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Makefile
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# applications. It was developed as part of the software habitat for the       #
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# Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as      #
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# well.                                                                        #
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# Copyright (C) 2018..2019  Thomas Schöpping et al.                            #
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# Copyright (C) 2018..2020  Thomas Schöpping et al.                            #
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#                                                                              #
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# This program is free software: you can redistribute it and/or modify         #
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# it under the terms of the GNU General Public License as published by         #
......
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URTWARE_INC = $(URTWARE_DIR:/=) \
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              $(URTWARE_DIR)inc
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URTWARE_SRCDIR = $(URTWARE_DIR)src
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# C sources
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URTWARE_CSRC =
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# C++ sources
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URTWARE_CPPSRC =
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README.md
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About & License
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===============
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µRtWare is a lightweight publish/subscribe middleware for real-time
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applications. It was developed as part of the software habitat for the
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Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
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Copyright (C) 2018..2020  Thomas Schöpping et al.
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(a complete list of all authors is given below)
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU Lesser General Public License as published by
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the Free Software Foundation, either version 3 of the License, or (at
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your option) any later version.
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This program is distributed in the hope that it will be useful, but
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WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public License
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along with this program.  If not, see <http://www.gnu.org/licenses/>.
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This research/work was supported by the Cluster of Excellence
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Cognitive Interaction Technology 'CITEC' (EXC 277) at Bielefeld
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University, which is funded by the German Research Foundation (DFG).
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Authors:
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-   Thomas Schöpping          <tschoepp[at]cit-ec.uni-bielefeld.de>
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-   Marc Rothmann
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References:
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[1] S. Herbrechtsmeier, T. Korthals, T. Schopping and U. Rückert, "AMiRo: A
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    modular & customizable open-source mini robot platform," 2016 20th
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    International Conference on System Theory, Control and Computing (ICSTCC),
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    Sinaia, 2016, pp. 687-692.
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--------------------------------------------------------------------------------
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Contents
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========
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--------------------------------------------------------------------------------
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TODO
README.txt
1
uRtWare is a lightweight publish/subscribe middleware for real-time
2
applications. It was developed as part of the software habitat for the
3
Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
4

  
5
Copyright (C) 2018..2019  Thomas Schöpping et al.
6
(a complete list of all authors is given below)
7

  
8
This program is free software: you can redistribute it and/or modify
9
it under the terms of the GNU Lesser General Public License as published by
10
the Free Software Foundation, either version 3 of the License, or (at
11
your option) any later version.
12

  
13
This program is distributed in the hope that it will be useful, but
14
WITHOUT ANY WARRANTY; without even the implied warranty of
15
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
17

  
18
You should have received a copy of the GNU Lesser General Public License
19
along with this program.  If not, see <http://www.gnu.org/licenses/>.
20

  
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This research/work was supported by the Cluster of Excellence
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Cognitive Interaction Technology 'CITEC' (EXC 277) at Bielefeld
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University, which is funded by the German Research Foundation (DFG).
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Authors:
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 - Thomas Schöpping          <tschoepp[at]cit-ec.uni-bielefeld.de>
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 - Marc Rothmann             <mrothmann[at]techfak.uni-bielefeld.de>
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29
References:
30
 [1] S. Herbrechtsmeier, T. Korthals, T. Schopping and U. Rückert, "AMiRo: A
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     modular & customizable open-source mini robot platform," 2016 20th
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     International Conference on System Theory, Control and Computing (ICSTCC),
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     Sinaia, 2016, pp. 687-692.
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35

  
36

  
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################################################################################
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#                                                                              #
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#        RRRRRRRR   EEEEEEEE     AAA     DDDDDDDD   MM     MM  EEEEEEEE        #
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#        RR     RR  EE          AA AA    DD     DD  MMM   MMM  EE              #
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#        RR     RR  EE         AA   AA   DD     DD  MMMM MMMM  EE              #
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#        RRRRRRRR   EEEEEE    AA     AA  DD     DD  MM MMM MM  EEEEEE          #
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#        RR   RR    EE        AAAAAAAAA  DD     DD  MM     MM  EE              #
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#        RR    RR   EE        AA     AA  DD     DD  MM     MM  EE              #
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#        RR     RR  EEEEEEEE  AA     AA  DDDDDDDD   MM     MM  EEEEEEEE        #
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#                                                                              #
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################################################################################
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TODO
doc/classdiagrams/osal.svg
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<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="797px" preserveAspectRatio="none" style="width:5573px;height:797px;" version="1.1" viewBox="0 0 5573 797" width="5573px" zoomAndPan="magnify"><defs><filter height="300%" id="fm4jpltjyo5jv" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="2749.5" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="387" x="2600.5" y="37.6611">Operating System Abstraction Layer (OSAL)</text><!--MD5=[3dab47d3fc3e186ff10f67819eb99ff8]
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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]
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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]
4
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]
5
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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
14
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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="4492.5" y="558.9063"/><ellipse cx="4697.25" cy="574.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4698.0938,581.6563 L4695.6406,581.6563 L4695.6406,571.4063 L4692.5,571.4063 L4692.5,569.2656 L4701.2344,569.2656 L4701.2344,571.4063 L4698.0938,571.4063 L4698.0938,581.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="4717.75" y="579.0605">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4493.5" x2="5038.5" y1="590.9063" y2="590.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4493.5" x2="5038.5" y1="598.9063" y2="598.9063"/><ellipse cx="4503.5" cy="609.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="325" x="4512.5" y="613.1167">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="4503.5" cy="622.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="521" x="4512.5" y="625.9214">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--MD5=[04a3b5a37031e2a4d723f19d8adf86f5]
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class urt_events--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="890" x="3414" y="229.9063"/><ellipse cx="3821.75" cy="245.9063" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3825.9844,241.6719 L3820.7031,241.6719 L3820.7031,244.3438 L3825.5,244.3438 L3825.5,246.5 L3820.7031,246.5 L3820.7031,251.9063 L3818.2656,251.9063 L3818.2656,239.5156 L3825.9844,239.5156 L3825.9844,241.6719 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="3842.25" y="250.0605">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3415" x2="4303" y1="261.9063" y2="261.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3415" x2="4303" y1="269.9063" y2="269.9063"/><ellipse cx="3425" cy="280.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="864" x="3434" y="284.1167">urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : urt_status_t</text><ellipse cx="3425" cy="293.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="567" x="3434" y="296.9214">urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : urt_status_t</text><ellipse cx="3425" cy="306.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="618" x="3434" y="309.7261">urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWait_t, timeout : urt_delay_t) : urt_osEventMask_t</text><!--MD5=[0cf29100c96c506429a28b45d347cc92]
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class urt_streams--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="209" x="5064.5" y="235.9063"/><ellipse cx="5127.25" cy="251.9063" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5131.4844,247.6719 L5126.2031,247.6719 L5126.2031,250.3438 L5131,250.3438 L5131,252.5 L5126.2031,252.5 L5126.2031,257.9063 L5123.7656,257.9063 L5123.7656,245.5156 L5131.4844,245.5156 L5131.4844,247.6719 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="5147.75" y="256.0605">urt_streams</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5065.5" x2="5272.5" y1="267.9063" y2="267.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5065.5" x2="5272.5" y1="275.9063" y2="275.9063"/><ellipse cx="5075.5" cy="286.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="166" x="5084.5" y="290.1167">urtPrintf(fmt : char*, ... ) : int</text><ellipse cx="5075.5" cy="299.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="5084.5" y="302.9214">urtErrPrintf(fmt : char*, ... ) : int</text><!--MD5=[f106a25c06a671b3918b1a8f37571a4d]
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class urt_debug--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="245" x="5308.5" y="242.4063"/><ellipse cx="5394.75" cy="258.4063" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5398.9844,254.1719 L5393.7031,254.1719 L5393.7031,256.8438 L5398.5,256.8438 L5398.5,259 L5393.7031,259 L5393.7031,264.4063 L5391.2656,264.4063 L5391.2656,252.0156 L5398.9844,252.0156 L5398.9844,254.1719 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="5415.25" y="262.5605">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5309.5" x2="5552.5" y1="274.4063" y2="274.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5309.5" x2="5552.5" y1="282.4063" y2="282.4063"/><ellipse cx="5319.5" cy="293.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="219" x="5328.5" y="296.6167">urtDebugAssert(condition : bool) : void</text><!--MD5=[7766572fa0c619a5409829048dc0b6d6]
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link urt_osCondvar_t to urt_osCondvarWaitStatus_t--><path d="M377,322.6672 C377,383.8197 377,486.8966 377,547.447 " fill="none" id="urt_osCondvar_t-&gt;urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="377,552.8109,381,543.8109,377,547.8109,373,543.8109,377,552.8109" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9b2507ea88616aeae65e3c4d63560016]
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link urt_osCondvar_t to urt_osMutex_t--><path d="M732.0347,272.9063 C741.9278,272.9063 751.8209,272.9063 761.714,272.9063 " fill="none" id="urt_osCondvar_t-&gt;urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="766.8875,272.9063,757.8875,268.9063,761.8875,272.9063,757.8875,276.9063,766.8875,272.9063" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[83094e108045c8f9585007cdb3b7cb2e]
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link urt_osTimer_t to urt_osTimerCallback_t--><path d="M2988,329.1686 C2988,395.5304 2988,503.8818 2988,559.8755 " fill="none" id="urt_osTimer_t-&gt;urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2988,565.1277,2992,556.1277,2988,560.1277,2984,556.1277,2988,565.1277" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8d8c3240b5b2b5edf6544088e583ffa5]
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link urt_osThread_t to urt_osThreadPrio_t--><path d="M1449.8194,434.1679 C1401.3213,462.7173 1351.5447,492.4252 1305,520.9063 C1300.4305,523.7024 1295.7736,526.5777 1291.0787,529.4973 " fill="none" id="urt_osThread_t-&gt;urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1286.7578,532.19,1296.5115,530.8246,1291.0012,529.5455,1292.2803,524.0352,1286.7578,532.19" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d7d1d43fd970fb07a484642bc19fcb13]
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link urt_osThread_t to urt_osThreadFunction_t--><path d="M1565.5514,461.2641 C1531.9406,499.7615 1500.1588,536.1641 1478.1366,561.3882 " fill="none" id="urt_osThread_t-&gt;urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1474.6872,565.3391,1483.6195,561.19,1477.9756,561.5725,1477.5931,555.9286,1474.6872,565.3391" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6564761b32ad7eeb5abb8896c72cfca5]
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link urt_osThread_t to urt_osThreadTerminateSignal_t--><path d="M1730,461.2641 C1730,496.0264 1730,529.0804 1730,553.7388 " fill="none" id="urt_osThread_t-&gt;urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1730,558.8707,1734,549.8707,1730,553.8707,1726,549.8707,1730,558.8707" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[92ba23225d8de8f8080583fedda5e6f8]
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link urt_osThread_t to urt_osThreadState_t--><path d="M1886.8677,461.2641 C1904.8727,482.8835 1922.3275,503.8423 1937.8923,522.5315 " fill="none" id="urt_osThread_t-&gt;urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1941.3908,526.7324,1938.705,517.2568,1938.1911,522.8902,1932.5576,522.3763,1941.3908,526.7324" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[78b286ab2177e5f7b31e6e832d821818]
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link urt_osThread_t to urt_osTime_t--><path d="M2010.1821,272.9063 C2050.3979,272.9063 2090.6136,272.9063 2130.8294,272.9063 " fill="none" id="urt_osThread_t-&gt;urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2136.2462,272.9063,2127.2462,268.9063,2131.2462,272.9063,2127.2462,276.9063,2136.2462,272.9063" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[659af6ab57e6a38ebfd5c07c5616787c]
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link urt_osEventListener_t to urt_osEventFlags_t--><path d="M4210,638.934 C4210,666.41 4210,701.3065 4210,725.6092 " fill="none" id="urt_osEventListener_t-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4210,730.6279,4214,721.6279,4210,725.6279,4206,721.6279,4210,730.6279" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[eac11679f26c499aa1c571e1f795945d]
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link urt_osEventSource_t to urt_osEventFlags_t--><path d="M4636.3444,632.9841 C4529.2675,663.605 4380.6667,706.1005 4290.1503,731.9856 " fill="none" id="urt_osEventSource_t-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4285.0794,733.4357,4294.8323,734.807,4289.8867,732.0609,4292.6328,727.1153,4285.0794,733.4357" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0259cdb10c6c32168d1d17d25519d939]
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link urt_events to urt_osEventSource_t--><path d="M3979.9114,315.9652 C4157.6614,379.2653 4486.8215,496.4855 4657.315,557.2015 " fill="none" id="urt_events-&gt;urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4662.0627,558.8922,4654.9263,552.1046,4657.3525,557.2147,4652.2423,559.6409,4662.0627,558.8922" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0ce043e0e9532fc393f3f8836f5de19a]
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link urt_events to urt_osEventListener_t--><path d="M3905.9732,316.1324 C3971.8181,376.7246 4091.0943,486.4859 4159.0272,548.9997 " fill="none" id="urt_events-&gt;urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4163.025,552.6786,4159.1111,543.6408,4159.3458,549.2928,4153.6938,549.5275,4163.025,552.6786" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[430bebba9cd89d3ba8f63b2078968bca]
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link urt_events to urt_osEventMask_t--><path d="M3818.1828,316.1324 C3757.0309,380.8933 3642.8417,501.8215 3586.7722,561.2 " fill="none" id="urt_events-&gt;urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="3583.1642,565.0209,3592.2516,561.2236,3586.5971,561.3856,3586.4351,555.731,3583.1642,565.0209" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b1b185abc2161e087cab32ae7fdb2c40]
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link urt_events to urt_osEventFlags_t--><path d="M3825.0331,315.984 C3765.7926,396.6231 3658.1579,571.8619 3749,678.9063 C3773.3308,707.5766 4004.2829,734.5873 4129.765,747.3005 " fill="none" id="urt_events-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4134.9214,747.8209,4126.3686,742.9372,4129.9467,747.3187,4125.5652,750.8968,4134.9214,747.8209" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[706a1974d1b474cbba7e7b0213f243a1]
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link urt_events to urt_osEventWait_t--><path d="M3857.3941,316.1324 C3855.1609,376.2418 3851.13,484.7399 3848.7985,547.4964 " fill="none" id="urt_events-&gt;urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="3848.606,552.6786,3852.9378,543.8335,3848.7919,547.682,3844.9433,543.5361,3848.606,552.6786" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[26a8c12142cd1c74058d9bea74481214]
1
<?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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
27
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]
28
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]
29
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]
30
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]
31
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]
32
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]
33
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]
34
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]
35
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]
36
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]
37
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]
38
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]
39
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]
40
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]
41
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]
42
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]
43
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]
44 44
@startuml
45 45

  
46 46
title **µRtWare**\nOperating System Abstraction Layer (OSAL)
......
61 61
    class urt_osTime_t <<T,00CFFF>> {
62 62
    + {method} urtTime2Us (t : urt_osTime_t*) : uint64_t
63 63
    + {method} urtTimeNow (void) : urt_osTime_t
64
    + {method} urtTimeAddUs (time : urt_osTime_t*, offset : uint32_t) : urt_osTime_t*
64
    + {method} urtTimeAddUs (time : urt_osTime_t*, offset : urt_delay_t) : void
65 65
  }
66 66
}
67 67

  
......
96 96

  
97 97
    class urt_osTimer_t <<T,00CFFF>> {
98 98
    + {method} urtTimerInit (timer : urt_osTimer_t*) : void
99
    + {method} urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t
100
    + {method} urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t
101
    + {method} urtTimerReset (timer : urt_osTimer_t*) : urt_status_t
99
    + {method} urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void
100
    + {method} urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void
101
    + {method} urtTimerReset (timer : urt_osTimer_t*) : void
102 102
    + {method} urtTimerIsArmed (timer : urt_osTimer_t*) : bool
103 103
  }
104 104
} 
......
136 136

  
137 137
    class urt_osThread_t <<T,00CFFF>> {
138 138
    URT_THREAD_SLEEP_MAX : float
139
    URT_THREAD_SSLEP_MAX : urt_delay_t
140
    URT_THREAD_MSLEEP_MAX : urt_delay_t
139
    URT_THREAD_SSLEP_MAX : unsigned int
140
    URT_THREAD_MSLEEP_MAX : unsigned int
141 141
    URT_THREAD_USLEEP_MAX : urt_delay_t
142 142
    - -
143 143
    + {method} URT_THREAD_MEMORY (varname, stacksize)
144 144
    ..
145
    + {method} urtThreadInit (memory : void*, size : size_t, func : urt_osThreadFunction_t*) : urt_osThread_t*
146
    + {method} urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void
145
    + {method} urtThreadInit (memory : void*, size : size_t, prio : urt_osThreadPrio_t, func : urt_osThreadFunction_t*, arg : void*) : urt_osThread_t*
146
    + {method} urtThreadStart (thread : urt_osThread_t*) : void
147 147
    + {method} urtThreadYield (void) : void
148 148
    + {method} urtThreadGetPriority (void) : urt_osThreadPrio_t
149 149
    + {method} urtThreadSetPriority (prio : urt_osThreadPrio_t) : void
150
    + {method} urtThreadSuspend (thread : urt_osThread_t*) : void
151
    + {method} urtThreadResume (thread : urt_osThread_t*) : urt_status_t
152 150
    + {method} urtThreadSleep (seconds : float) : void
153
    + {method} urtThreadSSleep (seconds : urt_delay_t) : void
154
    + {method} urtThreadMSleep (milliseconds : urt_delay_t) : void
151
    + {method} urtThreadSSleep (seconds : unsigned int) : void
152
    + {method} urtThreadMSleep (milliseconds : unsigned int) : void
155 153
    + {method} urtThreadUSleep (microseconds : urt_delay_t) : void
156 154
    + {method} urtThreadSleepUntil (time : urt_osTime_t) : void
157 155
    + {method} urtThreadExit (void) : void
......
191 189
  }
192 190

  
193 191
    class urt_events <<F,E0E0E0>> {
194
    + {method} urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : urt_status_t
195
    + {method} urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : urt_status_t
192
    + {method} urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : void
193
    + {method} urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : void
196 194
    + {method} urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWait_t, timeout : urt_delay_t) : urt_osEventMask_t
197 195
  }
198 196
} 
doc/classdiagrams/osal.uml
40 40
      'Retrieves the current time.
41 41
    + {method} urtTimeNow (void) : urt_osTime_t
42 42
      'Increase a system time object.
43
    + {method} urtTimeAddUs (time : urt_osTime_t*, offset : uint32_t) : urt_osTime_t*
43
    + {method} urtTimeAddUs (time : urt_osTime_t*, offset : urt_delay_t) : void
44 44
  }
45 45
}
46 46

