commit 46471486302efadc59bfbde603a5238a41eb6a74
Author: Thomas Schöpping <tschoepp@cit-ec.uni-bielefeld.de>
Date:   Wed May 20 12:44:12 2020 +0200

    OSAL slightly reworked.
    Interfaces enhanced.
    Documentation updated.

diff --git a/Makefile b/Makefile
index fd9a663..db0f8bb 100644
--- a/Makefile
+++ b/Makefile
@@ -3,7 +3,7 @@
 # applications. It was developed as part of the software habitat for the       #
 # Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as      #
 # well.                                                                        #
-# Copyright (C) 2018..2019  Thomas Schöpping et al.                            #
+# Copyright (C) 2018..2020  Thomas Schöpping et al.                            #
 #                                                                              #
 # This program is free software: you can redistribute it and/or modify         #
 # it under the terms of the GNU General Public License as published by         #
@@ -32,11 +32,8 @@ URTWARE_DIR := $(dir $(lastword $(MAKEFILE_LIST)))
 URTWARE_INC = $(URTWARE_DIR:/=) \
               $(URTWARE_DIR)inc
 
-URTWARE_SRCDIR = $(URTWARE_DIR)src
-
 # C sources
 URTWARE_CSRC =
 
 # C++ sources
 URTWARE_CPPSRC =
-
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..cc354b0
--- /dev/null
+++ b/README.md
@@ -0,0 +1,47 @@
+About & License
+===============
+
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+(a complete list of all authors is given below)
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU Lesser General Public License as published by
+the Free Software Foundation, either version 3 of the License, or (at
+your option) any later version.
+
+This program is distributed in the hope that it will be useful, but
+WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+This research/work was supported by the Cluster of Excellence
+Cognitive Interaction Technology 'CITEC' (EXC 277) at Bielefeld
+University, which is funded by the German Research Foundation (DFG).
+
+Authors:
+
+-   Thomas Schöpping          <tschoepp[at]cit-ec.uni-bielefeld.de>
+-   Marc Rothmann
+
+References:
+
+[1] S. Herbrechtsmeier, T. Korthals, T. Schopping and U. Rückert, "AMiRo: A
+    modular & customizable open-source mini robot platform," 2016 20th
+    International Conference on System Theory, Control and Computing (ICSTCC),
+    Sinaia, 2016, pp. 687-692.
+
+--------------------------------------------------------------------------------
+
+Contents
+========
+
+--------------------------------------------------------------------------------
+
+TODO
diff --git a/README.txt b/README.txt
deleted file mode 100644
index 471e99e..0000000
--- a/README.txt
+++ /dev/null
@@ -1,49 +0,0 @@
-uRtWare is a lightweight publish/subscribe middleware for real-time
-applications. It was developed as part of the software habitat for the
-Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
-
-Copyright (C) 2018..2019  Thomas Schöpping et al.
-(a complete list of all authors is given below)
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU Lesser General Public License as published by
-the Free Software Foundation, either version 3 of the License, or (at
-your option) any later version.
-
-This program is distributed in the hope that it will be useful, but
-WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
-Lesser General Public License for more details.
-
-You should have received a copy of the GNU Lesser General Public License
-along with this program.  If not, see <http://www.gnu.org/licenses/>.
-
-This research/work was supported by the Cluster of Excellence
-Cognitive Interaction Technology 'CITEC' (EXC 277) at Bielefeld
-University, which is funded by the German Research Foundation (DFG).
-
-Authors:
- - Thomas Schöpping          <tschoepp[at]cit-ec.uni-bielefeld.de>
- - Marc Rothmann             <mrothmann[at]techfak.uni-bielefeld.de>
-
-References:
- [1] S. Herbrechtsmeier, T. Korthals, T. Schopping and U. Rückert, "AMiRo: A
-     modular & customizable open-source mini robot platform," 2016 20th
-     International Conference on System Theory, Control and Computing (ICSTCC),
-     Sinaia, 2016, pp. 687-692.
-
-
-
-################################################################################
-#                                                                              #
-#        RRRRRRRR   EEEEEEEE     AAA     DDDDDDDD   MM     MM  EEEEEEEE        #
-#        RR     RR  EE          AA AA    DD     DD  MMM   MMM  EE              #
-#        RR     RR  EE         AA   AA   DD     DD  MMMM MMMM  EE              #
-#        RRRRRRRR   EEEEEE    AA     AA  DD     DD  MM MMM MM  EEEEEE          #
-#        RR   RR    EE        AAAAAAAAA  DD     DD  MM     MM  EE              #
-#        RR    RR   EE        AA     AA  DD     DD  MM     MM  EE              #
-#        RR     RR  EEEEEEEE  AA     AA  DDDDDDDD   MM     MM  EEEEEEEE        #
-#                                                                              #
-################################################################################
-
-TODO
diff --git a/doc/classdiagrams/osal.svg b/doc/classdiagrams/osal.svg
index 50ae7b6..66cf369 100644
--- a/doc/classdiagrams/osal.svg
+++ b/doc/classdiagrams/osal.svg
@@ -1,46 +1,46 @@
-<?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]
-cluster time--><rect fill="#FFFFFF" filter="url(#fm4jpltjyo5jv)" height="121" style="stroke: #000000; stroke-width: 1.5;" width="442" x="2128" y="202.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="34" x="2332" y="217.9014">time</text><!--MD5=[48ccbfc44b1b031f9b243763d7ad5184]
-cluster mutex--><rect fill="#FFFFFF" filter="url(#fm4jpltjyo5jv)" height="134" style="stroke: #000000; stroke-width: 1.5;" width="314" x="759" y="196.4063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="49" x="891.5" y="211.4014">mutex</text><!--MD5=[2e45f233f6bb64aa81ebe67fb6de8946]
-cluster condition variable--><rect fill="#FFFFFF" filter="url(#fm4jpltjyo5jv)" height="450.5" style="stroke: #000000; stroke-width: 1.5;" width="726" x="14" y="196.4063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="140" x="307" y="211.4014">condition variable</text><!--MD5=[c7113df1f710ca294cbd01734aa00974]
-cluster timer--><rect fill="#FFFFFF" filter="url(#fm4jpltjyo5jv)" height="444.5" style="stroke: #000000; stroke-width: 1.5;" width="798" x="2589" y="189.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="2967.5" y="204.9014">timer</text><!--MD5=[107bb3f79455a18bd83c75ada1ac7979]
-cluster thread--><rect fill="#FFFFFF" filter="url(#fm4jpltjyo5jv)" height="621" style="stroke: #000000; stroke-width: 1.5;" width="1039" x="1081" y="57.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="1574.5" y="72.9014">thread</text><!--MD5=[8d74b40516bd265adb19f202ab81f40d]
-cluster events--><rect fill="#FFFFFF" filter="url(#fm4jpltjyo5jv)" height="584" style="stroke: #000000; stroke-width: 1.5;" width="1642" x="3406" y="202.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="54" x="4200" y="217.9014">events</text><!--MD5=[b978ecedb6f4da3f32705dc09c84a7d6]
-cluster streams--><rect fill="#FFFFFF" filter="url(#fm4jpltjyo5jv)" height="109" style="stroke: #000000; stroke-width: 1.5;" width="226" x="5056" y="208.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="64" x="5137" y="223.9014">streams</text><!--MD5=[62106fc051f244acf17caf792167c8db]
-cluster debug--><rect fill="#FFFFFF" filter="url(#fm4jpltjyo5jv)" height="96" style="stroke: #000000; stroke-width: 1.5;" width="262" x="5300" y="215.4063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="50" x="5406" y="230.4014">debug</text><!--MD5=[3677786d1f00795918091b0110bfa4af]
-class urt_osTime_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="425" x="2136.5" y="229.9063"/><ellipse cx="2305.25" cy="245.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2306.0938,252.6563 L2303.6406,252.6563 L2303.6406,242.4063 L2300.5,242.4063 L2300.5,240.2656 L2309.2344,240.2656 L2309.2344,242.4063 L2306.0938,242.4063 L2306.0938,252.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="2325.75" y="250.0605">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2137.5" x2="2560.5" y1="261.9063" y2="261.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2137.5" x2="2560.5" y1="269.9063" y2="269.9063"/><ellipse cx="2147.5" cy="280.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="231" x="2156.5" y="284.1167">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="2147.5" cy="293.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="2156.5" y="296.9214">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="2147.5" cy="306.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="399" x="2156.5" y="309.7261">urtTimeAddUs (time : urt_osTime_t*, offset : uint32_t) : urt_osTime_t*</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]
-class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="767" y="223.4063"/><ellipse cx="868.25" cy="239.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M869.0938,246.1563 L866.6406,246.1563 L866.6406,235.9063 L863.5,235.9063 L863.5,233.7656 L872.2344,233.7656 L872.2344,235.9063 L869.0938,235.9063 L869.0938,246.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="888.75" y="243.5605">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="768" x2="1064" y1="255.4063" y2="255.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="768" x2="1064" y1="263.4063" y2="263.4063"/><ellipse cx="778" cy="274.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="245" x="787" y="277.6167">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="778" cy="287.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="253" x="787" y="290.4214">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="778" cy="300.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="787" y="303.2261">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="778" cy="312.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="787" y="316.0308">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--MD5=[52fa11869cb40c93fa7702378ddd839e]
-class urt_osCondvarWaitStatus_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="86.4141" id="urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="242" y="552.9063"/><ellipse cx="288.25" cy="568.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M292.3594,574.9063 L284.6406,574.9063 L284.6406,562.5156 L292.3594,562.5156 L292.3594,564.6719 L287.0938,564.6719 L287.0938,567.3438 L291.8594,567.3438 L291.8594,569.5 L287.0938,569.5 L287.0938,572.75 L292.3594,572.75 L292.3594,574.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="169" x="308.75" y="573.0605">urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="243" x2="511" y1="584.9063" y2="584.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="248" y="599.1167">URT_CONDVAR_WAITSTATUS_SIGNAL = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="248" y="611.9214">URT_CONDVAR_WAITSTATUS_BROADCAST = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="248" y="624.7261">URT_CONDVAR_WAITSTATUS_TIMEOUT = 0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="243" x2="511" y1="631.3203" y2="631.3203"/><!--MD5=[004fc5dee471033e8e4138c1c73f0692]
-class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="99.2188" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="22" y="223.4063"/><ellipse cx="322.25" cy="239.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M323.0938,246.1563 L320.6406,246.1563 L320.6406,235.9063 L317.5,235.9063 L317.5,233.7656 L326.2344,233.7656 L326.2344,235.9063 L323.0938,235.9063 L323.0938,246.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="342.75" y="243.5605">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="23" x2="731" y1="255.4063" y2="255.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="23" x2="731" y1="263.4063" y2="263.4063"/><ellipse cx="33" cy="274.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="283" x="42" y="277.6167">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="33" cy="287.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="301" x="42" y="290.4214">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="33" cy="300.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="324" x="42" y="303.2261">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="33" cy="312.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="684" x="42" y="316.0308">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_osCondvarWaitStatus_t</text><!--MD5=[93799a03260ba286abda700174f4f205]
-class urt_osTimerCallback_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="2845" y="565.4063"/><ellipse cx="2915.75" cy="581.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2916.5938,588.1563 L2914.1406,588.1563 L2914.1406,577.9063 L2911,577.9063 L2911,575.7656 L2919.7344,575.7656 L2919.7344,577.9063 L2916.5938,577.9063 L2916.5938,588.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="2936.25" y="585.5605">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2846" x2="3130" y1="597.4063" y2="597.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2846" x2="3130" y1="605.4063" y2="605.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="2851" y="619.6167">urt_osTimerCallback_t (parameter : void*) : void</text><!--MD5=[0b340d7b925b1eab6a1b7e084f68a7c2]
-class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="112.0234" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="782" x="2597" y="216.9063"/><ellipse cx="2941.75" cy="232.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2942.5938,239.6563 L2940.1406,239.6563 L2940.1406,229.4063 L2937,229.4063 L2937,227.2656 L2945.7344,227.2656 L2945.7344,229.4063 L2942.5938,229.4063 L2942.5938,239.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="2962.25" y="237.0605">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2598" x2="3378" y1="248.9063" y2="248.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2598" x2="3378" y1="256.9063" y2="256.9063"/><ellipse cx="2608" cy="267.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="2617" y="271.1167">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="2608" cy="280.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="705" x="2617" y="283.9214">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="2608" cy="293.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="756" x="2617" y="296.7261">urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="2608" cy="306.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="300" x="2617" y="309.5308">urtTimerReset (timer : urt_osTimer_t*) : urt_status_t</text><ellipse cx="2608" cy="319.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="2617" y="322.3354">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--MD5=[86c16d91227b9a9ec3b6b9b0285de4e9]
-class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="1089.5" y="520.9063"/><ellipse cx="1125.65" cy="536.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1126.4938,543.6563 L1124.0406,543.6563 L1124.0406,533.4063 L1120.9,533.4063 L1120.9,531.2656 L1129.6344,531.2656 L1129.6344,533.4063 L1126.4938,533.4063 L1126.4938,543.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="1144.35" y="541.0605">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1090.5" x2="1285.5" y1="552.9063" y2="552.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="1095.5" y="567.1167">URT_THREAD_PRIO_LOW_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="1095.5" y="579.9214">URT_THREAD_PRIO_LOW_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="1095.5" y="592.7261">URT_THREAD_PRIO_NORMAL_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="1095.5" y="605.5308">URT_THREAD_PRIO_NORMAL_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="1095.5" y="618.3354">URT_THREAD_PRIO_HIGH_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="1095.5" y="631.1401">URT_THREAD_PRIO_HIGH_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="1095.5" y="643.9448">URT_THREAD_PRIO_RT_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="1095.5" y="656.7495">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1090.5" x2="1285.5" y1="663.3438" y2="663.3438"/><!--MD5=[69d8aab9aa387a2f5052ea3da80e80ea]
-class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="1322" y="565.4063"/><ellipse cx="1369.75" cy="581.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1370.5938,588.1563 L1368.1406,588.1563 L1368.1406,577.9063 L1365,577.9063 L1365,575.7656 L1373.7344,575.7656 L1373.7344,577.9063 L1370.5938,577.9063 L1370.5938,588.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="1390.25" y="585.5605">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1323" x2="1573" y1="597.4063" y2="597.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1323" x2="1573" y1="605.4063" y2="605.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="1328" y="619.6167">urt_osThreadFunction_t (arg : void*) : void</text><!--MD5=[ab5f611d45c3fa10609c33f780d8c3e1]
-class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="1609" y="558.9063"/><ellipse cx="1630.75" cy="574.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1634.8594,580.9063 L1627.1406,580.9063 L1627.1406,568.5156 L1634.8594,568.5156 L1634.8594,570.6719 L1629.5938,570.6719 L1629.5938,573.3438 L1634.3594,573.3438 L1634.3594,575.5 L1629.5938,575.5 L1629.5938,578.75 L1634.8594,578.75 L1634.8594,580.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="1646.25" y="579.0605">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1610" x2="1850" y1="590.9063" y2="590.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="1615" y="605.1167">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="1615" y="617.9214">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1610" x2="1850" y1="624.5156" y2="624.5156"/><!--MD5=[47d14ad2c233fae1b32b8d0a283e820a]
-class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="137.6328" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="1886" y="526.9063"/><ellipse cx="1930.75" cy="542.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1934.8594,548.9063 L1927.1406,548.9063 L1927.1406,536.5156 L1934.8594,536.5156 L1934.8594,538.6719 L1929.5938,538.6719 L1929.5938,541.3438 L1934.3594,541.3438 L1934.3594,543.5 L1929.5938,543.5 L1929.5938,546.75 L1934.8594,546.75 L1934.8594,548.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="1951.25" y="547.0605">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1887" x2="2111" y1="558.9063" y2="558.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="1892" y="573.1167">URT_THREAD_STATE_INACTIVE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="1892" y="585.9214">URT_THREAD_STATE_RUNNING = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="1892" y="598.7261">URT_THREAD_STATE_READY = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="1892" y="611.5308">URT_THREAD_STATE_SLEEPING = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="1892" y="624.3354">URT_THREAD_STATE_SUSPENDED = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="1892" y="637.1401">URT_THREAD_STATE_WAITING = 5</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="1892" y="649.9448">URT_THREAD_STATE_TERMINATED = 6</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1887" x2="2111" y1="656.5391" y2="656.5391"/><!--MD5=[0a16224ede9ffa9bb2d34e085a076e6d]
-class urt_osThread_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="376.1172" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="560" x="1450" y="84.9063"/><ellipse cx="1678.75" cy="100.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1679.5938,107.6563 L1677.1406,107.6563 L1677.1406,97.4063 L1674,97.4063 L1674,95.2656 L1682.7344,95.2656 L1682.7344,97.4063 L1679.5938,97.4063 L1679.5938,107.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="1699.25" y="105.0605">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1451" x2="2009" y1="116.9063" y2="116.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="1456" y="131.1167">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="1456" y="143.9214">URT_THREAD_SSLEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="1456" y="156.7261">URT_THREAD_MSLEEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="1456" y="169.5308">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1451" x2="2009" y1="176.125" y2="176.125"/><ellipse cx="1461" cy="187.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="248" x="1470" y="190.3354">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1451" x2="2009" y1="196.9297" y2="196.9297"/><ellipse cx="1461" cy="207.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="534" x="1470" y="211.1401">urtThreadInit (memory : void*, size : size_t, func : urt_osThreadFunction_t*) : urt_osThread_t*</text><ellipse cx="1461" cy="220.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="490" x="1470" y="223.9448">urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void</text><ellipse cx="1461" cy="233.5391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="1470" y="236.7495">urtThreadYield (void) : void</text><ellipse cx="1461" cy="246.3438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="1470" y="249.5542">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="1461" cy="259.1484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="304" x="1470" y="262.3589">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="1461" cy="271.9531" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="294" x="1470" y="275.1636">urtThreadSuspend (thread : urt_osThread_t*) : void</text><ellipse cx="1461" cy="284.7578" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="335" x="1470" y="287.9683">urtThreadResume (thread : urt_osThread_t*) : urt_status_t</text><ellipse cx="1461" cy="297.5625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="220" x="1470" y="300.7729">urtThreadSleep (seconds : float) : void</text><ellipse cx="1461" cy="310.3672" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="1470" y="313.5776">urtThreadSSleep (seconds : urt_delay_t) : void</text><ellipse cx="1461" cy="323.1719" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="289" x="1470" y="326.3823">urtThreadMSleep (milliseconds : urt_delay_t) : void</text><ellipse cx="1461" cy="335.9766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="1470" y="339.187">urtThreadUSleep (microseconds : urt_delay_t) : void</text><ellipse cx="1461" cy="348.7813" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="1470" y="351.9917">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="1461" cy="361.5859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="1470" y="364.7964">urtThreadExit (void) : void</text><ellipse cx="1461" cy="374.3906" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="518" x="1470" y="377.6011">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="1461" cy="387.1953" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="264" x="1470" y="390.4058">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="1461" cy="400" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="387" x="1470" y="403.2104">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="1461" cy="412.8047" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="237" x="1470" y="416.0151">urtThreadGetSelf (void) : urt_osThread_t*</text><ellipse cx="1461" cy="425.6094" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="1470" y="428.8198">urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="1461" cy="438.4141" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="1470" y="441.6245">urtThreadGetSibling (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="1461" cy="451.2188" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="1470" y="454.4292">urtThreadGetParent (thread : urt_osThread_t*) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]
-class urt_osEventMask_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="60.8047" id="urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.5;" width="280" x="3414" y="565.4063"/><ellipse cx="3491.25" cy="581.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3492.0938,588.1563 L3489.6406,588.1563 L3489.6406,577.9063 L3486.5,577.9063 L3486.5,575.7656 L3495.2344,575.7656 L3495.2344,577.9063 L3492.0938,577.9063 L3492.0938,588.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="3511.75" y="585.5605">urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3415" x2="3693" y1="597.4063" y2="597.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="268" x="3420" y="611.6167">URT_EVENTMASK_MAXPRIO : urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3415" x2="3693" y1="618.2109" y2="618.2109"/><!--MD5=[dc1cc33af288560680c15dec1e56eda0]
-class urt_osEventFlags_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="48" id="urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="4135" y="730.9063"/><ellipse cx="4150" cy="746.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4150.8438,753.6563 L4148.3906,753.6563 L4148.3906,743.4063 L4145.25,743.4063 L4145.25,741.2656 L4153.9844,741.2656 L4153.9844,743.4063 L4150.8438,743.4063 L4150.8438,753.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="4164" y="751.0605">urt_osEventFlags_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4136" x2="4284" y1="762.9063" y2="762.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4136" x2="4284" y1="770.9063" y2="770.9063"/><!--MD5=[e2bbbd64e6979bf7b755747a6c0ba948]
-class urt_osEventWait_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="86.4141" id="urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.5;" width="162" x="3766" y="552.9063"/><ellipse cx="3789.1" cy="568.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3793.2094,574.9063 L3785.4906,574.9063 L3785.4906,562.5156 L3793.2094,562.5156 L3793.2094,564.6719 L3787.9438,564.6719 L3787.9438,567.3438 L3792.7094,567.3438 L3792.7094,569.5 L3787.9438,569.5 L3787.9438,572.75 L3793.2094,572.75 L3793.2094,574.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="3804.9" y="573.0605">urt_osEventWait_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3767" x2="3927" y1="584.9063" y2="584.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="3772" y="599.1167">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="3772" y="611.9214">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="3772" y="624.7261">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3767" x2="3927" y1="631.3203" y2="631.3203"/><!--MD5=[d054ac2eda12ce4b1fe5a18c9be716c1]
-class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="3963" y="552.9063"/><ellipse cx="4138.25" cy="568.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4139.0938,575.6563 L4136.6406,575.6563 L4136.6406,565.4063 L4133.5,565.4063 L4133.5,563.2656 L4142.2344,563.2656 L4142.2344,565.4063 L4139.0938,565.4063 L4139.0938,575.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="4158.75" y="573.0605">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3964" x2="4456" y1="584.9063" y2="584.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3964" x2="4456" y1="592.9063" y2="592.9063"/><ellipse cx="3974" cy="603.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="341" x="3983" y="607.1167">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="3974" cy="616.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="458" x="3983" y="619.9214">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="3974" cy="629.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="468" x="3983" y="632.7261">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]
-class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#fm4jpltjyo5jv)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="4492.5" y="558.9063"/><ellipse cx="4697.25" cy="574.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4698.0938,581.6563 L4695.6406,581.6563 L4695.6406,571.4063 L4692.5,571.4063 L4692.5,569.2656 L4701.2344,569.2656 L4701.2344,571.4063 L4698.0938,571.4063 L4698.0938,581.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="4717.75" y="579.0605">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4493.5" x2="5038.5" y1="590.9063" y2="590.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4493.5" x2="5038.5" y1="598.9063" y2="598.9063"/><ellipse cx="4503.5" cy="609.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="325" x="4512.5" y="613.1167">urtEventSourceInit (source : urt_osEventSource_t*) : 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]
-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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-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]
-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]
-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]
-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]
-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]
-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]
-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]
-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]
-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]
-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]
-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]
-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]
-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]
-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]
-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]
+<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="772px" preserveAspectRatio="none" style="width:5482px;height:772px;" version="1.1" viewBox="0 0 5482 772" width="5482px" zoomAndPan="magnify"><defs><filter height="300%" id="f1yyfxywx3cwk" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="2704" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="387" x="2555" y="37.6611">Operating System Abstraction Layer (OSAL)</text><!--MD5=[3dab47d3fc3e186ff10f67819eb99ff8]
+cluster time--><rect fill="#FFFFFF" filter="url(#f1yyfxywx3cwk)" height="121" style="stroke: #000000; stroke-width: 1.5;" width="402" x="2133" y="190.4063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="34" x="2317" y="205.4014">time</text><!--MD5=[48ccbfc44b1b031f9b243763d7ad5184]
+cluster mutex--><rect fill="#FFFFFF" filter="url(#f1yyfxywx3cwk)" height="134" style="stroke: #000000; stroke-width: 1.5;" width="314" x="759" y="183.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="49" x="891.5" y="198.9014">mutex</text><!--MD5=[2e45f233f6bb64aa81ebe67fb6de8946]
+cluster condition variable--><rect fill="#FFFFFF" filter="url(#f1yyfxywx3cwk)" height="438" style="stroke: #000000; stroke-width: 1.5;" width="726" x="14" y="183.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="140" x="307" y="198.9014">condition variable</text><!--MD5=[c7113df1f710ca294cbd01734aa00974]
+cluster timer--><rect fill="#FFFFFF" filter="url(#f1yyfxywx3cwk)" height="432" style="stroke: #000000; stroke-width: 1.5;" width="754" x="2553" y="177.4063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="2909.5" y="192.4014">timer</text><!--MD5=[107bb3f79455a18bd83c75ada1ac7979]
+cluster thread--><rect fill="#FFFFFF" filter="url(#f1yyfxywx3cwk)" height="596" style="stroke: #000000; stroke-width: 1.5;" width="1039" x="1081" y="57.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="1574.5" y="72.9014">thread</text><!--MD5=[8d74b40516bd265adb19f202ab81f40d]
+cluster events--><rect fill="#FFFFFF" filter="url(#f1yyfxywx3cwk)" height="571.5" style="stroke: #000000; stroke-width: 1.5;" width="1642" x="3315" y="190.4063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="54" x="4109" y="205.4014">events</text><!--MD5=[b978ecedb6f4da3f32705dc09c84a7d6]
+cluster streams--><rect fill="#FFFFFF" filter="url(#f1yyfxywx3cwk)" height="109" style="stroke: #000000; stroke-width: 1.5;" width="226" x="4965" y="196.4063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="64" x="5046" y="211.4014">streams</text><!--MD5=[62106fc051f244acf17caf792167c8db]
+cluster debug--><rect fill="#FFFFFF" filter="url(#f1yyfxywx3cwk)" height="96" style="stroke: #000000; stroke-width: 1.5;" width="262" x="5209" y="202.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="50" x="5315" y="217.9014">debug</text><!--MD5=[3677786d1f00795918091b0110bfa4af]
+class urt_osTime_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="385" x="2141.5" y="217.4063"/><ellipse cx="2290.25" cy="233.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2291.0938,240.1563 L2288.6406,240.1563 L2288.6406,229.9063 L2285.5,229.9063 L2285.5,227.7656 L2294.2344,227.7656 L2294.2344,229.9063 L2291.0938,229.9063 L2291.0938,240.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="2310.75" y="237.5605">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2142.5" x2="2525.5" y1="249.4063" y2="249.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2142.5" x2="2525.5" y1="257.4063" y2="257.4063"/><ellipse cx="2152.5" cy="268.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="231" x="2161.5" y="271.6167">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="2152.5" cy="281.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="2161.5" y="284.4214">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="2152.5" cy="294.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="359" x="2161.5" y="297.2261">urtTimeAddUs (time : urt_osTime_t*, offset : urt_delay_t) : void</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]
+class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="767" y="210.9063"/><ellipse cx="868.25" cy="226.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M869.0938,233.6563 L866.6406,233.6563 L866.6406,223.4063 L863.5,223.4063 L863.5,221.2656 L872.2344,221.2656 L872.2344,223.4063 L869.0938,223.4063 L869.0938,233.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="888.75" y="231.0605">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="768" x2="1064" y1="242.9063" y2="242.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="768" x2="1064" y1="250.9063" y2="250.9063"/><ellipse cx="778" cy="261.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="245" x="787" y="265.1167">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="778" cy="274.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="253" x="787" y="277.9214">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="778" cy="287.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="787" y="290.7261">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="778" cy="300.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="787" y="303.5308">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--MD5=[52fa11869cb40c93fa7702378ddd839e]
+class urt_osCondvarWaitStatus_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="86.4141" id="urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="242" y="527.9063"/><ellipse cx="288.25" cy="543.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M292.3594,549.9063 L284.6406,549.9063 L284.6406,537.5156 L292.3594,537.5156 L292.3594,539.6719 L287.0938,539.6719 L287.0938,542.3438 L291.8594,542.3438 L291.8594,544.5 L287.0938,544.5 L287.0938,547.75 L292.3594,547.75 L292.3594,549.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="169" x="308.75" y="548.0605">urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="243" x2="511" y1="559.9063" y2="559.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="248" y="574.1167">URT_CONDVAR_WAITSTATUS_SIGNAL = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="248" y="586.9214">URT_CONDVAR_WAITSTATUS_BROADCAST = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="248" y="599.7261">URT_CONDVAR_WAITSTATUS_TIMEOUT = 0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="243" x2="511" y1="606.3203" y2="606.3203"/><!--MD5=[004fc5dee471033e8e4138c1c73f0692]
+class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="99.2188" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="22" y="210.9063"/><ellipse cx="322.25" cy="226.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M323.0938,233.6563 L320.6406,233.6563 L320.6406,223.4063 L317.5,223.4063 L317.5,221.2656 L326.2344,221.2656 L326.2344,223.4063 L323.0938,223.4063 L323.0938,233.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="342.75" y="231.0605">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="23" x2="731" y1="242.9063" y2="242.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="23" x2="731" y1="250.9063" y2="250.9063"/><ellipse cx="33" cy="261.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="283" x="42" y="265.1167">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="33" cy="274.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="301" x="42" y="277.9214">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="33" cy="287.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="324" x="42" y="290.7261">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="33" cy="300.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="684" x="42" y="303.5308">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_osCondvarWaitStatus_t</text><!--MD5=[93799a03260ba286abda700174f4f205]
+class urt_osTimerCallback_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="2787" y="540.4063"/><ellipse cx="2857.75" cy="556.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2858.5938,563.1563 L2856.1406,563.1563 L2856.1406,552.9063 L2853,552.9063 L2853,550.7656 L2861.7344,550.7656 L2861.7344,552.9063 L2858.5938,552.9063 L2858.5938,563.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="2878.25" y="560.5605">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2788" x2="3072" y1="572.4063" y2="572.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2788" x2="3072" y1="580.4063" y2="580.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="2793" y="594.6167">urt_osTimerCallback_t (parameter : void*) : void</text><!--MD5=[0b340d7b925b1eab6a1b7e084f68a7c2]
+class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="112.0234" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="737" x="2561.5" y="204.4063"/><ellipse cx="2883.75" cy="220.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2884.5938,227.1563 L2882.1406,227.1563 L2882.1406,216.9063 L2879,216.9063 L2879,214.7656 L2887.7344,214.7656 L2887.7344,216.9063 L2884.5938,216.9063 L2884.5938,227.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="2904.25" y="224.5605">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2562.5" x2="3297.5" y1="236.4063" y2="236.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2562.5" x2="3297.5" y1="244.4063" y2="244.4063"/><ellipse cx="2572.5" cy="255.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="2581.5" y="258.6167">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="2572.5" cy="268.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="660" x="2581.5" y="271.4214">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void</text><ellipse cx="2572.5" cy="281.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="711" x="2581.5" y="284.2261">urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void</text><ellipse cx="2572.5" cy="293.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="255" x="2581.5" y="297.0308">urtTimerReset (timer : urt_osTimer_t*) : void</text><ellipse cx="2572.5" cy="306.625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="2581.5" y="309.8354">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--MD5=[86c16d91227b9a9ec3b6b9b0285de4e9]
+class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="1089.5" y="495.9063"/><ellipse cx="1125.65" cy="511.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1126.4938,518.6563 L1124.0406,518.6563 L1124.0406,508.4063 L1120.9,508.4063 L1120.9,506.2656 L1129.6344,506.2656 L1129.6344,508.4063 L1126.4938,508.4063 L1126.4938,518.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="1144.35" y="516.0605">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1090.5" x2="1285.5" y1="527.9063" y2="527.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="1095.5" y="542.1167">URT_THREAD_PRIO_LOW_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="1095.5" y="554.9214">URT_THREAD_PRIO_LOW_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="1095.5" y="567.7261">URT_THREAD_PRIO_NORMAL_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="1095.5" y="580.5308">URT_THREAD_PRIO_NORMAL_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="1095.5" y="593.3354">URT_THREAD_PRIO_HIGH_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="1095.5" y="606.1401">URT_THREAD_PRIO_HIGH_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="1095.5" y="618.9448">URT_THREAD_PRIO_RT_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="1095.5" y="631.7495">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1090.5" x2="1285.5" y1="638.3438" y2="638.3438"/><!--MD5=[69d8aab9aa387a2f5052ea3da80e80ea]
+class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="1322" y="540.4063"/><ellipse cx="1369.75" cy="556.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1370.5938,563.1563 L1368.1406,563.1563 L1368.1406,552.9063 L1365,552.9063 L1365,550.7656 L1373.7344,550.7656 L1373.7344,552.9063 L1370.5938,552.9063 L1370.5938,563.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="1390.25" y="560.5605">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1323" x2="1573" y1="572.4063" y2="572.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1323" x2="1573" y1="580.4063" y2="580.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="1328" y="594.6167">urt_osThreadFunction_t (arg : void*) : void</text><!--MD5=[ab5f611d45c3fa10609c33f780d8c3e1]
+class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="1609" y="533.9063"/><ellipse cx="1630.75" cy="549.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1634.8594,555.9063 L1627.1406,555.9063 L1627.1406,543.5156 L1634.8594,543.5156 L1634.8594,545.6719 L1629.5938,545.6719 L1629.5938,548.3438 L1634.3594,548.3438 L1634.3594,550.5 L1629.5938,550.5 L1629.5938,553.75 L1634.8594,553.75 L1634.8594,555.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="1646.25" y="554.0605">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1610" x2="1850" y1="565.9063" y2="565.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="1615" y="580.1167">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="1615" y="592.9214">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1610" x2="1850" y1="599.5156" y2="599.5156"/><!--MD5=[47d14ad2c233fae1b32b8d0a283e820a]
+class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="137.6328" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="1886" y="501.9063"/><ellipse cx="1930.75" cy="517.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1934.8594,523.9063 L1927.1406,523.9063 L1927.1406,511.5156 L1934.8594,511.5156 L1934.8594,513.6719 L1929.5938,513.6719 L1929.5938,516.3438 L1934.3594,516.3438 L1934.3594,518.5 L1929.5938,518.5 L1929.5938,521.75 L1934.8594,521.75 L1934.8594,523.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="1951.25" y="522.0605">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1887" x2="2111" y1="533.9063" y2="533.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="1892" y="548.1167">URT_THREAD_STATE_INACTIVE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="1892" y="560.9214">URT_THREAD_STATE_RUNNING = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="1892" y="573.7261">URT_THREAD_STATE_READY = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="1892" y="586.5308">URT_THREAD_STATE_SLEEPING = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="1892" y="599.3354">URT_THREAD_STATE_SUSPENDED = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="1892" y="612.1401">URT_THREAD_STATE_WAITING = 5</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="1892" y="624.9448">URT_THREAD_STATE_TERMINATED = 6</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1887" x2="2111" y1="631.5391" y2="631.5391"/><!--MD5=[0a16224ede9ffa9bb2d34e085a076e6d]
+class urt_osThread_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="350.5078" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="778" x="1328" y="84.9063"/><ellipse cx="1665.75" cy="100.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1666.5938,107.6563 L1664.1406,107.6563 L1664.1406,97.4063 L1661,97.4063 L1661,95.2656 L1669.7344,95.2656 L1669.7344,97.4063 L1666.5938,97.4063 L1666.5938,107.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="1686.25" y="105.0605">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1329" x2="2105" y1="116.9063" y2="116.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="1334" y="131.1167">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="1334" y="143.9214">URT_THREAD_SSLEP_MAX : unsigned int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="1334" y="156.7261">URT_THREAD_MSLEEP_MAX : unsigned int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="1334" y="169.5308">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1329" x2="2105" y1="176.125" y2="176.125"/><ellipse cx="1339" cy="187.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="248" x="1348" y="190.3354">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1329" x2="2105" y1="196.9297" y2="196.9297"/><ellipse cx="1339" cy="207.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="752" x="1348" y="211.1401">urtThreadInit (memory : void*, size : size_t, prio : urt_osThreadPrio_t, func : urt_osThreadFunction_t*, arg : void*) : urt_osThread_t*</text><ellipse cx="1339" cy="220.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="1348" y="223.9448">urtThreadStart (thread : urt_osThread_t*) : void</text><ellipse cx="1339" cy="233.5391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="1348" y="236.7495">urtThreadYield (void) : void</text><ellipse cx="1339" cy="246.3438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="1348" y="249.5542">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="1339" cy="259.1484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="304" x="1348" y="262.3589">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="1339" cy="271.9531" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="220" x="1348" y="275.1636">urtThreadSleep (seconds : float) : void</text><ellipse cx="1339" cy="284.7578" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="273" x="1348" y="287.9683">urtThreadSSleep (seconds : unsigned int) : void</text><ellipse cx="1339" cy="297.5625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="1348" y="300.7729">urtThreadMSleep (milliseconds : unsigned int) : void</text><ellipse cx="1339" cy="310.3672" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="1348" y="313.5776">urtThreadUSleep (microseconds : urt_delay_t) : void</text><ellipse cx="1339" cy="323.1719" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="1348" y="326.3823">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="1339" cy="335.9766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="1348" y="339.187">urtThreadExit (void) : void</text><ellipse cx="1339" cy="348.7813" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="518" x="1348" y="351.9917">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="1339" cy="361.5859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="264" x="1348" y="364.7964">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="1339" cy="374.3906" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="387" x="1348" y="377.6011">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="1339" cy="387.1953" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="237" x="1348" y="390.4058">urtThreadGetSelf (void) : urt_osThread_t*</text><ellipse cx="1339" cy="400" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="1348" y="403.2104">urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="1339" cy="412.8047" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="1348" y="416.0151">urtThreadGetSibling (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="1339" cy="425.6094" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="1348" y="428.8198">urtThreadGetParent (thread : urt_osThread_t*) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]
+class urt_osEventMask_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="60.8047" id="urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.5;" width="280" x="3323" y="540.4063"/><ellipse cx="3400.25" cy="556.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3401.0938,563.1563 L3398.6406,563.1563 L3398.6406,552.9063 L3395.5,552.9063 L3395.5,550.7656 L3404.2344,550.7656 L3404.2344,552.9063 L3401.0938,552.9063 L3401.0938,563.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="3420.75" y="560.5605">urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3324" x2="3602" y1="572.4063" y2="572.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="268" x="3329" y="586.6167">URT_EVENTMASK_MAXPRIO : urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3324" x2="3602" y1="593.2109" y2="593.2109"/><!--MD5=[dc1cc33af288560680c15dec1e56eda0]
+class urt_osEventFlags_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="48" id="urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="4044" y="705.9063"/><ellipse cx="4059" cy="721.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4059.8438,728.6563 L4057.3906,728.6563 L4057.3906,718.4063 L4054.25,718.4063 L4054.25,716.2656 L4062.9844,716.2656 L4062.9844,718.4063 L4059.8438,718.4063 L4059.8438,728.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="4073" y="726.0605">urt_osEventFlags_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4045" x2="4193" y1="737.9063" y2="737.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4045" x2="4193" y1="745.9063" y2="745.9063"/><!--MD5=[e2bbbd64e6979bf7b755747a6c0ba948]
+class urt_osEventWait_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="86.4141" id="urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.5;" width="162" x="3675" y="527.9063"/><ellipse cx="3698.1" cy="543.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3702.2094,549.9063 L3694.4906,549.9063 L3694.4906,537.5156 L3702.2094,537.5156 L3702.2094,539.6719 L3696.9438,539.6719 L3696.9438,542.3438 L3701.7094,542.3438 L3701.7094,544.5 L3696.9438,544.5 L3696.9438,547.75 L3702.2094,547.75 L3702.2094,549.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="3713.9" y="548.0605">urt_osEventWait_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3676" x2="3836" y1="559.9063" y2="559.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="3681" y="574.1167">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="3681" y="586.9214">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="3681" y="599.7261">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3676" x2="3836" y1="606.3203" y2="606.3203"/><!--MD5=[d054ac2eda12ce4b1fe5a18c9be716c1]
+class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="3872" y="527.9063"/><ellipse cx="4047.25" cy="543.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4048.0938,550.6563 L4045.6406,550.6563 L4045.6406,540.4063 L4042.5,540.4063 L4042.5,538.2656 L4051.2344,538.2656 L4051.2344,540.4063 L4048.0938,540.4063 L4048.0938,550.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="4067.75" y="548.0605">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3873" x2="4365" y1="559.9063" y2="559.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3873" x2="4365" y1="567.9063" y2="567.9063"/><ellipse cx="3883" cy="578.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="341" x="3892" y="582.1167">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="3883" cy="591.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="458" x="3892" y="594.9214">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="3883" cy="604.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="468" x="3892" y="607.7261">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]
+class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="4401.5" y="533.9063"/><ellipse cx="4606.25" cy="549.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4607.0938,556.6563 L4604.6406,556.6563 L4604.6406,546.4063 L4601.5,546.4063 L4601.5,544.2656 L4610.2344,544.2656 L4610.2344,546.4063 L4607.0938,546.4063 L4607.0938,556.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="4626.75" y="554.0605">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4402.5" x2="4947.5" y1="565.9063" y2="565.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4402.5" x2="4947.5" y1="573.9063" y2="573.9063"/><ellipse cx="4412.5" cy="584.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="325" x="4421.5" y="588.1167">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="4412.5" cy="597.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="521" x="4421.5" y="600.9214">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--MD5=[04a3b5a37031e2a4d723f19d8adf86f5]
+class urt_events--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="845" x="3333.5" y="217.4063"/><ellipse cx="3718.75" cy="233.4063" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3722.9844,229.1719 L3717.7031,229.1719 L3717.7031,231.8438 L3722.5,231.8438 L3722.5,234 L3717.7031,234 L3717.7031,239.4063 L3715.2656,239.4063 L3715.2656,227.0156 L3722.9844,227.0156 L3722.9844,229.1719 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="3739.25" y="237.5605">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3334.5" x2="4177.5" y1="249.4063" y2="249.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3334.5" x2="4177.5" y1="257.4063" y2="257.4063"/><ellipse cx="3344.5" cy="268.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="819" x="3353.5" y="271.6167">urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : void</text><ellipse cx="3344.5" cy="281.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="522" x="3353.5" y="284.4214">urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : void</text><ellipse cx="3344.5" cy="294.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="618" x="3353.5" y="297.2261">urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWait_t, timeout : urt_delay_t) : urt_osEventMask_t</text><!--MD5=[0cf29100c96c506429a28b45d347cc92]
+class urt_streams--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="209" x="4973.5" y="223.4063"/><ellipse cx="5036.25" cy="239.4063" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5040.4844,235.1719 L5035.2031,235.1719 L5035.2031,237.8438 L5040,237.8438 L5040,240 L5035.2031,240 L5035.2031,245.4063 L5032.7656,245.4063 L5032.7656,233.0156 L5040.4844,233.0156 L5040.4844,235.1719 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="5056.75" y="243.5605">urt_streams</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4974.5" x2="5181.5" y1="255.4063" y2="255.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4974.5" x2="5181.5" y1="263.4063" y2="263.4063"/><ellipse cx="4984.5" cy="274.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="166" x="4993.5" y="277.6167">urtPrintf(fmt : char*, ... ) : int</text><ellipse cx="4984.5" cy="287.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="4993.5" y="290.4214">urtErrPrintf(fmt : char*, ... ) : int</text><!--MD5=[f106a25c06a671b3918b1a8f37571a4d]
+class urt_debug--><rect fill="#FEFECE" filter="url(#f1yyfxywx3cwk)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="245" x="5217.5" y="229.9063"/><ellipse cx="5303.75" cy="245.9063" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5307.9844,241.6719 L5302.7031,241.6719 L5302.7031,244.3438 L5307.5,244.3438 L5307.5,246.5 L5302.7031,246.5 L5302.7031,251.9063 L5300.2656,251.9063 L5300.2656,239.5156 L5307.9844,239.5156 L5307.9844,241.6719 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="5324.25" y="250.0605">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5218.5" x2="5461.5" y1="261.9063" y2="261.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5218.5" x2="5461.5" y1="269.9063" y2="269.9063"/><ellipse cx="5228.5" cy="280.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="219" x="5237.5" y="284.1167">urtDebugAssert(condition : bool) : void</text><!--MD5=[7766572fa0c619a5409829048dc0b6d6]
+link urt_osCondvar_t to urt_osCondvarWaitStatus_t--><path d="M377,309.9493 C377,368.2855 377,464.5429 377,522.4176 " fill="none" id="urt_osCondvar_t-&gt;urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="377,527.5507,381,518.5507,377,522.5507,373,518.5507,377,527.5507" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9b2507ea88616aeae65e3c4d63560016]
+link urt_osCondvar_t to urt_osMutex_t--><path d="M732.0347,260.4063 C741.9278,260.4063 751.8209,260.4063 761.714,260.4063 " fill="none" id="urt_osCondvar_t-&gt;urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="766.8875,260.4063,757.8875,256.4063,761.8875,260.4063,757.8875,264.4063,766.8875,260.4063" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[83094e108045c8f9585007cdb3b7cb2e]
+link urt_osTimer_t to urt_osTimerCallback_t--><path d="M2930,316.6355 C2930,380.1229 2930,481.527 2930,535.0795 " fill="none" id="urt_osTimer_t-&gt;urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2930,540.1097,2934,531.1097,2930,535.1097,2926,531.1097,2930,540.1097" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8d8c3240b5b2b5edf6544088e583ffa5]
+link urt_osThread_t to urt_osThreadPrio_t--><path d="M1405.8418,436.025 C1371.6683,455.9771 1337.503,476.2167 1305,495.9063 C1300.4181,498.6819 1295.7508,501.5403 1291.0475,504.4461 " fill="none" id="urt_osThread_t-&gt;urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1286.7195,507.127,1296.4769,505.7882,1290.9701,504.494,1292.2642,498.9872,1286.7195,507.127" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d7d1d43fd970fb07a484642bc19fcb13]
+link urt_osThread_t to urt_osThreadFunction_t--><path d="M1564.8137,436.0711 C1531.6384,474.3646 1499.924,510.9717 1477.9339,536.3543 " fill="none" id="urt_osThread_t-&gt;urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1474.4894,540.3302,1483.4057,536.147,1477.7633,536.5511,1477.3592,530.9087,1474.4894,540.3302" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6564761b32ad7eeb5abb8896c72cfca5]
+link urt_osThread_t to urt_osThreadTerminateSignal_t--><path d="M1724.3547,436.0711 C1725.8029,470.6597 1727.1934,503.8725 1728.2321,528.6805 " fill="none" id="urt_osThread_t-&gt;urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1728.4483,533.8441,1732.0683,524.6846,1728.2392,528.8484,1724.0753,525.0192,1728.4483,533.8441" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[92ba23225d8de8f8080583fedda5e6f8]
+link urt_osThread_t to urt_osThreadState_t--><path d="M1876.541,436.0711 C1896.286,457.8116 1915.5373,479.0085 1932.7097,497.9165 " fill="none" id="urt_osThread_t-&gt;urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1936.1161,501.6671,1933.0263,492.3154,1932.7545,497.9657,1927.1042,497.694,1936.1161,501.6671" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[78b286ab2177e5f7b31e6e832d821818]
+link urt_osThread_t to urt_osTime_t--><path d="M2106.2402,260.4063 C2116.2156,260.4063 2126.191,260.4063 2136.1664,260.4063 " fill="none" id="urt_osThread_t-&gt;urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2141.3829,260.4063,2132.3829,256.4063,2136.3829,260.4063,2132.3829,264.4063,2141.3829,260.4063" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[659af6ab57e6a38ebfd5c07c5616787c]
+link urt_osEventListener_t to urt_osEventFlags_t--><path d="M4119,613.934 C4119,641.41 4119,676.3065 4119,700.6092 " fill="none" id="urt_osEventListener_t-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4119,705.6279,4123,696.6279,4119,700.6279,4115,696.6279,4119,705.6279" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[eac11679f26c499aa1c571e1f795945d]
+link urt_osEventSource_t to urt_osEventFlags_t--><path d="M4545.3444,607.9841 C4438.2675,638.605 4289.6667,681.1005 4199.1503,706.9856 " fill="none" id="urt_osEventSource_t-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4194.0794,708.4357,4203.8323,709.807,4198.8867,707.0609,4201.6328,702.1153,4194.0794,708.4357" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0259cdb10c6c32168d1d17d25519d939]
+link urt_events to urt_osEventSource_t--><path d="M3883.3002,303.4169 C4062.9667,364.1203 4388.1985,474.0055 4560.5849,532.2492 " fill="none" id="urt_events-&gt;urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4565.3873,533.8717,4558.1413,527.2012,4560.6504,532.2711,4555.5804,534.7802,4565.3873,533.8717" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0ce043e0e9532fc393f3f8836f5de19a]
+link urt_events to urt_osEventListener_t--><path d="M3806.4736,303.58 C3874.3757,361.6616 3994.6674,464.5557 4064.5482,524.3297 " fill="none" id="urt_events-&gt;urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4068.6635,527.8499,4064.4244,518.96,4064.8639,524.5997,4059.2242,525.0393,4068.6635,527.8499" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[430bebba9cd89d3ba8f63b2078968bca]
+link urt_events to urt_osEventMask_t--><path d="M3715.2596,303.58 C3656.4833,365.8668 3549.0751,479.6902 3495.3713,536.6016 " fill="none" id="urt_events-&gt;urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="3491.9126,540.2668,3500.9986,536.4662,3495.3441,536.6302,3495.1801,530.9757,3491.9126,540.2668" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b1b185abc2161e087cab32ae7fdb2c40]
+link urt_events to urt_osEventFlags_t--><path d="M3723.6428,303.49 C3668.6239,382.3567 3570.8784,551.2459 3658,653.9063 C3682.3308,682.5766 3913.2829,709.5873 4038.765,722.3005 " fill="none" id="urt_events-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4043.9214,722.8209,4035.3686,717.9372,4038.9467,722.3187,4034.5652,725.8968,4043.9214,722.8209" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[706a1974d1b474cbba7e7b0213f243a1]
+link urt_events to urt_osEventWait_t--><path d="M3756,303.58 C3756,361.0831 3756,462.5105 3756,522.5309 " fill="none" id="urt_events-&gt;urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="3756,527.8499,3760,518.8499,3756,522.8499,3752,518.8499,3756,527.8499" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[c46e4eed3b250d67081ad1f958672f83]
 @startuml
 
