AMiRo-OS

# Copyright (C) 2018..2019  Thomas Schöpping et al.                            #

URTWARE_SRCDIR = $(URTWARE_DIR)src

uRtWare 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..2019  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             <mrothmann[at]techfak.uni-bielefeld.de>

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.

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TODO

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cluster time--><rect fill="#FFFFFF" filter="url(#fm4jpltjyo5jv)" height="121" style="stroke: #000000; stroke-width: 1.5;" width="442" x="2128" y="202.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="34" x="2332" y="217.9014">time</text><!--MD5=[48ccbfc44b1b031f9b243763d7ad5184]

cluster mutex--><rect fill="#FFFFFF" filter="url(#fm4jpltjyo5jv)" height="134" style="stroke: #000000; stroke-width: 1.5;" width="314" x="759" y="196.4063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="49" x="891.5" y="211.4014">mutex</text><!--MD5=[2e45f233f6bb64aa81ebe67fb6de8946]

cluster condition variable--><rect fill="#FFFFFF" filter="url(#fm4jpltjyo5jv)" height="450.5" style="stroke: #000000; stroke-width: 1.5;" width="726" x="14" y="196.4063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="140" x="307" y="211.4014">condition variable</text><!--MD5=[c7113df1f710ca294cbd01734aa00974]

cluster timer--><rect fill="#FFFFFF" filter="url(#fm4jpltjyo5jv)" height="444.5" style="stroke: #000000; stroke-width: 1.5;" width="798" x="2589" y="189.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="2967.5" y="204.9014">timer</text><!--MD5=[107bb3f79455a18bd83c75ada1ac7979]

cluster thread--><rect fill="#FFFFFF" filter="url(#fm4jpltjyo5jv)" height="621" style="stroke: #000000; stroke-width: 1.5;" width="1039" x="1081" y="57.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="1574.5" y="72.9014">thread</text><!--MD5=[8d74b40516bd265adb19f202ab81f40d]

cluster events--><rect fill="#FFFFFF" filter="url(#fm4jpltjyo5jv)" height="584" style="stroke: #000000; stroke-width: 1.5;" width="1642" x="3406" y="202.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="54" x="4200" y="217.9014">events</text><!--MD5=[b978ecedb6f4da3f32705dc09c84a7d6]

cluster streams--><rect fill="#FFFFFF" filter="url(#fm4jpltjyo5jv)" height="109" style="stroke: #000000; stroke-width: 1.5;" width="226" x="5056" y="208.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="64" x="5137" y="223.9014">streams</text><!--MD5=[62106fc051f244acf17caf792167c8db]

cluster debug--><rect fill="#FFFFFF" filter="url(#fm4jpltjyo5jv)" height="96" style="stroke: #000000; stroke-width: 1.5;" width="262" x="5300" y="215.4063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="50" x="5406" y="230.4014">debug</text><!--MD5=[3677786d1f00795918091b0110bfa4af]

class urt_osTime_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="425" x="2136.5" y="229.9063"/><ellipse cx="2305.25" cy="245.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2306.0938,252.6563 L2303.6406,252.6563 L2303.6406,242.4063 L2300.5,242.4063 L2300.5,240.2656 L2309.2344,240.2656 L2309.2344,242.4063 L2306.0938,242.4063 L2306.0938,252.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="2325.75" y="250.0605">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2137.5" x2="2560.5" y1="261.9063" y2="261.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2137.5" x2="2560.5" y1="269.9063" y2="269.9063"/><ellipse cx="2147.5" cy="280.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="231" x="2156.5" y="284.1167">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="2147.5" cy="293.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="2156.5" y="296.9214">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="2147.5" cy="306.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="399" x="2156.5" y="309.7261">urtTimeAddUs (time : urt_osTime_t*, offset : uint32_t) : urt_osTime_t*</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]

class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="767" y="223.4063"/><ellipse cx="868.25" cy="239.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M869.0938,246.1563 L866.6406,246.1563 L866.6406,235.9063 L863.5,235.9063 L863.5,233.7656 L872.2344,233.7656 L872.2344,235.9063 L869.0938,235.9063 L869.0938,246.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="888.75" y="243.5605">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="768" x2="1064" y1="255.4063" y2="255.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="768" x2="1064" y1="263.4063" y2="263.4063"/><ellipse cx="778" cy="274.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="245" x="787" y="277.6167">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="778" cy="287.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="253" x="787" y="290.4214">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="778" cy="300.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="787" y="303.2261">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="778" cy="312.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="787" y="316.0308">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--MD5=[52fa11869cb40c93fa7702378ddd839e]

