AMiRo-OS

<?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="2234px" preserveAspectRatio="none" style="width:11883px;height:2234px;" version="1.1" viewBox="0 0 11883 2234" width="11883px" zoomAndPan="magnify"><defs><filter height="300%" id="f1f8akzzk460ac" 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="5872" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="87" x="5873" y="37.6611">Overview</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="5919.5" y="58.6143"/><!--MD5=[915f6a2b4bff9d90dc7327d570275f1b]

cluster Configuration--><polygon fill="#FFFFFF" filter="url(#f1f8akzzk460ac)" points="10177,1962.8594,10187,1952.8594,10483,1952.8594,10483,2212.8594,10473,2222.8594,10177,2222.8594,10177,1962.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="10473" x2="10482" y1="1962.8594" y2="1953.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="10177" x2="10473" y1="1962.8594" y2="1962.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="10473" x2="10473" y1="1962.8594" y2="2222.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="107" x="10272.5" y="1978.8545">Configuration</text><!--MD5=[1cb8ced355c85ab51f1ab55883ed8585]

cluster Primitives--><polygon fill="#FFFFFF" filter="url(#f1f8akzzk460ac)" points="9730,1744.8594,9740,1734.8594,11153,1734.8594,11153,1922.8594,11143,1932.8594,9730,1932.8594,9730,1744.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="11143" x2="11152" y1="1744.8594" y2="1735.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="9730" x2="11143" y1="1744.8594" y2="1744.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="11143" x2="11143" y1="1744.8594" y2="1932.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="77" x="10399" y="1760.8545">Primitives</text><!--MD5=[ba9da179b6f0b3bb0ea21772c5f4ec75]

cluster OSAL--><polygon fill="#FFFFFF" filter="url(#f1f8akzzk460ac)" points="4279,1319.8594,4289,1309.8594,9577,1309.8594,9577,2129.8594,9567,2139.8594,4279,2139.8594,4279,1319.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="9567" x2="9576" y1="1319.8594" y2="1310.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="4279" x2="9567" y1="1319.8594" y2="1319.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="9567" x2="9567" y1="1319.8594" y2="2139.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="42" x="6903" y="1335.8545">OSAL</text><!--MD5=[2e45f233f6bb64aa81ebe67fb6de8946]

cluster condition variable--><rect fill="#FFFFFF" filter="url(#f1f8akzzk460ac)" height="435.5" style="stroke: #000000; stroke-width: 1.5;" width="726" x="4524" y="1461.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="140" x="4817" y="1476.3545">condition variable</text><!--MD5=[c7113df1f710ca294cbd01734aa00974]

cluster timer--><rect fill="#FFFFFF" filter="url(#f1f8akzzk460ac)" height="429.5" style="stroke: #000000; stroke-width: 1.5;" width="798" x="6063" y="1454.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="6441.5" y="1469.8545">timer</text><!--MD5=[107bb3f79455a18bd83c75ada1ac7979]

cluster thread--><rect fill="#FFFFFF" filter="url(#f1f8akzzk460ac)" height="587" style="stroke: #000000; stroke-width: 1.5;" width="1039" x="6869" y="1341.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="7362.5" y="1356.8545">thread</text><!--MD5=[8d74b40516bd265adb19f202ab81f40d]

cluster events--><rect fill="#FFFFFF" filter="url(#f1f8akzzk460ac)" height="664" style="stroke: #000000; stroke-width: 1.5;" width="1642" x="7927" y="1467.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="54" x="8721" y="1482.8545">events</text><!--MD5=[4e1a3510868d06a507f098bb08f0dae0]

cluster Middleware--><polygon fill="#FFFFFF" filter="url(#f1f8akzzk460ac)" points="14,88.8594,24,78.8594,4271,78.8594,4271,1906.3594,4261,1916.3594,14,1916.3594,14,88.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="4261" x2="4270" y1="88.8594" y2="79.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="14" x2="4261" y1="88.8594" y2="88.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="4261" x2="4261" y1="88.8594" y2="1916.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="91" x="2093" y="104.8545">Middleware</text><!--MD5=[b9de0669a29c7bc934fd916b09c39491]

cluster node--><rect fill="#FFFFFF" filter="url(#f1f8akzzk460ac)" height="457.5" style="stroke: #000000; stroke-width: 1.5;" width="1138" x="2465" y="340.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="40" x="3014" y="355.8545">node</text><!--MD5=[d74e2ef346f73688f9378f6d3d42598c]

cluster Publish-Subscribe System--><polygon fill="#FFFFFF" filter="url(#f1f8akzzk460ac)" points="22,390.8594,32,380.8594,2457,380.8594,2457,1898.3594,2447,1908.3594,22,1908.3594,22,390.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="2447" x2="2456" y1="390.8594" y2="381.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="22" x2="2447" y1="390.8594" y2="390.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="2447" x2="2447" y1="390.8594" y2="1908.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="205" x="1133" y="406.8545">Publish-Subscribe System</text><!--MD5=[16a3bbbe805f94d6e6ce317c08ab945e]

cluster subscriber--><rect fill="#FFFFFF" filter="url(#f1f8akzzk460ac)" height="1323.5" style="stroke: #000000; stroke-width: 1.5;" width="1214" x="30" y="576.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="85" x="594.5" y="591.8545">subscriber</text><!--MD5=[94ad99421f5a0f525bc1c13a3777c25e]

cluster real-time constraint data--><rect fill="#FFFFFF" filter="url(#f1f8akzzk460ac)" height="897" style="stroke: #000000; stroke-width: 1.5;" width="1198" x="38" y="995.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="194" x="540" y="1010.3545">real-time constraint data</text><!--MD5=[57c3116dbac3d3a2ea35fece1cdc00f4]

cluster SRT data--><rect fill="#FFFFFF" filter="url(#f1f8akzzk460ac)" height="410.5" style="stroke: #000000; stroke-width: 1.5;" width="390" x="46" y="1473.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="69" x="206.5" y="1488.8545">SRT data</text><!--MD5=[810d0f07e53ef611b6d803ef30301147]

cluster Remote Procedure Call System--><polygon fill="#FFFFFF" filter="url(#f1f8akzzk460ac)" points="3611,390.8594,3621,380.8594,4263,380.8594,4263,1095.8594,4253,1105.8594,3611,1105.8594,3611,390.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="4253" x2="4262" y1="390.8594" y2="381.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="3611" x2="4253" y1="390.8594" y2="390.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="4253" x2="4253" y1="390.8594" y2="1105.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="244" x="3811" y="406.8545">Remote Procedure Call System</text><!--MD5=[7579d5565d2521d5936cec86ed3dadee]

cluster service--><rect fill="#FFFFFF" filter="url(#f1f8akzzk460ac)" height="476" style="stroke: #000000; stroke-width: 1.5;" width="636" x="3619" y="621.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="58" x="3908" y="636.8545">service</text><!--MD5=[e443ac33c80100c2d54e1f5fe669f6d7]

class urt_config--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="230.4609" id="urt_config" style="stroke: #A80036; stroke-width: 1.5;" width="290" x="10185" y="1984.8594"/><ellipse cx="10294.75" cy="2000.8594" fill="#BFBFBF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10297.7188,2006.5 Q10297.1406,2006.7969 10296.5,2006.9375 Q10295.8594,2007.0938 10295.1563,2007.0938 Q10292.6563,2007.0938 10291.3281,2005.4531 Q10290.0156,2003.7969 10290.0156,2000.6719 Q10290.0156,1997.5469 10291.3281,1995.8906 Q10292.6563,1994.2344 10295.1563,1994.2344 Q10295.8594,1994.2344 10296.5,1994.3906 Q10297.1563,1994.5469 10297.7188,1994.8438 L10297.7188,1997.5625 Q10297.0938,1996.9844 10296.5,1996.7188 Q10295.9063,1996.4375 10295.2813,1996.4375 Q10293.9375,1996.4375 10293.25,1997.5156 Q10292.5625,1998.5781 10292.5625,2000.6719 Q10292.5625,2002.7656 10293.25,2003.8438 Q10293.9375,2004.9063 10295.2813,2004.9063 Q10295.9063,2004.9063 10296.5,2004.6406 Q10297.0938,2004.3594 10297.7188,2003.7813 L10297.7188,2006.5 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="62" x="10315.25" y="2005.0137">urt_config</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10186" x2="10474" y1="2016.8594" y2="2016.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="159" x="10191" y="2031.0698">URT_CFG_DELAY_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="169" x="10191" y="2043.8745">URT_CFG_TOPICID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="10191" y="2056.6792">URT_CFG_SERVICEID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="10191" y="2069.4839">URT_CFG_NODESTAGE_WIDTH : int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10186" x2="10474" y1="2076.0781" y2="2076.0781"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="10191" y="2090.2886">URT_CFG_DEBUG_ENABLED : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10186" x2="10474" y1="2096.8828" y2="2096.8828"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="10191" y="2111.0933">URT_CFG_PUBSUB_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="204" x="10191" y="2123.8979">URT_CFG_PUBSUB_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="278" x="10191" y="2136.7026">URT_CFG_PUBSUB_QOS_DEADLINECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="252" x="10191" y="2149.5073">URT_CFG_PUBSUB_QOS_RATECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="10191" y="2162.312">URT_CFG_PUBSUB_QOS_JITTERCHECKS : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10186" x2="10474" y1="2168.9063" y2="2168.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="10191" y="2183.1167">URT_CFG_RPC_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="10191" y="2195.9214">URT_CFG_RPC_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="10191" y="2208.7261">URT_CFG_RPC_QOS_JITTERCHECKS : bool</text><!--MD5=[9f69b6f4e23017059189983d6906a1eb]

class urt_nodestage_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="158.4375" id="urt_nodestage_t" style="stroke: #A80036; stroke-width: 1.5;" width="216" x="10929" y="1766.8594"/><ellipse cx="10981.25" cy="1782.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10982.0938,1789.6094 L10979.6406,1789.6094 L10979.6406,1779.3594 L10976.5,1779.3594 L10976.5,1777.2188 L10985.2344,1777.2188 L10985.2344,1779.3594 L10982.0938,1779.3594 L10982.0938,1789.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="103" x="11001.75" y="1787.0137">urt_nodestage_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10930" x2="11144" y1="1798.8594" y2="1798.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="10935" y="1829.8745">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10930" x2="10936.5" y1="1813.2617" y2="1813.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="201" x="10936.5" y="1816.5698">URT_CFG_NODESTAGE_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11137.5" x2="11144" y1="1813.2617" y2="1813.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="10935" y="1859.4839">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10930" x2="10933" y1="1842.8711" y2="1842.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="10933" y="1846.1792">URT_CFG_NODESTAGE_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11141" x2="11144" y1="1842.8711" y2="1842.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="10935" y="1889.0933">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10930" x2="10933" y1="1872.4805" y2="1872.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="10933" y="1875.7886">URT_CFG_NODESTAGE_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11141" x2="11144" y1="1872.4805" y2="1872.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="10935" y="1918.7026">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10930" x2="10933" y1="1902.0898" y2="1902.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="10933" y="1905.3979">URT_CFG_NODESTAGE_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11141" x2="11144" y1="1902.0898" y2="1902.0898"/><!--MD5=[a55671f9c3a4eb2d749fd774fc81a82b]

class urt_topicid_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="158.4375" id="urt_topicid_t" style="stroke: #A80036; stroke-width: 1.5;" width="191" x="10234.5" y="1766.8594"/><ellipse cx="10287.25" cy="1782.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10288.0938,1789.6094 L10285.6406,1789.6094 L10285.6406,1779.3594 L10282.5,1779.3594 L10282.5,1777.2188 L10291.2344,1777.2188 L10291.2344,1779.3594 L10288.0938,1779.3594 L10288.0938,1789.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="77" x="10307.75" y="1787.0137">urt_topicid_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10235.5" x2="10424.5" y1="1798.8594" y2="1798.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="10240.5" y="1829.8745">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10235.5" x2="10242" y1="1813.2617" y2="1813.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="10242" y="1816.5698">URT_CFG_TOPICID_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10418" x2="10424.5" y1="1813.2617" y2="1813.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="10240.5" y="1859.4839">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10235.5" x2="10238.5" y1="1842.8711" y2="1842.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="10238.5" y="1846.1792">URT_CFG_TOPICID_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10421.5" x2="10424.5" y1="1842.8711" y2="1842.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="10240.5" y="1889.0933">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10235.5" x2="10238.5" y1="1872.4805" y2="1872.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="10238.5" y="1875.7886">URT_CFG_TOPICID_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10421.5" x2="10424.5" y1="1872.4805" y2="1872.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="10240.5" y="1918.7026">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10235.5" x2="10238.5" y1="1902.0898" y2="1902.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="10238.5" y="1905.3979">URT_CFG_TOPICID_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10421.5" x2="10424.5" y1="1902.0898" y2="1902.0898"/><!--MD5=[4d8326c7af3a397210cbde406c7c860c]

class urt_serviceid_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="158.4375" id="urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.5;" width="204" x="10690" y="1766.8594"/><ellipse cx="10742.75" cy="1782.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10743.5938,1789.6094 L10741.1406,1789.6094 L10741.1406,1779.3594 L10738,1779.3594 L10738,1777.2188 L10746.7344,1777.2188 L10746.7344,1779.3594 L10743.5938,1779.3594 L10743.5938,1789.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="90" x="10763.25" y="1787.0137">urt_serviceid_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10691" x2="10893" y1="1798.8594" y2="1798.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="10696" y="1829.8745">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10691" x2="10697.5" y1="1813.2617" y2="1813.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="10697.5" y="1816.5698">URT_CFG_SERVICEID_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10886.5" x2="10893" y1="1813.2617" y2="1813.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="10696" y="1859.4839">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10691" x2="10694" y1="1842.8711" y2="1842.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="10694" y="1846.1792">URT_CFG_SERVICEID_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10890" x2="10893" y1="1842.8711" y2="1842.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="10696" y="1889.0933">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10691" x2="10694" y1="1872.4805" y2="1872.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="10694" y="1875.7886">URT_CFG_SERVICEID_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10890" x2="10893" y1="1872.4805" y2="1872.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="10696" y="1918.7026">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10691" x2="10694" y1="1902.0898" y2="1902.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="10694" y="1905.3979">URT_CFG_SERVICEID_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10890" x2="10893" y1="1902.0898" y2="1902.0898"/><!--MD5=[e750dab3ce4ebe0433cc930181355272]

class urt_status_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="86.4141" id="urt_status_t" style="stroke: #A80036; stroke-width: 1.5;" width="194" x="10461" y="1802.8594"/><ellipse cx="10516.25" cy="1818.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10517.0938,1825.6094 L10514.6406,1825.6094 L10514.6406,1815.3594 L10511.5,1815.3594 L10511.5,1813.2188 L10520.2344,1813.2188 L10520.2344,1815.3594 L10517.0938,1815.3594 L10517.0938,1825.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="10536.75" y="1823.0137">urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10462" x2="10654" y1="1834.8594" y2="1834.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="147" x="10467" y="1849.0698">URT_STATUS_OK = 0x0..0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="10467" y="1861.8745">URT_STATUS_WARNING = 0x4..0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="168" x="10467" y="1874.6792">URT_STATUS_ERROR = 0x8..0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10462" x2="10654" y1="1881.2734" y2="1881.2734"/><!--MD5=[15452fea434e71f16c7de0feaca2b066]

class urt_delay_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="99.2188" id="urt_delay_t" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="10018.5" y="1796.3594"/><ellipse cx="10070.75" cy="1812.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10071.5938,1819.1094 L10069.1406,1819.1094 L10069.1406,1808.8594 L10066,1808.8594 L10066,1806.7188 L10074.7344,1806.7188 L10074.7344,1808.8594 L10071.5938,1808.8594 L10071.5938,1819.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="68" x="10091.25" y="1816.5137">urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10019.5" x2="10198.5" y1="1828.3594" y2="1828.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="10024.5" y="1859.3745">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10019.5" x2="10022.5" y1="1842.7617" y2="1842.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="10022.5" y="1846.0698">URT_CFG_DELAY_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10195.5" x2="10198.5" y1="1842.7617" y2="1842.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="10024.5" y="1888.9839">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10019.5" x2="10022.5" y1="1872.3711" y2="1872.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="10022.5" y="1875.6792">URT_CFG_DELAY_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10195.5" x2="10198.5" y1="1872.3711" y2="1872.3711"/><!--MD5=[f106a25c06a671b3918b1a8f37571a4d]

class urt_debug--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="245" x="9738.5" y="1815.3594"/><ellipse cx="9824.75" cy="1831.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9828.9844,1827.125 L9823.7031,1827.125 L9823.7031,1829.7969 L9828.5,1829.7969 L9828.5,1831.9531 L9823.7031,1831.9531 L9823.7031,1837.3594 L9821.2656,1837.3594 L9821.2656,1824.9688 L9828.9844,1824.9688 L9828.9844,1827.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="9845.25" y="1835.5137">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9739.5" x2="9982.5" y1="1847.3594" y2="1847.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="9739.5" x2="9982.5" y1="1855.3594" y2="1855.3594"/><ellipse cx="9749.5" cy="1866.3594" 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="9758.5" y="1869.5698">urtDebugAssert(condition : bool) : void</text><!--MD5=[3677786d1f00795918091b0110bfa4af]

class urt_osTime_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="425" x="5277.5" y="1494.8594"/><ellipse cx="5446.25" cy="1510.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5447.0938,1517.6094 L5444.6406,1517.6094 L5444.6406,1507.3594 L5441.5,1507.3594 L5441.5,1505.2188 L5450.2344,1505.2188 L5450.2344,1507.3594 L5447.0938,1507.3594 L5447.0938,1517.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="5466.75" y="1515.0137">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5278.5" x2="5701.5" y1="1526.8594" y2="1526.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5278.5" x2="5701.5" y1="1534.8594" y2="1534.8594"/><ellipse cx="5288.5" cy="1545.8594" 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="5297.5" y="1549.0698">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="5288.5" cy="1558.6641" 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="5297.5" y="1561.8745">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="5288.5" cy="1571.4688" 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="5297.5" y="1574.6792">urtTimeAddUs (time : urt_osTime_t*, offset : uint32_t) : urt_osTime_t*</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]

class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="5738" y="1488.3594"/><ellipse cx="5839.25" cy="1504.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5840.0938,1511.1094 L5837.6406,1511.1094 L5837.6406,1500.8594 L5834.5,1500.8594 L5834.5,1498.7188 L5843.2344,1498.7188 L5843.2344,1500.8594 L5840.0938,1500.8594 L5840.0938,1511.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="5859.75" y="1508.5137">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5739" x2="6035" y1="1520.3594" y2="1520.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5739" x2="6035" y1="1528.3594" y2="1528.3594"/><ellipse cx="5749" cy="1539.3594" 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="5758" y="1542.5698">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="5749" cy="1552.1641" 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="5758" y="1555.3745">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="5749" cy="1564.9688" 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="5758" y="1568.1792">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="5749" cy="1577.7734" 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="5758" y="1580.9839">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--MD5=[0cf29100c96c506429a28b45d347cc92]