  
......
96 96
      'Initializes an urt_osTimer_t object.
97 97
    + {method} urtTimerInit (timer : urt_osTimer_t*) : void
98 98
      'Sets the timer to a specified delay with specified callback and arguments.
99
    + {method} urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t
99
    + {method} urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void
100 100
      'Sets the timer to a specified period with specified callback and arguments.
101
    + {method} urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t
101
    + {method} urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void
102 102
      'Resets the timer.
103
    + {method} urtTimerReset (timer : urt_osTimer_t*) : urt_status_t
103
    + {method} urtTimerReset (timer : urt_osTimer_t*) : void
104 104
      'Check whether the timer is already armed.
105 105
    + {method} urtTimerIsArmed (timer : urt_osTimer_t*) : bool
106 106
  }
......
164 164
     'Maximum sleep interval in seconds (as float).
165 165
    URT_THREAD_SLEEP_MAX : float
166 166
      'Maximum sleep interval in seconds.
167
    URT_THREAD_SSLEP_MAX : urt_delay_t
167
    URT_THREAD_SSLEP_MAX : unsigned int
168 168
      'Maximum sleep interval in milliseconds.
169
    URT_THREAD_MSLEEP_MAX : urt_delay_t
169
    URT_THREAD_MSLEEP_MAX : unsigned int
170 170
      'Maximum sleep interval in microseconds.
171 171
    URT_THREAD_USLEEP_MAX : urt_delay_t
172 172
    --
......
174 174
    + {method} URT_THREAD_MEMORY (varname, stacksize)
175 175
    ..
176 176
      'Initializes an urt_osThread_t object.
177
    + {method} urtThreadInit (memory : void*, size : size_t, func : urt_osThreadFunction_t*) : urt_osThread_t*
177
    + {method} urtThreadInit (memory : void*, size : size_t, prio : urt_osThreadPrio_t, func : urt_osThreadFunction_t*, arg : void*) : urt_osThread_t*
178 178
      'Starts a thread.
179
    + {method} urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void
179
    + {method} urtThreadStart (thread : urt_osThread_t*) : void
180 180
      'The calling threads yields.
181 181
    + {method} urtThreadYield (void) : void
182 182
      'Retrieves the priority of the calling thread.
183 183
    + {method} urtThreadGetPriority (void) : urt_osThreadPrio_t
184 184
      'Sets the priority of the calling thread.
185 185
    + {method} urtThreadSetPriority (prio : urt_osThreadPrio_t) : void
186
      'Suspends a thread so it will no longer be executed.
187
    + {method} urtThreadSuspend (thread : urt_osThread_t*) : void
188
      'Wakes a suspended thread.
189
    + {method} urtThreadResume (thread : urt_osThread_t*) : urt_status_t
190 186
      'Suspends the calling thread for the specified time.
191 187
    + {method} urtThreadSleep (seconds : float) : void
192 188
      'Suspends the calling thread for the specified time.
193
    + {method} urtThreadSSleep (seconds : urt_delay_t) : void
189
    + {method} urtThreadSSleep (seconds : unsigned int) : void
194 190
      'Suspends the calling thread for the specified time.
195
    + {method} urtThreadMSleep (milliseconds : urt_delay_t) : void
191
    + {method} urtThreadMSleep (milliseconds : unsigned int) : void
196 192
      'Suspends the calling thread for the specified time.
197 193
    + {method} urtThreadUSleep (microseconds : urt_delay_t) : void
198 194
      'Suspends the calling thread until the specified time.
......
259 255
  /' Not a class/type but a set of static event-related functions. '/
260 256
  $function("urt_events") {
261 257
      'Registers a lister to a source.
262
    + {method} urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : urt_status_t
258
    + {method} urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : void
263 259
      'Unregisters a listener from a source.
264
    + {method} urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : urt_status_t
260
    + {method} urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : void
265 261
      'Blocks the thread until any event occurs or the timeout expires.
266 262
    + {method} urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWait_t, timeout : urt_delay_t) : urt_osEventMask_t
267 263
  }
doc/classdiagrams/overview.svg
1
<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="1947px" preserveAspectRatio="none" style="width:19083px;height:1947px;" version="1.1" viewBox="0 0 19083 1947" width="19083px" zoomAndPan="magnify"><defs><filter height="300%" id="f168bdpv6hwrno" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="9497" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="87" x="9498" y="37.6611">Overview</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="9544.5" y="58.6143"/><!--MD5=[915f6a2b4bff9d90dc7327d570275f1b]
2
cluster Configuration--><polygon fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" points="8875.6783,1619.8594,8885.6783,1609.8594,9181.6783,1609.8594,9181.6783,1925.8594,9171.6783,1935.8594,8875.6783,1935.8594,8875.6783,1619.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="9171.6783" x2="9180.6783" y1="1619.8594" y2="1610.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="8875.6783" x2="9171.6783" y1="1619.8594" y2="1619.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="9171.6783" x2="9171.6783" y1="1619.8594" y2="1935.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="107" x="8971.1783" y="1635.8545">Configuration</text><!--MD5=[1cb8ced355c85ab51f1ab55883ed8585]
3
cluster Primitives--><polygon fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" points="6790.6783,1281.8594,6800.6783,1271.8594,8202.6783,1271.8594,8202.6783,1849.3594,8192.6783,1859.3594,6790.6783,1859.3594,6790.6783,1281.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="8192.6783" x2="8201.6783" y1="1281.8594" y2="1272.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="6790.6783" x2="8192.6783" y1="1281.8594" y2="1281.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="8192.6783" x2="8192.6783" y1="1281.8594" y2="1859.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="77" x="7454.1783" y="1297.8545">Primitives</text><!--MD5=[ba9da179b6f0b3bb0ea21772c5f4ec75]
4
cluster OSAL--><polygon fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" points="576.6783,818.8594,586.6783,808.8594,6151.6783,808.8594,6151.6783,1814.8594,6141.6783,1824.8594,576.6783,1824.8594,576.6783,818.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="6141.6783" x2="6150.6783" y1="818.8594" y2="809.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="576.6783" x2="6141.6783" y1="818.8594" y2="818.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="6141.6783" x2="6141.6783" y1="818.8594" y2="1824.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="42" x="3339.1783" y="834.8545">OSAL</text><!--MD5=[3dab47d3fc3e186ff10f67819eb99ff8]
5
cluster time--><rect fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" height="121" style="stroke: #000000; stroke-width: 1.5;" width="442" x="5701.6783" y="985.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="34" x="5905.6783" y="1000.8545">time</text><!--MD5=[48ccbfc44b1b031f9b243763d7ad5184]
6
cluster mutex--><rect fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" height="134" style="stroke: #000000; stroke-width: 1.5;" width="314" x="4623.6783" y="979.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="49" x="4756.1783" y="994.3545">mutex</text><!--MD5=[2e45f233f6bb64aa81ebe67fb6de8946]
7
cluster condition variable--><rect fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" height="514.5" style="stroke: #000000; stroke-width: 1.5;" width="726" x="4956.6783" y="979.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="140" x="5249.6783" y="994.3545">condition variable</text><!--MD5=[c7113df1f710ca294cbd01734aa00974]
8
cluster timer--><rect fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" height="508.5" style="stroke: #000000; stroke-width: 1.5;" width="798" x="3806.6783" y="972.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="4185.1783" y="987.8545">timer</text><!--MD5=[107bb3f79455a18bd83c75ada1ac7979]
9
cluster thread--><rect fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" height="685" style="stroke: #000000; stroke-width: 1.5;" width="1039" x="2759.6783" y="840.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="3253.1783" y="855.8545">thread</text><!--MD5=[8d74b40516bd265adb19f202ab81f40d]
10
cluster events--><rect fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" height="831" style="stroke: #000000; stroke-width: 1.5;" width="1642" x="1098.6783" y="985.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="54" x="1892.6783" y="1000.8545">events</text><!--MD5=[b978ecedb6f4da3f32705dc09c84a7d6]
11
cluster streams--><rect fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" height="109" style="stroke: #000000; stroke-width: 1.5;" width="226" x="864.6783" y="991.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="64" x="945.6783" y="1006.8545">streams</text><!--MD5=[62106fc051f244acf17caf792167c8db]
12
cluster debug--><rect fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" height="96" style="stroke: #000000; stroke-width: 1.5;" width="262" x="584.6783" y="998.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="50" x="690.6783" y="1013.3545">debug</text><!--MD5=[4e1a3510868d06a507f098bb08f0dae0]
13
cluster Middleware--><polygon fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" points="8210.6783,89.3594,8220.6783,79.3594,18876.6783,79.3594,18876.6783,1519.8594,18866.6783,1529.8594,8210.6783,1529.8594,8210.6783,89.3594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="18866.6783" x2="18875.6783" y1="89.3594" y2="80.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="8210.6783" x2="18866.6783" y1="89.3594" y2="89.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="18866.6783" x2="18866.6783" y1="89.3594" y2="1529.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="91" x="13494.1783" y="105.3545">Middleware</text><!--MD5=[b9de0669a29c7bc934fd916b09c39491]
14
cluster node--><rect fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" height="579" style="stroke: #000000; stroke-width: 1.5;" width="1674" x="17194.6783" y="515.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="40" x="18011.6783" y="530.3545">node</text><!--MD5=[d74e2ef346f73688f9378f6d3d42598c]
15
cluster Publish-Subscribe System--><polygon fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" points="11859.6783,474.3594,11869.6783,464.3594,17186.6783,464.3594,17186.6783,1511.8594,17176.6783,1521.8594,11859.6783,1521.8594,11859.6783,474.3594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="17176.6783" x2="17185.6783" y1="474.3594" y2="465.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="11859.6783" x2="17176.6783" y1="474.3594" y2="474.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="17176.6783" x2="17176.6783" y1="474.3594" y2="1521.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="205" x="14416.6783" y="490.3545">Publish-Subscribe System</text><!--MD5=[16a3bbbe805f94d6e6ce317c08ab945e]
16
cluster subscriber--><rect fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" height="634.5" style="stroke: #000000; stroke-width: 1.5;" width="4063" x="13115.6783" y="496.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="85" x="15104.6783" y="511.3545">subscriber</text><!--MD5=[810d0f07e53ef611b6d803ef30301147]
17
cluster Remote Procedure Call System--><polygon fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" points="8568.6783,121.3594,8578.6783,111.3594,11851.6783,111.3594,11851.6783,790.8594,11841.6783,800.8594,8568.6783,800.8594,8568.6783,121.3594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="11841.6783" x2="11850.6783" y1="121.3594" y2="112.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="8568.6783" x2="11841.6783" y1="121.3594" y2="121.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="11841.6783" x2="11841.6783" y1="121.3594" y2="800.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="244" x="10084.1783" y="137.3545">Remote Procedure Call System</text><!--MD5=[ecaf13b018fb9788c80013f5b3634b61]
18
cluster request--><rect fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" height="621.5" style="stroke: #000000; stroke-width: 1.5;" width="2645" x="9198.6783" y="143.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="62" x="10490.1783" y="158.3545">request</text><!--MD5=[e443ac33c80100c2d54e1f5fe669f6d7]
19
class urt_config--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="286.4844" id="urt_config" style="stroke: #A80036; stroke-width: 1.5;" width="290" x="8883.6783" y="1641.8594"/><ellipse cx="8993.4283" cy="1657.8594" fill="#BFBFBF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8996.3971,1663.5 Q8995.8189,1663.7969 8995.1783,1663.9375 Q8994.5377,1664.0938 8993.8346,1664.0938 Q8991.3346,1664.0938 8990.0064,1662.4531 Q8988.6939,1660.7969 8988.6939,1657.6719 Q8988.6939,1654.5469 8990.0064,1652.8906 Q8991.3346,1651.2344 8993.8346,1651.2344 Q8994.5377,1651.2344 8995.1783,1651.3906 Q8995.8346,1651.5469 8996.3971,1651.8438 L8996.3971,1654.5625 Q8995.7721,1653.9844 8995.1783,1653.7188 Q8994.5846,1653.4375 8993.9596,1653.4375 Q8992.6158,1653.4375 8991.9283,1654.5156 Q8991.2408,1655.5781 8991.2408,1657.6719 Q8991.2408,1659.7656 8991.9283,1660.8438 Q8992.6158,1661.9063 8993.9596,1661.9063 Q8994.5846,1661.9063 8995.1783,1661.6406 Q8995.7721,1661.3594 8996.3971,1660.7813 L8996.3971,1663.5 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="62" x="9013.9283" y="1662.0137">urt_config</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8884.6783" x2="9172.6783" y1="1673.8594" y2="1673.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="159" x="8889.6783" y="1704.8745">URT_CFG_DELAY_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="8889.6783" y="1717.6792">URT_CFG_NODESTAGE_WIDTH : int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8884.6783" x2="9007.1783" y1="1688.2617" y2="1688.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="43" x="9007.1783" y="1691.5698">general</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9050.1783" x2="9172.6783" y1="1688.2617" y2="1688.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="8889.6783" y="1747.2886">URT_CFG_PUBSUB_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="222" x="8889.6783" y="1760.0933">URT_CFG_PUBSUB_TOPICID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="204" x="8889.6783" y="1772.8979">URT_CFG_PUBSUB_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="278" x="8889.6783" y="1785.7026">URT_CFG_PUBSUB_QOS_DEADLINECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="252" x="8889.6783" y="1798.5073">URT_CFG_PUBSUB_QOS_RATECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="8889.6783" y="1811.312">URT_CFG_PUBSUB_QOS_JITTERCHECKS : bool</text><line style="stroke: #A80036; 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stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8884.6783" x2="8962.1783" y1="1824.3086" y2="1824.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="133" x="8962.1783" y="1827.6167">remote procedure calls</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9095.1783" x2="9172.6783" y1="1824.3086" y2="1824.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="8889.6783" y="1921.7495">URT_CFG_DEBUG_ENABLED : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8884.6783" x2="9011.1783" y1="1905.1367" y2="1905.1367"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="35" x="9011.1783" y="1908.4448">debug</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9046.1783" x2="9172.6783" y1="1905.1367" y2="1905.1367"/><!--MD5=[9f69b6f4e23017059189983d6906a1eb]
20
class urt_nodestage_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="158.4375" id="urt_nodestage_t" style="stroke: #A80036; stroke-width: 1.5;" width="216" x="7978.6783" y="1363.8594"/><ellipse cx="8030.9283" cy="1379.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8031.7721,1386.6094 L8029.3189,1386.6094 L8029.3189,1376.3594 L8026.1783,1376.3594 L8026.1783,1374.2188 L8034.9127,1374.2188 L8034.9127,1376.3594 L8031.7721,1376.3594 L8031.7721,1386.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="103" x="8051.4283" y="1384.0137">urt_nodestage_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7979.6783" x2="8193.6783" y1="1395.8594" y2="1395.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="7984.6783" y="1426.8745">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7979.6783" x2="7986.1783" y1="1410.2617" y2="1410.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="201" x="7986.1783" y="1413.5698">URT_CFG_NODESTAGE_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8187.1783" x2="8193.6783" y1="1410.2617" y2="1410.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="7984.6783" y="1456.4839">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7979.6783" x2="7982.6783" y1="1439.8711" y2="1439.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="7982.6783" y="1443.1792">URT_CFG_NODESTAGE_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8190.6783" x2="8193.6783" y1="1439.8711" y2="1439.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="7984.6783" y="1486.0933">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7979.6783" x2="7982.6783" y1="1469.4805" y2="1469.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="7982.6783" y="1472.7886">URT_CFG_NODESTAGE_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8190.6783" x2="8193.6783" y1="1469.4805" y2="1469.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="7984.6783" y="1515.7026">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7979.6783" x2="7982.6783" y1="1499.0898" y2="1499.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="7982.6783" y="1502.3979">URT_CFG_NODESTAGE_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8190.6783" x2="8193.6783" y1="1499.0898" y2="1499.0898"/><!--MD5=[a55671f9c3a4eb2d749fd774fc81a82b]
21
class urt_topicid_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="158.4375" id="urt_topicid_t" style="stroke: #A80036; stroke-width: 1.5;" width="244" x="7065.6783" y="1363.8594"/><ellipse cx="7144.9283" cy="1379.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7145.7721,1386.6094 L7143.3189,1386.6094 L7143.3189,1376.3594 L7140.1783,1376.3594 L7140.1783,1374.2188 L7148.9127,1374.2188 L7148.9127,1376.3594 L7145.7721,1376.3594 L7145.7721,1386.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="77" x="7165.4283" y="1384.0137">urt_topicid_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7066.6783" x2="7308.6783" y1="1395.8594" y2="1395.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="7071.6783" y="1426.8745">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7066.6783" x2="7073.1783" y1="1410.2617" y2="1410.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="229" x="7073.1783" y="1413.5698">URT_CFG_PUBSUB_TOPICID_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7302.1783" x2="7308.6783" y1="1410.2617" y2="1410.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="7071.6783" y="1456.4839">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7066.6783" x2="7069.6783" y1="1439.8711" y2="1439.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="7069.6783" y="1443.1792">URT_CFG_PUBSUB_TOPICID_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7305.6783" x2="7308.6783" y1="1439.8711" y2="1439.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="7071.6783" y="1486.0933">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7066.6783" x2="7069.6783" y1="1469.4805" y2="1469.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="7069.6783" y="1472.7886">URT_CFG_PUBSUB_TOPICID_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7305.6783" x2="7308.6783" y1="1469.4805" y2="1469.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="7071.6783" y="1515.7026">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7066.6783" x2="7069.6783" y1="1499.0898" y2="1499.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="7069.6783" y="1502.3979">URT_CFG_PUBSUB_TOPICID_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7305.6783" x2="7308.6783" y1="1499.0898" y2="1499.0898"/><!--MD5=[4d8326c7af3a397210cbde406c7c860c]
22
class urt_serviceid_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="158.4375" id="urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.5;" width="232" x="6798.6783" y="1363.8594"/><ellipse cx="6865.4283" cy="1379.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6866.2721,1386.6094 L6863.8189,1386.6094 L6863.8189,1376.3594 L6860.6783,1376.3594 L6860.6783,1374.2188 L6869.4127,1374.2188 L6869.4127,1376.3594 L6866.2721,1376.3594 L6866.2721,1386.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="90" x="6885.9283" y="1384.0137">urt_serviceid_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6799.6783" x2="7029.6783" y1="1395.8594" y2="1395.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="6804.6783" y="1426.8745">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6799.6783" x2="6806.1783" y1="1410.2617" y2="1410.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="6806.1783" y="1413.5698">URT_CFG_RPC_SERVICEID_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7023.1783" x2="7029.6783" y1="1410.2617" y2="1410.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6804.6783" y="1456.4839">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6799.6783" x2="6802.6783" y1="1439.8711" y2="1439.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="6802.6783" y="1443.1792">URT_CFG_RPC_SERVICEID_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7026.6783" x2="7029.6783" y1="1439.8711" y2="1439.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6804.6783" y="1486.0933">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6799.6783" x2="6802.6783" y1="1469.4805" y2="1469.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="6802.6783" y="1472.7886">URT_CFG_RPC_SERVICEID_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7026.6783" x2="7029.6783" y1="1469.4805" y2="1469.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6804.6783" y="1515.7026">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6799.6783" x2="6802.6783" y1="1499.0898" y2="1499.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="6802.6783" y="1502.3979">URT_CFG_RPC_SERVICEID_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7026.6783" x2="7029.6783" y1="1499.0898" y2="1499.0898"/><!--MD5=[e750dab3ce4ebe0433cc930181355272]
23
class urt_status_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="278.4844" id="urt_status_t" style="stroke: #A80036; stroke-width: 1.5;" width="229" x="7345.1783" y="1303.8594"/><ellipse cx="7417.9283" cy="1319.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7422.0377,1325.8594 L7414.3189,1325.8594 L7414.3189,1313.4688 L7422.0377,1313.4688 L7422.0377,1315.625 L7416.7721,1315.625 L7416.7721,1318.2969 L7421.5377,1318.2969 L7421.5377,1320.4531 L7416.7721,1320.4531 L7416.7721,1323.7031 L7422.0377,1323.7031 L7422.0377,1325.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="7438.4283" y="1324.0137">urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7346.1783" x2="7573.1783" y1="1335.8594" y2="1335.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="119" x="7351.1783" y="1350.0698">URT_STATUS_OK = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="7351.1783" y="1362.8745">URT_STATUS_DEADLINEVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="7351.1783" y="1375.6792">URT_STATUS_JITTERVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="166" x="7351.1783" y="1388.4839">URT_STATUS_RATEVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="166" x="7351.1783" y="1401.2886">URT_STATUS_SYNC_PENDING</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="7351.1783" y="1414.0933">URT_STATUS_SYNC_ERROR</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="200" x="7351.1783" y="1426.8979">URT_STATUS_NODE_INVALEVTMASK</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="7351.1783" y="1456.5073">URT_STATUS_TOPIC_DUPLICATE</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="7351.1783" y="1469.312">URT_STATUS_PUBLISH_TIMEOUT</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="206" x="7351.1783" y="1482.1167">URT_STATUS_SUBSCRIBE_TOPICSET</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="7351.1783" y="1494.9214">URT_STATUS_FETCH_NOTOPIC</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="7351.1783" y="1507.7261">URT_STATUS_FETCH_NOMESSAGE</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="7351.1783" y="1520.5308">URT_STATUS_UNSUBSCRIBE_NOTOPIC</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7346.1783" x2="7354.6783" y1="1439.8945" y2="1439.8945"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7354.6783" y="1443.2026">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7564.6783" x2="7573.1783" y1="1439.8945" y2="1439.8945"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="7351.1783" y="1550.1401">URT_STATUS_SERVICE_DUPLICATE</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="201" x="7351.1783" y="1562.9448">URT_STATUS_REQUEST_BADOWNER</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="7351.1783" y="1575.7495">URT_STATUS_REQUEST_LOCKED</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7346.1783" x2="7367.1783" y1="1533.5273" y2="1533.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="7367.1783" y="1536.8354">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7552.1783" x2="7573.1783" y1="1533.5273" y2="1533.5273"/><!--MD5=[15452fea434e71f16c7de0feaca2b066]
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class urt_delay_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="132.8281" id="urt_delay_t" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="6799.1783" y="1718.3594"/><ellipse cx="6851.4283" cy="1734.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6852.2721,1741.1094 L6849.8189,1741.1094 L6849.8189,1730.8594 L6846.6783,1730.8594 L6846.6783,1728.7188 L6855.4127,1728.7188 L6855.4127,1730.8594 L6852.2721,1730.8594 L6852.2721,1741.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="68" x="6871.9283" y="1738.5137">urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6800.1783" x2="6979.1783" y1="1750.3594" y2="1750.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6805.1783" y="1781.3745">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6800.1783" x2="6803.1783" y1="1764.7617" y2="1764.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="6803.1783" y="1768.0698">URT_CFG_DELAY_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6976.1783" x2="6979.1783" y1="1764.7617" y2="1764.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6805.1783" y="1810.9839">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6800.1783" x2="6803.1783" y1="1794.3711" y2="1794.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="6803.1783" y="1797.6792">URT_CFG_DELAY_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6976.1783" x2="6979.1783" y1="1794.3711" y2="1794.3711"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6800.1783" x2="6979.1783" y1="1817.5781" y2="1817.5781"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="6805.1783" y="1831.7886">URT_DELAY_IMMEDIATE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="6805.1783" y="1844.5933">URT_DELAY_INFINITE = 0xF..F</text><!--MD5=[81e47bc16a7baa7cb65c7bc48dd317d5]
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class urt_usefulness_f--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="60.8047" id="urt_usefulness_f" style="stroke: #A80036; stroke-width: 1.5;" width="334" x="7609.6783" y="1412.3594"/><ellipse cx="7721.4283" cy="1428.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7725.6627,1424.125 L7720.3814,1424.125 L7720.3814,1426.7969 L7725.1783,1426.7969 L7725.1783,1428.9531 L7720.3814,1428.9531 L7720.3814,1434.3594 L7717.9439,1434.3594 L7717.9439,1421.9688 L7725.6627,1421.9688 L7725.6627,1424.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="7741.9283" y="1432.5137">urt_usefulness_f</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7610.6783" x2="7942.6783" y1="1444.3594" y2="1444.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7610.6783" x2="7942.6783" y1="1452.3594" y2="1452.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="322" x="7615.6783" y="1466.5698">urt_usefulness_f (dt : urt_delay_t, params : void*) : float</text><!--MD5=[3677786d1f00795918091b0110bfa4af]
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class urt_osTime_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="425" x="5710.1783" y="1012.8594"/><ellipse cx="5878.9283" cy="1028.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5879.7721,1035.6094 L5877.3189,1035.6094 L5877.3189,1025.3594 L5874.1783,1025.3594 L5874.1783,1023.2188 L5882.9127,1023.2188 L5882.9127,1025.3594 L5879.7721,1025.3594 L5879.7721,1035.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="5899.4283" y="1033.0137">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5711.1783" x2="6134.1783" y1="1044.8594" y2="1044.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5711.1783" x2="6134.1783" y1="1052.8594" y2="1052.8594"/><ellipse cx="5721.1783" cy="1063.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="231" x="5730.1783" y="1067.0698">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="5721.1783" cy="1076.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="5730.1783" y="1079.8745">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="5721.1783" cy="1089.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="399" x="5730.1783" y="1092.6792">urtTimeAddUs (time : urt_osTime_t*, offset : uint32_t) : urt_osTime_t*</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]
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class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="4631.6783" y="1006.3594"/><ellipse cx="4732.9283" cy="1022.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4733.7721,1029.1094 L4731.3189,1029.1094 L4731.3189,1018.8594 L4728.1783,1018.8594 L4728.1783,1016.7188 L4736.9127,1016.7188 L4736.9127,1018.8594 L4733.7721,1018.8594 L4733.7721,1029.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="4753.4283" y="1026.5137">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4632.6783" x2="4928.6783" y1="1038.3594" y2="1038.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4632.6783" x2="4928.6783" y1="1046.3594" y2="1046.3594"/><ellipse cx="4642.6783" cy="1057.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="245" x="4651.6783" y="1060.5698">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="4642.6783" cy="1070.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="253" x="4651.6783" y="1073.3745">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="4642.6783" cy="1082.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="4651.6783" y="1086.1792">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="4642.6783" cy="1095.7734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="4651.6783" y="1098.9839">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--MD5=[52fa11869cb40c93fa7702378ddd839e]
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class urt_osCondvarWaitStatus_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="86.4141" id="urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="5184.6783" y="1399.8594"/><ellipse cx="5230.9283" cy="1415.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5235.0377,1421.8594 L5227.3189,1421.8594 L5227.3189,1409.4688 L5235.0377,1409.4688 L5235.0377,1411.625 L5229.7721,1411.625 L5229.7721,1414.2969 L5234.5377,1414.2969 L5234.5377,1416.4531 L5229.7721,1416.4531 L5229.7721,1419.7031 L5235.0377,1419.7031 L5235.0377,1421.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="169" x="5251.4283" y="1420.0137">urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5185.6783" x2="5453.6783" y1="1431.8594" y2="1431.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="5190.6783" y="1446.0698">URT_CONDVAR_WAITSTATUS_SIGNAL = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="5190.6783" y="1458.8745">URT_CONDVAR_WAITSTATUS_BROADCAST = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="5190.6783" y="1471.6792">URT_CONDVAR_WAITSTATUS_TIMEOUT = 0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5185.6783" x2="5453.6783" y1="1478.2734" y2="1478.2734"/><!--MD5=[004fc5dee471033e8e4138c1c73f0692]
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class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="99.2188" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="4964.6783" y="1006.3594"/><ellipse cx="5264.9283" cy="1022.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5265.7721,1029.1094 L5263.3189,1029.1094 L5263.3189,1018.8594 L5260.1783,1018.8594 L5260.1783,1016.7188 L5268.9127,1016.7188 L5268.9127,1018.8594 L5265.7721,1018.8594 L5265.7721,1029.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="5285.4283" y="1026.5137">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4965.6783" x2="5673.6783" y1="1038.3594" y2="1038.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4965.6783" x2="5673.6783" y1="1046.3594" y2="1046.3594"/><ellipse cx="4975.6783" cy="1057.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="283" x="4984.6783" y="1060.5698">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4975.6783" cy="1070.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="301" x="4984.6783" y="1073.3745">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4975.6783" cy="1082.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="324" x="4984.6783" y="1086.1792">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4975.6783" cy="1095.7734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="684" x="4984.6783" y="1098.9839">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_osCondvarWaitStatus_t</text><!--MD5=[93799a03260ba286abda700174f4f205]
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class urt_osTimerCallback_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="4062.6783" y="1412.3594"/><ellipse cx="4133.4283" cy="1428.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4134.2721,1435.1094 L4131.8189,1435.1094 L4131.8189,1424.8594 L4128.6783,1424.8594 L4128.6783,1422.7188 L4137.4127,1422.7188 L4137.4127,1424.8594 L4134.2721,1424.8594 L4134.2721,1435.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="4153.9283" y="1432.5137">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4063.6783" x2="4347.6783" y1="1444.3594" y2="1444.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4063.6783" x2="4347.6783" y1="1452.3594" y2="1452.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="4068.6783" y="1466.5698">urt_osTimerCallback_t (parameter : void*) : void</text><!--MD5=[0b340d7b925b1eab6a1b7e084f68a7c2]
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class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="112.0234" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="782" x="3814.6783" y="999.8594"/><ellipse cx="4159.4283" cy="1015.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4160.2721,1022.6094 L4157.8189,1022.6094 L4157.8189,1012.3594 L4154.6783,1012.3594 L4154.6783,1010.2188 L4163.4127,1010.2188 L4163.4127,1012.3594 L4160.2721,1012.3594 L4160.2721,1022.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="4179.9283" y="1020.0137">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3815.6783" x2="4595.6783" y1="1031.8594" y2="1031.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3815.6783" x2="4595.6783" y1="1039.8594" y2="1039.8594"/><ellipse cx="3825.6783" cy="1050.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="3834.6783" y="1054.0698">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="3825.6783" cy="1063.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="705" x="3834.6783" y="1066.8745">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="3825.6783" cy="1076.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="756" x="3834.6783" y="1079.6792">urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="3825.6783" cy="1089.2734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="300" x="3834.6783" y="1092.4839">urtTimerReset (timer : urt_osTimer_t*) : urt_status_t</text><ellipse cx="3825.6783" cy="1102.0781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3834.6783" y="1105.2886">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--MD5=[86c16d91227b9a9ec3b6b9b0285de4e9]
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class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="3316.1783" y="1367.8594"/><ellipse cx="3352.3283" cy="1383.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3353.1721,1390.6094 L3350.7189,1390.6094 L3350.7189,1380.3594 L3347.5783,1380.3594 L3347.5783,1378.2188 L3356.3127,1378.2188 L3356.3127,1380.3594 L3353.1721,1380.3594 L3353.1721,1390.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="3371.0283" y="1388.0137">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3317.1783" x2="3512.1783" y1="1399.8594" y2="1399.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="3322.1783" y="1414.0698">URT_THREAD_PRIO_LOW_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="3322.1783" y="1426.8745">URT_THREAD_PRIO_LOW_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="3322.1783" y="1439.6792">URT_THREAD_PRIO_NORMAL_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="3322.1783" y="1452.4839">URT_THREAD_PRIO_NORMAL_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="3322.1783" y="1465.2886">URT_THREAD_PRIO_HIGH_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="3322.1783" y="1478.0933">URT_THREAD_PRIO_HIGH_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="3322.1783" y="1490.8979">URT_THREAD_PRIO_RT_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="3322.1783" y="1503.7026">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3317.1783" x2="3512.1783" y1="1510.2969" y2="1510.2969"/><!--MD5=[69d8aab9aa387a2f5052ea3da80e80ea]
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class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="2767.6783" y="1412.3594"/><ellipse cx="2815.4283" cy="1428.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2816.2721,1435.1094 L2813.8189,1435.1094 L2813.8189,1424.8594 L2810.6783,1424.8594 L2810.6783,1422.7188 L2819.4127,1422.7188 L2819.4127,1424.8594 L2816.2721,1424.8594 L2816.2721,1435.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="2835.9283" y="1432.5137">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2768.6783" x2="3018.6783" y1="1444.3594" y2="1444.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2768.6783" x2="3018.6783" y1="1452.3594" y2="1452.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="2773.6783" y="1466.5698">urt_osThreadFunction_t (arg : void*) : void</text><!--MD5=[ab5f611d45c3fa10609c33f780d8c3e1]
