043e0e9532fc393f3f8836f5de19a]

link urt_events to urt_osEventListener_t--><path d="M2255.1955,1086.5331 C2186.358,1144.6147 2064.4094,1247.5088 1993.5661,1307.2828 " 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="1989.3941,1310.803,1998.8522,1308.0562,1993.2155,1307.5786,1993.6931,1301.9419,1989.3941,1310.803" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[430bebba9cd89d3ba8f63b2078968bca]

link urt_events to urt_osEventMask_t--><path d="M2346.4095,1086.5331 C2404.0674,1148.6956 2509.3368,1262.1891 2562.2287,1319.2132 " 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="2565.9451,1323.2199,2562.7575,1313.9011,2562.5449,1319.554,2556.8921,1319.3414,2565.9451,1323.2199" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b1b185abc2161e087cab32ae7fdb2c40]

link urt_events to urt_osEventFlags_t--><path d="M2336.8204,1086.6647 C2387.202,1164.1477 2475.2576,1328.8558 2400.3643,1440.8594 C2314.8823,1568.6984 2126.4073,1611.0725 2018.4608,1625.0467 " 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="2013.3821,1625.6909,2022.814,1628.5264,2018.3423,1625.0616,2021.8071,1620.59,2013.3821,1625.6909" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[706a1974d1b474cbba7e7b0213f243a1]

link urt_events to urt_osEventWait_t--><path d="M2305.6691,1086.5331 C2304.7431,1144.0362 2303.1098,1245.4636 2302.1433,1305.484 " 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="2302.0576,1310.803,2306.2021,1301.8686,2302.1382,1305.8036,2298.2031,1301.7397,2302.0576,1310.803" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ea4c3dac10af85084086a365fe38a187]

link urt_osTime_t to urt_delay_t--><path d="M5905.1456,1086.6128 C5947.4491,1125.5534 6014.1277,1182.1462 6080.3643,1218.8594 C6172.5325,1269.9458 6287.636,1307.3981 6367.4732,1329.7221 " fill="none" id="urt_osTime_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6372.6804,1331.1707,6365.0818,1324.9048,6367.8633,1329.8305,6362.9376,1332.612,6372.6804,1331.1707" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5f656ccbf337bb70e2692ec6599b22aa]

link urt_osCondvar_t to urt_delay_t--><path d="M5364.9064,1092.8629 C5438.9997,1132.6752 5549.1529,1187.0458 5651.3643,1218.8594 C5902.8622,1297.1389 6213.1295,1332.6791 6367.1721,1346.4451 " 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="6372.5857,1346.9256,6363.9747,1342.1454,6367.6053,1346.4834,6363.2672,1350.1141,6372.5857,1346.9256" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[2da0e339f7ca878d257c4a5336e8cad5]

link urt_osThread_t to urt_delay_t--><path d="M3781.3905,1214.3641 C3787.7338,1215.9533 3794.0612,1217.4543 3800.3643,1218.8594 C4201.4032,1308.2612 5238.2735,1253.3554 5648.3643,1278.8594 C5908.8774,1295.061 6215.1638,1326.6287 6367.3945,1343.1679 " 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="6372.7446,1343.7499,6364.23,1338.8,6367.7739,1343.2091,6363.3648,1346.7531,6372.7446,1343.7499" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8bf77663ad208115c32fd5300d37f092]

link urt_osTimer_t to urt_delay_t--><path d="M4282.613,1099.5556 C4358.9766,1140.6167 4469.4226,1193.3935 4573.3643,1218.8594 C4805.752,1275.7947 5409.7542,1261.2273 5648.3643,1278.8594 C5908.671,1298.0948 6215.0472,1328.3424 6367.3451,1343.8939 " 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="6372.6975,1344.4409,6364.1509,1339.5464,6367.7234,1343.9324,6363.3374,1347.505,6372.6975,1344.4409" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[a4e2abbbace7909006fa5f13364d6021]

link urt_events to urt_delay_t--><path d="M2389.7462,1086.4521 C2477.5473,1129.3206 2621.1309,1192.4088 2753.3643,1218.8594 C3068.8503,1281.966 5327.1373,1260.7732 5648.3643,1278.8594 C5908.968,1293.5323 6215.215,1325.7652 6367.4162,1342.8021 " 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="6372.7652,1343.4017,6364.267,1338.4237,6367.7963,1342.8445,6363.3755,1346.3739,6372.7652,1343.4017" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[182342162f0b9b45ddce11acc6582c59]

reverse link urt_node_t to urt_node_t--><path d="M18331.8553,629.9558 C18346.6904,637.9479 18354.8643,647.2492 18354.8643,657.8594 C18354.8643,671.0449 18342.241,682.2089 18319.8975,691.3512 " fill="none" id="urt_node_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="18319.8975,624.3676,18323.6397,630.5317,18330.7689,629.4482,18327.0267,623.2841,18319.8975,624.3676" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="18328.369" y="620.9854">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="18328.4346" y="688.7016">0,1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]

reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M17571.5822,786.29 C17591.4022,866.8113 17619.0374,964.2474 17636.9034,1012.7851 " fill="none" id="urt_node_t&lt;-urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="17568.471,773.5221,17566.0053,780.2985,17571.3121,785.1809,17573.7778,778.4045,17568.471,773.5221" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="17561.486" y="793.8595">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="17611.3338" y="1001.5591">0,1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]

reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M17594.1895,778.3946 C17618.175,860.3428 17643.8769,962.6495 17651.9162,1012.7851 " 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="17592.7583,773.5221,17591.4572,783.2846,17594.1676,778.3194,17599.1328,781.0298,17592.7583,773.5221" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b913f036db99e36b937989146817bd94]

reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M17387.1799,781.8344 C17286.7799,863.1858 17167.0105,963.3486 17112.1105,1012.7851 " fill="none" id="urt_node_t&lt;-urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="17397.4522,773.5221,17390.2718,774.1868,17388.1237,781.0706,17395.3041,780.4058,17397.4522,773.5221" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="17378.9769" y="793.8595">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="17109.7425" y="1001.5591">1</text><!--MD5=[b913f036db99e36b937989146817bd94]

reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M17417.7055,776.9276 C17320.2862,859.1181 17193.6095,962.3499 17127.1233,1012.7851 " 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="17421.7395,773.5221,17412.2822,776.2714,17417.9189,776.7475,17417.4428,782.3843,17421.7395,773.5221" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[496dffc41052f1912ec8ad492f24fe61]

reverse link urt_node_t to urt_nodeShutdownCallback_t--><path d="M17830.3991,779.5208 C17847.9101,788.911 17865.0381,798.7073 17881.3643,808.8594 C17979.6115,869.9521 18079.2104,964.3671 18133.7755,1012.643 " fill="none" id="urt_node_t&lt;-urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="17818.8412,773.4091,17822.2755,779.7499,17829.4494,779.0186,17826.0151,772.6778,17818.8412,773.4091" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="17828.6779" y="793.7389">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="18103.3416" y="1001.8616">0,1</text><!--MD5=[496dffc41052f1912ec8ad492f24fe61]

reverse link urt_node_t to urt_nodeShutdownCallback_t--><path d="M17858.3003,775.7865 C17878.3284,786.3049 17897.8612,797.3537 17916.3643,808.8594 C18014.6115,869.9521 18114.2104,964.3671 18155.7797,1012.643 " 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="17853.7479,773.4091,17859.8739,781.1209,17858.1799,775.7237,17863.5772,774.0297,17853.7479,773.4091" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[536025241394544a90bc53fb552f3a08]

reverse link urt_message_t to urt_message_t--><path d="M12823.4491,1316.547 C12837.7164,1325.1965 12846.3643,1337.634 12846.3643,1353.8594 C12846.3643,1374.2207 12832.7458,1388.6168 12811.4936,1397.0477 " fill="none" id="urt_message_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="12811.4936,1310.6711,12815.1141,1316.9074,12822.2632,1315.9641,12818.6427,1309.7277,12811.4936,1310.6711" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12819.5846" y="1305.7677">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="12819.1529" y="1395.4061">0,1</text><!--MD5=[aa8990705afdbad14c7f998fe04b6f05]

reverse link urt_basesubscriber_t to urt_message_t--><path d="M12836.9464,1122.0814 C12817.1089,1153.6087 12792.432,1189.3702 12766.3643,1218.8594 C12746.6502,1241.161 12723.2334,1263.1089 12700.5477,1282.6151 " fill="none" id="urt_basesubscriber_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="12844.0296,1110.6771,12837.4659,1113.6635,12837.6981,1120.8708,12844.2618,1117.8844,12844.0296,1110.6771" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12831.8623" y="1130.1334">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="12689.0229" y="1271.5872">0,1</text><!--MD5=[0585cd4928de92ce6927d9c389eadd29]

link urt_nrtsubscriber_t to urt_basesubscriber_t--><path d="M15121.838,734.8844 C15051.3439,759.1796 14971.1755,784.0405 14896.3643,800.8594 C14198.3599,957.7831 13339.9376,1018.3591 13015.2144,1036.6839 " fill="none" id="urt_nrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="13015.4234,1043.683,12995.0653,1037.8051,13014.6454,1029.7046,13015.4234,1043.683" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6d81edfa5aa102b898ad487ae19b49f9]

link urt_srtsubscriber_t to urt_basesubscriber_t--><path d="M13993.6588,754.3831 C13934.7438,769.9765 13874.3708,785.9049 13817.3643,800.8594 C13531.2989,875.903 13195.6444,962.6366 13014.4828,1009.3402 " fill="none" id="urt_srtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="13016.1523,1016.1386,12995.0381,1014.3523,13012.6578,1002.5817,13016.1523,1016.1386" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f626d284cba98e1d5d5fe914b1fa4188]

link urt_frtsubscriber_t to urt_basesubscriber_t--><path d="M15889.0971,770.8626 C15843.3599,782.3261 15796.9915,792.7211 15752.3643,800.8594 C14709.5595,991.0269 13425.8485,1032.5325 13015.2388,1041.1834 " fill="none" id="urt_frtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="13015.3343,1048.1828,12995.1951,1041.594,13015.0475,1034.1857,13015.3343,1048.1828" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[1ea71f2b33e56ab0ac5545988c1af396]

link urt_hrtsubscriber_t to urt_basesubscriber_t--><path d="M13114.7537,792.4179 C13062.6178,848.7159 13003.7139,912.3222 12958.2548,961.4105 " fill="none" id="urt_hrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="12963.3261,966.2366,12944.6008,976.1545,12953.0541,956.724,12963.3261,966.2366" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ea2ec5c5272e65289dabade75a749f58]