class urt_osCondvarWaitStatus_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="86.4141" id="urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="242" y="552.9063"/><ellipse cx="288.25" cy="568.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M292.3594,574.9063 L284.6406,574.9063 L284.6406,562.5156 L292.3594,562.5156 L292.3594,564.6719 L287.0938,564.6719 L287.0938,567.3438 L291.8594,567.3438 L291.8594,569.5 L287.0938,569.5 L287.0938,572.75 L292.3594,572.75 L292.3594,574.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="169" x="308.75" y="573.0605">urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="243" x2="511" y1="584.9063" y2="584.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="248" y="599.1167">URT_CONDVAR_WAITSTATUS_SIGNAL = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="248" y="611.9214">URT_CONDVAR_WAITSTATUS_BROADCAST = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="248" y="624.7261">URT_CONDVAR_WAITSTATUS_TIMEOUT = 0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="243" x2="511" y1="631.3203" y2="631.3203"/><!--MD5=[004fc5dee471033e8e4138c1c73f0692]

class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="99.2188" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="22" y="223.4063"/><ellipse cx="322.25" cy="239.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M323.0938,246.1563 L320.6406,246.1563 L320.6406,235.9063 L317.5,235.9063 L317.5,233.7656 L326.2344,233.7656 L326.2344,235.9063 L323.0938,235.9063 L323.0938,246.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="342.75" y="243.5605">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="23" x2="731" y1="255.4063" y2="255.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="23" x2="731" y1="263.4063" y2="263.4063"/><ellipse cx="33" cy="274.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="283" x="42" y="277.6167">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="33" cy="287.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="301" x="42" y="290.4214">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="33" cy="300.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="324" x="42" y="303.2261">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="33" cy="312.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="684" x="42" y="316.0308">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_osCondvarWaitStatus_t</text><!--MD5=[93799a03260ba286abda700174f4f205]

class urt_osTimerCallback_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="2845" y="565.4063"/><ellipse cx="2915.75" cy="581.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2916.5938,588.1563 L2914.1406,588.1563 L2914.1406,577.9063 L2911,577.9063 L2911,575.7656 L2919.7344,575.7656 L2919.7344,577.9063 L2916.5938,577.9063 L2916.5938,588.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="2936.25" y="585.5605">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2846" x2="3130" y1="597.4063" y2="597.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2846" x2="3130" y1="605.4063" y2="605.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="2851" y="619.6167">urt_osTimerCallback_t (parameter : void*) : void</text><!--MD5=[0b340d7b925b1eab6a1b7e084f68a7c2]

class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="112.0234" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="782" x="2597" y="216.9063"/><ellipse cx="2941.75" cy="232.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2942.5938,239.6563 L2940.1406,239.6563 L2940.1406,229.4063 L2937,229.4063 L2937,227.2656 L2945.7344,227.2656 L2945.7344,229.4063 L2942.5938,229.4063 L2942.5938,239.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="2962.25" y="237.0605">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2598" x2="3378" y1="248.9063" y2="248.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2598" x2="3378" y1="256.9063" y2="256.9063"/><ellipse cx="2608" cy="267.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="2617" y="271.1167">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="2608" cy="280.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="705" x="2617" y="283.9214">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="2608" cy="293.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="756" x="2617" y="296.7261">urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="2608" cy="306.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="300" x="2617" y="309.5308">urtTimerReset (timer : urt_osTimer_t*) : urt_status_t</text><ellipse cx="2608" cy="319.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="2617" y="322.3354">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--MD5=[86c16d91227b9a9ec3b6b9b0285de4e9]

class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="1089.5" y="520.9063"/><ellipse cx="1125.65" cy="536.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1126.4938,543.6563 L1124.0406,543.6563 L1124.0406,533.4063 L1120.9,533.4063 L1120.9,531.2656 L1129.6344,531.2656 L1129.6344,533.4063 L1126.4938,533.4063 L1126.4938,543.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="1144.35" y="541.0605">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1090.5" x2="1285.5" y1="552.9063" y2="552.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="1095.5" y="567.1167">URT_THREAD_PRIO_LOW_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="1095.5" y="579.9214">URT_THREAD_PRIO_LOW_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="1095.5" y="592.7261">URT_THREAD_PRIO_NORMAL_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="1095.5" y="605.5308">URT_THREAD_PRIO_NORMAL_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="1095.5" y="618.3354">URT_THREAD_PRIO_HIGH_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="1095.5" y="631.1401">URT_THREAD_PRIO_HIGH_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="1095.5" y="643.9448">URT_THREAD_PRIO_RT_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="1095.5" y="656.7495">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1090.5" x2="1285.5" y1="663.3438" y2="663.3438"/><!--MD5=[69d8aab9aa387a2f5052ea3da80e80ea]