 title **µRtWare**\nOperating System Abstraction Layer (OSAL)
@@ -61,7 +61,7 @@ title **µRtWare**\nOperating System Abstraction Layer (OSAL)
     class urt_osTime_t <<T,00CFFF>> {
     + {method} urtTime2Us (t : urt_osTime_t*) : uint64_t
     + {method} urtTimeNow (void) : urt_osTime_t
-    + {method} urtTimeAddUs (time : urt_osTime_t*, offset : uint32_t) : urt_osTime_t*
+    + {method} urtTimeAddUs (time : urt_osTime_t*, offset : urt_delay_t) : void
   }
 }
 
@@ -96,9 +96,9 @@ title **µRtWare**\nOperating System Abstraction Layer (OSAL)
 
     class urt_osTimer_t <<T,00CFFF>> {
     + {method} urtTimerInit (timer : urt_osTimer_t*) : void
-    + {method} urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t
-    + {method} urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t
-    + {method} urtTimerReset (timer : urt_osTimer_t*) : urt_status_t
+    + {method} urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void
+    + {method} urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void
+    + {method} urtTimerReset (timer : urt_osTimer_t*) : void
     + {method} urtTimerIsArmed (timer : urt_osTimer_t*) : bool
   }
 } 
@@ -136,22 +136,20 @@ title **µRtWare**\nOperating System Abstraction Layer (OSAL)
 
     class urt_osThread_t <<T,00CFFF>> {
     URT_THREAD_SLEEP_MAX : float
-    URT_THREAD_SSLEP_MAX : urt_delay_t
-    URT_THREAD_MSLEEP_MAX : urt_delay_t
+    URT_THREAD_SSLEP_MAX : unsigned int
+    URT_THREAD_MSLEEP_MAX : unsigned int
     URT_THREAD_USLEEP_MAX : urt_delay_t
     - -
     + {method} URT_THREAD_MEMORY (varname, stacksize)
     ..
-    + {method} urtThreadInit (memory : void*, size : size_t, func : urt_osThreadFunction_t*) : urt_osThread_t*
-    + {method} urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void
+    + {method} urtThreadInit (memory : void*, size : size_t, prio : urt_osThreadPrio_t, func : urt_osThreadFunction_t*, arg : void*) : urt_osThread_t*
+    + {method} urtThreadStart (thread : urt_osThread_t*) : void
     + {method} urtThreadYield (void) : void
     + {method} urtThreadGetPriority (void) : urt_osThreadPrio_t
     + {method} urtThreadSetPriority (prio : urt_osThreadPrio_t) : void
-    + {method} urtThreadSuspend (thread : urt_osThread_t*) : void
-    + {method} urtThreadResume (thread : urt_osThread_t*) : urt_status_t
     + {method} urtThreadSleep (seconds : float) : void
-    + {method} urtThreadSSleep (seconds : urt_delay_t) : void
-    + {method} urtThreadMSleep (milliseconds : urt_delay_t) : void
+    + {method} urtThreadSSleep (seconds : unsigned int) : void
+    + {method} urtThreadMSleep (milliseconds : unsigned int) : void
     + {method} urtThreadUSleep (microseconds : urt_delay_t) : void
     + {method} urtThreadSleepUntil (time : urt_osTime_t) : void
     + {method} urtThreadExit (void) : void
@@ -191,8 +189,8 @@ title **µRtWare**\nOperating System Abstraction Layer (OSAL)
   }
 
     class urt_events <<F,E0E0E0>> {
-    + {method} urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : urt_status_t
-    + {method} urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : urt_status_t
+    + {method} urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : void
+    + {method} urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : void
     + {method} urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWait_t, timeout : urt_delay_t) : urt_osEventMask_t
   }
 } 
diff --git a/doc/classdiagrams/osal.uml b/doc/classdiagrams/osal.uml
index 60a5ac3..9bf632c 100644
--- a/doc/classdiagrams/osal.uml
+++ b/doc/classdiagrams/osal.uml
@@ -40,7 +40,7 @@ $group("time") {
       'Retrieves the current time.
     + {method} urtTimeNow (void) : urt_osTime_t
       'Increase a system time object.
-    + {method} urtTimeAddUs (time : urt_osTime_t*, offset : uint32_t) : urt_osTime_t*
+    + {method} urtTimeAddUs (time : urt_osTime_t*, offset : urt_delay_t) : void
   }
 }
 