reverse link urt_hrtsubscriber_t to urt_hrtsubscriber_t--><path d="M13793.2755,625.5177 C13808.0577,634.4411 13816.3643,645.2217 13816.3643,657.8594 C13816.3643,673.5645 13803.536,686.4015 13781.3935,696.3706 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="13781.3935,619.3482,13784.8752,625.663,13792.0435,624.8779,13788.5617,618.5631,13781.3935,619.3482" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="13789.072" y="615.7698">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="13789.1564" y="693.8754">0,1</text><!--MD5=[54fcf25ad8c5f1d36e678e42d5bfd4cc]

reverse link urt_publisher_t to urt_topic_t--><path d="M11865.3276,657.8594 C11852.0797,657.8594 11838.8319,657.8594 11825.584,657.8594 " fill="none" id="urt_publisher_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="11878.5754,657.8594,11872.5754,653.8594,11866.5754,657.8594,11872.5754,661.8594,11878.5754,657.8594" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11862.5359" y="654.777">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11833.2488" y="654.6383">1</text><!--MD5=[5025b4c4053b8e7c7ca8a657f09f21c0]

link urt_publisher_t to urt_message_t--><path d="M12480.9677,722.4967 C12519.9538,743.8985 12556.0057,772.0369 12580.3643,808.8594 C12675.0066,951.9284 12649.7817,1165.2412 12626.9024,1277.8712 " 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="12625.8839,1282.8271,12631.6138,1274.8166,12626.8905,1277.9294,12623.7776,1273.2061,12625.8839,1282.8271" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b2afc1defaa6ed5a86f99c07f8466dd]

reverse link urt_topic_t to urt_topic_t--><path d="M11836.9871,610.5283 C11851.4991,621.2674 11860.3643,637.0444 11860.3643,657.8594 C11860.3643,683.7266 11846.6733,701.8134 11825.4682,712.1199 " fill="none" id="urt_topic_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="11825.4682,603.5989,11828.5477,610.1194,11835.751,609.7847,11832.6715,603.2642,11825.4682,603.5989" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11833.1285" y="598.2583">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="11833.3629" y="711.0184">0,1</text><!--MD5=[ed3fb6de0913094c41bd74c175d366df]

reverse link urt_topic_t to urt_hrtsubscriber_t--><path d="M11776.4348,519.0526 C11803.1472,498.3667 11831.9593,479.083 11861.3643,464.3594 C11868.4983,460.7873 11870.9362,461.2539 11878.8643,460.3594 C11922.8629,455.395 12631.8657,455.395 12675.8643,460.3594 C12762.2648,470.108 12852.5387,494.6694 12934.8732,523.2907 " fill="none" id="urt_topic_t&lt;-urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="11765.9117,527.3571,11773.0997,526.7801,11775.3317,519.9231,11768.1437,520.5001,11765.9117,527.3571" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11765.3433" y="516.4532">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="12896.6917" y="512.1517">0,1</text><!--MD5=[0b5167e958c0ed93ffc0c98ce399b54d]

reverse link urt_topic_t to urt_message_t--><path d="M11826.7953,795.9393 C12032.2247,942.5844 12348.8877,1168.6331 12508.7476,1282.7484 " fill="none" id="urt_topic_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11816.1822,788.3632,11818.7416,795.1048,11825.949,795.3353,11823.3896,788.5936,11816.1822,788.3632" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11818.5201" y="808.4159">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12490.0621" y="1271.7343">1</text><!--MD5=[ed8977051960dfa72b850fe399f41716]

reverse link urt_baserequest_t to urt_baserequest_t--><path d="M9035.1783,603.1644 C9049.2446,613.3931 9058.3643,631.6248 9058.3643,657.8594 C9058.3643,690.7813 9044.0029,711.1002 9023.5266,718.8163 " fill="none" id="urt_baserequest_t&lt;-urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="9023.5266,596.9025,9026.9181,603.2663,9034.0968,602.5832,9030.7053,596.2195,9023.5266,596.9025" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9031.3313" y="589.3859">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="9031.3365" y="719.1552">0,1,2</text><!--MD5=[426f0ba47802c5735a37a0acd494a192]

reverse link urt_baserequest_t to urt_service_t--><path d="M8786.0794,657.8594 C8772.9804,657.8594 8759.8813,657.8594 8746.7823,657.8594 " fill="none" id="urt_baserequest_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8799.1785,657.8594,8793.1785,653.8594,8787.1785,657.8594,8793.1785,661.8594,8799.1785,657.8594" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8783.3723" y="654.4384">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="8754.0108" y="654.7558">0,1</text><!--MD5=[09de7ef26922535bfe0682cb358ee29c]

reverse link urt_service_t to urt_baserequest_t--><path d="M8759.8813,657.8594 C8772.9804,657.8594 8786.0794,657.8594 8799.1785,657.8594 " fill="none" id="urt_service_t&lt;-urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8746.7823,657.8594,8752.7823,661.8594,8758.7823,657.8594,8752.7823,653.8594,8746.7823,657.8594" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8754.8153" y="670.1315">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="8759.3672" y="670.3978">0,2,3</text><!--MD5=[dc2d1805b45628aba9d654613b3d05f9]

link urt_nrtrequest_t to urt_baserequest_t--><path d="M10308.4266,396.8729 C10264.9208,419.1262 10216.2333,441.1725 10169.3643,456.3594 C9771.8951,585.1505 9276.058,633.5868 9043.4275,650.1303 " fill="none" id="urt_nrtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="9043.8672,657.1166,9023.4301,651.5196,9042.8968,643.1502,9043.8672,657.1166" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d53ae0f00163daee879678d1d1554717]

link urt_nrtrequest_t to urt_service_t--><path d="M10318.3933,396.9635 C10272.8274,420.9957 10220.4684,444.0273 10169.3643,456.3594 C10093.4855,474.67 8839.4334,442.9704 8764.3643,464.3594 C8720.4905,476.8601 8676.6751,497.2838 8636.2525,520.2816 " 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="8631.8475,522.8055,8641.6451,521.8018,8636.1858,520.3197,8637.6679,514.8605,8631.8475,522.8055" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f9755d42ba41539dee622699d8be3a22]

link urt_srtrequest_t to urt_baserequest_t--><path d="M9593.6871,403.467 C9549.307,421.2453 9502.9223,439.5828 9459.3643,456.3594 C9317.5568,510.9773 9153.9105,570.7265 9042.6323,610.8672 " fill="none" id="urt_srtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="9044.7042,617.5612,9023.5155,617.7561,9039.958,604.3903,9044.7042,617.5612" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[90efd84e0f70286880ba110c49a1e8f8]

link urt_srtrequest_t to urt_service_t--><path d="M9628.1496,403.4157 C9574.8678,425.0044 9515.8874,445.065 9459.3643,456.3594 C9421.4992,463.9256 8801.4691,453.6706 8764.3643,464.3594 C8720.6762,476.9447 8677.0259,497.329 8636.7223,520.2468 " 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="8632.3301,522.7619,8642.1279,521.7606,8636.669,520.2772,8638.1524,514.8183,8632.3301,522.7619" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bfc5f4e50344156edda6a5cfcff14fef]

link urt_frtrequest_t to urt_baserequest_t--><path d="M10765.8119,447.9436 C10755.6043,450.9583 10745.4381,453.7767 10735.3643,456.3594 C10413.8172,538.7962 9407.1864,620.5381 9043.8336,648.0948 " fill="none" id="urt_frtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="9044.1375,655.0917,9023.6669,649.6186,9043.0826,641.1315,9044.1375,655.0917" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[836450d5c472e7b2344319739fa0d5d1]

link urt_frtrequest_t to urt_service_t--><path d="M10771.9321,447.8675 C10759.6895,451.0741 10747.4726,453.9303 10735.3643,456.3594 C10681.6834,467.1286 8817.0314,449.3998 8764.3643,464.3594 C8720.4803,476.8242 8676.6603,497.2319 8636.2365,520.2253 " 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="8631.8313,522.7488,8641.629,521.7459,8636.1698,520.2634,8637.6523,514.8042,8631.8313,522.7488" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7c5d2ea3f0b69f804ad9b60a9539ac96]

link urt_hrtrequest_t to urt_baserequest_t--><path d="M9028.2838,456.4656 C9011.9086,484.6719 8994.9099,513.9521 8979.1136,541.1613 " fill="none" id="urt_hrtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="8985.0207,544.9284,8968.9254,558.7104,8972.9132,537.8994,8985.0207,544.9284" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[189d7bd823f9a098ae8eb3eaa3789ee1]

link urt_hrtrequest_t to urt_service_t--><path d="M8780.8375,447.3923 C8769.479,453.0067 8758.2913,458.6715 8747.3643,464.3594 C8714.462,481.4864 8680.3499,500.7148 8647.4366,520.2291 " 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="8643.0108,522.8591,8652.7912,521.6999,8647.3091,520.3047,8648.7042,514.8226,8643.0108,522.8591" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bcf13f9307d05af3b11663d6e8155fbe]

reverse link urt_service_t to urt_hrtrequest_t--><path d="M8688.9821,516.1717 C8720.078,498.0565 8751.745,480.298 8782.3643,464.3594 C8787.4635,461.705 8792.6196,459.0557 8797.8219,456.4142 " fill="none" id="urt_service_t&lt;-urt_hrtrequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8677.5545,522.8591,8684.7533,523.2809,8687.9114,516.7982,8680.7126,516.3763,8677.5545,522.8591" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8682.5733" y="511.7008">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="8761.1392" y="476.2557">0,1</text><!--MD5=[05f2c35569573d3273c65d3342945557]

reverse link urt_service_t to urt_service_t--><path d="M8757.7575,616.8333 C8772.629,627.1247 8781.3643,640.8001 8781.3643,657.8594 C8781.3643,678.8555 8768.1321,694.7256 8746.5134,705.4697 " fill="none" id="urt_service_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8746.5134,610.2491,8749.6698,616.7327,8756.8686,616.3128,8753.7123,609.8292,8746.5134,610.2491" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8754.5392" y="605.8581">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="8754.6986" y="703.608">0,1</text><!--MD5=[694e7400eb99f74d44ea388aed89d199]

reverse link urt_core_t to urt_node_t--><path d="M8148.1806,355.8843 C8309.7356,390.7636 8551.167,437.3704 8764.3643,456.3594 C8874.9682,466.2106 16649.1292,450.9998 16759.3643,464.3594 C16890.6967,480.2759 17031.7085,510.4583 17157.7255,542.3333 " fill="none" id="urt_core_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8135.2332,353.0771,8140.2494,358.2576,8146.9607,355.6197,8141.9445,350.4392,8135.2332,353.0771" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8142.6527" y="367.1455">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="17110.7404" y="531.1299">0,1</text><!--MD5=[250695c91040478b50550bc37a8775c7]