class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="1322" y="565.4063"/><ellipse cx="1369.75" cy="581.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1370.5938,588.1563 L1368.1406,588.1563 L1368.1406,577.9063 L1365,577.9063 L1365,575.7656 L1373.7344,575.7656 L1373.7344,577.9063 L1370.5938,577.9063 L1370.5938,588.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="1390.25" y="585.5605">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1323" x2="1573" y1="597.4063" y2="597.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1323" x2="1573" y1="605.4063" y2="605.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="1328" y="619.6167">urt_osThreadFunction_t (arg : void*) : void</text><!--MD5=[ab5f611d45c3fa10609c33f780d8c3e1]

class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="1609" y="558.9063"/><ellipse cx="1630.75" cy="574.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1634.8594,580.9063 L1627.1406,580.9063 L1627.1406,568.5156 L1634.8594,568.5156 L1634.8594,570.6719 L1629.5938,570.6719 L1629.5938,573.3438 L1634.3594,573.3438 L1634.3594,575.5 L1629.5938,575.5 L1629.5938,578.75 L1634.8594,578.75 L1634.8594,580.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="1646.25" y="579.0605">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1610" x2="1850" y1="590.9063" y2="590.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="1615" y="605.1167">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="1615" y="617.9214">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1610" x2="1850" y1="624.5156" y2="624.5156"/><!--MD5=[47d14ad2c233fae1b32b8d0a283e820a]

class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="137.6328" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="1886" y="526.9063"/><ellipse cx="1930.75" cy="542.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1934.8594,548.9063 L1927.1406,548.9063 L1927.1406,536.5156 L1934.8594,536.5156 L1934.8594,538.6719 L1929.5938,538.6719 L1929.5938,541.3438 L1934.3594,541.3438 L1934.3594,543.5 L1929.5938,543.5 L1929.5938,546.75 L1934.8594,546.75 L1934.8594,548.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="1951.25" y="547.0605">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1887" x2="2111" y1="558.9063" y2="558.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="1892" y="573.1167">URT_THREAD_STATE_INACTIVE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="1892" y="585.9214">URT_THREAD_STATE_RUNNING = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="1892" y="598.7261">URT_THREAD_STATE_READY = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="1892" y="611.5308">URT_THREAD_STATE_SLEEPING = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="1892" y="624.3354">URT_THREAD_STATE_SUSPENDED = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="1892" y="637.1401">URT_THREAD_STATE_WAITING = 5</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="1892" y="649.9448">URT_THREAD_STATE_TERMINATED = 6</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1887" x2="2111" y1="656.5391" y2="656.5391"/><!--MD5=[0a16224ede9ffa9bb2d34e085a076e6d]

class urt_osThread_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="376.1172" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="560" x="1450" y="84.9063"/><ellipse cx="1678.75" cy="100.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1679.5938,107.6563 L1677.1406,107.6563 L1677.1406,97.4063 L1674,97.4063 L1674,95.2656 L1682.7344,95.2656 L1682.7344,97.4063 L1679.5938,97.4063 L1679.5938,107.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="1699.25" y="105.0605">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1451" x2="2009" y1="116.9063" y2="116.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="1456" y="131.1167">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="1456" y="143.9214">URT_THREAD_SSLEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="1456" y="156.7261">URT_THREAD_MSLEEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="1456" y="169.5308">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1451" x2="2009" y1="176.125" y2="176.125"/><ellipse cx="1461" cy="187.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="248" x="1470" y="190.3354">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1451" x2="2009" y1="196.9297" y2="196.9297"/><ellipse cx="1461" cy="207.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="534" x="1470" y="211.1401">urtThreadInit (memory : void*, size : size_t, func : urt_osThreadFunction_t*) : urt_osThread_t*</text><ellipse cx="1461" cy="220.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="490" x="1470" y="223.9448">urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void</text><ellipse cx="1461" cy="233.5391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="1470" y="236.7495">urtThreadYield (void) : void</text><ellipse cx="1461" cy="246.3438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="1470" y="249.5542">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="1461" cy="259.1484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="304" x="1470" y="262.3589">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="1461" cy="271.9531" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="294" x="1470" y="275.1636">urtThreadSuspend (thread : urt_osThread_t*) : void</text><ellipse cx="1461" cy="284.7578" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="335" x="1470" y="287.9683">urtThreadResume (thread : urt_osThread_t*) : urt_status_t</text><ellipse cx="1461" cy="297.5625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="220" x="1470" y="300.7729">urtThreadSleep (seconds : float) : void</text><ellipse cx="1461" cy="310.3672" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="1470" y="313.5776">urtThreadSSleep (seconds : urt_delay_t) : void</text><ellipse cx="1461" cy="323.1719" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="289" x="1470" y="326.3823">urtThreadMSleep (milliseconds : urt_delay_t) : void</text><ellipse cx="1461" cy="335.9766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="1470" y="339.187">urtThreadUSleep (microseconds : urt_delay_t) : void</text><ellipse cx="1461" cy="348.7813" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="1470" y="351.9917">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="1461" cy="361.5859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="1470" y="364.7964">urtThreadExit (void) : void</text><ellipse cx="1461" cy="374.3906" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="518" x="1470" y="377.6011">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="1461" cy="387.1953" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="264" x="1470" y="390.4058">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="1461" cy="400" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="387" x="1470" y="403.2104">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="1461" cy="412.8047" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="237" x="1470" y="416.0151">urtThreadGetSelf (void) : urt_osThread_t*</text><ellipse cx="1461" cy="425.6094" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="1470" y="428.8198">urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="1461" cy="438.4141" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="1470" y="441.6245">urtThreadGetSibling (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="1461" cy="451.2188" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="1470" y="454.4292">urtThreadGetParent (thread : urt_osThread_t*) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]