@@ -96,11 +96,11 @@ $group("timer") {
       'Initializes an urt_osTimer_t object.
     + {method} urtTimerInit (timer : urt_osTimer_t*) : void
       'Sets the timer to a specified delay with specified callback and arguments.
-    + {method} urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t
+    + {method} urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void
       'Sets the timer to a specified period with specified callback and arguments.
-    + {method} urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t
+    + {method} urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void
       'Resets the timer.
-    + {method} urtTimerReset (timer : urt_osTimer_t*) : urt_status_t
+    + {method} urtTimerReset (timer : urt_osTimer_t*) : void
       'Check whether the timer is already armed.
     + {method} urtTimerIsArmed (timer : urt_osTimer_t*) : bool
   }
@@ -164,9 +164,9 @@ $group("thread") {
      'Maximum sleep interval in seconds (as float).
     URT_THREAD_SLEEP_MAX : float
       'Maximum sleep interval in seconds.
-    URT_THREAD_SSLEP_MAX : urt_delay_t
+    URT_THREAD_SSLEP_MAX : unsigned int
       'Maximum sleep interval in milliseconds.
-    URT_THREAD_MSLEEP_MAX : urt_delay_t
+    URT_THREAD_MSLEEP_MAX : unsigned int
       'Maximum sleep interval in microseconds.
     URT_THREAD_USLEEP_MAX : urt_delay_t
     --
@@ -174,25 +174,21 @@ $group("thread") {
     + {method} URT_THREAD_MEMORY (varname, stacksize)
     ..
       'Initializes an urt_osThread_t object.
-    + {method} urtThreadInit (memory : void*, size : size_t, func : urt_osThreadFunction_t*) : urt_osThread_t*
+    + {method} urtThreadInit (memory : void*, size : size_t, prio : urt_osThreadPrio_t, func : urt_osThreadFunction_t*, arg : void*) : urt_osThread_t*
       'Starts a thread.
-    + {method} urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void
+    + {method} urtThreadStart (thread : urt_osThread_t*) : void
       'The calling threads yields.
     + {method} urtThreadYield (void) : void
       'Retrieves the priority of the calling thread.
     + {method} urtThreadGetPriority (void) : urt_osThreadPrio_t
       'Sets the priority of the calling thread.
     + {method} urtThreadSetPriority (prio : urt_osThreadPrio_t) : void
-      'Suspends a thread so it will no longer be executed.
-    + {method} urtThreadSuspend (thread : urt_osThread_t*) : void
-      'Wakes a suspended thread.
-    + {method} urtThreadResume (thread : urt_osThread_t*) : urt_status_t
       'Suspends the calling thread for the specified time.
     + {method} urtThreadSleep (seconds : float) : void
       'Suspends the calling thread for the specified time.
-    + {method} urtThreadSSleep (seconds : urt_delay_t) : void
+    + {method} urtThreadSSleep (seconds : unsigned int) : void
       'Suspends the calling thread for the specified time.
-    + {method} urtThreadMSleep (milliseconds : urt_delay_t) : void
+    + {method} urtThreadMSleep (milliseconds : unsigned int) : void
       'Suspends the calling thread for the specified time.
     + {method} urtThreadUSleep (microseconds : urt_delay_t) : void
       'Suspends the calling thread until the specified time.
@@ -259,9 +255,9 @@ $group("events") {
   /' Not a class/type but a set of static event-related functions. '/
   $function("urt_events") {
       'Registers a lister to a source.
-    + {method} urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : urt_status_t
+    + {method} urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : void
       'Unregisters a listener from a source.
-    + {method} urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : urt_status_t
+    + {method} urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : void
       'Blocks the thread until any event occurs or the timeout expires.
     + {method} urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWait_t, timeout : urt_delay_t) : urt_osEventMask_t
   }
diff --git a/doc/classdiagrams/overview.svg b/doc/classdiagrams/overview.svg
index 300c91e..e82a679 100644
--- a/doc/classdiagrams/overview.svg
+++ b/doc/classdiagrams/overview.svg
@@ -1,196 +1,194 @@
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-cluster Configuration--><polygon fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" points="8875.6783,1619.8594,8885.6783,1609.8594,9181.6783,1609.8594,9181.6783,1925.8594,9171.6783,1935.8594,8875.6783,1935.8594,8875.6783,1619.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="9171.6783" x2="9180.6783" y1="1619.8594" y2="1610.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="8875.6783" x2="9171.6783" y1="1619.8594" y2="1619.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="9171.6783" x2="9171.6783" y1="1619.8594" y2="1935.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="107" x="8971.1783" y="1635.8545">Configuration</text><!--MD5=[1cb8ced355c85ab51f1ab55883ed8585]
-cluster Primitives--><polygon fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" points="6790.6783,1281.8594,6800.6783,1271.8594,8202.6783,1271.8594,8202.6783,1849.3594,8192.6783,1859.3594,6790.6783,1859.3594,6790.6783,1281.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="8192.6783" x2="8201.6783" y1="1281.8594" y2="1272.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="6790.6783" x2="8192.6783" y1="1281.8594" y2="1281.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="8192.6783" x2="8192.6783" y1="1281.8594" y2="1859.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="77" x="7454.1783" y="1297.8545">Primitives</text><!--MD5=[ba9da179b6f0b3bb0ea21772c5f4ec75]
-cluster OSAL--><polygon fill="#FFFFFF" filter="url(#f168bdpv6hwrno)" points="576.6783,818.8594,586.6783,808.8594,6151.6783,808.8594,6151.6783,1814.8594,6141.6783,1824.8594,576.6783,1824.8594,576.6783,818.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="6141.6783" x2="6150.6783" y1="818.8594" y2="809.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="576.6783" x2="6141.6783" y1="818.8594" y2="818.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="6141.6783" x2="6141.6783" y1="818.8594" y2="1824.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="42" x="3339.1783" y="834.8545">OSAL</text><!--MD5=[3dab47d3fc3e186ff10f67819eb99ff8]
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-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]
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-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_usefulness_f--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="60.8047" id="urt_usefulness_f" style="stroke: #A80036; stroke-width: 1.5;" width="334" x="7609.6783" y="1412.3594"/><ellipse cx="7721.4283" cy="1428.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7725.6627,1424.125 L7720.3814,1424.125 L7720.3814,1426.7969 L7725.1783,1426.7969 L7725.1783,1428.9531 L7720.3814,1428.9531 L7720.3814,1434.3594 L7717.9439,1434.3594 L7717.9439,1421.9688 L7725.6627,1421.9688 L7725.6627,1424.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="7741.9283" y="1432.5137">urt_usefulness_f</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7610.6783" x2="7942.6783" y1="1444.3594" y2="1444.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7610.6783" x2="7942.6783" y1="1452.3594" y2="1452.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="322" x="7615.6783" y="1466.5698">urt_usefulness_f (dt : urt_delay_t, params : void*) : float</text><!--MD5=[3677786d1f00795918091b0110bfa4af]
-class urt_osTime_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="425" x="5710.1783" y="1012.8594"/><ellipse cx="5878.9283" cy="1028.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5879.7721,1035.6094 L5877.3189,1035.6094 L5877.3189,1025.3594 L5874.1783,1025.3594 L5874.1783,1023.2188 L5882.9127,1023.2188 L5882.9127,1025.3594 L5879.7721,1025.3594 L5879.7721,1035.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="5899.4283" y="1033.0137">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5711.1783" x2="6134.1783" y1="1044.8594" y2="1044.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5711.1783" x2="6134.1783" y1="1052.8594" y2="1052.8594"/><ellipse cx="5721.1783" cy="1063.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="231" x="5730.1783" y="1067.0698">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="5721.1783" cy="1076.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="5730.1783" y="1079.8745">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="5721.1783" cy="1089.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="399" x="5730.1783" y="1092.6792">urtTimeAddUs (time : urt_osTime_t*, offset : uint32_t) : urt_osTime_t*</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]
-class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="4631.6783" y="1006.3594"/><ellipse cx="4732.9283" cy="1022.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4733.7721,1029.1094 L4731.3189,1029.1094 L4731.3189,1018.8594 L4728.1783,1018.8594 L4728.1783,1016.7188 L4736.9127,1016.7188 L4736.9127,1018.8594 L4733.7721,1018.8594 L4733.7721,1029.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="4753.4283" y="1026.5137">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4632.6783" x2="4928.6783" y1="1038.3594" y2="1038.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4632.6783" x2="4928.6783" y1="1046.3594" y2="1046.3594"/><ellipse cx="4642.6783" cy="1057.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="245" x="4651.6783" y="1060.5698">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="4642.6783" cy="1070.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="253" x="4651.6783" y="1073.3745">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="4642.6783" cy="1082.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="4651.6783" y="1086.1792">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="4642.6783" cy="1095.7734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="4651.6783" y="1098.9839">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--MD5=[52fa11869cb40c93fa7702378ddd839e]
-class urt_osCondvarWaitStatus_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="86.4141" id="urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="5184.6783" y="1399.8594"/><ellipse cx="5230.9283" cy="1415.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5235.0377,1421.8594 L5227.3189,1421.8594 L5227.3189,1409.4688 L5235.0377,1409.4688 L5235.0377,1411.625 L5229.7721,1411.625 L5229.7721,1414.2969 L5234.5377,1414.2969 L5234.5377,1416.4531 L5229.7721,1416.4531 L5229.7721,1419.7031 L5235.0377,1419.7031 L5235.0377,1421.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="169" x="5251.4283" y="1420.0137">urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5185.6783" x2="5453.6783" y1="1431.8594" y2="1431.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="5190.6783" y="1446.0698">URT_CONDVAR_WAITSTATUS_SIGNAL = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="5190.6783" y="1458.8745">URT_CONDVAR_WAITSTATUS_BROADCAST = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="5190.6783" y="1471.6792">URT_CONDVAR_WAITSTATUS_TIMEOUT = 0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5185.6783" x2="5453.6783" y1="1478.2734" y2="1478.2734"/><!--MD5=[004fc5dee471033e8e4138c1c73f0692]
-class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="99.2188" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="4964.6783" y="1006.3594"/><ellipse cx="5264.9283" cy="1022.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5265.7721,1029.1094 L5263.3189,1029.1094 L5263.3189,1018.8594 L5260.1783,1018.8594 L5260.1783,1016.7188 L5268.9127,1016.7188 L5268.9127,1018.8594 L5265.7721,1018.8594 L5265.7721,1029.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="5285.4283" y="1026.5137">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4965.6783" x2="5673.6783" y1="1038.3594" y2="1038.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4965.6783" x2="5673.6783" y1="1046.3594" y2="1046.3594"/><ellipse cx="4975.6783" cy="1057.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="283" x="4984.6783" y="1060.5698">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4975.6783" cy="1070.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="301" x="4984.6783" y="1073.3745">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4975.6783" cy="1082.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="324" x="4984.6783" y="1086.1792">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4975.6783" cy="1095.7734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="684" x="4984.6783" y="1098.9839">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_osCondvarWaitStatus_t</text><!--MD5=[93799a03260ba286abda700174f4f205]
-class urt_osTimerCallback_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="4062.6783" y="1412.3594"/><ellipse cx="4133.4283" cy="1428.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4134.2721,1435.1094 L4131.8189,1435.1094 L4131.8189,1424.8594 L4128.6783,1424.8594 L4128.6783,1422.7188 L4137.4127,1422.7188 L4137.4127,1424.8594 L4134.2721,1424.8594 L4134.2721,1435.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="4153.9283" y="1432.5137">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4063.6783" x2="4347.6783" y1="1444.3594" y2="1444.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4063.6783" x2="4347.6783" y1="1452.3594" y2="1452.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="4068.6783" y="1466.5698">urt_osTimerCallback_t (parameter : void*) : void</text><!--MD5=[0b340d7b925b1eab6a1b7e084f68a7c2]
-class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="112.0234" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="782" x="3814.6783" y="999.8594"/><ellipse cx="4159.4283" cy="1015.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4160.2721,1022.6094 L4157.8189,1022.6094 L4157.8189,1012.3594 L4154.6783,1012.3594 L4154.6783,1010.2188 L4163.4127,1010.2188 L4163.4127,1012.3594 L4160.2721,1012.3594 L4160.2721,1022.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="4179.9283" y="1020.0137">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3815.6783" x2="4595.6783" y1="1031.8594" y2="1031.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3815.6783" x2="4595.6783" y1="1039.8594" y2="1039.8594"/><ellipse cx="3825.6783" cy="1050.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="3834.6783" y="1054.0698">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="3825.6783" cy="1063.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="705" x="3834.6783" y="1066.8745">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="3825.6783" cy="1076.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="756" x="3834.6783" y="1079.6792">urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="3825.6783" cy="1089.2734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="300" x="3834.6783" y="1092.4839">urtTimerReset (timer : urt_osTimer_t*) : urt_status_t</text><ellipse cx="3825.6783" cy="1102.0781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3834.6783" y="1105.2886">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--MD5=[86c16d91227b9a9ec3b6b9b0285de4e9]
-class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="3316.1783" y="1367.8594"/><ellipse cx="3352.3283" cy="1383.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3353.1721,1390.6094 L3350.7189,1390.6094 L3350.7189,1380.3594 L3347.5783,1380.3594 L3347.5783,1378.2188 L3356.3127,1378.2188 L3356.3127,1380.3594 L3353.1721,1380.3594 L3353.1721,1390.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="3371.0283" y="1388.0137">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3317.1783" x2="3512.1783" y1="1399.8594" y2="1399.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="3322.1783" y="1414.0698">URT_THREAD_PRIO_LOW_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="3322.1783" y="1426.8745">URT_THREAD_PRIO_LOW_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="3322.1783" y="1439.6792">URT_THREAD_PRIO_NORMAL_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="3322.1783" y="1452.4839">URT_THREAD_PRIO_NORMAL_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="3322.1783" y="1465.2886">URT_THREAD_PRIO_HIGH_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="3322.1783" y="1478.0933">URT_THREAD_PRIO_HIGH_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="3322.1783" y="1490.8979">URT_THREAD_PRIO_RT_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="3322.1783" y="1503.7026">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3317.1783" x2="3512.1783" y1="1510.2969" y2="1510.2969"/><!--MD5=[69d8aab9aa387a2f5052ea3da80e80ea]
-class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="2767.6783" y="1412.3594"/><ellipse cx="2815.4283" cy="1428.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2816.2721,1435.1094 L2813.8189,1435.1094 L2813.8189,1424.8594 L2810.6783,1424.8594 L2810.6783,1422.7188 L2819.4127,1422.7188 L2819.4127,1424.8594 L2816.2721,1424.8594 L2816.2721,1435.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="2835.9283" y="1432.5137">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2768.6783" x2="3018.6783" y1="1444.3594" y2="1444.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2768.6783" x2="3018.6783" y1="1452.3594" y2="1452.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="2773.6783" y="1466.5698">urt_osThreadFunction_t (arg : void*) : void</text><!--MD5=[ab5f611d45c3fa10609c33f780d8c3e1]
-class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="3548.6783" y="1405.8594"/><ellipse cx="3570.4283" cy="1421.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3574.5377,1427.8594 L3566.8189,1427.8594 L3566.8189,1415.4688 L3574.5377,1415.4688 L3574.5377,1417.625 L3569.2721,1417.625 L3569.2721,1420.2969 L3574.0377,1420.2969 L3574.0377,1422.4531 L3569.2721,1422.4531 L3569.2721,1425.7031 L3574.5377,1425.7031 L3574.5377,1427.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="3585.9283" y="1426.0137">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3549.6783" x2="3789.6783" y1="1437.8594" y2="1437.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="3554.6783" y="1452.0698">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="3554.6783" y="1464.8745">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3549.6783" x2="3789.6783" y1="1471.4688" y2="1471.4688"/><!--MD5=[47d14ad2c233fae1b32b8d0a283e820a]
-class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="137.6328" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="3054.6783" y="1373.8594"/><ellipse cx="3099.4283" cy="1389.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3103.5377,1395.8594 L3095.8189,1395.8594 L3095.8189,1383.4688 L3103.5377,1383.4688 L3103.5377,1385.625 L3098.2721,1385.625 L3098.2721,1388.2969 L3103.0377,1388.2969 L3103.0377,1390.4531 L3098.2721,1390.4531 L3098.2721,1393.7031 L3103.5377,1393.7031 L3103.5377,1395.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="3119.9283" y="1394.0137">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3055.6783" x2="3279.6783" y1="1405.8594" y2="1405.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="3060.6783" y="1420.0698">URT_THREAD_STATE_INACTIVE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="3060.6783" y="1432.8745">URT_THREAD_STATE_RUNNING = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="3060.6783" y="1445.6792">URT_THREAD_STATE_READY = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="3060.6783" y="1458.4839">URT_THREAD_STATE_SLEEPING = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="3060.6783" y="1471.2886">URT_THREAD_STATE_SUSPENDED = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="3060.6783" y="1484.0933">URT_THREAD_STATE_WAITING = 5</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="3060.6783" y="1496.8979">URT_THREAD_STATE_TERMINATED = 6</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3055.6783" x2="3279.6783" y1="1503.4922" y2="1503.4922"/><!--MD5=[0a16224ede9ffa9bb2d34e085a076e6d]
-class urt_osThread_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="376.1172" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="560" x="3219.6783" y="867.8594"/><ellipse cx="3448.4283" cy="883.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3449.2721,890.6094 L3446.8189,890.6094 L3446.8189,880.3594 L3443.6783,880.3594 L3443.6783,878.2188 L3452.4127,878.2188 L3452.4127,880.3594 L3449.2721,880.3594 L3449.2721,890.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="3468.9283" y="888.0137">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3220.6783" x2="3778.6783" y1="899.8594" y2="899.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="3225.6783" y="914.0698">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="3225.6783" y="926.8745">URT_THREAD_SSLEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="3225.6783" y="939.6792">URT_THREAD_MSLEEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="3225.6783" y="952.4839">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="3220.6783" x2="3778.6783" y1="959.0781" y2="959.0781"/><ellipse cx="3230.6783" cy="970.0781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="248" x="3239.6783" y="973.2886">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3220.6783" x2="3778.6783" y1="979.8828" y2="979.8828"/><ellipse cx="3230.6783" cy="990.8828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="534" x="3239.6783" y="994.0933">urtThreadInit (memory : void*, size : size_t, func : urt_osThreadFunction_t*) : urt_osThread_t*</text><ellipse cx="3230.6783" cy="1003.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="490" x="3239.6783" y="1006.8979">urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void</text><ellipse cx="3230.6783" cy="1016.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="3239.6783" y="1019.7026">urtThreadYield (void) : void</text><ellipse cx="3230.6783" cy="1029.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3239.6783" y="1032.5073">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="3230.6783" cy="1042.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="304" x="3239.6783" y="1045.312">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="3230.6783" cy="1054.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="294" x="3239.6783" y="1058.1167">urtThreadSuspend (thread : urt_osThread_t*) : void</text><ellipse cx="3230.6783" cy="1067.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="335" x="3239.6783" y="1070.9214">urtThreadResume (thread : urt_osThread_t*) : urt_status_t</text><ellipse cx="3230.6783" cy="1080.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="220" x="3239.6783" y="1083.7261">urtThreadSleep (seconds : float) : void</text><ellipse cx="3230.6783" cy="1093.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="3239.6783" y="1096.5308">urtThreadSSleep (seconds : urt_delay_t) : void</text><ellipse cx="3230.6783" cy="1106.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="289" x="3239.6783" y="1109.3354">urtThreadMSleep (milliseconds : urt_delay_t) : void</text><ellipse cx="3230.6783" cy="1118.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="3239.6783" y="1122.1401">urtThreadUSleep (microseconds : urt_delay_t) : void</text><ellipse cx="3230.6783" cy="1131.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3239.6783" y="1134.9448">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="3230.6783" cy="1144.5391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="3239.6783" y="1147.7495">urtThreadExit (void) : void</text><ellipse cx="3230.6783" cy="1157.3438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="518" x="3239.6783" y="1160.5542">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="3230.6783" cy="1170.1484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="264" x="3239.6783" y="1173.3589">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="3230.6783" cy="1182.9531" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="387" x="3239.6783" y="1186.1636">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="3230.6783" cy="1195.7578" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="237" x="3239.6783" y="1198.9683">urtThreadGetSelf (void) : urt_osThread_t*</text><ellipse cx="3230.6783" cy="1208.5625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="3239.6783" y="1211.7729">urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="3230.6783" cy="1221.3672" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="3239.6783" y="1224.5776">urtThreadGetSibling (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="3230.6783" cy="1234.1719" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="3239.6783" y="1237.3823">urtThreadGetParent (thread : urt_osThread_t*) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]
-class urt_osEventMask_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="60.8047" id="urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.5;" width="280" x="2452.6783" y="1412.3594"/><ellipse cx="2529.9283" cy="1428.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2530.7721,1435.1094 L2528.3189,1435.1094 L2528.3189,1424.8594 L2525.1783,1424.8594 L2525.1783,1422.7188 L2533.9127,1422.7188 L2533.9127,1424.8594 L2530.7721,1424.8594 L2530.7721,1435.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="2550.4283" y="1432.5137">urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2453.6783" x2="2731.6783" y1="1444.3594" y2="1444.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="268" x="2458.6783" y="1458.5698">URT_EVENTMASK_MAXPRIO : urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2453.6783" x2="2731.6783" y1="1465.1641" y2="1465.1641"/><!--MD5=[dc1cc33af288560680c15dec1e56eda0]
-class urt_osEventFlags_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="48" id="urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="1861.6783" y="1760.8594"/><ellipse cx="1876.6783" cy="1776.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1877.5221,1783.6094 L1875.0689,1783.6094 L1875.0689,1773.3594 L1871.9283,1773.3594 L1871.9283,1771.2188 L1880.6627,1771.2188 L1880.6627,1773.3594 L1877.5221,1773.3594 L1877.5221,1783.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="1890.6783" y="1781.0137">urt_osEventFlags_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1862.6783" x2="2010.6783" y1="1792.8594" y2="1792.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1862.6783" x2="2010.6783" y1="1800.8594" y2="1800.8594"/><!--MD5=[e2bbbd64e6979bf7b755747a6c0ba948]
-class urt_osEventWait_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="86.4141" id="urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.5;" width="162" x="2218.6783" y="1399.8594"/><ellipse cx="2241.7783" cy="1415.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2245.8877,1421.8594 L2238.1689,1421.8594 L2238.1689,1409.4688 L2245.8877,1409.4688 L2245.8877,1411.625 L2240.6221,1411.625 L2240.6221,1414.2969 L2245.3877,1414.2969 L2245.3877,1416.4531 L2240.6221,1416.4531 L2240.6221,1419.7031 L2245.8877,1419.7031 L2245.8877,1421.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="2257.5783" y="1420.0137">urt_osEventWait_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2219.6783" x2="2379.6783" y1="1431.8594" y2="1431.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="2224.6783" y="1446.0698">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="2224.6783" y="1458.8745">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="2224.6783" y="1471.6792">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2219.6783" x2="2379.6783" y1="1478.2734" y2="1478.2734"/><!--MD5=[d054ac2eda12ce4b1fe5a18c9be716c1]
-class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="1689.6783" y="1399.8594"/><ellipse cx="1864.9283" cy="1415.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1865.7721,1422.6094 L1863.3189,1422.6094 L1863.3189,1412.3594 L1860.1783,1412.3594 L1860.1783,1410.2188 L1868.9127,1410.2188 L1868.9127,1412.3594 L1865.7721,1412.3594 L1865.7721,1422.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="1885.4283" y="1420.0137">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1690.6783" x2="2182.6783" y1="1431.8594" y2="1431.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1690.6783" x2="2182.6783" y1="1439.8594" y2="1439.8594"/><ellipse cx="1700.6783" cy="1450.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="341" x="1709.6783" y="1454.0698">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="1700.6783" cy="1463.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="458" x="1709.6783" y="1466.8745">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="1700.6783" cy="1476.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="468" x="1709.6783" y="1479.6792">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]
-class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="1107.1783" y="1405.8594"/><ellipse cx="1311.9283" cy="1421.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1312.7721,1428.6094 L1310.3189,1428.6094 L1310.3189,1418.3594 L1307.1783,1418.3594 L1307.1783,1416.2188 L1315.9127,1416.2188 L1315.9127,1418.3594 L1312.7721,1418.3594 L1312.7721,1428.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="1332.4283" y="1426.0137">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1108.1783" x2="1653.1783" y1="1437.8594" y2="1437.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1108.1783" x2="1653.1783" y1="1445.8594" y2="1445.8594"/><ellipse cx="1118.1783" cy="1456.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="325" x="1127.1783" y="1460.0698">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="1118.1783" cy="1469.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="521" x="1127.1783" y="1472.8745">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--MD5=[04a3b5a37031e2a4d723f19d8adf86f5]
-class urt_events--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="890" x="1842.6783" y="1012.8594"/><ellipse cx="2250.4283" cy="1028.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2254.6627,1024.625 L2249.3814,1024.625 L2249.3814,1027.2969 L2254.1783,1027.2969 L2254.1783,1029.4531 L2249.3814,1029.4531 L2249.3814,1034.8594 L2246.9439,1034.8594 L2246.9439,1022.4688 L2254.6627,1022.4688 L2254.6627,1024.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="2270.9283" y="1033.0137">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1843.6783" x2="2731.6783" y1="1044.8594" y2="1044.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1843.6783" x2="2731.6783" y1="1052.8594" y2="1052.8594"/><ellipse cx="1853.6783" cy="1063.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="864" x="1862.6783" y="1067.0698">urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : urt_status_t</text><ellipse cx="1853.6783" cy="1076.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="567" x="1862.6783" y="1079.8745">urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : urt_status_t</text><ellipse cx="1853.6783" cy="1089.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="618" x="1862.6783" y="1092.6792">urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWait_t, timeout : urt_delay_t) : urt_osEventMask_t</text><!--MD5=[0cf29100c96c506429a28b45d347cc92]
-class urt_streams--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="209" x="873.1783" y="1018.8594"/><ellipse cx="935.9283" cy="1034.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M940.1627,1030.625 L934.8814,1030.625 L934.8814,1033.2969 L939.6783,1033.2969 L939.6783,1035.4531 L934.8814,1035.4531 L934.8814,1040.8594 L932.4439,1040.8594 L932.4439,1028.4688 L940.1627,1028.4688 L940.1627,1030.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="956.4283" y="1039.0137">urt_streams</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="874.1783" x2="1081.1783" y1="1050.8594" y2="1050.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="874.1783" x2="1081.1783" y1="1058.8594" y2="1058.8594"/><ellipse cx="884.1783" cy="1069.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="166" x="893.1783" y="1073.0698">urtPrintf(fmt : char*, ... ) : int</text><ellipse cx="884.1783" cy="1082.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="893.1783" y="1085.8745">urtErrPrintf(fmt : char*, ... ) : int</text><!--MD5=[f106a25c06a671b3918b1a8f37571a4d]
-class urt_debug--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="245" x="593.1783" y="1025.3594"/><ellipse cx="679.4283" cy="1041.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M683.6627,1037.125 L678.3814,1037.125 L678.3814,1039.7969 L683.1783,1039.7969 L683.1783,1041.9531 L678.3814,1041.9531 L678.3814,1047.3594 L675.9439,1047.3594 L675.9439,1034.9688 L683.6627,1034.9688 L683.6627,1037.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="699.9283" y="1045.5137">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="594.1783" x2="837.1783" y1="1057.3594" y2="1057.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="594.1783" x2="837.1783" y1="1065.3594" y2="1065.3594"/><ellipse cx="604.1783" cy="1076.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="219" x="613.1783" y="1079.5698">urtDebugAssert(condition : bool) : void</text><!--MD5=[89d25e87afdd75480e1ec2bd05524873]
-class urt_core_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="281.6797" id="urt_core_t" style="stroke: #A80036; stroke-width: 1.5;" width="343" x="8218.1783" y="172.3594"/><ellipse cx="8353.9283" cy="188.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8353.4127,188.9219 Q8351.5533,188.2188 8350.8971,187.4531 Q8350.2564,186.6719 8350.2564,185.3594 Q8350.2564,183.6719 8351.3346,182.7031 Q8352.4127,181.7344 8354.2877,181.7344 Q8355.1471,181.7344 8355.9908,181.9375 Q8356.8502,182.125 8357.6939,182.5156 L8357.6939,184.9063 Q8356.9127,184.3438 8356.0846,184.0625 Q8355.2721,183.7656 8354.4752,183.7656 Q8353.6002,183.7656 8353.1158,184.125 Q8352.6471,184.4844 8352.6471,185.1406 Q8352.6471,185.6563 8352.9908,186 Q8353.3346,186.3281 8354.4283,186.7344 L8355.4908,187.1406 Q8356.9752,187.6875 8357.6783,188.5938 Q8358.3971,189.5 8358.3971,190.875 Q8358.3971,192.75 8357.2877,193.6719 Q8356.1783,194.5938 8353.9283,194.5938 Q8353.0064,194.5938 8352.0846,194.375 Q8351.1627,194.1563 8350.3033,193.7344 L8350.3033,191.2031 Q8351.2721,191.8906 8352.1939,192.2344 Q8353.1158,192.5781 8354.0064,192.5781 Q8354.9127,192.5781 8355.4127,192.1719 Q8355.9127,191.75 8355.9127,191.0156 Q8355.9127,190.4531 8355.5689,190.0469 Q8355.2408,189.625 8354.6158,189.375 L8353.4127,188.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="63" x="8374.4283" y="192.5137">urt_core_t</text><line style="stroke: #A80036; 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]
-class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="17851.6783" y="1025.3594"/><ellipse cx="17997.4283" cy="1041.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17998.2721,1048.1094 L17995.8189,1048.1094 L17995.8189,1037.8594 L17992.6783,1037.8594 L17992.6783,1035.7188 L18001.4127,1035.7188 L18001.4127,1037.8594 L17998.2721,1037.8594 L17998.2721,1048.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="18017.9283" y="1045.5137">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="17852.6783" x2="18306.6783" y1="1057.3594" y2="1057.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="17852.6783" x2="18306.6783" y1="1065.3594" y2="1065.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="17857.6783" y="1079.5698">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]
-class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="17202.6783" y="1025.3594"/><ellipse cx="17430.9283" cy="1041.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17431.7721,1048.1094 L17429.3189,1048.1094 L17429.3189,1037.8594 L17426.1783,1037.8594 L17426.1783,1035.7188 L17434.9127,1035.7188 L17434.9127,1037.8594 L17431.7721,1037.8594 L17431.7721,1048.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="17451.4283" y="1045.5137">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="17203.6783" x2="17815.6783" y1="1057.3594" y2="1057.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="17203.6783" x2="17815.6783" y1="1065.3594" y2="1065.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="17208.6783" y="1079.5698">urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t</text><!--MD5=[843db13320bebc2ca47f25c6a57c2ae5]
-class urt_nodeShutdownCallback_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="60.8047" id="urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="518" x="18342.6783" y="1025.3594"/><ellipse cx="18506.9283" cy="1041.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M18507.7721,1048.1094 L18505.3189,1048.1094 L18505.3189,1037.8594 L18502.1783,1037.8594 L18502.1783,1035.7188 L18510.9127,1035.7188 L18510.9127,1037.8594 L18507.7721,1037.8594 L18507.7721,1048.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="181" x="18527.4283" y="1045.5137">urt_nodeShutdownCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="18343.6783" x2="18859.6783" y1="1057.3594" y2="1057.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="18343.6783" x2="18859.6783" y1="1065.3594" y2="1065.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="506" x="18348.6783" y="1079.5698">urt_nodeShutdownCallback_t (node : urt_node_t*, cause : urt_status_t, arg : void*) : void</text><!--MD5=[d2563153d77472384a15c07b815d639f]