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class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="3548.6783" y="1405.8594"/><ellipse cx="3570.4283" cy="1421.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3574.5377,1427.8594 L3566.8189,1427.8594 L3566.8189,1415.4688 L3574.5377,1415.4688 L3574.5377,1417.625 L3569.2721,1417.625 L3569.2721,1420.2969 L3574.0377,1420.2969 L3574.0377,1422.4531 L3569.2721,1422.4531 L3569.2721,1425.7031 L3574.5377,1425.7031 L3574.5377,1427.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="3585.9283" y="1426.0137">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3549.6783" x2="3789.6783" y1="1437.8594" y2="1437.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="3554.6783" y="1452.0698">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="3554.6783" y="1464.8745">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3549.6783" x2="3789.6783" y1="1471.4688" y2="1471.4688"/><!--MD5=[47d14ad2c233fae1b32b8d0a283e820a]
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class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="137.6328" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="3054.6783" y="1373.8594"/><ellipse cx="3099.4283" cy="1389.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3103.5377,1395.8594 L3095.8189,1395.8594 L3095.8189,1383.4688 L3103.5377,1383.4688 L3103.5377,1385.625 L3098.2721,1385.625 L3098.2721,1388.2969 L3103.0377,1388.2969 L3103.0377,1390.4531 L3098.2721,1390.4531 L3098.2721,1393.7031 L3103.5377,1393.7031 L3103.5377,1395.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="3119.9283" y="1394.0137">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3055.6783" x2="3279.6783" y1="1405.8594" y2="1405.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="3060.6783" y="1420.0698">URT_THREAD_STATE_INACTIVE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="3060.6783" y="1432.8745">URT_THREAD_STATE_RUNNING = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="3060.6783" y="1445.6792">URT_THREAD_STATE_READY = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="3060.6783" y="1458.4839">URT_THREAD_STATE_SLEEPING = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="3060.6783" y="1471.2886">URT_THREAD_STATE_SUSPENDED = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="3060.6783" y="1484.0933">URT_THREAD_STATE_WAITING = 5</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="3060.6783" y="1496.8979">URT_THREAD_STATE_TERMINATED = 6</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3055.6783" x2="3279.6783" y1="1503.4922" y2="1503.4922"/><!--MD5=[0a16224ede9ffa9bb2d34e085a076e6d]
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class urt_osThread_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="376.1172" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="560" x="3219.6783" y="867.8594"/><ellipse cx="3448.4283" cy="883.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3449.2721,890.6094 L3446.8189,890.6094 L3446.8189,880.3594 L3443.6783,880.3594 L3443.6783,878.2188 L3452.4127,878.2188 L3452.4127,880.3594 L3449.2721,880.3594 L3449.2721,890.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="3468.9283" y="888.0137">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3220.6783" x2="3778.6783" y1="899.8594" y2="899.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="3225.6783" y="914.0698">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="3225.6783" y="926.8745">URT_THREAD_SSLEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="3225.6783" y="939.6792">URT_THREAD_MSLEEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="3225.6783" y="952.4839">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="3220.6783" x2="3778.6783" y1="959.0781" y2="959.0781"/><ellipse cx="3230.6783" cy="970.0781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="248" x="3239.6783" y="973.2886">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3220.6783" x2="3778.6783" y1="979.8828" y2="979.8828"/><ellipse cx="3230.6783" cy="990.8828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="534" x="3239.6783" y="994.0933">urtThreadInit (memory : void*, size : size_t, func : urt_osThreadFunction_t*) : urt_osThread_t*</text><ellipse cx="3230.6783" cy="1003.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="490" x="3239.6783" y="1006.8979">urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void</text><ellipse cx="3230.6783" cy="1016.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="3239.6783" y="1019.7026">urtThreadYield (void) : void</text><ellipse cx="3230.6783" cy="1029.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3239.6783" y="1032.5073">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="3230.6783" cy="1042.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="304" x="3239.6783" y="1045.312">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="3230.6783" cy="1054.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="294" x="3239.6783" y="1058.1167">urtThreadSuspend (thread : urt_osThread_t*) : void</text><ellipse cx="3230.6783" cy="1067.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="335" x="3239.6783" y="1070.9214">urtThreadResume (thread : urt_osThread_t*) : urt_status_t</text><ellipse cx="3230.6783" cy="1080.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="220" x="3239.6783" y="1083.7261">urtThreadSleep (seconds : float) : void</text><ellipse cx="3230.6783" cy="1093.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="3239.6783" y="1096.5308">urtThreadSSleep (seconds : urt_delay_t) : void</text><ellipse cx="3230.6783" cy="1106.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="289" x="3239.6783" y="1109.3354">urtThreadMSleep (milliseconds : urt_delay_t) : void</text><ellipse cx="3230.6783" cy="1118.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="3239.6783" y="1122.1401">urtThreadUSleep (microseconds : urt_delay_t) : void</text><ellipse cx="3230.6783" cy="1131.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3239.6783" y="1134.9448">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="3230.6783" cy="1144.5391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="3239.6783" y="1147.7495">urtThreadExit (void) : void</text><ellipse cx="3230.6783" cy="1157.3438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="518" x="3239.6783" y="1160.5542">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="3230.6783" cy="1170.1484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="264" x="3239.6783" y="1173.3589">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="3230.6783" cy="1182.9531" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="387" x="3239.6783" y="1186.1636">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="3230.6783" cy="1195.7578" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="237" x="3239.6783" y="1198.9683">urtThreadGetSelf (void) : urt_osThread_t*</text><ellipse cx="3230.6783" cy="1208.5625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="3239.6783" y="1211.7729">urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="3230.6783" cy="1221.3672" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="3239.6783" y="1224.5776">urtThreadGetSibling (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="3230.6783" cy="1234.1719" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="3239.6783" y="1237.3823">urtThreadGetParent (thread : urt_osThread_t*) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]
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class urt_osEventMask_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="60.8047" id="urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.5;" width="280" x="2452.6783" y="1412.3594"/><ellipse cx="2529.9283" cy="1428.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2530.7721,1435.1094 L2528.3189,1435.1094 L2528.3189,1424.8594 L2525.1783,1424.8594 L2525.1783,1422.7188 L2533.9127,1422.7188 L2533.9127,1424.8594 L2530.7721,1424.8594 L2530.7721,1435.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="2550.4283" y="1432.5137">urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2453.6783" x2="2731.6783" y1="1444.3594" y2="1444.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="268" x="2458.6783" y="1458.5698">URT_EVENTMASK_MAXPRIO : urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2453.6783" x2="2731.6783" y1="1465.1641" y2="1465.1641"/><!--MD5=[dc1cc33af288560680c15dec1e56eda0]
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class urt_osEventFlags_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="48" id="urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="1861.6783" y="1760.8594"/><ellipse cx="1876.6783" cy="1776.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1877.5221,1783.6094 L1875.0689,1783.6094 L1875.0689,1773.3594 L1871.9283,1773.3594 L1871.9283,1771.2188 L1880.6627,1771.2188 L1880.6627,1773.3594 L1877.5221,1773.3594 L1877.5221,1783.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="1890.6783" y="1781.0137">urt_osEventFlags_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1862.6783" x2="2010.6783" y1="1792.8594" y2="1792.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1862.6783" x2="2010.6783" y1="1800.8594" y2="1800.8594"/><!--MD5=[e2bbbd64e6979bf7b755747a6c0ba948]
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class urt_osEventWait_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="86.4141" id="urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.5;" width="162" x="2218.6783" y="1399.8594"/><ellipse cx="2241.7783" cy="1415.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2245.8877,1421.8594 L2238.1689,1421.8594 L2238.1689,1409.4688 L2245.8877,1409.4688 L2245.8877,1411.625 L2240.6221,1411.625 L2240.6221,1414.2969 L2245.3877,1414.2969 L2245.3877,1416.4531 L2240.6221,1416.4531 L2240.6221,1419.7031 L2245.8877,1419.7031 L2245.8877,1421.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="2257.5783" y="1420.0137">urt_osEventWait_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2219.6783" x2="2379.6783" y1="1431.8594" y2="1431.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="2224.6783" y="1446.0698">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="2224.6783" y="1458.8745">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="2224.6783" y="1471.6792">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2219.6783" x2="2379.6783" y1="1478.2734" y2="1478.2734"/><!--MD5=[d054ac2eda12ce4b1fe5a18c9be716c1]
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class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="1689.6783" y="1399.8594"/><ellipse cx="1864.9283" cy="1415.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1865.7721,1422.6094 L1863.3189,1422.6094 L1863.3189,1412.3594 L1860.1783,1412.3594 L1860.1783,1410.2188 L1868.9127,1410.2188 L1868.9127,1412.3594 L1865.7721,1412.3594 L1865.7721,1422.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="1885.4283" y="1420.0137">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1690.6783" x2="2182.6783" y1="1431.8594" y2="1431.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1690.6783" x2="2182.6783" y1="1439.8594" y2="1439.8594"/><ellipse cx="1700.6783" cy="1450.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="341" x="1709.6783" y="1454.0698">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="1700.6783" cy="1463.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="458" x="1709.6783" y="1466.8745">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="1700.6783" cy="1476.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="468" x="1709.6783" y="1479.6792">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]
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class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="1107.1783" y="1405.8594"/><ellipse cx="1311.9283" cy="1421.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1312.7721,1428.6094 L1310.3189,1428.6094 L1310.3189,1418.3594 L1307.1783,1418.3594 L1307.1783,1416.2188 L1315.9127,1416.2188 L1315.9127,1418.3594 L1312.7721,1418.3594 L1312.7721,1428.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="1332.4283" y="1426.0137">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1108.1783" x2="1653.1783" y1="1437.8594" y2="1437.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1108.1783" x2="1653.1783" y1="1445.8594" y2="1445.8594"/><ellipse cx="1118.1783" cy="1456.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="325" x="1127.1783" y="1460.0698">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="1118.1783" cy="1469.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="521" x="1127.1783" y="1472.8745">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--MD5=[04a3b5a37031e2a4d723f19d8adf86f5]
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class urt_events--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="890" x="1842.6783" y="1012.8594"/><ellipse cx="2250.4283" cy="1028.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2254.6627,1024.625 L2249.3814,1024.625 L2249.3814,1027.2969 L2254.1783,1027.2969 L2254.1783,1029.4531 L2249.3814,1029.4531 L2249.3814,1034.8594 L2246.9439,1034.8594 L2246.9439,1022.4688 L2254.6627,1022.4688 L2254.6627,1024.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="2270.9283" y="1033.0137">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1843.6783" x2="2731.6783" y1="1044.8594" y2="1044.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1843.6783" x2="2731.6783" y1="1052.8594" y2="1052.8594"/><ellipse cx="1853.6783" cy="1063.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="864" x="1862.6783" y="1067.0698">urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : urt_status_t</text><ellipse cx="1853.6783" cy="1076.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="567" x="1862.6783" y="1079.8745">urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : urt_status_t</text><ellipse cx="1853.6783" cy="1089.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="618" x="1862.6783" y="1092.6792">urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWait_t, timeout : urt_delay_t) : urt_osEventMask_t</text><!--MD5=[0cf29100c96c506429a28b45d347cc92]
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class urt_streams--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="209" x="873.1783" y="1018.8594"/><ellipse cx="935.9283" cy="1034.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M940.1627,1030.625 L934.8814,1030.625 L934.8814,1033.2969 L939.6783,1033.2969 L939.6783,1035.4531 L934.8814,1035.4531 L934.8814,1040.8594 L932.4439,1040.8594 L932.4439,1028.4688 L940.1627,1028.4688 L940.1627,1030.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="956.4283" y="1039.0137">urt_streams</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="874.1783" x2="1081.1783" y1="1050.8594" y2="1050.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="874.1783" x2="1081.1783" y1="1058.8594" y2="1058.8594"/><ellipse cx="884.1783" cy="1069.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="166" x="893.1783" y="1073.0698">urtPrintf(fmt : char*, ... ) : int</text><ellipse cx="884.1783" cy="1082.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="893.1783" y="1085.8745">urtErrPrintf(fmt : char*, ... ) : int</text><!--MD5=[f106a25c06a671b3918b1a8f37571a4d]
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class urt_debug--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="245" x="593.1783" y="1025.3594"/><ellipse cx="679.4283" cy="1041.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M683.6627,1037.125 L678.3814,1037.125 L678.3814,1039.7969 L683.1783,1039.7969 L683.1783,1041.9531 L678.3814,1041.9531 L678.3814,1047.3594 L675.9439,1047.3594 L675.9439,1034.9688 L683.6627,1034.9688 L683.6627,1037.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="699.9283" y="1045.5137">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="594.1783" x2="837.1783" y1="1057.3594" y2="1057.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="594.1783" x2="837.1783" y1="1065.3594" y2="1065.3594"/><ellipse cx="604.1783" cy="1076.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="219" x="613.1783" y="1079.5698">urtDebugAssert(condition : bool) : void</text><!--MD5=[89d25e87afdd75480e1ec2bd05524873]
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class urt_core_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="281.6797" id="urt_core_t" style="stroke: #A80036; stroke-width: 1.5;" width="343" x="8218.1783" y="172.3594"/><ellipse cx="8353.9283" cy="188.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8353.4127,188.9219 Q8351.5533,188.2188 8350.8971,187.4531 Q8350.2564,186.6719 8350.2564,185.3594 Q8350.2564,183.6719 8351.3346,182.7031 Q8352.4127,181.7344 8354.2877,181.7344 Q8355.1471,181.7344 8355.9908,181.9375 Q8356.8502,182.125 8357.6939,182.5156 L8357.6939,184.9063 Q8356.9127,184.3438 8356.0846,184.0625 Q8355.2721,183.7656 8354.4752,183.7656 Q8353.6002,183.7656 8353.1158,184.125 Q8352.6471,184.4844 8352.6471,185.1406 Q8352.6471,185.6563 8352.9908,186 Q8353.3346,186.3281 8354.4283,186.7344 L8355.4908,187.1406 Q8356.9752,187.6875 8357.6783,188.5938 Q8358.3971,189.5 8358.3971,190.875 Q8358.3971,192.75 8357.2877,193.6719 Q8356.1783,194.5938 8353.9283,194.5938 Q8353.0064,194.5938 8352.0846,194.375 Q8351.1627,194.1563 8350.3033,193.7344 L8350.3033,191.2031 Q8351.2721,191.8906 8352.1939,192.2344 Q8353.1158,192.5781 8354.0064,192.5781 Q8354.9127,192.5781 8355.4127,192.1719 Q8355.9127,191.75 8355.9127,191.0156 Q8355.9127,190.4531 8355.5689,190.0469 Q8355.2408,189.625 8354.6158,189.375 L8353.4127,188.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="63" x="8374.4283" y="192.5137">urt_core_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8219.1783" x2="8560.1783" y1="204.3594" y2="204.3594"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="8226.1783" y="212.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="8238.1783" y="218.5698">_nodes : urt_node_t*</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="8226.1783" y="225.1641"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="192" x="8238.1783" y="231.3745">_evtSource : urt_osEventSource_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="8226.1783" y="237.9688"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="8238.1783" y="244.1792">_lock : urt_osMutex_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="8226.1783" y="250.7734"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="122" x="8238.1783" y="256.9839">_status : urt_status_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="8226.1783" y="280.3828"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="117" x="8238.1783" y="286.5933">_topics : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8219.1783" x2="8284.6783" y1="269.9805" y2="269.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="8284.6783" y="273.2886">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8494.6783" x2="8560.1783" y1="269.9805" y2="269.9805"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="8226.1783" y="309.9922"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="145" x="8238.1783" y="316.2026">_services : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8219.1783" x2="8297.1783" y1="299.5898" y2="299.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="8297.1783" y="302.8979">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8482.1783" x2="8560.1783" y1="299.5898" y2="299.5898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8219.1783" x2="8560.1783" y1="322.7969" y2="322.7969"/><ellipse cx="8229.1783" cy="333.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="130" x="8238.1783" y="337.0073">urtCoreInit (void) : void</text><ellipse cx="8229.1783" cy="346.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="215" x="8238.1783" y="349.812">urtCoreGetStatus (void) : urt_status_t</text><ellipse cx="8229.1783" cy="359.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="177" x="8238.1783" y="362.6167">urtCoreStartNodes (void) : void</text><ellipse cx="8229.1783" cy="372.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="309" x="8238.1783" y="375.4214">urtCoreSynchronize (node : urt_node_t*) : urt_status_t</text><ellipse cx="8229.1783" cy="385.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="317" x="8238.1783" y="388.2261">urtCoreStopNodes (reason : urt_status_t) : urt_status_t</text><ellipse cx="8229.1783" cy="414.625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="273" x="8238.1783" y="417.8354">urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8219.1783" x2="8284.6783" y1="401.2227" y2="401.2227"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="8284.6783" y="404.5308">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8494.6783" x2="8560.1783" y1="401.2227" y2="401.2227"/><ellipse cx="8229.1783" cy="444.2344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="313" x="8238.1783" y="447.4448">urtCoreGetService (id : urt_serviceid_t) : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8219.1783" x2="8297.1783" y1="430.832" y2="430.832"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="8297.1783" y="434.1401">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8482.1783" x2="8560.1783" y1="430.832" y2="430.832"/><!--MD5=[a7dea26996a1231aa68629b332780450]
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class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="17851.6783" y="1025.3594"/><ellipse cx="17997.4283" cy="1041.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17998.2721,1048.1094 L17995.8189,1048.1094 L17995.8189,1037.8594 L17992.6783,1037.8594 L17992.6783,1035.7188 L18001.4127,1035.7188 L18001.4127,1037.8594 L17998.2721,1037.8594 L17998.2721,1048.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="18017.9283" y="1045.5137">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="17852.6783" x2="18306.6783" y1="1057.3594" y2="1057.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="17852.6783" x2="18306.6783" y1="1065.3594" y2="1065.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="17857.6783" y="1079.5698">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]
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class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="17202.6783" y="1025.3594"/><ellipse cx="17430.9283" cy="1041.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17431.7721,1048.1094 L17429.3189,1048.1094 L17429.3189,1037.8594 L17426.1783,1037.8594 L17426.1783,1035.7188 L17434.9127,1035.7188 L17434.9127,1037.8594 L17431.7721,1037.8594 L17431.7721,1048.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="17451.4283" y="1045.5137">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="17203.6783" x2="17815.6783" y1="1057.3594" y2="1057.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="17203.6783" x2="17815.6783" y1="1065.3594" y2="1065.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="17208.6783" y="1079.5698">urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t</text><!--MD5=[843db13320bebc2ca47f25c6a57c2ae5]
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class urt_nodeShutdownCallback_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="60.8047" id="urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="518" x="18342.6783" y="1025.3594"/><ellipse cx="18506.9283" cy="1041.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M18507.7721,1048.1094 L18505.3189,1048.1094 L18505.3189,1037.8594 L18502.1783,1037.8594 L18502.1783,1035.7188 L18510.9127,1035.7188 L18510.9127,1037.8594 L18507.7721,1037.8594 L18507.7721,1048.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="181" x="18527.4283" y="1045.5137">urt_nodeShutdownCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="18343.6783" x2="18859.6783" y1="1057.3594" y2="1057.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="18343.6783" x2="18859.6783" y1="1065.3594" y2="1065.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="506" x="18348.6783" y="1079.5698">urt_nodeShutdownCallback_t (node : urt_node_t*, cause : urt_status_t, arg : void*) : void</text><!--MD5=[d2563153d77472384a15c07b815d639f]
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class urt_node_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="231.2656" id="urt_node_t" style="stroke: #A80036; stroke-width: 1.5;" width="1541" x="17206.1783" y="542.3594"/><ellipse cx="17938.9283" cy="558.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17938.4127,558.9219 Q17936.5533,558.2188 17935.8971,557.4531 Q17935.2564,556.6719 17935.2564,555.3594 Q17935.2564,553.6719 17936.3346,552.7031 Q17937.4127,551.7344 17939.2877,551.7344 Q17940.1471,551.7344 17940.9908,551.9375 Q17941.8502,552.125 17942.6939,552.5156 L17942.6939,554.9063 Q17941.9127,554.3438 17941.0846,554.0625 Q17940.2721,553.7656 17939.4752,553.7656 Q17938.6002,553.7656 17938.1158,554.125 Q17937.6471,554.4844 17937.6471,555.1406 Q17937.6471,555.6563 17937.9908,556 Q17938.3346,556.3281 17939.4283,556.7344 L17940.4908,557.1406 Q17941.9752,557.6875 17942.6783,558.5938 Q17943.3971,559.5 17943.3971,560.875 Q17943.3971,562.75 17942.2877,563.6719 Q17941.1783,564.5938 17938.9283,564.5938 Q17938.0064,564.5938 17937.0846,564.375 Q17936.1627,564.1563 17935.3033,563.7344 L17935.3033,561.2031 Q17936.2721,561.8906 17937.1939,562.2344 Q17938.1158,562.5781 17939.0064,562.5781 Q17939.9127,562.5781 17940.4127,562.1719 Q17940.9127,561.75 17940.9127,561.0156 Q17940.9127,560.4531 17940.5689,560.0469 Q17940.2408,559.625 17939.6158,559.375 L17938.4127,558.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="67" x="17959.4283" y="562.5137">urt_node_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="17207.1783" x2="18746.1783" y1="574.3594" y2="574.3594"/><ellipse cx="17217.1783" cy="585.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="102" x="17226.1783" y="588.5698">next : urt_node_t*</text><ellipse cx="17217.1783" cy="598.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="17226.1783" y="601.3745">thread : urt_osThread_t*</text><ellipse cx="17217.1783" cy="610.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="17226.1783" y="614.1792">setupcallback : urt_nodeSetupCallback_t*</text><ellipse cx="17217.1783" cy="623.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="117" x="17226.1783" y="626.9839">setupparams : void*</text><ellipse cx="17217.1783" cy="636.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="221" x="17226.1783" y="639.7886">loopcallback : urt_nodeLoopCallback_t*</text><ellipse cx="17217.1783" cy="649.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="109" x="17226.1783" y="652.5933">loopparams : void*</text><ellipse cx="17217.1783" cy="662.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="281" x="17226.1783" y="665.3979">shutdowncallback : urt_nodeShutdownCallback_t*</text><ellipse cx="17217.1783" cy="674.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="140" x="17226.1783" y="678.2026">shutdownparams : void*</text><ellipse cx="17217.1783" cy="687.7969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="17226.1783" y="691.0073">stage : urt_nodestage_t</text><ellipse cx="17217.1783" cy="700.6016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="178" x="17226.1783" y="703.812">listener : urt_osEventListener_t</text><ellipse cx="17217.1783" cy="730.2109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="88" x="17226.1783" y="733.4214">loops : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="17207.1783" x2="17768.6783" y1="716.8086" y2="716.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="416" x="17768.6783" y="720.1167">URT_CFG_PUBSUB_PROFILING == true || URT_CFG_RPC_PROFILING = true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="18184.6783" x2="18746.1783" y1="716.8086" y2="716.8086"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="17207.1783" x2="18746.1783" y1="740.0156" y2="740.0156"/><rect fill="#F24D5C" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="17214.1783" y="748.0156"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="179" x="17226.1783" y="754.2261">_main : urt_osThreadFunction_t</text><ellipse cx="17217.1783" cy="763.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1515" x="17226.1783" y="767.0308">urtNodeInit (node : urt_node_t*, thread : urt_osThread_t*, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*, shutdowncallback : urt_nodeShutdownCallback_t*, shutodwnparams : void*) : void</text><!--MD5=[e602aa6d45f270ad04f88c9ca5352b33]
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class urt_message_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="141.6328" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="406" x="11867.6783" y="1371.8594"/><ellipse cx="12020.4283" cy="1387.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12019.9127,1388.4219 Q12018.0533,1387.7188 12017.3971,1386.9531 Q12016.7564,1386.1719 12016.7564,1384.8594 Q12016.7564,1383.1719 12017.8346,1382.2031 Q12018.9127,1381.2344 12020.7877,1381.2344 Q12021.6471,1381.2344 12022.4908,1381.4375 Q12023.3502,1381.625 12024.1939,1382.0156 L12024.1939,1384.4063 Q12023.4127,1383.8438 12022.5846,1383.5625 Q12021.7721,1383.2656 12020.9752,1383.2656 Q12020.1002,1383.2656 12019.6158,1383.625 Q12019.1471,1383.9844 12019.1471,1384.6406 Q12019.1471,1385.1563 12019.4908,1385.5 Q12019.8346,1385.8281 12020.9283,1386.2344 L12021.9908,1386.6406 Q12023.4752,1387.1875 12024.1783,1388.0938 Q12024.8971,1389 12024.8971,1390.375 Q12024.8971,1392.25 12023.7877,1393.1719 Q12022.6783,1394.0938 12020.4283,1394.0938 Q12019.5064,1394.0938 12018.5846,1393.875 Q12017.6627,1393.6563 12016.8033,1393.2344 L12016.8033,1390.7031 Q12017.7721,1391.3906 12018.6939,1391.7344 Q12019.6158,1392.0781 12020.5064,1392.0781 Q12021.4127,1392.0781 12021.9127,1391.6719 Q12022.4127,1391.25 12022.4127,1390.5156 Q12022.4127,1389.9531 12022.0689,1389.5469 Q12021.7408,1389.125 12021.1158,1388.875 L12019.9127,1388.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="12040.9283" y="1392.0137">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11868.6783" x2="12272.6783" y1="1403.8594" y2="1403.8594"/><ellipse cx="11878.6783" cy="1414.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="127" x="11887.6783" y="1418.0698">next : urt_message_t*</text><ellipse cx="11878.6783" cy="1427.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="11887.6783" y="1430.8745">payload : void*</text><ellipse cx="11878.6783" cy="1440.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="11887.6783" y="1443.6792">originTime : urt_osTime_t</text><ellipse cx="11878.6783" cy="1453.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="211" x="11887.6783" y="1456.4839">numHrtConsumersLeft : unsigned int</text><ellipse cx="11878.6783" cy="1482.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="11887.6783" y="1486.0933">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11868.6783" x2="11962.1783" y1="1469.4805" y2="1469.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="11962.1783" y="1472.7886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12179.1783" x2="12272.6783" y1="1469.4805" y2="1469.4805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11868.6783" x2="12272.6783" y1="1492.6875" y2="1492.6875"/><ellipse cx="11878.6783" cy="1503.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="11887.6783" y="1506.8979">urtMessageInit (message : urt_message_t*, payload : void*) : void</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]
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class urt_publisher_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="128.8281" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="783" x="12305.1783" y="593.3594"/><ellipse cx="12645.9283" cy="609.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12645.4127,609.9219 Q12643.5533,609.2188 12642.8971,608.4531 Q12642.2564,607.6719 12642.2564,606.3594 Q12642.2564,604.6719 12643.3346,603.7031 Q12644.4127,602.7344 12646.2877,602.7344 Q12647.1471,602.7344 12647.9908,602.9375 Q12648.8502,603.125 12649.6939,603.5156 L12649.6939,605.9063 Q12648.9127,605.3438 12648.0846,605.0625 Q12647.2721,604.7656 12646.4752,604.7656 Q12645.6002,604.7656 12645.1158,605.125 Q12644.6471,605.4844 12644.6471,606.1406 Q12644.6471,606.6563 12644.9908,607 Q12645.3346,607.3281 12646.4283,607.7344 L12647.4908,608.1406 Q12648.9752,608.6875 12649.6783,609.5938 Q12650.3971,610.5 12650.3971,611.875 Q12650.3971,613.75 12649.2877,614.6719 Q12648.1783,615.5938 12645.9283,615.5938 Q12645.0064,615.5938 12644.0846,615.375 Q12643.1627,615.1563 12642.3033,614.7344 L12642.3033,612.2031 Q12643.2721,612.8906 12644.1939,613.2344 Q12645.1158,613.5781 12646.0064,613.5781 Q12646.9127,613.5781 12647.4127,613.1719 Q12647.9127,612.75 12647.9127,612.0156 Q12647.9127,611.4531 12647.5689,611.0469 Q12647.2408,610.625 12646.6158,610.375 L12645.4127,609.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="12666.4283" y="613.5137">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12306.1783" x2="13087.1783" y1="625.3594" y2="625.3594"/><ellipse cx="12316.1783" cy="636.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="12325.1783" y="639.5698">topic : urt_topic_t*</text><ellipse cx="12316.1783" cy="665.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="149" x="12325.1783" y="669.1792">publishAttempts : uint64_t</text><ellipse cx="12316.1783" cy="678.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="12325.1783" y="681.9839">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12306.1783" x2="12588.1783" y1="652.5664" y2="652.5664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12588.1783" y="655.8745">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12805.1783" x2="13087.1783" y1="652.5664" y2="652.5664"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="12306.1783" x2="13087.1783" y1="688.5781" y2="688.5781"/><ellipse cx="12316.1783" cy="699.5781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="572" x="12325.1783" y="702.7886">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void</text><ellipse cx="12316.1783" cy="712.3828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="757" x="12325.1783" y="715.5933">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[a1b1e66ec52c209a9fa2dab315cd7630]
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class urt_topic_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="260.875" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="11867.6783" y="527.3594"/><ellipse cx="12022.4283" cy="543.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12021.9127,543.9219 Q12020.0533,543.2188 12019.3971,542.4531 Q12018.7564,541.6719 12018.7564,540.3594 Q12018.7564,538.6719 12019.8346,537.7031 Q12020.9127,536.7344 12022.7877,536.7344 Q12023.6471,536.7344 12024.4908,536.9375 Q12025.3502,537.125 12026.1939,537.5156 L12026.1939,539.9063 Q12025.4127,539.3438 12024.5846,539.0625 Q12023.7721,538.7656 12022.9752,538.7656 Q12022.1002,538.7656 12021.6158,539.125 Q12021.1471,539.4844 12021.1471,540.1406 Q12021.1471,540.6563 12021.4908,541 Q12021.8346,541.3281 12022.9283,541.7344 L12023.9908,542.1406 Q12025.4752,542.6875 12026.1783,543.5938 Q12026.8971,544.5 12026.8971,545.875 Q12026.8971,547.75 12025.7877,548.6719 Q12024.6783,549.5938 12022.4283,549.5938 Q12021.5064,549.5938 12020.5846,549.375 Q12019.6627,549.1563 12018.8033,548.7344 L12018.8033,546.2031 Q12019.7721,546.8906 12020.6939,547.2344 Q12021.6158,547.5781 12022.5064,547.5781 Q12023.4127,547.5781 12023.9127,547.1719 Q12024.4127,546.75 12024.4127,546.0156 Q12024.4127,545.4531 12024.0689,545.0469 Q12023.7408,544.625 12023.1158,544.375 L12021.9127,543.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="12042.9283" y="547.5137">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11868.6783" x2="12250.6783" y1="559.3594" y2="559.3594"/><ellipse cx="11878.6783" cy="570.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="11887.6783" y="573.5698">next : urt_topic_t*</text><ellipse cx="11878.6783" cy="583.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="11887.6783" y="586.3745">id : urt_topicid_t</text><ellipse cx="11878.6783" cy="595.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="11887.6783" y="599.1792">lock : urt_osMutex_t</text><ellipse cx="11878.6783" cy="608.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="11887.6783" y="611.9839">evtSource : urt_osEventSource_t</text><ellipse cx="11878.6783" cy="621.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="11887.6783" y="624.7886">numHrtSubscribers : unsigned int</text><ellipse cx="11878.6783" cy="634.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="11887.6783" y="637.5933">hrtReleased : urt_osCondvar_t</text><ellipse cx="11878.6783" cy="647.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="209" x="11887.6783" y="650.3979">mandatoryMessage : urt_message_t</text><ellipse cx="11878.6783" cy="659.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="11887.6783" y="663.2026">latestMessage : urt_message_t*</text><ellipse cx="11878.6783" cy="689.6016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="212" x="11887.6783" y="692.812">hrtSubscribers : urt_hrtsubscriber_t*</text><ellipse cx="11878.6783" cy="702.4063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="170" x="11887.6783" y="705.6167">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11868.6783" x2="11927.1783" y1="676.1992" y2="676.1992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="11927.1783" y="679.5073">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12192.1783" x2="12250.6783" y1="676.1992" y2="676.1992"/><ellipse cx="11878.6783" cy="732.0156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="11887.6783" y="735.2261">numMessagesPublished : uint64_t</text><ellipse cx="11878.6783" cy="744.8203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="11887.6783" y="748.0308">numMessagesDiscarded : uint64_t</text><ellipse cx="11878.6783" cy="757.625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="11887.6783" y="760.8354">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11868.6783" x2="11951.1783" y1="718.6133" y2="718.6133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="11951.1783" y="721.9214">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12168.1783" x2="12250.6783" y1="718.6133" y2="718.6133"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11868.6783" x2="12250.6783" y1="767.4297" y2="767.4297"/><ellipse cx="11878.6783" cy="778.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="358" x="11887.6783" y="781.6401">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[50a042e24f957794dab9ba3ea8701c50]