class urt_streams--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="209" x="4287.5" y="1500.8594"/><ellipse cx="4350.25" cy="1516.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4354.4844,1512.625 L4349.2031,1512.625 L4349.2031,1515.2969 L4354,1515.2969 L4354,1517.4531 L4349.2031,1517.4531 L4349.2031,1522.8594 L4346.7656,1522.8594 L4346.7656,1510.4688 L4354.4844,1510.4688 L4354.4844,1512.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="4370.75" y="1521.0137">urt_streams</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4288.5" x2="4495.5" y1="1532.8594" y2="1532.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4288.5" x2="4495.5" y1="1540.8594" y2="1540.8594"/><ellipse cx="4298.5" cy="1551.8594" 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="4307.5" y="1555.0698">urtPrintf(fmt : char*, ... ) : int</text><ellipse cx="4298.5" cy="1564.6641" 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="4307.5" y="1567.8745">urtErrPrintf(fmt : char*, ... ) : int</text><!--MD5=[52fa11869cb40c93fa7702378ddd839e]

class urt_osCondvarWaitStatus_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="86.4141" id="urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="4752" y="1802.8594"/><ellipse cx="4798.25" cy="1818.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4802.3594,1824.8594 L4794.6406,1824.8594 L4794.6406,1812.4688 L4802.3594,1812.4688 L4802.3594,1814.625 L4797.0938,1814.625 L4797.0938,1817.2969 L4801.8594,1817.2969 L4801.8594,1819.4531 L4797.0938,1819.4531 L4797.0938,1822.7031 L4802.3594,1822.7031 L4802.3594,1824.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="169" x="4818.75" y="1823.0137">urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4753" x2="5021" y1="1834.8594" y2="1834.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="4758" y="1849.0698">URT_CONDVAR_WAITSTATUS_SIGNAL = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="4758" y="1861.8745">URT_CONDVAR_WAITSTATUS_BROADCAST = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="4758" y="1874.6792">URT_CONDVAR_WAITSTATUS_TIMEOUT = 0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4753" x2="5021" y1="1881.2734" y2="1881.2734"/><!--MD5=[004fc5dee471033e8e4138c1c73f0692]

class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="99.2188" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="4532" y="1488.3594"/><ellipse cx="4832.25" cy="1504.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4833.0938,1511.1094 L4830.6406,1511.1094 L4830.6406,1500.8594 L4827.5,1500.8594 L4827.5,1498.7188 L4836.2344,1498.7188 L4836.2344,1500.8594 L4833.0938,1500.8594 L4833.0938,1511.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="4852.75" y="1508.5137">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4533" x2="5241" y1="1520.3594" y2="1520.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4533" x2="5241" y1="1528.3594" y2="1528.3594"/><ellipse cx="4543" cy="1539.3594" 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="4552" y="1542.5698">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4543" cy="1552.1641" 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="4552" y="1555.3745">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4543" cy="1564.9688" 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="4552" y="1568.1792">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4543" cy="1577.7734" 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="4552" y="1580.9839">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(#f1f8akzzk460ac)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="6319" y="1815.3594"/><ellipse cx="6389.75" cy="1831.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6390.5938,1838.1094 L6388.1406,1838.1094 L6388.1406,1827.8594 L6385,1827.8594 L6385,1825.7188 L6393.7344,1825.7188 L6393.7344,1827.8594 L6390.5938,1827.8594 L6390.5938,1838.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="6410.25" y="1835.5137">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6320" x2="6604" y1="1847.3594" y2="1847.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6320" x2="6604" y1="1855.3594" y2="1855.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="6325" y="1869.5698">urt_osTimerCallback_t (parameter : void*) : void</text><!--MD5=[0b340d7b925b1eab6a1b7e084f68a7c2]

class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="112.0234" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="782" x="6071" y="1481.8594"/><ellipse cx="6415.75" cy="1497.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6416.5938,1504.6094 L6414.1406,1504.6094 L6414.1406,1494.3594 L6411,1494.3594 L6411,1492.2188 L6419.7344,1492.2188 L6419.7344,1494.3594 L6416.5938,1494.3594 L6416.5938,1504.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="6436.25" y="1502.0137">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6072" x2="6852" y1="1513.8594" y2="1513.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6072" x2="6852" y1="1521.8594" y2="1521.8594"/><ellipse cx="6082" cy="1532.8594" 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="6091" y="1536.0698">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="6082" cy="1545.6641" 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="6091" y="1548.8745">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="6082" cy="1558.4688" 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="6091" y="1561.6792">urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="6082" cy="1571.2734" 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="6091" y="1574.4839">urtTimerReset (timer : urt_osTimer_t*) : urt_status_t</text><ellipse cx="6082" cy="1584.0781" 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="6091" y="1587.2886">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--MD5=[86c16d91227b9a9ec3b6b9b0285de4e9]

class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="7138.5" y="1770.8594"/><ellipse cx="7174.65" cy="1786.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7175.4938,1793.6094 L7173.0406,1793.6094 L7173.0406,1783.3594 L7169.9,1783.3594 L7169.9,1781.2188 L7178.6344,1781.2188 L7178.6344,1783.3594 L7175.4938,1783.3594 L7175.4938,1793.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="7193.35" y="1791.0137">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7139.5" x2="7334.5" y1="1802.8594" y2="1802.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="7144.5" y="1817.0698">URT_THREAD_PRIO_LOW_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="7144.5" y="1829.8745">URT_THREAD_PRIO_LOW_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="7144.5" y="1842.6792">URT_THREAD_PRIO_NORMAL_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="7144.5" y="1855.4839">URT_THREAD_PRIO_NORMAL_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="7144.5" y="1868.2886">URT_THREAD_PRIO_HIGH_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="7144.5" y="1881.0933">URT_THREAD_PRIO_HIGH_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="7144.5" y="1893.8979">URT_THREAD_PRIO_RT_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="7144.5" y="1906.7026">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7139.5" x2="7334.5" y1="1913.2969" y2="1913.2969"/><!--MD5=[69d8aab9aa387a2f5052ea3da80e80ea]

class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="7648" y="1815.3594"/><ellipse cx="7695.75" cy="1831.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7696.5938,1838.1094 L7694.1406,1838.1094 L7694.1406,1827.8594 L7691,1827.8594 L7691,1825.7188 L7699.7344,1825.7188 L7699.7344,1827.8594 L7696.5938,1827.8594 L7696.5938,1838.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="7716.25" y="1835.5137">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7649" x2="7899" y1="1847.3594" y2="1847.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7649" x2="7899" y1="1855.3594" y2="1855.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="7654" y="1869.5698">urt_osThreadFunction_t (arg : void*) : void</text><!--MD5=[ab5f611d45c3fa10609c33f780d8c3e1]

class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="7371" y="1808.8594"/><ellipse cx="7392.75" cy="1824.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7396.8594,1830.8594 L7389.1406,1830.8594 L7389.1406,1818.4688 L7396.8594,1818.4688 L7396.8594,1820.625 L7391.5938,1820.625 L7391.5938,1823.2969 L7396.3594,1823.2969 L7396.3594,1825.4531 L7391.5938,1825.4531 L7391.5938,1828.7031 L7396.8594,1828.7031 L7396.8594,1830.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="7408.25" y="1829.0137">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7372" x2="7612" y1="1840.8594" y2="1840.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="7377" y="1855.0698">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="7377" y="1867.8745">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7372" x2="7612" y1="1874.4688" y2="1874.4688"/><!--MD5=[47d14ad2c233fae1b32b8d0a283e820a]

class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="137.6328" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="6877" y="1776.8594"/><ellipse cx="6921.75" cy="1792.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6925.8594,1798.8594 L6918.1406,1798.8594 L6918.1406,1786.4688 L6925.8594,1786.4688 L6925.8594,1788.625 L6920.5938,1788.625 L6920.5938,1791.2969 L6925.3594,1791.2969 L6925.3594,1793.4531 L6920.5938,1793.4531 L6920.5938,1796.7031 L6925.8594,1796.7031 L6925.8594,1798.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="6942.25" y="1797.0137">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6878" x2="7102" y1="1808.8594" y2="1808.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="6883" y="1823.0698">URT_THREAD_STATE_INACTIVE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="6883" y="1835.8745">URT_THREAD_STATE_RUNNING = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="6883" y="1848.6792">URT_THREAD_STATE_READY = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="6883" y="1861.4839">URT_THREAD_STATE_SLEEPING = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="6883" y="1874.2886">URT_THREAD_STATE_SUSPENDED = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="6883" y="1887.0933">URT_THREAD_STATE_WAITING = 5</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="6883" y="1899.8979">URT_THREAD_STATE_TERMINATED = 6</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6878" x2="7102" y1="1906.4922" y2="1906.4922"/><!--MD5=[0a16224ede9ffa9bb2d34e085a076e6d]

class urt_osThread_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="337.7031" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="560" x="7084" y="1368.8594"/><ellipse cx="7312.75" cy="1384.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7313.5938,1391.6094 L7311.1406,1391.6094 L7311.1406,1381.3594 L7308,1381.3594 L7308,1379.2188 L7316.7344,1379.2188 L7316.7344,1381.3594 L7313.5938,1381.3594 L7313.5938,1391.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="7333.25" y="1389.0137">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7085" x2="7643" y1="1400.8594" y2="1400.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="7090" y="1415.0698">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="7090" y="1427.8745">URT_THREAD_SSLEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="7090" y="1440.6792">URT_THREAD_MSLEEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="7090" y="1453.4839">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="7085" x2="7643" y1="1460.0781" y2="1460.0781"/><ellipse cx="7095" cy="1471.0781" 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="7104" y="1474.2886">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7085" x2="7643" y1="1480.8828" y2="1480.8828"/><ellipse cx="7095" cy="1491.8828" 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="7104" y="1495.0933">urtThreadInit (memory : void*, size : size_t, func : urt_osThreadFunction_t*) : urt_osThread_t*</text><ellipse cx="7095" cy="1504.6875" 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="7104" y="1507.8979">urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void</text><ellipse cx="7095" cy="1517.4922" 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="7104" y="1520.7026">urtThreadYield (void) : void</text><ellipse cx="7095" cy="1530.2969" 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="7104" y="1533.5073">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="7095" cy="1543.1016" 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="7104" y="1546.312">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="7095" cy="1555.9063" 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="7104" y="1559.1167">urtThreadSuspend (thread : urt_osThread_t*) : void</text><ellipse cx="7095" cy="1568.7109" 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="7104" y="1571.9214">urtThreadResume (thread : urt_osThread_t*) : urt_status_t</text><ellipse cx="7095" cy="1581.5156" 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="7104" y="1584.7261">urtThreadSleep (seconds : float) : void</text><ellipse cx="7095" cy="1594.3203" 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="7104" y="1597.5308">urtThreadSSleep (seconds : urt_delay_t) : void</text><ellipse cx="7095" cy="1607.125" 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="7104" y="1610.3354">urtThreadMSleep (milliseconds : urt_delay_t) : void</text><ellipse cx="7095" cy="1619.9297" 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="7104" y="1623.1401">urtThreadUSleep (microseconds : urt_delay_t) : void</text><ellipse cx="7095" cy="1632.7344" 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="7104" y="1635.9448">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="7095" cy="1645.5391" 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="7104" y="1648.7495">urtThreadExit (void) : void</text><ellipse cx="7095" cy="1658.3438" 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="7104" y="1661.5542">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="7095" cy="1671.1484" 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="7104" y="1674.3589">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="7095" cy="1683.9531" 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="7104" y="1687.1636">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="7095" cy="1696.7578" 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="7104" y="1699.9683">urtThreadGetSelf (void) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]

class urt_osEventMask_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="60.8047" id="urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.5;" width="280" x="8169" y="1815.3594"/><ellipse cx="8246.25" cy="1831.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8247.0938,1838.1094 L8244.6406,1838.1094 L8244.6406,1827.8594 L8241.5,1827.8594 L8241.5,1825.7188 L8250.2344,1825.7188 L8250.2344,1827.8594 L8247.0938,1827.8594 L8247.0938,1838.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="8266.75" y="1835.5137">urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8170" x2="8448" y1="1847.3594" y2="1847.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="268" x="8175" y="1861.5698">URT_EVENTMASK_MAXPRIO : urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8170" x2="8448" y1="1868.1641" y2="1868.1641"/><!--MD5=[dc1cc33af288560680c15dec1e56eda0]

class urt_osEventFlags_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="48" id="urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="8656" y="2075.8594"/><ellipse cx="8671" cy="2091.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8671.8438,2098.6094 L8669.3906,2098.6094 L8669.3906,2088.3594 L8666.25,2088.3594 L8666.25,2086.2188 L8674.9844,2086.2188 L8674.9844,2088.3594 L8671.8438,2088.3594 L8671.8438,2098.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="8685" y="2096.0137">urt_osEventFlags_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8657" x2="8805" y1="2107.8594" y2="2107.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8657" x2="8805" y1="2115.8594" y2="2115.8594"/><!--MD5=[e2bbbd64e6979bf7b755747a6c0ba948]

class urt_osEventWait_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="86.4141" id="urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.5;" width="162" x="7972" y="1802.8594"/><ellipse cx="7995.1" cy="1818.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7999.2094,1824.8594 L7991.4906,1824.8594 L7991.4906,1812.4688 L7999.2094,1812.4688 L7999.2094,1814.625 L7993.9438,1814.625 L7993.9438,1817.2969 L7998.7094,1817.2969 L7998.7094,1819.4531 L7993.9438,1819.4531 L7993.9438,1822.7031 L7999.2094,1822.7031 L7999.2094,1824.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="8010.9" y="1823.0137">urt_osEventWait_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7973" x2="8133" y1="1834.8594" y2="1834.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="7978" y="1849.0698">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="7978" y="1861.8745">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="7978" y="1874.6792">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7973" x2="8133" y1="1881.2734" y2="1881.2734"/><!--MD5=[d054ac2eda12ce4b1fe5a18c9be716c1]

class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="8484" y="1802.8594"/><ellipse cx="8659.25" cy="1818.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8660.0938,1825.6094 L8657.6406,1825.6094 L8657.6406,1815.3594 L8654.5,1815.3594 L8654.5,1813.2188 L8663.2344,1813.2188 L8663.2344,1815.3594 L8660.0938,1815.3594 L8660.0938,1825.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="8679.75" y="1823.0137">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8485" x2="8977" y1="1834.8594" y2="1834.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8485" x2="8977" y1="1842.8594" y2="1842.8594"/><ellipse cx="8495" cy="1853.8594" 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="8504" y="1857.0698">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="8495" cy="1866.6641" 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="8504" y="1869.8745">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="8495" cy="1879.4688" 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="8504" y="1882.6792">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]

class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="9013.5" y="1808.8594"/><ellipse cx="9218.25" cy="1824.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9219.0938,1831.6094 L9216.6406,1831.6094 L9216.6406,1821.3594 L9213.5,1821.3594 L9213.5,1819.2188 L9222.2344,1819.2188 L9222.2344,1821.3594 L9219.0938,1821.3594 L9219.0938,1831.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="9238.75" y="1829.0137">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9014.5" x2="9559.5" y1="1840.8594" y2="1840.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="9014.5" x2="9559.5" y1="1848.8594" y2="1848.8594"/><ellipse cx="9024.5" cy="1859.8594" 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="9033.5" y="1863.0698">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="9024.5" cy="1872.6641" 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="9033.5" y="1875.8745">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--MD5=[04a3b5a37031e2a4d723f19d8adf86f5]

class urt_events--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="890" x="8286" y="1494.8594"/><ellipse cx="8693.75" cy="1510.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8697.9844,1506.625 L8692.7031,1506.625 L8692.7031,1509.2969 L8697.5,1509.2969 L8697.5,1511.4531 L8692.7031,1511.4531 L8692.7031,1516.8594 L8690.2656,1516.8594 L8690.2656,1504.4688 L8697.9844,1504.4688 L8697.9844,1506.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="8714.25" y="1515.0137">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8287" x2="9175" y1="1526.8594" y2="1526.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8287" x2="9175" y1="1534.8594" y2="1534.8594"/><ellipse cx="8297" cy="1545.8594" 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="8306" y="1549.0698">urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : urt_status_t</text><ellipse cx="8297" cy="1558.6641" 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="8306" y="1561.8745">urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : urt_status_t</text><ellipse cx="8297" cy="1571.4688" 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="8306" y="1574.6792">urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWait_t, timeout : urt_delay_t) : urt_osEventMask_t</text><!--MD5=[89d25e87afdd75480e1ec2bd05524873]

class urt_core_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="196.8516" id="urt_core_t" style="stroke: #A80036; stroke-width: 1.5;" width="515" x="3747.5" y="110.8594"/><ellipse cx="3969.25" cy="126.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3968.7344,127.4219 Q3966.875,126.7188 3966.2188,125.9531 Q3965.5781,125.1719 3965.5781,123.8594 Q3965.5781,122.1719 3966.6563,121.2031 Q3967.7344,120.2344 3969.6094,120.2344 Q3970.4688,120.2344 3971.3125,120.4375 Q3972.1719,120.625 3973.0156,121.0156 L3973.0156,123.4063 Q3972.2344,122.8438 3971.4063,122.5625 Q3970.5938,122.2656 3969.7969,122.2656 Q3968.9219,122.2656 3968.4375,122.625 Q3967.9688,122.9844 3967.9688,123.6406 Q3967.9688,124.1563 3968.3125,124.5 Q3968.6563,124.8281 3969.75,125.2344 L3970.8125,125.6406 Q3972.2969,126.1875 3973,127.0938 Q3973.7188,128 3973.7188,129.375 Q3973.7188,131.25 3972.6094,132.1719 Q3971.5,133.0938 3969.25,133.0938 Q3968.3281,133.0938 3967.4063,132.875 Q3966.4844,132.6563 3965.625,132.2344 L3965.625,129.7031 Q3966.5938,130.3906 3967.5156,130.7344 Q3968.4375,131.0781 3969.3281,131.0781 Q3970.2344,131.0781 3970.7344,130.6719 Q3971.2344,130.25 3971.2344,129.5156 Q3971.2344,128.9531 3970.8906,128.5469 Q3970.5625,128.125 3969.9375,127.875 L3968.7344,127.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="63" x="3989.75" y="131.0137">urt_core_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3748.5" x2="4261.5" y1="142.8594" y2="142.8594"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="3755.5" y="150.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="3767.5" y="157.0698">_nodes : urt_node_t*</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="3755.5" y="163.6641"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="192" x="3767.5" y="169.8745">_evtSource : urt_osEventSource_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="3755.5" y="176.4688"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="3767.5" y="182.6792">_lock : urt_osMutex_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="3755.5" y="206.0781"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="134" x="3767.5" y="212.2886">_pubsub : urt_pubsub_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3748.5" x2="3900" y1="195.6758" y2="195.6758"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="3900" y="198.9839">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4110" x2="4261.5" y1="195.6758" y2="195.6758"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="3755.5" y="235.6875"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="86" x="3767.5" y="241.8979">_rpc : urt_rpc_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3748.5" x2="3912.5" y1="225.2852" y2="225.2852"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="3912.5" y="228.5933">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4097.5" x2="4261.5" y1="225.2852" y2="225.2852"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3748.5" x2="4261.5" y1="248.4922" y2="248.4922"/><ellipse cx="3758.5" cy="259.4922" 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="175" x="3767.5" y="262.7026">urtCoreInit (void) : urt_status_t</text><ellipse cx="3758.5" cy="272.2969" 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="222" x="3767.5" y="275.5073">urtCoreStartNodes (void) : urt_status_t</text><ellipse cx="3758.5" cy="285.1016" 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="489" x="3767.5" y="288.312">urtCoreSynchronizeNodes (node : urt_node_t*, stage : urt_nodestage_t) : urt_status_t</text><ellipse cx="3758.5" cy="297.9063" 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="3767.5" y="301.1167">urtCoreStopNodes (void) : urt_status_t</text><!--MD5=[a7dea26996a1231aa68629b332780450]