-class urt_node_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="231.2656" id="urt_node_t" style="stroke: #A80036; stroke-width: 1.5;" width="1541" x="17206.1783" y="542.3594"/><ellipse cx="17938.9283" cy="558.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17938.4127,558.9219 Q17936.5533,558.2188 17935.8971,557.4531 Q17935.2564,556.6719 17935.2564,555.3594 Q17935.2564,553.6719 17936.3346,552.7031 Q17937.4127,551.7344 17939.2877,551.7344 Q17940.1471,551.7344 17940.9908,551.9375 Q17941.8502,552.125 17942.6939,552.5156 L17942.6939,554.9063 Q17941.9127,554.3438 17941.0846,554.0625 Q17940.2721,553.7656 17939.4752,553.7656 Q17938.6002,553.7656 17938.1158,554.125 Q17937.6471,554.4844 17937.6471,555.1406 Q17937.6471,555.6563 17937.9908,556 Q17938.3346,556.3281 17939.4283,556.7344 L17940.4908,557.1406 Q17941.9752,557.6875 17942.6783,558.5938 Q17943.3971,559.5 17943.3971,560.875 Q17943.3971,562.75 17942.2877,563.6719 Q17941.1783,564.5938 17938.9283,564.5938 Q17938.0064,564.5938 17937.0846,564.375 Q17936.1627,564.1563 17935.3033,563.7344 L17935.3033,561.2031 Q17936.2721,561.8906 17937.1939,562.2344 Q17938.1158,562.5781 17939.0064,562.5781 Q17939.9127,562.5781 17940.4127,562.1719 Q17940.9127,561.75 17940.9127,561.0156 Q17940.9127,560.4531 17940.5689,560.0469 Q17940.2408,559.625 17939.6158,559.375 L17938.4127,558.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="67" x="17959.4283" y="562.5137">urt_node_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="17207.1783" x2="18746.1783" y1="574.3594" y2="574.3594"/><ellipse cx="17217.1783" cy="585.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="102" x="17226.1783" y="588.5698">next : urt_node_t*</text><ellipse cx="17217.1783" cy="598.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="17226.1783" y="601.3745">thread : urt_osThread_t*</text><ellipse cx="17217.1783" cy="610.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="17226.1783" y="614.1792">setupcallback : urt_nodeSetupCallback_t*</text><ellipse cx="17217.1783" cy="623.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="117" x="17226.1783" y="626.9839">setupparams : void*</text><ellipse cx="17217.1783" cy="636.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="221" x="17226.1783" y="639.7886">loopcallback : urt_nodeLoopCallback_t*</text><ellipse cx="17217.1783" cy="649.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="109" x="17226.1783" y="652.5933">loopparams : void*</text><ellipse cx="17217.1783" cy="662.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="281" x="17226.1783" y="665.3979">shutdowncallback : urt_nodeShutdownCallback_t*</text><ellipse cx="17217.1783" cy="674.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="140" x="17226.1783" y="678.2026">shutdownparams : void*</text><ellipse cx="17217.1783" cy="687.7969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="17226.1783" y="691.0073">stage : urt_nodestage_t</text><ellipse cx="17217.1783" cy="700.6016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="178" x="17226.1783" y="703.812">listener : urt_osEventListener_t</text><ellipse cx="17217.1783" cy="730.2109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="88" x="17226.1783" y="733.4214">loops : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="17207.1783" x2="17768.6783" y1="716.8086" y2="716.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="416" x="17768.6783" y="720.1167">URT_CFG_PUBSUB_PROFILING == true || URT_CFG_RPC_PROFILING = true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="18184.6783" x2="18746.1783" y1="716.8086" y2="716.8086"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="17207.1783" x2="18746.1783" y1="740.0156" y2="740.0156"/><rect fill="#F24D5C" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="17214.1783" y="748.0156"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="179" x="17226.1783" y="754.2261">_main : urt_osThreadFunction_t</text><ellipse cx="17217.1783" cy="763.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1515" x="17226.1783" y="767.0308">urtNodeInit (node : urt_node_t*, thread : urt_osThread_t*, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*, shutdowncallback : urt_nodeShutdownCallback_t*, shutodwnparams : void*) : void</text><!--MD5=[e602aa6d45f270ad04f88c9ca5352b33]
-class urt_message_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="141.6328" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="406" x="11867.6783" y="1371.8594"/><ellipse cx="12020.4283" cy="1387.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12019.9127,1388.4219 Q12018.0533,1387.7188 12017.3971,1386.9531 Q12016.7564,1386.1719 12016.7564,1384.8594 Q12016.7564,1383.1719 12017.8346,1382.2031 Q12018.9127,1381.2344 12020.7877,1381.2344 Q12021.6471,1381.2344 12022.4908,1381.4375 Q12023.3502,1381.625 12024.1939,1382.0156 L12024.1939,1384.4063 Q12023.4127,1383.8438 12022.5846,1383.5625 Q12021.7721,1383.2656 12020.9752,1383.2656 Q12020.1002,1383.2656 12019.6158,1383.625 Q12019.1471,1383.9844 12019.1471,1384.6406 Q12019.1471,1385.1563 12019.4908,1385.5 Q12019.8346,1385.8281 12020.9283,1386.2344 L12021.9908,1386.6406 Q12023.4752,1387.1875 12024.1783,1388.0938 Q12024.8971,1389 12024.8971,1390.375 Q12024.8971,1392.25 12023.7877,1393.1719 Q12022.6783,1394.0938 12020.4283,1394.0938 Q12019.5064,1394.0938 12018.5846,1393.875 Q12017.6627,1393.6563 12016.8033,1393.2344 L12016.8033,1390.7031 Q12017.7721,1391.3906 12018.6939,1391.7344 Q12019.6158,1392.0781 12020.5064,1392.0781 Q12021.4127,1392.0781 12021.9127,1391.6719 Q12022.4127,1391.25 12022.4127,1390.5156 Q12022.4127,1389.9531 12022.0689,1389.5469 Q12021.7408,1389.125 12021.1158,1388.875 L12019.9127,1388.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="12040.9283" y="1392.0137">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11868.6783" x2="12272.6783" y1="1403.8594" y2="1403.8594"/><ellipse cx="11878.6783" cy="1414.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="127" x="11887.6783" y="1418.0698">next : urt_message_t*</text><ellipse cx="11878.6783" cy="1427.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="11887.6783" y="1430.8745">payload : void*</text><ellipse cx="11878.6783" cy="1440.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="11887.6783" y="1443.6792">originTime : urt_osTime_t</text><ellipse cx="11878.6783" cy="1453.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="211" x="11887.6783" y="1456.4839">numHrtConsumersLeft : unsigned int</text><ellipse cx="11878.6783" cy="1482.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="11887.6783" y="1486.0933">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11868.6783" x2="11962.1783" y1="1469.4805" y2="1469.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="11962.1783" y="1472.7886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12179.1783" x2="12272.6783" y1="1469.4805" y2="1469.4805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11868.6783" x2="12272.6783" y1="1492.6875" y2="1492.6875"/><ellipse cx="11878.6783" cy="1503.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="11887.6783" y="1506.8979">urtMessageInit (message : urt_message_t*, payload : void*) : void</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]
-class urt_publisher_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="128.8281" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="783" x="12305.1783" y="593.3594"/><ellipse cx="12645.9283" cy="609.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12645.4127,609.9219 Q12643.5533,609.2188 12642.8971,608.4531 Q12642.2564,607.6719 12642.2564,606.3594 Q12642.2564,604.6719 12643.3346,603.7031 Q12644.4127,602.7344 12646.2877,602.7344 Q12647.1471,602.7344 12647.9908,602.9375 Q12648.8502,603.125 12649.6939,603.5156 L12649.6939,605.9063 Q12648.9127,605.3438 12648.0846,605.0625 Q12647.2721,604.7656 12646.4752,604.7656 Q12645.6002,604.7656 12645.1158,605.125 Q12644.6471,605.4844 12644.6471,606.1406 Q12644.6471,606.6563 12644.9908,607 Q12645.3346,607.3281 12646.4283,607.7344 L12647.4908,608.1406 Q12648.9752,608.6875 12649.6783,609.5938 Q12650.3971,610.5 12650.3971,611.875 Q12650.3971,613.75 12649.2877,614.6719 Q12648.1783,615.5938 12645.9283,615.5938 Q12645.0064,615.5938 12644.0846,615.375 Q12643.1627,615.1563 12642.3033,614.7344 L12642.3033,612.2031 Q12643.2721,612.8906 12644.1939,613.2344 Q12645.1158,613.5781 12646.0064,613.5781 Q12646.9127,613.5781 12647.4127,613.1719 Q12647.9127,612.75 12647.9127,612.0156 Q12647.9127,611.4531 12647.5689,611.0469 Q12647.2408,610.625 12646.6158,610.375 L12645.4127,609.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="12666.4283" y="613.5137">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12306.1783" x2="13087.1783" y1="625.3594" y2="625.3594"/><ellipse cx="12316.1783" cy="636.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="12325.1783" y="639.5698">topic : urt_topic_t*</text><ellipse cx="12316.1783" cy="665.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="149" x="12325.1783" y="669.1792">publishAttempts : uint64_t</text><ellipse cx="12316.1783" cy="678.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="12325.1783" y="681.9839">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12306.1783" x2="12588.1783" y1="652.5664" y2="652.5664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12588.1783" y="655.8745">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12805.1783" x2="13087.1783" y1="652.5664" y2="652.5664"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="12306.1783" x2="13087.1783" y1="688.5781" y2="688.5781"/><ellipse cx="12316.1783" cy="699.5781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="572" x="12325.1783" y="702.7886">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void</text><ellipse cx="12316.1783" cy="712.3828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="757" x="12325.1783" y="715.5933">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[a1b1e66ec52c209a9fa2dab315cd7630]
-class urt_topic_t--><rect fill="#FEFECE" filter="url(#f168bdpv6hwrno)" height="260.875" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="11867.6783" y="527.3594"/><ellipse cx="12022.4283" cy="543.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12021.9127,543.9219 Q12020.0533,543.2188 12019.3971,542.4531 Q12018.7564,541.6719 12018.7564,540.3594 Q12018.7564,538.6719 12019.8346,537.7031 Q12020.9127,536.7344 12022.7877,536.7344 Q12023.6471,536.7344 12024.4908,536.9375 Q12025.3502,537.125 12026.1939,537.5156 L12026.1939,539.9063 Q12025.4127,539.3438 12024.5846,539.0625 Q12023.7721,538.7656 12022.9752,538.7656 Q12022.1002,538.7656 12021.6158,539.125 Q12021.1471,539.4844 12021.1471,540.1406 Q12021.1471,540.6563 12021.4908,541 Q12021.8346,541.3281 12022.9283,541.7344 L12023.9908,542.1406 Q12025.4752,542.6875 12026.1783,543.5938 Q12026.8971,544.5 12026.8971,545.875 Q12026.8971,547.75 12025.7877,548.6719 Q12024.6783,549.5938 12022.4283,549.5938 Q12021.5064,549.5938 12020.5846,549.375 Q12019.6627,549.1563 12018.8033,548.7344 L12018.8033,546.2031 Q12019.7721,546.8906 12020.6939,547.2344 Q12021.6158,547.5781 12022.5064,547.5781 Q12023.4127,547.5781 12023.9127,547.1719 Q12024.4127,546.75 12024.4127,546.0156 Q12024.4127,545.4531 12024.0689,545.0469 Q12023.7408,544.625 12023.1158,544.375 L12021.9127,543.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="12042.9283" y="547.5137">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11868.6783" x2="12250.6783" y1="559.3594" y2="559.3594"/><ellipse cx="11878.6783" cy="570.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="11887.6783" y="573.5698">next : urt_topic_t*</text><ellipse cx="11878.6783" cy="583.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="11887.6783" y="586.3745">id : urt_topicid_t</text><ellipse cx="11878.6783" cy="595.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="11887.6783" y="599.1792">lock : urt_osMutex_t</text><ellipse cx="11878.6783" cy="608.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="11887.6783" y="611.9839">evtSource : urt_osEventSource_t</text><ellipse cx="11878.6783" cy="621.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="11887.6783" y="624.7886">numHrtSubscribers : unsigned int</text><ellipse cx="11878.6783" cy="634.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="11887.6783" y="637.5933">hrtReleased : urt_osCondvar_t</text><ellipse cx="11878.6783" cy="647.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="209" x="11887.6783" y="650.3979">mandatoryMessage : urt_message_t</text><ellipse cx="11878.6783" cy="659.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="11887.6783" y="663.2026">latestMessage : urt_message_t*</text><ellipse cx="11878.6783" cy="689.6016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="212" x="11887.6783" y="692.812">hrtSubscribers : urt_hrtsubscriber_t*</text><ellipse cx="11878.6783" cy="702.4063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="170" x="11887.6783" y="705.6167">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11868.6783" x2="11927.1783" y1="676.1992" y2="676.1992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="11927.1783" y="679.5073">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12192.1783" x2="12250.6783" y1="676.1992" y2="676.1992"/><ellipse cx="11878.6783" cy="732.0156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="11887.6783" y="735.2261">numMessagesPublished : uint64_t</text><ellipse cx="11878.6783" cy="744.8203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="11887.6783" y="748.0308">numMessagesDiscarded : uint64_t</text><ellipse cx="11878.6783" cy="757.625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="11887.6783" y="760.8354">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11868.6783" x2="11951.1783" y1="718.6133" y2="718.6133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="11951.1783" y="721.9214">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12168.1783" x2="12250.6783" y1="718.6133" y2="718.6133"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11868.6783" x2="12250.6783" y1="767.4297" y2="767.4297"/><ellipse cx="11878.6783" cy="778.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="358" x="11887.6783" y="781.6401">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[50a042e24f957794dab9ba3ea8701c50]
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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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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]
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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]
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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; 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stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8970.6783" x2="9171.6783" y1="684.5039" y2="684.5039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8577.6783" x2="9171.6783" y1="720.5156" y2="720.5156"/><ellipse cx="8587.6783" cy="731.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="412" x="8596.6783" y="734.7261">urtServiceInit (service : urt_service_t*, id : urt_serviceid_t) : urt_status_t</text><ellipse cx="8587.6783" cy="744.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="549" x="8596.6783" y="747.5308">urtServiceDispatch (service : urt_service_t*, payload : void*, bytes : size_t) : urt_baserequest_t*</text><ellipse cx="8587.6783" cy="757.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="552" x="8596.6783" y="760.3354">urtServiceAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="8587.6783" cy="769.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="8596.6783" y="773.1401">urtServiceTryAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="8587.6783" cy="782.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="365" x="8596.6783" y="785.9448">urtServiceRespond (request : urt_baserequest_t*) : urt_status_t</text><!--MD5=[7294e1cfaeb111bef046bc5d07a96458]
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+cluster OSAL--><polygon fill="#FFFFFF" filter="url(#f97ds0om13c08)" points="578.3643,818.8594,588.3643,808.8594,6069.3643,808.8594,6069.3643,1661.8594,6059.3643,1671.8594,578.3643,1671.8594,578.3643,818.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="6059.3643" x2="6068.3643" y1="818.8594" y2="809.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="578.3643" x2="6059.3643" y1="818.8594" y2="818.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="6059.3643" x2="6059.3643" y1="818.8594" y2="1671.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="42" x="3298.8643" y="834.8545">OSAL</text><!--MD5=[3dab47d3fc3e186ff10f67819eb99ff8]
+cluster time--><rect fill="#FFFFFF" filter="url(#f97ds0om13c08)" height="121" style="stroke: #000000; stroke-width: 1.5;" width="402" x="5659.3643" y="973.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="34" x="5843.3643" y="988.3545">time</text><!--MD5=[48ccbfc44b1b031f9b243763d7ad5184]
+cluster mutex--><rect fill="#FFFFFF" filter="url(#f97ds0om13c08)" height="134" style="stroke: #000000; stroke-width: 1.5;" width="314" x="4581.3643" y="966.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="49" x="4713.8643" y="981.8545">mutex</text><!--MD5=[2e45f233f6bb64aa81ebe67fb6de8946]
+cluster condition variable--><rect fill="#FFFFFF" filter="url(#f97ds0om13c08)" height="438" style="stroke: #000000; stroke-width: 1.5;" width="726" x="4914.3643" y="966.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="140" x="5207.3643" y="981.8545">condition variable</text><!--MD5=[c7113df1f710ca294cbd01734aa00974]
+cluster timer--><rect fill="#FFFFFF" filter="url(#f97ds0om13c08)" height="432" style="stroke: #000000; stroke-width: 1.5;" width="754" x="3808.3643" y="960.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="4164.8643" y="975.3545">timer</text><!--MD5=[107bb3f79455a18bd83c75ada1ac7979]
+cluster thread--><rect fill="#FFFFFF" filter="url(#f97ds0om13c08)" height="596" style="stroke: #000000; stroke-width: 1.5;" width="1039" x="2761.3643" y="840.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="3254.8643" y="855.8545">thread</text><!--MD5=[8d74b40516bd265adb19f202ab81f40d]
+cluster events--><rect fill="#FFFFFF" filter="url(#f97ds0om13c08)" height="690.5" style="stroke: #000000; stroke-width: 1.5;" width="1642" x="1100.3643" y="973.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="54" x="1894.3643" y="988.3545">events</text><!--MD5=[b978ecedb6f4da3f32705dc09c84a7d6]
+cluster streams--><rect fill="#FFFFFF" filter="url(#f97ds0om13c08)" height="109" style="stroke: #000000; stroke-width: 1.5;" width="226" x="866.3643" y="979.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="64" x="947.3643" y="994.3545">streams</text><!--MD5=[62106fc051f244acf17caf792167c8db]
+cluster debug--><rect fill="#FFFFFF" filter="url(#f97ds0om13c08)" height="96" style="stroke: #000000; stroke-width: 1.5;" width="262" x="586.3643" y="985.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="50" x="692.3643" y="1000.8545">debug</text><!--MD5=[4e1a3510868d06a507f098bb08f0dae0]
+cluster Middleware--><polygon fill="#FFFFFF" filter="url(#f97ds0om13c08)" points="7784.3643,89.3594,7794.3643,79.3594,18449.3643,79.3594,18449.3643,1430.8594,18439.3643,1440.8594,7784.3643,1440.8594,7784.3643,89.3594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="18439.3643" x2="18448.3643" y1="89.3594" y2="80.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7784.3643" x2="18439.3643" y1="89.3594" y2="89.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="18439.3643" x2="18439.3643" y1="89.3594" y2="1440.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="91" x="13067.3643" y="105.3545">Middleware</text><!--MD5=[b9de0669a29c7bc934fd916b09c39491]
+cluster node--><rect fill="#FFFFFF" filter="url(#f97ds0om13c08)" height="566.5" style="stroke: #000000; stroke-width: 1.5;" width="1674" x="16767.3643" y="515.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="40" x="17584.3643" y="530.3545">node</text><!--MD5=[d74e2ef346f73688f9378f6d3d42598c]
+cluster Publish-Subscribe System--><polygon fill="#FFFFFF" filter="url(#f97ds0om13c08)" points="11433.3643,474.3594,11443.3643,464.3594,16759.3643,464.3594,16759.3643,1422.8594,16749.3643,1432.8594,11433.3643,1432.8594,11433.3643,474.3594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="16749.3643" x2="16758.3643" y1="474.3594" y2="465.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="11433.3643" x2="16749.3643" y1="474.3594" y2="474.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="16749.3643" x2="16749.3643" y1="474.3594" y2="1432.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="205" x="13989.8643" y="490.3545">Publish-Subscribe System</text><!--MD5=[16a3bbbe805f94d6e6ce317c08ab945e]
+cluster subscriber--><rect fill="#FFFFFF" filter="url(#f97ds0om13c08)" height="622" style="stroke: #000000; stroke-width: 1.5;" width="4062" x="12689.3643" y="496.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="85" x="14677.8643" y="511.3545">subscriber</text><!--MD5=[810d0f07e53ef611b6d803ef30301147]
+cluster Remote Procedure Call System--><polygon fill="#FFFFFF" filter="url(#f97ds0om13c08)" points="8142.3643,121.3594,8152.3643,111.3594,11425.3643,111.3594,11425.3643,790.8594,11415.3643,800.8594,8142.3643,800.8594,8142.3643,121.3594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="11415.3643" x2="11424.3643" y1="121.3594" y2="112.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="8142.3643" x2="11415.3643" y1="121.3594" y2="121.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="11415.3643" x2="11415.3643" y1="121.3594" y2="800.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="244" x="9657.8643" y="137.3545">Remote Procedure Call System</text><!--MD5=[ecaf13b018fb9788c80013f5b3634b61]
+cluster request--><rect fill="#FFFFFF" filter="url(#f97ds0om13c08)" height="621.5" style="stroke: #000000; stroke-width: 1.5;" width="2645" x="8772.3643" y="143.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="62" x="10063.8643" y="158.3545">request</text><!--MD5=[e443ac33c80100c2d54e1f5fe669f6d7]
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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]
+class urt_osTime_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="385" x="5667.8643" y="1000.3594"/><ellipse cx="5816.6143" cy="1016.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5817.4581,1023.1094 L5815.0049,1023.1094 L5815.0049,1012.8594 L5811.8643,1012.8594 L5811.8643,1010.7188 L5820.5987,1010.7188 L5820.5987,1012.8594 L5817.4581,1012.8594 L5817.4581,1023.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="5837.1143" y="1020.5137">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5668.8643" x2="6051.8643" y1="1032.3594" y2="1032.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5668.8643" x2="6051.8643" y1="1040.3594" y2="1040.3594"/><ellipse cx="5678.8643" cy="1051.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="231" x="5687.8643" y="1054.5698">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="5678.8643" cy="1064.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="5687.8643" y="1067.3745">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="5678.8643" cy="1076.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="359" x="5687.8643" y="1080.1792">urtTimeAddUs (time : urt_osTime_t*, offset : urt_delay_t) : void</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]
+class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="4589.3643" y="993.8594"/><ellipse cx="4690.6143" cy="1009.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4691.4581,1016.6094 L4689.0049,1016.6094 L4689.0049,1006.3594 L4685.8643,1006.3594 L4685.8643,1004.2188 L4694.5987,1004.2188 L4694.5987,1006.3594 L4691.4581,1006.3594 L4691.4581,1016.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="4711.1143" y="1014.0137">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4590.3643" x2="4886.3643" y1="1025.8594" y2="1025.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4590.3643" x2="4886.3643" y1="1033.8594" y2="1033.8594"/><ellipse cx="4600.3643" cy="1044.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="245" x="4609.3643" y="1048.0698">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="4600.3643" cy="1057.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="253" x="4609.3643" y="1060.8745">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="4600.3643" cy="1070.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="4609.3643" y="1073.6792">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="4600.3643" cy="1083.2734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="4609.3643" y="1086.4839">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--MD5=[52fa11869cb40c93fa7702378ddd839e]
+class urt_osCondvarWaitStatus_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="86.4141" id="urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="5142.3643" y="1310.8594"/><ellipse cx="5188.6143" cy="1326.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5192.7237,1332.8594 L5185.0049,1332.8594 L5185.0049,1320.4688 L5192.7237,1320.4688 L5192.7237,1322.625 L5187.4581,1322.625 L5187.4581,1325.2969 L5192.2237,1325.2969 L5192.2237,1327.4531 L5187.4581,1327.4531 L5187.4581,1330.7031 L5192.7237,1330.7031 L5192.7237,1332.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="169" x="5209.1143" y="1331.0137">urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5143.3643" x2="5411.3643" y1="1342.8594" y2="1342.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="5148.3643" y="1357.0698">URT_CONDVAR_WAITSTATUS_SIGNAL = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="5148.3643" y="1369.8745">URT_CONDVAR_WAITSTATUS_BROADCAST = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="5148.3643" y="1382.6792">URT_CONDVAR_WAITSTATUS_TIMEOUT = 0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5143.3643" x2="5411.3643" y1="1389.2734" y2="1389.2734"/><!--MD5=[004fc5dee471033e8e4138c1c73f0692]
+class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="99.2188" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="4922.3643" y="993.8594"/><ellipse cx="5222.6143" cy="1009.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5223.4581,1016.6094 L5221.0049,1016.6094 L5221.0049,1006.3594 L5217.8643,1006.3594 L5217.8643,1004.2188 L5226.5987,1004.2188 L5226.5987,1006.3594 L5223.4581,1006.3594 L5223.4581,1016.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="5243.1143" y="1014.0137">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4923.3643" x2="5631.3643" y1="1025.8594" y2="1025.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4923.3643" x2="5631.3643" y1="1033.8594" y2="1033.8594"/><ellipse cx="4933.3643" cy="1044.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="283" x="4942.3643" y="1048.0698">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4933.3643" cy="1057.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="301" x="4942.3643" y="1060.8745">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4933.3643" cy="1070.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="324" x="4942.3643" y="1073.6792">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4933.3643" cy="1083.2734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="684" x="4942.3643" y="1086.4839">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_osCondvarWaitStatus_t</text><!--MD5=[93799a03260ba286abda700174f4f205]
+class urt_osTimerCallback_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="4042.3643" y="1323.3594"/><ellipse cx="4113.1143" cy="1339.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4113.9581,1346.1094 L4111.5049,1346.1094 L4111.5049,1335.8594 L4108.3643,1335.8594 L4108.3643,1333.7188 L4117.0987,1333.7188 L4117.0987,1335.8594 L4113.9581,1335.8594 L4113.9581,1346.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="4133.6143" y="1343.5137">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4043.3643" x2="4327.3643" y1="1355.3594" y2="1355.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4043.3643" x2="4327.3643" y1="1363.3594" y2="1363.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="4048.3643" y="1377.5698">urt_osTimerCallback_t (parameter : void*) : void</text><!--MD5=[0b340d7b925b1eab6a1b7e084f68a7c2]
+class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="112.0234" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="737" x="3816.8643" y="987.3594"/><ellipse cx="4139.1143" cy="1003.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4139.9581,1010.1094 L4137.5049,1010.1094 L4137.5049,999.8594 L4134.3643,999.8594 L4134.3643,997.7188 L4143.0987,997.7188 L4143.0987,999.8594 L4139.9581,999.8594 L4139.9581,1010.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="4159.6143" y="1007.5137">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3817.8643" x2="4552.8643" y1="1019.3594" y2="1019.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3817.8643" x2="4552.8643" y1="1027.3594" y2="1027.3594"/><ellipse cx="3827.8643" cy="1038.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="3836.8643" y="1041.5698">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="3827.8643" cy="1051.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="660" x="3836.8643" y="1054.3745">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void</text><ellipse cx="3827.8643" cy="1063.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="711" x="3836.8643" y="1067.1792">urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void</text><ellipse cx="3827.8643" cy="1076.7734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="255" x="3836.8643" y="1079.9839">urtTimerReset (timer : urt_osTimer_t*) : void</text><ellipse cx="3827.8643" cy="1089.5781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3836.8643" y="1092.7886">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--MD5=[86c16d91227b9a9ec3b6b9b0285de4e9]
+class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="3317.8643" y="1278.8594"/><ellipse cx="3354.0143" cy="1294.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3354.8581,1301.6094 L3352.4049,1301.6094 L3352.4049,1291.3594 L3349.2643,1291.3594 L3349.2643,1289.2188 L3357.9987,1289.2188 L3357.9987,1291.3594 L3354.8581,1291.3594 L3354.8581,1301.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="3372.7143" y="1299.0137">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3318.8643" x2="3513.8643" y1="1310.8594" y2="1310.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="3323.8643" y="1325.0698">URT_THREAD_PRIO_LOW_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="3323.8643" y="1337.8745">URT_THREAD_PRIO_LOW_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="3323.8643" y="1350.6792">URT_THREAD_PRIO_NORMAL_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="3323.8643" y="1363.4839">URT_THREAD_PRIO_NORMAL_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="3323.8643" y="1376.2886">URT_THREAD_PRIO_HIGH_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="3323.8643" y="1389.0933">URT_THREAD_PRIO_HIGH_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="3323.8643" y="1401.8979">URT_THREAD_PRIO_RT_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="3323.8643" y="1414.7026">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3318.8643" x2="3513.8643" y1="1421.2969" y2="1421.2969"/><!--MD5=[69d8aab9aa387a2f5052ea3da80e80ea]
+class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="2769.3643" y="1323.3594"/><ellipse cx="2817.1143" cy="1339.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2817.9581,1346.1094 L2815.5049,1346.1094 L2815.5049,1335.8594 L2812.3643,1335.8594 L2812.3643,1333.7188 L2821.0987,1333.7188 L2821.0987,1335.8594 L2817.9581,1335.8594 L2817.9581,1346.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="2837.6143" y="1343.5137">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2770.3643" x2="3020.3643" y1="1355.3594" y2="1355.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2770.3643" x2="3020.3643" y1="1363.3594" y2="1363.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="2775.3643" y="1377.5698">urt_osThreadFunction_t (arg : void*) : void</text><!--MD5=[ab5f611d45c3fa10609c33f780d8c3e1]
+class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="3550.3643" y="1316.8594"/><ellipse cx="3572.1143" cy="1332.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3576.2237,1338.8594 L3568.5049,1338.8594 L3568.5049,1326.4688 L3576.2237,1326.4688 L3576.2237,1328.625 L3570.9581,1328.625 L3570.9581,1331.2969 L3575.7237,1331.2969 L3575.7237,1333.4531 L3570.9581,1333.4531 L3570.9581,1336.7031 L3576.2237,1336.7031 L3576.2237,1338.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="3587.6143" y="1337.0137">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3551.3643" x2="3791.3643" y1="1348.8594" y2="1348.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="3556.3643" y="1363.0698">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="3556.3643" y="1375.8745">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3551.3643" x2="3791.3643" y1="1382.4688" y2="1382.4688"/><!--MD5=[47d14ad2c233fae1b32b8d0a283e820a]
+class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="137.6328" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="3056.3643" y="1284.8594"/><ellipse cx="3101.1143" cy="1300.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3105.2237,1306.8594 L3097.5049,1306.8594 L3097.5049,1294.4688 L3105.2237,1294.4688 L3105.2237,1296.625 L3099.9581,1296.625 L3099.9581,1299.2969 L3104.7237,1299.2969 L3104.7237,1301.4531 L3099.9581,1301.4531 L3099.9581,1304.7031 L3105.2237,1304.7031 L3105.2237,1306.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="3121.6143" y="1305.0137">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3057.3643" x2="3281.3643" y1="1316.8594" y2="1316.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="3062.3643" y="1331.0698">URT_THREAD_STATE_INACTIVE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="3062.3643" y="1343.8745">URT_THREAD_STATE_RUNNING = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="3062.3643" y="1356.6792">URT_THREAD_STATE_READY = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="3062.3643" y="1369.4839">URT_THREAD_STATE_SLEEPING = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="3062.3643" y="1382.2886">URT_THREAD_STATE_SUSPENDED = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="3062.3643" y="1395.0933">URT_THREAD_STATE_WAITING = 5</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="3062.3643" y="1407.8979">URT_THREAD_STATE_TERMINATED = 6</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3057.3643" x2="3281.3643" y1="1414.4922" y2="1414.4922"/><!--MD5=[0a16224ede9ffa9bb2d34e085a076e6d]
+class urt_osThread_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="350.5078" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="778" x="3003.3643" y="867.8594"/><ellipse cx="3341.1143" cy="883.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3341.9581,890.6094 L3339.5049,890.6094 L3339.5049,880.3594 L3336.3643,880.3594 L3336.3643,878.2188 L3345.0987,878.2188 L3345.0987,880.3594 L3341.9581,880.3594 L3341.9581,890.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="3361.6143" y="888.0137">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3004.3643" x2="3780.3643" y1="899.8594" y2="899.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="3009.3643" y="914.0698">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="3009.3643" y="926.8745">URT_THREAD_SSLEP_MAX : unsigned int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="3009.3643" y="939.6792">URT_THREAD_MSLEEP_MAX : unsigned int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="3009.3643" y="952.4839">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="3004.3643" x2="3780.3643" y1="959.0781" y2="959.0781"/><ellipse cx="3014.3643" cy="970.0781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="248" x="3023.3643" y="973.2886">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3004.3643" x2="3780.3643" y1="979.8828" y2="979.8828"/><ellipse cx="3014.3643" cy="990.8828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="752" x="3023.3643" y="994.0933">urtThreadInit (memory : void*, size : size_t, prio : urt_osThreadPrio_t, func : urt_osThreadFunction_t*, arg : void*) : urt_osThread_t*</text><ellipse cx="3014.3643" cy="1003.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="3023.3643" y="1006.8979">urtThreadStart (thread : urt_osThread_t*) : void</text><ellipse cx="3014.3643" cy="1016.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="3023.3643" y="1019.7026">urtThreadYield (void) : void</text><ellipse cx="3014.3643" cy="1029.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3023.3643" y="1032.5073">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="3014.3643" cy="1042.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="304" x="3023.3643" y="1045.312">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="3014.3643" cy="1054.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="220" x="3023.3643" y="1058.1167">urtThreadSleep (seconds : float) : void</text><ellipse cx="3014.3643" cy="1067.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="273" x="3023.3643" y="1070.9214">urtThreadSSleep (seconds : unsigned int) : void</text><ellipse cx="3014.3643" cy="1080.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="3023.3643" y="1083.7261">urtThreadMSleep (milliseconds : unsigned int) : void</text><ellipse cx="3014.3643" cy="1093.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="3023.3643" y="1096.5308">urtThreadUSleep (microseconds : urt_delay_t) : void</text><ellipse cx="3014.3643" cy="1106.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3023.3643" y="1109.3354">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="3014.3643" cy="1118.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="3023.3643" y="1122.1401">urtThreadExit (void) : void</text><ellipse cx="3014.3643" cy="1131.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="518" x="3023.3643" y="1134.9448">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="3014.3643" cy="1144.5391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="264" x="3023.3643" y="1147.7495">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="3014.3643" cy="1157.3438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="387" x="3023.3643" y="1160.5542">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="3014.3643" cy="1170.1484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="237" x="3023.3643" y="1173.3589">urtThreadGetSelf (void) : urt_osThread_t*</text><ellipse cx="3014.3643" cy="1182.9531" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="3023.3643" y="1186.1636">urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="3014.3643" cy="1195.7578" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="3023.3643" y="1198.9683">urtThreadGetSibling (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="3014.3643" cy="1208.5625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="3023.3643" y="1211.7729">urtThreadGetParent (thread : urt_osThread_t*) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]