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class urt_basesubscriber_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="133.6328" id="urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="225" x="13124.1783" y="988.8594"/><ellipse cx="13166.6283" cy="1004.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M13166.1127,1005.4219 Q13164.2533,1004.7188 13163.5971,1003.9531 Q13162.9564,1003.1719 13162.9564,1001.8594 Q13162.9564,1000.1719 13164.0346,999.2031 Q13165.1127,998.2344 13166.9877,998.2344 Q13167.8471,998.2344 13168.6908,998.4375 Q13169.5502,998.625 13170.3939,999.0156 L13170.3939,1001.4063 Q13169.6127,1000.8438 13168.7846,1000.5625 Q13167.9721,1000.2656 13167.1752,1000.2656 Q13166.3002,1000.2656 13165.8158,1000.625 Q13165.3471,1000.9844 13165.3471,1001.6406 Q13165.3471,1002.1563 13165.6908,1002.5 Q13166.0346,1002.8281 13167.1283,1003.2344 L13168.1908,1003.6406 Q13169.6752,1004.1875 13170.3783,1005.0938 Q13171.0971,1006 13171.0971,1007.375 Q13171.0971,1009.25 13169.9877,1010.1719 Q13168.8783,1011.0938 13166.6283,1011.0938 Q13165.7064,1011.0938 13164.7846,1010.875 Q13163.8627,1010.6563 13163.0033,1010.2344 L13163.0033,1007.7031 Q13163.9721,1008.3906 13164.8939,1008.7344 Q13165.8158,1009.0781 13166.7064,1009.0781 Q13167.6127,1009.0781 13168.1127,1008.6719 Q13168.6127,1008.25 13168.6127,1007.5156 Q13168.6127,1006.9531 13168.2689,1006.5469 Q13167.9408,1006.125 13167.3158,1005.875 L13166.1127,1005.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="132" x="13186.7283" y="1009.0137">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="13125.1783" x2="13348.1783" y1="1020.8594" y2="1020.8594"/><ellipse cx="13135.1783" cy="1031.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="13144.1783" y="1035.0698">topic : urt_topic_t*</text><ellipse cx="13135.1783" cy="1044.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="13144.1783" y="1047.8745">evtListener : urt_osEventListener_t</text><ellipse cx="13135.1783" cy="1057.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="175" x="13144.1783" y="1060.6792">lastMessage : urt_message_t*</text><ellipse cx="13135.1783" cy="1070.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="13144.1783" y="1073.4839">lastMessageTime : urt_osTime_t</text><ellipse cx="13135.1783" cy="1099.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="13144.1783" y="1103.0933">sumLatencies : uint64_t</text><ellipse cx="13135.1783" cy="1112.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="13144.1783" y="1115.8979">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13125.1783" x2="13128.1783" y1="1086.4805" y2="1086.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="13128.1783" y="1089.7886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13345.1783" x2="13348.1783" y1="1086.4805" y2="1086.4805"/><!--MD5=[9ff46073dd541e50679ef35e851c67d6]
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class urt_nrtsubscriber_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="154.4375" id="urt_nrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="821" x="14261.1783" y="580.8594"/><ellipse cx="14607.9283" cy="596.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M14607.4127,597.4219 Q14605.5533,596.7188 14604.8971,595.9531 Q14604.2564,595.1719 14604.2564,593.8594 Q14604.2564,592.1719 14605.3346,591.2031 Q14606.4127,590.2344 14608.2877,590.2344 Q14609.1471,590.2344 14609.9908,590.4375 Q14610.8502,590.625 14611.6939,591.0156 L14611.6939,593.4063 Q14610.9127,592.8438 14610.0846,592.5625 Q14609.2721,592.2656 14608.4752,592.2656 Q14607.6002,592.2656 14607.1158,592.625 Q14606.6471,592.9844 14606.6471,593.6406 Q14606.6471,594.1563 14606.9908,594.5 Q14607.3346,594.8281 14608.4283,595.2344 L14609.4908,595.6406 Q14610.9752,596.1875 14611.6783,597.0938 Q14612.3971,598 14612.3971,599.375 Q14612.3971,601.25 14611.2877,602.1719 Q14610.1783,603.0938 14607.9283,603.0938 Q14607.0064,603.0938 14606.0846,602.875 Q14605.1627,602.6563 14604.3033,602.2344 L14604.3033,599.7031 Q14605.2721,600.3906 14606.1939,600.7344 Q14607.1158,601.0781 14608.0064,601.0781 Q14608.9127,601.0781 14609.4127,600.6719 Q14609.9127,600.25 14609.9127,599.5156 Q14609.9127,598.9531 14609.5689,598.5469 Q14609.2408,598.125 14608.6158,597.875 L14607.4127,597.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="14628.4283" y="601.0137">urt_nrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="14262.1783" x2="15081.1783" y1="612.8594" y2="612.8594"/><ellipse cx="14272.1783" cy="640.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="14281.1783" y="643.8745">minLatency : urt_delay_t</text><ellipse cx="14272.1783" cy="653.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="14281.1783" y="656.6792">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="14262.1783" x2="14563.1783" y1="627.2617" y2="627.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="14563.1783" y="630.5698">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="14780.1783" x2="15081.1783" y1="627.2617" y2="627.2617"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="14262.1783" x2="15081.1783" y1="663.2734" y2="663.2734"/><ellipse cx="14272.1783" cy="674.2734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="14281.1783" y="677.4839">urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : void</text><ellipse cx="14272.1783" cy="687.0781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="715" x="14281.1783" y="690.2886">urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="14272.1783" cy="699.8828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="14281.1783" y="703.0933">urtNrtSubscriberFetchNextMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="14272.1783" cy="712.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="14281.1783" y="715.8979">urtNrtSubscriberFetchLatestMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="14272.1783" cy="725.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="14281.1783" y="728.7026">urtNrtSubscriberUnsubscribe (subscriber : urt_nrtsubscriber_t*) : urt_status_t</text><!--MD5=[5c7929572d87ccc448d875bea5da0fb1]
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class urt_srtsubscriber_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="192.8516" id="urt_srtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1044" x="15117.6783" y="561.3594"/><ellipse cx="15576.4283" cy="577.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M15575.9127,577.9219 Q15574.0533,577.2188 15573.3971,576.4531 Q15572.7564,575.6719 15572.7564,574.3594 Q15572.7564,572.6719 15573.8346,571.7031 Q15574.9127,570.7344 15576.7877,570.7344 Q15577.6471,570.7344 15578.4908,570.9375 Q15579.3502,571.125 15580.1939,571.5156 L15580.1939,573.9063 Q15579.4127,573.3438 15578.5846,573.0625 Q15577.7721,572.7656 15576.9752,572.7656 Q15576.1002,572.7656 15575.6158,573.125 Q15575.1471,573.4844 15575.1471,574.1406 Q15575.1471,574.6563 15575.4908,575 Q15575.8346,575.3281 15576.9283,575.7344 L15577.9908,576.1406 Q15579.4752,576.6875 15580.1783,577.5938 Q15580.8971,578.5 15580.8971,579.875 Q15580.8971,581.75 15579.7877,582.6719 Q15578.6783,583.5938 15576.4283,583.5938 Q15575.5064,583.5938 15574.5846,583.375 Q15573.6627,583.1563 15572.8033,582.7344 L15572.8033,580.2031 Q15573.7721,580.8906 15574.6939,581.2344 Q15575.6158,581.5781 15576.5064,581.5781 Q15577.4127,581.5781 15577.9127,581.1719 Q15578.4127,580.75 15578.4127,580.0156 Q15578.4127,579.4531 15578.0689,579.0469 Q15577.7408,578.625 15577.1158,578.375 L15575.9127,577.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="15596.9283" y="581.5137">urt_srtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="15118.6783" x2="16160.6783" y1="593.3594" y2="593.3594"/><ellipse cx="15128.6783" cy="604.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="15137.6783" y="607.5698">usefulnesscb : urt_usefulness_f*</text><ellipse cx="15128.6783" cy="617.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="15137.6783" y="620.3745">cbparams : void*</text><ellipse cx="15128.6783" cy="646.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="15137.6783" y="649.9839">minLatency : urt_delay_t</text><ellipse cx="15128.6783" cy="659.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="15137.6783" y="662.7886">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15118.6783" x2="15531.1783" y1="633.3711" y2="633.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="15531.1783" y="636.6792">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15748.1783" x2="16160.6783" y1="633.3711" y2="633.3711"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="15118.6783" x2="16160.6783" y1="669.3828" y2="669.3828"/><ellipse cx="15128.6783" cy="680.3828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="15137.6783" y="683.5933">urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void</text><ellipse cx="15128.6783" cy="693.1875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1018" x="15137.6783" y="696.3979">urtSrtSubscriberSubscribe (subscriber : urt_srtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_usefulness_f*, cbparams : void*) : urt_status_t</text><ellipse cx="15128.6783" cy="705.9922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="15137.6783" y="709.2026">urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="15128.6783" cy="718.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="15137.6783" y="722.0073">urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="15128.6783" cy="731.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="15137.6783" y="734.812">urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float</text><ellipse cx="15128.6783" cy="744.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="15137.6783" y="747.6167">urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t</text><!--MD5=[17838fb05fe219fd399839979ec8a4a4]
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class urt_frtsubscriber_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="226.4609" id="urt_frtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="974" x="16196.6783" y="544.8594"/><ellipse cx="16621.9283" cy="560.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M16621.4127,561.4219 Q16619.5533,560.7188 16618.8971,559.9531 Q16618.2564,559.1719 16618.2564,557.8594 Q16618.2564,556.1719 16619.3346,555.2031 Q16620.4127,554.2344 16622.2877,554.2344 Q16623.1471,554.2344 16623.9908,554.4375 Q16624.8502,554.625 16625.6939,555.0156 L16625.6939,557.4063 Q16624.9127,556.8438 16624.0846,556.5625 Q16623.2721,556.2656 16622.4752,556.2656 Q16621.6002,556.2656 16621.1158,556.625 Q16620.6471,556.9844 16620.6471,557.6406 Q16620.6471,558.1563 16620.9908,558.5 Q16621.3346,558.8281 16622.4283,559.2344 L16623.4908,559.6406 Q16624.9752,560.1875 16625.6783,561.0938 Q16626.3971,562 16626.3971,563.375 Q16626.3971,565.25 16625.2877,566.1719 Q16624.1783,567.0938 16621.9283,567.0938 Q16621.0064,567.0938 16620.0846,566.875 Q16619.1627,566.6563 16618.3033,566.2344 L16618.3033,563.7031 Q16619.2721,564.3906 16620.1939,564.7344 Q16621.1158,565.0781 16622.0064,565.0781 Q16622.9127,565.0781 16623.4127,564.6719 Q16623.9127,564.25 16623.9127,563.5156 Q16623.9127,562.9531 16623.5689,562.5469 Q16623.2408,562.125 16622.6158,561.875 L16621.4127,561.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="16642.4283" y="565.0137">urt_frtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="16197.6783" x2="17169.6783" y1="576.8594" y2="576.8594"/><ellipse cx="16207.6783" cy="604.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="16216.6783" y="607.8745">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16197.6783" x2="16538.1783" y1="591.2617" y2="591.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="16538.1783" y="594.5698">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16829.1783" x2="17169.6783" y1="591.2617" y2="591.2617"/><ellipse cx="16207.6783" cy="634.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="16216.6783" y="637.4839">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16197.6783" x2="16548.1783" y1="620.8711" y2="620.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="16548.1783" y="624.1792">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16819.1783" x2="17169.6783" y1="620.8711" y2="620.8711"/><ellipse cx="16207.6783" cy="663.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="16216.6783" y="667.0933">minLatency : urt_delay_t</text><ellipse cx="16207.6783" cy="676.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="16216.6783" y="679.8979">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16197.6783" x2="16429.6783" y1="650.4805" y2="650.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="508" x="16429.6783" y="653.7886">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ||  URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16937.6783" x2="17169.6783" y1="650.4805" y2="650.4805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="16197.6783" x2="17169.6783" y1="686.4922" y2="686.4922"/><ellipse cx="16207.6783" cy="697.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="342" x="16216.6783" y="700.7026">urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : void</text><ellipse cx="16207.6783" cy="710.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="948" x="16216.6783" y="713.5073">urtFrtSubscriberSubscribe (subscriber : urt_frtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="16207.6783" cy="723.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="780" x="16216.6783" y="726.312">urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="16207.6783" cy="735.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="790" x="16216.6783" y="739.1167">urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="16207.6783" cy="748.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="540" x="16216.6783" y="751.9214">urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool</text><ellipse cx="16207.6783" cy="761.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="441" x="16216.6783" y="764.7261">urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t</text><!--MD5=[104dc879e5721421b987fcc467bc3a1d]
57
class urt_hrtsubscriber_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="268.875" id="urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="13123.6783" y="523.3594"/><ellipse cx="13601.9283" cy="539.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M13601.4127,539.9219 Q13599.5533,539.2188 13598.8971,538.4531 Q13598.2564,537.6719 13598.2564,536.3594 Q13598.2564,534.6719 13599.3346,533.7031 Q13600.4127,532.7344 13602.2877,532.7344 Q13603.1471,532.7344 13603.9908,532.9375 Q13604.8502,533.125 13605.6939,533.5156 L13605.6939,535.9063 Q13604.9127,535.3438 13604.0846,535.0625 Q13603.2721,534.7656 13602.4752,534.7656 Q13601.6002,534.7656 13601.1158,535.125 Q13600.6471,535.4844 13600.6471,536.1406 Q13600.6471,536.6563 13600.9908,537 Q13601.3346,537.3281 13602.4283,537.7344 L13603.4908,538.1406 Q13604.9752,538.6875 13605.6783,539.5938 Q13606.3971,540.5 13606.3971,541.875 Q13606.3971,543.75 13605.2877,544.6719 Q13604.1783,545.5938 13601.9283,545.5938 Q13601.0064,545.5938 13600.0846,545.375 Q13599.1627,545.1563 13598.3033,544.7344 L13598.3033,542.2031 Q13599.2721,542.8906 13600.1939,543.2344 Q13601.1158,543.5781 13602.0064,543.5781 Q13602.9127,543.5781 13603.4127,543.1719 Q13603.9127,542.75 13603.9127,542.0156 Q13603.9127,541.4531 13603.5689,541.0469 Q13603.2408,540.625 13602.6158,540.375 L13601.4127,539.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="13622.4283" y="543.5137">urt_hrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="13124.6783" x2="14206.6783" y1="555.3594" y2="555.3594"/><ellipse cx="13134.6783" cy="566.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="151" x="13143.6783" y="569.5698">next : urt_hrtsubscriber_t*</text><ellipse cx="13134.6783" cy="595.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="13143.6783" y="599.1792">deadlineOffset : urt_delay_t</text><ellipse cx="13134.6783" cy="608.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="13143.6783" y="611.9839">qosDeadlineTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13124.6783" x2="13520.1783" y1="582.5664" y2="582.5664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="13520.1783" y="585.8745">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13811.1783" x2="14206.6783" y1="582.5664" y2="582.5664"/><ellipse cx="13134.6783" cy="638.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="13143.6783" y="641.5933">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13124.6783" x2="13530.1783" y1="624.9805" y2="624.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="13530.1783" y="628.2886">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13801.1783" x2="14206.6783" y1="624.9805" y2="624.9805"/><ellipse cx="13134.6783" cy="667.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="13143.6783" y="671.2026">minLatency : urt_delay_t</text><ellipse cx="13134.6783" cy="680.7969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="13143.6783" y="684.0073">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13124.6783" x2="13413.6783" y1="654.5898" y2="654.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="13413.6783" y="657.8979">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13917.6783" x2="14206.6783" y1="654.5898" y2="654.5898"/><ellipse cx="13134.6783" cy="710.4063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="13143.6783" y="713.6167">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13124.6783" x2="13533.1783" y1="697.0039" y2="697.0039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="13533.1783" y="700.312">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13798.1783" x2="14206.6783" y1="697.0039" y2="697.0039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="13124.6783" x2="14206.6783" y1="720.2109" y2="720.2109"/><ellipse cx="13134.6783" cy="731.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="13143.6783" y="734.4214">urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : void</text><ellipse cx="13134.6783" cy="744.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1058" x="13143.6783" y="747.2261">urtHrtSubscriberSubscribe (subscriber : urt_hrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, rate : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="13134.6783" cy="756.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="13143.6783" y="760.0308">urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="13134.6783" cy="769.625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="13143.6783" y="772.8354">urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="13134.6783" cy="782.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="13143.6783" y="785.6401">urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t</text><!--MD5=[e60e0f8379a14e7a4a292c65add9d735]
58
class urt_service_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="269.6797" id="urt_service_t" style="stroke: #A80036; stroke-width: 1.5;" width="596" x="8576.6783" y="522.8594"/><ellipse cx="8830.9283" cy="538.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8830.4127,539.4219 Q8828.5533,538.7188 8827.8971,537.9531 Q8827.2564,537.1719 8827.2564,535.8594 Q8827.2564,534.1719 8828.3346,533.2031 Q8829.4127,532.2344 8831.2877,532.2344 Q8832.1471,532.2344 8832.9908,532.4375 Q8833.8502,532.625 8834.6939,533.0156 L8834.6939,535.4063 Q8833.9127,534.8438 8833.0846,534.5625 Q8832.2721,534.2656 8831.4752,534.2656 Q8830.6002,534.2656 8830.1158,534.625 Q8829.6471,534.9844 8829.6471,535.6406 Q8829.6471,536.1563 8829.9908,536.5 Q8830.3346,536.8281 8831.4283,537.2344 L8832.4908,537.6406 Q8833.9752,538.1875 8834.6783,539.0938 Q8835.3971,540 8835.3971,541.375 Q8835.3971,543.25 8834.2877,544.1719 Q8833.1783,545.0938 8830.9283,545.0938 Q8830.0064,545.0938 8829.0846,544.875 Q8828.1627,544.6563 8827.3033,544.2344 L8827.3033,541.7031 Q8828.2721,542.3906 8829.1939,542.7344 Q8830.1158,543.0781 8831.0064,543.0781 Q8831.9127,543.0781 8832.4127,542.6719 Q8832.9127,542.25 8832.9127,541.5156 Q8832.9127,540.9531 8832.5689,540.5469 Q8832.2408,540.125 8831.6158,539.875 L8830.4127,539.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="8851.4283" y="543.0137">urt_service_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8577.6783" x2="9171.6783" y1="554.8594" y2="554.8594"/><ellipse cx="8587.6783" cy="565.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="115" x="8596.6783" y="569.0698">next : urt_service_t*</text><ellipse cx="8587.6783" cy="578.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="105" x="8596.6783" y="581.8745">id : urt_serviceid_t</text><ellipse cx="8587.6783" cy="591.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="8596.6783" y="594.6792">lock : urt_osMutex_t</text><ellipse cx="8587.6783" cy="604.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="8596.6783" y="607.4839">requestQueue_front : urt_baserequest_t*</text><ellipse cx="8587.6783" cy="617.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="8596.6783" y="620.2886">requestQueue_hrtBack : urt_hrtrequest_t*</text><ellipse cx="8587.6783" cy="629.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="256" x="8596.6783" y="633.0933">requestQueue_fsrtBack : urt_baserequest_t*</text><ellipse cx="8587.6783" cy="642.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="8596.6783" y="645.8979">requestQueue_back : urt_baserequest_t*</text><ellipse cx="8587.6783" cy="655.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="8596.6783" y="658.7026">evtSource : urt_osEventSource_t</text><ellipse cx="8587.6783" cy="668.2969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="8596.6783" y="671.5073">evtListener : urt_osEventListener_t</text><ellipse cx="8587.6783" cy="697.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="8596.6783" y="701.1167">numCalls : uint64_t</text><ellipse cx="8587.6783" cy="710.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="8596.6783" y="713.9214">numOwnershipLost : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8577.6783" x2="8778.6783" y1="684.5039" y2="684.5039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="8778.6783" y="687.812">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8970.6783" x2="9171.6783" y1="684.5039" y2="684.5039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8577.6783" x2="9171.6783" y1="720.5156" y2="720.5156"/><ellipse cx="8587.6783" cy="731.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="412" x="8596.6783" y="734.7261">urtServiceInit (service : urt_service_t*, id : urt_serviceid_t) : urt_status_t</text><ellipse cx="8587.6783" cy="744.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="549" x="8596.6783" y="747.5308">urtServiceDispatch (service : urt_service_t*, payload : void*, bytes : size_t) : urt_baserequest_t*</text><ellipse cx="8587.6783" cy="757.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="552" x="8596.6783" y="760.3354">urtServiceAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="8587.6783" cy="769.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="8596.6783" y="773.1401">urtServiceTryAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="8587.6783" cy="782.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="365" x="8596.6783" y="785.9448">urtServiceRespond (request : urt_baserequest_t*) : urt_status_t</text><!--MD5=[7294e1cfaeb111bef046bc5d07a96458]
59
class urt_baserequest_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="197.6563" id="urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="224" x="9225.6783" y="558.8594"/><ellipse cx="9275.9283" cy="574.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9275.4127,575.4219 Q9273.5533,574.7188 9272.8971,573.9531 Q9272.2564,573.1719 9272.2564,571.8594 Q9272.2564,570.1719 9273.3346,569.2031 Q9274.4127,568.2344 9276.2877,568.2344 Q9277.1471,568.2344 9277.9908,568.4375 Q9278.8502,568.625 9279.6939,569.0156 L9279.6939,571.4063 Q9278.9127,570.8438 9278.0846,570.5625 Q9277.2721,570.2656 9276.4752,570.2656 Q9275.6002,570.2656 9275.1158,570.625 Q9274.6471,570.9844 9274.6471,571.6406 Q9274.6471,572.1563 9274.9908,572.5 Q9275.3346,572.8281 9276.4283,573.2344 L9277.4908,573.6406 Q9278.9752,574.1875 9279.6783,575.0938 Q9280.3971,576 9280.3971,577.375 Q9280.3971,579.25 9279.2877,580.1719 Q9278.1783,581.0938 9275.9283,581.0938 Q9275.0064,581.0938 9274.0846,580.875 Q9273.1627,580.6563 9272.3033,580.2344 L9272.3033,577.7031 Q9273.2721,578.3906 9274.1939,578.7344 Q9275.1158,579.0781 9276.0064,579.0781 Q9276.9127,579.0781 9277.4127,578.6719 Q9277.9127,578.25 9277.9127,577.5156 Q9277.9127,576.9531 9277.5689,576.5469 Q9277.2408,576.125 9276.6158,575.875 L9275.4127,575.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="9296.4283" y="579.0137">urt_baserequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9226.6783" x2="9448.6783" y1="590.8594" y2="590.8594"/><ellipse cx="9236.6783" cy="601.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="147" x="9245.6783" y="605.0698">prev : urt_baserequest_t*</text><ellipse cx="9236.6783" cy="614.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="9245.6783" y="617.8745">next : urt_baserequest_t*</text><ellipse cx="9236.6783" cy="627.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="9245.6783" y="630.6792">lock : urt_osMutex_t</text><ellipse cx="9236.6783" cy="640.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="126" x="9245.6783" y="643.4839">owner : urt_service_t*</text><ellipse cx="9236.6783" cy="653.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="9245.6783" y="656.2886">submissionTime : urt_osTime_t</text><ellipse cx="9236.6783" cy="665.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="9245.6783" y="669.0933">payload : void*</text><ellipse cx="9236.6783" cy="678.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="9245.6783" y="681.8979">evtSource : urt_osEventSource_t</text><ellipse cx="9236.6783" cy="691.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="9245.6783" y="694.7026">evtListener : urt_osEventListener_t</text><ellipse cx="9236.6783" cy="721.1016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="9245.6783" y="724.312">sumLatencies : uint64_t</text><ellipse cx="9236.6783" cy="733.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="9245.6783" y="737.1167">numCalls : uint64_t</text><ellipse cx="9236.6783" cy="746.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="108" x="9245.6783" y="749.9214">numFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9226.6783" x2="9241.6783" y1="707.6992" y2="707.6992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="9241.6783" y="711.0073">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9433.6783" x2="9448.6783" y1="707.6992" y2="707.6992"/><!--MD5=[65269c71e9a2a076bc4014c9b128c9e6]
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class urt_nrtrequest_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="167.2422" id="urt_nrtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="531" x="10613.1783" y="229.8594"/><ellipse cx="10823.4283" cy="245.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10822.9127,246.4219 Q10821.0533,245.7188 10820.3971,244.9531 Q10819.7564,244.1719 10819.7564,242.8594 Q10819.7564,241.1719 10820.8346,240.2031 Q10821.9127,239.2344 10823.7877,239.2344 Q10824.6471,239.2344 10825.4908,239.4375 Q10826.3502,239.625 10827.1939,240.0156 L10827.1939,242.4063 Q10826.4127,241.8438 10825.5846,241.5625 Q10824.7721,241.2656 10823.9752,241.2656 Q10823.1002,241.2656 10822.6158,241.625 Q10822.1471,241.9844 10822.1471,242.6406 Q10822.1471,243.1563 10822.4908,243.5 Q10822.8346,243.8281 10823.9283,244.2344 L10824.9908,244.6406 Q10826.4752,245.1875 10827.1783,246.0938 Q10827.8971,247 10827.8971,248.375 Q10827.8971,250.25 10826.7877,251.1719 Q10825.6783,252.0938 10823.4283,252.0938 Q10822.5064,252.0938 10821.5846,251.875 Q10820.6627,251.6563 10819.8033,251.2344 L10819.8033,248.7031 Q10820.7721,249.3906 10821.6939,249.7344 Q10822.6158,250.0781 10823.5064,250.0781 Q10824.4127,250.0781 10824.9127,249.6719 Q10825.4127,249.25 10825.4127,248.5156 Q10825.4127,247.9531 10825.0689,247.5469 Q10824.7408,247.125 10824.1158,246.875 L10822.9127,246.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="10843.9283" y="250.0137">urt_nrtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10614.1783" x2="11143.1783" y1="261.8594" y2="261.8594"/><ellipse cx="10624.1783" cy="289.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="10633.1783" y="292.8745">minLatency : urt_delay_t</text><ellipse cx="10624.1783" cy="302.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="10633.1783" y="305.6792">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10614.1783" x2="10782.6783" y1="276.2617" y2="276.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="10782.6783" y="279.5698">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10974.6783" x2="11143.1783" y1="276.2617" y2="276.2617"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="10614.1783" x2="11143.1783" y1="312.2734" y2="312.2734"/><ellipse cx="10624.1783" cy="323.2734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="10633.1783" y="326.4839">urtNrtRequestInit (request : urt_nrtrequest_t*) : void</text><ellipse cx="10624.1783" cy="336.0781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="367" x="10633.1783" y="339.2886">urtNrtRequestAcquire (request : urt_nrtrequest_t*) : urt_status_t</text><ellipse cx="10624.1783" cy="348.8828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="385" x="10633.1783" y="352.0933">urtNrtRequestTryAcquire (request : urt_nrtrequest_t*) : urt_status_t</text><ellipse cx="10624.1783" cy="361.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="10633.1783" y="364.8979">urtNrtRequestRelease (request : urt_nrtrequest_t*) : urt_status_t</text><ellipse cx="10624.1783" cy="374.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="505" x="10633.1783" y="377.7026">urtNrtRequestSubmit (request : urt_nrtrequest_t*, service : urt_service_t*) : urt_status_t</text><ellipse cx="10624.1783" cy="387.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="10633.1783" y="390.5073">urtNrtRequestRetrieve (request : urt_nrtrequest_t*) : urt_status_t</text><!--MD5=[e9d515ad43a4cecec056dd09bc14a3c2]
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class urt_srtrequest_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="180.0469" id="urt_srtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="675" x="9903.1783" y="223.3594"/><ellipse cx="10185.9283" cy="239.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10185.4127,239.9219 Q10183.5533,239.2188 10182.8971,238.4531 Q10182.2564,237.6719 10182.2564,236.3594 Q10182.2564,234.6719 10183.3346,233.7031 Q10184.4127,232.7344 10186.2877,232.7344 Q10187.1471,232.7344 10187.9908,232.9375 Q10188.8502,233.125 10189.6939,233.5156 L10189.6939,235.9063 Q10188.9127,235.3438 10188.0846,235.0625 Q10187.2721,234.7656 10186.4752,234.7656 Q10185.6002,234.7656 10185.1158,235.125 Q10184.6471,235.4844 10184.6471,236.1406 Q10184.6471,236.6563 10184.9908,237 Q10185.3346,237.3281 10186.4283,237.7344 L10187.4908,238.1406 Q10188.9752,238.6875 10189.6783,239.5938 Q10190.3971,240.5 10190.3971,241.875 Q10190.3971,243.75 10189.2877,244.6719 Q10188.1783,245.5938 10185.9283,245.5938 Q10185.0064,245.5938 10184.0846,245.375 Q10183.1627,245.1563 10182.3033,244.7344 L10182.3033,242.2031 Q10183.2721,242.8906 10184.1939,243.2344 Q10185.1158,243.5781 10186.0064,243.5781 Q10186.9127,243.5781 10187.4127,243.1719 Q10187.9127,242.75 10187.9127,242.0156 Q10187.9127,241.4531 10187.5689,241.0469 Q10187.2408,240.625 10186.6158,240.375 L10185.4127,239.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="10206.4283" y="243.5137">urt_srtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9904.1783" x2="10577.1783" y1="255.3594" y2="255.3594"/><ellipse cx="9914.1783" cy="283.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="9923.1783" y="286.3745">minLatency : urt_delay_t</text><ellipse cx="9914.1783" cy="295.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="9923.1783" y="299.1792">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9904.1783" x2="10144.6783" y1="269.7617" y2="269.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="10144.6783" y="273.0698">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10336.6783" x2="10577.1783" y1="269.7617" y2="269.7617"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="9904.1783" x2="10577.1783" y1="305.7734" y2="305.7734"/><ellipse cx="9914.1783" cy="316.7734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="9923.1783" y="319.9839">urtSrtRequestInit (request : urt_srtrequest_t*) : void</text><ellipse cx="9914.1783" cy="329.5781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="367" x="9923.1783" y="332.7886">urtSrtRequestAcquire (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9914.1783" cy="342.3828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="385" x="9923.1783" y="345.5933">urtSrtRequestTryAcquire (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9914.1783" cy="355.1875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="9923.1783" y="358.3979">urtSrtRequestRelease (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9914.1783" cy="367.9922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="505" x="9923.1783" y="371.2026">urtSrtRequestSubmit (request : urt_srtrequest_t*, service : urt_service_t*) : urt_status_t</text><ellipse cx="9914.1783" cy="380.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="9923.1783" y="384.0073">urtSrtRequestRetrieve (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9914.1783" cy="393.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="649" x="9923.1783" y="396.812">urtSrtCalculateUsefulness (request : urt_srtrequest_t*, usefulnesscb : urt_usefulness_f, cbparams : void*) : float</text><!--MD5=[240977dbca9212fa5365c87da90aa051]
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class urt_frtrequest_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="268.875" id="urt_frtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="656" x="11179.6783" y="178.8594"/><ellipse cx="11454.4283" cy="194.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11453.9127,195.4219 Q11452.0533,194.7188 11451.3971,193.9531 Q11450.7564,193.1719 11450.7564,191.8594 Q11450.7564,190.1719 11451.8346,189.2031 Q11452.9127,188.2344 11454.7877,188.2344 Q11455.6471,188.2344 11456.4908,188.4375 Q11457.3502,188.625 11458.1939,189.0156 L11458.1939,191.4063 Q11457.4127,190.8438 11456.5846,190.5625 Q11455.7721,190.2656 11454.9752,190.2656 Q11454.1002,190.2656 11453.6158,190.625 Q11453.1471,190.9844 11453.1471,191.6406 Q11453.1471,192.1563 11453.4908,192.5 Q11453.8346,192.8281 11454.9283,193.2344 L11455.9908,193.6406 Q11457.4752,194.1875 11458.1783,195.0938 Q11458.8971,196 11458.8971,197.375 Q11458.8971,199.25 11457.7877,200.1719 Q11456.6783,201.0938 11454.4283,201.0938 Q11453.5064,201.0938 11452.5846,200.875 Q11451.6627,200.6563 11450.8033,200.2344 L11450.8033,197.7031 Q11451.7721,198.3906 11452.6939,198.7344 Q11453.6158,199.0781 11454.5064,199.0781 Q11455.4127,199.0781 11455.9127,198.6719 Q11456.4127,198.25 11456.4127,197.5156 Q11456.4127,196.9531 11456.0689,196.5469 Q11455.7408,196.125 11455.1158,195.875 L11453.9127,195.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="98" x="11474.9283" y="199.0137">urt_frtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11180.6783" x2="11834.6783" y1="210.8594" y2="210.8594"/><ellipse cx="11190.6783" cy="238.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="11199.6783" y="241.8745">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11180.6783" x2="11374.6783" y1="225.2617" y2="225.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="266" x="11374.6783" y="228.5698">URT_CFG_RPC_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11640.6783" x2="11834.6783" y1="225.2617" y2="225.2617"/><ellipse cx="11190.6783" cy="268.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="11199.6783" y="271.4839">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11180.6783" x2="11384.6783" y1="254.8711" y2="254.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="11384.6783" y="258.1792">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11630.6783" x2="11834.6783" y1="254.8711" y2="254.8711"/><ellipse cx="11190.6783" cy="297.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="11199.6783" y="301.0933">minLatency : urt_delay_t</text><ellipse cx="11190.6783" cy="310.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="11199.6783" y="313.8979">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11180.6783" x2="11280.6783" y1="284.4805" y2="284.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="454" x="11280.6783" y="287.7886">URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11734.6783" x2="11834.6783" y1="284.4805" y2="284.4805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11180.6783" x2="11834.6783" y1="320.4922" y2="320.4922"/><ellipse cx="11190.6783" cy="331.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="292" x="11199.6783" y="334.7026">urtFrtRequestInit (request : urt_frtrequest_t*) : void</text><ellipse cx="11190.6783" cy="344.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="362" x="11199.6783" y="347.5073">urtFrtRequestAcquire (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="11190.6783" cy="357.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="11199.6783" y="360.312">urtFrtRequestTryAcquire (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="11190.6783" cy="369.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="365" x="11199.6783" y="373.1167">urtFrtRequestRelease (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="11190.6783" cy="382.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="630" x="11199.6783" y="385.9214">urtFrtRequestSubmit (request : urt_frtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t</text><ellipse cx="11190.6783" cy="395.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="366" x="11199.6783" y="398.7261">urtFrtRequestRetrieve (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="11190.6783" cy="408.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="318" x="11199.6783" y="411.5308">urtDrtCalculateValidity (request : urt_frtrequest_t) : bool</text><ellipse cx="11190.6783" cy="437.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="419" x="11199.6783" y="441.1401">urtFrtRequestGetMaxJitter(request : urt_frtrequest_t*) : urt_delay_t* const</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11180.6783" x2="11384.6783" y1="424.5273" y2="424.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="11384.6783" y="427.8354">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11630.6783" x2="11834.6783" y1="424.5273" y2="424.5273"/><!--MD5=[2b0c3d572fefe037473ca776bdd2f803]