reverse link urt_core_t to urt_topic_t--><path d="M8148.1902,355.7774 C8309.7513,390.5891 8551.1862,437.1566 8764.3643,456.3594 C8801.1738,459.6751 11390.9898,450.7829 11425.3643,464.3594 C11460.9156,478.4007 11494.0045,501.6743 11522.8637,527.3035 " fill="none" id="urt_core_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8135.2422,352.9758,8140.2605,358.1543,8146.9707,355.5137,8141.9525,350.3352,8135.2422,352.9758" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8142.662" y="351.4071">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="11495.8973" y="516.3965">0,1</text><!--MD5=[8d0a227ec56585cdbc167f8316b34b64]

reverse link urt_core_t to urt_service_t--><path d="M8145.827,442.9643 C8182.4579,468.9836 8221.0391,496.3882 8257.9329,522.5942 " fill="none" id="urt_core_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8135.0397,435.302,8137.6149,442.0376,8144.8229,442.251,8142.2476,435.5154,8135.0397,435.302" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8143" y="437.5648">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="8226.9718" y="511.866">0,1</text><!--MD5=[a42c921bb2ae3ef3cd6ba12c97758939]

reverse link urt_core_t to urt_osEventSource_t--><path d="M7778.794,317.8833 C6618.2192,347.2034 368.9793,518.2809 98.3643,808.8594 C-25.8241,942.2092 -23.5638,1083.4397 98.3643,1218.8594 C164.66,1292.4908 751.8852,1328.8107 1108.8302,1344.2349 " fill="none" id="urt_core_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7791.7986,317.5554,7785.6996,313.708,7779.8024,317.858,7785.9014,321.7054,7791.7986,317.5554" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7775.8433" y="314.4828">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1092.5909" y="1340.8012">1</text><!--MD5=[b9eb8460041bde16ab6e44c28de7b0fc]

reverse link urt_core_t to urt_osMutex_t--><path d="M7778.2542,323.8032 C7191.9862,359.848 5386.553,494.4953 4906.3643,808.8594 C4836.8089,854.3951 4786.819,939.4772 4760.2666,993.6725 " fill="none" id="urt_core_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7791.4531,322.9957,7785.22,319.3696,7779.4755,323.7286,7785.7086,327.3547,7791.4531,322.9957" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7776.0318" y="320.1623">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4774.1891" y="983.0408">1</text><!--MD5=[fcff95a1517f1bbe30c2de95da1c3bda]

reverse link urt_core_t to urt_status_t--><path d="M7778.6037,329.5747 C7513.927,354.6974 7053.0627,406.2328 7003.3643,464.3594 C6906.1751,578.0305 6898.4323,694.2943 7003.3643,800.8594 C7023.5579,821.3673 7496.6308,794.1417 7521.3643,808.8594 C7557.9996,830.6593 7585.2889,866.7122 7605.2403,904.0876 " fill="none" id="urt_core_t&lt;-urt_status_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7791.8377,328.325,7785.4882,324.9068,7779.8909,329.4532,7786.2404,332.8714,7791.8377,328.325" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7775.8842" y="341.4201">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7594.3898" y="893.1183">1</text><!--MD5=[f6f8ae0abb3c85244c8639cf15039f58]

link urt_core_t to urt_nodestage_t--><path d="M7791.7535,326.0222 C7510.1917,348.5568 6975.591,399.4152 6919.3643,464.3594 C6821.4737,577.4271 6814.8243,693.9096 6919.3643,800.8594 C6932.9984,814.8078 7253.7554,798.6324 7270.3643,808.8594 C7324.0372,841.9088 7356.024,906.4747 7374.1846,959.503 " 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="7375.7913,964.2717,7376.7081,954.4656,7374.1947,959.5334,7369.1269,957.0201,7375.7913,964.2717" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e894174e7ccaed139fbaaa0f9b9ae8dc]

link urt_core_t to urt_topicid_t--><path d="M7791.7666,324.9143 C7492.7704,346.6948 6901.6376,397.6902 6835.3643,464.3594 C6705.3534,595.1471 6722.7862,832.567 6743.7375,958.9321 " 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="6744.6104,964.1223,6747.0623,954.5835,6743.7811,959.1915,6739.1731,955.9104,6744.6104,964.1223" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[972bd788fc5a0ee0badfa994920a3622]

link urt_core_t to urt_serviceid_t--><path d="M7791.5614,324.5498 C7470.3692,346.8679 6803.6887,400.3173 6720.3643,464.3594 C6563.0598,585.2616 6512.085,829.6635 6495.8147,958.8726 " 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="6495.1579,964.1786,6500.2333,955.7382,6495.7722,959.2165,6492.2939,954.7553,6495.1579,964.1786" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[addb2e74eebae0995b3a6bf162197d46]

reverse link urt_node_t to urt_osThread_t--><path d="M16967.0686,775.349 C16897.3234,785.8358 16826.9124,794.7741 16759.3643,800.8594 C16714.5493,804.8967 3843.8354,797.2424 3800.3643,808.8594 C3750.1453,822.2797 3699.6866,843.5142 3652.2094,867.8497 " fill="none" id="urt_node_t&lt;-urt_osThread_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="16980.083,773.3731,16973.5506,770.319,16968.2189,775.1743,16974.7514,778.2284,16980.083,773.3731" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="16933.5657" y="793.7005">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3655.8024" y="856.6381">1</text><!--MD5=[71f626b81c482d35e653d2b548781872]

reverse link urt_node_t to urt_nodestage_t--><path d="M16966.8141,775.3705 C16897.1519,785.8439 16826.8299,794.7731 16759.3643,800.8594 C16743.391,802.3004 7535.1261,800.6231 7521.3643,808.8594 C7465.4482,842.3244 7432.9038,910.0635 7414.9485,964.1698 " fill="none" id="urt_node_t&lt;-urt_nodestage_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="16979.8131,773.3972,16973.2807,770.343,16967.949,775.1982,16974.4814,778.2524,16979.8131,773.3972" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="16941.8151" y="793.7262">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7408.3852" y="953.2309">1</text><!--MD5=[ecbb69d8dc7b8a34ff21337736794c2a]

reverse link urt_node_t to urt_osEventListener_t--><path d="M16967.0694,775.3572 C16897.324,785.8427 16826.9127,794.7783 16759.3643,800.8594 C16745.3273,802.1231 533.3276,798.8912 523.3643,808.8594 C394.5455,937.7417 397.9154,1086.6947 523.3643,1218.8594 C611.4512,1311.6619 1547.1289,1257.9735 1673.3643,1278.8594 C1717.9425,1286.2349 1765.7197,1298.3851 1808.2596,1310.7799 " fill="none" id="urt_node_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="16980.0838,773.3817,16973.5514,770.3275,16968.2197,775.1827,16974.7521,778.2369,16980.0838,773.3817" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="16846.6787" y="794.0639">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1778.8867" y="1299.7632">1</text><!--MD5=[a052f483eba01ccbd89eefaa281cffa6]

reverse link urt_node_t to urt_osThreadFunction_t--><path d="M16967.0693,775.3571 C16897.324,785.8426 16826.9127,794.7783 16759.3643,800.8594 C16745.3749,802.1188 588.2939,798.9249 578.3643,808.8594 C513.9549,873.3006 514.8348,1153.5507 578.3643,1218.8594 C662.5343,1305.3867 2633.4787,1248.7045 2750.3643,1278.8594 C2785.6288,1287.9572 2822.0248,1306.8184 2849.5312,1323.3492 " fill="none" id="urt_node_t&lt;-urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="16980.0838,773.3816,16973.5514,770.3274,16968.2197,775.1826,16974.7521,778.2368,16980.0838,773.3816" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="16918.0626" y="793.7096">0..*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2830.6302" y="1312.1372">1</text><!--MD5=[0cba389305cd35ebcbacaedacb3fbe88]

link urt_node_t to urt_status_t--><path d="M16979.5379,773.3633 C16905.7297,784.6821 16830.9387,794.3629 16759.3643,800.8594 C16646.5501,811.0991 12794.6089,806.1089 12681.3643,808.8594 C10719.2637,856.5152 8329.8735,1001.0489 7773.2015,1035.7907 " 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="7767.9401,1036.1192,7777.1719,1039.5506,7772.9304,1035.8076,7776.6734,1031.5661,7767.9401,1036.1192" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b00c0c61b5ae38465e12763fb588229]

link urt_nodeSetupCallback_t to urt_osEventMask_t--><path d="M17623.0298,1073.9707 C17580.2807,1116.1315 17496.2251,1190.1156 17407.3643,1218.8594 C17020.0635,1344.1394 3150.3957,1189.065 2753.3643,1278.8594 C2716.9122,1287.1036 2678.9542,1304.6201 2649.2708,1320.6526 " 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="2644.5793,1323.2114,2654.3958,1322.4136,2648.9688,1320.8172,2650.5652,1315.3903,2644.5793,1323.2114" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[aa0b59559007c8ad9b783f6dc5ed8ad9]

link urt_nodeLoopCallback_t to urt_osEventMask_t--><path d="M17041.8201,1074.0943 C16983.2124,1116.4037 16869.7121,1190.5653 16759.3643,1218.8594 C16382.4966,1315.4915 3132.8312,1192.9997 2753.3643,1278.8594 C2716.913,1287.107 2678.9551,1304.6237 2649.2714,1320.6555 " 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="2644.5799,1323.2141,2654.3964,1322.4163,2648.9694,1320.8199,2650.5658,1315.393,2644.5799,1323.2141" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b3fa89608aace108b23bbfcd22712ec]

link urt_publisher_t to urt_config--><path d="M12236.7451,722.5945 C12224.9822,748.6648 12213.2484,779.475 12207.3643,808.8594 C12152.2127,1084.2807 12117.762,1174.6452 12207.3643,1440.8594 C12212.316,1455.5712 12218.9011,1470.0492 12226.5389,1484.0495 " 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="12229.1686,1488.7787,12228.2905,1478.969,12226.7386,1484.4089,12221.2988,1482.857,12229.1686,1488.7787" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[48a81098d0aa451a4923659bb2bbea3c]

link urt_publisher_t to urt_status_t--><path d="M12122.422,722.3835 C12046.0337,752.3834 11950.3999,784.9015 11861.3643,800.8594 C11813.6717,809.4074 11473.7777,806.9113 11425.3643,808.8594 C9985.8881,866.783 8240.8657,997.8506 7773.3417,1033.9826 " 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="7768.2383,1034.3772,7777.52,1037.6712,7773.2234,1033.9916,7776.903,1029.6951,7768.2383,1034.3772" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[c16173558393ca1d9128284d70afa235]

