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/'
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µRtWare is a lightweight publish/subscribe middleware for real-time
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applications. It was developed as part of the software habitat for the
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Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
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Copyright (C) 2018..2020  Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program.  If not, see <http://www.gnu.org/licenses/>.
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'/
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/'### INTRO ##################################################################'/
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@startuml
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title **µRtWare**\nOverview\n
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!include ./functions.iuml
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/'### ENTITIES ###############################################################'/
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!startsub ENTITIES
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$module("Configuration") {
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  !includesub config.uml!ENTITIES
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}
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$module("Primitives") {
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  !includesub primitives.uml!ENTITIES
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}
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$module("OSAL") {
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  !includesub osal.uml!ENTITIES
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}
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$module("Middleware") {
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  !includesub urtware.uml!ENTITIES
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}
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!endsub
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/'### DEPENDENCIES & LAYOUT ##################################################'/
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!startsub DEPENDENCIES
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!includesub config.uml!DEPENDENCIES
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!includesub primitives.uml!DEPENDENCIES
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urt_nodestage_t ..> urt_config
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urt_topicid_t ..> urt_config
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urt_serviceid_t ..> urt_config
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urt_delay_t ..> urt_config
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!includesub osal.uml!DEPENDENCIES
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urt_osTime_t ..> urt_delay_t
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urt_osCondvar_t ..> urt_delay_t
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urt_osThread_t ..> urt_delay_t
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urt_osTimer_t ..> urt_delay_t
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urt_events ..> urt_delay_t
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!includesub urtware.uml!DEPENDENCIES
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urt_core_t "1" *-- "1" urt_osEventSource_t
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urt_core_t "1" *-- "1" urt_osMutex_t
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urt_core_t "1" *-- "1" urt_status_t
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urt_core_t ..> urt_nodestage_t
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urt_core_t ..> urt_topicid_t
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urt_core_t ..> urt_serviceid_t
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urt_node_t "1" o-- "1" urt_osThread_t
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urt_node_t "1" *-- "1" urt_nodestage_t
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urt_node_t "1" *-- "1" urt_osEventListener_t
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urt_node_t "0..*" o-- "1" urt_osThreadFunction_t
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urt_node_t ..> urt_status_t
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urt_nodeSetupCallback_t ..> urt_osEventMask_t
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urt_nodeLoopCallback_t ..> urt_osEventMask_t
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urt_publisher_t ..> urt_config
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urt_publisher_t ..> urt_status_t
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urt_publisher_t ..> urt_delay_t
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urt_topic_t "1" *-- "1" urt_topicid_t
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urt_topic_t "1" *-- "1" urt_osMutex_t
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urt_topic_t "1" *-- "1" urt_osEventSource_t
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urt_topic_t "1" *-- "1" urt_osCondvar_t
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urt_topic_t ..> urt_config
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urt_topic_t "1" *-- "0,1" urt_osTimer_t
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urt_topic_t ..> urt_status_t
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urt_message_t "1" *-- "1" urt_osTime_t
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urt_message_t ..> urt_config
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urt_message_t ..> urt_status_t
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urt_basesubscriber_t "1" *-- "1" urt_osEventListener_t
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urt_basesubscriber_t "1" *-- "1" urt_osTime_t
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urt_basesubscriber_t ..> urt_config
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urt_basesubscriber_t ..> urt_status_t
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urt_nrtsubscriber_t "1" *-- "0,2" urt_delay_t
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urt_nrtsubscriber_t ..> urt_config
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urt_nrtsubscriber_t ..> urt_status_t
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urt_srtsubscriber_t "1" *-- "0,1" urt_usefulness_f
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urt_srtsubscriber_t "1" *-- "0,2" urt_delay_t
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urt_srtsubscriber_t ..> urt_config
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urt_srtsubscriber_t ..> urt_status_t
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urt_frtsubscriber_t "1" *-- "0..4" urt_delay_t
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urt_frtsubscriber_t ..> urt_config
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urt_frtsubscriber_t ..> urt_status_t
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urt_hrtsubscriber_t "1" *-- "0..5" urt_delay_t
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urt_hrtsubscriber_t "1" *-- "1" urt_osTimer_t
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urt_hrtsubscriber_t ..> urt_config
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urt_hrtsubscriber_t ..> urt_status_t
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urt_baserequest_t "1" *-- "1" urt_osMutex_t
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urt_baserequest_t "1" *-- "1" urt_osTime_t
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urt_baserequest_t "1" *-- "1" urt_osEventSource_t
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urt_baserequest_t "1" *-- "1" urt_osEventListener_t
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urt_nrtrequest_t "1" *-- "0,2" urt_delay_t
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urt_nrtrequest_t ..> urt_config
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urt_nrtrequest_t ..> urt_status_t
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urt_srtrequest_t "1" *-- "0,1" urt_delay_t
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urt_srtrequest_t ..> urt_config
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urt_srtrequest_t ..> urt_status_t
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urt_srtrequest_t ..> urt_usefulness_f
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urt_frtrequest_t "1" *-- "0..4" urt_delay_t
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urt_frtrequest_t ..> urt_config
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urt_frtrequest_t ..> urt_status_t
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urt_hrtrequest_t "1" *-- "0..4" urt_delay_t
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urt_hrtrequest_t "1" *-- "0,1" urt_osTimer_t
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urt_hrtrequest_t ..> urt_config
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urt_hrtrequest_t ..> urt_status_t
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urt_service_t "1" *-- "1" urt_serviceid_t
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urt_service_t "1" *-- "1" urt_osMutex_t
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urt_service_t "1" *-- "1" urt_osEventSource_t
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urt_service_t "1" *-- "1" urt_osEventListener_t
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urt_service_t ..> urt_config
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urt_service_t ..> urt_status_t
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!endsub
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/'### OUTRO ##################################################################'/
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@enduml
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