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class urt_hrtrequest_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="285.6797" id="urt_hrtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="661" x="9207.1783" y="170.3594"/><ellipse cx="9482.4283" cy="186.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9481.9127,186.9219 Q9480.0533,186.2188 9479.3971,185.4531 Q9478.7564,184.6719 9478.7564,183.3594 Q9478.7564,181.6719 9479.8346,180.7031 Q9480.9127,179.7344 9482.7877,179.7344 Q9483.6471,179.7344 9484.4908,179.9375 Q9485.3502,180.125 9486.1939,180.5156 L9486.1939,182.9063 Q9485.4127,182.3438 9484.5846,182.0625 Q9483.7721,181.7656 9482.9752,181.7656 Q9482.1002,181.7656 9481.6158,182.125 Q9481.1471,182.4844 9481.1471,183.1406 Q9481.1471,183.6563 9481.4908,184 Q9481.8346,184.3281 9482.9283,184.7344 L9483.9908,185.1406 Q9485.4752,185.6875 9486.1783,186.5938 Q9486.8971,187.5 9486.8971,188.875 Q9486.8971,190.75 9485.7877,191.6719 Q9484.6783,192.5938 9482.4283,192.5938 Q9481.5064,192.5938 9480.5846,192.375 Q9479.6627,192.1563 9478.8033,191.7344 L9478.8033,189.2031 Q9479.7721,189.8906 9480.6939,190.2344 Q9481.6158,190.5781 9482.5064,190.5781 Q9483.4127,190.5781 9483.9127,190.1719 Q9484.4127,189.75 9484.4127,189.0156 Q9484.4127,188.4531 9484.0689,188.0469 Q9483.7408,187.625 9483.1158,187.375 L9481.9127,186.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="9502.9283" y="190.5137">urt_hrtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9208.1783" x2="9867.1783" y1="202.3594" y2="202.3594"/><ellipse cx="9218.1783" cy="230.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="9227.1783" y="233.3745">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9208.1783" x2="9404.6783" y1="216.7617" y2="216.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="266" x="9404.6783" y="220.0698">URT_CFG_RPC_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9670.6783" x2="9867.1783" y1="216.7617" y2="216.7617"/><ellipse cx="9218.1783" cy="259.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="9227.1783" y="262.9839">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9208.1783" x2="9414.6783" y1="246.3711" y2="246.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="9414.6783" y="249.6792">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9660.6783" x2="9867.1783" y1="246.3711" y2="246.3711"/><ellipse cx="9218.1783" cy="289.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="9227.1783" y="292.5933">qosTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9208.1783" x2="9273.6783" y1="275.9805" y2="275.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="528" x="9273.6783" y="279.2886">URT_CFG_RPC_QOS_DEADLINECHECKS == true || URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9801.6783" x2="9867.1783" y1="275.9805" y2="275.9805"/><ellipse cx="9218.1783" 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="9227.1783" y="322.2026">minLatency : urt_delay_t</text><ellipse cx="9218.1783" 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="9227.1783" y="335.0073">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9208.1783" x2="9310.6783" y1="305.5898" y2="305.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="454" x="9310.6783" 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="9764.6783" x2="9867.1783" y1="305.5898" y2="305.5898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="9208.1783" x2="9867.1783" y1="341.6016" y2="341.6016"/><ellipse cx="9218.1783" cy="352.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="9227.1783" y="355.812">urtHrtRequestInit (request : urt_hrtrequest_t*) : void</text><ellipse cx="9218.1783" cy="365.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="367" x="9227.1783" y="368.6167">urtHrtRequestAcquire (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="9218.1783" cy="378.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="385" x="9227.1783" y="381.4214">urtHrtRequestTryAcquire (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="9218.1783" cy="391.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="9227.1783" y="394.2261">urtHrtRequestRelease (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="9218.1783" cy="403.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="635" x="9227.1783" y="407.0308">urtHrtRequestSubmit (request : urt_hrtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t</text><ellipse cx="9218.1783" cy="416.625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="9227.1783" y="419.8354">urtHrtRequestRetrieve (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="9218.1783" cy="446.2344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="424" x="9227.1783" y="449.4448">urtHrtRequestGetMaxJitter(request : urt_hrtrequest_t*) : urt_delay_t* const</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9208.1783" x2="9414.6783" y1="432.832" y2="432.832"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="9414.6783" y="436.1401">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9660.6783" x2="9867.1783" y1="432.832" y2="432.832"/><!--MD5=[e0c5ef58bc626bdfda028ecb031e1681]
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link urt_usefulness_f to urt_delay_t--><path d="M7743.7204,1473.5637 C7708.5255,1504.8531 7649.9096,1552.7959 7591.6783,1581.8594 C7387.8435,1683.5941 7124.5737,1742.4861 6985.5353,1768.5838 " fill="none" id="urt_usefulness_f-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6980.2338,1769.5743,6989.8154,1771.8531,6985.1487,1768.6559,6988.3459,1763.9892,6980.2338,1769.5743" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5fff9a13948f7f5b5e6ca18c1c7a9716]
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link urt_nodestage_t to urt_config--><path d="M8148.8973,1521.867 C8169.8945,1544.0939 8194.8697,1566.3951 8221.6783,1581.8594 C8430.1725,1702.1271 8709.0932,1751.8333 8878.4641,1771.8825 " fill="none" id="urt_nodestage_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8883.4429,1772.467,8874.9707,1767.4449,8878.477,1771.884,8874.0379,1775.3903,8883.4429,1772.467" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7db439499cb1afd557b9be4c8c52b2ba]
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link urt_topicid_t to urt_config--><path d="M7247.2996,1521.9024 C7269.6763,1545.5756 7297.1658,1568.7152 7327.6783,1581.8594 C7417.8297,1620.6949 8113.2383,1597.9886 8210.6783,1609.8594 C8446.5245,1638.5918 8714.9983,1702.0698 8878.08,1744.1504 " fill="none" id="urt_topicid_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8883.3552,1745.5136,8875.6424,1739.3888,8878.5143,1744.2624,8873.6406,1747.1343,8883.3552,1745.5136" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e851a4e79ca88682282ceaaad2100c63]
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link urt_serviceid_t to urt_config--><path d="M6971.0921,1521.9806 C6992.462,1545.6596 7018.9099,1568.7828 7048.6783,1581.8594 C7107.7999,1607.8302 8146.5487,1602.2941 8210.6783,1609.8594 C8446.6321,1637.6945 8715.076,1701.422 8878.122,1743.7997 " fill="none" id="urt_serviceid_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8883.396,1745.1726,8875.6941,1739.0341,8878.5573,1743.9129,8873.6785,1746.7761,8883.396,1745.1726" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[844001065b3bef53527c5dd4ba0c22e5]
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link urt_delay_t to urt_config--><path d="M6980.2829,1784.8594 C7613.0349,1784.8594 8245.7868,1784.8594 8878.5387,1784.8594 " fill="none" id="urt_delay_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8883.6503,1784.8594,8874.6503,1780.8594,8878.6503,1784.8594,8874.6503,1788.8594,8883.6503,1784.8594" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7766572fa0c619a5409829048dc0b6d6]
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link urt_osCondvar_t to urt_osCondvarWaitStatus_t--><path d="M5319.6783,1105.6606 C5319.6783,1180.421 5319.6783,1320.7436 5319.6783,1394.5942 " fill="none" id="urt_osCondvar_t-&gt;urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="5319.6783,1399.7947,5323.6783,1390.7947,5319.6783,1394.7947,5315.6783,1390.7947,5319.6783,1399.7947" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9b2507ea88616aeae65e3c4d63560016]
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link urt_osCondvar_t to urt_osMutex_t--><path d="M4964.5416,1055.8594 C4954.7094,1055.8594 4944.8772,1055.8594 4935.045,1055.8594 " fill="none" id="urt_osCondvar_t-&gt;urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4929.9034,1055.8594,4938.9034,1059.8594,4934.9034,1055.8594,4938.9034,1051.8594,4929.9034,1055.8594" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[83094e108045c8f9585007cdb3b7cb2e]
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link urt_osTimer_t to urt_osTimerCallback_t--><path d="M4205.6783,1112.1325 C4205.6783,1192.8362 4205.6783,1339.1539 4205.6783,1406.7902 " fill="none" id="urt_osTimer_t-&gt;urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4205.6783,1411.9137,4209.6783,1402.9137,4205.6783,1406.9137,4201.6783,1402.9137,4205.6783,1411.9137" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8d8c3240b5b2b5edf6544088e583ffa5]
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link urt_osThread_t to urt_osThreadPrio_t--><path d="M3458.361,1243.9745 C3449.1775,1285.7865 3439.9203,1327.9339 3432.3064,1362.5998 " fill="none" id="urt_osThread_t-&gt;urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="3431.1951,1367.6592,3437.0326,1359.7268,3432.2677,1362.7756,3429.2189,1358.0106,3431.1951,1367.6592" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d7d1d43fd970fb07a484642bc19fcb13]
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link urt_osThread_t to urt_osThreadFunction_t--><path d="M3219.3992,1163.1205 C3156.5775,1193.4874 3092.3973,1229.9049 3037.6783,1271.8594 C2987.0671,1310.6643 2942.0995,1370.1062 2916.3825,1407.7045 " fill="none" id="urt_osThread_t-&gt;urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2913.3426,1412.1785,2921.7091,1406.9822,2916.1526,1408.0428,2915.092,1402.4862,2913.3426,1412.1785" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6564761b32ad7eeb5abb8896c72cfca5]
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link urt_osThread_t to urt_osThreadTerminateSignal_t--><path d="M3582.3129,1243.9745 C3608.1159,1302.7143 3634.2098,1362.1163 3651.0735,1400.5062 " fill="none" id="urt_osThread_t-&gt;urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="3653.2883,1405.5481,3653.3308,1395.6993,3651.2773,1400.9703,3646.0063,1398.9169,3653.2883,1405.5481" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[92ba23225d8de8f8080583fedda5e6f8]
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link urt_osThread_t to urt_osThreadState_t--><path d="M3322.6742,1243.9806 C3314.4846,1253.3378 3306.4478,1262.6646 3298.6783,1271.8594 C3272.344,1303.0246 3244.6627,1338.6843 3221.5655,1369.3471 " fill="none" id="urt_osThread_t-&gt;urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="3218.4827,1373.4461,3227.0892,1368.6577,3221.4881,1369.4501,3220.6956,1363.8491,3218.4827,1373.4461" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[78b286ab2177e5f7b31e6e832d821818]
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link urt_osThread_t to urt_osTime_t--><path d="M3669.6514,867.577 C3713.1551,835.7085 3762.8674,810.8745 3816.1783,804.8594 C3841.8074,801.9677 5647.5493,801.9677 5673.1783,804.8594 C5784.3009,817.3974 5863.5284,938.9765 5900.0453,1008.2131 " fill="none" id="urt_osThread_t-&gt;urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="5902.3887,1012.6962,5901.7643,1002.8671,5900.0724,1008.2651,5894.6745,1006.5732,5902.3887,1012.6962" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[659af6ab57e6a38ebfd5c07c5616787c]
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link urt_osEventListener_t to urt_osEventFlags_t--><path d="M1936.6783,1486.1739 C1936.6783,1556.8364 1936.6783,1695.0828 1936.6783,1755.4645 " fill="none" id="urt_osEventListener_t-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1936.6783,1760.7149,1940.6783,1751.7149,1936.6783,1755.7149,1932.6783,1751.7149,1936.6783,1760.7149" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[eac11679f26c499aa1c571e1f795945d]
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link urt_osEventSource_t to urt_osEventFlags_t--><path d="M1440.9732,1479.9472 C1553.8539,1549.3811 1794.5581,1697.4401 1893.1719,1758.0983 " fill="none" id="urt_osEventSource_t-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1897.4749,1760.7451,1891.9046,1752.6228,1893.216,1758.1255,1887.7133,1759.4369,1897.4749,1760.7451" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0259cdb10c6c32168d1d17d25519d939]
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link urt_events to urt_osEventSource_t--><path d="M2140.1057,1098.9141 C2013.5306,1137.8985 1827.6034,1200.0997 1672.6783,1271.8594 C1589.2932,1310.4826 1498.7884,1365.7506 1440.9976,1402.9019 " fill="none" id="urt_events-&gt;urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1436.5482,1405.768,1446.2804,1404.2568,1440.7516,1403.0603,1441.9481,1397.5314,1436.5482,1405.768" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0ce043e0e9532fc393f3f8836f5de19a]
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link urt_events to urt_osEventListener_t--><path d="M2248.4358,1099.1267 C2182.0915,1172.2756 2048.2882,1319.8023 1979.5621,1395.5772 " fill="none" id="urt_events-&gt;urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1975.9363,1399.5749,1984.9456,1395.5958,1979.2954,1395.8713,1979.0199,1390.2212,1975.9363,1399.5749" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[430bebba9cd89d3ba8f63b2078968bca]
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link urt_events to urt_osEventMask_t--><path d="M2321.7779,1099.1267 C2382.8183,1176.578 2509.5754,1337.4141 2565.3419,1408.1736 " fill="none" id="urt_events-&gt;urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2568.589,1412.2936,2566.1598,1402.749,2565.4941,1408.3665,2559.8766,1407.7008,2568.589,1412.2936" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b1b185abc2161e087cab32ae7fdb2c40]
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link urt_events to urt_osEventFlags_t--><path d="M2317.6569,1098.9187 C2344.8919,1140.8572 2383.1144,1207.5212 2398.6783,1271.8594 C2414.8759,1338.817 2436.3387,1524.176 2398.6783,1581.8594 C2313.8148,1711.8424 2125.1021,1759.1412 2016.9506,1775.9446 " fill="none" id="urt_events-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2011.8622,1776.7219,2021.3631,1779.3168,2016.8048,1775.9667,2020.1549,1771.4085,2011.8622,1776.7219" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[706a1974d1b474cbba7e7b0213f243a1]
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link urt_events to urt_osEventWait_t--><path d="M2289.0199,1099.1267 C2291.2746,1171.8393 2295.8081,1318.0452 2298.1699,1394.2138 " fill="none" id="urt_events-&gt;urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2298.3362,1399.5749,2302.0553,1390.4552,2298.1812,1394.5773,2294.0591,1390.7032,2298.3362,1399.5749" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5f656ccbf337bb70e2692ec6599b22aa]
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link urt_osCondvar_t to urt_delay_t--><path d="M5396.3304,1105.4903 C5469.5205,1150.125 5584.5232,1213.2381 5693.6783,1243.8594 C5767.5248,1264.5756 5976.6121,1225.4549 6037.6783,1271.8594 C6154.5592,1360.6777 6043.611,1482.5051 6151.6783,1581.8594 C6245.9434,1668.5243 6616.5406,1739.7521 6793.983,1769.6683 " fill="none" id="urt_osCondvar_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6799.176,1770.5413,6790.9638,1765.1045,6794.2452,1769.7123,6789.6374,1772.9937,6799.176,1770.5413" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[2da0e339f7ca878d257c4a5336e8cad5]
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link urt_osThread_t to urt_delay_t--><path d="M3779.7369,1237.7455 C3786.0398,1239.946 3792.3573,1241.9899 3798.6783,1243.8594 C3852.7038,1259.8374 5780.7446,1239.2381 5826.6783,1271.8594 C5946.2405,1356.7704 5829.032,1485.6181 5939.6783,1581.8594 C6067.4352,1692.9837 6579.2262,1754.674 6794.019,1776.1132 " fill="none" id="urt_osThread_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6799.0373,1776.6121,6790.4772,1771.7412,6794.0618,1776.1174,6789.6857,1779.702,6799.0373,1776.6121" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4dd831efde278dc905a11b75839a39d0]
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link urt_osThread_t to urt_status_t--><path d="M3779.7218,1237.7966 C3786.0294,1239.9816 3792.3518,1242.0085 3798.6783,1243.8594 C3892.7653,1271.3855 7239.8667,1228.2799 7327.6783,1271.8594 C7342.2917,1279.1118 7355.7501,1288.8369 7368.0242,1299.9849 " fill="none" id="urt_osThread_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7371.7953,1303.4892,7367.9254,1294.4325,7368.1326,1300.0855,7362.4796,1300.2927,7371.7953,1303.4892" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8bf77663ad208115c32fd5300d37f092]
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link urt_osTimer_t to urt_delay_t--><path d="M4298.6568,1111.9033 C4379.2996,1157.1642 4500.8103,1217.5078 4615.6783,1243.8594 C4687.6041,1260.3597 5885.1408,1226.9268 5943.6783,1271.8594 C6057.4839,1359.215 5929.7423,1482.9654 6033.6783,1581.8594 C6143.0806,1685.9544 6594.2218,1750.3586 6793.8736,1774.2792 " fill="none" id="urt_osTimer_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6799.1248,1774.906,6790.6623,1769.8675,6794.16,1774.3134,6789.7142,1777.8111,6799.1248,1774.906" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[97e66fd6906ece822f393f9bfe719297]
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link urt_osTimer_t to urt_status_t--><path d="M4298.1841,1111.9919 C4378.7806,1157.4728 4500.4792,1218.0833 4615.6783,1243.8594 C4689.1977,1260.3096 7260.2346,1238.2876 7327.6783,1271.8594 C7342.283,1279.1293 7355.7357,1288.8659 7368.0062,1300.021 " fill="none" id="urt_osTimer_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7371.7763,1303.5273,7367.9101,1294.469,7368.115,1300.1221,7362.4619,1300.327,7371.7763,1303.5273" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[a4e2abbbace7909006fa5f13364d6021]
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link urt_events to urt_delay_t--><path d="M2367.3481,1098.9549 C2457.5598,1145.1432 2610.4073,1215.6278 2751.6783,1243.8594 C2831.7379,1259.8585 5622.7875,1226.5123 5690.6783,1271.8594 C5815.2029,1355.0346 5706.0619,1487.9174 5822.6783,1581.8594 C5972.4572,1702.5159 6561.0533,1759.7814 6794.013,1778.0686 " fill="none" id="urt_events-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6799.1112,1778.467,6790.4502,1773.7779,6794.1264,1778.0774,6789.8269,1781.7536,6799.1112,1778.467" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0549e7b45a7543f4046fb7eaa1b75598]
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link urt_events to urt_status_t--><path d="M2367.3302,1099.0446 C2457.526,1145.313 2610.3594,1215.8685 2751.6783,1243.8594 C2876.3694,1268.5568 7213.7646,1215.4546 7327.6783,1271.8594 C7342.4506,1279.1739 7356.0414,1289.0176 7368.421,1300.3062 " fill="none" id="urt_events-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7372.224,1303.8547,7368.3726,1294.7901,7368.5683,1300.4435,7362.9148,1300.6392,7372.224,1303.8547" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[182342162f0b9b45ddce11acc6582c59]
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reverse link urt_node_t to urt_node_t--><path d="M18759.1693,629.9558 C18774.0044,637.9479 18782.1783,647.2492 18782.1783,657.8594 C18782.1783,671.0449 18769.555,682.2089 18747.2115,691.3512 " fill="none" id="urt_node_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="18747.2115,624.3676,18750.9537,630.5317,18758.0829,629.4482,18754.3407,623.2841,18747.2115,624.3676" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="18755.683" y="620.9854">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="18755.7486" y="688.7016">0,1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]
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reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M17997.915,786.326 C18017.8804,870.5894 18046.2965,974.2324 18064.4499,1024.9447 " fill="none" id="urt_node_t&lt;-urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="17994.9095,773.5121,17992.3854,780.267,17997.6498,785.195,18000.174,778.4401,17994.9095,773.5121" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="17987.8657" y="793.8488">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="18039.2465" y="1014.1224">0,1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]
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reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M18020.3773,778.3416 C18044.78,863.9384 18071.2837,972.6183 18079.3308,1024.9447 " fill="none" id="urt_node_t&lt;-urt_nodeSetupCallback_t-1" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="18018.9957,773.5121,18017.6255,783.2652,18020.371,778.3192,18025.3169,781.0647,18018.9957,773.5121" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b913f036db99e36b937989146817bd94]
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reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M17819.1855,781.932 C17717.4263,866.9553 17594.1504,973.3472 17538.7248,1024.9447 " fill="none" id="urt_node_t&lt;-urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="17829.2763,773.5121,17822.1067,774.2848,17820.0625,781.2001,17827.232,780.4274,17829.2763,773.5121" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="17811.104" y="793.8488">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="17535.8906" y="1014.1224">1</text><!--MD5=[b913f036db99e36b937989146817bd94]
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reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M17849.5777,776.8154 C17751.049,862.758 17620.5455,972.6023 17553.334,1025.1571 " fill="none" id="urt_node_t&lt;-urt_nodeLoopCallback_t-1" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="17853.3624,773.5121,17843.9516,776.4166,17849.5954,776.7999,17849.2121,782.4438,17853.3624,773.5121" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[496dffc41052f1912ec8ad492f24fe61]
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reverse link urt_node_t to urt_nodeShutdownCallback_t--><path d="M18259.6154,779.8982 C18276.494,789.1471 18292.9771,798.8137 18308.6783,808.8594 C18409.4258,873.3182 18509.4731,974.4999 18563.174,1025.0142 " fill="none" id="urt_node_t&lt;-urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="18247.8717,773.5623,18251.2529,779.9315,18258.4327,779.2601,18255.0515,772.8909,18247.8717,773.5623" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="18256.9888" y="793.5176">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="18533.17" y="1014.2062">0,1</text><!--MD5=[496dffc41052f1912ec8ad492f24fe61]
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reverse link urt_node_t to urt_nodeShutdownCallback_t--><path d="M18287.2182,775.9225 C18306.723,786.3665 18325.7125,797.3648 18343.6783,808.8594 C18444.4258,873.3182 18544.4731,974.4999 18584.7499,1025.0142 " fill="none" id="urt_node_t&lt;-urt_nodeShutdownCallback_t-1" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="18282.7842,773.5623,18288.8493,781.3221,18287.1979,775.9117,18292.6083,774.2603,18282.7842,773.5623" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[536025241394544a90bc53fb552f3a08]
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reverse link urt_message_t to urt_message_t--><path d="M12285.3419,1396.6455 C12299.86,1407.2983 12308.6783,1422.7029 12308.6783,1442.8594 C12308.6783,1467.9082 12295.0598,1485.6185 12273.8076,1495.9903 " fill="none" id="urt_message_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="12273.8076,1389.7285,12276.896,1396.2447,12284.0989,1395.9001,12281.0105,1389.3839,12273.8076,1389.7285" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12281.8986" y="1400.0227">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="12281.4669" y="1494.706">0,1</text><!--MD5=[aa8990705afdbad14c7f998fe04b6f05]
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reverse link urt_basesubscriber_t to urt_message_t--><path d="M13207.9948,1135.2163 C13189.4046,1174.7336 13161.0199,1219.2243 13120.6783,1243.8594 C13052.9522,1285.2172 12843.0197,1259.2137 12764.6783,1271.8594 C12597.4604,1298.8514 12411.2566,1345.6752 12273.8546,1383.5081 " fill="none" id="urt_basesubscriber_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="13213.4521,1123.1395,13207.3362,1126.96,13208.5106,1134.0748,13214.6265,1130.2543,13213.4521,1123.1395" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="13202.772" y="1142.5921">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="12281.5156" y="1378.1815">0,1</text><!--MD5=[0585cd4928de92ce6927d9c389eadd29]
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link urt_nrtsubscriber_t to urt_basesubscriber_t--><path d="M14451.6312,734.8674 C14385.1353,757.1934 14311.7143,780.9093 14243.6783,800.8594 C13932.8443,892.0047 13562.475,980.7788 13369.1226,1025.642 " fill="none" id="urt_nrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="13370.6174,1032.481,13349.5539,1030.1727,13367.4595,1018.8418,13370.6174,1032.481" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6d81edfa5aa102b898ad487ae19b49f9]
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link urt_srtsubscriber_t to urt_basesubscriber_t--><path d="M15300.8948,754.3729 C15234.5184,771.3524 15165.1764,787.7559 15099.6783,800.8594 C14456.6975,929.4931 13675.7942,1013.2547 13369.2374,1043.3689 " fill="none" id="urt_srtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="13369.8871,1050.3387,13349.301,1045.3173,13368.5253,1036.4051,13369.8871,1050.3387" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f626d284cba98e1d5d5fe914b1fa4188]
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link urt_frtsubscriber_t to urt_basesubscriber_t--><path d="M16315.7064,770.9425 C16270.1951,782.3538 16224.0732,792.7145 16179.6783,800.8594 C15107.3062,997.6024 13786.4636,1043.4343 13369.3451,1053.3207 " fill="none" id="urt_frtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="13369.4474,1060.3201,13349.2908,1053.7846,13369.1235,1046.3238,13369.4474,1060.3201" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[1ea71f2b33e56ab0ac5545988c1af396]
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link urt_hrtsubscriber_t to urt_basesubscriber_t--><path d="M13520.4385,792.604 C13455.0589,853.2592 13380.0626,922.8362 13323.5957,975.2227 " fill="none" id="urt_hrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="13328.3446,980.3655,13308.9218,988.8363,13318.8229,970.1021,13328.3446,980.3655" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ea2ec5c5272e65289dabade75a749f58]
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reverse link urt_hrtsubscriber_t to urt_hrtsubscriber_t--><path d="M14219.5895,625.5177 C14234.3717,634.4411 14242.6783,645.2217 14242.6783,657.8594 C14242.6783,673.5645 14229.85,686.4015 14207.7075,696.3706 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="14207.7075,619.3482,14211.1892,625.663,14218.3575,624.8779,14214.8757,618.5631,14207.7075,619.3482" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="14215.386" y="615.7698">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="14215.4704" y="693.8754">0,1</text><!--MD5=[54fcf25ad8c5f1d36e678e42d5bfd4cc]
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reverse link urt_publisher_t to urt_topic_t--><path d="M12291.6416,657.8594 C12278.3937,657.8594 12265.1459,657.8594 12251.898,657.8594 " fill="none" id="urt_publisher_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="12304.8894,657.8594,12298.8894,653.8594,12292.8894,657.8594,12298.8894,661.8594,12304.8894,657.8594" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12288.8499" y="654.777">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12259.5628" y="654.6383">1</text><!--MD5=[5025b4c4053b8e7c7ca8a657f09f21c0]
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link urt_publisher_t to urt_message_t--><path d="M12645.1841,722.4328 C12530.2388,866.5735 12253.2481,1213.918 12130.7148,1367.574 " fill="none" id="urt_publisher_t-&gt;urt_message_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12127.492,1371.6154,12136.2307,1367.0728,12130.6094,1367.7062,12129.9761,1362.0849,12127.492,1371.6154" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b2afc1defaa6ed5a86f99c07f8466dd]
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reverse link urt_topic_t to urt_topic_t--><path d="M12263.3011,610.5283 C12277.8131,621.2674 12286.6783,637.0444 12286.6783,657.8594 C12286.6783,683.7266 12272.9873,701.8134 12251.7822,712.1199 " fill="none" id="urt_topic_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="12251.7822,603.5989,12254.8617,610.1194,12262.065,609.7847,12258.9855,603.2642,12251.7822,603.5989" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12259.4425" y="598.2583">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="12259.6769" y="711.0184">0,1</text><!--MD5=[ed3fb6de0913094c41bd74c175d366df]
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reverse link urt_topic_t to urt_hrtsubscriber_t--><path d="M12202.7488,519.0526 C12229.4612,498.3667 12258.2733,479.083 12287.6783,464.3594 C12294.8123,460.7873 12297.2502,461.2539 12305.1783,460.3594 C12349.1769,455.395 13058.1797,455.395 13102.1783,460.3594 C13188.5788,470.108 13278.8527,494.6694 13361.1872,523.2907 " fill="none" id="urt_topic_t&lt;-urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="12192.2257,527.3571,12199.4137,526.7801,12201.6457,519.9231,12194.4577,520.5001,12192.2257,527.3571" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12191.6573" y="516.4532">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="13323.0057" y="512.1517">0,1</text><!--MD5=[0b5167e958c0ed93ffc0c98ce399b54d]
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reverse link urt_topic_t to urt_message_t--><path d="M12061.6923,801.5865 C12064.0562,970.2786 12067.8815,1243.2683 12069.6816,1371.7275 " fill="none" id="urt_topic_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="12061.5071,788.3674,12057.5916,794.4229,12061.6754,800.3662,12065.5908,794.3107,12061.5071,788.3674" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12053.3816" y="808.4203">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12061.1663" y="1360.7112">1</text><!--MD5=[ed8977051960dfa72b850fe399f41716]
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reverse link urt_baserequest_t to urt_baserequest_t--><path d="M9461.4923,603.1644 C9475.5586,613.3931 9484.6783,631.6248 9484.6783,657.8594 C9484.6783,690.7813 9470.3169,711.1002 9449.8406,718.8163 " fill="none" id="urt_baserequest_t&lt;-urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="9449.8406,596.9025,9453.2321,603.2663,9460.4108,602.5832,9457.0193,596.2195,9449.8406,596.9025" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9457.6453" y="589.3859">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="9457.6505" y="719.1552">0,1,2</text><!--MD5=[426f0ba47802c5735a37a0acd494a192]
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reverse link urt_baserequest_t to urt_service_t--><path d="M9212.3935,657.8594 C9199.2944,657.8594 9186.1953,657.8594 9173.0963,657.8594 " fill="none" id="urt_baserequest_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="9225.4925,657.8594,9219.4925,653.8594,9213.4925,657.8594,9219.4925,661.8594,9225.4925,657.8594" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9209.6863" y="654.4384">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="9180.3248" y="654.7558">0,1</text><!--MD5=[09de7ef26922535bfe0682cb358ee29c]
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reverse link urt_service_t to urt_baserequest_t--><path d="M9186.1953,657.8594 C9199.2944,657.8594 9212.3935,657.8594 9225.4925,657.8594 " fill="none" id="urt_service_t&lt;-urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="9173.0963,657.8594,9179.0963,661.8594,9185.0963,657.8594,9179.0963,653.8594,9173.0963,657.8594" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9181.1293" y="670.1315">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="9185.6812" y="670.3978">0,2,3</text><!--MD5=[dc2d1805b45628aba9d654613b3d05f9]
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link urt_nrtrequest_t to urt_baserequest_t--><path d="M10734.7406,396.8729 C10691.2348,419.1262 10642.5473,441.1725 10595.6783,456.3594 C10198.2091,585.1505 9702.372,633.5868 9469.7415,650.1303 " fill="none" id="urt_nrtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="9470.1812,657.1166,9449.7441,651.5196,9469.2108,643.1502,9470.1812,657.1166" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d53ae0f00163daee879678d1d1554717]
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link urt_nrtrequest_t to urt_service_t--><path d="M10744.7073,396.9635 C10699.1414,420.9957 10646.7824,444.0273 10595.6783,456.3594 C10519.7995,474.67 9265.7474,442.9704 9190.6783,464.3594 C9146.8045,476.8601 9102.9891,497.2838 9062.5665,520.2816 " fill="none" id="urt_nrtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="9058.1615,522.8055,9067.9591,521.8018,9062.4998,520.3197,9063.9819,514.8605,9058.1615,522.8055" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f9755d42ba41539dee622699d8be3a22]
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link urt_srtrequest_t to urt_baserequest_t--><path d="M10020.0011,403.467 C9975.6211,421.2453 9929.2363,439.5828 9885.6783,456.3594 C9743.8708,510.9773 9580.2245,570.7265 9468.9463,610.8672 " fill="none" id="urt_srtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="9471.0182,617.5612,9449.8295,617.7561,9466.272,604.3903,9471.0182,617.5612" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[90efd84e0f70286880ba110c49a1e8f8]
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link urt_srtrequest_t to urt_service_t--><path d="M10054.4636,403.4157 C10001.1818,425.0044 9942.2014,445.065 9885.6783,456.3594 C9847.8132,463.9256 9227.7831,453.6706 9190.6783,464.3594 C9146.9902,476.9447 9103.3399,497.329 9063.0363,520.2468 " fill="none" id="urt_srtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="9058.6441,522.7619,9068.4419,521.7606,9062.983,520.2772,9064.4664,514.8183,9058.6441,522.7619" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bfc5f4e50344156edda6a5cfcff14fef]
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link urt_frtrequest_t to urt_baserequest_t--><path d="M11192.1259,447.9436 C11181.9183,450.9583 11171.7521,453.7767 11161.6783,456.3594 C10840.1312,538.7962 9833.5004,620.5381 9470.1476,648.0948 " fill="none" id="urt_frtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="9470.4515,655.0917,9449.9809,649.6186,9469.3966,641.1315,9470.4515,655.0917" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[836450d5c472e7b2344319739fa0d5d1]
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link urt_frtrequest_t to urt_service_t--><path d="M11198.2461,447.8675 C11186.0035,451.0741 11173.7866,453.9303 11161.6783,456.3594 C11107.9974,467.1286 9243.3454,449.3998 9190.6783,464.3594 C9146.7943,476.8242 9102.9743,497.2319 9062.5505,520.2253 " fill="none" id="urt_frtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="9058.1453,522.7488,9067.943,521.7459,9062.4838,520.2634,9063.9663,514.8042,9058.1453,522.7488" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7c5d2ea3f0b69f804ad9b60a9539ac96]
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link urt_hrtrequest_t to urt_baserequest_t--><path d="M9454.5978,456.4656 C9438.2226,484.6719 9421.2239,513.9521 9405.4276,541.1613 " fill="none" id="urt_hrtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="9411.3347,544.9284,9395.2394,558.7104,9399.2272,537.8994,9411.3347,544.9284" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[189d7bd823f9a098ae8eb3eaa3789ee1]
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link urt_hrtrequest_t to urt_service_t--><path d="M9207.1515,447.3923 C9195.793,453.0067 9184.6053,458.6715 9173.6783,464.3594 C9140.776,481.4864 9106.6639,500.7148 9073.7506,520.2291 " fill="none" id="urt_hrtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="9069.3248,522.8591,9079.1052,521.6999,9073.6231,520.3047,9075.0182,514.8226,9069.3248,522.8591" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bcf13f9307d05af3b11663d6e8155fbe]
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reverse link urt_core_t to urt_node_t--><path d="M8574.4946,355.8843 C8736.0496,390.7637 8977.481,437.3705 9190.6783,456.3594 C9301.296,466.2118 17076.4294,450.9981 17186.6783,464.3594 C17318.0107,480.2759 17459.0225,510.4583 17585.0395,542.3333 " fill="none" id="urt_core_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8561.5472,353.0771,8566.5634,358.2576,8573.2747,355.6197,8568.2585,350.4392,8561.5472,353.0771" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8568.9667" y="367.1455">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="17538.0544" y="531.1299">0,1</text><!--MD5=[250695c91040478b50550bc37a8775c7]
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reverse link urt_core_t to urt_topic_t--><path d="M8574.5042,355.7774 C8736.0653,390.5891 8977.5002,437.1566 9190.6783,456.3594 C9227.4878,459.6751 11817.3038,450.7829 11851.6783,464.3594 C11887.2296,478.4007 11920.3185,501.6743 11949.1777,527.3035 " fill="none" id="urt_core_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8561.5562,352.9758,8566.5745,358.1543,8573.2847,355.5137,8568.2665,350.3352,8561.5562,352.9758" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8568.976" y="351.4071">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="11922.2113" y="516.3965">0,1</text><!--MD5=[8d0a227ec56585cdbc167f8316b34b64]
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reverse link urt_core_t to urt_osEventSource_t--><path d="M8204.4472,317.2797 C7005.9565,343.5232 388.5795,502.0593 102.6783,808.8594 C-29.1267,950.2992 -23.0732,1097.0114 102.6783,1243.8594 C167.1708,1319.1714 751.0237,1385.2894 1106.8808,1419.0502 " fill="none" id="urt_core_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8217.8696,316.9863,8211.7836,313.1184,8205.8725,317.2486,8211.9585,321.1165,8217.8696,316.9863" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8202.4527" y="313.8993">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1091.5018" y="1415.2924">1</text><!--MD5=[b9eb8460041bde16ab6e44c28de7b0fc]
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reverse link urt_core_t to urt_osMutex_t--><path d="M8204.7962,319.5782 C7570.7271,343.9787 5493.4098,450.2238 4948.6783,808.8594 C4875.5825,856.9836 4825.8542,948.9887 4800.4481,1006.1131 " fill="none" id="urt_core_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8218.1388,319.0686,8211.9905,315.3005,8206.1475,319.5266,8212.2958,323.2947,8218.1388,319.0686" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8202.1847" y="316.0646">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4803.7907" y="995.1237">1</text><!--MD5=[fcff95a1517f1bbe30c2de95da1c3bda]
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reverse link urt_core_t to urt_status_t--><path d="M8204.7486,325.8195 C7922.8216,355.9274 7393.3652,458.6592 7156.6783,808.8594 C7048.4187,969.0394 7031.5027,1096.5202 7156.6783,1243.8594 C7206.5406,1302.5503 7261.5396,1232.4065 7327.6783,1271.8594 C7342.1721,1280.5052 7355.6491,1291.3952 7368.0189,1303.4733 " fill="none" id="urt_core_t&lt;-urt_status_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8217.9845,324.44,8211.6021,321.0836,8206.0492,325.684,8212.4315,329.0404,8217.9845,324.44" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8202.0234" y="337.3591">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7355.0865" y="1292.9573">1</text><!--MD5=[f6f8ae0abb3c85244c8639cf15039f58]