link urt_publisher_t to urt_delay_t--><path d="M12113.1192,722.5389 C12038.0974,750.873 11946.3489,781.9202 11861.3643,800.8594 C10083.9107,1196.9725 9596.9597,1033.4702 7785.3643,1218.8594 C7325.9476,1265.8737 6776.7054,1321.9051 6559.0054,1344.1069 " 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="6553.9248,1344.6251,6563.2842,1347.6913,6558.899,1344.1178,6562.4725,1339.7326,6553.9248,1344.6251" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3f75a4ca5db56e37c381a718c71f2950]

reverse link urt_topic_t to urt_topicid_t--><path d="M11445.8551,793.553 C11439.067,796.269 11432.2284,798.7208 11425.3643,800.8594 C11395.3697,810.2045 6928.6724,793.3262 6901.3643,808.8594 C6843.149,841.973 6806.554,909.9356 6785.4439,964.2098 " fill="none" id="urt_topic_t&lt;-urt_topicid_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11458.014,788.3892,11450.9278,787.0529,11446.9689,793.0801,11454.0551,794.4164,11458.014,788.3892" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11425.9138" y="802.0055">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6779.295" y="953.2746">1</text><!--MD5=[2ea2859f8de074b5c128ff5997404a58]

reverse link urt_topic_t to urt_osMutex_t--><path d="M11445.8567,793.5578 C11439.0681,796.2725 11432.229,798.7227 11425.3643,800.8594 C11403.7516,807.5866 4926.4919,798.5037 4906.3643,808.8594 C4831.2151,847.5238 4782.1406,937.1091 4757.4186,993.6828 " fill="none" id="urt_topic_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11458.0162,788.3964,11450.9302,787.0588,11446.9702,793.0852,11454.0561,794.4228,11458.0162,788.3964" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11448.1101" y="808.451">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4760.6606" y="982.7032">1</text><!--MD5=[ee40dc1875ed5325eec4e6c8c8102744]

reverse link urt_topic_t to urt_osEventSource_t--><path d="M11445.8581,793.5623 C11439.0691,796.2757 11432.2295,798.7244 11425.3643,800.8594 C11407.1601,806.5207 457.8398,795.374 444.3643,808.8594 C315.5607,937.7569 325.0439,1081.1366 444.3643,1218.8594 C487.7265,1268.9093 847.5478,1309.4014 1108.6313,1332.5618 " fill="none" id="urt_topic_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11458.0183,788.403,11450.9326,787.0642,11446.9715,793.0899,11454.0572,794.4287,11458.0183,788.403" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11426.4264" y="808.1798">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1093.254" y="1328.8707">1</text><!--MD5=[fd684a39d2d7f503df403fc4f1515616]

reverse link urt_topic_t to urt_osCondvar_t--><path d="M11445.8562,793.5564 C11439.0678,796.2715 11432.2288,798.7221 11425.3643,800.8594 C11387.0798,812.7793 5689.8921,797.7508 5651.3643,808.8594 C5526.3629,844.9006 5402.6934,936.2506 5333.5505,993.7138 " fill="none" id="urt_topic_t&lt;-urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11458.0155,788.3943,11450.9295,787.0571,11446.9697,793.0838,11454.0558,794.4209,11458.0155,788.3943" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11439.6469" y="808.4488">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5332.8892" y="982.7385">1</text><!--MD5=[f5e2f818dfb7c47ef0a661b061d2efd0]

link urt_topic_t to urt_config--><path d="M11708.6619,788.5007 C11803.7328,948.9406 11976.5793,1226.1836 12155.3643,1440.8594 C12170.2438,1458.7259 12186.6105,1476.7226 12203.3566,1494.1504 " 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="12207.1621,1498.0945,12203.7915,1488.8403,12203.6903,1494.4963,12198.0344,1494.3951,12207.1621,1498.0945" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[a01366c261f16bb61c03de8616a1256c]

reverse link urt_topic_t to urt_osTimer_t--><path d="M11445.8568,793.5584 C11439.0682,796.2729 11432.229,798.7229 11425.3643,800.8594 C11379.9305,814.9998 4619.1932,796.0573 4573.3643,808.8594 C4449.4215,843.4822 4325.5304,929.5327 4252.1814,987.1974 " fill="none" id="urt_topic_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11458.0165,788.3972,11450.9306,787.0595,11446.9704,793.0858,11454.0563,794.4235,11458.0165,788.3972" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11439.648" y="808.4518">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="4262.0236" y="976.1146">0,1</text><!--MD5=[23aed2412a22c58889d68b772ca9654f]

link urt_topic_t to urt_status_t--><path d="M11455.9107,788.4231 C11445.8252,793.1132 11435.6136,797.3116 11425.3643,800.8594 C11073.3223,922.7201 8377.8584,1019.1992 7773.4021,1039.4405 " 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="7768.1281,1039.617,7777.2569,1043.3136,7773.1253,1039.4497,7776.9892,1035.3181,7768.1281,1039.617" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[40d97a101b79fe2b6aede42ee911a5e3]

reverse link urt_message_t to urt_osTime_t--><path d="M12392.1533,1351.1184 C11325.0394,1337.3456 6658.8898,1274.1713 6356.3643,1218.8594 C6211.0269,1192.2868 6051.3368,1129.2307 5953.4523,1086.4025 " fill="none" id="urt_message_t&lt;-urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="12405.3074,1351.2881,12399.3595,1347.211,12393.3084,1351.1333,12399.2563,1355.2103,12405.3074,1351.2881" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12389.2192" y="1347.9713">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5960.2075" y="1106.8173">1</text><!--MD5=[2bb9471b6fda5815e085c87a24a67f11]

link urt_message_t to urt_config--><path d="M12542.7704,1425.0903 C12525.8257,1443.4912 12506.9491,1463.9899 12487.8496,1484.7308 " 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="12484.2811,1488.606,12493.3201,1484.695,12487.6681,1484.9279,12487.4352,1479.2758,12484.2811,1488.606" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[570f5794230ed2cf7946261591bb6cd1]

link urt_message_t to urt_status_t--><path d="M12405.096,1341.1218 C11571.4556,1288.8826 8427.6781,1091.881 7773.1863,1050.8679 " 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="7767.9534,1050.54,7776.6855,1055.0953,7772.9436,1050.8528,7777.186,1047.1109,7767.9534,1050.54" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0614ecc40a2323571c35dab79c646fe8]

reverse link urt_basesubscriber_t to urt_osEventListener_t--><path d="M12756.6439,1048.785 C12184.3693,1073.251 9768.0165,1174.0589 7784.3643,1218.8594 C7164.3755,1232.8618 2817.1568,1190.3096 2203.3643,1278.8594 C2157.3416,1285.4989 2108.043,1297.9173 2064.5989,1310.7658 " fill="none" id="urt_basesubscriber_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="12769.8181,1048.2213,12763.6526,1044.4814,12757.8291,1048.7342,12763.9946,1052.4741,12769.8181,1048.2213" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12753.9877" y="1045.1277">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2076.08" y="1299.7469">1</text><!--MD5=[60df476f9c89db6ca6af2af6f6dc5b29]

reverse link urt_basesubscriber_t to urt_osTime_t--><path d="M12870.1116,963.221 C12854.8283,897.1644 12821.2506,813.0268 12748.8643,804.8594 C12704.8726,799.8958 6417.856,799.8958 6373.8643,804.8594 C6196.0938,824.9174 6011.5514,937.001 5919.7167,1000.1233 " fill="none" id="urt_basesubscriber_t&lt;-urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="12872.9305,976.1634,12875.562,969.4496,12870.3768,964.4383,12867.7453,971.1521,12872.9305,976.1634" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12863.4612" y="965.0877">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5920.1925" y="989.3997">1</text><!--MD5=[45abaca6e1a4b5e9e9e5f81f99145f21]

link urt_basesubscriber_t to urt_config--><path d="M12899.0913,1110.4807 C12916.2056,1195.9731 12931.3246,1344.1922 12860.3643,1440.8594 C12816.6699,1500.383 12636.0584,1558.6157 12502.5618,1594.8262 " 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="12497.4358,1596.212,12507.1679,1597.7243,12502.2625,1594.9069,12505.0798,1590.0016,12497.4358,1596.212" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[fb477f5fd8787be5b7605dfea5d27dc3]

link urt_basesubscriber_t to urt_status_t--><path d="M12769.6747,1043.3594 C11104.1598,1043.3594 9438.6449,1043.3594 7773.13,1043.3594 " 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="7767.9402,1043.3594,7776.9402,1047.3594,7772.9402,1043.3594,7776.9402,1039.3594,7767.9402,1043.3594" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[c18fda7f16d94dac1a94387e8df76308]

reverse link urt_nrtsubscriber_t to urt_delay_t--><path d="M15124.3365,739.3718 C15053.5573,764.2554 14972.5742,788.3384 14896.3643,800.8594 C14828.4961,812.0099 12486.7473,790.8668 12420.3643,808.8594 C12070.1486,903.7826 12063.4913,1120.0071 11714.3643,1218.8594 C11456.0681,1291.9937 7229.3049,1344.8169 6554.0187,1352.8079 " fill="none" id="urt_nrtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="15136.9719,734.8833,15129.9791,733.1225,15125.6642,738.9002,15132.657,740.661,15136.9719,734.8833" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="15110.1317" y="755.2555">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6561.7251" y="1365.3801">0,2</text><!--MD5=[cf4e9b81c32b9b138596f59fa1fb3fd6]

link urt_nrtsubscriber_t to urt_config--><path d="M15136.9685,734.8621 C15063.2953,761.2979 14977.1466,787.5664 14896.3643,800.8594 C14866.9815,805.6944 12779.1959,795.9446 12752.3643,808.8594 C12510.8233,925.1199 12471.2472,1028.9148 12374.3643,1278.8594 C12349.4912,1343.0286 12342.1807,1418.6727 12341.8221,1483.444 " 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="12341.8081,1488.4837,12345.8335,1479.495,12341.8222,1483.4837,12337.8336,1479.4724,12341.8081,1488.4837" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[249ee4d4a0d0f021e94ff447977fc36f]

link urt_nrtsubscriber_t to urt_status_t--><path d="M15136.9726,734.8871 C15063.2999,761.3261 14977.1505,787.5903 14896.3643,800.8594 C14826.5494,812.3265 12420.0898,806.9835 12349.3643,808.8594 C10525.7855,857.228 8307.4315,999.8496 7773.1953,1035.3082 " 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="7768.1436,1035.6436,7777.3889,1039.0385,7773.1326,1035.3123,7776.8588,1031.056,7768.1436,1035.6436" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[1ffa2ec21542e79acf15fa09492f4ab5]