+class urt_osEventMask_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="60.8047" id="urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.5;" width="280" x="2454.3643" y="1323.3594"/><ellipse cx="2531.6143" cy="1339.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2532.4581,1346.1094 L2530.0049,1346.1094 L2530.0049,1335.8594 L2526.8643,1335.8594 L2526.8643,1333.7188 L2535.5987,1333.7188 L2535.5987,1335.8594 L2532.4581,1335.8594 L2532.4581,1346.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="2552.1143" y="1343.5137">urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2455.3643" x2="2733.3643" y1="1355.3594" y2="1355.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="268" x="2460.3643" y="1369.5698">URT_EVENTMASK_MAXPRIO : urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2455.3643" x2="2733.3643" y1="1376.1641" y2="1376.1641"/><!--MD5=[dc1cc33af288560680c15dec1e56eda0]
+class urt_osEventFlags_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="48" id="urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="1863.3643" y="1607.8594"/><ellipse cx="1878.3643" cy="1623.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1879.2081,1630.6094 L1876.7549,1630.6094 L1876.7549,1620.3594 L1873.6143,1620.3594 L1873.6143,1618.2188 L1882.3487,1618.2188 L1882.3487,1620.3594 L1879.2081,1620.3594 L1879.2081,1630.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="1892.3643" y="1628.0137">urt_osEventFlags_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1864.3643" x2="2012.3643" y1="1639.8594" y2="1639.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1864.3643" x2="2012.3643" y1="1647.8594" y2="1647.8594"/><!--MD5=[e2bbbd64e6979bf7b755747a6c0ba948]
+class urt_osEventWait_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="86.4141" id="urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.5;" width="162" x="2220.3643" y="1310.8594"/><ellipse cx="2243.4643" cy="1326.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2247.5737,1332.8594 L2239.8549,1332.8594 L2239.8549,1320.4688 L2247.5737,1320.4688 L2247.5737,1322.625 L2242.3081,1322.625 L2242.3081,1325.2969 L2247.0737,1325.2969 L2247.0737,1327.4531 L2242.3081,1327.4531 L2242.3081,1330.7031 L2247.5737,1330.7031 L2247.5737,1332.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="2259.2643" y="1331.0137">urt_osEventWait_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2221.3643" x2="2381.3643" y1="1342.8594" y2="1342.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="2226.3643" y="1357.0698">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="2226.3643" y="1369.8745">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="2226.3643" y="1382.6792">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2221.3643" x2="2381.3643" y1="1389.2734" y2="1389.2734"/><!--MD5=[d054ac2eda12ce4b1fe5a18c9be716c1]
+class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="1691.3643" y="1310.8594"/><ellipse cx="1866.6143" cy="1326.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1867.4581,1333.6094 L1865.0049,1333.6094 L1865.0049,1323.3594 L1861.8643,1323.3594 L1861.8643,1321.2188 L1870.5987,1321.2188 L1870.5987,1323.3594 L1867.4581,1323.3594 L1867.4581,1333.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="1887.1143" y="1331.0137">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1692.3643" x2="2184.3643" y1="1342.8594" y2="1342.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1692.3643" x2="2184.3643" y1="1350.8594" y2="1350.8594"/><ellipse cx="1702.3643" cy="1361.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="341" x="1711.3643" y="1365.0698">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="1702.3643" cy="1374.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="458" x="1711.3643" y="1377.8745">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="1702.3643" cy="1387.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="468" x="1711.3643" y="1390.6792">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]
+class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="1108.8643" y="1316.8594"/><ellipse cx="1313.6143" cy="1332.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1314.4581,1339.6094 L1312.0049,1339.6094 L1312.0049,1329.3594 L1308.8643,1329.3594 L1308.8643,1327.2188 L1317.5987,1327.2188 L1317.5987,1329.3594 L1314.4581,1329.3594 L1314.4581,1339.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="1334.1143" y="1337.0137">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1109.8643" x2="1654.8643" y1="1348.8594" y2="1348.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1109.8643" x2="1654.8643" y1="1356.8594" y2="1356.8594"/><ellipse cx="1119.8643" cy="1367.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="325" x="1128.8643" y="1371.0698">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="1119.8643" cy="1380.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="521" x="1128.8643" y="1383.8745">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--MD5=[04a3b5a37031e2a4d723f19d8adf86f5]
+class urt_events--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="845" x="1883.8643" y="1000.3594"/><ellipse cx="2269.1143" cy="1016.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2273.3487,1012.125 L2268.0674,1012.125 L2268.0674,1014.7969 L2272.8643,1014.7969 L2272.8643,1016.9531 L2268.0674,1016.9531 L2268.0674,1022.3594 L2265.6299,1022.3594 L2265.6299,1009.9688 L2273.3487,1009.9688 L2273.3487,1012.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="2289.6143" y="1020.5137">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1884.8643" x2="2727.8643" y1="1032.3594" y2="1032.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1884.8643" x2="2727.8643" y1="1040.3594" y2="1040.3594"/><ellipse cx="1894.8643" cy="1051.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="819" x="1903.8643" y="1054.5698">urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : void</text><ellipse cx="1894.8643" cy="1064.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="522" x="1903.8643" y="1067.3745">urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : void</text><ellipse cx="1894.8643" cy="1076.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="618" x="1903.8643" y="1080.1792">urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWait_t, timeout : urt_delay_t) : urt_osEventMask_t</text><!--MD5=[0cf29100c96c506429a28b45d347cc92]
+class urt_streams--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="209" x="874.8643" y="1006.3594"/><ellipse cx="937.6143" cy="1022.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M941.8487,1018.125 L936.5674,1018.125 L936.5674,1020.7969 L941.3643,1020.7969 L941.3643,1022.9531 L936.5674,1022.9531 L936.5674,1028.3594 L934.1299,1028.3594 L934.1299,1015.9688 L941.8487,1015.9688 L941.8487,1018.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="958.1143" y="1026.5137">urt_streams</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="875.8643" x2="1082.8643" y1="1038.3594" y2="1038.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="875.8643" x2="1082.8643" y1="1046.3594" y2="1046.3594"/><ellipse cx="885.8643" cy="1057.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="166" x="894.8643" y="1060.5698">urtPrintf(fmt : char*, ... ) : int</text><ellipse cx="885.8643" cy="1070.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="894.8643" y="1073.3745">urtErrPrintf(fmt : char*, ... ) : int</text><!--MD5=[f106a25c06a671b3918b1a8f37571a4d]
+class urt_debug--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="245" x="594.8643" y="1012.8594"/><ellipse cx="681.1143" cy="1028.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M685.3487,1024.625 L680.0674,1024.625 L680.0674,1027.2969 L684.8643,1027.2969 L684.8643,1029.4531 L680.0674,1029.4531 L680.0674,1034.8594 L677.6299,1034.8594 L677.6299,1022.4688 L685.3487,1022.4688 L685.3487,1024.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="701.6143" y="1033.0137">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="595.8643" x2="838.8643" y1="1044.8594" y2="1044.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="595.8643" x2="838.8643" y1="1052.8594" y2="1052.8594"/><ellipse cx="605.8643" cy="1063.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="219" x="614.8643" y="1067.0698">urtDebugAssert(condition : bool) : void</text><!--MD5=[89d25e87afdd75480e1ec2bd05524873]
+class urt_core_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="281.6797" id="urt_core_t" style="stroke: #A80036; stroke-width: 1.5;" width="343" x="7791.8643" y="172.3594"/><ellipse cx="7927.6143" cy="188.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7927.0987,188.9219 Q7925.2393,188.2188 7924.5831,187.4531 Q7923.9424,186.6719 7923.9424,185.3594 Q7923.9424,183.6719 7925.0206,182.7031 Q7926.0987,181.7344 7927.9737,181.7344 Q7928.8331,181.7344 7929.6768,181.9375 Q7930.5362,182.125 7931.3799,182.5156 L7931.3799,184.9063 Q7930.5987,184.3438 7929.7706,184.0625 Q7928.9581,183.7656 7928.1612,183.7656 Q7927.2862,183.7656 7926.8018,184.125 Q7926.3331,184.4844 7926.3331,185.1406 Q7926.3331,185.6563 7926.6768,186 Q7927.0206,186.3281 7928.1143,186.7344 L7929.1768,187.1406 Q7930.6612,187.6875 7931.3643,188.5938 Q7932.0831,189.5 7932.0831,190.875 Q7932.0831,192.75 7930.9737,193.6719 Q7929.8643,194.5938 7927.6143,194.5938 Q7926.6924,194.5938 7925.7706,194.375 Q7924.8487,194.1563 7923.9893,193.7344 L7923.9893,191.2031 Q7924.9581,191.8906 7925.8799,192.2344 Q7926.8018,192.5781 7927.6924,192.5781 Q7928.5987,192.5781 7929.0987,192.1719 Q7929.5987,191.75 7929.5987,191.0156 Q7929.5987,190.4531 7929.2549,190.0469 Q7928.9268,189.625 7928.3018,189.375 L7927.0987,188.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="63" x="7948.1143" y="192.5137">urt_core_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7792.8643" x2="8133.8643" y1="204.3594" y2="204.3594"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8643" y="212.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="7811.8643" y="218.5698">_nodes : urt_node_t*</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8643" y="225.1641"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="192" x="7811.8643" y="231.3745">_evtSource : urt_osEventSource_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8643" y="237.9688"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="7811.8643" y="244.1792">_lock : urt_osMutex_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8643" y="250.7734"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="122" x="7811.8643" y="256.9839">_status : urt_status_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8643" y="280.3828"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="117" x="7811.8643" y="286.5933">_topics : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7792.8643" x2="7858.3643" y1="269.9805" y2="269.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7858.3643" y="273.2886">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8068.3643" x2="8133.8643" y1="269.9805" y2="269.9805"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8643" y="309.9922"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="145" x="7811.8643" y="316.2026">_services : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7792.8643" x2="7870.8643" y1="299.5898" y2="299.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="7870.8643" y="302.8979">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8055.8643" x2="8133.8643" y1="299.5898" y2="299.5898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7792.8643" x2="8133.8643" y1="322.7969" y2="322.7969"/><ellipse cx="7802.8643" cy="333.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="130" x="7811.8643" y="337.0073">urtCoreInit (void) : void</text><ellipse cx="7802.8643" cy="346.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="215" x="7811.8643" y="349.812">urtCoreGetStatus (void) : urt_status_t</text><ellipse cx="7802.8643" cy="359.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="177" x="7811.8643" y="362.6167">urtCoreStartNodes (void) : void</text><ellipse cx="7802.8643" cy="372.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="309" x="7811.8643" y="375.4214">urtCoreSynchronize (node : urt_node_t*) : urt_status_t</text><ellipse cx="7802.8643" cy="385.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="317" x="7811.8643" y="388.2261">urtCoreStopNodes (reason : urt_status_t) : urt_status_t</text><ellipse cx="7802.8643" cy="414.625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="273" x="7811.8643" y="417.8354">urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7792.8643" x2="7858.3643" y1="401.2227" y2="401.2227"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7858.3643" y="404.5308">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8068.3643" x2="8133.8643" y1="401.2227" y2="401.2227"/><ellipse cx="7802.8643" cy="444.2344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="313" x="7811.8643" y="447.4448">urtCoreGetService (id : urt_serviceid_t) : urt_service_t*</text><line style="stroke: #A80036; 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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]
+class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="16775.3643" y="1012.8594"/><ellipse cx="17003.6143" cy="1028.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17004.4581,1035.6094 L17002.0049,1035.6094 L17002.0049,1025.3594 L16998.8643,1025.3594 L16998.8643,1023.2188 L17007.5987,1023.2188 L17007.5987,1025.3594 L17004.4581,1025.3594 L17004.4581,1035.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="17024.1143" y="1033.0137">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="16776.3643" x2="17388.3643" y1="1044.8594" y2="1044.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="16776.3643" x2="17388.3643" y1="1052.8594" y2="1052.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="16781.3643" y="1067.0698">urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t</text><!--MD5=[843db13320bebc2ca47f25c6a57c2ae5]
+class urt_nodeShutdownCallback_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="60.8047" id="urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="518" x="17915.3643" y="1012.8594"/><ellipse cx="18079.6143" cy="1028.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M18080.4581,1035.6094 L18078.0049,1035.6094 L18078.0049,1025.3594 L18074.8643,1025.3594 L18074.8643,1023.2188 L18083.5987,1023.2188 L18083.5987,1025.3594 L18080.4581,1025.3594 L18080.4581,1035.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="181" x="18100.1143" y="1033.0137">urt_nodeShutdownCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="17916.3643" x2="18432.3643" y1="1044.8594" y2="1044.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="17916.3643" x2="18432.3643" y1="1052.8594" y2="1052.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="506" x="17921.3643" y="1067.0698">urt_nodeShutdownCallback_t (node : urt_node_t*, cause : urt_status_t, arg : void*) : void</text><!--MD5=[d2563153d77472384a15c07b815d639f]
+class urt_node_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="231.2656" id="urt_node_t" style="stroke: #A80036; stroke-width: 1.5;" width="1541" x="16778.8643" y="542.3594"/><ellipse cx="17511.6143" cy="558.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17511.0987,558.9219 Q17509.2393,558.2188 17508.5831,557.4531 Q17507.9424,556.6719 17507.9424,555.3594 Q17507.9424,553.6719 17509.0206,552.7031 Q17510.0987,551.7344 17511.9737,551.7344 Q17512.8331,551.7344 17513.6768,551.9375 Q17514.5362,552.125 17515.3799,552.5156 L17515.3799,554.9063 Q17514.5987,554.3438 17513.7706,554.0625 Q17512.9581,553.7656 17512.1612,553.7656 Q17511.2862,553.7656 17510.8018,554.125 Q17510.3331,554.4844 17510.3331,555.1406 Q17510.3331,555.6563 17510.6768,556 Q17511.0206,556.3281 17512.1143,556.7344 L17513.1768,557.1406 Q17514.6612,557.6875 17515.3643,558.5938 Q17516.0831,559.5 17516.0831,560.875 Q17516.0831,562.75 17514.9737,563.6719 Q17513.8643,564.5938 17511.6143,564.5938 Q17510.6924,564.5938 17509.7706,564.375 Q17508.8487,564.1563 17507.9893,563.7344 L17507.9893,561.2031 Q17508.9581,561.8906 17509.8799,562.2344 Q17510.8018,562.5781 17511.6924,562.5781 Q17512.5987,562.5781 17513.0987,562.1719 Q17513.5987,561.75 17513.5987,561.0156 Q17513.5987,560.4531 17513.2549,560.0469 Q17512.9268,559.625 17512.3018,559.375 L17511.0987,558.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="67" x="17532.1143" y="562.5137">urt_node_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="16779.8643" x2="18318.8643" y1="574.3594" y2="574.3594"/><ellipse cx="16789.8643" cy="585.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="102" x="16798.8643" y="588.5698">next : urt_node_t*</text><ellipse cx="16789.8643" cy="598.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="16798.8643" y="601.3745">thread : urt_osThread_t*</text><ellipse cx="16789.8643" cy="610.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="16798.8643" y="614.1792">setupcallback : urt_nodeSetupCallback_t*</text><ellipse cx="16789.8643" cy="623.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="117" x="16798.8643" y="626.9839">setupparams : void*</text><ellipse cx="16789.8643" cy="636.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="221" x="16798.8643" y="639.7886">loopcallback : urt_nodeLoopCallback_t*</text><ellipse cx="16789.8643" cy="649.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="109" x="16798.8643" y="652.5933">loopparams : void*</text><ellipse cx="16789.8643" cy="662.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="281" x="16798.8643" y="665.3979">shutdowncallback : urt_nodeShutdownCallback_t*</text><ellipse cx="16789.8643" cy="674.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="140" x="16798.8643" y="678.2026">shutdownparams : void*</text><ellipse cx="16789.8643" cy="687.7969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="16798.8643" y="691.0073">stage : urt_nodestage_t</text><ellipse cx="16789.8643" cy="700.6016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="178" x="16798.8643" y="703.812">listener : urt_osEventListener_t</text><ellipse cx="16789.8643" cy="730.2109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="88" x="16798.8643" y="733.4214">loops : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16779.8643" x2="17341.3643" y1="716.8086" y2="716.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="416" x="17341.3643" y="720.1167">URT_CFG_PUBSUB_PROFILING == true || URT_CFG_RPC_PROFILING = true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="17757.3643" x2="18318.8643" y1="716.8086" y2="716.8086"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="16779.8643" x2="18318.8643" y1="740.0156" y2="740.0156"/><rect fill="#F24D5C" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="16786.8643" y="748.0156"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="179" x="16798.8643" y="754.2261">_main : urt_osThreadFunction_t</text><ellipse cx="16789.8643" cy="763.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1515" x="16798.8643" y="767.0308">urtNodeInit (node : urt_node_t*, thread : urt_osThread_t*, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*, shutdowncallback : urt_nodeShutdownCallback_t*, shutodwnparams : void*) : void</text><!--MD5=[e602aa6d45f270ad04f88c9ca5352b33]
+class urt_message_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="141.6328" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="406" x="12405.3643" y="1282.8594"/><ellipse cx="12558.1143" cy="1298.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12557.5987,1299.4219 Q12555.7393,1298.7188 12555.0831,1297.9531 Q12554.4424,1297.1719 12554.4424,1295.8594 Q12554.4424,1294.1719 12555.5206,1293.2031 Q12556.5987,1292.2344 12558.4737,1292.2344 Q12559.3331,1292.2344 12560.1768,1292.4375 Q12561.0362,1292.625 12561.8799,1293.0156 L12561.8799,1295.4063 Q12561.0987,1294.8438 12560.2706,1294.5625 Q12559.4581,1294.2656 12558.6612,1294.2656 Q12557.7862,1294.2656 12557.3018,1294.625 Q12556.8331,1294.9844 12556.8331,1295.6406 Q12556.8331,1296.1563 12557.1768,1296.5 Q12557.5206,1296.8281 12558.6143,1297.2344 L12559.6768,1297.6406 Q12561.1612,1298.1875 12561.8643,1299.0938 Q12562.5831,1300 12562.5831,1301.375 Q12562.5831,1303.25 12561.4737,1304.1719 Q12560.3643,1305.0938 12558.1143,1305.0938 Q12557.1924,1305.0938 12556.2706,1304.875 Q12555.3487,1304.6563 12554.4893,1304.2344 L12554.4893,1301.7031 Q12555.4581,1302.3906 12556.3799,1302.7344 Q12557.3018,1303.0781 12558.1924,1303.0781 Q12559.0987,1303.0781 12559.5987,1302.6719 Q12560.0987,1302.25 12560.0987,1301.5156 Q12560.0987,1300.9531 12559.7549,1300.5469 Q12559.4268,1300.125 12558.8018,1299.875 L12557.5987,1299.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="12578.6143" y="1303.0137">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12406.3643" x2="12810.3643" y1="1314.8594" y2="1314.8594"/><ellipse cx="12416.3643" cy="1325.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="127" x="12425.3643" y="1329.0698">next : urt_message_t*</text><ellipse cx="12416.3643" cy="1338.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="12425.3643" y="1341.8745">payload : void*</text><ellipse cx="12416.3643" cy="1351.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="12425.3643" y="1354.6792">originTime : urt_osTime_t</text><ellipse cx="12416.3643" cy="1364.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="211" x="12425.3643" y="1367.4839">numHrtConsumersLeft : unsigned int</text><ellipse cx="12416.3643" cy="1393.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="12425.3643" y="1397.0933">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12406.3643" x2="12499.8643" y1="1380.4805" y2="1380.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12499.8643" y="1383.7886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12716.8643" x2="12810.3643" y1="1380.4805" y2="1380.4805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="12406.3643" x2="12810.3643" y1="1403.6875" y2="1403.6875"/><ellipse cx="12416.3643" cy="1414.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="12425.3643" y="1417.8979">urtMessageInit (message : urt_message_t*, payload : void*) : void</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]
+class urt_publisher_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="128.8281" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="783" x="11878.8643" y="593.3594"/><ellipse cx="12219.6143" cy="609.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12219.0987,609.9219 Q12217.2393,609.2188 12216.5831,608.4531 Q12215.9424,607.6719 12215.9424,606.3594 Q12215.9424,604.6719 12217.0206,603.7031 Q12218.0987,602.7344 12219.9737,602.7344 Q12220.8331,602.7344 12221.6768,602.9375 Q12222.5362,603.125 12223.3799,603.5156 L12223.3799,605.9063 Q12222.5987,605.3438 12221.7706,605.0625 Q12220.9581,604.7656 12220.1612,604.7656 Q12219.2862,604.7656 12218.8018,605.125 Q12218.3331,605.4844 12218.3331,606.1406 Q12218.3331,606.6563 12218.6768,607 Q12219.0206,607.3281 12220.1143,607.7344 L12221.1768,608.1406 Q12222.6612,608.6875 12223.3643,609.5938 Q12224.0831,610.5 12224.0831,611.875 Q12224.0831,613.75 12222.9737,614.6719 Q12221.8643,615.5938 12219.6143,615.5938 Q12218.6924,615.5938 12217.7706,615.375 Q12216.8487,615.1563 12215.9893,614.7344 L12215.9893,612.2031 Q12216.9581,612.8906 12217.8799,613.2344 Q12218.8018,613.5781 12219.6924,613.5781 Q12220.5987,613.5781 12221.0987,613.1719 Q12221.5987,612.75 12221.5987,612.0156 Q12221.5987,611.4531 12221.2549,611.0469 Q12220.9268,610.625 12220.3018,610.375 L12219.0987,609.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="12240.1143" y="613.5137">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11879.8643" x2="12660.8643" y1="625.3594" y2="625.3594"/><ellipse cx="11889.8643" cy="636.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="11898.8643" y="639.5698">topic : urt_topic_t*</text><ellipse cx="11889.8643" cy="665.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="149" x="11898.8643" y="669.1792">publishAttempts : uint64_t</text><ellipse cx="11889.8643" cy="678.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="11898.8643" y="681.9839">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11879.8643" x2="12161.8643" y1="652.5664" y2="652.5664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12161.8643" y="655.8745">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12378.8643" x2="12660.8643" y1="652.5664" y2="652.5664"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11879.8643" x2="12660.8643" y1="688.5781" y2="688.5781"/><ellipse cx="11889.8643" cy="699.5781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="572" x="11898.8643" y="702.7886">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void</text><ellipse cx="11889.8643" cy="712.3828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="757" x="11898.8643" y="715.5933">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[a1b1e66ec52c209a9fa2dab315cd7630]
+class urt_topic_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="260.875" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="11441.3643" y="527.3594"/><ellipse cx="11596.1143" cy="543.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11595.5987,543.9219 Q11593.7393,543.2188 11593.0831,542.4531 Q11592.4424,541.6719 11592.4424,540.3594 Q11592.4424,538.6719 11593.5206,537.7031 Q11594.5987,536.7344 11596.4737,536.7344 Q11597.3331,536.7344 11598.1768,536.9375 Q11599.0362,537.125 11599.8799,537.5156 L11599.8799,539.9063 Q11599.0987,539.3438 11598.2706,539.0625 Q11597.4581,538.7656 11596.6612,538.7656 Q11595.7862,538.7656 11595.3018,539.125 Q11594.8331,539.4844 11594.8331,540.1406 Q11594.8331,540.6563 11595.1768,541 Q11595.5206,541.3281 11596.6143,541.7344 L11597.6768,542.1406 Q11599.1612,542.6875 11599.8643,543.5938 Q11600.5831,544.5 11600.5831,545.875 Q11600.5831,547.75 11599.4737,548.6719 Q11598.3643,549.5938 11596.1143,549.5938 Q11595.1924,549.5938 11594.2706,549.375 Q11593.3487,549.1563 11592.4893,548.7344 L11592.4893,546.2031 Q11593.4581,546.8906 11594.3799,547.2344 Q11595.3018,547.5781 11596.1924,547.5781 Q11597.0987,547.5781 11597.5987,547.1719 Q11598.0987,546.75 11598.0987,546.0156 Q11598.0987,545.4531 11597.7549,545.0469 Q11597.4268,544.625 11596.8018,544.375 L11595.5987,543.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="11616.6143" y="547.5137">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11442.3643" x2="11824.3643" y1="559.3594" y2="559.3594"/><ellipse cx="11452.3643" cy="570.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="11461.3643" y="573.5698">next : urt_topic_t*</text><ellipse cx="11452.3643" cy="583.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="11461.3643" y="586.3745">id : urt_topicid_t</text><ellipse cx="11452.3643" cy="595.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="11461.3643" y="599.1792">lock : urt_osMutex_t</text><ellipse cx="11452.3643" cy="608.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="11461.3643" y="611.9839">evtSource : urt_osEventSource_t</text><ellipse cx="11452.3643" cy="621.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="11461.3643" y="624.7886">numHrtSubscribers : unsigned int</text><ellipse cx="11452.3643" cy="634.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="11461.3643" y="637.5933">hrtReleased : urt_osCondvar_t</text><ellipse cx="11452.3643" cy="647.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="209" x="11461.3643" y="650.3979">mandatoryMessage : urt_message_t</text><ellipse cx="11452.3643" cy="659.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="11461.3643" y="663.2026">latestMessage : urt_message_t*</text><ellipse cx="11452.3643" cy="689.6016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="212" x="11461.3643" y="692.812">hrtSubscribers : urt_hrtsubscriber_t*</text><ellipse cx="11452.3643" cy="702.4063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="170" x="11461.3643" y="705.6167">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11442.3643" x2="11500.8643" y1="676.1992" y2="676.1992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="11500.8643" y="679.5073">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11765.8643" x2="11824.3643" y1="676.1992" y2="676.1992"/><ellipse cx="11452.3643" cy="732.0156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="11461.3643" y="735.2261">numMessagesPublished : uint64_t</text><ellipse cx="11452.3643" cy="744.8203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="11461.3643" y="748.0308">numMessagesDiscarded : uint64_t</text><ellipse cx="11452.3643" cy="757.625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="11461.3643" y="760.8354">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11442.3643" x2="11524.8643" y1="718.6133" y2="718.6133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="11524.8643" y="721.9214">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11741.8643" x2="11824.3643" y1="718.6133" y2="718.6133"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11442.3643" x2="11824.3643" y1="767.4297" y2="767.4297"/><ellipse cx="11452.3643" cy="778.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="358" x="11461.3643" y="781.6401">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[50a042e24f957794dab9ba3ea8701c50]
+class urt_basesubscriber_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="133.6328" id="urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="225" x="12769.8643" y="976.3594"/><ellipse cx="12812.3143" cy="992.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12811.7987,992.9219 Q12809.9393,992.2188 12809.2831,991.4531 Q12808.6424,990.6719 12808.6424,989.3594 Q12808.6424,987.6719 12809.7206,986.7031 Q12810.7987,985.7344 12812.6737,985.7344 Q12813.5331,985.7344 12814.3768,985.9375 Q12815.2362,986.125 12816.0799,986.5156 L12816.0799,988.9063 Q12815.2987,988.3438 12814.4706,988.0625 Q12813.6581,987.7656 12812.8612,987.7656 Q12811.9862,987.7656 12811.5018,988.125 Q12811.0331,988.4844 12811.0331,989.1406 Q12811.0331,989.6563 12811.3768,990 Q12811.7206,990.3281 12812.8143,990.7344 L12813.8768,991.1406 Q12815.3612,991.6875 12816.0643,992.5938 Q12816.7831,993.5 12816.7831,994.875 Q12816.7831,996.75 12815.6737,997.6719 Q12814.5643,998.5938 12812.3143,998.5938 Q12811.3924,998.5938 12810.4706,998.375 Q12809.5487,998.1563 12808.6893,997.7344 L12808.6893,995.2031 Q12809.6581,995.8906 12810.5799,996.2344 Q12811.5018,996.5781 12812.3924,996.5781 Q12813.2987,996.5781 12813.7987,996.1719 Q12814.2987,995.75 12814.2987,995.0156 Q12814.2987,994.4531 12813.9549,994.0469 Q12813.6268,993.625 12813.0018,993.375 L12811.7987,992.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="132" x="12832.4143" y="996.5137">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12770.8643" x2="12993.8643" y1="1008.3594" y2="1008.3594"/><ellipse cx="12780.8643" cy="1019.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="12789.8643" y="1022.5698">topic : urt_topic_t*</text><ellipse cx="12780.8643" cy="1032.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="12789.8643" y="1035.3745">evtListener : urt_osEventListener_t</text><ellipse cx="12780.8643" cy="1044.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="175" x="12789.8643" y="1048.1792">lastMessage : urt_message_t*</text><ellipse cx="12780.8643" cy="1057.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="12789.8643" y="1060.9839">lastMessageTime : urt_osTime_t</text><ellipse cx="12780.8643" cy="1087.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="12789.8643" y="1090.5933">sumLatencies : uint64_t</text><ellipse cx="12780.8643" cy="1100.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="12789.8643" y="1103.3979">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12770.8643" x2="12773.8643" y1="1073.9805" y2="1073.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12773.8643" y="1077.2886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12990.8643" x2="12993.8643" y1="1073.9805" y2="1073.9805"/><!--MD5=[9ff46073dd541e50679ef35e851c67d6]
+class urt_nrtsubscriber_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="154.4375" id="urt_nrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="821" x="14913.8643" y="580.8594"/><ellipse cx="15260.6143" cy="596.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M15260.0987,597.4219 Q15258.2393,596.7188 15257.5831,595.9531 Q15256.9424,595.1719 15256.9424,593.8594 Q15256.9424,592.1719 15258.0206,591.2031 Q15259.0987,590.2344 15260.9737,590.2344 Q15261.8331,590.2344 15262.6768,590.4375 Q15263.5362,590.625 15264.3799,591.0156 L15264.3799,593.4063 Q15263.5987,592.8438 15262.7706,592.5625 Q15261.9581,592.2656 15261.1612,592.2656 Q15260.2862,592.2656 15259.8018,592.625 Q15259.3331,592.9844 15259.3331,593.6406 Q15259.3331,594.1563 15259.6768,594.5 Q15260.0206,594.8281 15261.1143,595.2344 L15262.1768,595.6406 Q15263.6612,596.1875 15264.3643,597.0938 Q15265.0831,598 15265.0831,599.375 Q15265.0831,601.25 15263.9737,602.1719 Q15262.8643,603.0938 15260.6143,603.0938 Q15259.6924,603.0938 15258.7706,602.875 Q15257.8487,602.6563 15256.9893,602.2344 L15256.9893,599.7031 Q15257.9581,600.3906 15258.8799,600.7344 Q15259.8018,601.0781 15260.6924,601.0781 Q15261.5987,601.0781 15262.0987,600.6719 Q15262.5987,600.25 15262.5987,599.5156 Q15262.5987,598.9531 15262.2549,598.5469 Q15261.9268,598.125 15261.3018,597.875 L15260.0987,597.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="15281.1143" y="601.0137">urt_nrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="14914.8643" x2="15733.8643" y1="612.8594" y2="612.8594"/><ellipse cx="14924.8643" cy="640.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="14933.8643" y="643.8745">minLatency : urt_delay_t</text><ellipse cx="14924.8643" cy="653.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="14933.8643" y="656.6792">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="14914.8643" x2="15215.8643" y1="627.2617" y2="627.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="15215.8643" y="630.5698">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15432.8643" x2="15733.8643" y1="627.2617" y2="627.2617"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="14914.8643" x2="15733.8643" y1="663.2734" y2="663.2734"/><ellipse cx="14924.8643" cy="674.2734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="14933.8643" y="677.4839">urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : void</text><ellipse cx="14924.8643" cy="687.0781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="715" x="14933.8643" y="690.2886">urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="14924.8643" cy="699.8828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="14933.8643" y="703.0933">urtNrtSubscriberFetchNextMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="14924.8643" cy="712.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="14933.8643" y="715.8979">urtNrtSubscriberFetchLatestMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="14924.8643" cy="725.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="14933.8643" y="728.7026">urtNrtSubscriberUnsubscribe (subscriber : urt_nrtsubscriber_t*) : urt_status_t</text><!--MD5=[5c7929572d87ccc448d875bea5da0fb1]
+class urt_srtsubscriber_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="192.8516" id="urt_srtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1044" x="13834.3643" y="561.3594"/><ellipse cx="14293.1143" cy="577.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M14292.5987,577.9219 Q14290.7393,577.2188 14290.0831,576.4531 Q14289.4424,575.6719 14289.4424,574.3594 Q14289.4424,572.6719 14290.5206,571.7031 Q14291.5987,570.7344 14293.4737,570.7344 Q14294.3331,570.7344 14295.1768,570.9375 Q14296.0362,571.125 14296.8799,571.5156 L14296.8799,573.9063 Q14296.0987,573.3438 14295.2706,573.0625 Q14294.4581,572.7656 14293.6612,572.7656 Q14292.7862,572.7656 14292.3018,573.125 Q14291.8331,573.4844 14291.8331,574.1406 Q14291.8331,574.6563 14292.1768,575 Q14292.5206,575.3281 14293.6143,575.7344 L14294.6768,576.1406 Q14296.1612,576.6875 14296.8643,577.5938 Q14297.5831,578.5 14297.5831,579.875 Q14297.5831,581.75 14296.4737,582.6719 Q14295.3643,583.5938 14293.1143,583.5938 Q14292.1924,583.5938 14291.2706,583.375 Q14290.3487,583.1563 14289.4893,582.7344 L14289.4893,580.2031 Q14290.4581,580.8906 14291.3799,581.2344 Q14292.3018,581.5781 14293.1924,581.5781 Q14294.0987,581.5781 14294.5987,581.1719 Q14295.0987,580.75 14295.0987,580.0156 Q14295.0987,579.4531 14294.7549,579.0469 Q14294.4268,578.625 14293.8018,578.375 L14292.5987,577.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="14313.6143" y="581.5137">urt_srtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="13835.3643" x2="14877.3643" y1="593.3594" y2="593.3594"/><ellipse cx="13845.3643" cy="604.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="13854.3643" y="607.5698">usefulnesscb : urt_usefulness_f*</text><ellipse cx="13845.3643" cy="617.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="13854.3643" y="620.3745">cbparams : void*</text><ellipse cx="13845.3643" cy="646.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="13854.3643" y="649.9839">minLatency : urt_delay_t</text><ellipse cx="13845.3643" cy="659.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="13854.3643" y="662.7886">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13835.3643" x2="14247.8643" y1="633.3711" y2="633.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="14247.8643" y="636.6792">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="14464.8643" x2="14877.3643" y1="633.3711" y2="633.3711"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="13835.3643" x2="14877.3643" y1="669.3828" y2="669.3828"/><ellipse cx="13845.3643" cy="680.3828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="13854.3643" y="683.5933">urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void</text><ellipse cx="13845.3643" cy="693.1875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1018" x="13854.3643" y="696.3979">urtSrtSubscriberSubscribe (subscriber : urt_srtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_usefulness_f*, cbparams : void*) : urt_status_t</text><ellipse cx="13845.3643" cy="705.9922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="13854.3643" y="709.2026">urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="13845.3643" cy="718.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="13854.3643" y="722.0073">urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="13845.3643" cy="731.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="13854.3643" y="734.812">urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float</text><ellipse cx="13845.3643" cy="744.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="13854.3643" y="747.6167">urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t</text><!--MD5=[17838fb05fe219fd399839979ec8a4a4]