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link urt_core_t to urt_nodestage_t--><path d="M8329.9019,454.6224 C8290.2548,552.622 8239.492,686.942 8205.6783,808.8594 C8151.9488,1002.5845 8115.0584,1236.3644 8097.8105,1358.769 " fill="none" id="urt_core_t-&gt;urt_nodestage_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8097.1046,1363.7945,8102.318,1355.4386,8097.8003,1358.8431,8094.3958,1354.3255,8097.1046,1363.7945" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e894174e7ccaed139fbaaa0f9b9ae8dc]
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link urt_core_t to urt_topicid_t--><path d="M8217.9908,324.1125 C7899.3951,345.5606 7241.7294,397.4108 7162.6783,464.3594 C6896.0514,690.1667 6962.773,908.459 7060.6783,1243.8594 C7072.6584,1284.9004 7095.9628,1325.5371 7119.3732,1359.2843 " fill="none" id="urt_core_t-&gt;urt_topicid_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7122.526,1363.7875,7120.6408,1354.1207,7119.6583,1359.6916,7114.0874,1358.7091,7122.526,1363.7875" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[972bd788fc5a0ee0badfa994920a3622]
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link urt_core_t to urt_serviceid_t--><path d="M8218.1698,319.3235 C7858.7035,333.5462 7052.4074,375.1342 6967.6783,464.3594 C6733.2604,711.2163 6832.9237,1169.9957 6887.6249,1358.5807 " fill="none" id="urt_core_t-&gt;urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6889.0692,1363.5331,6890.3895,1353.7731,6887.6693,1358.733,6882.7094,1356.0129,6889.0692,1363.5331" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[addb2e74eebae0995b3a6bf162197d46]
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link urt_node_t to urt_status_t--><path d="M17407.1243,773.3667 C17333.2284,784.6958 17258.3416,794.3783 17186.6783,800.8594 C17144.4893,804.6749 11128.1113,800.0404 11086.6783,808.8594 C10620.9811,907.9832 10572.8832,1142.4499 10107.6783,1243.8594 C10039.4159,1258.7398 7655.2677,1240.815 7592.6783,1271.8594 C7578.0218,1279.129 7564.5061,1288.8655 7552.1666,1300.0205 " fill="none" id="urt_node_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7548.3749,1303.5268,7557.6985,1300.3533,7552.0459,1300.1322,7552.2671,1294.4796,7548.3749,1303.5268" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b00c0c61b5ae38465e12763fb588229]
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link urt_nodeSetupCallback_t to urt_osEventMask_t--><path d="M18052.9118,1086.3887 C18011.4444,1131.1039 17926.7949,1212.494 17834.6783,1243.8594 C17735.5253,1277.6207 2847.6652,1229.9348 2751.6783,1271.8594 C2688.2359,1299.5694 2638.6799,1366.4074 2612.7163,1407.8373 " fill="none" id="urt_nodeSetupCallback_t-&gt;urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2609.9726,1412.2618,2618.1152,1406.7212,2612.6077,1408.0125,2611.3164,1402.505,2609.9726,1412.2618" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[aa0b59559007c8ad9b783f6dc5ed8ad9]
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link urt_nodeLoopCallback_t to urt_osEventMask_t--><path d="M17472.4145,1086.535 C17415.195,1131.4391 17300.3455,1213.07 17186.6783,1243.8594 C17089.9219,1270.0681 2843.5397,1231.7322 2751.6783,1271.8594 C2688.2371,1299.572 2638.6807,1366.4091 2612.7167,1407.8382 " fill="none" id="urt_nodeLoopCallback_t-&gt;urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2609.9729,1412.2626,2618.1156,1406.7221,2612.6081,1408.0134,2611.3169,1402.5058,2609.9729,1412.2626" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b3fa89608aace108b23bbfcd22712ec]
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link urt_publisher_t to urt_config--><path d="M12550.2685,722.4248 C12473.6742,752.7385 12377.3956,785.5239 12287.6783,800.8594 C12275.4631,802.9474 8727.4312,800.0868 8718.6783,808.8594 C8476.0203,1052.062 8555.3233,1279.6251 8718.6783,1581.8594 C8753.1859,1645.7042 8817.479,1692.7005 8878.6058,1725.2996 " fill="none" id="urt_publisher_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8883.3762,1727.8181,8877.2849,1720.0788,8878.9546,1725.4836,8873.5498,1727.1534,8883.3762,1727.8181" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[48a81098d0aa451a4923659bb2bbea3c]
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link urt_publisher_t to urt_status_t--><path d="M12550.2695,722.431 C12473.6756,752.7463 12377.3969,785.5314 12287.6783,800.8594 C12261.3035,805.3654 8457.6079,795.0692 8434.6783,808.8594 C8246.9092,921.7861 8387.9299,1126.8486 8202.6783,1243.8594 C8087.9497,1316.3257 7713.1789,1209.4603 7592.6783,1271.8594 C7578.3016,1279.3041 7564.9993,1289.0802 7552.8165,1300.193 " fill="none" id="urt_publisher_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7549.0716,1303.6837,7558.3825,1300.4731,7552.7291,1300.2745,7552.9277,1294.6211,7549.0716,1303.6837" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[c16173558393ca1d9128284d70afa235]
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reverse link urt_topic_t to urt_osMutex_t--><path d="M11872.1709,793.5585 C11865.3822,796.273 11858.5431,798.7229 11851.6783,800.8594 C11828.7923,807.9821 4969.8567,797.6355 4948.6783,808.8594 C4870.2056,850.4475 4821.5428,946.9248 4797.9231,1006.2453 " fill="none" id="urt_topic_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11884.3305,788.3973,11877.2446,787.0595,11873.2844,793.0859,11880.3703,794.4236,11884.3305,788.3973" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11874.4245" y="808.4519">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4800.9107" y="995.2745">1</text><!--MD5=[ee40dc1875ed5325eec4e6c8c8102744]
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reverse link urt_topic_t to urt_osEventSource_t--><path d="M11872.1721,793.5626 C11865.3831,796.2759 11858.5436,798.7245 11851.6783,800.8594 C11832.7644,806.7411 456.6793,794.8486 442.6783,808.8594 C306.0189,945.6146 320.9807,1093.6346 442.6783,1243.8594 C525.1341,1345.6437 860.6933,1397.4897 1107.0062,1422.3305 " fill="none" id="urt_topic_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11884.3324,788.4033,11877.2467,787.0645,11873.2856,793.0902,11880.3713,794.429,11884.3324,788.4033" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11852.7405" y="808.1802">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1090.7628" y="1434.0183">1</text><!--MD5=[fd684a39d2d7f503df403fc4f1515616]
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link urt_topic_t to urt_config--><path d="M11884.3254,788.3809 C11873.5762,793.208 11862.6598,797.4343 11851.6783,800.8594 C11829.4961,807.7781 8522.0891,792.4093 8505.6783,808.8594 C8263.0384,1052.0801 8311.6141,1298.3642 8505.6783,1581.8594 C8549.3464,1645.6511 8739.957,1708.3853 8878.4845,1746.845 " fill="none" id="urt_topic_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8883.3901,1748.2028,8875.7833,1741.9468,8878.5713,1746.8689,8873.6492,1749.6569,8883.3901,1748.2028" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[a01366c261f16bb61c03de8616a1256c]
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reverse link urt_topic_t to urt_osTimer_t--><path d="M11872.171,793.5589 C11865.3823,796.2733 11858.5431,798.7231 11851.6783,800.8594 C11803.6979,815.7907 4664.0855,795.3758 4615.6783,808.8594 C4482.5918,845.9299 4349.4489,939.0216 4272.4507,999.7386 " fill="none" id="urt_topic_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11884.3307,788.398,11877.2448,787.0601,11873.2845,793.0864,11880.3704,794.4242,11884.3307,788.398" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11865.9622" y="808.4527">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="4282.2872" y="988.6611">0,1</text><!--MD5=[23aed2412a22c58889d68b772ca9654f]
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link urt_topic_t to urt_status_t--><path d="M11884.3262,788.3834 C11873.5768,793.2098 11862.6601,797.4353 11851.6783,800.8594 C11827.6126,808.3631 8243.28,795.866 8221.6783,808.8594 C8033.9164,921.7981 8173.4801,1124.5841 7989.6783,1243.8594 C7915.4891,1292.0033 7670.7096,1230.2301 7592.6783,1271.8594 C7578.5444,1279.3998 7565.4319,1289.1647 7553.3923,1300.2053 " fill="none" id="urt_topic_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7549.6903,1303.6716,7558.9939,1300.4401,7553.3401,1300.2542,7553.5261,1294.6004,7549.6903,1303.6716" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[40d97a101b79fe2b6aede42ee911a5e3]
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reverse link urt_message_t to urt_osTime_t--><path d="M11854.3542,1429.2424 C10901.0957,1369.2373 7080.788,1128.7593 6135.1982,1069.237 " fill="none" id="urt_message_t&lt;-urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11867.4942,1430.0695,11861.7574,1425.7004,11855.5179,1429.3155,11861.2547,1433.6846,11867.4942,1430.0695" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11851.4011" y="1426.3536">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6142.9794" y="1082.0491">1</text><!--MD5=[2bb9471b6fda5815e085c87a24a67f11]
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link urt_message_t to urt_config--><path d="M11905.7667,1514.0269 C11839.4954,1539.6579 11761.6299,1566.1139 11688.6783,1581.8594 C11203.7829,1686.5171 9667.8963,1758.1631 9179.4049,1778.7643 " fill="none" id="urt_message_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="9174.061,1778.9894,9183.2215,1782.6068,9179.0566,1778.7788,9182.8846,1774.6139,9174.061,1778.9894" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[570f5794230ed2cf7946261591bb6cd1]
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link urt_message_t to urt_status_t--><path d="M11952.6796,1371.6349 C11875.5788,1329.364 11771.0139,1279.8534 11671.1783,1257.8594 C11616.0963,1245.7247 7663.4016,1239.1897 7610.1783,1257.8594 C7585.8208,1266.4036 7564.4012,1281.758 7545.933,1300.0989 " fill="none" id="urt_message_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7542.2788,1303.8058,7551.4457,1300.2048,7545.789,1300.2451,7545.7487,1294.5884,7542.2788,1303.8058" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0614ecc40a2323571c35dab79c646fe8]
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reverse link urt_basesubscriber_t to urt_osEventListener_t--><path d="M13110.6842,1060.1184 C12414.6151,1083.4563 8968.7767,1196.5035 6151.6783,1243.8594 C6041.9688,1245.7036 2306.8194,1240.4759 2201.6783,1271.8594 C2117.4696,1296.9948 2034.6871,1357.8278 1984.6424,1399.7169 " fill="none" id="urt_basesubscriber_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="13123.9316,1059.6739,13117.8008,1055.8774,13111.9384,1060.0763,13118.0691,1063.8729,13123.9316,1059.6739" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="13108.0877" y="1072.5178">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1983.6492" y="1388.6902">1</text><!--MD5=[60df476f9c89db6ca6af2af6f6dc5b29]
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reverse link urt_basesubscriber_t to urt_osTime_t--><path d="M13110.7679,1055.8594 C10785.7174,1055.8594 8460.6669,1055.8594 6135.6164,1055.8594 " fill="none" id="urt_basesubscriber_t&lt;-urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="13123.9906,1055.8594,13117.9906,1051.8594,13111.9906,1055.8594,13117.9906,1059.8594,13123.9906,1055.8594" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="13108.1506" y="1052.4392">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6143.4126" y="1052.6517">1</text><!--MD5=[45abaca6e1a4b5e9e9e5f81f99145f21]
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link urt_basesubscriber_t to urt_config--><path d="M13202.3909,1123.3264 C13137.1266,1243.1293 12982.2635,1489.1129 12768.6783,1581.8594 C12435.561,1726.5111 9835.7551,1773.2904 9178.9877,1782.8591 " fill="none" id="urt_basesubscriber_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="9173.7245,1782.9356,9182.7817,1786.8043,9178.724,1782.8629,9182.6654,1778.8051,9173.7245,1782.9356" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[fb477f5fd8787be5b7605dfea5d27dc3]
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link urt_basesubscriber_t to urt_status_t--><path d="M13124.044,1068.9047 C12805.4754,1105.1137 11870.508,1206.6387 11090.6783,1243.8594 C11042.1487,1246.1757 7636.2371,1250.3391 7592.6783,1271.8594 C7578.0105,1279.1061 7564.4872,1288.8274 7552.1431,1299.9731 " fill="none" id="urt_basesubscriber_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7548.3501,1303.4767,7557.6755,1300.3085,7552.0231,1300.0841,7552.2474,1294.4317,7548.3501,1303.4767" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[c18fda7f16d94dac1a94387e8df76308]
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link urt_nrtsubscriber_t to urt_status_t--><path d="M14484.5624,734.8625 C14410.833,761.3424 14324.5721,787.6413 14243.6783,800.8594 C14225.2319,803.8735 8876.6986,799.2311 8860.6783,808.8594 C8672.8759,921.7307 8815.0244,1128.5996 8628.6783,1243.8594 C8530.7447,1304.4338 7695.4292,1219.8738 7592.6783,1271.8594 C7578.08,1279.2452 7564.6027,1289.0584 7552.2869,1300.2607 " fill="none" id="urt_nrtsubscriber_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7548.5021,1303.7807,7557.8165,1300.5804,7552.1634,1300.3755,7552.3683,1294.7224,7548.5021,1303.7807" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[1ffa2ec21542e79acf15fa09492f4ab5]
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link urt_srtsubscriber_t to urt_config--><path d="M15329.7163,754.3766 C15255.1146,773.5766 15175.1521,790.8813 15099.6783,800.8594 C14989.9103,815.3713 13216.6123,795.6634 13106.6783,808.8594 C12700.7061,857.5906 9866.4133,1572.507 9178.7324,1746.7702 " fill="none" id="urt_srtsubscriber_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="9173.722,1748.0399,9183.4289,1749.7062,9178.5688,1746.8115,9181.4634,1741.9513,9173.722,1748.0399" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ddfd53c980ad9ebb8f86954377552edb]
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link urt_srtsubscriber_t to urt_status_t--><path d="M15330.0921,754.4331 C15255.388,773.664 15175.2858,790.9683 15099.6783,800.8594 C15089.0208,802.2536 8916.832,801.8563 8908.6783,808.8594 C8760.286,936.3122 8988.7163,1114.8465 8841.6783,1243.8594 C8789.5071,1289.635 7654.6814,1240.6688 7592.6783,1271.8594 C7578.0631,1279.2116 7564.5745,1289.0025 7552.2518,1300.1912 " fill="none" id="urt_srtsubscriber_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7548.465,1303.7072,7557.7821,1300.5147,7552.1291,1300.3051,7552.3387,1294.6521,7548.465,1303.7072" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b350769e483c42ea2704e388ea6a04f2]
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reverse link urt_frtsubscriber_t to urt_delay_t--><path d="M16319.0197,774.0041 C16272.5287,785.0513 16225.2672,794.4908 16179.6783,800.8594 C16155.407,804.25 9144.4285,799.748 9121.6783,808.8594 C8861.3654,913.1144 8924.2691,1137.8191 8664.6783,1243.8594 C8616.2515,1263.6413 6818.392,1234.5957 6781.6783,1271.8594 C6662.7075,1392.6124 6774.0143,1609.198 6843.4996,1718.2561 " fill="none" id="urt_frtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="16331.7859,770.9261,16325.0155,768.4439,16320.1202,773.7388,16326.8906,776.221,16331.7859,770.9261" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="16298.7622" y="791.4588">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6813.1363" y="1707.2346">0..4</text><!--MD5=[7be759a40cf40f1b9231b6649fee3f4f]
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link urt_frtsubscriber_t to urt_config--><path d="M17035.5708,770.929 C17085.8275,783.2505 17137.2401,793.8491 17186.6783,800.8594 C17198.2983,802.5071 18868.3992,800.541 18876.6783,808.8594 C18944.87,877.3746 18943.0525,1173.582 18876.6783,1243.8594 C18528.5156,1612.4957 10391.2438,1762.1536 9179.1046,1782.4309 " fill="none" id="urt_frtsubscriber_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="9173.8148,1782.5193,9182.8805,1786.368,9178.8141,1782.4356,9182.7466,1778.3691,9173.8148,1782.5193" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[29df74e07807e6378398cb43d45b3c27]
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link urt_frtsubscriber_t to urt_status_t--><path d="M16331.7831,770.9067 C16281.2067,783.2781 16229.4456,793.8963 16179.6783,800.8594 C16038.2501,820.647 11180.5801,792.8173 11038.6783,808.8594 C10172.2709,906.8074 9991.2373,1138.6775 9125.6783,1243.8594 C9041.1195,1254.1349 7668.8527,1233.7379 7592.6783,1271.8594 C7578.0478,1279.1812 7564.5492,1288.9521 7552.2203,1300.1284 " fill="none" id="urt_frtsubscriber_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7548.4317,1303.6409,7557.7511,1300.4552,7552.0983,1300.2414,7552.312,1294.5886,7548.4317,1303.6409" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bc1cc9ca99c1274e9c895cd105ca1d4c]
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reverse link urt_hrtsubscriber_t to urt_delay_t--><path d="M13163.2196,794.5191 C13148.5885,796.8703 13134.0525,798.9959 13119.6783,800.8594 C13087.2552,805.0629 8442.1037,796.8918 8411.6783,808.8594 C8147.1086,912.9254 8206.2576,1137.3097 7942.6783,1243.8594 C7872.3573,1272.2861 6630.759,1217.6787 6577.6783,1271.8594 C6481.2589,1370.2769 6511.9889,1460.7494 6577.6783,1581.8594 C6624.2795,1667.7769 6724.7242,1723.0317 6799.1218,1753.865 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="13176.1001,792.3957,13169.5294,789.4249,13164.2599,794.3476,13170.8306,797.3184,13176.1001,792.3957" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="13141.1075" y="812.2372">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6767.2698" y="1747.9963">0..5</text><!--MD5=[47265b8b91af56102ad98d46909bef01]
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reverse link urt_hrtsubscriber_t to urt_osTimer_t--><path d="M13163.2215,794.5336 C13148.5898,796.8805 13134.0532,799.0013 13119.6783,800.8594 C13061.11,808.4299 4672.5695,793.0177 4615.6783,808.8594 C4482.5887,845.9189 4349.4468,939.0139 4272.4495,999.7345 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="13176.1024,792.4138,13169.5325,789.4412,13164.2617,794.3624,13170.8316,797.335,13176.1024,792.4138" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="13149.5475" y="812.2563">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4272.4921" y="988.6564">1</text><!--MD5=[c255c4720016d78ffa1594ef43d10003]
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link urt_hrtsubscriber_t to urt_config--><path d="M13176.0993,792.3899 C13157.1179,795.5983 13138.2628,798.4477 13119.6783,800.8594 C13105.502,802.699 9012.7767,798.7414 9002.6783,808.8594 C8786.4939,1025.4643 8888.1674,1421.9845 8966.8869,1636.9178 " fill="none" id="urt_hrtsubscriber_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8968.6255,1641.6455,8969.2735,1631.818,8966.8998,1636.9527,8961.7651,1634.579,8968.6255,1641.6455" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[acfaba0e8df90d54cbfcf78ceb19e2ee]
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link urt_hrtsubscriber_t to urt_status_t--><path d="M13176.0998,792.3936 C13157.1182,795.6009 13138.263,798.4491 13119.6783,800.8594 C13104.2795,802.8565 8660.9861,800.8585 8647.6783,808.8594 C8459.893,921.7591 8601.6205,1127.9492 8415.6783,1243.8594 C8338.0318,1292.2617 7674.1764,1230.2681 7592.6783,1271.8594 C7578.2577,1279.2187 7564.9262,1288.9381 7552.7254,1300.0158 " fill="none" id="urt_hrtsubscriber_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7548.9752,1303.4962,7558.293,1300.3057,7552.6401,1300.0949,7552.8509,1294.442,7548.9752,1303.4962" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8a07eed8d365d510d46940e8916e2aca]
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reverse link urt_baserequest_t to urt_osMutex_t--><path d="M9267.7728,766.9166 C9254.196,780.6265 9238.7878,792.6878 9221.6783,800.8594 C9194.9018,813.648 4974.8925,794.9547 4948.6783,808.8594 C4870.2204,850.4755 4821.5526,946.9433 4797.928,1006.2545 " fill="none" id="urt_baserequest_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9276.878,757.1893,9269.8575,758.8362,9268.6775,765.9501,9275.698,764.3032,9276.878,757.1893" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9264.5242" y="776.4498">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4791.7912" y="995.285">1</text><!--MD5=[7c9c768598bcd949a3bf11c8b3a21e4b]
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reverse link urt_baserequest_t to urt_osTime_t--><path d="M9267.7412,766.8506 C9254.1686,780.5693 9238.77,792.6506 9221.6783,800.8594 C9205.6026,808.5803 7955.4754,807.717 7937.6783,808.8594 C7277.542,851.2331 6502.276,964.2401 6135.5294,1021.5337 " fill="none" id="urt_baserequest_t&lt;-urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9276.8443,757.119,9269.8243,758.7683,9268.6468,765.8826,9275.6668,764.2333,9276.8443,757.119" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9272.8482" y="776.7092">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6143.3225" y="1017.0924">1</text><!--MD5=[abb05cad5cff2c76ceafdc2a055c056c]
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reverse link urt_baserequest_t to urt_osEventSource_t--><path d="M9267.7799,766.9314 C9254.2022,780.6394 9238.7918,792.6962 9221.6783,800.8594 C9207.6994,807.5274 311.625,797.9029 300.6783,808.8594 C164.0323,945.628 176.9759,1095.2812 300.6783,1243.8594 C401.396,1364.8307 821.5181,1412.5383 1107.0969,1431.1651 " fill="none" id="urt_baserequest_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9276.8855,757.205,9269.8649,758.8514,9268.6844,765.9652,9275.705,764.3188,9276.8855,757.205" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9263.0423" y="776.7173">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1090.8562" y="1443.1152">1</text><!--MD5=[6e4cdc2fe71f4b9ae682dc44b1d45b47]
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reverse link urt_baserequest_t to urt_osEventListener_t--><path d="M9267.7798,766.9312 C9254.2021,780.6392 9238.7917,792.696 9221.6783,800.8594 C9207.9219,807.4214 453.4506,798.0772 442.6783,808.8594 C374.3558,877.2442 375.1076,1174.7317 442.6783,1243.8594 C490.4174,1292.6985 1606.3912,1251.8128 1671.6783,1271.8594 C1755.4255,1297.5743 1838.0043,1357.9424 1888.1615,1399.6024 " fill="none" id="urt_baserequest_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9276.8854,757.2048,9269.8648,758.8512,9268.6843,765.965,9275.7049,764.3186,9276.8854,757.2048" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9253.0921" y="776.7171">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1872.1199" y="1388.8756">1</text><!--MD5=[8b261aef1d2e0a451326ad6807af1e66]
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reverse link urt_nrtrequest_t to urt_delay_t--><path d="M10733.4456,402.9131 C10690.6288,424.7767 10642.6302,445.105 10595.6783,456.3594 C10575.2567,461.2545 7588.9356,452.3933 7571.6783,464.3594 C7440.3155,555.4454 7544.7101,676.1738 7444.6783,800.8594 C7219.6607,1081.3348 7108.5055,1129.2462 6767.6783,1243.8594 C6725.1337,1258.1663 6395.2976,1239.0389 6364.6783,1271.8594 C6270.6916,1372.6027 6286.7787,1468.218 6364.6783,1581.8594 C6415.3376,1655.7622 6662.798,1727.9495 6799.1256,1762.9595 " fill="none" id="urt_nrtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="10745.0871,396.8666,10737.9188,396.0825,10734.4379,402.3979,10741.6063,403.1819,10745.0871,396.8666" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10724.8329" y="417.0339">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6771.1128" y="1773.891">0,2</text><!--MD5=[8aa30e666b650ddcf5fdd53ac0c33b2b]
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link urt_nrtrequest_t to urt_config--><path d="M11012.7629,396.9179 C11058.5735,421.0274 11111.2586,444.1168 11162.6783,456.3594 C11175.921,459.5124 18993.8502,454.9403 19003.6783,464.3594 C19046.7465,505.6352 19037.1696,1206.0743 19018.6783,1243.8594 C18911.0569,1463.7733 18814.4244,1500.0013 18583.6783,1581.8594 C18121.4635,1745.832 10360.7152,1780.0853 9179.0197,1784.3581 " fill="none" id="urt_nrtrequest_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="9173.8616,1784.3767,9182.8761,1788.344,9178.8616,1784.3585,9182.847,1780.344,9173.8616,1784.3767" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4d5eda3ecbcd41d6d2b940fb4748a5e6]
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link urt_nrtrequest_t to urt_status_t--><path d="M10745.0865,396.8644 C10699.4385,420.9704 10646.9345,444.0712 10595.6783,456.3594 C10575.8106,461.1225 7669.4497,451.372 7653.6783,464.3594 C7637.5142,477.6702 7534.9982,1029.6247 7485.8678,1298.5474 " fill="none" id="urt_nrtrequest_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7484.9328,1303.6663,7490.4851,1295.5316,7485.8314,1298.7477,7482.6153,1294.094,7484.9328,1303.6663" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[094c3c4918275dedd163d58d6c00e2be]
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reverse link urt_srtrequest_t to urt_delay_t--><path d="M10042.681,408.4355 C9992.5789,428.1848 9938.0865,446.0982 9885.6783,456.3594 C9827.7228,467.7067 7816.7124,449.0389 7759.6783,464.3594 C7087.5851,644.8969 7046.0308,980.9661 6401.6783,1243.8594 C6355.7657,1262.5916 6324.0245,1232.6424 6293.6783,1271.8594 C6209.3611,1380.8242 6213.4835,1469.8259 6293.6783,1581.8594 C6353.5649,1665.5221 6647.6583,1735.9124 6799.1266,1767.3102 " fill="none" id="urt_srtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="10054.9809,403.5162,10047.9245,402.0303,10043.839,407.9724,10050.8953,409.4583,10054.9809,403.5162" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10031.8644" y="423.3685">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6771.1139" y="1778.5884">0,1</text><!--MD5=[421371e2a1201d214a6175d8cede910e]
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link urt_srtrequest_t to urt_config--><path d="M10425.8952,403.4335 C10479.4169,425.1686 10538.7703,445.3001 10595.6783,456.3594 C10609.9291,459.1289 18946.9958,454.5289 18957.6783,464.3594 C19020.2166,521.9096 18996.3092,1229.5645 18986.6783,1243.8594 C18763.2068,1575.5535 18544.3642,1500.973 18152.6783,1581.8594 C17694.9378,1676.3867 10327.2455,1769.1478 9178.6967,1783.0664 " fill="none" id="urt_srtrequest_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="9173.6822,1783.1271,9182.73,1787.0178,9178.6818,1783.0665,9182.6331,1779.0183,9173.6822,1783.1271" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[74f0decf3779c06ec30af8770fc7e1ae]
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link urt_srtrequest_t to urt_status_t--><path d="M10054.9749,403.4858 C10001.5731,425.1481 9942.4032,445.2289 9885.6783,456.3594 C9861.8818,461.0287 8161.5969,453.984 8139.6783,464.3594 C7792.6462,628.6307 7591.3885,1069.0222 7506.939,1298.8221 " fill="none" id="urt_srtrequest_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7505.2118,1303.5371,7512.0636,1296.4623,7506.9318,1298.8422,7504.5518,1293.7104,7505.2118,1303.5371" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4360c48b38d2a92e1c3ebeee4ab98bfc]
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link urt_srtrequest_t to urt_usefulness_f--><path d="M10054.9643,403.4318 C10001.5624,425.0936 9942.395,445.1876 9885.6783,456.3594 C9849.566,463.4726 8594.7457,450.427 8560.6783,464.3594 C8111.7142,647.9712 7850.337,1253.3008 7790.1414,1407.0822 " fill="none" id="urt_srtrequest_t-&gt;urt_usefulness_f" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7788.2517,1411.931,7795.2472,1404.9982,7790.0676,1407.2724,7787.7934,1402.0928,7788.2517,1411.931" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e590cea536a036f5956f75e03ef95bbf]
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reverse link urt_frtrequest_t to urt_delay_t--><path d="M11185.6371,451.0653 C11177.6198,453.0001 11169.6257,454.7721 11161.6783,456.3594 C11138.5857,460.9717 7791.5683,453.4899 7770.6783,464.3594 C7608.4045,548.7938 7648.3776,658.3601 7533.6783,800.8594 C7366.2198,1008.9053 7369.912,1131.3948 7127.6783,1243.8594 C7057.7815,1276.3112 6488.0587,1216.2787 6434.6783,1271.8594 C6339.2415,1371.2301 6359.6838,1466.2803 6434.6783,1581.8594 C6515.1892,1705.9402 6691.1555,1754.8318 6799.1322,1773.6196 " fill="none" id="urt_frtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11198.2514,447.8939,11191.4572,445.4776,11186.6136,450.8199,11193.4078,453.2361,11198.2514,447.8939" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11173.1109" y="467.7353">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6767.281" y="1785.4118">0..4</text><!--MD5=[b1f137a561f49721d911648e5542119f]
182
link urt_frtrequest_t to urt_config--><path d="M11835.909,313.7946 C13269.4364,316.455 18915.4147,335.1325 19044.6783,464.3594 C19071.8215,491.4949 19069.2039,1187.3575 19051.6783,1243.8594 C18997.6996,1417.885 18980.0132,1495.3069 18819.6783,1581.8594 C18598.0986,1701.4733 10397.6326,1773.5812 9179.3506,1783.6432 " fill="none" id="urt_frtrequest_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="9174.0341,1783.6871,9183.0668,1787.6126,9179.0339,1783.6458,9183.0008,1779.6129,9174.0341,1783.6871" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d63fe507f799090eb2c242d7ab41013e]
183
link urt_frtrequest_t to urt_status_t--><path d="M11198.2492,447.8828 C11186.0057,451.0851 11173.7878,453.9362 11161.6783,456.3594 C11090.8324,470.5359 8631.391,449.5326 8560.6783,464.3594 C8184.9898,543.1324 8024.5657,522.7324 7768.6783,808.8594 C7633.8222,959.6522 7755.621,1081.6944 7634.6783,1243.8594 C7621.266,1261.8432 7609.1106,1256.5856 7592.6783,1271.8594 C7583.3154,1280.5623 7574.0942,1289.9685 7565.1422,1299.7378 " fill="none" id="urt_frtrequest_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7561.5918,1303.6466,7570.604,1299.674,7564.9536,1299.9455,7564.6822,1294.2951,7561.5918,1303.6466" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bea47d1dd6f09b5135df7519b40184db]
184
reverse link urt_hrtrequest_t to urt_delay_t--><path d="M9193.9347,456.3884 C9018.3488,461.5537 7170.3556,454.6478 7144.6783,464.3594 C6635.1826,657.0593 6447.6509,775.7683 6222.6783,1271.8594 C6165.7752,1397.3375 6140.6549,1471.1577 6222.6783,1581.8594 C6291.9466,1675.3464 6633.3423,1742.9054 6799.0779,1770.7555 " fill="none" id="urt_hrtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9206.9235,455.677,9200.7137,452.0111,9194.9415,456.3333,9201.1512,459.9991,9206.9235,455.677" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9191.0777" y="455.909">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6767.2226" y="1766.18">0..4</text><!--MD5=[50bfbddabe3b6f3afe991f5d307785f8]
185
reverse link urt_hrtrequest_t to urt_osTimer_t--><path d="M9193.758,456.9154 C9009.6116,467.7396 7142.3286,460.3203 7085.6783,464.3594 C5980.0811,543.1872 5660.485,438.8079 4615.6783,808.8594 C4487.9979,854.0815 4356.6921,941.8525 4278.1406,999.6556 " fill="none" id="urt_hrtrequest_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9206.9235,455.6772,9200.5753,452.2566,9194.9762,456.8008,9201.3244,460.2214,9206.9235,455.6772" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9191.0777" y="471.2607">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="4265.7532" y="988.9652">0,1</text><!--MD5=[2663060494b35c1af191cf8ba65e9057]
186
link urt_hrtrequest_t to urt_config--><path d="M9868.3128,452.6541 C9874.12,453.9803 9879.9115,455.2181 9885.6783,456.3594 C9900.9907,459.3899 18864.8648,454.1568 18876.6783,464.3594 C19008.0573,577.8228 19036.7563,1108.8173 18927.6783,1243.8594 C18478.9065,1799.4535 18065.8992,1497.6765 17356.6783,1581.8594 C16515.2601,1681.7338 10235.4632,1768.8678 9179.2549,1782.8921 " fill="none" id="urt_hrtrequest_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="9173.8765,1782.9634,9182.9288,1786.8434,9178.8761,1782.8969,9182.8226,1778.8442,9173.8765,1782.9634" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3d55577c6a64a095d4d92af2794b0aa7]
187
link urt_hrtrequest_t to urt_status_t--><path d="M9206.9234,455.6765 C9205.8409,455.9077 9204.7592,456.1354 9203.6783,456.3594 C9190.7243,459.0442 7308.0132,454.9853 7298.6783,464.3594 C7054.22,709.8465 7163.2975,924.9616 7298.6783,1243.8594 C7305.6794,1260.351 7315.7284,1258.5107 7327.6783,1271.8594 C7335.7387,1280.8633 7343.8612,1290.3097 7351.9026,1299.9446 " fill="none" id="urt_hrtrequest_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7355.1003,1303.7909,7352.4226,1294.313,7351.9039,1299.946,7346.2709,1299.4273,7355.1003,1303.7909" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[85137379eadac9ac066ccd1aa3005a20]
188
reverse link urt_service_t to urt_serviceid_t--><path d="M8563.5595,683.4892 C8259.129,711.261 7832.5869,758.4107 7772.6783,808.8594 C7617.5314,939.5078 7795.4483,1120.1963 7634.6783,1243.8594 C7583.0098,1283.6024 7106.5895,1241.9356 7048.6783,1271.8594 C7009.6416,1292.0304 6978.3836,1329.256 6955.9087,1363.8366 " fill="none" id="urt_service_t&lt;-urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8576.6006,682.3045,8570.2633,678.8637,8564.6498,683.3901,8570.9871,686.8309,8576.6006,682.3045" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8560.5767" y="695.2259">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6951.3409" y="1352.9131">1</text><!--MD5=[bfc39859b663e58a9d342532110a4ed9]
189
reverse link urt_service_t to urt_osMutex_t--><path d="M8563.3476,688.4586 C8190.9654,723.4581 7548.5266,778.7708 6995.6783,800.8594 C6981.4743,801.4269 4961.2296,802.1855 4948.6783,808.8594 C4870.2628,850.5553 4821.5807,946.9961 4797.942,1006.2808 " fill="none" id="urt_service_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8576.4798,687.2222,8570.1312,683.8023,8564.5326,688.3471,8570.8812,691.767,8576.4798,687.2222" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8560.4527" y="684.8758">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4797.0712" y="995.7073">1</text><!--MD5=[1bad46d95b358cb94878caad932de3eb]
190
reverse link urt_service_t to urt_osEventSource_t--><path d="M8563.3027,660.3189 C7016.9286,672.8896 233.8657,732.3582 158.6783,808.8594 C90.9192,877.8025 96.0584,1170.2171 158.6783,1243.8594 C219.4441,1315.3212 765.5288,1381.854 1106.8152,1416.9524 " fill="none" id="urt_service_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8576.5187,660.2116,8570.4864,656.2605,8564.5191,660.3092,8570.5514,664.2602,8576.5187,660.2116" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8560.4926" y="672.5462">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1091.4345" y="1413.1388">1</text><!--MD5=[7ece8bae7b00261083263672987da7c8]
191
reverse link urt_service_t to urt_osEventListener_t--><path d="M8563.4082,660.4555 C7040.5224,673.5132 444.8917,734.3343 371.6783,808.8594 C236.1901,946.775 236.4509,1105.688 371.6783,1243.8594 C422.206,1295.4871 1602.6083,1250.6982 1671.6783,1271.8594 C1755.4415,1297.5222 1838.0163,1357.9034 1888.1682,1399.5804 " fill="none" id="urt_service_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8576.4256,660.344,8570.3915,656.3956,8564.426,660.4468,8570.4601,664.3953,8576.4256,660.344" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8560.397" y="657.2837">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1881.3526" y="1388.8502">1</text><!--MD5=[33249c42c81fffc5b10022c232aa2b33]
192
link urt_service_t to urt_config--><path d="M8576.5151,700.9019 C8452.9619,725.4036 8329.7659,760.9214 8292.6783,808.8594 C8187.566,944.7233 8188.6064,1445.1969 8292.6783,1581.8594 C8363.3226,1674.6264 8684.5018,1735.766 8878.4802,1764.9341 " fill="none" id="urt_service_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8883.61,1765.7025,8875.3019,1760.4133,8878.6652,1764.9618,8874.1167,1768.3251,8883.61,1765.7025" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5471b15d17b5493f5e528354308bf7b4]
193
link urt_service_t to urt_status_t--><path d="M8576.5954,681.9504 C8363.0749,704.3124 8098.1029,744.1049 8008.6783,808.8594 C7831.2099,937.3687 7955.5252,1117.2755 7776.6783,1243.8594 C7709.1597,1291.6476 7664.033,1230.0147 7592.6783,1271.8594 C7579.416,1279.6368 7566.998,1289.2907 7555.4926,1300.0234 " fill="none" id="urt_service_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7551.6259,1303.7034,7560.903,1300.3964,7555.2478,1300.2564,7555.3878,1294.6013,7551.6259,1303.7034" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4ebde0f50b468210ecfb9bb1100459a1]
1
<?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]
2
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]
3
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]
4
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]
5
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]
6
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]
7
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]
8
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]
9
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]
10
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]
11
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]
12
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]
13
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]
14
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]
15
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]
16
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]
17
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]
18
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]
19
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]
20
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]
21
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]
22
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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
53
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]
54
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]
55
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]
56
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]
57
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]
58
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]
59
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]
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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]
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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]
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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; 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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
185
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]
186
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]
187
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]
188
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]
189
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]
190
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]
191
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]
194 192
@startuml
195 193