class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="2487" y="729.3594"/><ellipse cx="2632.75" cy="745.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2633.5938,752.1094 L2631.1406,752.1094 L2631.1406,741.8594 L2628,741.8594 L2628,739.7188 L2636.7344,739.7188 L2636.7344,741.8594 L2633.5938,741.8594 L2633.5938,752.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="2653.25" y="749.5137">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2488" x2="2942" y1="761.3594" y2="761.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2488" x2="2942" y1="769.3594" y2="769.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="2493" y="783.5698">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]

class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="2978" y="729.3594"/><ellipse cx="3206.25" cy="745.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3207.0938,752.1094 L3204.6406,752.1094 L3204.6406,741.8594 L3201.5,741.8594 L3201.5,739.7188 L3210.2344,739.7188 L3210.2344,741.8594 L3207.0938,741.8594 L3207.0938,752.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="3226.75" y="749.5137">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2979" x2="3591" y1="761.3594" y2="761.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2979" x2="3591" y1="769.3594" y2="769.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="2984" y="783.5698">urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t</text><!--MD5=[d2563153d77472384a15c07b815d639f]

class urt_node_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="176.0469" id="urt_node_t" style="stroke: #A80036; stroke-width: 1.5;" width="1104" x="2473" y="367.8594"/><ellipse cx="2987.25" cy="383.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2986.7344,384.4219 Q2984.875,383.7188 2984.2188,382.9531 Q2983.5781,382.1719 2983.5781,380.8594 Q2983.5781,379.1719 2984.6563,378.2031 Q2985.7344,377.2344 2987.6094,377.2344 Q2988.4688,377.2344 2989.3125,377.4375 Q2990.1719,377.625 2991.0156,378.0156 L2991.0156,380.4063 Q2990.2344,379.8438 2989.4063,379.5625 Q2988.5938,379.2656 2987.7969,379.2656 Q2986.9219,379.2656 2986.4375,379.625 Q2985.9688,379.9844 2985.9688,380.6406 Q2985.9688,381.1563 2986.3125,381.5 Q2986.6563,381.8281 2987.75,382.2344 L2988.8125,382.6406 Q2990.2969,383.1875 2991,384.0938 Q2991.7188,385 2991.7188,386.375 Q2991.7188,388.25 2990.6094,389.1719 Q2989.5,390.0938 2987.25,390.0938 Q2986.3281,390.0938 2985.4063,389.875 Q2984.4844,389.6563 2983.625,389.2344 L2983.625,386.7031 Q2984.5938,387.3906 2985.5156,387.7344 Q2986.4375,388.0781 2987.3281,388.0781 Q2988.2344,388.0781 2988.7344,387.6719 Q2989.2344,387.25 2989.2344,386.5156 Q2989.2344,385.9531 2988.8906,385.5469 Q2988.5625,385.125 2987.9375,384.875 L2986.7344,384.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="67" x="3007.75" y="388.0137">urt_node_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2474" x2="3576" y1="399.8594" y2="399.8594"/><ellipse cx="2484" cy="410.8594" 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="102" x="2493" y="414.0698">next : urt_node_t*</text><ellipse cx="2484" cy="423.6641" 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="141" x="2493" y="426.8745">thread : urt_osThread_t*</text><ellipse cx="2484" cy="436.4688" 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="235" x="2493" y="439.6792">setupcallback : urt_nodeSetupCallback_t*</text><ellipse cx="2484" cy="449.2734" 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="117" x="2493" y="452.4839">setupparams : void*</text><ellipse cx="2484" cy="462.0781" 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="221" x="2493" y="465.2886">loopcallback : urt_nodeLoopCallback_t*</text><ellipse cx="2484" cy="474.8828" 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="109" x="2493" y="478.0933">loopparams : void*</text><ellipse cx="2484" cy="487.6875" 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="136" x="2493" y="490.8979">stage : urt_nodestage_t</text><ellipse cx="2484" cy="500.4922" 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="178" x="2493" y="503.7026">listener : urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2474" x2="3576" y1="510.2969" y2="510.2969"/><rect fill="#F24D5C" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="2481" y="518.2969"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="179" x="2493" y="524.5073">_main : urt_osThreadFunction_t</text><ellipse cx="2484" cy="534.1016" 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="1078" x="2493" y="537.312">urtNodeInit (node : urt_node_t*, stacksize : size_t, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*) : urt_status_t</text><!--MD5=[e602aa6d45f270ad04f88c9ca5352b33]

class urt_message_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="167.2422" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="451" x="1980.5" y="975.8594"/><ellipse cx="2155.75" cy="991.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2155.2344,992.4219 Q2153.375,991.7188 2152.7188,990.9531 Q2152.0781,990.1719 2152.0781,988.8594 Q2152.0781,987.1719 2153.1563,986.2031 Q2154.2344,985.2344 2156.1094,985.2344 Q2156.9688,985.2344 2157.8125,985.4375 Q2158.6719,985.625 2159.5156,986.0156 L2159.5156,988.4063 Q2158.7344,987.8438 2157.9063,987.5625 Q2157.0938,987.2656 2156.2969,987.2656 Q2155.4219,987.2656 2154.9375,987.625 Q2154.4688,987.9844 2154.4688,988.6406 Q2154.4688,989.1563 2154.8125,989.5 Q2155.1563,989.8281 2156.25,990.2344 L2157.3125,990.6406 Q2158.7969,991.1875 2159.5,992.0938 Q2160.2188,993 2160.2188,994.375 Q2160.2188,996.25 2159.1094,997.1719 Q2158,998.0938 2155.75,998.0938 Q2154.8281,998.0938 2153.9063,997.875 Q2152.9844,997.6563 2152.125,997.2344 L2152.125,994.7031 Q2153.0938,995.3906 2154.0156,995.7344 Q2154.9375,996.0781 2155.8281,996.0781 Q2156.7344,996.0781 2157.2344,995.6719 Q2157.7344,995.25 2157.7344,994.5156 Q2157.7344,993.9531 2157.3906,993.5469 Q2157.0625,993.125 2156.4375,992.875 L2155.2344,992.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="2176.25" y="996.0137">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1981.5" x2="2430.5" y1="1007.8594" y2="1007.8594"/><ellipse cx="1991.5" cy="1018.8594" 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="2000.5" y="1022.0698">next : urt_message_t*</text><ellipse cx="1991.5" cy="1031.6641" 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="2000.5" y="1034.8745">payload : void*</text><ellipse cx="1991.5" cy="1044.4688" 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="2000.5" y="1047.6792">originTime : urt_osTime_t</text><ellipse cx="1991.5" cy="1057.2734" 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="113" x="2000.5" y="1060.4839">lock : urt_osMutex_t</text><ellipse cx="1991.5" cy="1070.0781" 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="211" x="2000.5" y="1073.2886">numHrtConsumersLeft : unsigned int</text><ellipse cx="1991.5" cy="1082.8828" 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="208" x="2000.5" y="1086.0933">hrtConsumersLeft : urt_osCondvar_t</text><ellipse cx="1991.5" cy="1112.4922" 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="194" x="2000.5" y="1115.7026">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1981.5" x2="2097.5" y1="1099.0898" y2="1099.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2097.5" y="1102.3979">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2314.5" x2="2430.5" y1="1099.0898" y2="1099.0898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1981.5" x2="2430.5" y1="1122.2969" y2="1122.2969"/><ellipse cx="1991.5" cy="1133.2969" 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="425" x="2000.5" y="1136.5073">urtMessageInit (message : urt_message_t*, payload : void*) : urt_status_t</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]

class urt_publisher_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="128.8281" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="759" x="1689.5" y="695.3594"/><ellipse cx="2018.25" cy="711.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2017.7344,711.9219 Q2015.875,711.2188 2015.2188,710.4531 Q2014.5781,709.6719 2014.5781,708.3594 Q2014.5781,706.6719 2015.6563,705.7031 Q2016.7344,704.7344 2018.6094,704.7344 Q2019.4688,704.7344 2020.3125,704.9375 Q2021.1719,705.125 2022.0156,705.5156 L2022.0156,707.9063 Q2021.2344,707.3438 2020.4063,707.0625 Q2019.5938,706.7656 2018.7969,706.7656 Q2017.9219,706.7656 2017.4375,707.125 Q2016.9688,707.4844 2016.9688,708.1406 Q2016.9688,708.6563 2017.3125,709 Q2017.6563,709.3281 2018.75,709.7344 L2019.8125,710.1406 Q2021.2969,710.6875 2022,711.5938 Q2022.7188,712.5 2022.7188,713.875 Q2022.7188,715.75 2021.6094,716.6719 Q2020.5,717.5938 2018.25,717.5938 Q2017.3281,717.5938 2016.4063,717.375 Q2015.4844,717.1563 2014.625,716.7344 L2014.625,714.2031 Q2015.5938,714.8906 2016.5156,715.2344 Q2017.4375,715.5781 2018.3281,715.5781 Q2019.2344,715.5781 2019.7344,715.1719 Q2020.2344,714.75 2020.2344,714.0156 Q2020.2344,713.4531 2019.8906,713.0469 Q2019.5625,712.625 2018.9375,712.375 L2017.7344,711.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="2038.75" y="715.5137">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1690.5" x2="2447.5" y1="727.3594" y2="727.3594"/><ellipse cx="1700.5" cy="738.3594" 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="1709.5" y="741.5698">topic : urt_topic_t*</text><ellipse cx="1700.5" cy="767.9688" 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="1709.5" y="771.1792">publishAttempts : uint64_t</text><ellipse cx="1700.5" cy="780.7734" 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="1709.5" y="783.9839">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1690.5" x2="1987" y1="754.5664" y2="754.5664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="1987" y="757.8745">URT_CFG_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2151" x2="2447.5" y1="754.5664" y2="754.5664"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1690.5" x2="2447.5" y1="790.5781" y2="790.5781"/><ellipse cx="1700.5" cy="801.5781" 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="617" x="1709.5" y="804.7886">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="1700.5" cy="814.3828" 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="733" x="1709.5" y="817.5933">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, n : 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(#f1f8akzzk460ac)" height="235.2656" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="1252" y="642.3594"/><ellipse cx="1406.75" cy="658.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1406.2344,658.9219 Q1404.375,658.2188 1403.7188,657.4531 Q1403.0781,656.6719 1403.0781,655.3594 Q1403.0781,653.6719 1404.1563,652.7031 Q1405.2344,651.7344 1407.1094,651.7344 Q1407.9688,651.7344 1408.8125,651.9375 Q1409.6719,652.125 1410.5156,652.5156 L1410.5156,654.9063 Q1409.7344,654.3438 1408.9063,654.0625 Q1408.0938,653.7656 1407.2969,653.7656 Q1406.4219,653.7656 1405.9375,654.125 Q1405.4688,654.4844 1405.4688,655.1406 Q1405.4688,655.6563 1405.8125,656 Q1406.1563,656.3281 1407.25,656.7344 L1408.3125,657.1406 Q1409.7969,657.6875 1410.5,658.5938 Q1411.2188,659.5 1411.2188,660.875 Q1411.2188,662.75 1410.1094,663.6719 Q1409,664.5938 1406.75,664.5938 Q1405.8281,664.5938 1404.9063,664.375 Q1403.9844,664.1563 1403.125,663.7344 L1403.125,661.2031 Q1404.0938,661.8906 1405.0156,662.2344 Q1405.9375,662.5781 1406.8281,662.5781 Q1407.7344,662.5781 1408.2344,662.1719 Q1408.7344,661.75 1408.7344,661.0156 Q1408.7344,660.4531 1408.3906,660.0469 Q1408.0625,659.625 1407.4375,659.375 L1406.2344,658.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="1427.25" y="662.5137">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1253" x2="1635" y1="674.3594" y2="674.3594"/><ellipse cx="1263" cy="685.3594" 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="1272" y="688.5698">next : urt_topic_t*</text><ellipse cx="1263" cy="698.1641" 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="1272" y="701.3745">id : urt_topicid_t</text><ellipse cx="1263" cy="710.9688" 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="1272" y="714.1792">lock : urt_osMutex_t</text><ellipse cx="1263" cy="723.7734" 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="1272" y="726.9839">evtSource : urt_osEventSource_t</text><ellipse cx="1263" cy="736.5781" 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="1272" y="739.7886">numHrtSubscribers : unsigned int</text><ellipse cx="1263" cy="749.3828" 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="196" x="1272" y="752.5933">hrtSubscribers : urt_subscriber_t*</text><ellipse cx="1263" cy="762.1875" 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="1272" y="765.3979">mandatoryMessage : urt_message_t</text><ellipse cx="1263" cy="774.9922" 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="1272" y="778.2026">latestMessage : urt_message_t*</text><ellipse cx="1263" cy="804.6016" 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="170" x="1272" y="807.812">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1253" x2="1311.5" y1="791.1992" y2="791.1992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="1311.5" y="794.5073">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1576.5" x2="1635" y1="791.1992" y2="791.1992"/><ellipse cx="1263" cy="834.2109" 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="197" x="1272" y="837.4214">numDiscardedMessages : uint64_t</text><ellipse cx="1263" cy="847.0156" 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="176" x="1272" y="850.2261">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1253" x2="1335.5" y1="820.8086" y2="820.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="1335.5" y="824.1167">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1552.5" x2="1635" y1="820.8086" y2="820.8086"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1253" x2="1635" y1="856.8203" y2="856.8203"/><ellipse cx="1263" cy="867.8203" 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="358" x="1272" y="871.0308">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[4a0cbcfec60c5e893e4ff6f7470d1adc]

class urt_pubsub_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="86.4141" id="urt_pubsub_t" style="stroke: #A80036; stroke-width: 1.5;" width="340" x="1998" y="412.8594"/><ellipse cx="2122.75" cy="428.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2122.2344,429.4219 Q2120.375,428.7188 2119.7188,427.9531 Q2119.0781,427.1719 2119.0781,425.8594 Q2119.0781,424.1719 2120.1563,423.2031 Q2121.2344,422.2344 2123.1094,422.2344 Q2123.9688,422.2344 2124.8125,422.4375 Q2125.6719,422.625 2126.5156,423.0156 L2126.5156,425.4063 Q2125.7344,424.8438 2124.9063,424.5625 Q2124.0938,424.2656 2123.2969,424.2656 Q2122.4219,424.2656 2121.9375,424.625 Q2121.4688,424.9844 2121.4688,425.6406 Q2121.4688,426.1563 2121.8125,426.5 Q2122.1563,426.8281 2123.25,427.2344 L2124.3125,427.6406 Q2125.7969,428.1875 2126.5,429.0938 Q2127.2188,430 2127.2188,431.375 Q2127.2188,433.25 2126.1094,434.1719 Q2125,435.0938 2122.75,435.0938 Q2121.8281,435.0938 2120.9063,434.875 Q2119.9844,434.6563 2119.125,434.2344 L2119.125,431.7031 Q2120.0938,432.3906 2121.0156,432.7344 Q2121.9375,433.0781 2122.8281,433.0781 Q2123.7344,433.0781 2124.2344,432.6719 Q2124.7344,432.25 2124.7344,431.5156 Q2124.7344,430.9531 2124.3906,430.5469 Q2124.0625,430.125 2123.4375,429.875 L2122.2344,429.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="82" x="2143.25" y="433.0137">urt_pubsub_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1999" x2="2337" y1="444.8594" y2="444.8594"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="2006" y="452.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="117" x="2018" y="459.0698">_topics : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1999" x2="2337" y1="465.6641" y2="465.6641"/><ellipse cx="2009" cy="476.6641" 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="190" x="2018" y="479.8745">urtPubsubInit (void) : urt_status_t</text><ellipse cx="2009" cy="489.4688" 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="314" x="2018" y="492.6792">urtPubsubRetrieveTopic (id : urt_topicid_t) : urt_topic_t*</text><!--MD5=[ab7cf431813e3be5d474948fd959cdbf]

class urt_subscriber_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="312.0938" id="urt_subscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1068" x="149" y="603.8594"/><ellipse cx="628.25" cy="619.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M627.7344,620.4219 Q625.875,619.7188 625.2188,618.9531 Q624.5781,618.1719 624.5781,616.8594 Q624.5781,615.1719 625.6563,614.2031 Q626.7344,613.2344 628.6094,613.2344 Q629.4688,613.2344 630.3125,613.4375 Q631.1719,613.625 632.0156,614.0156 L632.0156,616.4063 Q631.2344,615.8438 630.4063,615.5625 Q629.5938,615.2656 628.7969,615.2656 Q627.9219,615.2656 627.4375,615.625 Q626.9688,615.9844 626.9688,616.6406 Q626.9688,617.1563 627.3125,617.5 Q627.6563,617.8281 628.75,618.2344 L629.8125,618.6406 Q631.2969,619.1875 632,620.0938 Q632.7188,621 632.7188,622.375 Q632.7188,624.25 631.6094,625.1719 Q630.5,626.0938 628.25,626.0938 Q627.3281,626.0938 626.4063,625.875 Q625.4844,625.6563 624.625,625.2344 L624.625,622.7031 Q625.5938,623.3906 626.5156,623.7344 Q627.4375,624.0781 628.3281,624.0781 Q629.2344,624.0781 629.7344,623.6719 Q630.2344,623.25 630.2344,622.5156 Q630.2344,621.9531 629.8906,621.5469 Q629.5625,621.125 628.9375,620.875 L627.7344,620.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="648.75" y="624.0137">urt_subscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="150" x2="1216" y1="635.8594" y2="635.8594"/><ellipse cx="160" cy="646.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="169" y="650.0698">topic : urt_topic_t*</text><ellipse cx="160" cy="659.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="169" y="662.8745">evtListener : urt_osEventListener_t</text><ellipse cx="160" cy="672.4688" 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="191" x="169" y="675.6792">rtconstraints : urt_rtconstaints_t*</text><ellipse cx="160" cy="685.2734" 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="175" x="169" y="688.4839">lastMessage : urt_message_t*</text><ellipse cx="160" cy="698.0781" 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="186" x="169" y="701.2886">lastMessageTime : urt_osTime_t</text><ellipse cx="160" cy="727.6875" 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="136" x="169" y="730.8979">sumLatencies : uint64_t</text><ellipse cx="160" cy="740.4922" 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="190" x="169" y="743.7026">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="150" x2="574.5" y1="714.2852" y2="714.2852"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="574.5" y="717.5933">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="791.5" x2="1216" y1="714.2852" y2="714.2852"/><ellipse cx="160" cy="770.1016" 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="138" x="169" y="773.312">minLatency : urt_delay_t</text><ellipse cx="160" cy="782.9063" 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="141" x="169" y="786.1167">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="150" x2="422.5" y1="756.6992" y2="756.6992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="521" x="422.5" y="760.0073">URT_CFG_PUBSUB_PROFILING == true &amp;&amp; URT_CFG_PUBSUB_QOS_JITTERCHECKS == false</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="943.5" x2="1216" y1="756.6992" y2="756.6992"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="150" x2="1216" y1="792.7109" y2="792.7109"/><ellipse cx="160" cy="803.7109" 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="359" x="169" y="806.9214">urtSubscriberInit (subscriber : urt_subscriber_t*) : urt_status_t</text><ellipse cx="160" cy="816.5156" 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="1042" x="169" y="819.7261">urtSubscriberSubscribeHrt (subscriber : urt_subscriber_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="160" cy="829.3203" 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="1040" x="169" y="832.5308">urtSubscriberSubscribeFrt (subscriber : urt_subscriber_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="160" cy="842.125" 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="1042" x="169" y="845.3354">urtSubscriberSubscribeSrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_srtusefulnessfunc_t*, cbparams : void*) : urt_status_t</text><ellipse cx="160" cy="854.9297" 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="699" x="169" y="858.1401">urtSubscriberSubscribeNrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="160" cy="867.7344" 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="413" x="169" y="870.9448">urtSubscriberUnsubscribe (subscriber : urt_subscriber_t*) : urt_status_t</text><ellipse cx="160" cy="880.5391" 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="752" x="169" y="883.7495">urtSubscriberFetchNextMessage (subscriber : urt_subscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="160" cy="893.3438" 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="762" x="169" y="896.5542">urtSubscriberFetchLatestMessage (subscriber : urt_subscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="160" cy="906.1484" 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="537" x="169" y="909.3589">urtSubscriberCalculateUsefulness (subscriber : urt_subscriber_t*, latency : urt_delay_t) : float</text><!--MD5=[82a1b6b26b12edcbd86fa16935c3353e]