reverse link urt_srtsubscriber_t to urt_usefulness_f--><path d="M14034.6413,757.6848 C13963.7525,775.6038 13888.5641,791.5309 13817.3643,800.8594 C13794.8243,803.8126 7290.8137,798.9298 7270.3643,808.8594 C7181.9676,851.7822 7123.0693,959.6527 7098.4346,1012.7984 " fill="none" id="urt_srtsubscriber_t&lt;-urt_usefulness_f" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="14047.3618,754.4366,14040.5587,752.0454,14035.7349,757.4056,14042.538,759.7967,14047.3618,754.4366" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="14024.9632" y="774.157">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="7079.1062" y="1001.5753">0,1</text><!--MD5=[af3bb42c2cc648980c9a8c0bd0e49df3]

reverse link urt_srtsubscriber_t to urt_delay_t--><path d="M14033.9349,757.628 C13963.2462,775.4916 13888.3179,791.4105 13817.3643,800.8594 C13736.5212,811.6252 12429.9672,796.4226 12349.3643,808.8594 C11741.3951,902.6672 11634.1579,1117.7261 11027.3643,1218.8594 C10571.4061,1294.8532 7157.4609,1344.4381 6554.2864,1352.6509 " fill="none" id="urt_srtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="14046.6201,754.3903,14039.8172,751.9985,14034.9929,757.3581,14041.7958,759.7499,14046.6201,754.3903" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="14014.5991" y="774.4328">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6562.0132" y="1349.0627">0,2</text><!--MD5=[57f9c03e706aa97ce919c51d40a1f0dd]

link urt_srtsubscriber_t to urt_config--><path d="M14665.9574,754.3809 C14740.6612,773.6138 14820.7616,790.9321 14896.3643,800.8594 C14908.5961,802.4656 18440.6507,800.1261 18449.3643,808.8594 C18513.717,873.3572 18511.5745,1152.2927 18449.3643,1218.8594 C18239.6733,1443.2351 13420.2728,1599.6259 12502.5494,1627.4257 " 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="12497.5384,1627.5774,12506.6554,1631.303,12502.5361,1627.4259,12506.4131,1623.3066,12497.5384,1627.5774" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ddfd53c980ad9ebb8f86954377552edb]

link urt_srtsubscriber_t to urt_status_t--><path d="M14046.6219,754.404 C13972.2599,773.5698 13892.5793,790.8527 13817.3643,800.8594 C13732.6099,812.1353 12363.8321,806.4718 12278.3643,808.8594 C10484.3594,858.9767 8302.4147,999.9932 7773.1499,1035.2778 " 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="7768.1448,1035.6116,7777.3911,1039.0036,7773.1337,1035.2787,7776.8586,1031.0213,7768.1448,1035.6116" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b350769e483c42ea2704e388ea6a04f2]

reverse link urt_frtsubscriber_t to urt_delay_t--><path d="M15891.3807,774.0117 C15844.993,785.038 15797.8452,794.4703 15752.3643,800.8594 C15711.1026,806.6558 12792.4129,797.3602 12752.3643,808.8594 C12420.8133,904.0579 12423.8823,1120.1341 12093.3643,1218.8594 C11816.7484,1301.4842 7257.0665,1346.5713 6554.0602,1353.0458 " fill="none" id="urt_frtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="15904.1187,770.9398,15897.3482,768.4579,15892.4531,773.7531,15899.2237,776.2349,15904.1187,770.9398" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="15871.0702" y="791.4734">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6561.9229" y="1365.6363">0..4</text><!--MD5=[7be759a40cf40f1b9231b6649fee3f4f]

link urt_frtsubscriber_t to urt_config--><path d="M16608.2559,770.9351 C16658.5128,783.2557 16709.9256,793.8524 16759.3643,800.8594 C16771.3213,802.5541 18489.8446,800.3004 18498.3643,808.8594 C18626.9182,938.006 18611.3388,1075.8849 18498.3643,1218.8594 C18233.833,1553.6362 17987.1584,1383.4357 17564.3643,1440.8594 C16547.8099,1578.9273 13247.3142,1622.2202 12502.5947,1630.3435 " 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="12497.4424,1630.3996,12506.4854,1634.3014,12502.4421,1630.3451,12506.3983,1626.3018,12497.4424,1630.3996" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[29df74e07807e6378398cb43d45b3c27]

link urt_frtsubscriber_t to urt_status_t--><path d="M15904.4634,770.8656 C15853.8878,783.2431 15802.1284,793.874 15752.3643,800.8594 C15662.6601,813.4512 12581.9186,806.5549 12491.3643,808.8594 C10608.5361,856.7743 8317.0339,1000.3457 7773.166,1035.5174 " 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="7768.0243,1035.8501,7777.2638,1039.2606,7773.0139,1035.5272,7776.7472,1031.2773,7768.0243,1035.8501" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bc1cc9ca99c1274e9c895cd105ca1d4c]

reverse link urt_hrtsubscriber_t to urt_delay_t--><path d="M12735.0066,794.5455 C12721.0151,796.8584 12707.1148,798.9734 12693.3643,800.8594 C12586.3515,815.5368 12314.9177,798.8876 12207.3643,808.8594 C11125.0672,909.2049 10877.3781,1105.5217 9796.3643,1218.8594 C9141.3859,1287.5299 7019.4598,1340.7389 6554.117,1351.7573 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="12747.8798,792.3666,12741.2964,789.424,12736.0481,794.3693,12742.6315,797.3118,12747.8798,792.3666" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12712.783" y="812.2065">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6561.984" y="1348.1007">0..5</text><!--MD5=[47265b8b91af56102ad98d46909bef01]

reverse link urt_hrtsubscriber_t to urt_osTimer_t--><path d="M12736.9074,794.5327 C12722.2758,796.8799 12707.7392,799.001 12693.3643,800.8594 C12637.4408,808.0893 4627.6754,793.6932 4573.3643,808.8594 C4449.4184,843.4709 4325.5281,929.5246 4252.1802,987.193 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="12749.7883,792.4128,12743.2183,789.4403,12737.9476,794.3617,12744.5176,797.3341,12749.7883,792.4128" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12723.2334" y="812.2553">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4252.2285" y="976.1096">1</text><!--MD5=[c255c4720016d78ffa1594ef43d10003]

link urt_hrtsubscriber_t to urt_config--><path d="M12745.9809,792.3983 C12728.28,795.5273 12710.7017,798.368 12693.3643,800.8594 C12678.3454,803.0176 12431.9562,799.0689 12420.3643,808.8594 C12229.286,970.2433 12267.053,1293.863 12310.5024,1483.6607 " 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="12311.6594,1488.6777,12313.5344,1479.0089,12310.5357,1483.8056,12305.7391,1480.8069,12311.6594,1488.6777" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[acfaba0e8df90d54cbfcf78ceb19e2ee]

link urt_hrtsubscriber_t to urt_status_t--><path d="M12747.8865,792.4152 C12729.5443,795.577 12711.3267,798.4149 12693.3643,800.8594 C12632.0343,809.2056 12198.2252,806.798 12136.3643,808.8594 C10401.8906,866.6585 8293,1001.3274 7773.3213,1035.4105 " 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="7768.0305,1035.7576,7777.2731,1039.1596,7773.0198,1035.4301,7776.7492,1031.1768,7768.0305,1035.7576" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8a07eed8d365d510d46940e8916e2aca]

reverse link urt_baserequest_t to urt_osMutex_t--><path d="M8841.4575,766.9138 C8827.8809,780.6241 8812.4731,792.6862 8795.3643,800.8594 C8770.9952,812.501 4930.3741,796.4937 4906.3643,808.8594 C4831.2312,847.555 4782.1515,937.1303 4757.4242,993.6937 " fill="none" id="urt_baserequest_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8850.5626,757.1863,8843.5421,758.8333,8842.3622,765.9472,8849.3827,764.3002,8850.5626,757.1863" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8838.2087" y="776.4466">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4751.542" y="982.7156">1</text><!--MD5=[7c9c768598bcd949a3bf11c8b3a21e4b]

reverse link urt_baserequest_t to urt_osTime_t--><path d="M8841.4486,766.8953 C8827.8732,780.608 8812.4681,792.6758 8795.3643,800.8594 C8764.8068,815.4802 6389.4047,801.3856 6356.3643,808.8594 C6192.3907,845.9506 6018.7499,943.3651 5926.7162,1000.2915 " fill="none" id="urt_baserequest_t&lt;-urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8850.5531,757.1665,8843.5328,758.8142,8842.3536,765.9282,8849.374,764.2805,8850.5531,757.1665" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8846.7361" y="776.4255">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5937.9285" y="989.2767">1</text><!--MD5=[abb05cad5cff2c76ceafdc2a055c056c]

reverse link urt_baserequest_t to urt_osEventSource_t--><path d="M8841.4655,766.9306 C8827.8878,780.6387 8812.4776,792.6957 8795.3643,800.8594 C8782.1173,807.1787 351.7377,798.4762 341.3643,808.8594 C212.5747,937.7709 221.0843,1081.9739 341.3643,1218.8594 C391.4741,1275.8871 817.3658,1315.8704 1108.6337,1336.8376 " fill="none" id="urt_baserequest_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8850.5711,757.2042,8843.5505,758.8506,8842.37,765.9644,8849.3906,764.318,8850.5711,757.2042" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8836.7278" y="776.7163">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1093.2565" y="1348.6585">1</text><!--MD5=[6e4cdc2fe71f4b9ae682dc44b1d45b47]

reverse link urt_baserequest_t to urt_osEventListener_t--><path d="M8841.4654,766.9305 C8827.8878,780.6386 8812.4776,792.6956 8795.3643,800.8594 C8782.2787,807.1018 454.6112,798.6027 444.3643,808.8594 C315.5755,937.7717 318.6945,1086.9047 444.3643,1218.8594 C538.6522,1317.8627 1538.4427,1256.7682 1673.3643,1278.8594 C1718.0728,1286.1797 1765.988,1298.3552 1808.6117,1310.7893 " fill="none" id="urt_baserequest_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8850.571,757.204,8843.5504,758.8504,8842.37,765.9643,8849.3906,764.3178,8850.571,757.204" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8826.7776" y="776.7161">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1788.5699" y="1299.7741">1</text><!--MD5=[8b261aef1d2e0a451326ad6807af1e66]

reverse link urt_nrtrequest_t to urt_delay_t--><path d="M10306.7922,403.0677 C10264.0601,424.8659 10216.1905,445.1216 10169.3643,456.3594 C10101.6748,472.6042 7731.3695,449.4916 7663.3643,464.3594 C7310.8005,541.4397 7276.5586,722.1079 6924.3643,800.8594 C6907.2576,804.6845 6305.6805,796.3861 6293.3643,808.8594 C6165.3331,938.5241 6214.1324,1054.7642 6293.3643,1218.8594 C6310.4069,1254.1559 6341.659,1283.0542 6372.7627,1304.9276 " fill="none" id="urt_nrtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="10318.4114,397.0389,10311.2434,396.2517,10307.7599,402.5656,10314.9279,403.3528,10318.4114,397.0389" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10298.125" y="417.2216">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6344.746" y="1297.5097">0,2</text><!--MD5=[8aa30e666b650ddcf5fdd53ac0c33b2b]