+class urt_frtsubscriber_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="226.4609" id="urt_frtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="974" x="15769.3643" y="544.8594"/><ellipse cx="16194.6143" cy="560.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M16194.0987,561.4219 Q16192.2393,560.7188 16191.5831,559.9531 Q16190.9424,559.1719 16190.9424,557.8594 Q16190.9424,556.1719 16192.0206,555.2031 Q16193.0987,554.2344 16194.9737,554.2344 Q16195.8331,554.2344 16196.6768,554.4375 Q16197.5362,554.625 16198.3799,555.0156 L16198.3799,557.4063 Q16197.5987,556.8438 16196.7706,556.5625 Q16195.9581,556.2656 16195.1612,556.2656 Q16194.2862,556.2656 16193.8018,556.625 Q16193.3331,556.9844 16193.3331,557.6406 Q16193.3331,558.1563 16193.6768,558.5 Q16194.0206,558.8281 16195.1143,559.2344 L16196.1768,559.6406 Q16197.6612,560.1875 16198.3643,561.0938 Q16199.0831,562 16199.0831,563.375 Q16199.0831,565.25 16197.9737,566.1719 Q16196.8643,567.0938 16194.6143,567.0938 Q16193.6924,567.0938 16192.7706,566.875 Q16191.8487,566.6563 16190.9893,566.2344 L16190.9893,563.7031 Q16191.9581,564.3906 16192.8799,564.7344 Q16193.8018,565.0781 16194.6924,565.0781 Q16195.5987,565.0781 16196.0987,564.6719 Q16196.5987,564.25 16196.5987,563.5156 Q16196.5987,562.9531 16196.2549,562.5469 Q16195.9268,562.125 16195.3018,561.875 L16194.0987,561.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="16215.1143" y="565.0137">urt_frtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="15770.3643" x2="16742.3643" y1="576.8594" y2="576.8594"/><ellipse cx="15780.3643" cy="604.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="15789.3643" y="607.8745">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15770.3643" x2="16110.8643" y1="591.2617" y2="591.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="16110.8643" y="594.5698">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16401.8643" x2="16742.3643" y1="591.2617" y2="591.2617"/><ellipse cx="15780.3643" cy="634.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="15789.3643" y="637.4839">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15770.3643" x2="16120.8643" y1="620.8711" y2="620.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="16120.8643" y="624.1792">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16391.8643" x2="16742.3643" y1="620.8711" y2="620.8711"/><ellipse cx="15780.3643" cy="663.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="15789.3643" y="667.0933">minLatency : urt_delay_t</text><ellipse cx="15780.3643" cy="676.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="15789.3643" y="679.8979">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15770.3643" x2="16002.3643" y1="650.4805" y2="650.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="508" x="16002.3643" y="653.7886">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ||  URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16510.3643" x2="16742.3643" y1="650.4805" y2="650.4805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="15770.3643" x2="16742.3643" y1="686.4922" y2="686.4922"/><ellipse cx="15780.3643" cy="697.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="342" x="15789.3643" y="700.7026">urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : void</text><ellipse cx="15780.3643" cy="710.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="948" x="15789.3643" y="713.5073">urtFrtSubscriberSubscribe (subscriber : urt_frtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="15780.3643" cy="723.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="780" x="15789.3643" y="726.312">urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="15780.3643" cy="735.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="790" x="15789.3643" y="739.1167">urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="15780.3643" cy="748.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="540" x="15789.3643" y="751.9214">urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool</text><ellipse cx="15780.3643" cy="761.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="441" x="15789.3643" y="764.7261">urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t</text><!--MD5=[104dc879e5721421b987fcc467bc3a1d]
+class urt_hrtsubscriber_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="268.875" id="urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="12697.3643" y="523.3594"/><ellipse cx="13175.6143" cy="539.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M13175.0987,539.9219 Q13173.2393,539.2188 13172.5831,538.4531 Q13171.9424,537.6719 13171.9424,536.3594 Q13171.9424,534.6719 13173.0206,533.7031 Q13174.0987,532.7344 13175.9737,532.7344 Q13176.8331,532.7344 13177.6768,532.9375 Q13178.5362,533.125 13179.3799,533.5156 L13179.3799,535.9063 Q13178.5987,535.3438 13177.7706,535.0625 Q13176.9581,534.7656 13176.1612,534.7656 Q13175.2862,534.7656 13174.8018,535.125 Q13174.3331,535.4844 13174.3331,536.1406 Q13174.3331,536.6563 13174.6768,537 Q13175.0206,537.3281 13176.1143,537.7344 L13177.1768,538.1406 Q13178.6612,538.6875 13179.3643,539.5938 Q13180.0831,540.5 13180.0831,541.875 Q13180.0831,543.75 13178.9737,544.6719 Q13177.8643,545.5938 13175.6143,545.5938 Q13174.6924,545.5938 13173.7706,545.375 Q13172.8487,545.1563 13171.9893,544.7344 L13171.9893,542.2031 Q13172.9581,542.8906 13173.8799,543.2344 Q13174.8018,543.5781 13175.6924,543.5781 Q13176.5987,543.5781 13177.0987,543.1719 Q13177.5987,542.75 13177.5987,542.0156 Q13177.5987,541.4531 13177.2549,541.0469 Q13176.9268,540.625 13176.3018,540.375 L13175.0987,539.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="13196.1143" y="543.5137">urt_hrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12698.3643" x2="13780.3643" y1="555.3594" y2="555.3594"/><ellipse cx="12708.3643" cy="566.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="151" x="12717.3643" y="569.5698">next : urt_hrtsubscriber_t*</text><ellipse cx="12708.3643" cy="595.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="12717.3643" y="599.1792">deadlineOffset : urt_delay_t</text><ellipse cx="12708.3643" cy="608.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="12717.3643" y="611.9839">qosDeadlineTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12698.3643" x2="13093.8643" y1="582.5664" y2="582.5664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="13093.8643" y="585.8745">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13384.8643" x2="13780.3643" y1="582.5664" y2="582.5664"/><ellipse cx="12708.3643" cy="638.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="12717.3643" y="641.5933">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12698.3643" x2="13103.8643" y1="624.9805" y2="624.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="13103.8643" y="628.2886">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13374.8643" x2="13780.3643" y1="624.9805" y2="624.9805"/><ellipse cx="12708.3643" cy="667.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="12717.3643" y="671.2026">minLatency : urt_delay_t</text><ellipse cx="12708.3643" cy="680.7969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="12717.3643" y="684.0073">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12698.3643" x2="12987.3643" y1="654.5898" y2="654.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="12987.3643" y="657.8979">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13491.3643" x2="13780.3643" y1="654.5898" y2="654.5898"/><ellipse cx="12708.3643" cy="710.4063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="12717.3643" y="713.6167">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12698.3643" x2="13106.8643" y1="697.0039" y2="697.0039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="13106.8643" y="700.312">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13371.8643" x2="13780.3643" y1="697.0039" y2="697.0039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="12698.3643" x2="13780.3643" y1="720.2109" y2="720.2109"/><ellipse cx="12708.3643" cy="731.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="12717.3643" y="734.4214">urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : void</text><ellipse cx="12708.3643" cy="744.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1058" x="12717.3643" y="747.2261">urtHrtSubscriberSubscribe (subscriber : urt_hrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, rate : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="12708.3643" cy="756.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="12717.3643" y="760.0308">urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="12708.3643" cy="769.625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="12717.3643" y="772.8354">urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="12708.3643" cy="782.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="12717.3643" y="785.6401">urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t</text><!--MD5=[e60e0f8379a14e7a4a292c65add9d735]
+class urt_service_t--><rect fill="#FEFECE" filter="url(#f97ds0om13c08)" height="269.6797" id="urt_service_t" style="stroke: #A80036; stroke-width: 1.5;" width="596" x="8150.3643" y="522.8594"/><ellipse cx="8404.6143" cy="538.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8404.0987,539.4219 Q8402.2393,538.7188 8401.5831,537.9531 Q8400.9424,537.1719 8400.9424,535.8594 Q8400.9424,534.1719 8402.0206,533.2031 Q8403.0987,532.2344 8404.9737,532.2344 Q8405.8331,532.2344 8406.6768,532.4375 Q8407.5362,532.625 8408.3799,533.0156 L8408.3799,535.4063 Q8407.5987,534.8438 8406.7706,534.5625 Q8405.9581,534.2656 8405.1612,534.2656 Q8404.2862,534.2656 8403.8018,534.625 Q8403.3331,534.9844 8403.3331,535.6406 Q8403.3331,536.1563 8403.6768,536.5 Q8404.0206,536.8281 8405.1143,537.2344 L8406.1768,537.6406 Q8407.6612,538.1875 8408.3643,539.0938 Q8409.0831,540 8409.0831,541.375 Q8409.0831,543.25 8407.9737,544.1719 Q8406.8643,545.0938 8404.6143,545.0938 Q8403.6924,545.0938 8402.7706,544.875 Q8401.8487,544.6563 8400.9893,544.2344 L8400.9893,541.7031 Q8401.9581,542.3906 8402.8799,542.7344 Q8403.8018,543.0781 8404.6924,543.0781 Q8405.5987,543.0781 8406.0987,542.6719 Q8406.5987,542.25 8406.5987,541.5156 Q8406.5987,540.9531 8406.2549,540.5469 Q8405.9268,540.125 8405.3018,539.875 L8404.0987,539.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="8425.1143" y="543.0137">urt_service_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8151.3643" x2="8745.3643" y1="554.8594" y2="554.8594"/><ellipse cx="8161.3643" cy="565.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="115" x="8170.3643" y="569.0698">next : urt_service_t*</text><ellipse cx="8161.3643" cy="578.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="105" x="8170.3643" y="581.8745">id : urt_serviceid_t</text><ellipse cx="8161.3643" cy="591.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="8170.3643" y="594.6792">lock : urt_osMutex_t</text><ellipse cx="8161.3643" cy="604.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="8170.3643" y="607.4839">requestQueue_front : urt_baserequest_t*</text><ellipse cx="8161.3643" cy="617.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="8170.3643" y="620.2886">requestQueue_hrtBack : urt_hrtrequest_t*</text><ellipse cx="8161.3643" cy="629.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="256" x="8170.3643" y="633.0933">requestQueue_fsrtBack : urt_baserequest_t*</text><ellipse cx="8161.3643" cy="642.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="8170.3643" y="645.8979">requestQueue_back : urt_baserequest_t*</text><ellipse cx="8161.3643" cy="655.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="8170.3643" y="658.7026">evtSource : urt_osEventSource_t</text><ellipse cx="8161.3643" cy="668.2969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="8170.3643" y="671.5073">evtListener : urt_osEventListener_t</text><ellipse cx="8161.3643" cy="697.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="8170.3643" y="701.1167">numCalls : uint64_t</text><ellipse cx="8161.3643" cy="710.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="8170.3643" y="713.9214">numOwnershipLost : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8151.3643" x2="8352.3643" y1="684.5039" y2="684.5039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="8352.3643" y="687.812">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8544.3643" x2="8745.3643" y1="684.5039" y2="684.5039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8151.3643" x2="8745.3643" y1="720.5156" y2="720.5156"/><ellipse cx="8161.3643" cy="731.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="412" x="8170.3643" y="734.7261">urtServiceInit (service : urt_service_t*, id : urt_serviceid_t) : urt_status_t</text><ellipse cx="8161.3643" cy="744.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="549" x="8170.3643" y="747.5308">urtServiceDispatch (service : urt_service_t*, payload : void*, bytes : size_t) : urt_baserequest_t*</text><ellipse cx="8161.3643" cy="757.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="552" x="8170.3643" y="760.3354">urtServiceAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="8161.3643" cy="769.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="8170.3643" y="773.1401">urtServiceTryAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="8161.3643" cy="782.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="365" x="8170.3643" y="785.9448">urtServiceRespond (request : urt_baserequest_t*) : urt_status_t</text><!--MD5=[7294e1cfaeb111bef046bc5d07a96458]
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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; 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stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9338.3643" x2="9440.8643" y1="305.5898" y2="305.5898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8781.8643" x2="9440.8643" y1="341.6016" y2="341.6016"/><ellipse cx="8791.8643" cy="352.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="8800.8643" y="355.812">urtHrtRequestInit (request : urt_hrtrequest_t*) : void</text><ellipse cx="8791.8643" cy="365.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="367" x="8800.8643" y="368.6167">urtHrtRequestAcquire (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8791.8643" cy="378.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="385" x="8800.8643" y="381.4214">urtHrtRequestTryAcquire (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8791.8643" cy="391.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="8800.8643" y="394.2261">urtHrtRequestRelease (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8791.8643" cy="403.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="635" x="8800.8643" y="407.0308">urtHrtRequestSubmit (request : urt_hrtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t</text><ellipse cx="8791.8643" cy="416.625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="8800.8643" y="419.8354">urtHrtRequestRetrieve (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8791.8643" cy="446.2344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="424" x="8800.8643" y="449.4448">urtHrtRequestGetMaxJitter(request : urt_hrtrequest_t*) : urt_delay_t* const</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8781.8643" x2="8988.3643" y1="432.832" y2="432.832"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="8988.3643" y="436.1401">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9234.3643" x2="9440.8643" y1="432.832" y2="432.832"/><!--MD5=[e0c5ef58bc626bdfda028ecb031e1681]
+link urt_usefulness_f to urt_delay_t--><path d="M7061.2179,1073.8832 C7028.8156,1112.8908 6967.6243,1180.0036 6901.3643,1218.8594 C6792.7962,1282.5252 6651.1838,1319.0539 6558.8048,1337.6751 " fill="none" id="urt_usefulness_f-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6553.8939,1338.6575,6563.5037,1340.8142,6558.7967,1337.6766,6561.9343,1332.9697,6553.8939,1338.6575" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5fff9a13948f7f5b5e6ca18c1c7a9716]
+link urt_nodestage_t to urt_config--><path d="M7432.5253,1122.6352 C7453.4493,1158.1699 7483.1297,1196.9399 7521.3643,1218.8594 C7936.8226,1457.037 11430.9515,1598.1146 12202.1384,1626.5195 " fill="none" id="urt_nodestage_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12207.1934,1626.7055,12198.3467,1622.377,12202.1968,1626.5215,12198.0523,1630.3716,12207.1934,1626.7055" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7db439499cb1afd557b9be4c8c52b2ba]
+link urt_topicid_t to urt_config--><path d="M6808.6112,1122.8 C6832.5076,1156.8365 6864.3216,1194.3224 6901.3643,1218.8594 C7206.8472,1421.2103 7333.4375,1383.6348 7695.3643,1440.8594 C8593.9538,1582.9362 11506.8193,1622.7826 12202.2579,1630.375 " fill="none" id="urt_topicid_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12207.324,1630.4301,12198.3681,1626.3323,12202.3243,1630.3756,12198.281,1634.3319,12207.324,1630.4301" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e851a4e79ca88682282ceaaad2100c63]
+link urt_serviceid_t to urt_config--><path d="M6538.9962,1122.5672 C6561.9762,1154.7914 6591.0223,1190.9361 6622.3643,1218.8594 C6766.4076,1347.1907 6810.2962,1386.3874 6995.3643,1440.8594 C7506.2426,1591.2287 11386.3478,1625.3974 12202.1436,1630.9466 " fill="none" id="urt_serviceid_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12207.1932,1630.9808,12198.2206,1626.9197,12202.1933,1630.9468,12198.1662,1634.9195,12207.1932,1630.9808" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[844001065b3bef53527c5dd4ba0c22e5]
+link urt_delay_t to urt_config--><path d="M6553.9975,1393.5635 C6599.419,1411.5068 6655.8148,1430.8881 6708.3643,1440.8594 C7261.2251,1545.7647 11361.8137,1616.1259 12202.1521,1629.5292 " fill="none" id="urt_delay_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12207.3522,1629.612,12198.4171,1625.469,12202.3528,1629.5323,12198.2896,1633.468,12207.3522,1629.612" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7766572fa0c619a5409829048dc0b6d6]
+link urt_osCondvar_t to urt_osCondvarWaitStatus_t--><path d="M5277.3643,1092.9024 C5277.3643,1151.2386 5277.3643,1247.496 5277.3643,1305.3707 " fill="none" id="urt_osCondvar_t-&gt;urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="5277.3643,1310.5038,5281.3643,1301.5038,5277.3643,1305.5038,5273.3643,1301.5038,5277.3643,1310.5038" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9b2507ea88616aeae65e3c4d63560016]
+link urt_osCondvar_t to urt_osMutex_t--><path d="M4922.2276,1043.3594 C4912.3954,1043.3594 4902.5632,1043.3594 4892.731,1043.3594 " fill="none" id="urt_osCondvar_t-&gt;urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4887.5894,1043.3594,4896.5894,1047.3594,4892.5894,1043.3594,4896.5894,1039.3594,4887.5894,1043.3594" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[83094e108045c8f9585007cdb3b7cb2e]
+link urt_osTimer_t to urt_osTimerCallback_t--><path d="M4185.3643,1099.5886 C4185.3643,1163.076 4185.3643,1264.4801 4185.3643,1318.0326 " fill="none" id="urt_osTimer_t-&gt;urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4185.3643,1323.0628,4189.3643,1314.0628,4185.3643,1318.0628,4181.3643,1314.0628,4185.3643,1323.0628" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8d8c3240b5b2b5edf6544088e583ffa5]
+link urt_osThread_t to urt_osThreadPrio_t--><path d="M3405.9423,1219.0242 C3407.4033,1237.926 3408.8325,1256.4169 3410.1413,1273.3499 " fill="none" id="urt_osThread_t-&gt;urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="3410.5436,1278.5536,3413.8379,1269.272,3410.1582,1273.5685,3405.8617,1269.8887,3410.5436,1278.5536" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d7d1d43fd970fb07a484642bc19fcb13]
+link urt_osThread_t to urt_osThreadFunction_t--><path d="M3111.1874,1219.0242 C3048.8843,1257.948 2989.3699,1295.1296 2948.6781,1320.5517 " fill="none" id="urt_osThread_t-&gt;urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2944.3057,1323.2833,2954.0579,1321.9069,2948.5461,1320.634,2949.819,1315.1222,2944.3057,1323.2833" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6564761b32ad7eeb5abb8896c72cfca5]
+link urt_osThread_t to urt_osThreadTerminateSignal_t--><path d="M3550.2081,1219.0242 C3581.8078,1254.1917 3612.1296,1287.9369 3634.5351,1312.8721 " fill="none" id="urt_osThread_t-&gt;urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="3638.062,1316.7972,3635.022,1307.4292,3634.7201,1313.078,3629.0713,1312.7762,3638.062,1316.7972" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[92ba23225d8de8f8080583fedda5e6f8]
+link urt_osThread_t to urt_osThreadState_t--><path d="M3266.2024,1219.0242 C3250.7186,1240.5835 3235.6187,1261.6083 3222.1251,1280.3964 " fill="none" id="urt_osThread_t-&gt;urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="3219.0917,1284.6202,3227.5908,1279.6437,3222.0085,1280.5591,3221.0931,1274.9768,3219.0917,1284.6202" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[78b286ab2177e5f7b31e6e832d821818]
+link urt_osThread_t to urt_osTime_t--><path d="M3629.6488,867.7821 C3688.13,836.8992 3752.7527,812.206 3817.8643,804.8594 C3842.8861,802.0362 5605.8425,802.0362 5630.8643,804.8594 C5733.4672,816.4362 5805.1029,929.2631 5838.6942,995.5008 " fill="none" id="urt_osThread_t-&gt;urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="5841.0469,1000.1874,5840.5838,990.3494,5838.8036,995.7188,5833.4342,993.9386,5841.0469,1000.1874" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[659af6ab57e6a38ebfd5c07c5616787c]
+link urt_osEventListener_t to urt_osEventFlags_t--><path d="M1938.3643,1396.9919 C1938.3643,1454.0854 1938.3643,1553.2513 1938.3643,1602.4427 " fill="none" id="urt_osEventListener_t-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1938.3643,1607.6164,1942.3643,1598.6164,1938.3643,1602.6164,1934.3643,1598.6164,1938.3643,1607.6164" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[eac11679f26c499aa1c571e1f795945d]
+link urt_osEventSource_t to urt_osEventFlags_t--><path d="M1456.4842,1390.9193 C1570.4237,1447.8891 1785.8518,1555.6031 1885.434,1605.3942 " fill="none" id="urt_osEventSource_t-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1890.0875,1607.721,1883.8266,1600.1183,1885.6154,1605.4848,1880.2488,1607.2736,1890.0875,1607.721" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0259cdb10c6c32168d1d17d25519d939]
+link urt_events to urt_osEventSource_t--><path d="M2178.3715,1086.37 C1997.7275,1147.0734 1670.7262,1256.9586 1497.4019,1315.2023 " fill="none" id="urt_events-&gt;urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1492.5734,1316.8248,1502.3787,1317.7495,1497.3129,1315.2321,1499.8304,1310.1663,1492.5734,1316.8248" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0ce043e0e9532fc393f3f8836f5de19a]
+link urt_events to urt_osEventListener_t--><path d="M2255.1955,1086.5331 C2186.358,1144.6147 2064.4094,1247.5088 1993.5661,1307.2828 " fill="none" id="urt_events-&gt;urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1989.3941,1310.803,1998.8522,1308.0562,1993.2155,1307.5786,1993.6931,1301.9419,1989.3941,1310.803" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[430bebba9cd89d3ba8f63b2078968bca]
+link urt_events to urt_osEventMask_t--><path d="M2346.4095,1086.5331 C2404.0674,1148.6956 2509.3368,1262.1891 2562.2287,1319.2132 " fill="none" id="urt_events-&gt;urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2565.9451,1323.2199,2562.7575,1313.9011,2562.5449,1319.554,2556.8921,1319.3414,2565.9451,1323.2199" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b1b185abc2161e087cab32ae7fdb2c40]
+link urt_events to urt_osEventFlags_t--><path d="M2336.8204,1086.6647 C2387.202,1164.1477 2475.2576,1328.8558 2400.3643,1440.8594 C2314.8823,1568.6984 2126.4073,1611.0725 2018.4608,1625.0467 " fill="none" id="urt_events-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2013.3821,1625.6909,2022.814,1628.5264,2018.3423,1625.0616,2021.8071,1620.59,2013.3821,1625.6909" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[706a1974d1b474cbba7e7b0213f243a1]
+link urt_events to urt_osEventWait_t--><path d="M2305.6691,1086.5331 C2304.7431,1144.0362 2303.1098,1245.4636 2302.1433,1305.484 " fill="none" id="urt_events-&gt;urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2302.0576,1310.803,2306.2021,1301.8686,2302.1382,1305.8036,2298.2031,1301.7397,2302.0576,1310.803" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ea4c3dac10af85084086a365fe38a187]
+link urt_osTime_t to urt_delay_t--><path d="M5905.1456,1086.6128 C5947.4491,1125.5534 6014.1277,1182.1462 6080.3643,1218.8594 C6172.5325,1269.9458 6287.636,1307.3981 6367.4732,1329.7221 " fill="none" id="urt_osTime_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6372.6804,1331.1707,6365.0818,1324.9048,6367.8633,1329.8305,6362.9376,1332.612,6372.6804,1331.1707" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5f656ccbf337bb70e2692ec6599b22aa]
+link urt_osCondvar_t to urt_delay_t--><path d="M5364.9064,1092.8629 C5438.9997,1132.6752 5549.1529,1187.0458 5651.3643,1218.8594 C5902.8622,1297.1389 6213.1295,1332.6791 6367.1721,1346.4451 " fill="none" id="urt_osCondvar_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6372.5857,1346.9256,6363.9747,1342.1454,6367.6053,1346.4834,6363.2672,1350.1141,6372.5857,1346.9256" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[2da0e339f7ca878d257c4a5336e8cad5]
+link urt_osThread_t to urt_delay_t--><path d="M3781.3905,1214.3641 C3787.7338,1215.9533 3794.0612,1217.4543 3800.3643,1218.8594 C4201.4032,1308.2612 5238.2735,1253.3554 5648.3643,1278.8594 C5908.8774,1295.061 6215.1638,1326.6287 6367.3945,1343.1679 " fill="none" id="urt_osThread_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6372.7446,1343.7499,6364.23,1338.8,6367.7739,1343.2091,6363.3648,1346.7531,6372.7446,1343.7499" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8bf77663ad208115c32fd5300d37f092]
+link urt_osTimer_t to urt_delay_t--><path d="M4282.613,1099.5556 C4358.9766,1140.6167 4469.4226,1193.3935 4573.3643,1218.8594 C4805.752,1275.7947 5409.7542,1261.2273 5648.3643,1278.8594 C5908.671,1298.0948 6215.0472,1328.3424 6367.3451,1343.8939 " fill="none" id="urt_osTimer_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6372.6975,1344.4409,6364.1509,1339.5464,6367.7234,1343.9324,6363.3374,1347.505,6372.6975,1344.4409" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[a4e2abbbace7909006fa5f13364d6021]
+link urt_events to urt_delay_t--><path d="M2389.7462,1086.4521 C2477.5473,1129.3206 2621.1309,1192.4088 2753.3643,1218.8594 C3068.8503,1281.966 5327.1373,1260.7732 5648.3643,1278.8594 C5908.968,1293.5323 6215.215,1325.7652 6367.4162,1342.8021 " fill="none" id="urt_events-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6372.7652,1343.4017,6364.267,1338.4237,6367.7963,1342.8445,6363.3755,1346.3739,6372.7652,1343.4017" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[182342162f0b9b45ddce11acc6582c59]
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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_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_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_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_publisher_t to urt_config--><path d="M12236.7451,722.5945 C12224.9822,748.6648 12213.2484,779.475 12207.3643,808.8594 C12152.2127,1084.2807 12117.762,1174.6452 12207.3643,1440.8594 C12212.316,1455.5712 12218.9011,1470.0492 12226.5389,1484.0495 " fill="none" id="urt_publisher_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12229.1686,1488.7787,12228.2905,1478.969,12226.7386,1484.4089,12221.2988,1482.857,12229.1686,1488.7787" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[48a81098d0aa451a4923659bb2bbea3c]
+link urt_publisher_t to urt_status_t--><path d="M12122.422,722.3835 C12046.0337,752.3834 11950.3999,784.9015 11861.3643,800.8594 C11813.6717,809.4074 11473.7777,806.9113 11425.3643,808.8594 C9985.8881,866.783 8240.8657,997.8506 7773.3417,1033.9826 " fill="none" id="urt_publisher_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7768.2383,1034.3772,7777.52,1037.6712,7773.2234,1033.9916,7776.903,1029.6951,7768.2383,1034.3772" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[c16173558393ca1d9128284d70afa235]
+link urt_publisher_t to urt_delay_t--><path d="M12113.1192,722.5389 C12038.0974,750.873 11946.3489,781.9202 11861.3643,800.8594 C10083.9107,1196.9725 9596.9597,1033.4702 7785.3643,1218.8594 C7325.9476,1265.8737 6776.7054,1321.9051 6559.0054,1344.1069 " fill="none" id="urt_publisher_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6553.9248,1344.6251,6563.2842,1347.6913,6558.899,1344.1178,6562.4725,1339.7326,6553.9248,1344.6251" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3f75a4ca5db56e37c381a718c71f2950]
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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]
+link urt_srtrequest_t to urt_status_t--><path d="M9628.6666,403.5145 C9575.2648,425.1771 9516.0935,445.2509 9459.3643,456.3594 C9445.0459,459.1632 7368.6616,454.0228 7358.3643,464.3594 C7252.8141,570.3123 7255.2371,692.5466 7358.3643,800.8594 C7370.868,813.9918 7505.9395,799.3264 7521.3643,808.8594 C7555.8798,830.191 7582.1687,864.0391 7601.8403,899.4557 " fill="none" id="urt_srtrequest_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7604.45,904.2346,7603.6471,894.4185,7602.0536,899.8463,7596.6258,898.2528,7604.45,904.2346" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4360c48b38d2a92e1c3ebeee4ab98bfc]
+link urt_srtrequest_t to urt_usefulness_f--><path d="M9628.6677,403.5201 C9575.2659,425.1827 9516.0943,445.2552 9459.3643,456.3594 C9444.4527,459.2782 7283.6257,455.3854 7271.3643,464.3594 C7180.0677,531.1787 7111.2747,891.9089 7091.2915,1007.617 " fill="none" id="urt_srtrequest_t-&gt;urt_usefulness_f" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7090.4327,1012.6132,7095.8997,1004.421,7091.2798,1007.6855,7088.0154,1003.0656,7090.4327,1012.6132" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e590cea536a036f5956f75e03ef95bbf]
+reverse link urt_frtrequest_t to urt_delay_t--><path d="M10759.3223,451.0615 C10751.3052,452.9975 10743.3114,454.7707 10735.3643,456.3594 C10695.1461,464.3995 7821.3528,451.6295 7782.3643,464.3594 C7540.5434,543.315 7560.9636,721.2282 7319.3643,800.8594 C7306.6479,805.0507 6364.7926,799.3525 6355.3643,808.8594 C6227.0495,938.2435 6295.0475,1046.9094 6355.3643,1218.8594 C6364.0078,1243.5001 6379.2497,1266.9845 6395.607,1287.2527 " fill="none" id="urt_frtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="10771.9363,447.8885,10765.1418,445.4731,10760.2989,450.8159,10767.0934,453.2314,10771.9363,447.8885" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10746.7957" y="467.7296">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6362.8835" y="1276.2308">0..4</text><!--MD5=[b1f137a561f49721d911648e5542119f]
+link urt_frtrequest_t to urt_config--><path d="M11409.4843,316.7059 C12872.3357,332.002 18730.7016,397.399 18796.3643,464.3594 C18948.2977,619.2956 18947.5164,1285.1608 18796.3643,1440.8594 C18683.0869,1557.5441 13461.2503,1619.8161 12502.6853,1630.2737 " fill="none" id="urt_frtrequest_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12497.4531,1630.3308,12506.4962,1634.2323,12502.4528,1630.2762,12506.4089,1626.2328,12497.4531,1630.3308" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d63fe507f799090eb2c242d7ab41013e]
+link urt_frtrequest_t to urt_status_t--><path d="M10771.9352,447.8828 C10759.6917,451.0851 10747.4738,453.9362 10735.3643,456.3594 C10699.9414,463.4477 8167.0435,448.9614 8134.3643,464.3594 C7944.3261,553.9028 7803.2891,759.2989 7724.6483,899.7405 " fill="none" id="urt_frtrequest_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7722.1086,904.2924,7729.9869,898.382,7724.5448,899.9261,7723.0008,894.484,7722.1086,904.2924" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bea47d1dd6f09b5135df7519b40184db]
+reverse link urt_hrtrequest_t to urt_delay_t--><path d="M8767.6967,457.3777 C8595.9142,473.3451 7216.7105,449.207 7129.3643,464.3594 C6675.3009,543.1282 6417.6514,432.7353 6151.3643,808.8594 C6046.072,957.5822 6051.3172,1066.5587 6151.3643,1218.8594 C6200.0516,1292.9756 6299.0625,1326.5953 6372.5544,1341.7238 " fill="none" id="urt_hrtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8780.6092,455.6755,8774.1379,452.494,8768.7121,457.2439,8775.1835,460.4254,8780.6092,455.6755" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8764.7634" y="455.9074">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6341.0043" y="1337.3599">0..4</text><!--MD5=[50bfbddabe3b6f3afe991f5d307785f8]
+reverse link urt_hrtrequest_t to urt_osTimer_t--><path d="M8767.5947,456.8549 C8598.4549,466.3098 6981.5504,460.6796 6932.3643,464.3594 C5875.7517,543.4076 5570.7376,451.1929 4573.3643,808.8594 C4454.6378,851.4357 4332.5148,932.5965 4257.7702,987.3525 " fill="none" id="urt_hrtrequest_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8780.6093,455.6763,8774.273,452.2338,8768.6582,456.7586,8774.9945,460.2012,8780.6093,455.6763" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8764.7635" y="471.2598">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="4268.3285" y="976.2896">0,1</text><!--MD5=[2663060494b35c1af191cf8ba65e9057]
+link urt_hrtrequest_t to urt_config--><path d="M9441.9988,452.6541 C9447.806,453.9803 9453.5975,455.2181 9459.3643,456.3594 C9474.675,459.3896 18436.6457,455.3131 18449.3643,464.3594 C18587.7122,562.7621 18663.9186,1077.8533 18569.3643,1218.8594 C18424.6144,1434.7207 18282.4732,1386.2947 18028.3643,1440.8594 C17474.9137,1559.7017 13346.8452,1619.0276 12502.8259,1629.9822 " fill="none" id="urt_hrtrequest_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12497.6031,1630.0499,12506.6542,1633.9328,12502.6027,1629.985,12506.5505,1625.9335,12497.6031,1630.0499" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3d55577c6a64a095d4d92af2794b0aa7]
+link urt_hrtrequest_t to urt_status_t--><path d="M8780.6091,455.6751 C8779.5267,455.9067 8778.4451,456.1349 8777.3643,456.3594 C8766.7505,458.5643 7224.01,456.6744 7216.3643,464.3594 C7110.8839,570.3818 7112.0082,693.7302 7216.3643,800.8594 C7228.1918,813.0012 7506.8448,800.1132 7521.3643,808.8594 C7556.3124,829.9112 7582.7776,863.8889 7602.4806,899.5237 " fill="none" id="urt_hrtrequest_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7605.0937,904.3326,7604.311,894.5149,7602.7063,899.9394,7597.2818,898.3347,7605.0937,904.3326" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[85137379eadac9ac066ccd1aa3005a20]
+reverse link urt_service_t to urt_serviceid_t--><path d="M8137.427,714.9461 C7948.4434,746.8679 7701.8507,783.6122 7481.3643,800.8594 C7457.5748,802.7203 6642.9469,796.7864 6622.3643,808.8594 C6565.3362,842.3101 6530.4778,910.0506 6510.668,964.1611 " fill="none" id="urt_service_t&lt;-urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8150.3616,712.7537,8143.7775,709.8127,8138.5304,714.7591,8145.1145,717.7001,8150.3616,712.7537" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8134.3397" y="711.0855">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6504.3554" y="953.2214">1</text><!--MD5=[bfc39859b663e58a9d342532110a4ed9]
+reverse link urt_service_t to urt_osMutex_t--><path d="M8137.1139,695.0397 C7827.4123,730.102 7338.3347,780.2582 6913.3643,800.8594 C6899.443,801.5343 4918.749,802.4659 4906.3643,808.8594 C4831.2685,847.6274 4782.177,937.1797 4757.4372,993.7189 " fill="none" id="urt_service_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8150.3474,693.5383,8143.9347,690.2402,8138.4239,694.8911,8144.8366,698.1892,8150.3474,693.5383" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8134.3251" y="691.3597">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4757.5389" y="983.1122">1</text><!--MD5=[1bad46d95b358cb94878caad932de3eb]
+reverse link urt_service_t to urt_osEventSource_t--><path d="M8137.2143,660.6276 C6642.7021,674.28 270.2256,736.6891 199.3643,808.8594 C71.6983,938.8837 78.038,1082.9003 199.3643,1218.8594 C258.891,1285.5654 778.2164,1323.7659 1108.7092,1341.5246 " fill="none" id="urt_service_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8150.2616,660.5085,8144.2253,656.5634,8138.2621,660.6181,8144.2984,664.5631,8150.2616,660.5085" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8134.237" y="672.851">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1092.4663" y="1353.4557">1</text><!--MD5=[7ece8bae7b00261083263672987da7c8]
+reverse link urt_service_t to urt_osEventListener_t--><path d="M8136.8466,660.7043 C6653.2016,674.6104 372.2659,737.6501 302.3643,808.8594 C174.7133,938.8985 176.362,1087.2222 302.3643,1218.8594 C355.0821,1273.9348 1598.0957,1266.7303 1673.3643,1278.8594 C1718.3271,1286.1049 1766.5169,1298.3415 1809.3078,1310.852 " fill="none" id="urt_service_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8150.0683,660.5805,8144.0311,656.6369,8138.0688,660.693,8144.1061,664.6365,8150.0683,660.5805" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8134.0386" y="657.5264">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1780.1019" y="1299.8468">1</text><!--MD5=[33249c42c81fffc5b10022c232aa2b33]
+link urt_service_t to urt_config--><path d="M8741.9875,792.9239 C8749.4923,795.668 8756.9597,798.3191 8764.3643,800.8594 C9914.9281,1195.5896 10238.1879,1175.8663 11425.3643,1440.8594 C11698.4456,1501.8147 12018.3799,1566.1853 12202.0171,1602.459 " fill="none" id="urt_service_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12207.14,1603.4706,12199.0855,1597.8027,12202.2347,1602.5019,12197.5356,1605.6511,12207.14,1603.4706" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5471b15d17b5493f5e528354308bf7b4]
+link urt_service_t to urt_status_t--><path d="M8169.7535,792.9593 C8033.8065,858.8808 7877.4259,934.7106 7772.6985,985.4936 " fill="none" id="urt_service_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7768.0623,987.7417,7777.9057,987.4138,7772.5612,985.56,7774.415,980.2155,7768.0623,987.7417" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[53dfbb6dd49579624c84e03dc6fffb39]
 @startuml
 