class urt_rtdata_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="73.6094" id="urt_rtdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="231" x="567.5" y="1022.3594"/><ellipse cx="641.75" cy="1038.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M641.2344,1038.9219 Q639.375,1038.2188 638.7188,1037.4531 Q638.0781,1036.6719 638.0781,1035.3594 Q638.0781,1033.6719 639.1563,1032.7031 Q640.2344,1031.7344 642.1094,1031.7344 Q642.9688,1031.7344 643.8125,1031.9375 Q644.6719,1032.125 645.5156,1032.5156 L645.5156,1034.9063 Q644.7344,1034.3438 643.9063,1034.0625 Q643.0938,1033.7656 642.2969,1033.7656 Q641.4219,1033.7656 640.9375,1034.125 Q640.4688,1034.4844 640.4688,1035.1406 Q640.4688,1035.6563 640.8125,1036 Q641.1563,1036.3281 642.25,1036.7344 L643.3125,1037.1406 Q644.7969,1037.6875 645.5,1038.5938 Q646.2188,1039.5 646.2188,1040.875 Q646.2188,1042.75 645.1094,1043.6719 Q644,1044.5938 641.75,1044.5938 Q640.8281,1044.5938 639.9063,1044.375 Q638.9844,1044.1563 638.125,1043.7344 L638.125,1041.2031 Q639.0938,1041.8906 640.0156,1042.2344 Q640.9375,1042.5781 641.8281,1042.5781 Q642.7344,1042.5781 643.2344,1042.1719 Q643.7344,1041.75 643.7344,1041.0156 Q643.7344,1040.4531 643.3906,1040.0469 Q643.0625,1039.625 642.4375,1039.375 L641.2344,1038.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="74" x="662.25" y="1042.5137">urt_rtdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="568.5" x2="797.5" y1="1054.3594" y2="1054.3594"/><ellipse cx="578.5" cy="1065.3594" 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="170" x="587.5" y="1068.5698">class : urt_rtconstraintclass_t</text><ellipse cx="578.5" cy="1078.1641" 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="205" x="587.5" y="1081.3745">params : urt_rtconstraintsparams_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="568.5" x2="797.5" y1="1087.9688" y2="1087.9688"/><!--MD5=[4bd59d3bc50b317c5523bafe6b73a042]

class urt_rtclass_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="99.2188" id="urt_rtclass_t" style="stroke: #A80036; stroke-width: 1.5;" width="153" x="497.5" y="1202.8594"/><ellipse cx="532.3" cy="1218.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M536.4094,1224.8594 L528.6906,1224.8594 L528.6906,1212.4688 L536.4094,1212.4688 L536.4094,1214.625 L531.1438,1214.625 L531.1438,1217.2969 L535.9094,1217.2969 L535.9094,1219.4531 L531.1438,1219.4531 L531.1438,1222.7031 L536.4094,1222.7031 L536.4094,1224.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="77" x="550.7" y="1223.0137">urt_rtclass_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="498.5" x2="649.5" y1="1234.8594" y2="1234.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="139" x="503.5" y="1249.0698">URT_RTCLASS_HARD = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="134" x="503.5" y="1261.8745">URT_RTCLASS_FIRM = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="139" x="503.5" y="1274.6792">URT_RTCLASS_SOFT = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="503.5" y="1287.4839">URT_RTCLASS_NONE = 3</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="498.5" x2="649.5" y1="1294.0781" y2="1294.0781"/><!--MD5=[7b207cc31d63d27c526f257c1fda2512]

class urt_rtclassdata_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="99.2188" id="urt_rtclassdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="146" x="686" y="1202.8594"/><ellipse cx="704.6" cy="1218.8594" fill="#7FCF7F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M700.475,1220.7813 L700.475,1212.9688 L702.9281,1212.9688 L702.9281,1221.4063 Q702.9281,1222.3281 703.3969,1222.8594 Q703.8813,1223.3906 704.7094,1223.3906 Q705.5531,1223.3906 706.0219,1222.8594 Q706.4906,1222.3281 706.4906,1221.4063 L706.4906,1212.9688 L708.9438,1212.9688 L708.9438,1220.7813 Q708.9438,1223.3125 707.9438,1224.4531 Q706.9438,1225.5938 704.7094,1225.5938 Q702.4906,1225.5938 701.475,1224.4531 Q700.475,1223.3125 700.475,1220.7813 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="106" x="719.4" y="1223.0137">urt_rtclassdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="687" x2="831" y1="1234.8594" y2="1234.8594"/><ellipse cx="697" cy="1245.8594" 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="120" x="706" y="1249.0698">hrt : urt_hrtparams_t</text><ellipse cx="697" cy="1258.6641" 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="114" x="706" y="1261.8745">frt : urt_frtparams_t</text><ellipse cx="697" cy="1271.4688" 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="116" x="706" y="1274.6792">srt : urt_srtparans_t</text><ellipse cx="697" cy="1284.2734" 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="120" x="706" y="1287.4839">nrt : urt_nrtparams_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="687" x2="831" y1="1294.0781" y2="1294.0781"/><!--MD5=[c57ade65ef97beb73587233399d5250a]

class urt_hrtdata_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="180.0469" id="urt_hrtdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="299" x="928.5" y="1447.8594"/><ellipse cx="1032.75" cy="1463.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1032.2344,1464.4219 Q1030.375,1463.7188 1029.7188,1462.9531 Q1029.0781,1462.1719 1029.0781,1460.8594 Q1029.0781,1459.1719 1030.1563,1458.2031 Q1031.2344,1457.2344 1033.1094,1457.2344 Q1033.9688,1457.2344 1034.8125,1457.4375 Q1035.6719,1457.625 1036.5156,1458.0156 L1036.5156,1460.4063 Q1035.7344,1459.8438 1034.9063,1459.5625 Q1034.0938,1459.2656 1033.2969,1459.2656 Q1032.4219,1459.2656 1031.9375,1459.625 Q1031.4688,1459.9844 1031.4688,1460.6406 Q1031.4688,1461.1563 1031.8125,1461.5 Q1032.1563,1461.8281 1033.25,1462.2344 L1034.3125,1462.6406 Q1035.7969,1463.1875 1036.5,1464.0938 Q1037.2188,1465 1037.2188,1466.375 Q1037.2188,1468.25 1036.1094,1469.1719 Q1035,1470.0938 1032.75,1470.0938 Q1031.8281,1470.0938 1030.9063,1469.875 Q1029.9844,1469.6563 1029.125,1469.2344 L1029.125,1466.7031 Q1030.0938,1467.3906 1031.0156,1467.7344 Q1031.9375,1468.0781 1032.8281,1468.0781 Q1033.7344,1468.0781 1034.2344,1467.6719 Q1034.7344,1467.25 1034.7344,1466.5156 Q1034.7344,1465.9531 1034.3906,1465.5469 Q1034.0625,1465.125 1033.4375,1464.875 L1032.2344,1464.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="82" x="1053.25" y="1468.0137">urt_hrtdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="929.5" x2="1226.5" y1="1479.8594" y2="1479.8594"/><ellipse cx="939.5" cy="1490.8594" 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="135" x="948.5" y="1494.0698">next : urt_subscriber_t*</text><ellipse cx="939.5" cy="1520.4688" 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="194" x="948.5" y="1523.6792">qosDeadlineTimer : urt_osTimer_t</text><ellipse cx="939.5" cy="1533.2734" 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="157" x="948.5" y="1536.4839">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="929.5" x2="932.5" y1="1507.0664" y2="1507.0664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="932.5" y="1510.3745">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1223.5" x2="1226.5" y1="1507.0664" y2="1507.0664"/><ellipse cx="939.5" cy="1562.8828" 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="150" x="948.5" y="1566.0933">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="929.5" x2="945.5" y1="1549.4805" y2="1549.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="945.5" y="1552.7886">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1210.5" x2="1226.5" y1="1549.4805" y2="1549.4805"/><ellipse cx="939.5" cy="1592.4922" 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="124" x="948.5" y="1595.7026">maxJitter : urt_delay_t</text><ellipse cx="939.5" cy="1605.2969" 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="138" x="948.5" y="1608.5073">minLatency : urt_delay_t</text><ellipse cx="939.5" cy="1618.1016" 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="141" x="948.5" y="1621.312">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="929.5" x2="942.5" y1="1579.0898" y2="1579.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="942.5" y="1582.3979">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1213.5" x2="1226.5" y1="1579.0898" y2="1579.0898"/><!--MD5=[72774668522d2286013bfbc0db723956]

class urt_frtdata_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="167.2422" id="urt_frtdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="299" x="444.5" y="1454.3594"/><ellipse cx="550.75" cy="1470.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M550.2344,1470.9219 Q548.375,1470.2188 547.7188,1469.4531 Q547.0781,1468.6719 547.0781,1467.3594 Q547.0781,1465.6719 548.1563,1464.7031 Q549.2344,1463.7344 551.1094,1463.7344 Q551.9688,1463.7344 552.8125,1463.9375 Q553.6719,1464.125 554.5156,1464.5156 L554.5156,1466.9063 Q553.7344,1466.3438 552.9063,1466.0625 Q552.0938,1465.7656 551.2969,1465.7656 Q550.4219,1465.7656 549.9375,1466.125 Q549.4688,1466.4844 549.4688,1467.1406 Q549.4688,1467.6563 549.8125,1468 Q550.1563,1468.3281 551.25,1468.7344 L552.3125,1469.1406 Q553.7969,1469.6875 554.5,1470.5938 Q555.2188,1471.5 555.2188,1472.875 Q555.2188,1474.75 554.1094,1475.6719 Q553,1476.5938 550.75,1476.5938 Q549.8281,1476.5938 548.9063,1476.375 Q547.9844,1476.1563 547.125,1475.7344 L547.125,1473.2031 Q548.0938,1473.8906 549.0156,1474.2344 Q549.9375,1474.5781 550.8281,1474.5781 Q551.7344,1474.5781 552.2344,1474.1719 Q552.7344,1473.75 552.7344,1473.0156 Q552.7344,1472.4531 552.3906,1472.0469 Q552.0625,1471.625 551.4375,1471.375 L550.2344,1470.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="78" x="571.25" y="1474.5137">urt_frtdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="445.5" x2="742.5" y1="1486.3594" y2="1486.3594"/><ellipse cx="455.5" cy="1514.1641" 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="194" x="464.5" y="1517.3745">qosDeadlineTimer : urt_osTimer_t</text><ellipse cx="455.5" cy="1526.9688" 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="464.5" y="1530.1792">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="445.5" x2="448.5" y1="1500.7617" y2="1500.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="448.5" y="1504.0698">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="739.5" x2="742.5" y1="1500.7617" y2="1500.7617"/><ellipse cx="455.5" cy="1556.5781" 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="150" x="464.5" y="1559.7886">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="445.5" x2="461.5" y1="1543.1758" y2="1543.1758"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="461.5" y="1546.4839">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="726.5" x2="742.5" y1="1543.1758" y2="1543.1758"/><ellipse cx="455.5" cy="1586.1875" 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="124" x="464.5" y="1589.3979">maxJitter : urt_delay_t</text><ellipse cx="455.5" cy="1598.9922" 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="464.5" y="1602.2026">minLatency : urt_delay_t</text><ellipse cx="455.5" cy="1611.7969" 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="464.5" y="1615.0073">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="445.5" x2="458.5" y1="1572.7852" y2="1572.7852"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="458.5" y="1576.0933">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="729.5" x2="742.5" y1="1572.7852" y2="1572.7852"/><!--MD5=[ca63c4d42025d7ce195746a6a8d32f3e]

class urt_nrtdata_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="48" id="urt_nrtdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="114" x="779" y="1513.8594"/><ellipse cx="794" cy="1529.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M793.4844,1530.4219 Q791.625,1529.7188 790.9688,1528.9531 Q790.3281,1528.1719 790.3281,1526.8594 Q790.3281,1525.1719 791.4063,1524.2031 Q792.4844,1523.2344 794.3594,1523.2344 Q795.2188,1523.2344 796.0625,1523.4375 Q796.9219,1523.625 797.7656,1524.0156 L797.7656,1526.4063 Q796.9844,1525.8438 796.1563,1525.5625 Q795.3438,1525.2656 794.5469,1525.2656 Q793.6719,1525.2656 793.1875,1525.625 Q792.7188,1525.9844 792.7188,1526.6406 Q792.7188,1527.1563 793.0625,1527.5 Q793.4063,1527.8281 794.5,1528.2344 L795.5625,1528.6406 Q797.0469,1529.1875 797.75,1530.0938 Q798.4688,1531 798.4688,1532.375 Q798.4688,1534.25 797.3594,1535.1719 Q796.25,1536.0938 794,1536.0938 Q793.0781,1536.0938 792.1563,1535.875 Q791.2344,1535.6563 790.375,1535.2344 L790.375,1532.7031 Q791.3438,1533.3906 792.2656,1533.7344 Q793.1875,1534.0781 794.0781,1534.0781 Q794.9844,1534.0781 795.4844,1533.6719 Q795.9844,1533.25 795.9844,1532.5156 Q795.9844,1531.9531 795.6406,1531.5469 Q795.3125,1531.125 794.6875,1530.875 L793.4844,1530.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="82" x="808" y="1534.0137">urt_nrtdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="780" x2="892" y1="1545.8594" y2="1545.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="780" x2="892" y1="1553.8594" y2="1553.8594"/><!--MD5=[fc7708c915a0148c667d62e1370980fd]

class urt_srtusefulnessfunc_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="60.8047" id="urt_srtusefulnessfunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="374" x="54" y="1815.3594"/><ellipse cx="163.25" cy="1831.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M167.4844,1827.125 L162.2031,1827.125 L162.2031,1829.7969 L167,1829.7969 L167,1831.9531 L162.2031,1831.9531 L162.2031,1837.3594 L159.7656,1837.3594 L159.7656,1824.9688 L167.4844,1824.9688 L167.4844,1827.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="147" x="183.75" y="1835.5137">urt_srtusefulnessfunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="55" x2="427" y1="1847.3594" y2="1847.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="55" x2="427" y1="1855.3594" y2="1855.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="362" x="60" y="1869.5698">urt_srtusefulnessfunc_t (dt : urt_delay_t, params : void*) : float</text><!--MD5=[4a2daf41193a31389d6311337c2a120f]

class urt_srtdata_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="73.6094" id="urt_srtdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="258" x="131" y="1500.8594"/><ellipse cx="215.25" cy="1516.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M214.7344,1517.4219 Q212.875,1516.7188 212.2188,1515.9531 Q211.5781,1515.1719 211.5781,1513.8594 Q211.5781,1512.1719 212.6563,1511.2031 Q213.7344,1510.2344 215.6094,1510.2344 Q216.4688,1510.2344 217.3125,1510.4375 Q218.1719,1510.625 219.0156,1511.0156 L219.0156,1513.4063 Q218.2344,1512.8438 217.4063,1512.5625 Q216.5938,1512.2656 215.7969,1512.2656 Q214.9219,1512.2656 214.4375,1512.625 Q213.9688,1512.9844 213.9688,1513.6406 Q213.9688,1514.1563 214.3125,1514.5 Q214.6563,1514.8281 215.75,1515.2344 L216.8125,1515.6406 Q218.2969,1516.1875 219,1517.0938 Q219.7188,1518 219.7188,1519.375 Q219.7188,1521.25 218.6094,1522.1719 Q217.5,1523.0938 215.25,1523.0938 Q214.3281,1523.0938 213.4063,1522.875 Q212.4844,1522.6563 211.625,1522.2344 L211.625,1519.7031 Q212.5938,1520.3906 213.5156,1520.7344 Q214.4375,1521.0781 215.3281,1521.0781 Q216.2344,1521.0781 216.7344,1520.6719 Q217.2344,1520.25 217.2344,1519.5156 Q217.2344,1518.9531 216.8906,1518.5469 Q216.5625,1518.125 215.9375,1517.875 L214.7344,1517.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="81" x="235.75" y="1521.0137">urt_srtdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="132" x2="388" y1="1532.8594" y2="1532.8594"/><ellipse cx="142" cy="1543.8594" 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="232" x="151" y="1547.0698">usefullnesscb : urt_srtusefulnessfunc_t*</text><ellipse cx="142" cy="1556.6641" 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="98" x="151" y="1559.8745">cbparams : void*</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="132" x2="388" y1="1566.4688" y2="1566.4688"/><!--MD5=[c49c66e54807645986bdfbce830f97dc]

class urt_rpc_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="86.4141" id="urt_rpc_t" style="stroke: #A80036; stroke-width: 1.5;" width="358" x="3861" y="412.8594"/><ellipse cx="4008.25" cy="428.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4007.7344,429.4219 Q4005.875,428.7188 4005.2188,427.9531 Q4004.5781,427.1719 4004.5781,425.8594 Q4004.5781,424.1719 4005.6563,423.2031 Q4006.7344,422.2344 4008.6094,422.2344 Q4009.4688,422.2344 4010.3125,422.4375 Q4011.1719,422.625 4012.0156,423.0156 L4012.0156,425.4063 Q4011.2344,424.8438 4010.4063,424.5625 Q4009.5938,424.2656 4008.7969,424.2656 Q4007.9219,424.2656 4007.4375,424.625 Q4006.9688,424.9844 4006.9688,425.6406 Q4006.9688,426.1563 4007.3125,426.5 Q4007.6563,426.8281 4008.75,427.2344 L4009.8125,427.6406 Q4011.2969,428.1875 4012,429.0938 Q4012.7188,430 4012.7188,431.375 Q4012.7188,433.25 4011.6094,434.1719 Q4010.5,435.0938 4008.25,435.0938 Q4007.3281,435.0938 4006.4063,434.875 Q4005.4844,434.6563 4004.625,434.2344 L4004.625,431.7031 Q4005.5938,432.3906 4006.5156,432.7344 Q4007.4375,433.0781 4008.3281,433.0781 Q4009.2344,433.0781 4009.7344,432.6719 Q4010.2344,432.25 4010.2344,431.5156 Q4010.2344,430.9531 4009.8906,430.5469 Q4009.5625,430.125 4008.9375,429.875 L4007.7344,429.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="55" x="4028.75" y="433.0137">urt_rpc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3862" x2="4218" y1="444.8594" y2="444.8594"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="3869" y="452.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="145" x="3881" y="459.0698">_services : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3862" x2="4218" y1="465.6641" y2="465.6641"/><ellipse cx="3872" cy="476.6641" 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="168" x="3881" y="479.8745">urtRpcInit (void) : urt_status_t</text><ellipse cx="3872" cy="489.4688" 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="332" x="3881" y="492.6792">urtRpcRetrieveService (id : urt_serviceid_t) : urt_service_t*</text><!--MD5=[3226071078d8aeaa18fbafa5359ddee6]