link urt_nrtrequest_t to urt_config--><path d="M10586.4487,396.9185 C10632.2594,421.028 10684.9445,444.1173 10736.3643,456.3594 C10749.857,459.5718 18715.5618,454.5471 18725.3643,464.3594 C18802.047,541.1189 18800.9275,1362.9976 18725.3643,1440.8594 C18613.4281,1556.2006 13455.9628,1619.4985 12502.9431,1630.2201 " 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="12497.7409,1630.2786,12506.7854,1634.177,12502.7406,1630.2223,12506.6953,1626.1775,12497.7409,1630.2786" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4d5eda3ecbcd41d6d2b940fb4748a5e6]

link urt_nrtrequest_t to urt_status_t--><path d="M10318.4096,397.0312 C10272.8447,421.0676 10220.4822,444.0847 10169.3643,456.3594 C10153.6984,460.1212 7862.4401,454.9469 7849.3643,464.3594 C7712.562,562.8354 7670.0656,761.9981 7657.5142,898.9995 " 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="7657.0448,904.2532,7661.8302,895.645,7657.4899,899.273,7653.8619,894.9328,7657.0448,904.2532" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[094c3c4918275dedd163d58d6c00e2be]

reverse link urt_srtrequest_t to urt_delay_t--><path d="M9616.3694,408.4479 C9566.2673,428.1968 9511.7742,446.107 9459.3643,456.3594 C9427.5504,462.5828 7156.1291,454.1427 7125.3643,464.3594 C6887.0048,543.5167 6909.1482,719.9894 6671.3643,800.8594 C6659.5544,804.8759 6231.106,799.9606 6222.3643,808.8594 C6094.6666,938.8526 6130.2306,1061.6451 6222.3643,1218.8594 C6254.7352,1274.0962 6318.8833,1308.4355 6372.8627,1328.6512 " fill="none" id="urt_srtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9628.6693,403.5286,9621.6129,402.0427,9617.5274,407.9848,9624.5837,409.4707,9628.6693,403.5286" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9605.553" y="423.3819">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6344.854" y="1323.1238">0,1</text><!--MD5=[421371e2a1201d214a6175d8cede910e]

link urt_srtrequest_t to urt_config--><path d="M9999.5811,403.434 C10053.1027,425.1691 10112.4562,445.3005 10169.3643,456.3594 C10183.8247,459.1695 18643.9529,453.9382 18654.3643,464.3594 C18731.0492,541.1166 18729.9144,1362.9849 18654.3643,1440.8594 C18543.7527,1554.8742 13449.1478,1619.1954 12502.788,1630.17 " 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="12497.6219,1630.2299,12506.6677,1634.1252,12502.6216,1630.1719,12506.5749,1626.1257,12497.6219,1630.2299" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[74f0decf3779c06ec30af8770fc7e1ae]

link urt_srtrequest_t to urt_status_t--><path d="M9628.6666,403.5145 C9575.2648,425.1771 9516.0935,445.2509 9459.3643,456.3594 C9445.0459,459.1632 7368.6616,454.0228 7358.3643,464.3594 C7252.8141,570.3123 7255.2371,692.5466 7358.3643,800.8594 C7370.868,813.9918 7505.9395,799.3264 7521.3643,808.8594 C7555.8798,830.191 7582.1687,864.0391 7601.8403,899.4557 " 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="7604.45,904.2346,7603.6471,894.4185,7602.0536,899.8463,7596.6258,898.2528,7604.45,904.2346" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4360c48b38d2a92e1c3ebeee4ab98bfc]

link urt_srtrequest_t to urt_usefulness_f--><path d="M9628.6677,403.5201 C9575.2659,425.1827 9516.0943,445.2552 9459.3643,456.3594 C9444.4527,459.2782 7283.6257,455.3854 7271.3643,464.3594 C7180.0677,531.1787 7111.2747,891.9089 7091.2915,1007.617 " 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="7090.4327,1012.6132,7095.8997,1004.421,7091.2798,1007.6855,7088.0154,1003.0656,7090.4327,1012.6132" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e590cea536a036f5956f75e03ef95bbf]

reverse link urt_frtrequest_t to urt_delay_t--><path d="M10759.3223,451.0615 C10751.3052,452.9975 10743.3114,454.7707 10735.3643,456.3594 C10695.1461,464.3995 7821.3528,451.6295 7782.3643,464.3594 C7540.5434,543.315 7560.9636,721.2282 7319.3643,800.8594 C7306.6479,805.0507 6364.7926,799.3525 6355.3643,808.8594 C6227.0495,938.2435 6295.0475,1046.9094 6355.3643,1218.8594 C6364.0078,1243.5001 6379.2497,1266.9845 6395.607,1287.2527 " fill="none" id="urt_frtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="10771.9363,447.8885,10765.1418,445.4731,10760.2989,450.8159,10767.0934,453.2314,10771.9363,447.8885" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10746.7957" y="467.7296">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6362.8835" y="1276.2308">0..4</text><!--MD5=[b1f137a561f49721d911648e5542119f]

link urt_frtrequest_t to urt_config--><path d="M11409.4843,316.7059 C12872.3357,332.002 18730.7016,397.399 18796.3643,464.3594 C18948.2977,619.2956 18947.5164,1285.1608 18796.3643,1440.8594 C18683.0869,1557.5441 13461.2503,1619.8161 12502.6853,1630.2737 " 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="12497.4531,1630.3308,12506.4962,1634.2323,12502.4528,1630.2762,12506.4089,1626.2328,12497.4531,1630.3308" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d63fe507f799090eb2c242d7ab41013e]

link urt_frtrequest_t to urt_status_t--><path d="M10771.9352,447.8828 C10759.6917,451.0851 10747.4738,453.9362 10735.3643,456.3594 C10699.9414,463.4477 8167.0435,448.9614 8134.3643,464.3594 C7944.3261,553.9028 7803.2891,759.2989 7724.6483,899.7405 " 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="7722.1086,904.2924,7729.9869,898.382,7724.5448,899.9261,7723.0008,894.484,7722.1086,904.2924" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bea47d1dd6f09b5135df7519b40184db]

reverse link urt_hrtrequest_t to urt_delay_t--><path d="M8767.6967,457.3777 C8595.9142,473.3451 7216.7105,449.207 7129.3643,464.3594 C6675.3009,543.1282 6417.6514,432.7353 6151.3643,808.8594 C6046.072,957.5822 6051.3172,1066.5587 6151.3643,1218.8594 C6200.0516,1292.9756 6299.0625,1326.5953 6372.5544,1341.7238 " fill="none" id="urt_hrtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8780.6092,455.6755,8774.1379,452.494,8768.7121,457.2439,8775.1835,460.4254,8780.6092,455.6755" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8764.7634" y="455.9074">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6341.0043" y="1337.3599">0..4</text><!--MD5=[50bfbddabe3b6f3afe991f5d307785f8]

reverse link urt_hrtrequest_t to urt_osTimer_t--><path d="M8767.5947,456.8549 C8598.4549,466.3098 6981.5504,460.6796 6932.3643,464.3594 C5875.7517,543.4076 5570.7376,451.1929 4573.3643,808.8594 C4454.6378,851.4357 4332.5148,932.5965 4257.7702,987.3525 " fill="none" id="urt_hrtrequest_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8780.6093,455.6763,8774.273,452.2338,8768.6582,456.7586,8774.9945,460.2012,8780.6093,455.6763" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8764.7635" y="471.2598">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="4268.3285" y="976.2896">0,1</text><!--MD5=[2663060494b35c1af191cf8ba65e9057]

link urt_hrtrequest_t to urt_config--><path d="M9441.9988,452.6541 C9447.806,453.9803 9453.5975,455.2181 9459.3643,456.3594 C9474.675,459.3896 18436.6457,455.3131 18449.3643,464.3594 C18587.7122,562.7621 18663.9186,1077.8533 18569.3643,1218.8594 C18424.6144,1434.7207 18282.4732,1386.2947 18028.3643,1440.8594 C17474.9137,1559.7017 13346.8452,1619.0276 12502.8259,1629.9822 " 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="12497.6031,1630.0499,12506.6542,1633.9328,12502.6027,1629.985,12506.5505,1625.9335,12497.6031,1630.0499" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3d55577c6a64a095d4d92af2794b0aa7]

link urt_hrtrequest_t to urt_status_t--><path d="M8780.6091,455.6751 C8779.5267,455.9067 8778.4451,456.1349 8777.3643,456.3594 C8766.7505,458.5643 7224.01,456.6744 7216.3643,464.3594 C7110.8839,570.3818 7112.0082,693.7302 7216.3643,800.8594 C7228.1918,813.0012 7506.8448,800.1132 7521.3643,808.8594 C7556.3124,829.9112 7582.7776,863.8889 7602.4806,899.5237 " 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="7605.0937,904.3326,7604.311,894.5149,7602.7063,899.9394,7597.2818,898.3347,7605.0937,904.3326" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[85137379eadac9ac066ccd1aa3005a20]

reverse link urt_service_t to urt_serviceid_t--><path d="M8137.427,714.9461 C7948.4434,746.8679 7701.8507,783.6122 7481.3643,800.8594 C7457.5748,802.7203 6642.9469,796.7864 6622.3643,808.8594 C6565.3362,842.3101 6530.4778,910.0506 6510.668,964.1611 " fill="none" id="urt_service_t&lt;-urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8150.3616,712.7537,8143.7775,709.8127,8138.5304,714.7591,8145.1145,717.7001,8150.3616,712.7537" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8134.3397" y="711.0855">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6504.3554" y="953.2214">1</text><!--MD5=[bfc39859b663e58a9d342532110a4ed9]

reverse link urt_service_t to urt_osMutex_t--><path d="M8137.1139,695.0397 C7827.4123,730.102 7338.3347,780.2582 6913.3643,800.8594 C6899.443,801.5343 4918.749,802.4659 4906.3643,808.8594 C4831.2685,847.6274 4782.177,937.1797 4757.4372,993.7189 " fill="none" id="urt_service_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8150.3474,693.5383,8143.9347,690.2402,8138.4239,694.8911,8144.8366,698.1892,8150.3474,693.5383" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8134.3251" y="691.3597">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4757.5389" y="983.1122">1</text><!--MD5=[1bad46d95b358cb94878caad932de3eb]