 title **µRtWare**\nOverview\n
@@ -310,7 +308,7 @@ title **µRtWare**\nOverview\n
     class urt_osTime_t <<T,00CFFF>> {
     + {method} urtTime2Us (t : urt_osTime_t*) : uint64_t
     + {method} urtTimeNow (void) : urt_osTime_t
-    + {method} urtTimeAddUs (time : urt_osTime_t*, offset : uint32_t) : urt_osTime_t*
+    + {method} urtTimeAddUs (time : urt_osTime_t*, offset : urt_delay_t) : void
   }
 }
 
@@ -345,9 +343,9 @@ title **µRtWare**\nOverview\n
 
     class urt_osTimer_t <<T,00CFFF>> {
     + {method} urtTimerInit (timer : urt_osTimer_t*) : void
-    + {method} urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t
-    + {method} urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t
-    + {method} urtTimerReset (timer : urt_osTimer_t*) : urt_status_t
+    + {method} urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void
+    + {method} urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void
+    + {method} urtTimerReset (timer : urt_osTimer_t*) : void
     + {method} urtTimerIsArmed (timer : urt_osTimer_t*) : bool
   }
 } 
@@ -385,22 +383,20 @@ title **µRtWare**\nOverview\n
 
     class urt_osThread_t <<T,00CFFF>> {
     URT_THREAD_SLEEP_MAX : float
-    URT_THREAD_SSLEP_MAX : urt_delay_t
-    URT_THREAD_MSLEEP_MAX : urt_delay_t
+    URT_THREAD_SSLEP_MAX : unsigned int
+    URT_THREAD_MSLEEP_MAX : unsigned int
     URT_THREAD_USLEEP_MAX : urt_delay_t
     - -
     + {method} URT_THREAD_MEMORY (varname, stacksize)
     ..
-    + {method} urtThreadInit (memory : void*, size : size_t, func : urt_osThreadFunction_t*) : urt_osThread_t*
-    + {method} urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void
+    + {method} urtThreadInit (memory : void*, size : size_t, prio : urt_osThreadPrio_t, func : urt_osThreadFunction_t*, arg : void*) : urt_osThread_t*
+    + {method} urtThreadStart (thread : urt_osThread_t*) : void
     + {method} urtThreadYield (void) : void
     + {method} urtThreadGetPriority (void) : urt_osThreadPrio_t
     + {method} urtThreadSetPriority (prio : urt_osThreadPrio_t) : void
-    + {method} urtThreadSuspend (thread : urt_osThread_t*) : void
-    + {method} urtThreadResume (thread : urt_osThread_t*) : urt_status_t
     + {method} urtThreadSleep (seconds : float) : void
-    + {method} urtThreadSSleep (seconds : urt_delay_t) : void
-    + {method} urtThreadMSleep (milliseconds : urt_delay_t) : void
+    + {method} urtThreadSSleep (seconds : unsigned int) : void
+    + {method} urtThreadMSleep (milliseconds : unsigned int) : void
     + {method} urtThreadUSleep (microseconds : urt_delay_t) : void
     + {method} urtThreadSleepUntil (time : urt_osTime_t) : void
     + {method} urtThreadExit (void) : void
@@ -440,8 +436,8 @@ title **µRtWare**\nOverview\n
   }
 
     class urt_events <<F,E0E0E0>> {
-    + {method} urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : urt_status_t
-    + {method} urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : urt_status_t
+    + {method} urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : void
+    + {method} urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : void
     + {method} urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWait_t, timeout : urt_delay_t) : urt_osEventMask_t
   }
 } 
@@ -781,13 +777,11 @@ urt_events ..> urt_osEventMask_t
 urt_events ..> urt_osEventFlags_t
 urt_events ..> urt_osEventWait_t
 
+urt_osTime_t ..> urt_delay_t
 urt_osCondvar_t ..> urt_delay_t
 urt_osThread_t ..> urt_delay_t
-urt_osThread_t ..> urt_status_t
 urt_osTimer_t ..> urt_delay_t
-urt_osTimer_t ..> urt_status_t
 urt_events ..> urt_delay_t
-urt_events ..> urt_status_t
 
 
 urt_node_t "1" o- - "0,1" urt_node_t
diff --git a/doc/classdiagrams/overview.uml b/doc/classdiagrams/overview.uml
index 761abc3..78fcf21 100644
--- a/doc/classdiagrams/overview.uml
+++ b/doc/classdiagrams/overview.uml
@@ -62,13 +62,11 @@ urt_serviceid_t ..> urt_config
 urt_delay_t ..> urt_config
 
 !includesub osal.uml!DEPENDENCIES
+urt_osTime_t ..> urt_delay_t
 urt_osCondvar_t ..> urt_delay_t
 urt_osThread_t ..> urt_delay_t
-urt_osThread_t ..> urt_status_t
 urt_osTimer_t ..> urt_delay_t
-urt_osTimer_t ..> urt_status_t
 urt_events ..> urt_delay_t
-urt_events ..> urt_status_t
 
 !includesub urtware.uml!DEPENDENCIES
 urt_core_t "1" *-- "1" urt_osEventSource_t
diff --git a/doc/classdiagrams/urtware.uml b/doc/classdiagrams/urtware.uml
index b08d804..638cfbb 100644
--- a/doc/classdiagrams/urtware.uml
+++ b/doc/classdiagrams/urtware.uml
@@ -31,7 +31,7 @@ title **µRtWare**
 
 !startsub ENTITIES
 
-/' uRtWare core structure. '/
+/' µRtWare core structure. '/
 $structure("urt_core_t") {
     'List of nodes ordered by their (initial) priority.
   - {field} {static} _nodes : urt_node_t*
diff --git a/doc/componentdiagrams/µRtWare.uml b/doc/componentdiagrams/µRtWare.uml
index 2b627f2..361c913 100644
--- a/doc/componentdiagrams/µRtWare.uml
+++ b/doc/componentdiagrams/µRtWare.uml
@@ -3,7 +3,7 @@
 applications. It was developed as part of the software habitat for the
 Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
 
-Copyright (C) 2018..2019  Thomas Schöpping et al.
+Copyright (C) 2018..2020  Thomas Schöpping et al.
 
 This program is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
diff --git a/inc/urt_confcheck.h b/inc/urt_confcheck.h
index ef82902..ed18b78 100644
--- a/inc/urt_confcheck.h
+++ b/inc/urt_confcheck.h
@@ -3,7 +3,7 @@
 applications. It was developed as part of the software habitat for the
 Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
 
-Copyright (C) 2018..2019  Thomas Schöpping et al.
+Copyright (C) 2018..2020  Thomas Schöpping et al.
 
 This program is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
@@ -19,37 +19,107 @@ You should have received a copy of the GNU General Public License
 along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
 
-#ifndef _URTWARE_CONFCHECK_H_
-#define _URTWARE_CONFCHECK_H_
+#ifndef URT_CONFCHECK_H
+#define URT_CONFCHECK_H
 
-#include <urtwareconf.h>
+#include <urtware.h>
+
+/*============================================================================*/
+/* CONSTANTS                                                                  */
+/*============================================================================*/
+
+/*============================================================================*/
+/* SETTINGS                                                                   */
+/*============================================================================*/
+
+/*============================================================================*/
+/* CHECKS                                                                     */
+/*============================================================================*/
+
+/* general parameters and options */
 
 #if !defined(URT_CFG_DELAY_WIDTH)
-  #error "URT_CFG_DELAY_WIDTH not defined in urtwareconf.h"
-#else
-  #if !(URT_CFG_DELAY_WIDTH == 32 || URT_CFG_DELAY_WIDTH == 64)
-    #error "URT_CFG_DELAY_WIDTH set to illegal value in urtwareconf.h"
-  #endif
-#endif
-
-#if !defined(URT_CFG_TOPICID_WIDTH)
-  #error "URT_CFG_TOPICID_WIDTH not defined in urtwareconf.h"
-#else
-  #if !(URT_CFG_TOPICID_WIDTH == 8 || URT_CFG_TOPICID_WIDTH == 16 || URT_CFG_TOPICID_WIDTH == 32 || URT_CFG_TOPICID_WIDTH == 64)
-    #error "URT_CFG_TOPICID_WIDTH set to illegal value in urtwareconf.h"
-  #endif
-#endif
+# error "URT_CFG_DELAY_WIDTH not defined in urtwareconf.h"
+#endif /* !defined(URT_CFG_DELAY_WIDTH) */
 