class urt_servicefunc_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="60.8047" id="urt_servicefunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="451" x="3796.5" y="1028.8594"/><ellipse cx="3964.75" cy="1044.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3968.9844,1040.625 L3963.7031,1040.625 L3963.7031,1043.2969 L3968.5,1043.2969 L3968.5,1045.4531 L3963.7031,1045.4531 L3963.7031,1050.8594 L3961.2656,1050.8594 L3961.2656,1038.4688 L3968.9844,1038.4688 L3968.9844,1040.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="106" x="3985.25" y="1049.0137">urt_servicefunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3797.5" x2="4246.5" y1="1060.8594" y2="1060.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3797.5" x2="4246.5" y1="1068.8594" y2="1068.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="439" x="3802.5" y="1083.0698">urt_servicefunc_t (arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[e60e0f8379a14e7a4a292c65add9d735]

class urt_service_t--><rect fill="#FEFECE" filter="url(#f1f8akzzk460ac)" height="222.4609" id="urt_service_t" style="stroke: #A80036; stroke-width: 1.5;" width="602" x="3627" y="648.8594"/><ellipse cx="3884.25" cy="664.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3883.7344,665.4219 Q3881.875,664.7188 3881.2188,663.9531 Q3880.5781,663.1719 3880.5781,661.8594 Q3880.5781,660.1719 3881.6563,659.2031 Q3882.7344,658.2344 3884.6094,658.2344 Q3885.4688,658.2344 3886.3125,658.4375 Q3887.1719,658.625 3888.0156,659.0156 L3888.0156,661.4063 Q3887.2344,660.8438 3886.4063,660.5625 Q3885.5938,660.2656 3884.7969,660.2656 Q3883.9219,660.2656 3883.4375,660.625 Q3882.9688,660.9844 3882.9688,661.6406 Q3882.9688,662.1563 3883.3125,662.5 Q3883.6563,662.8281 3884.75,663.2344 L3885.8125,663.6406 Q3887.2969,664.1875 3888,665.0938 Q3888.7188,666 3888.7188,667.375 Q3888.7188,669.25 3887.6094,670.1719 Q3886.5,671.0938 3884.25,671.0938 Q3883.3281,671.0938 3882.4063,670.875 Q3881.4844,670.6563 3880.625,670.2344 L3880.625,667.7031 Q3881.5938,668.3906 3882.5156,668.7344 Q3883.4375,669.0781 3884.3281,669.0781 Q3885.2344,669.0781 3885.7344,668.6719 Q3886.2344,668.25 3886.2344,667.5156 Q3886.2344,666.9531 3885.8906,666.5469 Q3885.5625,666.125 3884.9375,665.875 L3883.7344,665.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="3904.75" y="669.0137">urt_service_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3628" x2="4228" y1="680.8594" y2="680.8594"/><ellipse cx="3638" cy="691.8594" 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="3647" y="695.0698">next : urt_service_t*</text><ellipse cx="3638" cy="704.6641" 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="3647" y="707.8745">id : urt_serviceid_t</text><ellipse cx="3638" cy="717.4688" 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="3647" y="720.6792">lock : urt_osMutex_t</text><ellipse cx="3638" cy="730.2734" 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="160" x="3647" y="733.4839">callback : urt_servicefunc_t*</text><ellipse cx="3638" cy="759.8828" 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="137" x="3647" y="763.0933">sumDurations : uint64_t</text><ellipse cx="3638" cy="772.6875" 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="110" x="3647" y="775.8979">numCalls : uint64_t</text><ellipse cx="3638" cy="785.4922" 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="135" x="3647" y="788.7026">numTimeouts : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3628" x2="3833.5" y1="746.4805" y2="746.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="3833.5" y="749.7886">URT_CFG_RPC_PROFLING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4022.5" x2="4228" y1="746.4805" y2="746.4805"/><ellipse cx="3638" cy="815.1016" 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="143" x="3647" y="818.312">minDuration : urt_delay_t</text><ellipse cx="3638" cy="827.9063" 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="146" x="3647" y="831.1167">maxDuration : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3628" x2="3695" y1="801.6992" y2="801.6992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="466" x="3695" y="805.0073">URT_CFG_RPC_PROFILING == true &amp;&amp; URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4161" x2="4228" y1="801.6992" y2="801.6992"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3628" x2="4228" y1="837.7109" y2="837.7109"/><ellipse cx="3638" cy="848.7109" 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="576" x="3647" y="851.9214">urtServiceInit(service : urt_service_t*, id : urt_serviceid_t, callback : urt_servicefunc_t*) : urt_status_t</text><ellipse cx="3638" cy="861.5156" 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="557" x="3647" y="864.7261">urtServiceCall(service : urt_service_t*, arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[5fff9a13948f7f5b5e6ca18c1c7a9716]

link urt_nodestage_t to urt_config--><path d="M10928.8528,1924.1938 C10923.2465,1927.281 10917.6117,1930.1919 10912,1932.8594 C10772.2412,1999.294 10600.7668,2044.5454 10480.2659,2071.008 " 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="10475.2845,2072.0976,10484.9314,2074.082,10480.169,2071.0292,10483.2219,2066.2668,10475.2845,2072.0976" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7db439499cb1afd557b9be4c8c52b2ba]

link urt_topicid_t to urt_config--><path d="M10330,1925.1818 C10330,1942.4784 10330,1961.1552 10330,1979.6399 " 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="10330,1984.8471,10334,1975.8471,10330,1979.8471,10326,1975.8471,10330,1984.8471" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e851a4e79ca88682282ceaaad2100c63]

link urt_serviceid_t to urt_config--><path d="M10689.9025,1922.2515 C10684.2472,1925.932 10678.59,1929.4919 10673,1932.8594 C10611.7639,1969.7489 10541.1896,2005.2191 10480.0378,2033.9088 " 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="10475.2779,2036.1372,10485.1249,2035.9438,10479.8062,2034.0172,10481.7328,2028.6985,10475.2779,2036.1372" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[844001065b3bef53527c5dd4ba0c22e5]

link urt_delay_t to urt_config--><path d="M10152.1357,1895.4361 C10173.4142,1919.892 10200.082,1950.5419 10226.2438,1980.6102 " 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="10229.764,1984.656,10226.8739,1975.2407,10226.482,1980.8839,10220.8387,1980.492,10229.764,1984.656" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7766572fa0c619a5409829048dc0b6d6]

link urt_osCondvar_t to urt_osCondvarWaitStatus_t--><path d="M4887,1587.6872 C4887,1645.5308 4887,1740.2868 4887,1797.4978 " 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="4887,1802.5732,4891,1793.5732,4887,1797.5732,4883,1793.5732,4887,1802.5732" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9b2507ea88616aeae65e3c4d63560016]

link urt_osCondvar_t to urt_osMutex_t--><path d="M4935.2684,1488.2186 C5001.9844,1424.6895 5129.4139,1320.9884 5263.5,1305.8594 C5287.7351,1303.1249 5678.2649,1303.1249 5702.5,1305.8594 C5710.4281,1306.7539 5713.3337,1305.476 5720,1309.8594 C5785.4639,1352.9052 5834.2355,1430.9585 5861.6686,1483.5995 " 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="5864.0941,1488.2947,5863.5172,1478.4627,5861.7993,1483.8524,5856.4096,1482.1345,5864.0941,1488.2947" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[83094e108045c8f9585007cdb3b7cb2e]

link urt_osTimer_t to urt_osTimerCallback_t--><path d="M6462,1593.9932 C6462,1656.7318 6462,1756.4721 6462,1809.6616 " 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="6462,1814.9737,6466,1805.9737,6462,1809.9737,6458,1805.9737,6462,1814.9737" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8d8c3240b5b2b5edf6544088e583ffa5]

link urt_osThread_t to urt_osThreadPrio_t--><path d="M7294.1841,1707.1767 C7285.8072,1727.4924 7277.5783,1747.449 7270.0884,1765.6135 " 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="7267.996,1770.688,7275.1248,1763.8924,7269.902,1766.0655,7267.7289,1760.8427,7267.996,1770.688" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d7d1d43fd970fb07a484642bc19fcb13]

link urt_osThread_t to urt_osThreadFunction_t--><path d="M7594.0192,1707.0198 C7606.5504,1716.4082 7618.9425,1725.7337 7631,1734.8594 C7664.7973,1760.4389 7702.673,1789.874 7730.9496,1812.0028 " 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="7735.0502,1815.2133,7730.4296,1806.5156,7731.1133,1812.1309,7725.4979,1812.8146,7735.0502,1815.2133" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6564761b32ad7eeb5abb8896c72cfca5]

link urt_osThread_t to urt_osThreadTerminateSignal_t--><path d="M7434.3656,1707.1767 C7449.3503,1743.2335 7463.8648,1778.1591 7474.5796,1803.9416 " 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="7476.5353,1808.6475,7476.7752,1798.8015,7474.6165,1804.0303,7469.3877,1801.8716,7476.5353,1808.6475" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[92ba23225d8de8f8080583fedda5e6f8]

link urt_osThread_t to urt_osThreadState_t--><path d="M7154.6626,1707.0878 C7143.2562,1716.4587 7131.9761,1725.7619 7121,1734.8594 C7106.0837,1747.2228 7090.2979,1760.4629 7075.0454,1773.3377 " 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="7071.18,1776.6023,7080.6368,1773.851,7074.9999,1773.3761,7075.4749,1767.7392,7071.18,1776.6023" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[78b286ab2177e5f7b31e6e832d821818]

link urt_osThread_t to urt_osTime_t--><path d="M7083.8362,1373.5719 C7010.7801,1341.376 6930.3546,1314.7566 6851.5,1305.8594 C6820.7783,1302.393 5769.2217,1302.393 5738.5,1305.8594 C5633.83,1317.6694 5554.3278,1425.7647 5515.7721,1490.1578 " 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="5513.0671,1494.7166,5521.0997,1489.0177,5515.6185,1490.4166,5514.2197,1484.9354,5513.0671,1494.7166" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[659af6ab57e6a38ebfd5c07c5616787c]

link urt_osEventListener_t to urt_osEventFlags_t--><path d="M8731,1888.947 C8731,1940.6304 8731,2025.8733 8731,2070.518 " 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="8731,2075.7562,8735,2066.7562,8731,2070.7562,8727,2066.7562,8731,2075.7562" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[eac11679f26c499aa1c571e1f795945d]

link urt_osEventSource_t to urt_osEventFlags_t--><path d="M9205.8553,1882.9291 C9092.072,1934.9092 8887.9274,2028.1695 8788.5291,2073.5781 " 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="8783.8758,2075.7039,8793.7241,2075.6024,8788.4237,2073.6262,8790.3999,2068.3258,8783.8758,2075.7039" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0259cdb10c6c32168d1d17d25519d939]

link urt_events to urt_osEventSource_t--><path d="M8808.8949,1581.0098 C8916.9717,1640.8797 9110.8852,1748.2994 9215.4683,1806.2339 " 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="9220.0727,1808.7846,9214.1383,1800.9243,9215.699,1806.3617,9210.2617,1807.9223,9220.0727,1808.7846" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0ce043e0e9532fc393f3f8836f5de19a]

link urt_events to urt_osEventListener_t--><path d="M8731,1581.0098 C8731,1637.9005 8731,1737.7263 8731,1797.2294 " 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="8731,1802.5046,8735,1793.5046,8731,1797.5046,8727,1793.5046,8731,1802.5046" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[430bebba9cd89d3ba8f63b2078968bca]

link urt_events to urt_osEventMask_t--><path d="M8671.8784,1581.0098 C8586.8614,1643.0601 8431.8633,1756.1867 8354.8957,1812.362 " 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="8350.8401,1815.3221,8360.4679,1813.2472,8354.8788,1812.3744,8355.7516,1806.7853,8350.8401,1815.3221" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b1b185abc2161e087cab32ae7fdb2c40]

link urt_events to urt_osEventFlags_t--><path d="M8400.3006,1580.8669 C8215.4917,1612.4307 8011.2713,1662.5177 7955,1734.8594 C7927.9849,1769.5896 7927.3532,1898.6299 7955,1932.8594 C8042.0186,2040.5973 8470.7427,2082.1023 8650.9663,2094.9645 " 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="8655.9634,2095.3183,8647.2684,2090.6926,8650.9759,2094.9651,8646.7034,2098.6726,8655.9634,2095.3183" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[706a1974d1b474cbba7e7b0213f243a1]

link urt_events to urt_osEventWait_t--><path d="M8523.3939,1580.8618 C8407.5017,1611.4029 8264.298,1660.4451 8152,1734.8594 C8126.569,1751.7113 8103.5251,1776.6506 8086.0817,1798.6231 " 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="8082.8904,1802.6888,8091.5939,1798.079,8085.9776,1798.7557,8085.301,1793.1395,8082.8904,1802.6888" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5f656ccbf337bb70e2692ec6599b22aa]

link urt_osCondvar_t to urt_delay_t--><path d="M4966.0473,1587.4103 C5036.4683,1628.4709 5143.8828,1683.7094 5246,1706.8594 C5374.8169,1736.0623 9879.4697,1683.1198 10001,1734.8594 C10029.0634,1746.807 10053.4624,1769.9618 10071.9341,1792.0455 " 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="10075.3137,1796.1536,10072.6847,1786.6621,10072.1371,1792.2924,10066.5068,1791.7447,10075.3137,1796.1536" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[2da0e339f7ca878d257c4a5336e8cad5]

link urt_osThread_t to urt_delay_t--><path d="M7644.1776,1639.9536 C7731.0685,1667.0413 7827.9371,1692.6757 7919,1706.8594 C8033.299,1724.6623 9894.7389,1689.1453 10001,1734.8594 C10029.0181,1746.9129 10053.4119,1770.0798 10071.8919,1792.1441 " 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="10075.2732,1796.2482,10072.6375,1786.7586,10072.0938,1792.3892,10066.4631,1791.8456,10075.2732,1796.2482" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4dd831efde278dc905a11b75839a39d0]

link urt_osThread_t to urt_status_t--><path d="M7644.157,1640.0864 C7731.0471,1667.1791 7827.9205,1692.7829 7919,1706.8594 C8057.5855,1728.278 10313.2671,1681.6235 10443,1734.8594 C10475.0328,1748.0041 10503.1606,1774.7065 10523.5796,1798.6269 " fill="none" id="urt_osThread_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10527.0453,1802.7473,10524.3133,1793.2849,10523.8269,1798.9208,10518.191,1798.4344,10527.0453,1802.7473" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8bf77663ad208115c32fd5300d37f092]

link urt_osTimer_t to urt_delay_t--><path d="M6563.3839,1593.9486 C6641.9468,1634.1112 6754.9347,1684.8302 6861,1706.8594 C6946.4031,1724.5972 9920.7966,1700.5705 10001,1734.8594 C10029.0453,1746.8494 10053.4422,1770.0091 10071.9172,1792.085 " 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="10075.2975,1796.1915,10072.6658,1786.7007,10072.1198,1792.3312,10066.4893,1791.7851,10075.2975,1796.1915" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[97e66fd6906ece822f393f9bfe719297]

link urt_osTimer_t to urt_status_t--><path d="M6563.377,1593.9821 C6641.9362,1634.1623 6754.9226,1684.8886 6861,1706.8594 C6958.4351,1727.0402 10350.8842,1697.2359 10443,1734.8594 C10475.0543,1747.9516 10503.1826,1774.6527 10523.5966,1798.5856 " fill="none" id="urt_osTimer_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10527.0613,1802.7082,10524.3329,1793.2448,10523.8443,1798.8805,10518.2086,1798.3919,10527.0613,1802.7082" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[a4e2abbbace7909006fa5f13364d6021]

link urt_events to urt_delay_t--><path d="M8931.3055,1580.9344 C9116.4487,1619.2786 9399.6236,1674.2097 9648,1706.8594 C9726.0196,1717.1153 9929.775,1701.4042 10001,1734.8594 C10028.2634,1747.6653 10052.3474,1770.5198 10070.8138,1792.1759 " 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="10074.196,1796.2029,10071.4707,1786.7386,10070.9803,1792.3742,10065.3447,1791.8837,10074.196,1796.2029" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0549e7b45a7543f4046fb7eaa1b75598]

link urt_events to urt_status_t--><path d="M8935.7025,1580.9285 C9134.7621,1620.8969 9446.1855,1678.3746 9719,1706.8594 C9799.0693,1715.2195 10368.9504,1703.274 10443,1734.8594 C10474.728,1748.3928 10502.7586,1774.9556 10523.2016,1798.7031 " fill="none" id="urt_events-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10526.6726,1802.7933,10523.8989,1793.343,10523.4374,1798.981,10517.7994,1798.5194,10526.6726,1802.7933" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[182342162f0b9b45ddce11acc6582c59]

reverse link urt_node_t to urt_node_t--><path d="M3589.4188,433.1216 C3603.8891,439.4262 3612,447.0054 3612,455.8594 C3612,466.9702 3599.2271,476.0738 3577.1426,483.1699 " fill="none" id="urt_node_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3577.1426,428.5489,3581.3689,434.3917,3588.3878,432.7377,3584.1615,426.8949,3577.1426,428.5489" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3584.9634" y="425.1269">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="3585.0759" y="480.516">0..1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]

reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M2913.5084,553.4314 C2849.8668,614.1181 2775.6879,688.1412 2738.3741,729.0158 " fill="none" id="urt_node_t&lt;-urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2923.2197,544.1971,2916.1153,545.4328,2914.5235,552.466,2921.6279,551.2303,2923.2197,544.1971" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2906.7903" y="563.9045">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2734.37" y="718.2081">1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]

reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M2943.6986,547.8631 C2882.9417,609.5267 2802.7378,686.8823 2755.0058,729.0158 " fill="none" id="urt_node_t&lt;-urt_nodeSetupCallback_t-1" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2947.3059,544.1971,2938.1424,547.8068,2943.7991,547.7611,2943.8448,553.4177,2947.3059,544.1971" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b913f036db99e36b937989146817bd94]

reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M3097.3843,554.5545 C3147.397,615.0289 3211.4586,688.393 3250.5424,729.0158 " fill="none" id="urt_node_t&lt;-urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3088.853,544.1971,3089.5803,551.3714,3096.4825,553.4594,3095.7552,546.2851,3088.853,544.1971" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3085.6225" y="563.9045">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3234.6105" y="718.2081">1</text><!--MD5=[b913f036db99e36b937989146817bd94]

reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M3116.5336,548.2318 C3171.3261,609.8348 3235.968,686.9662 3267.174,729.0158 " fill="none" id="urt_node_t&lt;-urt_nodeLoopCallback_t-1" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="3112.9392,544.1971,3115.9392,553.5779,3116.2651,547.9304,3121.9126,548.2564,3112.9392,544.1971" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0c465c1a61dfd99ff8b5568ca35c92d1]

reverse link urt_srtdata_t to urt_srtusefulnessfunc_t--><path d="M256.9062,1588.011 C252.9391,1652.3196 246.1814,1761.8665 242.9,1815.0592 " fill="none" id="urt_srtdata_t&lt;-urt_srtusefulnessfunc_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="257.7082,1575.0114,253.3463,1580.7537,256.9692,1586.9886,261.3311,1581.2463,257.7082,1575.0114" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="248.6661" y="1594.5171">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="216.8169" y="1804.2605">0..1</text><!--MD5=[3f22cd2af9b1d30da63b75b4db75ae6e]

reverse link urt_rtclassdata_t to urt_hrtdata_t--><path d="M845.2541,1303.9197 C871.2017,1308.3304 885.1296,1295.5624 910,1309.8594 C964.6691,1341.2865 1006.7266,1398.448 1035.0879,1447.6718 " fill="none" id="urt_rtclassdata_t&lt;-urt_hrtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="832.404,1300.5253,837.1835,1305.9249,844.0061,1303.5899,839.2266,1298.1902,832.404,1300.5253" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="840.0235" y="1301.591">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1006.5405" y="1436.6525">0..1</text><!--MD5=[a94a8c9c209e194384613684e912df80]

reverse link urt_rtclassdata_t to urt_frtdata_t--><path d="M723.6265,1313.5663 C699.8859,1354.6447 668.3116,1409.2779 642.269,1454.3394 " fill="none" id="urt_rtclassdata_t&lt;-urt_frtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="730.2592,1302.0897,723.7937,1305.283,724.2547,1312.4794,730.7202,1309.286,730.2592,1302.0897" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="717.655" y="1322.1985">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="647.6367" y="1443.2949">0..1</text><!--MD5=[e6a6d7a2212fadf5661857a71d4f05c3]

reverse link urt_rtclassdata_t to urt_srtdata_t--><path d="M673.6235,1300.2126 C671.7477,1300.8036 669.872,1301.3541 668,1301.8594 C638.4877,1309.8253 419.283,1294.2506 393,1309.8594 C322.0775,1351.9784 285.1366,1447.5873 269.4537,1500.6429 " fill="none" id="urt_rtclassdata_t&lt;-urt_srtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="685.9663,1295.7733,678.9666,1294.04,674.6744,1299.8345,681.6741,1301.5679,685.9663,1295.7733" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="670.0222" y="1296.5394">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="273.2751" y="1489.7913">0..1</text><!--MD5=[206fe31eaf8244c7272230bb0ec7137c]

reverse link urt_rtclassdata_t to urt_nrtdata_t--><path d="M775.8738,1314.9238 C792.712,1377.3564 817.7189,1470.0767 829.462,1513.6179 " fill="none" id="urt_rtclassdata_t&lt;-urt_nrtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="772.4124,1302.0897,770.1128,1308.9243,775.5373,1313.6757,777.8368,1306.8411,772.4124,1302.0897" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="765.736" y="1322.1985">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="800.9434" y="1502.964">0..1</text><!--MD5=[1ba55993ff077c77667f6c7be6552d53]

reverse link urt_rtdata_t to urt_rtclass_t--><path d="M655.4885,1108.0724 C639.1214,1137.0528 618.4103,1173.7246 601.964,1202.8451 " fill="none" id="urt_rtdata_t&lt;-urt_rtclass_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="661.9837,1096.5717,655.5502,1099.829,656.0825,1107.0204,662.516,1103.7631,661.9837,1096.5717" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="649.8404" y="1116.0874">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="597.3339" y="1191.8883">1</text><!--MD5=[8318054091d2ecf2336b9e490f482e2a]

reverse link urt_rtdata_t to urt_rtclassdata_t--><path d="M702.4874,1108.847 C713.8508,1137.7041 728.1369,1173.9835 739.5021,1202.8451 " fill="none" id="urt_rtdata_t&lt;-urt_rtclassdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="697.6536,1096.5717,696.1301,1103.62,702.0503,1107.7372,703.5738,1100.6889,697.6536,1096.5717" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="691.4181" y="1116.0874">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="728.1977" y="1191.8883">1</text><!--MD5=[b6ee30948a218449c72edbee7363b5d7]

link urt_subscriber_t to urt_hrtdata_t--><path d="M782.1276,916.1087 C793.8926,936.0191 805.4536,956.2795 816,975.8594 C900.473,1132.6875 985.2064,1321.5779 1034.5713,1435.5606 " fill="none" id="urt_subscriber_t-&gt;urt_hrtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1039.8249,1447.7167,1041.1164,1440.6222,1035.0643,1436.7014,1033.7729,1443.7959,1039.8249,1447.7167" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="762.3478" y="936.1081">0..1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1036.9948" y="1436.7011">1</text><!--MD5=[536025241394544a90bc53fb552f3a08]

reverse link urt_message_t to urt_message_t--><path d="M2443.9841,1034.6182 C2458.0653,1040.534 2466.5,1048.781 2466.5,1059.3594 C2466.5,1072.7656 2452.9528,1082.4276 2431.534,1088.3452 " fill="none" id="urt_message_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2431.534,1030.3736,2435.9223,1036.0957,2442.892,1034.2459,2438.5038,1028.5237,2431.534,1030.3736" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2439.7829" y="1026.1273">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2439.3281" y="1086.1153">0..1</text><!--MD5=[f7eb638a1c2d853c6fb0ae6f53692e50]

reverse link urt_subscriber_t to urt_rtdata_t--><path d="M683,929.6446 C683,964.6077 683,998.0871 683,1022.2733 " fill="none" id="urt_subscriber_t&lt;-urt_rtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="683,916.1883,679,922.1883,683,928.1883,687,922.1883,683,916.1883" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="674.8063" y="936.1916">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="674.2625" y="1011.1679">1</text><!--MD5=[bf7bf5810813e0e9b75d3053dc098443]

reverse link urt_subscriber_t to urt_topic_t--><path d="M1230.5539,759.8594 C1237.6579,759.8594 1244.7619,759.8594 1251.866,759.8594 " fill="none" id="urt_subscriber_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1217.335,759.8594,1223.335,763.8594,1229.335,759.8594,1223.335,755.8594,1217.335,759.8594" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1224.9053" y="756.8211">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1224.1802" y="756.57">0..1</text><!--MD5=[d3b08a81de663c21a5ec062e6c430f2b]

reverse link urt_topic_t to urt_subscriber_t--><path d="M1238.6471,759.8594 C1231.543,759.8594 1224.439,759.8594 1217.335,759.8594 " fill="none" id="urt_topic_t&lt;-urt_subscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1251.866,759.8594,1245.866,755.8594,1239.866,759.8594,1245.866,763.8594,1251.866,759.8594" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1236.2045" y="772.2166">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1225.0178" y="772.032">0..1</text><!--MD5=[67fd999c5486ad1c37ee9b77e12afd1b]

reverse link urt_subscriber_t to urt_message_t--><path d="M1230.1507,917.8191 C1488.9403,973.1085 1783.1151,1012.4421 1980.4589,1035.4477 " fill="none" id="urt_subscriber_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1217.0751,915.0053,1222.0993,920.178,1228.8065,917.5299,1223.7823,912.3571,1217.0751,915.0053" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1224.8117" y="916.456">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1948.6646" y="1031.4821">0..1</text><!--MD5=[54fcf25ad8c5f1d36e678e42d5bfd4cc]

reverse link urt_publisher_t to urt_topic_t--><path d="M1675.8792,759.8594 C1662.6731,759.8594 1649.4669,759.8594 1636.2607,759.8594 " fill="none" id="urt_publisher_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1689.0854,759.8594,1683.0854,755.8594,1677.0854,759.8594,1683.0854,763.8594,1689.0854,759.8594" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1673.2871" y="756.777">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1643.9271" y="756.6307">1</text><!--MD5=[5025b4c4053b8e7c7ca8a657f09f21c0]

link urt_publisher_t to urt_message_t--><path d="M2098.5583,824.4777 C2118.1409,867.2878 2144.0816,923.9975 2165.5676,970.9689 " fill="none" id="urt_publisher_t-&gt;urt_message_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2167.7651,975.7729,2167.6588,965.9246,2165.6852,971.226,2160.3838,969.2524,2167.7651,975.7729" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b2afc1defaa6ed5a86f99c07f8466dd]

reverse link urt_topic_t to urt_topic_t--><path d="M1648.0439,719.1296 C1662.3061,728.4263 1671,742.0029 1671,759.8594 C1671,782.2676 1657.309,797.9358 1636.1039,806.8641 " fill="none" id="urt_topic_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1636.1039,712.8547,1639.5542,719.1868,1646.7262,718.4373,1643.2759,712.1052,1636.1039,712.8547" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1643.7642" y="707.7899">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1644.0767" y="805.4715">0..1</text><!--MD5=[0b5167e958c0ed93ffc0c98ce399b54d]

reverse link urt_topic_t to urt_message_t--><path d="M1596.0295,884.438 C1615.3279,896.0002 1635.2412,906.7668 1655,915.8594 C1757.2499,962.9128 1877.8551,996.9667 1980.1861,1020.0584 " fill="none" id="urt_topic_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1584.7437,877.5451,1587.7793,884.0861,1594.9847,883.7998,1591.9491,877.2588,1584.7437,877.5451" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1585.5038" y="897.6274">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1948.3828" y="1015.5878">1..1</text><!--MD5=[0b5167e958c0ed93ffc0c98ce399b54d]

reverse link urt_topic_t to urt_message_t--><path d="M1630.5617,884.2759 C1650.1418,895.8995 1670.1489,906.7243 1690,915.8594 C1781.6761,958.0469 1888.1075,989.7845 1980.4701,1012.5406 " fill="none" id="urt_topic_t&lt;-urt_message_t-1" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1619.4106,877.5451,1622.4804,884.0701,1629.6842,883.7462,1626.6144,877.2211,1619.4106,877.5451" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1622.3916" y="897.6274">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1964.2214" y="1007.6534">1</text><!--MD5=[d97285d52857c028121a6b5bc3935d87]

reverse link urt_pubsub_t to urt_topic_t--><path d="M1984.8963,480.8411 C1888.3066,498.8102 1769.8739,528.6345 1672,576.8594 C1636.8283,594.1894 1602.1221,617.724 1570.8031,642.1407 " fill="none" id="urt_pubsub_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1997.7704,478.4919,1991.1498,475.634,1985.9654,480.6462,1992.586,483.504,1997.7704,478.4919" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1981.8756" y="476.2381">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1554.1577" y="631.1815">0..1</text><!--MD5=[8d27a615fd5a1da0f7adeab7e6eca6da]

link urt_pubsub_t to urt_publisher_t--><!--MD5=[05f2c35569573d3273c65d3342945557]

reverse link urt_service_t to urt_service_t--><path d="M4240.7882,724.6841 C4255.4237,733.5568 4264,745.2819 4264,759.8594 C4264,777.9751 4250.7552,791.6858 4229.0965,800.9913 " fill="none" id="urt_service_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="4229.0965,718.7275,4232.6268,725.0153,4239.7888,724.1749,4236.2585,717.8871,4229.0965,718.7275" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4237.2006" y="714.4982">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="4237.4131" y="814.3456">0..1</text><!--MD5=[586e61fedafd54ae7ea71cebd9f9032a]

reverse link urt_service_t to urt_servicefunc_t--><path d="M3966.8486,883.6376 C3983.5292,936.7849 4001.6229,994.4344 4012.3758,1028.695 " fill="none" id="urt_service_t&lt;-urt_servicefunc_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3962.8685,870.9565,3960.8488,877.879,3966.462,882.4058,3968.4817,875.4833,3962.8685,870.9565" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3957.0389" y="891.3507">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="3983.9158" y="1017.9243">0..1</text><!--MD5=[44e85a81cd85acd5638164304275c8f6]

reverse link urt_rpc_t to urt_service_t--><path d="M4019.4944,511.5174 C4005.3878,549.8068 3986.1691,601.9718 3968.9865,648.6102 " fill="none" id="urt_rpc_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="4024.0721,499.0923,4018.2445,503.3395,4019.9235,510.3524,4025.7512,506.1052,4024.0721,499.0923" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4012.8961" y="519.2223">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="3972.5465" y="637.6876">0..1</text><!--MD5=[694e7400eb99f74d44ea388aed89d199]

reverse link urt_core_t to urt_node_t--><path d="M3734.434,277.415 C3623.305,305.3674 3493.198,338.0933 3374.9657,367.8323 " fill="none" id="urt_core_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3747.1962,274.2049,3740.4017,271.7893,3735.5587,277.1321,3742.3532,279.5476,3747.1962,274.2049" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3731.4239" y="272.9784">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="3380.0096" y="356.6935">0..1</text><!--MD5=[126a576c1462f30ade8ec99c3bc39be3]

reverse link urt_core_t to urt_pubsub_t--><path d="M3734.3403,222.767 C3356.882,243.1083 2692.2496,285.3478 2457,340.8594 C2387.4938,357.2607 2312.6742,387.407 2256.5805,412.7198 " fill="none" id="urt_core_t&lt;-urt_pubsub_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="3747.3675,222.0675,3741.1616,218.395,3735.3848,222.711,3741.5906,226.3835,3747.3675,222.0675" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3731.6003" y="219.2932">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2244.7855" y="401.6936">0..1</text><!--MD5=[d3daad950a97bef6626a3189265b6c3e]

reverse link urt_core_t to urt_rpc_t--><path d="M4020.9215,321.4924 C4025.5159,353.8502 4030.2567,387.2385 4033.8631,412.6381 " fill="none" id="urt_core_t&lt;-urt_rpc_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="4019.0342,308.2001,4015.9174,314.7028,4020.7212,320.0809,4023.838,313.5782,4019.0342,308.2001" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4011.7397" y="327.7539">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="4007.0859" y="401.9167">0..1</text><!--MD5=[a42c921bb2ae3ef3cd6ba12c97758939]

reverse link urt_core_t to urt_osEventSource_t--><path d="M4275.7133,209.7578 C5300.9831,212.1127 8945.7002,228.3874 10100,340.8594 C10754.9106,404.6722 11520,101.8473 11520,759.8594 C11520,759.8594 11520,759.8594 11520,1059.3594 C11520,1210.8033 11471.117,1457.3808 10835,1706.8594 C10719.8345,1752.0261 9844.5383,1717.9038 9722,1734.8594 C9611.9826,1750.0824 9489.6613,1782.7512 9402.8226,1808.7268 " fill="none" id="urt_core_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="4262.6607,209.7282,4268.6516,213.7418,4274.6607,209.7555,4268.6698,205.7418,4262.6607,209.7282" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4270.4288" y="222.0328">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9414.741" y="1797.8901">1</text><!--MD5=[b9eb8460041bde16ab6e44c28de7b0fc]

reverse link urt_core_t to urt_osMutex_t--><path d="M4275.9722,213.8189 C5576.1247,236.3477 11123.8095,345.7713 11404,576.8594 C11468.6152,630.151 11449,676.1031 11449,759.8594 C11449,759.8594 11449,759.8594 11449,1059.3594 C11449,1359.349 6319.5369,1168.3885 6055,1309.8594 C5982.8094,1348.466 5933.4576,1433.2997 5907.7736,1487.8982 " fill="none" id="urt_core_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="4262.7451,213.5902,4268.675,217.6934,4274.7433,213.7977,4268.8134,209.6946,4262.7451,213.5902" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4270.5157" y="210.5642">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5902.0276" y="1477.2379">1</text><!--MD5=[53eb1ed31b8ffcbb98ca8a87ecf3ad40]

link urt_core_t to urt_status_t--><path d="M4262.5792,209.6087 C5575.6731,211.3946 11468.4594,225.8159 11617,340.8594 C11769.7671,459.1763 11733,566.6324 11733,759.8594 C11733,759.8594 11733,759.8594 11733,1059.3594 C11733,1443.051 11507.0509,1539.0526 11162,1706.8594 C11064.1168,1754.4624 10772.7172,1691.2286 10673,1734.8594 C10641.519,1748.6338 10613.585,1775.0557 10593.1329,1798.666 " fill="none" id="urt_core_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10589.6593,1802.7324,10598.5464,1798.4875,10592.907,1798.9307,10592.4638,1793.2912,10589.6593,1802.7324" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f6f8ae0abb3c85244c8639cf15039f58]

link urt_core_t to urt_nodestage_t--><path d="M4262.5821,209.8093 C5425.7951,212.4533 10160.3955,229.9913 10814,340.8594 C11200.8185,406.4737 11591,367.5154 11591,759.8594 C11591,759.8594 11591,759.8594 11591,1059.3594 C11591,1363.5591 11310.575,1633.0163 11148.7501,1763.1867 " fill="none" id="urt_core_t-&gt;urt_nodestage_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="11144.4737,1766.6165,11153.9972,1764.106,11148.3742,1763.4882,11148.992,1757.8652,11144.4737,1766.6165" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[addb2e74eebae0995b3a6bf162197d46]

reverse link urt_node_t to urt_osThread_t--><path d="M3590.075,542.5315 C3594.399,542.9837 3598.7079,543.4265 3603,543.8594 C3895.2171,573.3335 3973.1492,529.4664 4263,576.8594 C5450.3988,771.0089 5739.9852,894.0042 6869,1309.8594 C6939.8055,1335.9395 7014.534,1367.8972 7083.8699,1399.5394 " fill="none" id="urt_node_t&lt;-urt_osThread_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3577.0597,541.1469,3582.6029,545.7592,3588.9924,542.4164,3583.4492,537.8041,3577.0597,541.1469" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3584.8793" y="539.3083">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="7052.1102" y="1392.7386">0..1</text><!--MD5=[71f626b81c482d35e653d2b548781872]

reverse link urt_node_t to urt_nodestage_t--><path d="M3590.0497,542.8149 C3594.3818,543.1759 3598.6991,543.5242 3603,543.8594 C3654.0609,547.839 10940.2181,542.2822 10978,576.8594 C11057.4412,649.5622 11023,951.6719 11023,1059.3594 C11023,1059.3594 11023,1059.3594 11023,1252.3594 C11023,1436.5914 11029.8256,1652.9026 11033.9449,1766.674 " fill="none" id="urt_node_t&lt;-urt_nodestage_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="3577.0107,541.6949,3582.6464,546.1937,3588.9667,542.7219,3583.331,538.223,3577.0107,541.6949" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3584.8296" y="555.0749">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11025.2945" y="1755.7355">1</text><!--MD5=[ecbb69d8dc7b8a34ff21337736794c2a]