  
196 194
title **µRtWare**\nOverview\n
......
310 308
    class urt_osTime_t <<T,00CFFF>> {
311 309
    + {method} urtTime2Us (t : urt_osTime_t*) : uint64_t
312 310
    + {method} urtTimeNow (void) : urt_osTime_t
313
    + {method} urtTimeAddUs (time : urt_osTime_t*, offset : uint32_t) : urt_osTime_t*
311
    + {method} urtTimeAddUs (time : urt_osTime_t*, offset : urt_delay_t) : void
314 312
  }
315 313
}
316 314

  
......
345 343

  
346 344
    class urt_osTimer_t <<T,00CFFF>> {
347 345
    + {method} urtTimerInit (timer : urt_osTimer_t*) : void
348
    + {method} urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t
349
    + {method} urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t
350
    + {method} urtTimerReset (timer : urt_osTimer_t*) : urt_status_t
346
    + {method} urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void
347
    + {method} urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void
348
    + {method} urtTimerReset (timer : urt_osTimer_t*) : void
351 349
    + {method} urtTimerIsArmed (timer : urt_osTimer_t*) : bool
352 350
  }
353 351
} 
......
385 383

  
386 384
    class urt_osThread_t <<T,00CFFF>> {
387 385
    URT_THREAD_SLEEP_MAX : float
388
    URT_THREAD_SSLEP_MAX : urt_delay_t
389
    URT_THREAD_MSLEEP_MAX : urt_delay_t
386
    URT_THREAD_SSLEP_MAX : unsigned int
387
    URT_THREAD_MSLEEP_MAX : unsigned int
390 388
    URT_THREAD_USLEEP_MAX : urt_delay_t
391 389
    - -
392 390
    + {method} URT_THREAD_MEMORY (varname, stacksize)
393 391
    ..
394
    + {method} urtThreadInit (memory : void*, size : size_t, func : urt_osThreadFunction_t*) : urt_osThread_t*
395
    + {method} urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void
392
    + {method} urtThreadInit (memory : void*, size : size_t, prio : urt_osThreadPrio_t, func : urt_osThreadFunction_t*, arg : void*) : urt_osThread_t*
393
    + {method} urtThreadStart (thread : urt_osThread_t*) : void
396 394
    + {method} urtThreadYield (void) : void
397 395
    + {method} urtThreadGetPriority (void) : urt_osThreadPrio_t
398 396
    + {method} urtThreadSetPriority (prio : urt_osThreadPrio_t) : void
399
    + {method} urtThreadSuspend (thread : urt_osThread_t*) : void
400
    + {method} urtThreadResume (thread : urt_osThread_t*) : urt_status_t
401 397
    + {method} urtThreadSleep (seconds : float) : void
402
    + {method} urtThreadSSleep (seconds : urt_delay_t) : void
403
    + {method} urtThreadMSleep (milliseconds : urt_delay_t) : void
398
    + {method} urtThreadSSleep (seconds : unsigned int) : void
399
    + {method} urtThreadMSleep (milliseconds : unsigned int) : void
404 400
    + {method} urtThreadUSleep (microseconds : urt_delay_t) : void
405 401
    + {method} urtThreadSleepUntil (time : urt_osTime_t) : void
406 402
    + {method} urtThreadExit (void) : void
......
440 436
  }
441 437