class urt_osEventMask_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="60.8047" id="urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.5;" width="280" x="3414" y="565.4063"/><ellipse cx="3491.25" cy="581.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3492.0938,588.1563 L3489.6406,588.1563 L3489.6406,577.9063 L3486.5,577.9063 L3486.5,575.7656 L3495.2344,575.7656 L3495.2344,577.9063 L3492.0938,577.9063 L3492.0938,588.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="3511.75" y="585.5605">urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3415" x2="3693" y1="597.4063" y2="597.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="268" x="3420" y="611.6167">URT_EVENTMASK_MAXPRIO : urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3415" x2="3693" y1="618.2109" y2="618.2109"/><!--MD5=[dc1cc33af288560680c15dec1e56eda0]

class urt_osEventFlags_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="48" id="urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="4135" y="730.9063"/><ellipse cx="4150" cy="746.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4150.8438,753.6563 L4148.3906,753.6563 L4148.3906,743.4063 L4145.25,743.4063 L4145.25,741.2656 L4153.9844,741.2656 L4153.9844,743.4063 L4150.8438,743.4063 L4150.8438,753.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="4164" y="751.0605">urt_osEventFlags_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4136" x2="4284" y1="762.9063" y2="762.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4136" x2="4284" y1="770.9063" y2="770.9063"/><!--MD5=[e2bbbd64e6979bf7b755747a6c0ba948]

class urt_osEventWait_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="86.4141" id="urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.5;" width="162" x="3766" y="552.9063"/><ellipse cx="3789.1" cy="568.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3793.2094,574.9063 L3785.4906,574.9063 L3785.4906,562.5156 L3793.2094,562.5156 L3793.2094,564.6719 L3787.9438,564.6719 L3787.9438,567.3438 L3792.7094,567.3438 L3792.7094,569.5 L3787.9438,569.5 L3787.9438,572.75 L3793.2094,572.75 L3793.2094,574.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="3804.9" y="573.0605">urt_osEventWait_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3767" x2="3927" y1="584.9063" y2="584.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="3772" y="599.1167">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="3772" y="611.9214">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="3772" y="624.7261">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3767" x2="3927" y1="631.3203" y2="631.3203"/><!--MD5=[d054ac2eda12ce4b1fe5a18c9be716c1]

class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="3963" y="552.9063"/><ellipse cx="4138.25" cy="568.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4139.0938,575.6563 L4136.6406,575.6563 L4136.6406,565.4063 L4133.5,565.4063 L4133.5,563.2656 L4142.2344,563.2656 L4142.2344,565.4063 L4139.0938,565.4063 L4139.0938,575.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="4158.75" y="573.0605">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3964" x2="4456" y1="584.9063" y2="584.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3964" x2="4456" y1="592.9063" y2="592.9063"/><ellipse cx="3974" cy="603.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="341" x="3983" y="607.1167">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="3974" cy="616.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="458" x="3983" y="619.9214">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="3974" cy="629.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="468" x="3983" y="632.7261">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]

class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="4492.5" y="558.9063"/><ellipse cx="4697.25" cy="574.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4698.0938,581.6563 L4695.6406,581.6563 L4695.6406,571.4063 L4692.5,571.4063 L4692.5,569.2656 L4701.2344,569.2656 L4701.2344,571.4063 L4698.0938,571.4063 L4698.0938,581.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="4717.75" y="579.0605">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4493.5" x2="5038.5" y1="590.9063" y2="590.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4493.5" x2="5038.5" y1="598.9063" y2="598.9063"/><ellipse cx="4503.5" cy="609.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="325" x="4512.5" y="613.1167">urtEventSourceInit (source : urt_osEventSource_t*) : v