reverse link urt_node_t to urt_osEventListener_t--><path d="M3590.0496,542.8157 C3594.3817,543.1764 3598.6991,543.5245 3603,543.8594 C3655.5151,547.9491 11149.0307,541.4199 11188,576.8594 C11347.4331,721.8512 11236,843.8564 11236,1059.3594 C11236,1059.3594 11236,1059.3594 11236,1252.3594 C11236,1316.5536 11214.4674,1501.6824 10395,1706.8594 C10093.36,1782.3836 9300.2271,1670.544 8996,1734.8594 C8931.3383,1748.5293 8862.6215,1777.7842 8811.3692,1802.8292 " fill="none" id="urt_node_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="3577.0106,541.6964,3582.6465,546.1949,3588.9666,542.7227,3583.3307,538.2242,3577.0106,541.6964" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3585.2797" y="541.0902">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8815.5405" y="1791.8204">1</text><!--MD5=[a052f483eba01ccbd89eefaa281cffa6]

reverse link urt_node_t to urt_osThreadFunction_t--><path d="M3590.0496,542.8155 C3594.3818,543.1762 3598.6991,543.5244 3603,543.8594 C3655.0442,547.9135 11081.4891,541.6181 11120,576.8594 C11278.8885,722.2584 11165,843.9843 11165,1059.3594 C11165,1059.3594 11165,1059.3594 11165,1252.3594 C11165,1986.4754 10303.1099,1598.736 9577,1706.8594 C9485.8804,1720.4278 8005.9994,1704.5611 7919,1734.8594 C7872.5941,1751.0206 7829.2269,1788.3034 7802.2309,1815.2062 " fill="none" id="urt_node_t&lt;-urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3577.0106,541.6959,3582.6464,546.1945,3588.9666,542.7225,3583.3308,538.2238,3577.0106,541.6959" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="3585.2589" y="559.1613">0..*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7799.2285" y="1804.4378">1</text><!--MD5=[0cba389305cd35ebcbacaedacb3fbe88]

link urt_node_t to urt_status_t--><path d="M3577.0107,541.6954 C3585.7305,542.4664 3594.3983,543.1892 3603,543.8594 C3654.5526,547.8762 11010.8536,541.9501 11049,576.8594 C11128.4427,649.5605 11094,951.6719 11094,1059.3594 C11094,1059.3594 11094,1059.3594 11094,1252.3594 C11094,1460.8348 11136.6115,1571.5657 10978,1706.8594 C10926.2167,1751.0299 10734.8774,1706.5093 10673,1734.8594 C10641.9987,1749.0631 10614.2606,1775.2089 10593.7968,1798.5583 " fill="none" id="urt_node_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10590.319,1802.5798,10599.2317,1798.3888,10593.5896,1798.7978,10593.1806,1793.1558,10590.319,1802.5798" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b00c0c61b5ae38465e12763fb588229]

link urt_nodeSetupCallback_t to urt_osEventMask_t--><path d="M2749.3444,790.6217 C2794.2394,828.5796 2877.0794,891.1267 2961,915.8594 C3060.2415,945.1074 10337.1368,902.4069 10410,975.8594 C10462.2712,1028.5534 10449.9437,1080.3019 10410,1142.8594 C10089.3911,1644.9788 9773.1788,1567.3391 9194,1706.8594 C9036.8209,1744.7228 8620.188,1683.1647 8467,1734.8594 C8420.0344,1750.7084 8374.6127,1785.279 8344.6193,1811.6574 " fill="none" id="urt_nodeSetupCallback_t-&gt;urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8340.6739,1815.1585,8350.0605,1812.1767,8344.4137,1811.8398,8344.7506,1806.193,8340.6739,1815.1585" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[aa0b59559007c8ad9b783f6dc5ed8ad9]

link urt_nodeLoopCallback_t to urt_osEventMask_t--><path d="M3331.7053,790.3721 C3392.9043,828.3811 3504.9445,891.3086 3611,915.8594 C3704.9227,937.6016 10484.1257,907.3958 10552,975.8594 C10666.368,1091.2203 10666.0918,1591.2252 10552,1706.8594 C10511.319,1748.0904 8522.109,1717.0285 8467,1734.8594 C8419.6868,1750.1679 8374.1542,1785.0052 8344.2248,1811.5993 " fill="none" id="urt_nodeLoopCallback_t-&gt;urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8340.2891,1815.129,8349.6599,1812.0979,8344.0114,1811.7907,8344.3186,1806.1422,8340.2891,1815.129" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7f2dcdcdb5d5a5f231908f157fd7bf49]

link urt_pubsub_t to urt_status_t--><path d="M2282.9877,498.8882 C2335.2933,516.3659 2398.4619,534.5972 2457,543.8594 C2655.2341,575.2251 4062.4537,569.0024 4263,576.8594 C5007.5821,606.0305 10952,314.2061 10952,1059.3594 C10952,1059.3594 10952,1059.3594 10952,1252.3594 C10952,1463.8567 10967.8838,1565.0194 10811,1706.8594 C10764.5773,1748.8305 10728.3966,1705.7413 10673,1734.8594 C10643.2799,1750.4812 10615.9631,1776.1333 10595.4174,1798.8441 " fill="none" id="urt_pubsub_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10591.9204,1802.7535,10600.9021,1798.7125,10595.254,1799.0269,10594.9396,1793.3788,10591.9204,1802.7535" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b3fa89608aace108b23bbfcd22712ec]

link urt_publisher_t to urt_config--><path d="M2194.6216,824.3625 C2268.8287,858.8635 2365.8287,897.8635 2457,915.8594 C2675.6759,959.0228 10275.8534,888.698 10481,975.8594 C10976.5975,1186.4259 11568.0293,1518.6143 11224,1932.8594 C11131.1843,2044.6187 10709.8752,2081.9976 10480.284,2094.1821 " 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="10475.2336,2094.4477,10484.4313,2097.9693,10480.2267,2094.185,10484.011,2089.9803,10475.2336,2094.4477" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[48a81098d0aa451a4923659bb2bbea3c]

link urt_publisher_t to urt_status_t--><path d="M2195.058,824.5577 C2269.2095,859.0065 2366.0086,897.8894 2457,915.8594 C2563.4199,936.8764 10176.6812,915.7809 10267,975.8594 C10410.6469,1071.4107 10519.5739,1628.3198 10549.6682,1797.2789 " 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="10550.6206,1802.6447,10552.9861,1793.0841,10549.7467,1797.7216,10545.1092,1794.4823,10550.6206,1802.6447" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[c16173558393ca1d9128284d70afa235]

link urt_publisher_t to urt_delay_t--><path d="M2195.0585,824.5553 C2269.2101,859.0033 2366.0093,897.8862 2457,915.8594 C2562.4654,936.6917 10121.2789,899.5491 10197,975.8594 C10420.6851,1201.2852 10220.0489,1639.2135 10139.1911,1791.8374 " 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="10136.8343,1796.2692,10144.5918,1790.2011,10139.182,1791.8546,10137.5285,1786.4448,10136.8343,1796.2692" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3f75a4ca5db56e37c381a718c71f2950]

reverse link urt_topic_t to urt_topicid_t--><path d="M1600.9198,884.2038 C1623.7218,897.1036 1647.725,908.254 1672,915.8594 C1782.7237,950.5495 9934.4679,904.5501 10026,975.8594 C10290.8078,1182.1614 10063.7946,1407.6652 10216,1706.8594 C10226.5426,1727.5833 10240.6038,1748.0172 10255.2427,1766.5747 " fill="none" id="urt_topic_t&lt;-urt_topicid_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1589.47,877.5244,1592.6371,884.0028,1599.8352,883.571,1596.6682,877.0926,1589.47,877.5244" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1590.5329" y="897.6054">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10240.2284" y="1755.8987">1</text><!--MD5=[2ea2859f8de074b5c128ff5997404a58]

reverse link urt_topic_t to urt_osMutex_t--><path d="M1601.2985,884.0358 C1624.0017,896.9214 1647.8772,908.1132 1672,915.8594 C1968.9162,1011.2039 4169.9622,927.2532 4478,975.8594 C4975.7854,1054.4064 5067.4427,1215.89 5564,1301.8594 C5581.1017,1304.8202 5704.7266,1301.6158 5720,1309.8594 C5791.8912,1348.6616 5840.91,1433.4364 5866.3979,1487.9699 " fill="none" id="urt_topic_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1589.8962,877.3682,1593.0564,883.8499,1600.255,883.4258,1597.0948,876.944,1589.8962,877.3682" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1599.9674" y="897.8296">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5855.092" y="1477.3193">1</text><!--MD5=[ee40dc1875ed5325eec4e6c8c8102744]

reverse link urt_topic_t to urt_osEventSource_t--><path d="M1600.9201,884.203 C1623.722,897.1029 1647.7251,908.2535 1672,915.8594 C1782.1664,950.3771 9902.6615,893.9316 9984,975.8594 C10060.1568,1052.5679 10003.4993,1548.1484 9842,1706.8594 C9802.9389,1745.2461 9775.2023,1721.8661 9722,1734.8594 C9624.1379,1758.7598 9514.2091,1786.8211 9429.344,1808.7493 " fill="none" id="urt_topic_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1589.4703,877.5235,1592.6373,884.0019,1599.8355,883.5702,1596.6685,877.0918,1589.4703,877.5235" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1590.5332" y="897.6044">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9445.9865" y="1797.9166">1</text><!--MD5=[f5e2f818dfb7c47ef0a661b061d2efd0]

link urt_topic_t to urt_config--><path d="M1589.4685,877.529 C1615.6176,893.2389 1643.6229,906.9717 1672,915.8594 C1899.4712,987.103 10030.1192,891.3436 10253,975.8594 C10368.453,1019.6389 10984.5267,1642.661 11090,1706.8594 C11118.9754,1724.4958 11141.9148,1706.8171 11161,1734.8594 C11210.5125,1807.6091 11216.7595,1864.7795 11161,1932.8594 C11076.5813,2035.9309 10695.8329,2076.7438 10480.1902,2091.8047 " fill="none" id="urt_topic_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10475.1273,2092.1556,10484.3825,2095.5232,10480.1153,2091.8096,10483.8289,2087.5424,10475.1273,2092.1556" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[a01366c261f16bb61c03de8616a1256c]

reverse link urt_topic_t to urt_osTimer_t--><path d="M1601.2832,884.0834 C1623.9888,896.9614 1647.8691,908.1384 1672,915.8594 C2001.1801,1021.1852 4439.6088,928.7284 4782,975.8594 C5366.5755,1056.3276 5520.9751,1086.1173 6067,1309.8594 C6180.9317,1356.5447 6302.1939,1430.6378 6379.8448,1481.6175 " fill="none" id="urt_topic_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1589.8799,877.4191,1593.0418,883.9,1600.2404,883.4739,1597.0784,876.993,1589.8799,877.4191" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1611.1426" y="897.1721">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6344.3696" y="1470.9225">0..1</text><!--MD5=[23aed2412a22c58889d68b772ca9654f]

link urt_topic_t to urt_status_t--><path d="M1589.4689,877.5279 C1615.6179,893.2379 1643.6231,906.9711 1672,915.8594 C1784.9926,951.2514 10101.6494,905.6584 10197,975.8594 C10231.3247,1001.1306 10408.5849,1670.0054 10430,1706.8594 C10449.8722,1741.0582 10479.4187,1773.8762 10505.1186,1799.0281 " fill="none" id="urt_topic_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10508.8809,1802.6827,10505.2124,1793.5425,10505.2945,1799.1988,10499.6382,1799.2809,10508.8809,1802.6827" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[40d97a101b79fe2b6aede42ee911a5e3]

reverse link urt_message_t to urt_osTime_t--><path d="M2444.5316,1104.3803 C2769.0239,1163.1976 3368.3854,1263.2312 3885,1301.8594 C3904.0167,1303.2813 5240.3714,1302.587 5258,1309.8594 C5349.0972,1347.4401 5423.7984,1439.7243 5462.1291,1494.6744 " fill="none" id="urt_message_t&lt;-urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="2431.6742,1102.0452,2436.8629,1107.053,2443.4811,1104.1895,2438.2924,1099.1817,2431.6742,1102.0452" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2439.2104" y="1100.2648">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5458.3247" y="1483.6409">1</text><!--MD5=[7527c1e2a180419f2ba2182e8f11877d]

reverse link urt_message_t to urt_osMutex_t--><path d="M2444.9373,1087.8259 C2909.1199,1141.6573 3965.5808,1256.9922 4858,1301.8594 C4881.9153,1303.0618 5698.694,1298.9306 5720,1309.8594 C5792.9076,1347.257 5841.7608,1432.8883 5866.9171,1487.9088 " fill="none" id="urt_message_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="2431.7156,1086.2906,2437.2141,1090.956,2443.6355,1087.6748,2438.137,1083.0094,2431.7156,1086.2906" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2439.2531" y="1083.9933">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5864.756" y="1477.25">1</text><!--MD5=[107def0b4b669b7e1be29db2eeb634c8]

reverse link urt_message_t to urt_osCondvar_t--><path d="M2395.6982,1148.1844 C2526.6035,1204.4797 2706.4174,1272.1016 2873,1301.8594 C2918.2563,1309.9439 4483.886,1296.9192 4528,1309.8594 C4647.2026,1344.8257 4764.7879,1432.3143 4831.3925,1488.1835 " fill="none" id="urt_message_t&lt;-urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="2383.583,1142.9466,2387.503,1148.9991,2394.5977,1147.7086,2390.6777,1141.656,2383.583,1142.9466" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2391.0427" y="1163.1211">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4815.0102" y="1477.204">1</text><!--MD5=[2bb9471b6fda5815e085c87a24a67f11]

link urt_message_t to urt_config--><path d="M2431.5848,1074.9522 C2709.0372,1093.6254 3194.4685,1124.6568 3611,1142.8594 C3693.8145,1146.4784 9515.449,1254.3363 9577,1309.8594 C9784.3717,1496.9226 9472.994,1724.5389 9659,1932.8594 C9727.3367,2009.3942 10003.5877,2058.1791 10179.6224,2082.1489 " fill="none" id="urt_message_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10184.801,2082.8508,10176.42,2077.678,10179.8463,2082.1791,10175.3452,2085.6054,10184.801,2082.8508" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[570f5794230ed2cf7946261591bb6cd1]

link urt_message_t to urt_status_t--><path d="M2431.536,1076.196 C2708.9397,1096.1118 3194.3223,1128.3845 3611,1142.8594 C3776.1033,1148.5949 9412.825,1124.0166 9558,1202.8594 C9668.9263,1263.1022 9714.6668,1637.2984 9820,1706.8594 C9877.8215,1745.0441 10379.3492,1707.4738 10443,1734.8594 C10474.565,1748.4402 10502.5017,1774.8558 10522.9342,1798.5112 " fill="none" id="urt_message_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10526.4043,1802.5859,10523.6144,1793.1404,10523.1625,1798.7792,10517.5237,1798.3273,10526.4043,1802.5859" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7cee5aa7c1aa784c863bfc703478827b]

reverse link urt_subscriber_t to urt_osEventListener_t--><path d="M1229.9889,917.1783 C1939.8397,1020.7077 3693.7515,944.8957 4394,975.8594 C4928.101,999.4763 8829.3212,918.9233 9194,1309.8594 C9314.3569,1438.8821 9309.7009,1573.6455 9194,1706.8594 C9164.8606,1740.4095 9038.8447,1723.0675 8996,1734.8594 C8934.6831,1751.7353 8868.7101,1779.3348 8817.9287,1802.7902 " fill="none" id="urt_subscriber_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1217.0299,915.2507,1222.376,920.09,1228.8993,917.0164,1223.5532,912.1771,1217.0299,915.2507" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1224.5959" y="914.3976">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8823.1455" y="1791.7752">1</text><!--MD5=[d78112c1c4e2d668c8a365106ad0148b]

reverse link urt_subscriber_t to urt_osTime_t--><path d="M1230.041,917.0292 C1612.0967,964.2221 3948.6176,863.0141 4263,975.8594 C4375.5643,1016.2635 4366.0624,1091.3552 4474,1142.8594 C4765.0659,1281.7462 4863.7652,1249.5574 5182,1301.8594 C5215.5148,1307.3676 5227.2821,1295.3684 5258,1309.8594 C5346.359,1351.5424 5421.2451,1441.0113 5460.516,1494.6447 " fill="none" id="urt_subscriber_t&lt;-urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1217.0302,915.2491,1222.4326,920.0255,1228.9194,916.8758,1223.5171,912.0994,1217.0302,915.2491" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1224.5962" y="929.6069">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5447.3888" y="1483.9243">1</text><!--MD5=[86ebe93bbfa4ec3b6f23ec8ed904ce0f]

link urt_subscriber_t to urt_config--><path d="M1217.0277,915.2658 C1218.353,915.466 1219.6772,915.6639 1221,915.8594 C1809.4248,1002.8154 5979.9364,945.9672 6574,975.8594 C7703.3033,1032.6838 7991.144,1026.2588 9108,1202.8594 C9319.1767,1236.2513 9425.4905,1159.0102 9577,1309.8594 C9677.7308,1410.1512 9623.4872,1830.3881 9722,1932.8594 C9784.8068,1998.19 10020.7139,2048.8722 10179.5299,2076.5249 " fill="none" id="urt_subscriber_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10184.6759,2077.4175,10176.492,2071.9381,10179.7495,2076.5629,10175.1247,2079.8204,10184.6759,2077.4175" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[52cc257f73bbbb16d4f5605ee05234fd]

reverse link urt_subscriber_t to urt_delay_t--><path d="M1230.006,916.128 C1619.6681,932.1814 9820.5409,901.3882 9913,975.8594 C9978.5646,1028.6684 10074.2005,1619.7408 10101.4831,1796.3298 " fill="none" id="urt_subscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1217.0264,915.2742,1222.7509,919.6594,1229.0005,916.062,1223.2761,911.6767,1217.0264,915.2742" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1224.7616" y="932.1782">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="10074.7385" y="1785.3708">0..2</text><!--MD5=[e382e2d38ad01b25c47e084dc0da57c4]

link urt_subscriber_t to urt_status_t--><path d="M1217.0264,915.2743 C1218.3522,915.4718 1219.6768,915.6668 1221,915.8594 C1341.2358,933.3604 9867.0051,909.8293 9969,975.8594 C10268.8458,1169.9754 10022.979,1485.101 10303,1706.8594 C10352.7447,1746.254 10386.7911,1705.4141 10443,1734.8594 C10472.7418,1750.4398 10500.0598,1776.0897 10520.6007,1798.8095 " fill="none" id="urt_subscriber_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10524.0968,1802.7207,10521.0812,1793.3448,10520.7647,1798.9928,10515.1167,1798.6763,10524.0968,1802.7207" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3efe35f90d26626840318a84096a56c5]

link urt_hrtdata_t to urt_config--><path d="M1227.8623,1561.0791 C1705.9069,1633.8564 3238.1575,1857.1594 4516,1932.8594 C4796.6768,1949.4868 9297.1905,1925.2445 9577,1952.8594 C9788.4456,1973.7273 10028.7512,2025.6652 10179.8516,2061.8502 " fill="none" id="urt_hrtdata_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10184.7422,2063.0234,10176.9237,2057.0342,10179.8802,2061.8569,10175.0574,2064.8134,10184.7422,2063.0234" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ed989009be771aee0dc5ea42e965db70]