reverse link urt_service_t to urt_osEventSource_t--><path d="M8137.2143,660.6276 C6642.7021,674.28 270.2256,736.6891 199.3643,808.8594 C71.6983,938.8837 78.038,1082.9003 199.3643,1218.8594 C258.891,1285.5654 778.2164,1323.7659 1108.7092,1341.5246 " fill="none" id="urt_service_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8150.2616,660.5085,8144.2253,656.5634,8138.2621,660.6181,8144.2984,664.5631,8150.2616,660.5085" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8134.237" y="672.851">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1092.4663" y="1353.4557">1</text><!--MD5=[7ece8bae7b00261083263672987da7c8]

reverse link urt_service_t to urt_osEventListener_t--><path d="M8136.8466,660.7043 C6653.2016,674.6104 372.2659,737.6501 302.3643,808.8594 C174.7133,938.8985 176.362,1087.2222 302.3643,1218.8594 C355.0821,1273.9348 1598.0957,1266.7303 1673.3643,1278.8594 C1718.3271,1286.1049 1766.5169,1298.3415 1809.3078,1310.852 " fill="none" id="urt_service_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8150.0683,660.5805,8144.0311,656.6369,8138.0688,660.693,8144.1061,664.6365,8150.0683,660.5805" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8134.0386" y="657.5264">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1780.1019" y="1299.8468">1</text><!--MD5=[33249c42c81fffc5b10022c232aa2b33]

link urt_service_t to urt_config--><path d="M8741.9875,792.9239 C8749.4923,795.668 8756.9597,798.3191 8764.3643,800.8594 C9914.9281,1195.5896 10238.1879,1175.8663 11425.3643,1440.8594 C11698.4456,1501.8147 12018.3799,1566.1853 12202.0171,1602.459 " 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="12207.14,1603.4706,12199.0855,1597.8027,12202.2347,1602.5019,12197.5356,1605.6511,12207.14,1603.4706" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5471b15d17b5493f5e528354308bf7b4]

link urt_service_t to urt_status_t--><path d="M8169.7535,792.9593 C8033.8065,858.8808 7877.4259,934.7106 7772.6985,985.4936 " 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="7768.0623,987.7417,7777.9057,987.4138,7772.5612,985.56,7774.415,980.2155,7768.0623,987.7417" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[53dfbb6dd49579624c84e03dc6fffb39]

    + {method} urtTimeAddUs (time : urt_osTime_t*, offset : urt_delay_t) : void

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

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

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

    URT_THREAD_SSLEP_MAX : unsigned int

    URT_THREAD_MSLEEP_MAX : unsigned int

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

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

    + {method} urtThreadSSleep (seconds : unsigned int) : void

    + {method} urtThreadMSleep (milliseconds : unsigned int) : void

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

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

urt_osTime_t ..> urt_delay_t

urt_osTime_t ..> urt_delay_t

/' µRtWare core structure. '/

Copyright (C) 2018..2020  Thomas Schöpping et al.

Copyright (C) 2018..2020  Thomas Schöpping et al.

#ifndef URT_CONFCHECK_H

#define URT_CONFCHECK_H

#include <urtware.h>

/*============================================================================*/

/* CONSTANTS                                                                  */

/*============================================================================*/

/*============================================================================*/

/* SETTINGS                                                                   */

/*============================================================================*/

/*============================================================================*/

/* CHECKS                                                                     */

/*============================================================================*/

/* general parameters and options */

# error "URT_CFG_DELAY_WIDTH not defined in urtwareconf.h"

#endif /* !defined(URT_CFG_DELAY_WIDTH) */

# error "URT_CFG_NODESTAGE_WIDTH not defined in urtwareconf.h"

#endif /* !defined(URT_CFG_NODESTAGE_WIDTH) */

#if !defined(URT_CFG_DEBUG_ENABLED)

# error "URT_CFG_DEBUG_ENABLED not defined in urtwareconf.h"

#endif /* !defined(URT_CFG_DEBUG_ENABLED) */

/* publish-subscribe parameters and options */

#if !defined(URT_CFG_PUBSUB_ENABLED)

# error "URT_CFG_PUBSUB_ENABLED not defined in urtwareconf.h"

#endif /* !defined(URT_CFG_PUBSUB_ENABLED) */

#if (URT_CFG_PUBSUB_ENABLED == true)

# if !defined(URT_CFG_PUBSUB_TOPICID_WIDTH)

#   error "URT_CFG_PUBSUB_TOPICID_WIDTH not defined in urtwareconf.h"

# endif /* !defined(URT_CFG_PUBSUB_TOPICID_WIDTH) */

# if !defined(URT_CFG_PUBSUB_PROFILING)

#   error "URT_CFG_PUBSUB_PROFILING not defined in urtwareconf.h"

# endif /* !defined(URT_CFG_PUBSUB_PROFILING) */

# if !defined(URT_CFG_PUBSUB_QOS_DEADLINECHECKS)

#   error "URT_CFG_PUBSUB_QOS_DEADLINECHECKS not defined in urtwareconf.h"

# endif /* !defined(URT_CFG_PUBSUB_QOS_DEADLINECHECKS) */

# if !defined(URT_CFG_PUBSUB_QOS_RATECHECKS)

#   error "URT_CFG_PUBSUB_QOS_RATECHECKS not defined in urtwareconf.h"

# endif /* !defined(URT_CFG_PUBSUB_QOS_RATECHECKS) */

# if !defined(URT_CFG_PUBSUB_QOS_JITTERCHECKS)

#   error "URT_CFG_PUBSUB_QOS_JITTERCHECKS not defined in urtwareconf.h"

# endif /* !defined(URT_CFG_PUBSUB_QOS_JITTERCHECKS) */

#endif /* URT_CFG_PUBSUB_ENABLED == true */

/* remote procedure call parameters and options */

#if !defined(URT_CFG_RPC_ENABLED)

# error "URT_CFG_RPC_ENABLED not defined in urtwareconf.h"

#endif /* !defined(URT_CFG_RPC_ENABLED) */

#if (URT_CFG_RPC_ENABLED == true)

# if !defined(URT_CFG_RPC_SERVICEID_WIDTH)

#   error "URT_CFG_RPC_SERVICEID_WIDTH not defined in urtwareconf.h"

# endif /* !defined(URT_CFG_RPC_SERVICEID_WIDTH) */

# if !defined(URT_CFG_RPC_PROFILING)

#   error "URT_CFG_RPC_PROFILING not defined in urtwareconf.h"

# endif /* !defined(URT_CFG_RPC_PROFILING) */

# if !defined(URT_CFG_RPC_QOS_DEADLINECHECKS)

#   error "URT_CFG_RPC_QOS_DEADLINECHECKS not defined in urtwareconf.h"

# endif /* !defined(URT_CFG_RPC_QOS_DEADLINECHECKS) */

# if !defined(URT_CFG_RPC_QOS_JITTERCHECKS)

#   error "URT_CFG_RPC_QOS_JITTERCHECKS not defined in urtwareconf.h"

# endif /* !defined(URT_CFG_RPC_QOS_JITTERCHECKS) */

#endif /* URT_CFG_RPC_ENABLED == true */

/*============================================================================*/

/* DATA STRUCTURES AND TYPES                                                  */

/*============================================================================*/

/*============================================================================*/

/* MACROS                                                                     */

/*============================================================================*/

/*============================================================================*/

/* EXTERN DECLARATIONS                                                        */

/*============================================================================*/

/*============================================================================*/

/* INLINE FUNCTIONS                                                           */

/*============================================================================*/

#endif /* URT_CONFCHECK_H */

/*

µRtWare is a lightweight publish/subscribe middleware for real-time

applications. It was developed as part of the software habitat for the

Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.

Copyright (C) 2018..2020  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

#ifndef URT_PRIMITIVES_H

#define URT_PRIMITIVES_H

#include <urtware.h>

#include <stdint.h>

/*============================================================================*/

/* CONSTANTS                                                                  */

/*============================================================================*/

/**

 * @brief Special constant value for immediate (nonexistent) delays.

 */

#define URT_DELAY_IMMEDIATE                     (urt_delay_t)0

/**

 * @brief Special constant value for infinite delays.

 */

#define URT_DELAY_INFINITE                      (urt_delay_t)~0

/*============================================================================*/

/* SETTINGS                                                                   */

/*============================================================================*/

/*============================================================================*/

/* CHECKS                                                                     */

/*============================================================================*/

/*============================================================================*/

/* DATA STRUCTURES AND TYPES                                                  */

/*============================================================================*/

/**

 * @brief   Type for temporal delays (in microseconds).

 */

#if (URT_CFG_DELAY_WIDTH == 32)

  typedef uint32_t urt_delay_t;

#elif (URT_CFG_DELAY_WIDTH == 64)

  typedef uint64_t urt_delay_t;

#else

# error "URT_CFG_DELAY_WIDTH must be set to 32 or 64."

#endif

/**

 * @brief   Type to use for the node stage value.

 * @details Use wide types only if you need to synchronize the system very often.

 */

#if (URT_CFG_NODESTAGE_WIDTH == 8)

  typedef uint8_t urt_nodestage_t;

#elif (URT_CFG_NODESTAGE_WIDTH == 16)

  typedef uint16_t urt_nodestage_t;

#elif (URT_CFG_NODESTAGE_WIDTH == 32)

  typedef uint32_t urt_nodestage_t;

#elif (URT_CFG_NODESTAGE_WIDTH == 64)

  typedef uint64_t urt_nodestage_t;

#else

# error "URT_CFG_NODESTAGE_WIDTH must be set to 8, 16, 32 or 64."

#endif

/**

 * @brief   General status type used throughout µRtWare and its interfaces.