  
442 438
    class urt_events <<F,E0E0E0>> {
443
    + {method} urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : urt_status_t
444
    + {method} urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : urt_status_t
439
    + {method} urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : void
440
    + {method} urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : void
445 441
    + {method} urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWait_t, timeout : urt_delay_t) : urt_osEventMask_t
446 442
  }
447 443
} 
......
781 777
urt_events ..> urt_osEventFlags_t
782 778
urt_events ..> urt_osEventWait_t
783 779

  
780
urt_osTime_t ..> urt_delay_t
784 781
urt_osCondvar_t ..> urt_delay_t
785 782
urt_osThread_t ..> urt_delay_t
786
urt_osThread_t ..> urt_status_t
787 783
urt_osTimer_t ..> urt_delay_t
788
urt_osTimer_t ..> urt_status_t
789 784
urt_events ..> urt_delay_t
790
urt_events ..> urt_status_t
791 785

  
792 786

  
793 787
urt_node_t "1" o- - "0,1" urt_node_t
doc/classdiagrams/overview.uml
62 62
urt_delay_t ..> urt_config
63 63

  
64 64
!includesub osal.uml!DEPENDENCIES
65
urt_osTime_t ..> urt_delay_t
65 66
urt_osCondvar_t ..> urt_delay_t
66 67
urt_osThread_t ..> urt_delay_t
67
urt_osThread_t ..> urt_status_t
68 68
urt_osTimer_t ..> urt_delay_t
69
urt_osTimer_t ..> urt_status_t
70 69
urt_events ..> urt_delay_t
71
urt_events ..> urt_status_t
72 70

  
73 71
!includesub urtware.uml!DEPENDENCIES
74 72
urt_core_t "1" *-- "1" urt_osEventSource_t
doc/classdiagrams/urtware.uml
31 31

  
32 32
!startsub ENTITIES
33 33

  
34
/' uRtWare core structure. '/
34
/' µRtWare core structure. '/
35 35
$structure("urt_core_t") {
36 36
    'List of nodes ordered by their (initial) priority.
37 37
  - {field} {static} _nodes : urt_node_t*
doc/componentdiagrams/µRtWare.uml
3 3
applications. It was developed as part of the software habitat for the
4 4
Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
5 5

  
6
Copyright (C) 2018..2019  Thomas Schöpping et al.
6
Copyright (C) 2018..2020  Thomas Schöpping et al.
7 7

  
8 8
This program is free software: you can redistribute it and/or modify
9 9
it under the terms of the GNU General Public License as published by
inc/urt_confcheck.h
3 3
applications. It was developed as part of the software habitat for the
4 4
Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
5 5

  
6
Copyright (C) 2018..2019  Thomas Schöpping et al.
6
Copyright (C) 2018..2020  Thomas Schöpping et al.
7 7

  
8 8
This program is free software: you can redistribute it and/or modify
9 9
it under the terms of the GNU General Public License as published by
......
19 19
along with this program.  If not, see <http://www.gnu.org/licenses/>.
20 20
*/
21 21

  
22
#ifndef _URTWARE_CONFCHECK_H_
23
#define _URTWARE_CONFCHECK_H_
22
#ifndef URT_CONFCHECK_H
23
#define URT_CONFCHECK_H
24 24

  
25
#include <urtwareconf.h>
25
#include <urtware.h>
26

  
27
/*============================================================================*/
28
/* CONSTANTS                                                                  */
29
/*============================================================================*/
30

  
31
/*============================================================================*/
32
/* SETTINGS                                                                   */
33
/*============================================================================*/
34

  
35
/*============================================================================*/
36
/* CHECKS                                                                     */
37
/*============================================================================*/
38

  
39
/* general parameters and options */
26 40

  
27 41
#if !defined(URT_CFG_DELAY_WIDTH)
28
  #error "URT_CFG_DELAY_WIDTH not defined in urtwareconf.h"
29
#else
30
  #if !(URT_CFG_DELAY_WIDTH == 32 || URT_CFG_DELAY_WIDTH == 64)
31
    #error "URT_CFG_DELAY_WIDTH set to illegal value in urtwareconf.h"
32
  #endif
33
#endif
34

  
35
#if !defined(URT_CFG_TOPICID_WIDTH)
36
  #error "URT_CFG_TOPICID_WIDTH not defined in urtwareconf.h"
37
#else
38
  #if !(URT_CFG_TOPICID_WIDTH == 8 || URT_CFG_TOPICID_WIDTH == 16 || URT_CFG_TOPICID_WIDTH == 32 || URT_CFG_TOPICID_WIDTH == 64)
39
    #error "URT_CFG_TOPICID_WIDTH set to illegal value in urtwareconf.h"
40
  #endif
41
#endif
42
# error "URT_CFG_DELAY_WIDTH not defined in urtwareconf.h"
43
#endif /* !defined(URT_CFG_DELAY_WIDTH) */
42 44

  
43 45
#if !defined(URT_CFG_NODESTAGE_WIDTH)
44
  #error "URT_CFG_NODESTAGE_WIDTH not defined in urtwareconf.h"
45
#else
46
  #if !(URT_CFG_NODESTAGE_WIDTH == 8 || URT_CFG_NODESTAGE_WIDTH == 16 || URT_CFG_NODESTAGE_WIDTH == 32 || URT_CFG_NODESTAGE_WIDTH == 64)
47
    #error "URT_CFG_NODESTAGE_WIDTH set to illegal value in urtwareconf.h"
48
  #endif
49
#endif
50

  
51
#if !defined(URT_CFG_DEBUG)
52
  #error "URT_CFG_DEBUG not defined in urtwareconf.h"
53
#endif
54

  
55
#endif /* _URTWARE_CONFCHECK_H_ */
46
# error "URT_CFG_NODESTAGE_WIDTH not defined in urtwareconf.h"
47
#endif /* !defined(URT_CFG_NODESTAGE_WIDTH) */
48

  
49
#if !defined(URT_CFG_DEBUG_ENABLED)
50
# error "URT_CFG_DEBUG_ENABLED not defined in urtwareconf.h"
51
#endif /* !defined(URT_CFG_DEBUG_ENABLED) */
52

  
53
/* publish-subscribe parameters and options */
54

  
55
#if !defined(URT_CFG_PUBSUB_ENABLED)
56
# error "URT_CFG_PUBSUB_ENABLED not defined in urtwareconf.h"
57
#endif /* !defined(URT_CFG_PUBSUB_ENABLED) */
58

  
59
#if (URT_CFG_PUBSUB_ENABLED == true)
60

  
61
# if !defined(URT_CFG_PUBSUB_TOPICID_WIDTH)
62
#   error "URT_CFG_PUBSUB_TOPICID_WIDTH not defined in urtwareconf.h"
63
# endif /* !defined(URT_CFG_PUBSUB_TOPICID_WIDTH) */
64

  
65
# if !defined(URT_CFG_PUBSUB_PROFILING)
66
#   error "URT_CFG_PUBSUB_PROFILING not defined in urtwareconf.h"
67
# endif /* !defined(URT_CFG_PUBSUB_PROFILING) */
68

  
69
# if !defined(URT_CFG_PUBSUB_QOS_DEADLINECHECKS)
70
#   error "URT_CFG_PUBSUB_QOS_DEADLINECHECKS not defined in urtwareconf.h"
71
# endif /* !defined(URT_CFG_PUBSUB_QOS_DEADLINECHECKS) */
72

  
73
# if !defined(URT_CFG_PUBSUB_QOS_RATECHECKS)
74
#   error "URT_CFG_PUBSUB_QOS_RATECHECKS not defined in urtwareconf.h"
75
# endif /* !defined(URT_CFG_PUBSUB_QOS_RATECHECKS) */
76

  
77
# if !defined(URT_CFG_PUBSUB_QOS_JITTERCHECKS)
78
#   error "URT_CFG_PUBSUB_QOS_JITTERCHECKS not defined in urtwareconf.h"
79
# endif /* !defined(URT_CFG_PUBSUB_QOS_JITTERCHECKS) */
80

  
81
#endif /* URT_CFG_PUBSUB_ENABLED == true */
82

  
83
/* remote procedure call parameters and options */
84

  
85
#if !defined(URT_CFG_RPC_ENABLED)
86
# error "URT_CFG_RPC_ENABLED not defined in urtwareconf.h"
87
#endif /* !defined(URT_CFG_RPC_ENABLED) */
88

  
89
#if (URT_CFG_RPC_ENABLED == true)
90

  
91
# if !defined(URT_CFG_RPC_SERVICEID_WIDTH)
92
#   error "URT_CFG_RPC_SERVICEID_WIDTH not defined in urtwareconf.h"
93
# endif /* !defined(URT_CFG_RPC_SERVICEID_WIDTH) */
94

  
95
# if !defined(URT_CFG_RPC_PROFILING)
96
#   error "URT_CFG_RPC_PROFILING not defined in urtwareconf.h"
97
# endif /* !defined(URT_CFG_RPC_PROFILING) */
98

  
99
# if !defined(URT_CFG_RPC_QOS_DEADLINECHECKS)
100
#   error "URT_CFG_RPC_QOS_DEADLINECHECKS not defined in urtwareconf.h"
101
# endif /* !defined(URT_CFG_RPC_QOS_DEADLINECHECKS) */
102

  
103
# if !defined(URT_CFG_RPC_QOS_JITTERCHECKS)
104
#   error "URT_CFG_RPC_QOS_JITTERCHECKS not defined in urtwareconf.h"
105
# endif /* !defined(URT_CFG_RPC_QOS_JITTERCHECKS) */
106

  
107
#endif /* URT_CFG_RPC_ENABLED == true */
108

  
109
/*============================================================================*/
110
/* DATA STRUCTURES AND TYPES                                                  */
111
/*============================================================================*/
112

  
113
/*============================================================================*/
114
/* MACROS                                                                     */
115
/*============================================================================*/
116

  
117
/*============================================================================*/
118
/* EXTERN DECLARATIONS                                                        */
119
/*============================================================================*/
120

  
121
/*============================================================================*/
122
/* INLINE FUNCTIONS                                                           */
123
/*============================================================================*/
124

  
125
#endif /* URT_CONFCHECK_H */
inc/urt_primitives.h
1
/*
2
µRtWare is a lightweight publish/subscribe middleware for real-time
3
applications. It was developed as part of the software habitat for the
4
Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
5

  
6
Copyright (C) 2018..2020  Thomas Schöpping et al.
7

  
8
This program is free software: you can redistribute it and/or modify
9
it under the terms of the GNU General Public License as published by
10
the Free Software Foundation, either version 3 of the License, or
11
(at your option) any later version.
12

  
13
This program is distributed in the hope that it will be useful,
14
but WITHOUT ANY WARRANTY; without even the implied warranty of
15
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
16
GNU General Public License for more details.
17

  
18
You should have received a copy of the GNU General Public License
19
along with this program.  If not, see <http://www.gnu.org/licenses/>.
20
*/
21

  
22
#ifndef URT_PRIMITIVES_H
23
#define URT_PRIMITIVES_H
24

  
25
#include <urtware.h>
26

  
27
#include <stdint.h>
28

  
29
/*============================================================================*/
30
/* CONSTANTS                                                                  */
31
/*============================================================================*/
32

  
33
/**
34
 * @brief Special constant value for immediate (nonexistent) delays.
35
 */
36
#define URT_DELAY_IMMEDIATE                     (urt_delay_t)0
37

  
38
/**
39
 * @brief Special constant value for infinite delays.
40
 */
41
#define URT_DELAY_INFINITE                      (urt_delay_t)~0
42

  
43
/*============================================================================*/
44
/* SETTINGS                                                                   */
45
/*============================================================================*/
46

  
47
/*============================================================================*/
48
/* CHECKS                                                                     */
49
/*============================================================================*/
50

  
51
/*============================================================================*/
52
/* DATA STRUCTURES AND TYPES                                                  */
53
/*============================================================================*/
54

  
55
/**
56
 * @brief   Type for temporal delays (in microseconds).
57
 */
58
#if (URT_CFG_DELAY_WIDTH == 32)
59
  typedef uint32_t urt_delay_t;
60
#elif (URT_CFG_DELAY_WIDTH == 64)
61
  typedef uint64_t urt_delay_t;
62
#else
63
# error "URT_CFG_DELAY_WIDTH must be set to 32 or 64."
64
#endif
65

  
66
/**
67
 * @brief   Type to use for the node stage value.
68
 * @details Use wide types only if you need to synchronize the system very often.
69
 */
70
#if (URT_CFG_NODESTAGE_WIDTH == 8)
71
  typedef uint8_t urt_nodestage_t;
72
#elif (URT_CFG_NODESTAGE_WIDTH == 16)
73
  typedef uint16_t urt_nodestage_t;
74
#elif (URT_CFG_NODESTAGE_WIDTH == 32)
75
  typedef uint32_t urt_nodestage_t;
76
#elif (URT_CFG_NODESTAGE_WIDTH == 64)
77
  typedef uint64_t urt_nodestage_t;
78
#else
79
# error "URT_CFG_NODESTAGE_WIDTH must be set to 8, 16, 32 or 64."
80
#endif
81

  
82
/**
83
 * @brief   General status type used throughout µRtWare and its interfaces.
84
 */
85
typedef enum {
86
  URT_STATUS_OK = 0,              /**< Status indicating success. */
87
  URT_STATUS_DEADLINEVIOLATION,   /**< Status indicating a violated deadline. */
88
  URT_STATUS_JITTERVIOLATION,     /**< Status indicating a violated jitter requirement. */
89
  URT_STATUS_RATEVIOLATION,       /**< Status indicating a violated rate requirement. */
90
  URT_STATUS_SYNC_PENDING,        /**< Status indicating a synchronization barrier. */
91
  URT_STATUS_SYNC_ERROR,          /**< Status indicating a failed synchronization. */
92
  URT_STATUS_NODE_INVALEVTMASK,   /**< Status indicating an invalid event mask. */
93
#if (URT_CFG_PUBSUB_ENABLED == true) || defined(__DOXYGEN__)
94
  URT_STATUS_TOPIC_DUPLICATE,     /**< Status indicating multiple use of the same topic ID. */
95
  URT_STATUS_PUBLISH_TIMEOUT,     /**< Status indicating a timeout when publishinh a message. */
96
  URT_STATUS_SUBSCRIBE_TOPICSET,  /**< Status indicating that the subscriber is already associated to a topic. */
97
  URT_STATUS_FETCH_NOTOPIC,       /**< Status indicating that the subscriber is not associated to any topic. */
98
  URT_STATUS_FETCH_NOMESSAGE,     /**< Status indicating that no message could be fetched. */
99
  URT_STATUS_UNSUBSCRIBE_NOTOPIC, /**< Status indicating that the subscriber is not associated to an topic. */
100
#endif /* URT_CFG_PUBSUB_ENABLED == true */
101
#if (URT_CFG_RPC_ENABLED == true) || defined(__DOXYGEN__)
102
  URT_STATUS_SERVICE_DUPLICATE,   /**< Status indicating multiple use of the same service ID. */
103
  URT_STATUS_REQUEST_BADOWNER,    /**< Status indicating that a request is currently owned by another component. */
104
  URT_STATUS_REQUEST_LOCKED,      /**< Status indicating a currently locked request. */
105
#endif /* URT_CFG_RPC_ENABLED == true */
106
} urt_status_t;
107

  
108
#if (URT_CFG_PUBSUB_ENABLED == true) || defined(__DOXYGEN__)
109
# if (URT_CFG_PUBSUB_TOPICID_WIDTH == 8)
110
    typedef uint8_t urt_topicid_t;
111
# elif (URT_CFG_PUBSUB_TOPICID_WIDTH == 16)
112
    typedef uint16_t urt_topicid_t;
113
# elif (URT_CFG_PUBSUB_TOPICID_WIDTH == 32)
114
    typedef uint32_t urt_topicid_t;
115
# elif (URT_CFG_PUBSUB_TOPICID_WIDTH == 64)
116
    typedef uint64_t urt_topicid_t;
117
# else
118
#   error "URT_CFG_PUBSUB_TOPICID_WIDTH must be set to 8, 16, 32 or 64."
119
# endif
120
#endif /* URT_CFG_PUBSUB_ENABLED == true */
121

  
122
#if (URT_CFG_RPC_ENABLED == true) || defined(__DOXYGEN__)
123
# if (URT_CFG_RPC_SERVICEID_WIDTH == 8)
124
    typedef uint8_t urt_serviced_t;
125
# elif (URT_CFG_RPC_SERVICEID_WIDTH == 16)
126
    typedef uint16_t urt_serviced_t;
127
# elif (URT_CFG_RPC_SERVICEID_WIDTH == 32)
128
    typedef uint32_t urt_serviced_t;
129
# elif (URT_CFG_RPC_SERVICEID_WIDTH == 64)
130
    typedef uint64_t urt_serviced_t;
131
# else
132
#   error "URT_CFG_RPC_SERVICEID_WIDTH must be set to 8, 16, 32 or 64."
133
# endif
134
#endif /* URT_CFG_RPC_ENABLED == true */
135

  
136
/**
137
 * @brief   Usefulness calculation function type.
138
 *
139
 * @param[in] dt  Delay to calculate the usefulness for.
140
 * @param[in] param Pointer to optional parameters (may be NULL).
141
 *
142
 * return   The usefulness (of some data) after the specified delay as value in range [0, 1].
143
 */
144
typedef float (*urt_usefulness_f)(urt_delay_t dt, void* params);
145

  
146
/*============================================================================*/
147
/* MACROS                                                                     */
148
/*============================================================================*/
149

  
150
/*============================================================================*/
151
/* EXTERN DECLARATIONS                                                        */
152
/*============================================================================*/
153

  
154
/*============================================================================*/
155
/* INLINE FUNCTIONS                                                           */
156
/*============================================================================*/
157

  
158
#endif /* URT_PRIMITIVES_H */
templates/todo.txt
1
todo
templates/urtwareconf.h
1
/*
2
µRtWare is a lightweight publish/subscribe middleware for real-time
3
applications. It was developed as part of the software habitat for the
4
Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
5

  
6
Copyright (C) 2018..2020  Thomas Schöpping et al.
7

  
8
This program is free software: you can redistribute it and/or modify
9
it under the terms of the GNU General Public License as published by
10
the Free Software Foundation, either version 3 of the License, or
11
(at your option) any later version.
12

  
13
This program is distributed in the hope that it will be useful,
14
but WITHOUT ANY WARRANTY; without even the implied warranty of
15
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
16
GNU General Public License for more details.
17

  
18
You should have received a copy of the GNU General Public License
19
along with this program.  If not, see <http://www.gnu.org/licenses/>.
20
*/
21

  
22
#ifndef URTWARECONF_H
23
#define URTWARECONF_H
24

  
25
#define _URTWARE_CFG_
26
#define URTWARE_CFG_VERSION_MAJOR               0
27
#define URTWARE_CFG_VERSION_MINOR               1
28

  
29
/**
30
 * @brief   Width of the urt_delay_t data type.
31
 *
32
 * @details Possible values are 32 and 64 bits.
33
 *          By definition time is represented in microseconds.
34
 */
35
#define URT_CFG_DELAY_WIDTH                     32
36

  
37
/**
38
 * @brief   Width of the urt_nodestage_t data type.
39
 *
40
 * @details Possible values are 8, 16, 32, and 64 bits.
41
 */
42
#define URT_CFG_NODESTAGE_WIDTH                 16
43

  
44
/**
45
 * @brief   Debug enable flag.
46
 */
47
#define URT_CFG_DEBUG_ENABLED                   true
48

  
49
/**
50
 * @brief   Enable flag for the publish-subscribe system.
51
 */
52
#define URT_CFG_PUBSUB_ENABLED                  true
53

  
54
/**
55
 * @brief   Width of the urt_topicid_t data type.
56
 *
57
 * @details Possible values are 8, 16, 32, and 64 bits.
58
 */
59
#define URT_CFG_PUBSUB_TOPICID_WIDTH            16
60

  
61
/**
62
 * @brief   Flag to enable profiling of the publish-subscribe system.
63
 */
64
#define URT_CFG_PUBSUB_PROFILING                true
65

  
66
/**
67
 * @brief   Flag to enable deadline QoS for the publish-subscribe system.
68
 */
69
#define URT_CFG_PUBSUB_QOS_DEADLINECHECKS       true
70

  
71
/**
72
 * @brief   Flag to enable rate QoS for the publish-subscribe system.
73
 */
74
#define URT_CFG_PUBSUB_QOS_RATECHECKS           true
75

  
76
/**
77
 * @brief   Flag to enable jitter QoS for the publish-subscribe system
78
 */
79
#define URT_CFG_PUBSUB_QOS_JITTERCHECKS         true
80

  
81
/**
82
 * @brief   Enable flag for remote procedure calls.
83
 */
84
#define URT_CFG_RPC_ENABLED                     true
85

  
86
/**
87
 * @brief   Width of the urt_serviceid_t data type.
88
 *
89
 * @details Possible values are 8, 16, 32, and 64 bits.
90
 */
91
#define URT_CFG_RPC_SERVICEID_WIDTH             16
92

  
93
/**
94
 * @brief   Flag to enable profiling of remote procedure calls.
95
 */
96
#define URT_CFG_RPC_PROFILING                   true
97

  
98
/**
99
 * @brief   Flag to enable deadline QoS for remote procedure calls.
100
 */
101
#define URT_CFG_RPC_QOS_DEADLINECHECKS          true
102

  
103
/**
104
 * @brief   Flag to enable jitter QoS for remote procedure calls.
105
 */
106
#define URT_CFG_RPC_QOS_JITTERCHECKS            true
107

  
108
/**
109
 * @brief   Hook macro to insert a custom header to urt_osal.h file.
110
 */
111
#define URT_CFG_OSAL_HEADER                     <custom_urtosal.h>
112

  
113
#endif /* HELLOWORLD_URTWARECONF_H */
urt_osal.h
1
/*
2
µRtWare is a lightweight publish/subscribe middleware for real-time
3
applications. It was developed as part of the software habitat for the
4
Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
5

  
6
Copyright (C) 2018..2020  Thomas Schöpping et al.
7

  
8
This program is free software: you can redistribute it and/or modify
9
it under the terms of the GNU General Public License as published by
10
the Free Software Foundation, either version 3 of the License, or
11
(at your option) any later version.
12

  
13
This program is distributed in the hope that it will be useful,
14
but WITHOUT ANY WARRANTY; without even the implied warranty of
15
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
16
GNU General Public License for more details.
17

  
18
You should have received a copy of the GNU General Public License
19
along with this program.  If not, see <http://www.gnu.org/licenses/>.
20
*/
21

  
22
#ifndef URT_OSAL_H
23
#define URT_OSAL_H
24

  
25
#include <urtware.h>
26

  
27
/*============================================================================*/
28
/* VERSION                                                                    */
29
/*============================================================================*/
30

  
31
/**
32
 * @brief   The µRtWare operating system abstraction layer interface major version.
33
 * @note    Changes of the major version imply incompatibilities.
34
 */
35
#define URT_OSAL_VERSION_MAJOR                  0
36

  
37
/**
38
 * @brief   The µRtWare operating system abstraction layer interface minor version.
39
 * @note    A higher minor version implies new functionalty, but all old interfaces are still available.
40
 */
41
#define URT_OSAL_VERSION_MINOR                  1
42

  
43
/*============================================================================*/
44
/* DEPENDENCIES                                                               */
45
/*============================================================================*/
46

  
47
#include <stdint.h>
48

  
49
/*============================================================================*/
50
/* DEBUG                                                                      */
51
/*============================================================================*/
52

  
53
#if defined(__cplusplus)
54
extern "C" {
55
#endif /* defined(__cplusplus) */
56

  
57
#if !defined(urtDebugAssert) || defined(__DOXYGEN__)
58
  /**
59
   * @brief Assert function to check a given condition.
60
   *
61
   * @param[in] condition   The condition to check.
62
   */
63
  void urtDebugAssert(const bool condition);
64
#endif /* !defined(urtDebugAssert) */
65

  
66
#if defined(__cplusplus)
67
}
68
#endif /* defined(__cplusplus) */
69

  
70
/*============================================================================*/
71
/* MUTEX                                                                      */
72
/*============================================================================*/
73

  
74
/*
75
 * The following type must be defined by the implementation:
76
 *
77
 * urt_osMutex_t
78
 *    Type to represent a mutex lock object.
79
 *    Is only used via pointers by the API.
80
 */
81

  
82
#if defined(__cplusplus)
83
extern "C" {
84
#endif /* defined(__cplusplus) */
85

  
86
#if !defined(urtMutexInit) || defined(__DOXYGEN__)
87
  /**
88
   * @brief   Initialize a mutex lock object.
89
   *
90
   * @param[in] mutex   Pointer to the mutex lock object to initialize.
91
   *                    Must not be NULL.
92
   */
93
  void urtMutexInit(urt_osMutex_t* mutex);
94
#endif /* !defined(urtMutexInit) */
95

  
96
#if !defined(urtMutexLock) || defined(__DOXYGEN__)
97
  /**
98
   * @brief   Lock a mutex lock.
99
   * @details The calling thread is blocked until the mutex lock could be acquired.
100
   *
101
   * @param[in] mutex   Pointer to the mutex lock to acquire.
102
   *                    Must not be NULL.
103
   */
104
  void urtMutexLock(urt_osMutex_t* mutex);
105
#endif /* !defined(urtMutexLock) */
106

  
107
#if !defined(urtMutexTryLock) || defined(__DOXYGEN__)
108
  /**
109
   * @brief   Try to lock a mutex lock.
110
   * @details This function does not block but returns immediately.
111
   *
112
   * @param[in] mutex   Pointer to the mutex lock to acquire.
113
   *
114
   * @return  Indicator whether the lock was acquired.
115
   * @retval true   The lock was acquired successfully.
116
   * @retval false  The lock could not be acquired.
117
   */
118
  bool urtMutexTryLock(urt_osMutex_t* mutex);
119
#endif /* !defined(urtMutexTryLock) */
120

  
121
#if !defined(urtMutexUnlock) || defined(__DOXYGEN__)
122
  /**
123
   * @brief   Unlock an owned mutex lock.
124
   *
125
   * @param[in] mutex   Pointer to the mutex lock to unlock.
126
   *                    Must not be NULL.
127
   */
128
  void urtMutexUnlock(urt_osMutex_t* mutex);
129
#endif /* !defined(urtMutexUnlock) */
130

  
131
#if defined(__cplusplus)
132
}
133
#endif /* defined(__cplusplus) */
134

  
135
/*============================================================================*/
136
/* CONDITION VARIABLE                                                         */
137
/*============================================================================*/
138

  
139
/*
140
 * The following type must be defined by the implementation:
141
 *
142
 * urt_osCondvar_t
143
 *    Type to represent a condition variable object.
144
 *    Is only used via pointers by the API.
145
 */
146

  
147
/**
148
 * @brief   Status type of condition variables.
149
 */
150
typedef enum {
151
  URT_CONDVAR_WAITSTATUS_SIGNAL = 1,    /**< The condition variable has been signaled individually. */
152
  URT_CONDVAR_WAITSTATUS_BROADCAST = 2, /**< The condition variable has been signal via broadcast. */
153
  URT_CONDVAR_WAITSTATUS_TIMEOUT = 0,   /**< Waiting for the condition variable timed out. */
154
} urt_osCondvarWaitStatus_t;
155

  
156
#if defined(__cplusplus)
157
extern "C" {
158
#endif /* defined(__cplusplus) */
159

  
160
#if !defined(urtCondvarInit) || defined(__DOXYGEN__)
161
  /**
162
   * @brief   Initialize a condition variable object.
... This diff was truncated because it exceeds the maximum size that can be displayed.

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