 #if !defined(URT_CFG_NODESTAGE_WIDTH)
-  #error "URT_CFG_NODESTAGE_WIDTH not defined in urtwareconf.h"
-#else
-  #if !(URT_CFG_NODESTAGE_WIDTH == 8 || URT_CFG_NODESTAGE_WIDTH == 16 || URT_CFG_NODESTAGE_WIDTH == 32 || URT_CFG_NODESTAGE_WIDTH == 64)
-    #error "URT_CFG_NODESTAGE_WIDTH set to illegal value in urtwareconf.h"
-  #endif
-#endif
-
-#if !defined(URT_CFG_DEBUG)
-  #error "URT_CFG_DEBUG not defined in urtwareconf.h"
-#endif
-
-#endif /* _URTWARE_CONFCHECK_H_ */
+# error "URT_CFG_NODESTAGE_WIDTH not defined in urtwareconf.h"
+#endif /* !defined(URT_CFG_NODESTAGE_WIDTH) */
+
+#if !defined(URT_CFG_DEBUG_ENABLED)
+# error "URT_CFG_DEBUG_ENABLED not defined in urtwareconf.h"
+#endif /* !defined(URT_CFG_DEBUG_ENABLED) */
+
+/* publish-subscribe parameters and options */
+
+#if !defined(URT_CFG_PUBSUB_ENABLED)
+# error "URT_CFG_PUBSUB_ENABLED not defined in urtwareconf.h"
+#endif /* !defined(URT_CFG_PUBSUB_ENABLED) */
+
+#if (URT_CFG_PUBSUB_ENABLED == true)
+
+# if !defined(URT_CFG_PUBSUB_TOPICID_WIDTH)
+#   error "URT_CFG_PUBSUB_TOPICID_WIDTH not defined in urtwareconf.h"
+# endif /* !defined(URT_CFG_PUBSUB_TOPICID_WIDTH) */
+
+# if !defined(URT_CFG_PUBSUB_PROFILING)
+#   error "URT_CFG_PUBSUB_PROFILING not defined in urtwareconf.h"
+# endif /* !defined(URT_CFG_PUBSUB_PROFILING) */
+
+# if !defined(URT_CFG_PUBSUB_QOS_DEADLINECHECKS)
+#   error "URT_CFG_PUBSUB_QOS_DEADLINECHECKS not defined in urtwareconf.h"
+# endif /* !defined(URT_CFG_PUBSUB_QOS_DEADLINECHECKS) */
+
+# if !defined(URT_CFG_PUBSUB_QOS_RATECHECKS)
+#   error "URT_CFG_PUBSUB_QOS_RATECHECKS not defined in urtwareconf.h"
+# endif /* !defined(URT_CFG_PUBSUB_QOS_RATECHECKS) */
+
+# if !defined(URT_CFG_PUBSUB_QOS_JITTERCHECKS)
+#   error "URT_CFG_PUBSUB_QOS_JITTERCHECKS not defined in urtwareconf.h"
+# endif /* !defined(URT_CFG_PUBSUB_QOS_JITTERCHECKS) */
+
+#endif /* URT_CFG_PUBSUB_ENABLED == true */
+
+/* remote procedure call parameters and options */
+
+#if !defined(URT_CFG_RPC_ENABLED)
+# error "URT_CFG_RPC_ENABLED not defined in urtwareconf.h"
+#endif /* !defined(URT_CFG_RPC_ENABLED) */
+
+#if (URT_CFG_RPC_ENABLED == true)
+
+# if !defined(URT_CFG_RPC_SERVICEID_WIDTH)
+#   error "URT_CFG_RPC_SERVICEID_WIDTH not defined in urtwareconf.h"
+# endif /* !defined(URT_CFG_RPC_SERVICEID_WIDTH) */
+
+# if !defined(URT_CFG_RPC_PROFILING)
+#   error "URT_CFG_RPC_PROFILING not defined in urtwareconf.h"
+# endif /* !defined(URT_CFG_RPC_PROFILING) */
+
+# if !defined(URT_CFG_RPC_QOS_DEADLINECHECKS)
+#   error "URT_CFG_RPC_QOS_DEADLINECHECKS not defined in urtwareconf.h"
+# endif /* !defined(URT_CFG_RPC_QOS_DEADLINECHECKS) */
+
+# if !defined(URT_CFG_RPC_QOS_JITTERCHECKS)
+#   error "URT_CFG_RPC_QOS_JITTERCHECKS not defined in urtwareconf.h"
+# endif /* !defined(URT_CFG_RPC_QOS_JITTERCHECKS) */
+
+#endif /* URT_CFG_RPC_ENABLED == true */
+
+/*============================================================================*/
+/* DATA STRUCTURES AND TYPES                                                  */
+/*============================================================================*/
+
+/*============================================================================*/
+/* MACROS                                                                     */
+/*============================================================================*/
+
+/*============================================================================*/
+/* EXTERN DECLARATIONS                                                        */
+/*============================================================================*/
+
+/*============================================================================*/
+/* INLINE FUNCTIONS                                                           */
+/*============================================================================*/
+
+#endif /* URT_CONFCHECK_H */
diff --git a/inc/urt_primitives.h b/inc/urt_primitives.h
new file mode 100644
index 0000000..31fa0a9
--- /dev/null
+++ b/inc/urt_primitives.h
@@ -0,0 +1,158 @@
+/*
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef URT_PRIMITIVES_H
+#define URT_PRIMITIVES_H
+
+#include <urtware.h>
+
+#include <stdint.h>
+
+/*============================================================================*/
+/* CONSTANTS                                                                  */
+/*============================================================================*/
+
+/**
+ * @brief Special constant value for immediate (nonexistent) delays.
+ */
+#define URT_DELAY_IMMEDIATE                     (urt_delay_t)0
+
+/**
+ * @brief Special constant value for infinite delays.
+ */
+#define URT_DELAY_INFINITE                      (urt_delay_t)~0
+
+/*============================================================================*/
+/* SETTINGS                                                                   */
+/*============================================================================*/
+
+/*============================================================================*/
+/* CHECKS                                                                     */
+/*============================================================================*/
+
+/*============================================================================*/
+/* DATA STRUCTURES AND TYPES                                                  */
+/*============================================================================*/
+
+/**
+ * @brief   Type for temporal delays (in microseconds).
+ */
+#if (URT_CFG_DELAY_WIDTH == 32)
+  typedef uint32_t urt_delay_t;
+#elif (URT_CFG_DELAY_WIDTH == 64)
+  typedef uint64_t urt_delay_t;
+#else
+# error "URT_CFG_DELAY_WIDTH must be set to 32 or 64."
+#endif
+
+/**
+ * @brief   Type to use for the node stage value.
+ * @details Use wide types only if you need to synchronize the system very often.
+ */
+#if (URT_CFG_NODESTAGE_WIDTH == 8)
+  typedef uint8_t urt_nodestage_t;
+#elif (URT_CFG_NODESTAGE_WIDTH == 16)
+  typedef uint16_t urt_nodestage_t;
+#elif (URT_CFG_NODESTAGE_WIDTH == 32)
+  typedef uint32_t urt_nodestage_t;
+#elif (URT_CFG_NODESTAGE_WIDTH == 64)
+  typedef uint64_t urt_nodestage_t;
+#else
+# error "URT_CFG_NODESTAGE_WIDTH must be set to 8, 16, 32 or 64."
+#endif
+
+/**
+ * @brief   General status type used throughout µRtWare and its interfaces.
+ */
+typedef enum {
+  URT_STATUS_OK = 0,              /**< Status indicating success. */
+  URT_STATUS_DEADLINEVIOLATION,   /**< Status indicating a violated deadline. */
+  URT_STATUS_JITTERVIOLATION,     /**< Status indicating a violated jitter requirement. */
+  URT_STATUS_RATEVIOLATION,       /**< Status indicating a violated rate requirement. */
+  URT_STATUS_SYNC_PENDING,        /**< Status indicating a synchronization barrier. */
+  URT_STATUS_SYNC_ERROR,          /**< Status indicating a failed synchronization. */
+  URT_STATUS_NODE_INVALEVTMASK,   /**< Status indicating an invalid event mask. */
+#if (URT_CFG_PUBSUB_ENABLED == true) || defined(__DOXYGEN__)
+  URT_STATUS_TOPIC_DUPLICATE,     /**< Status indicating multiple use of the same topic ID. */
+  URT_STATUS_PUBLISH_TIMEOUT,     /**< Status indicating a timeout when publishinh a message. */
+  URT_STATUS_SUBSCRIBE_TOPICSET,  /**< Status indicating that the subscriber is already associated to a topic. */
+  URT_STATUS_FETCH_NOTOPIC,       /**< Status indicating that the subscriber is not associated to any topic. */
+  URT_STATUS_FETCH_NOMESSAGE,     /**< Status indicating that no message could be fetched. */
+  URT_STATUS_UNSUBSCRIBE_NOTOPIC, /**< Status indicating that the subscriber is not associated to an topic. */
+#endif /* URT_CFG_PUBSUB_ENABLED == true */
+#if (URT_CFG_RPC_ENABLED == true) || defined(__DOXYGEN__)
+  URT_STATUS_SERVICE_DUPLICATE,   /**< Status indicating multiple use of the same service ID. */
+  URT_STATUS_REQUEST_BADOWNER,    /**< Status indicating that a request is currently owned by another component. */
+  URT_STATUS_REQUEST_LOCKED,      /**< Status indicating a currently locked request. */
+#endif /* URT_CFG_RPC_ENABLED == true */
+} urt_status_t;
+
+#if (URT_CFG_PUBSUB_ENABLED == true) || defined(__DOXYGEN__)
+# if (URT_CFG_PUBSUB_TOPICID_WIDTH == 8)
+    typedef uint8_t urt_topicid_t;
+# elif (URT_CFG_PUBSUB_TOPICID_WIDTH == 16)
+    typedef uint16_t urt_topicid_t;
+# elif (URT_CFG_PUBSUB_TOPICID_WIDTH == 32)
+    typedef uint32_t urt_topicid_t;
+# elif (URT_CFG_PUBSUB_TOPICID_WIDTH == 64)
+    typedef uint64_t urt_topicid_t;
+# else
+#   error "URT_CFG_PUBSUB_TOPICID_WIDTH must be set to 8, 16, 32 or 64."
+# endif
+#endif /* URT_CFG_PUBSUB_ENABLED == true */
+
+#if (URT_CFG_RPC_ENABLED == true) || defined(__DOXYGEN__)
+# if (URT_CFG_RPC_SERVICEID_WIDTH == 8)
+    typedef uint8_t urt_serviced_t;
+# elif (URT_CFG_RPC_SERVICEID_WIDTH == 16)
+    typedef uint16_t urt_serviced_t;
+# elif (URT_CFG_RPC_SERVICEID_WIDTH == 32)
+    typedef uint32_t urt_serviced_t;
+# elif (URT_CFG_RPC_SERVICEID_WIDTH == 64)
+    typedef uint64_t urt_serviced_t;
+# else
+#   error "URT_CFG_RPC_SERVICEID_WIDTH must be set to 8, 16, 32 or 64."
+# endif
+#endif /* URT_CFG_RPC_ENABLED == true */
+
+/**
+ * @brief   Usefulness calculation function type.
+ *
+ * @param[in] dt  Delay to calculate the usefulness for.
+ * @param[in] param Pointer to optional parameters (may be NULL).
+ *
+ * return   The usefulness (of some data) after the specified delay as value in range [0, 1].
+ */
+typedef float (*urt_usefulness_f)(urt_delay_t dt, void* params);
+
+/*============================================================================*/
+/* MACROS                                                                     */
+/*============================================================================*/
+
+/*============================================================================*/
+/* EXTERN DECLARATIONS                                                        */
+/*============================================================================*/
+
+/*============================================================================*/
+/* INLINE FUNCTIONS                                                           */
+/*============================================================================*/
+
+#endif /* URT_PRIMITIVES_H */
diff --git a/templates/todo.txt b/templates/todo.txt
deleted file mode 100644
index 258cd57..0000000
--- a/templates/todo.txt
+++ /dev/null
@@ -1 +0,0 @@
-todo
diff --git a/templates/urtwareconf.h b/templates/urtwareconf.h
new file mode 100644
index 0000000..0b67cdd
--- /dev/null
+++ b/templates/urtwareconf.h
@@ -0,0 +1,113 @@
+/*
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef URTWARECONF_H
+#define URTWARECONF_H
+
+#define _URTWARE_CFG_
+#define URTWARE_CFG_VERSION_MAJOR               0
+#define URTWARE_CFG_VERSION_MINOR               1
+
+/**
+ * @brief   Width of the urt_delay_t data type.
+ *
+ * @details Possible values are 32 and 64 bits.
+ *          By definition time is represented in microseconds.
+ */
+#define URT_CFG_DELAY_WIDTH                     32
+
+/**
+ * @brief   Width of the urt_nodestage_t data type.
+ *
+ * @details Possible values are 8, 16, 32, and 64 bits.
+ */
+#define URT_CFG_NODESTAGE_WIDTH                 16
+
+/**
+ * @brief   Debug enable flag.
+ */
+#define URT_CFG_DEBUG_ENABLED                   true
+
+/**
+ * @brief   Enable flag for the publish-subscribe system.
+ */
+#define URT_CFG_PUBSUB_ENABLED                  true
+
+/**
+ * @brief   Width of the urt_topicid_t data type.
+ *
+ * @details Possible values are 8, 16, 32, and 64 bits.
+ */
+#define URT_CFG_PUBSUB_TOPICID_WIDTH            16
+
+/**
+ * @brief   Flag to enable profiling of the publish-subscribe system.
+ */
+#define URT_CFG_PUBSUB_PROFILING                true
+
+/**
+ * @brief   Flag to enable deadline QoS for the publish-subscribe system.
+ */
+#define URT_CFG_PUBSUB_QOS_DEADLINECHECKS       true
+
+/**
+ * @brief   Flag to enable rate QoS for the publish-subscribe system.
+ */
+#define URT_CFG_PUBSUB_QOS_RATECHECKS           true
+
+/**
+ * @brief   Flag to enable jitter QoS for the publish-subscribe system
+ */
+#define URT_CFG_PUBSUB_QOS_JITTERCHECKS         true
+
+/**
+ * @brief   Enable flag for remote procedure calls.
+ */
+#define URT_CFG_RPC_ENABLED                     true
+
+/**
+ * @brief   Width of the urt_serviceid_t data type.
+ *
+ * @details Possible values are 8, 16, 32, and 64 bits.
+ */
+#define URT_CFG_RPC_SERVICEID_WIDTH             16
+
+/**
+ * @brief   Flag to enable profiling of remote procedure calls.
+ */
+#define URT_CFG_RPC_PROFILING                   true
+
+/**
+ * @brief   Flag to enable deadline QoS for remote procedure calls.
+ */
+#define URT_CFG_RPC_QOS_DEADLINECHECKS          true
+
+/**
+ * @brief   Flag to enable jitter QoS for remote procedure calls.
+ */
+#define URT_CFG_RPC_QOS_JITTERCHECKS            true
+
+/**
+ * @brief   Hook macro to insert a custom header to urt_osal.h file.
+ */
+#define URT_CFG_OSAL_HEADER                     <custom_urtosal.h>
+
+#endif /* HELLOWORLD_URTWARECONF_H */
diff --git a/urt_osal.h b/urt_osal.h
new file mode 100644
index 0000000..fec90ef
--- /dev/null
+++ b/urt_osal.h
@@ -0,0 +1,833 @@
+/*
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef URT_OSAL_H
+#define URT_OSAL_H
+
+#include <urtware.h>
+
+/*============================================================================*/
+/* VERSION                                                                    */
+/*============================================================================*/
+
+/**
+ * @brief   The µRtWare operating system abstraction layer interface major version.
+ * @note    Changes of the major version imply incompatibilities.
+ */
+#define URT_OSAL_VERSION_MAJOR                  0
+
+/**
+ * @brief   The µRtWare operating system abstraction layer interface minor version.
+ * @note    A higher minor version implies new functionalty, but all old interfaces are still available.
+ */
+#define URT_OSAL_VERSION_MINOR                  1
+
+/*============================================================================*/
+/* DEPENDENCIES                                                               */
+/*============================================================================*/
+
+#include <stdint.h>
+
+/*============================================================================*/
+/* DEBUG                                                                      */
+/*============================================================================*/
+
+#if defined(__cplusplus)
+extern "C" {
+#endif /* defined(__cplusplus) */
+
+#if !defined(urtDebugAssert) || defined(__DOXYGEN__)
+  /**
+   * @brief Assert function to check a given condition.
+   *
+   * @param[in] condition   The condition to check.
+   */
+  void urtDebugAssert(const bool condition);
+#endif /* !defined(urtDebugAssert) */
+
+#if defined(__cplusplus)
+}
+#endif /* defined(__cplusplus) */
+
+/*============================================================================*/
+/* MUTEX                                                                      */
+/*============================================================================*/
+
+/*
+ * The following type must be defined by the implementation:
+ *
+ * urt_osMutex_t
+ *    Type to represent a mutex lock object.
+ *    Is only used via pointers by the API.
+ */
+
+#if defined(__cplusplus)
+extern "C" {
+#endif /* defined(__cplusplus) */
+
+#if !defined(urtMutexInit) || defined(__DOXYGEN__)
+  /**
+   * @brief   Initialize a mutex lock object.
+   *
+   * @param[in] mutex   Pointer to the mutex lock object to initialize.
+   *                    Must not be NULL.
+   */
+  void urtMutexInit(urt_osMutex_t* mutex);
+#endif /* !defined(urtMutexInit) */
+
+#if !defined(urtMutexLock) || defined(__DOXYGEN__)
+  /**
+   * @brief   Lock a mutex lock.
+   * @details The calling thread is blocked until the mutex lock could be acquired.
+   *
+   * @param[in] mutex   Pointer to the mutex lock to acquire.
+   *                    Must not be NULL.
+   */
+  void urtMutexLock(urt_osMutex_t* mutex);
+#endif /* !defined(urtMutexLock) */
+
+#if !defined(urtMutexTryLock) || defined(__DOXYGEN__)
+  /**
+   * @brief   Try to lock a mutex lock.
+   * @details This function does not block but returns immediately.
+   *
+   * @param[in] mutex   Pointer to the mutex lock to acquire.
+   *
+   * @return  Indicator whether the lock was acquired.
+   * @retval true   The lock was acquired successfully.
+   * @retval false  The lock could not be acquired.
+   */
+  bool urtMutexTryLock(urt_osMutex_t* mutex);
+#endif /* !defined(urtMutexTryLock) */
+
+#if !defined(urtMutexUnlock) || defined(__DOXYGEN__)
+  /**
+   * @brief   Unlock an owned mutex lock.
+   *
+   * @param[in] mutex   Pointer to the mutex lock to unlock.
+   *                    Must not be NULL.
+   */
+  void urtMutexUnlock(urt_osMutex_t* mutex);
+#endif /* !defined(urtMutexUnlock) */
+
+#if defined(__cplusplus)
+}
+#endif /* defined(__cplusplus) */
+
+/*============================================================================*/
+/* CONDITION VARIABLE                                                         */
+/*============================================================================*/
+
+/*
+ * The following type must be defined by the implementation:
+ *
+ * urt_osCondvar_t
+ *    Type to represent a condition variable object.
+ *    Is only used via pointers by the API.
+ */
+
+/**
+ * @brief   Status type of condition variables.
+ */
+typedef enum {
+  URT_CONDVAR_WAITSTATUS_SIGNAL = 1,    /**< The condition variable has been signaled individually. */
+  URT_CONDVAR_WAITSTATUS_BROADCAST = 2, /**< The condition variable has been signal via broadcast. */
+  URT_CONDVAR_WAITSTATUS_TIMEOUT = 0,   /**< Waiting for the condition variable timed out. */
+} urt_osCondvarWaitStatus_t;
+
+#if defined(__cplusplus)
+extern "C" {
+#endif /* defined(__cplusplus) */
+
+#if !defined(urtCondvarInit) || defined(__DOXYGEN__)
+  /**
+   * @brief   Initialize a condition variable object.
+   *
+   * @param[in] condvar   Pointer to the object to initialize.
+   *                      Must not be NULL.
+   */
+  void urtCondvarInit(urt_osCondvar_t* condvar);
+#endif /* !defined(urtCondvarInit) */
+
+#if !defined(urtCondvarSignal) || defined(__DOXYGEN__)
+  /**
+   * @brief   Signal a condition variable (wake one waiting thread).
+   *
+   * @param[in] condvar   Pointer to the condition variable to signal.
+   *                      Must not be NULL.
+   */
+  void urtCondvarSignal(urt_osCondvar_t* condvar);
+#endif /* !defined(urtCondvarSignal) */
+
+#if !defined(urtCondvarBroadcast) || defined(__DOXYGEN__)
+  /**
+   * @brief   Signal a condition variable via broadcast (wake all waiting threads).
+   *
+   * @param[in] condvar   Pointer to the condition variable to signal via broadcast.
+   *                      Must not be NULL.
+   */
+  void urtCondvarBroadcast(urt_osCondvar_t* condvar);
+#endif /* !defined(urtCondvarBroadcast) */
+
+#if !defined(urtCondvarWait) || defined(__DOXYGEN__)
+  /**
+   * @brief   Wait for a condition variable to be signaled or timeout.
+   *
+   * @param[in] condvar   Pointer to the condition variabel to wait for.
+   *                      Must not be NULL.
+   * @param[in] mutex     Pointer to the associated mutex lock.
+   *                      Must not be NULL.
+   *                      Mutex must be acquired when this function is called.
+   * @param[in] timeout   Timeout (in microseconds) when the function will return even without the condition variable being signaled.
+   *                      Use URT_DELAY_INFINITE to deactivate timeout.
+   * @return
+   */
+  urt_osCondvarWaitStatus_t urtCondvarWait(urt_osCondvar_t* condvar, urt_osMutex_t* mutex, urt_delay_t timeout);
+#endif /* !defined(urtCondvarWait) */
+
+#if defined(__cplusplus)
+}
+#endif /* defined(__cplusplus) */
+
+/*============================================================================*/
+/* EVENTS                                                                     */
+/*============================================================================*/
+
+/*
+ * The following types and constants must be defined by the implementation:
+ *
+ * urt_osEventSource_t
+ *    Type to represent an event source object.
+ *    Is only used via pointers by the API.
+ *
+ * urt_osEventListener_t
+ *    Type to represent an event listener object.
+ *    Is only used via pointers by the API.
+ *
+ * urt_osEventMask_t
+ *    Integer type to represent event masks.
+ *
+ * urt_osEventFlags_t
+ *    Integer type to represent event flags.
+ *
+ * URT_EVENTMASK_MAXPRIO
+ *    Constant of type urt_osEventMask_t to specify the event mask that is
+ *    handled with maximum priority.
+ *    This constant is typically either 0x0..1 (low values have high priority)
+ *    or 0x8..0 (high values have high priority).
+ *    A value of 0 indicates that priorities are not supported.
+ */
+
+/**
+ * @brief   Enum type to distinguish differnt variants how to wait for events.
+ */
+typedef enum {
+  URT_EVENT_WAIT_ONE = 0,   /**< Wait for exactly one of the specified events. */
+  URT_EVENT_WAIT_ANY = 1,   /**< Wait for any (one or more) of the specified events. */
+  URT_EVENT_WAIT_ALL = 2,   /**< Wait for all of the specified events. */
+} urt_osEventWait_t;
+
+#if defined(__cplusplus)
+extern "C" {
+#endif /* defined(__cplusplus) */
+
+#if !defined(urtEventSourceInit) || defined(__DOXYGEN__)
+  /**
+   * @brief   Initialize an event source object.
+   *
+   * @param[in] source  Pointer to the event source object to initialize.
+   *                    Must not be NULL.
+   */
+  void urtEventSourceInit(urt_osEventSource_t* source);
+#endif /* !defined(urtEventSourceInit) */
+
+#if !defined(urtEventSourceBroadcast) || defined(__DOXYGEN__)
+  /**
+   * @brief   Broadcast an event with specified flags.
+   *
+   * @param[in] source  Pointer to the event source to broadcast the event.
+   *                    Must not be NULL.
+   * @param[in] flags   Flags to be set at the recieveing listeners.
+   */
+  void urtEventSourceBroadcast(urt_osEventSource_t* source, urt_osEventFlags_t flags);
+#endif /* !defined(urtEventSourceBroadcast) */
+
+#if !defined(urtEventListenerInit) || defined(__DOXYGEN__)
+  /**
+   * @brief   Initialize an event listener object.
+   *          Must not be NULL.
+   *
+   * @param[in] listener  Pointer to the event listener object to initialize.
+   */
+  void urtEventListenerInit(urt_osEventListener_t* listener);
+#endif /* !defined(urtEventListenerInit) */
+
+#if !defined(urtEventListenerGetFlags) || defined(__DOXYGEN__)
+  /**
+   * @brief   Retrieve the currently set flags of an event listener.
+   * @details Flags are not cleared in the listener.
+   *
+   * @param[in] listener  Pointer to the event listener to recieve the flags from.
+   *                      Must not be NULL.
+   *
+   * @return  Currently set flags.
+   */
+  urt_osEventFlags_t urtEventListenerGetFlags(urt_osEventListener_t* listener);
+#endif /* !defined(urtEventListenerGetFlags) */
+
+#if !defined(urtEventListenerClearFlags) || defined(__DOXYGEN__)
+  /**
+   * @brief   Retrieve and clear the currently set flags from an event listener.
+   *
+   * @param[in] listener  Pointer to the event listener to recieve the flags from.
+   *                      Must not be NULL.
+   *
+   * @return  The flags that had been set at the listener.
+   */
+  urt_osEventFlags_t urtEventListenerClearFlags(urt_osEventListener_t* listener);
+#endif /* !defined(urtEventListenerClearFlags) */
+
+#if !defined(urtEventRegister) || defined(__DOXYGEN__)
+  /**
+   * @brief   Register an event source to a listener.
+   *
+   * @param[in] source    Pointer to the event source to register.
+   *                      Must not be NULL.
+   * @param[in] listener  Pointer to the event listener to register.
+   *                      Must not be NULL.
+   * @param[in] mask      Mask to be set at the listening thread on an event.
+   * @param[in] flags     Flags to be set by default at the listener on an event,
+   */
+  void urtEventRegister(urt_osEventSource_t* source, urt_osEventListener_t* listener, urt_osEventMask_t mask, urt_osEventFlags_t flags);
+#endif /* !defined(urtEventRegister) */
+
+#if !defined(urtEventUnregister) || defined(__DOXYGEN__)
+  /**
+   * @brief   Unregister an associated event source and listener.
+   *
+   * @param[in] source    Pointer to the event source to unregister.
+   *                      Must not be NULL.
+   * @param[in] listener  Pointer to the event listener to unregister.
+   *                      Must not be NULL.
+   */
+  void urtEventUnregister(urt_osEventSource_t* source, urt_osEventListener_t* listener);
+#endif /* !defined(urtEventUnregister) */
+
+#if !defined(urtEventWait) || defined(__DOXYGEN__)
+  /**
+   * @brief   Wait for one/any/all event(s) to be recieved or a timeout.
+   *
+   * @param[in] mask      The mask of event to wait for.
+   * @param[in] type      Specificator whether to wait for exactly one, any combination or all of the specified mask flags.
+   * @param[in] timeout   Timeout when the function shall return even if no event was recieved.
+   *
+   * @return  The recieved event mask.
+   */
+  urt_osEventMask_t urtEventWait(urt_osEventMask_t mask, urt_osEventWait_t type, urt_delay_t timeout);
+#endif /* !defined(urtEventWait) */
+
+#if defined(__cplusplus)
+}
+#endif /* defined(__cplusplus) */
+
+/*============================================================================*/
+/* STREAMS                                                                    */
+/*============================================================================*/
+
+#if defined(__cplusplus)
+extern "C" {
+#endif /* defined(__cplusplus) */
+
+#if !defined(urtPrintf) || defined(__DOXYGEN__)
+  /**
+   * @brief   Prints a formatted string to standard output.
+   *
+   * @param[in] fmt   The formatted string to be printed.
+   *
+   * @return  Number of characters printed.
+   */
+  int urtPrintf(char* fmt, ...);
+#endif /* !defined(urtPrintf) */
+
+#if !defined(urtErrPrintf) || defined(__DOXYGEN__)
+  /**
+   * @brief   Prints a formatted string to error output.
+   *
+   * @param[in] fmt   The formatted string to be printed.
+   *
+   * @return  Number of characters printed.
+   */
+  int urtErrPrintf(char* fmt, ...);
+#endif /* !defined(urtErrPrintf) */
+
+#if defined(__cplusplus)
+}
+#endif /* defined(__cplusplus) */
+
+/*============================================================================*/
+/* TIME                                                                       */
+/*============================================================================*/
+
+/*
+ * The following type must be defined by the implementation:
+ *
+ * urt_osTime_t
+ *    Type to represent a time object.
+ *    This type may be of any precision.
+ *    Is only used via pointers by the API.
+ */
+
+#if defined(__cplusplus)
+extern "C" {
+#endif /* defined(__cplusplus) */
+
+#if !defined(urtTime2Us) || defined(__DOXYGEN__)
+  /**
+   * @brief   Convert an OS time to microsecond value.
+   *
+   * @param[in] t   The time to convert.
+   *                Must not be NULL
+   *
+   * @return  The equivalent time in microseconds.
+   */
+  uint64_t urtTime2Us(urt_osTime_t* t);
+#endif /* !defined(urtTime2Us) */
+
+#if !defined(urtTimeNow) || defined(__DOXYGEN__)
+  /**
+   * @brief   Get the current system time.
+   *
+   * @return  Current system time as provide by the operating system.
+   */
+  urt_osTime_t urtTimeNow(void);
+#endif /* !defined(urtTimeNow) */
+
+#if !defined(urtTimeAddUs) || defined(__DOXYGEN__)
+  /**
+   * @brief   Add microseconds to a specified system time.
+   *
+   * @param[in] time    Pointer to the time value to be incremented.
+   *                    Must not be NULL.
+   * @param[in] offset  Amount of microseconds to add.
+   */
+  void urtTimeAddUs(urt_osTime_t* time, urt_delay_t offset);
+#endif /* !defined(urtTimeAddUs) */
+
+#if defined(__cplusplus)
+}
+#endif /* defined(__cplusplus) */
+
+/*============================================================================*/
+/* THREAD                                                                     */
+/*============================================================================*/
+
+/*
+ * The following types, constants and macros must be defined by the
+ * implementation:
+ *
+ * urt_osThread_t
+ *    Type to represent an thread object.
+ *    Is only used via pointers by the API.
+ *
+ * urt_osThreadPrio_t
+ *    Integer type to represent thread priorities.
+ *
+ * URT_THREAD_PRIO_LOW_MIN
+ *    Constant of type urt_osThreadPrio_t, specifying the minimum priority for
+ *    low-priority threads.
+ *    Must be greater than the idle thread priority.
+ *
+ * URT_THREAD_PRIO_LOW_MAX
+ *    Constant of type urt_osThreadPrio_t, specifying the maximum priority for
+ *    low-priority threads.
+ *    Must be greater or equal URT_THREAD_PRIO_LOW_MIN.
+ *
+ * URT_THREAD_PRIO_NORMAL_MIN
+ *    Constant of type urt_osThreadPrio_t, specifying the minimum priority for
+ *    normal-priority threads.
+ *    Must be greater than URT_THREAD_PRIO_LOW_MAX.
+ *
+ * URT_THREAD_PRIO_NORMAL_MAX
+ *    Constant of type urt_osThreadPrio_t, specifying the maximum priority for
+ *    normal-priority threads.
+ *    Must be greater or equal URT_THREAD_PRIO_NORMAL_MIN.
+ *
+ * URT_THREAD_PRIO_HIGH_MIN
+ *    Constant of type urt_osThreadPrio_t, specifying the minimum priority for
+ *    high-priority threads.
+ *    Must be greater than URT_THREAD_PRIO_NORMAL_MAX.
+ *
+ * URT_THREAD_PRIO_HIGH_MAX
+ *    Constant of type urt_osThreadPrio_t, specifying the maximum priority for
+ *    high-priority threads.
+ *    Must be greater or equal URT_THREAD_PRIO_HIGH_MIN.
+ *
+ * URT_THREAD_PRIO_RT_MIN
+ *    Constant of type urt_osThreadPrio_t, specifying the minimum priority for
+ *    real-time threads.
+ *    Must be greater than URT_THREAD_PRIO_HIGH_MAX.
+ *
+ * URT_THREAD_PRIO_RT_MAX
+ *    Constant of type urt_osThreadPrio_t, specifying the maximum priority for
+ *    real-time threads.
+ *    Must be greater or equal URT_THREAD_PRIO_HIGH_MIN but lower than the
+ *    control/root thread priority.
+ *
+ * URT_THREAD_SLEEP_MAX
+ *    Constant of type float specifying the maximum time (in seconds) a thread
+ *    may sleep via the urtThreadSleep() function.
+ *
+ * URT_THREAD_SSLEEP_MAX
+ *    Constant of type urt_delay_t specifying the maximum number of seconds a
+ *    thread may sleep via the urtThreadSSleep() function.
+ *
+ * URT_THREAD_MSLEEP_MAX
+ *    Constant of type urt_delay_t specifying the maximum number of milliseconds
+ *    a thread may sleep via the urtThreadMSleep() function.
+ *
+ * URT_THREAD_USLEEP_MAX
+ *    Constant of type urt_delay_t specifying the maximum number of microseconds
+ *    a thread may sleep via the urtThreadUSleep() function.
+ *
+ * URT_THREAD_MEMORY(varname, stacksize)
+ *    Macro function to staically allocate a variable 'varname', which holds all
+ *    memory required to hold a thread object with the specified stacksize.
+ */
+
+/**
+ * @brief   Enum type for various thread states.
+ */
+typedef enum {
+  URT_THREAD_STATE_INACTIVE = 0,    /**< The thread has not been started yet. */
+  URT_THREAD_STATE_RUNNING = 1,     /**< The thread is currently being executed on a CPU. */
+  URT_THREAD_STATE_READY = 2,       /**< The thread is ready to be scheduled for execution. */
+  URT_THREAD_STATE_SLEEPING = 3,    /**< The thread is currently sleeping for a defined amount of time. */
+  URT_THREAD_STATE_SUSPENDED = 4,   /**< Execution of the thread has been suspended. */
+  URT_THREAD_STATE_WAITING = 5,     /**< The thread is currently waiting for an event. */
+  URT_THREAD_STATE_TERMINATED = 6,  /**< The thread has been terminated. */
+} urt_osThreadState_t;
+
+/**
+ * @brief   Enum type for various termination signals.
+ */
+typedef enum {
+  URT_THREAD_TERMINATE_REQUEST = 15,  /**< Request a thread to terminate in a cooperative manner. */
+  URT_THREAD_TERMINATE_KILL = 9,      /**< Terminate a thread in a non-cooperative manner (force). */
+} urt_osThreadTerminateSignal_t;
+
+/**
+ * @brief   Thread function.
+ *
+ * @param[in] arg   Pointer to optional arguments.
+ *                  May be NULL.
+ */
+typedef void (*urt_osThreadFunction_t)(void* arg);
+
+#if defined(__cplusplus)
+extern "C" {
+#endif /* defined(__cplusplus) */
+
+#if !defined(urtThreadInit) || defined(__DOXYGEN__)
+  /**
+   * @brief   Initialize a thread object.
+   * @details The new thread becomes a child of the calling thread.
+   *
+   * @param[in] memory  Pointer to the memory where to create the thread object.
+   *                    Must not be NULL.
+   * @param[in] size    Size of the memory.
+   * @param[in] prio    Initial priority of the thread.
+   * @param[in] func    Pointer to the thread function the thread shall execute.
+   *                    Must not be NULL.
+   * @param[in] arg     Pointer to optional function arguments.
+   *                    May be NULL.
+   *
+   * @return  Pointer to the created thread object.
+   */
+  urt_osThread_t* urtThreadInit(void* memory, size_t size, urt_osThreadPrio_t prio, urt_osThreadFunction_t func, void* arg);
+#endif /* !defined(urtThreadInit) */
+
+#if !defined(urtThreadStart) || defined(__DOXYGEN__)
+  /**
+   * @brief   Start execution of a thread.
+   *
+   * @param[in] thread  Pointer to the thread to start.
+   *                    Must not be NULL.
+   */
+  void urtThreadStart(urt_osThread_t* thread);
+#endif /* !defined(urtThreadStart) */
+
+#if !defined(urtThreadYield) || defined(__DOXYGEN__)
+  /**
+   * @brief   Yield execution of the calling thread.
+   */
+  void urtThreadYield(void);
+#endif /* !defined(urtThreadYield) */
+
+#if !defined(urtThreadGetPriority) || defined(__DOXYGEN__)
+  /**
+   * @brief   Retrieve the current priority of the calling thread.
+   *
+   * @return  Current priority.
+   */
+  urt_osThreadPrio_t urtThreadGetPriority(void);
+#endif /* !defined(urtThreadGetPriority) */
+
+#if !defined(urtThreadSetPriority) || defined(__DOXYGEN__)
+  /**
+   * @brief   Set the priority of the calling thread.
+   *
+   * @param[in] prio  The new priority to set.
+   */
+  void urtThreadSetPriority(urt_osThreadPrio_t prio);
+#endif /* !defined(urtThreadSetPriority) */
+
+#if !defined(urtThreadSleep) || defined(__DOXYGEN__)
+  /**
+   * @brief   The calling thread sleeps for the given amount of time.
+   *
+   * @param[in] seconds   Time in seconds to sleep.
+   *                      Must not be greater than URT_THREAD_SLEEP_MAX.
+   */
+  void urtThreadSleep(float seconds);
+#endif /* !defined(urtThreadSleep) */
+
+#if !defined(urtThreadSSleep) || defined(__DOXYGEN__)
+  /**
+   * @brief   The calling thread sleeps for the given amount of seconds.
+   *
+   * @param[in] seconds   Time in seconds to sleep.
+   *                      Must not be greater than URT_THREAD_SSLEP_MAX.
+   */
+  void urtThreadSSleep(unsigned int seconds);
+#endif /* !defined(urtThreadSSleep) */
+
+#if !defined(urtThreadMSleep) || defined(__DOXYGEN__)
+  /**
+   * @brief   The calling thread sleeps for the given amount of milliseconds.
+   *
+   * @param[in] milliseconds  Time in milliseconds to sleep.
+   *                          Must not be greater than URT_THREAD_MSLEP_MAX.
+   */
+  void urtThreadMSleep(unsigned int milliseconds);
+#endif /* !defined(urtThreadMSleep) */
+
+#if !defined(urtThreadUSleep) || defined(__DOXYGEN__)
+  /**
+   * @brief   The calling thread sleeps for the gven amount of microseconds.
+   *
+   * @param[in] microseconds  Time in microseconds to sleep.
+   *                          Must not be greater than URT_THREAD_USLEP_MAX.
+   */
+  void urtThreadUSleep(urt_delay_t microseconds);
+#endif /* !defined(urtThreadUSleep) */
+
+#if !defined(urtThreadSleepUntil) || defined(__DOXYGEN__)
+  /**
+   * @brief   The calling thread sleeps until the given point in time.
+   *
+   * @param[in] time  Time when the thread shall wake up.
+   *                  If the current is already beyond the argument, the thread will not sleep at all.
+   */
+  void urtThreadSleepUntil(urt_osTime_t time);
+#endif /* !defined(urtThreadSleepUntil) */
+
+#if !defined(urtThreadExit) || defined(__DOXYGEN__)
+  /**
+   * @brief   The calling thread stops execution and terminates.
+   */
+  void urtThreadExit(void);
+#endif /* !defined(urtThreadExit) */
+
+#if !defined(urtThreadTerminate) || defined(__DOXYGEN__)
+  /**
+   * @brief   Send a termination signal to a thread.
+   *
+   * @param[in] thread  Thread to be signaled.
+   *                    Must not be NULL.
+   * @param[in] sig     Type of termination.
+   */
+  void urtThreadTerminate(urt_osThread_t* thread, urt_osThreadTerminateSignal_t sig);
+#endif /* !defined(urtThreadTerminate) */
+
+#if !defined(urtThreadJoin) || defined(__DOXYGEN__)
+  /**
+   * @brief   Wait for a thread to terminate.
+   *
+   * @param[in] thread  Pointer to the thread to wait for.
+   *                    Must not be NULL.
+   */
+  void urtThreadJoin(urt_osThread_t* thread);
+#endif /* !defined(urtThreadJoin) */
+
+#if !defined(urtThreadGetState) || defined(__DOXYGEN__)
+  /**
+   * @brief   Get the current execution status of a thread.
+   *
+   * @param[in] thread  Pointer to the thread to get the status for.
+   *                    Must not be NULL.
+   *
+   * @return  Execution status of the secified thread.
+   */
+  urt_osThreadState_t urtThreadGetState(urt_osThread_t* thread);
+#endif /* !defined(urtThreadGetState) */
+
+#if !defined(urtThreadGetSelf) || defined(__DOXYGEN__)
+  /**
+   * @brief   Retrieve the thread object of the calling thread.
+   *
+   * @return  Pointer to the thread that is currrently executed.
+   */
+  urt_osThread_t* urtThreadGetSelf(void);
+#endif /* !defined(urtThreadGetSelf) */
+
+#if !defined(urtThreadGetChildren) || defined(__DOXYGEN__)
+  /**
+   * @brief   Retrieve the first child of a thread.
+   *
+   * @param[in] thread  Pointer to the thread to retrieve the child from.
+   *                    Must not be NULL.
+   *
+   * @return  Pointer to the first child thread.
+   *          May be NULL if the thread has no children.
+   */
+  urt_osThread_t* urtThreadGetChildren(urt_osThread_t* thread);
+#endif /* !defined(urtThreadGetChildren) */
+
+#if !defined(urtThreadGetSibling) || defined(__DOXYGEN__)
+  /**
+   * @brief   Retrieve the next sibling of a thread.
+   *
+   * @param[in] thread  Pointer to the thread to retrieve the sibling from.
+   *
+   * @return  Pointer to the next sibling of the thread.
+   *          May be NULL if the thread does not have any more siblings.
+   */
+  urt_osThread_t* urtThreadGetSibling(urt_osThread_t* thread);
+#endif /* !defined(urtThreadGetSibling) */
+
+#if !defined(urtThreadGetParent) || defined(__DOXYGEN__)
+  /**
+   * @brief   Retrieve the parent of a thread.
+   *
+   * @param[in] thread  Pointer to the thread to retrieve the parent from.
+   *
+   * @return  Pointer to the parent thread.
+   *          May be NULL if the specified thread is root.
+   */
+  urt_osThread_t* urtThreadGetParent(urt_osThread_t* thread);
+#endif /* !defined(urtThreadGetParent) */
+
+#if defined(__cplusplus)
+}
+#endif /* defined(__cplusplus) */
+
+/*============================================================================*/
+/* TIMER                                                                      */
+/*============================================================================*/
+
+/*
+ * The following type must be defined by the implementation:
+ *
+ * urt_osTimer_t
+ *    Type to represent a timer object.
+ *    Is only used via pointers by the API.
+ */
+
+/**
+ * @brief   Timer callback function type.
+ * @details A timer executes a callback when its time ran out and it fires.
+ *
+ * @param[in] params  Pointer to optional parameters for the callback function.
+ *                    May be NULL.
+ */
+typedef void (*urt_osTimerCallback_t)(void* parameter);
+
+#if defined(__cplusplus)
+extern "C" {
+#endif /* defined(__cplusplus) */
+
+#if !defined(urtTimerInit) || defined(__DOXYGEN__)
+  /**
+   * @brief   Initialize a timer object.
+   *
+   * @param[in] timer   Pointer to the timer object to initialize.
+   *                    Must not be NULL.
+   */
+  void urtTimerInit(urt_osTimer_t* timer);
+#endif /* !defined(urtTimerInit) */
+
+#if !defined(urtTimerSet) || defined(__DOXYGEN__)
+  /**
+   * @brief   Set a timer in single-shot mode.
+   *
+   * @param[in] timer     Pointer to the timer to be armed.
+   *                      Must not be NULL.
+   * @param[in] delay     Time after which the timer shall fire.
+   * @param[in] callback  Pointer to the function to be called when the timer fires.
+   *                      Must not be NULL.
+   * @param[in] cbparams  Optional parameters for the callback function.
+   *                      May be NULL.
+   */
+  void urtTimerSet(urt_osTimer_t* timer, urt_delay_t delay, urt_osTimerCallback_t callback, void* cbparams);
+#endif /* !defined(urtTimerSet) */
+
+#if !defined(urtTimerSetPeriodic) || defined(__DOXYGEN__)
+  /**
+   * @brief   Set a timer in periodic mode.
+   *
+   * @param[in] timer     Pointer to the timer to be armed.
+   *                      Must not be NULL.
+   * @param[in] period    Time after which the timer shall fire periodically.
+   * @param[in] callback  Pointer to the function to be called each time the timer fires.
+   *                      Must not be NULL.
+   * @param[in] cbparams  Optional parameters for the callback function.
+   *                      May be NULL.
+   */
+  void urtTimerSetPeriodic(urt_osTimer_t* timer, urt_delay_t period, urt_osTimerCallback_t callback, void* cbparams);
+#endif /* !defined(urtTimerSetPeriodic) */
+
+#if !defined(urtTimerReset) || defined(__DOXYGEN__)
+  /**
+   * @brief   Reset and disarm a timer.
+   *
+   * @param[in] timer   Pointer to the timer to be reset.
+   *                    Must not be NULL.
+   */
+  void urtTimerReset(urt_osTimer_t* timer);
+#endif /* !defined(urtTimerReset) */
+
+#if !defined(urtTimerIsArmed) || defined(__DOXYGEN__)
+  /**
+   * @brief   Retrieve the current status of a timer.
+   *
+   * @param[in] timer   Pointer to the timer to inspect.
+   *                    Must not be NULL.
+   *
+   * @return  Flag, indicating whether or not the timer is currently armed.
+   */
+  bool urtTimerIsArmed(urt_osTimer_t* timer);
+#endif /* !defined(urtTimerIsArmed) */
+
+#if defined(__cplusplus)
+}
+#endif /* defined(__cplusplus) */
+
+#endif /* URT_OSAL_H */
diff --git a/urt_types.h b/urt_types.h
deleted file mode 100644
index 70510a3..0000000
--- a/urt_types.h
+++ /dev/null
@@ -1,134 +0,0 @@
-/*
-µRtWare is a lightweight publish/subscribe middleware for real-time
-applications. It was developed as part of the software habitat for the
-Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
-
-Copyright (C) 2018..2019  Thomas Schöpping et al.
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program.  If not, see <http://www.gnu.org/licenses/>.
-*/
-
-#ifndef _URT_TYPES_H_
-#define _URT_TYPES_H_
-
-#include <urtwareconf.h>
-#include <stdint.h>
-
-/*============================================================================*/
-/* PRIMTIVES                                                                  */
-/*============================================================================*/
-
-/**
- * @brief   Type for representing temporal delays in microseconds.
- */
-#if (URT_CFG_DELAY_WIDTH == 32) || defined (__DOXYGEN__)
-typedef uint32_t urt_delay_t;
-#elif (URT_CFG_DELAY_WIDTH == 64)
-typedef uint64_t urt_delay_t;
-#else
-#error "URT_CFG_DELAY_WIDTH set to invalid value"
-#endif
-
-/**
- * @brief   Type representing topic IDs.
- */
-#if (URT_CFG_TOPICID_WIDTH == 8) || defined(__DOXYGEN__)
-typedef uint8_t urt_topicid_t;
-#elif (URT_CFG_TOPICID_WIDTH == 16)
-typedef uint16_t urt_topicid_t;
-#elif (URT_CFG_TOPICID_WIDTH == 32)
-typedef uint32_t urt_topicid_t;
-#elif (URT_CFG_TOPICID_WIDTH == 64)
-typedef uint64_t urt_topicid_t;
-#else
-#error "URT_CFG_TOPICID_WIDTH set to invalid value"
-#endif
-
-/**
- * @brief   Type representing node execution stages.
- */
-#if (URT_CFG_NODESTAGE_WIDTH == 8) || defined(__DOXYGEN__)
-typedef uint8_t urt_nodestage_t;
-#elif (URT_CFG_NODESTAGE_WIDTH == 16)
-typedef uint16_t urt_nodestage_t;
-#elif (URT_CFG_NODESTAGE_WIDTH == 32)
-typedef uint32_t urt_nodestage_t;
-#elif (URT_CFG_NODESTAGE_WIDTH == 64)
-typedef uint64_t urt_nodestage_t;
-#else
-#error "URT_CFG_NODESTAGE_WIDTH set to invalid value"
-#endif
-
-/**
- * @brief   µRtWare error codes.
- */
-typedef enum {
-  URT_STATUS_OK       = 0,  /**< No error occurred. */
-  URT_STATUS_WARNING  = 1,  /**< A warning occurred. */
-  URT_STATUS_ERROR    = -1, /**< An error occurred. */
-} urt_status_t;
-
-/*============================================================================*/
-/* URT-OSAL                                                                   */
-/*============================================================================*/
-
-/**
- * @brief   µRtWare OSAL timer callback function type.
- */
-typedef void (*urt_osTimerCallback)(void* parameter);
-
-/**
- * @brief   Condition variable status.
- */
-typedef enum {
-  URT_CONDVAR_STATUS_SIGNAL     = 0,  /**< The condition variable has been signaled individually. */
-  URT_CONDVAR_STATUS_BROADCAST  = 1,  /**< The condition variable has been signaled via broadcast. */
-  URT_CONDVAR_STATUS_TIMEOUT    = 2,  /**< The condition variable timed out. */
-} urt_condvarStatus_t;
-
-/**
- * @brief   µRtWare OSAL thread function type.
- */
-typedef void (*urt_osThreadFunction_t)(void* arg);
-
-/**
- * @brief   Thread execution state.
- */
-typedef enum {
-  URT_THREAD_STATE_RUNNING    = 0,  /**< Thread is currently running. */
-  URT_THREAD_STATE_READY      = 1,  /**< Thread is ready and wating to be scheduled. */
-  URT_THREAD_STATE_SLEEPING   = 2,  /**< Thread is currently sleeping. */
-  URT_THREAD_STATE_SUSPENDED  = 3,  /**< Thread is suspended. */
-  URT_THREAD_STATE_WAITING    = 4,  /**< Thread is waiting for event. */
-  URT_THREAD_STATE_TERMINATED = 5,  /**< Thread has been terminated. */
-} urt_osThreadState_t;
-
-/**
- * @brief   Thread terminate request flags.
- */
-typedef enum {
-  URT_THREAD_TERMINATE_REQEUST  = 15, /**< Request thread to terminate. */
-  URT_THREAD_TERMINATE_KILL     = 9,  /**< Kill thread immediately. */
-} urt_osThreadTerminateSignal_t;
-
-/**
- * @brief   Specifier for waiting for events.
- */
-typedef enum {
-  URT_EVENT_WAIT_ONE  = 0,  /**< Wait for exactly one event to occur. */
-  URT_EVENT_WAIT_ANY  = 1,  /**< Wait for any combination of events to occur. */
-  URT_EVENT_WAIT_ALL  = 2,  /**< Wait for all specified events to have occurred. */
-} urt_osEventWaitType_t;
-
-#endif /* _URT_TYPES_H_ */
diff --git a/urtware.h b/urtware.h
index fddfb4e..6360c7d 100644
--- a/urtware.h
+++ b/urtware.h
@@ -3,7 +3,7 @@
 applications. It was developed as part of the software habitat for the
 Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
 
-Copyright (C) 2018..2019  Thomas Schöpping et al.
+Copyright (C) 2018..2020  Thomas Schöpping et al.
 
 This program is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
@@ -19,18 +19,20 @@ You should have received a copy of the GNU General Public License
 along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
 
-#ifndef _URTWARE_H_
-#define _URTWARE_H_
+#ifndef URTWARE_H
+#define URTWARE_H
 
 /**
  * @brief   µRtWare identification macro.
  */
 #define _uRtWare_
 
+/*============================================================================*/
 /**
  * @name    µRtWare version and release information.
  * @{
  */
+/*============================================================================*/
 
 /**
  * @brief   Release type of this version.
@@ -69,21 +71,29 @@ along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 /** @} */
 
+/*============================================================================*/
+/* CONFIGURATION & VERIFICATION                                               */
+/*============================================================================*/
+
 #include <urtwareconf.h>
+
 #if !defined(_URTWARE_CFG_)
-#error "invalid µRtWare configuration file"
-#endif
-#if (URTWARE_CFG_VERSION_MAJOR != URTWARE_VERSION_MAJOR) || (URTWARE_CFG_VERSION_MINOR < URTWARE_VERSION_MINOR)
-#error "incompatible µRtWare configuration file"
+# error "invalid µRtWare configuration file"
+#elif (URTWARE_CFG_VERSION_MAJOR != URTWARE_VERSION_MAJOR) || (URTWARE_CFG_VERSION_MAJOR < URTWARE_VERSION_MAJOR)
+# error "incompatible µRtWare configuration file"
 #endif
+
 #include <urt_confcheck.h>
 
-#include <urt_osal.h>
-#if !defined(URT_OSAL_VERSION_MAJOR) || !defined(URT_OSAL_VERSION_MINOR)
-#error "invalid µRt-OSAL implementation"
-#endif
-#if (URT_OSAL_VERSION_MAJOR != URT_OSAL_REQUIRED_MAJOR) || (URT_OSAL_VERSION_MINOR < URT_OSAL_REQUIRED_MINOR)
-#error "incompatible µRt-OSAL implementation"
+#include <urt_primitives.h>
+
+#if defined(URT_CFG_OSAL_HEADER)
+# include URT_CFG_OSAL_HEADER
 #endif
+#include <urt_osal.h>
+
+/*
+ * TODO: Add further µRtWare includes here (e.g. urt_core.h).
+ */
 
-#endif /* _URTWARE_H_ */
+#endif /* URTWARE_H */