 */

typedef enum {

  URT_STATUS_OK = 0,              /**< Status indicating success. */

  URT_STATUS_DEADLINEVIOLATION,   /**< Status indicating a violated deadline. */

  URT_STATUS_JITTERVIOLATION,     /**< Status indicating a violated jitter requirement. */

  URT_STATUS_RATEVIOLATION,       /**< Status indicating a violated rate requirement. */

  URT_STATUS_SYNC_PENDING,        /**< Status indicating a synchronization barrier. */

  URT_STATUS_SYNC_ERROR,          /**< Status indicating a failed synchronization. */

  URT_STATUS_NODE_INVALEVTMASK,   /**< Status indicating an invalid event mask. */

#if (URT_CFG_PUBSUB_ENABLED == true) || defined(__DOXYGEN__)

  URT_STATUS_TOPIC_DUPLICATE,     /**< Status indicating multiple use of the same topic ID. */

  URT_STATUS_PUBLISH_TIMEOUT,     /**< Status indicating a timeout when publishinh a message. */

  URT_STATUS_SUBSCRIBE_TOPICSET,  /**< Status indicating that the subscriber is already associated to a topic. */

  URT_STATUS_FETCH_NOTOPIC,       /**< Status indicating that the subscriber is not associated to any topic. */

  URT_STATUS_FETCH_NOMESSAGE,     /**< Status indicating that no message could be fetched. */

  URT_STATUS_UNSUBSCRIBE_NOTOPIC, /**< Status indicating that the subscriber is not associated to an topic. */

#endif /* URT_CFG_PUBSUB_ENABLED == true */

#if (URT_CFG_RPC_ENABLED == true) || defined(__DOXYGEN__)

  URT_STATUS_SERVICE_DUPLICATE,   /**< Status indicating multiple use of the same service ID. */

  URT_STATUS_REQUEST_BADOWNER,    /**< Status indicating that a request is currently owned by another component. */

  URT_STATUS_REQUEST_LOCKED,      /**< Status indicating a currently locked request. */

#endif /* URT_CFG_RPC_ENABLED == true */

} urt_status_t;

#if (URT_CFG_PUBSUB_ENABLED == true) || defined(__DOXYGEN__)

# if (URT_CFG_PUBSUB_TOPICID_WIDTH == 8)

    typedef uint8_t urt_topicid_t;

# elif (URT_CFG_PUBSUB_TOPICID_WIDTH == 16)

    typedef uint16_t urt_topicid_t;

# elif (URT_CFG_PUBSUB_TOPICID_WIDTH == 32)

    typedef uint32_t urt_topicid_t;

# elif (URT_CFG_PUBSUB_TOPICID_WIDTH == 64)

    typedef uint64_t urt_topicid_t;

# else

#   error "URT_CFG_PUBSUB_TOPICID_WIDTH must be set to 8, 16, 32 or 64."

# endif

#endif /* URT_CFG_PUBSUB_ENABLED == true */

#if (URT_CFG_RPC_ENABLED == true) || defined(__DOXYGEN__)

# if (URT_CFG_RPC_SERVICEID_WIDTH == 8)

    typedef uint8_t urt_serviced_t;

# elif (URT_CFG_RPC_SERVICEID_WIDTH == 16)

    typedef uint16_t urt_serviced_t;

# elif (URT_CFG_RPC_SERVICEID_WIDTH == 32)

    typedef uint32_t urt_serviced_t;

# elif (URT_CFG_RPC_SERVICEID_WIDTH == 64)

    typedef uint64_t urt_serviced_t;

# else

#   error "URT_CFG_RPC_SERVICEID_WIDTH must be set to 8, 16, 32 or 64."

# endif

#endif /* URT_CFG_RPC_ENABLED == true */

/**

 * @brief   Usefulness calculation function type.

 *

 * @param[in] dt  Delay to calculate the usefulness for.

 * @param[in] param Pointer to optional parameters (may be NULL).

 *

 * return   The usefulness (of some data) after the specified delay as value in range [0, 1].

 */

typedef float (*urt_usefulness_f)(urt_delay_t dt, void* params);

/*============================================================================*/

/* MACROS                                                                     */

/*============================================================================*/

/*============================================================================*/

/* EXTERN DECLARATIONS                                                        */

/*============================================================================*/

/*============================================================================*/

/* INLINE FUNCTIONS                                                           */

/*============================================================================*/

#endif /* URT_PRIMITIVES_H */

/*

µRtWare is a lightweight publish/subscribe middleware for real-time

applications. It was developed as part of the software habitat for the

Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.

Copyright (C) 2018..2020  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

#ifndef URTWARECONF_H

#define URTWARECONF_H

#define _URTWARE_CFG_

#define URTWARE_CFG_VERSION_MAJOR               0

#define URTWARE_CFG_VERSION_MINOR               1

/**

 * @brief   Width of the urt_delay_t data type.

 *

 * @details Possible values are 32 and 64 bits.

 *          By definition time is represented in microseconds.

 */

#define URT_CFG_DELAY_WIDTH                     32

/**

 * @brief   Width of the urt_nodestage_t data type.

 *

 * @details Possible values are 8, 16, 32, and 64 bits.

 */

#define URT_CFG_NODESTAGE_WIDTH                 16

/**

 * @brief   Debug enable flag.

 */

#define URT_CFG_DEBUG_ENABLED                   true

/**

 * @brief   Enable flag for the publish-subscribe system.

 */

#define URT_CFG_PUBSUB_ENABLED                  true

/**

 * @brief   Width of the urt_topicid_t data type.

 *

 * @details Possible values are 8, 16, 32, and 64 bits.

 */

#define URT_CFG_PUBSUB_TOPICID_WIDTH            16

/**

 * @brief   Flag to enable profiling of the publish-subscribe system.

 */

#define URT_CFG_PUBSUB_PROFILING                true

/**

 * @brief   Flag to enable deadline QoS for the publish-subscribe system.

 */

#define URT_CFG_PUBSUB_QOS_DEADLINECHECKS       true

/**

 * @brief   Flag to enable rate QoS for the publish-subscribe system.

 */

#define URT_CFG_PUBSUB_QOS_RATECHECKS           true

/**

 * @brief   Flag to enable jitter QoS for the publish-subscribe system

 */

#define URT_CFG_PUBSUB_QOS_JITTERCHECKS         true

/**

 * @brief   Enable flag for remote procedure calls.

 */

#define URT_CFG_RPC_ENABLED                     true

/**

 * @brief   Width of the urt_serviceid_t data type.

 *

 * @details Possible values are 8, 16, 32, and 64 bits.

 */

#define URT_CFG_RPC_SERVICEID_WIDTH             16

/**

 * @brief   Flag to enable profiling of remote procedure calls.

 */

#define URT_CFG_RPC_PROFILING                   true

/**

 * @brief   Flag to enable deadline QoS for remote procedure calls.

 */

#define URT_CFG_RPC_QOS_DEADLINECHECKS          true

/**

 * @brief   Flag to enable jitter QoS for remote procedure calls.

 */

#define URT_CFG_RPC_QOS_JITTERCHECKS            true

/**

 * @brief   Hook macro to insert a custom header to urt_osal.h file.

 */

#define URT_CFG_OSAL_HEADER                     <custom_urtosal.h>

#endif /* HELLOWORLD_URTWARECONF_H */

/*

µRtWare is a lightweight publish/subscribe middleware for real-time

applications. It was developed as part of the software habitat for the

Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.

Copyright (C) 2018..2020  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

#ifndef URT_OSAL_H

#define URT_OSAL_H

#include <urtware.h>

/*============================================================================*/

/* VERSION                                                                    */

/*============================================================================*/

/**

 * @brief   The µRtWare operating system abstraction layer interface major version.

 * @note    Changes of the major version imply incompatibilities.

 */

#define URT_OSAL_VERSION_MAJOR                  0

/**

 * @brief   The µRtWare operating system abstraction layer interface minor version.

 * @note    A higher minor version implies new functionalty, but all old interfaces are still available.

 */

#define URT_OSAL_VERSION_MINOR                  1

/*============================================================================*/

/* DEPENDENCIES                                                               */

/*============================================================================*/

#include <stdint.h>

/*============================================================================*/

/* DEBUG                                                                      */

/*============================================================================*/

#if defined(__cplusplus)

extern "C" {

#endif /* defined(__cplusplus) */

#if !defined(urtDebugAssert) || defined(__DOXYGEN__)

  /**

   * @brief Assert function to check a given condition.

   *

   * @param[in] condition   The condition to check.

   */

  void urtDebugAssert(const bool condition);

#endif /* !defined(urtDebugAssert) */

#if defined(__cplusplus)

}

#endif /* defined(__cplusplus) */

/*============================================================================*/

/* MUTEX                                                                      */

/*============================================================================*/

/*

 * The following type must be defined by the implementation:

 *

 * urt_osMutex_t

 *    Type to represent a mutex lock object.

 *    Is only used via pointers by the API.

 */

#if defined(__cplusplus)

extern "C" {

#endif /* defined(__cplusplus) */

#if !defined(urtMutexInit) || defined(__DOXYGEN__)

  /**

   * @brief   Initialize a mutex lock object.

   *

   * @param[in] mutex   Pointer to the mutex lock object to initialize.

   *                    Must not be NULL.

   */

  void urtMutexInit(urt_osMutex_t* mutex);

#endif /* !defined(urtMutexInit) */

#if !defined(urtMutexLock) || defined(__DOXYGEN__)

  /**

   * @brief   Lock a mutex lock.

   * @details The calling thread is blocked until the mutex lock could be acquired.

   *

   * @param[in] mutex   Pointer to the mutex lock to acquire.

   *                    Must not be NULL.

   */

  void urtMutexLock(urt_osMutex_t* mutex);

#endif /* !defined(urtMutexLock) */

#if !defined(urtMutexTryLock) || defined(__DOXYGEN__)

  /**

   * @brief   Try to lock a mutex lock.

   * @details This function does not block but returns immediately.

   *

   * @param[in] mutex   Pointer to the mutex lock to acquire.

   *

   * @return  Indicator whether the lock was acquired.

   * @retval true   The lock was acquired successfully.

   * @retval false  The lock could not be acquired.

   */

  bool urtMutexTryLock(urt_osMutex_t* mutex);

#endif /* !defined(urtMutexTryLock) */

#if !defined(urtMutexUnlock) || defined(__DOXYGEN__)

  /**

   * @brief   Unlock an owned mutex lock.

   *

   * @param[in] mutex   Pointer to the mutex lock to unlock.

   *                    Must not be NULL.

   */

  void urtMutexUnlock(urt_osMutex_t* mutex);

#endif /* !defined(urtMutexUnlock) */

#if defined(__cplusplus)

}

#endif /* defined(__cplusplus) */

/*============================================================================*/

/* CONDITION VARIABLE                                                         */

/*============================================================================*/

/*

 * The following type must be defined by the implementation:

 *

 * urt_osCondvar_t

 *    Type to represent a condition variable object.

 *    Is only used via pointers by the API.

 */

/**

 * @brief   Status type of condition variables.

 */

typedef enum {

  URT_CONDVAR_WAITSTATUS_SIGNAL = 1,    /**< The condition variable has been signaled individually. */

  URT_CONDVAR_WAITSTATUS_BROADCAST = 2, /**< The condition variable has been signal via broadcast. */

  URT_CONDVAR_WAITSTATUS_TIMEOUT = 0,   /**< Waiting for the condition variable timed out. */

} urt_osCondvarWaitStatus_t;

#if defined(__cplusplus)

extern "C" {

#endif /* defined(__cplusplus) */

#if !defined(urtCondvarInit) || defined(__DOXYGEN__)

  /**

   * @brief   Initialize a condition variable object.