reverse link urt_hrtdata_t to urt_osTimer_t--><path d="M1240.8154,1521.9202 C1712.0152,1476.6922 3117.9516,1348.0979 4288.5,1305.8594 C4337.3849,1304.0954 6000.8918,1300.3749 6049.5,1305.8594 C6187.8901,1321.4741 6323.8568,1418.1177 6399.9406,1481.6449 " fill="none" id="urt_hrtdata_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1227.825,1523.1687,1234.1802,1526.5763,1239.77,1522.0206,1233.4148,1518.613,1227.825,1523.1687" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1235.2759" y="1519.1628">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6393.8396" y="1470.9532">0..1</text><!--MD5=[7e23fc46f17d4a9469ac4a553a110c32]

reverse link urt_hrtdata_t to urt_delay_t--><path d="M1240.8024,1549.2435 C1710.4851,1581.4893 3108.5931,1673.2766 4271,1706.8594 C4350.5511,1709.1577 9927.7599,1703.7219 10001,1734.8594 C10030.8165,1747.5356 10056.4922,1772.8717 10075.3191,1796.141 " fill="none" id="urt_hrtdata_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1227.5156,1548.3302,1233.2271,1552.7323,1239.4873,1549.1532,1233.7758,1544.7511,1227.5156,1548.3302" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1235.4312" y="1545.5525">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="10044.8952" y="1785.1555">0..5</text><!--MD5=[84b4ddc626a7a0aa23e58213a3a30632]

link urt_frtdata_t to urt_config--><path d="M656.4669,1621.7873 C684.758,1653.6704 720.8698,1687.0463 761,1706.8594 C1478.4313,2061.0692 1748.5488,1881.4017 2547,1932.8594 C2936.7486,1957.9775 9188.3099,1914.7161 9577,1952.8594 C9788.4571,1973.6103 10028.7599,2025.577 10179.8565,2061.8004 " fill="none" id="urt_frtdata_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10184.747,2062.9748,10176.9299,2056.9837,10179.8852,2061.8072,10175.0618,2064.7625,10184.747,2062.9748" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8b5e0556f8c73fbb24cf4e7733c873ff]

reverse link urt_frtdata_t to urt_osTimer_t--><path d="M629.5604,1442.39 C658.8199,1382.0294 707.1876,1313.9056 778.5,1305.8594 C814.8734,1301.7554 6013.1266,1301.7554 6049.5,1305.8594 C6187.8901,1321.4741 6323.8568,1418.1177 6399.9406,1481.6449 " fill="none" id="urt_frtdata_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="623.9621,1454.3385,630.1299,1450.6024,629.0534,1443.4721,622.8856,1447.2082,623.9621,1454.3385" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="618.2743" y="1443.294">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6366.9146" y="1470.9532">0..1</text><!--MD5=[29efa6d8db454d55b0473550ef148da3]

reverse link urt_frtdata_t to urt_delay_t--><path d="M661.9444,1631.7114 C689.0408,1661.5225 722.8957,1690.8752 761,1706.8594 C879.3433,1756.5027 9882.8498,1684.7582 10001,1734.8594 C10030.8282,1747.508 10056.5046,1772.8424 10075.3289,1796.1177 " fill="none" id="urt_frtdata_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="653.018,1621.6026,653.9911,1628.7477,660.9609,1630.5976,659.9878,1623.4525,653.018,1621.6026" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="649.918" y="1641.7909">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="10072.2814" y="1785.1289">0..5</text><!--MD5=[19bf7f91edc926705d1714d4ed8cf052]

link urt_srtusefulnessfunc_t to urt_delay_t--><path d="M428.1863,1838.4614 C1026.2415,1815.2425 2944.7328,1743.9874 4533.5,1720.8594 C4609.1864,1719.7576 9912.0726,1695.804 9983.5,1720.8594 C10020.1469,1733.7145 10051.1786,1764.3064 10073.2168,1792.0071 " fill="none" id="urt_srtusefulnessfunc_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10076.4027,1796.0707,10073.9976,1786.52,10073.3177,1792.1358,10067.7019,1791.456,10076.4027,1796.0707" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[49d68c01ac8dc0620b1ed1800c01c519]

link urt_rpc_t to urt_status_t--><path d="M4219.007,459.4409 C4852.8104,472.0548 7049.5896,515.202 8863,543.8594 C8897.3043,544.4015 11307.7937,553.5845 11333,576.8594 C11412.1174,649.9144 11378,951.6719 11378,1059.3594 C11378,1059.3594 11378,1059.3594 11378,1252.3594 C11378,1567.0748 11120.5347,1574.5124 10835,1706.8594 C10768.7074,1737.5864 10738.1637,1701.8056 10673,1734.8594 C10642.9393,1750.1075 10615.5138,1775.877 10594.9909,1798.7499 " fill="none" id="urt_rpc_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10591.4992,1802.6879,10600.463,1798.6073,10594.8163,1798.9466,10594.477,1793.3,10591.4992,1802.6879" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e94002b645d3e9bc57281d43facd7112]

link urt_rpc_t to urt_serviceid_t--><path d="M4219.0075,459.4132 C4852.8123,471.9347 7049.5958,514.8123 8863,543.8594 C8896.235,544.3918 11231.4457,554.4554 11256,576.8594 C11335.6476,649.532 11307,951.5399 11307,1059.3594 C11307,1059.3594 11307,1059.3594 11307,1252.3594 C11307,1317.4777 11020.5263,1615.602 10874.8992,1762.9447 " fill="none" id="urt_rpc_t-&gt;urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10871.0589,1766.8283,10880.2314,1763.2414,10874.5746,1763.273,10874.5429,1757.6162,10871.0589,1766.8283" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[85137379eadac9ac066ccd1aa3005a20]

reverse link urt_service_t to urt_serviceid_t--><path d="M4242.4783,764.5029 C5556.0267,784.575 10541.6872,867.7683 10663,975.8594 C10890.2954,1178.3821 10841.7956,1593.1442 10809.2196,1766.7193 " fill="none" id="urt_service_t&lt;-urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="4229.093,764.2986,4235.0312,768.3897,4241.0916,764.4817,4235.1534,760.3906,4229.093,764.2986" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4237.197" y="761.2798">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10802.4383" y="1755.785">1</text><!--MD5=[bfc39859b663e58a9d342532110a4ed9]

reverse link urt_service_t to urt_osMutex_t--><path d="M4242.1666,787.6371 C4626.8127,835.9117 5281.1007,965.796 5720,1309.8594 C5782.556,1358.8985 5832.815,1437.1754 5861.2897,1488.0483 " fill="none" id="urt_service_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="4229.1652,786.0236,4234.6269,790.7321,4241.0738,787.5016,4235.6122,782.793,4229.1652,786.0236" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4237.2712" y="783.5819">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5849.2974" y="1477.4082">1</text><!--MD5=[33249c42c81fffc5b10022c232aa2b33]

link urt_service_t to urt_config--><path d="M4229.0051,762.6518 C5481.2354,775.1566 10243.4129,831.8324 10900,975.8594 C11271.5492,1057.3614 11477.9695,992.7182 11688,1309.8594 C11840.8856,1540.7132 11871.4527,1725.4647 11688,1932.8594 C11608.949,2022.2272 10817.5211,2074.1825 10480.5893,2092.4037 " 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="10475.1708,2092.696,10484.3733,2096.2052,10480.1635,2092.4266,10483.9422,2088.2168,10475.1708,2092.696" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ac5bbcedbd2eba97f2e594f2b75734f9]

reverse link urt_service_t to urt_delay_t--><path d="M4242.5049,764.6024 C5549.6163,784.9889 10490.403,869.0026 10611,975.8594 C10726.9796,1078.6249 10631.9618,1694.8346 10620,1706.8594 C10556.6891,1770.5041 10298.4401,1697.0913 10217,1734.8594 C10187.9735,1748.3205 10162.596,1773.2518 10143.7471,1796.081 " fill="none" id="urt_service_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="4229.1845,764.3949,4235.1214,768.4879,4241.183,764.5819,4235.2461,760.4889,4229.1845,764.3949" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4237.291" y="776.7771">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="10122.8037" y="1785.4453">0..2</text><!--MD5=[5471b15d17b5493f5e528354308bf7b4]

link urt_service_t to urt_status_t--><path d="M4229.2037,763.6143 C5543.9247,780.7046 10719.3813,855.5372 10836,975.8594 C11069.5838,1216.8611 10726.8666,1654.0796 10601.1477,1798.2969 " 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="10597.4922,1802.4777,10606.4274,1798.335,10600.7832,1798.7135,10600.4047,1793.0693,10597.4922,1802.4777" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0826203957815bb9ddac9132e239afa7]

link urt_servicefunc_t to urt_delay_t--><path d="M4247.8316,1059.7059 C5257.5131,1061.9554 9319.048,1078.715 9558,1202.8594 C9805.5245,1331.4575 9711.4615,1536.0713 9932,1706.8594 C9958.1666,1727.1232 9973.542,1716.3833 10001,1734.8594 C10024.5273,1750.6906 10046.9999,1772.3177 10065.2935,1792.2779 " fill="none" id="urt_servicefunc_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10068.8956,1796.2456,10065.8077,1786.8933,10065.5348,1792.5436,10059.8845,1792.2707,10068.8956,1796.2456" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3a1e539c88376aaf116c25a44ec54d4f]

link urt_servicefunc_t to urt_status_t--><path d="M4247.8446,1060.9005 C5265.964,1068.3857 9390.3874,1104.6745 9646,1202.8594 C9961.6752,1324.1152 9908.0034,1567.2462 10216,1706.8594 C10308.5855,1748.8279 10351.2559,1691.0822 10443,1734.8594 C10473.6577,1749.4882 10501.2918,1775.5086 10521.7835,1798.6806 " fill="none" id="urt_servicefunc_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10525.2675,1802.6709,10522.3615,1793.2605,10521.9791,1798.9044,10516.3351,1798.522,10525.2675,1802.6709" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9b83926eaf943def5703de2b1cf2c4ec]

@startuml

title **µRtWare**\nOverview\n

  package "Configuration" <<Node>> {

  class urt_config <<C,BFBFBF>> {

  URT_CFG_DELAY_WIDTH : int

  URT_CFG_TOPICID_WIDTH : int

  URT_CFG_SERVICEID_WIDTH : int

  URT_CFG_NODESTAGE_WIDTH : int

  ..

  URT_CFG_DEBUG_ENABLED : bool

  ..

  URT_CFG_PUBSUB_ENABLED : bool

  URT_CFG_PUBSUB_PROFILING : bool

  URT_CFG_PUBSUB_QOS_DEADLINECHECKS : bool

  URT_CFG_PUBSUB_QOS_RATECHECKS : bool

  URT_CFG_PUBSUB_QOS_JITTERCHECKS : bool

  ..

  URT_CFG_RPC_ENABLED : bool

  URT_CFG_RPC_PROFILING : bool

  URT_CFG_RPC_QOS_JITTERCHECKS : bool

}

}

  package "Primitives" <<Node>> {

  class urt_nodestage_t <<T,00CFFF>> {

  .. URT_CFG_NODESTAGE_WIDTH == 8 ..

  uin8_t

  .. URT_CFG_NODESTAGE_WIDTH == 16 ..

  uint16_t

  .. URT_CFG_NODESTAGE_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_NODESTAGE_WIDTH == 64 ..

  uint64_t

}

  class urt_topicid_t <<T,00CFFF>> {

  .. URT_CFG_TOPICID_WIDTH == 8 ..

  uin8_t

  .. URT_CFG_TOPICID_WIDTH == 16 ..

  uint16_t

  .. URT_CFG_TOPICID_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_TOPICID_WIDTH == 64 ..

  uint64_t

}

  class urt_serviceid_t <<T,00CFFF>> {

  .. URT_CFG_SERVICEID_WIDTH == 8 ..

  uin8_t

  .. URT_CFG_SERVICEID_WIDTH == 16 ..

  uint16_t

  .. URT_CFG_SERVICEID_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_SERVICEID_WIDTH == 64 ..

  uint64_t

}

  class urt_status_t <<T,00CFFF>> {

  URT_STATUS_OK = 0x0..0

  URT_STATUS_WARNING = 0x4..0

  URT_STATUS_ERROR = 0x8..0

}

  class urt_delay_t <<T,00CFFF>> {

  .. URT_CFG_DELAY_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_DELAY_WIDTH == 64 ..

  uint64_t

}

  class urt_debug <<F,E0E0E0>> {

  + {method} urtDebugAssert(condition : bool) : void

}

}

  package "OSAL" <<Node>> {

  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*

}

  class urt_osMutex_t <<T,00CFFF>> {

  + {method} urtMutexInit (mutex : urt_osMutex_t*) : void

  + {method} urtMutexLock (mutex : urt_osMutex_t*) : void

  + {method} urtMutexTryLock (mutex : urt_osMutex_t*) : bool

  + {method} urtMutexUnlock (mutex : urt_osMutex_t*) : void

}

  package "condition variable" <<Rectangle>> {

    class urt_osCondvarWaitStatus_t <<E,FF7F3F>> {

    URT_CONDVAR_WAITSTATUS_SIGNAL = 1

    URT_CONDVAR_WAITSTATUS_BROADCAST = 2

    URT_CONDVAR_WAITSTATUS_TIMEOUT = 0

  }

    class urt_osCondvar_t <<T,00CFFF>> {

    + {method} urtCondvarInit (condvar : urt_osCondvar_t*) : void

    + {method} urtCondvarSignal (condvar : urt_osCondvar_t*) : void

    + {method} urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void

    + {method} urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_osCondvarWaitStatus_t

  }

}

  package "timer" <<Rectangle>> {

    class urt_osTimerCallback_t <<T,00CFFF>> {

    urt_osTimerCallback_t (parameter : void*) : void

  }

    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} urtTimerIsArmed (timer : urt_osTimer_t*) : bool

  }

} 

  package "thread" <<Rectangle>> {

    class urt_osThreadPrio_t <<T,00CFFF>> {

    URT_THREAD_PRIO_LOW_MIN

    URT_THREAD_PRIO_LOW_MAX

    URT_THREAD_PRIO_NORMAL_MIN

    URT_THREAD_PRIO_NORMAL_MAX

    URT_THREAD_PRIO_HIGH_MIN

    URT_THREAD_PRIO_HIGH_MAX

    URT_THREAD_PRIO_RT_MIN

    URT_THREAD_PRIO_RT_MAX

  }

    class urt_osThreadFunction_t <<T,00CFFF>> {

    urt_osThreadFunction_t (arg : void*) : void

  }

    class urt_osThreadTerminateSignal_t <<E,FF7F3F>> {

    URT_THREAD_TERMINATE_REQUEST = 15

    URT_THREAD_TERMINATE_KILL = 9

  }

    class urt_osThreadState_t <<E,FF7F3F>> {

    URT_THREAD_STATE_INACTIVE = 0

    URT_THREAD_STATE_RUNNING = 1

    URT_THREAD_STATE_READY = 2

    URT_THREAD_STATE_SLEEPING = 3

    URT_THREAD_STATE_SUSPENDED = 4

    URT_THREAD_STATE_WAITING = 5

    URT_THREAD_STATE_TERMINATED = 6

  }

    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_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} 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} urtThreadUSleep (microseconds : urt_delay_t) : void

    + {method} urtThreadSleepUntil (time : urt_osTime_t) : void

    + {method} urtThreadExit (void) : void

    + {method} urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void

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

    + {method} urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t

    + {method} urtThreadGetSelf (void) : urt_osThread_t*

  }

} 

  package "events" <<Rectangle>> {

    class urt_osEventMask_t <<T,00CFFF>> {

    URT_EVENTMASK_MAXPRIO : urt_osEventMask_t

  }

    class urt_osEventFlags_t <<T,00CFFF>> {

  }

    class urt_osEventWait_t <<E,FF7F3F>> {

    URT_EVENT_WAIT_ONE = 0

    URT_EVENT_WAIT_ANY = 1

    URT_EVENT_WAIT_ALL = 2

  }

    class urt_osEventListener_t <<T,00CFFF>> {

    + {method} urtEventListenerInit (listener : urt_osEventListener_t*) : void

    + {method} urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t

    + {method} urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t

  }

    class urt_osEventSource_t <<T,00CFFF>> {

    + {method} urtEventSourceInit (source : urt_osEventSource_t*) : void

    + {method} urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void

  }

    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} urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWait_t, timeout : urt_delay_t) : urt_osEventMask_t

  }

} 

  class urt_streams <<F,E0E0E0>> {

  + {method} urtPrintf(fmt : char*, ... ) : int

  + {method} urtErrPrintf(fmt : char*, ... ) : int

}

}

  package "Middleware" <<Node>> {

  class urt_core_t <<S,BFAFFF>> {

  - {field} {static} _nodes : urt_node_t*

  - {field} {static} _evtSource : urt_osEventSource_t

  - {field} {static} _lock : urt_osMutex_t

  .. URT_CFG_PUBSUB_ENABLED == true ..

  - {field} {static} _pubsub : urt_pubsub_t

  .. URT_CFG_RPC_ENABLED == true ..

  - {field} {static} _rpc : urt_rpc_t

  __

  + {method} urtCoreInit (void) : urt_status_t

  + {method} urtCoreStartNodes (void) : urt_status_t

  + {method} urtCoreSynchronizeNodes (node : urt_node_t*, stage : urt_nodestage_t) : urt_status_t

  + {method} urtCoreStopNodes (void) : urt_status_t

}

  package "node" <<Rectangle>> {

    class urt_nodeSetupCallback_t <<T,00CFFF>> {

    urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t

  }

    class urt_nodeLoopCallback_t <<T,00CFFF>> {

    urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t

  }

    class urt_node_t <<S,BFAFFF>> {

    + {field} next : urt_node_t*

    + {field} thread : urt_osThread_t*

    + {field} setupcallback : urt_nodeSetupCallback_t*

    + {field} setupparams : void*

    + {field} loopcallback : urt_nodeLoopCallback_t*

    + {field} loopparams : void*

    + {field} stage : urt_nodestage_t

    + {field} listener : urt_osEventListener_t

    __

    - {method} {static} _main : urt_osThreadFunction_t

    + {method} urtNodeInit (node : urt_node_t*, stacksize : size_t, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*) : urt_status_t

  }

} 

  package "Publish-Subscribe System" <<Node>> {

  class urt_message_t <<S,BFAFFF>> {

  + {field} next : urt_message_t*

  + {field} payload : void*

  + {field} originTime : urt_osTime_t

  + {field} lock : urt_osMutex_t

  + {field} numHrtConsumersLeft : unsigned int

  + {field} hrtConsumersLeft : urt_osCondvar_t

  .. URT_CFG_PUBSUB_PROFILING == true ..

  + {field} numConsumersLeft : unsigned int

  __

  + {method} urtMessageInit (message : urt_message_t*, payload : void*) : urt_status_t

}

  package "subscriber" <<Rectangle>> {

    package "real-time constraint data" <<Rectangle>> {

      class urt_rtdata_t <<S,BFAFFF>> {

      + {field} class : urt_rtconstraintclass_t

      + {field} params : urt_rtconstraintsparams_t

    }

      class urt_rtclass_t <<E,FF7F3F>> {

      URT_RTCLASS_HARD = 0

      URT_RTCLASS_FIRM = 1

      URT_RTCLASS_SOFT = 2

      URT_RTCLASS_NONE = 3

    }

      class urt_rtclassdata_t <<U,7FCF7F>> {

      + {field} hrt : urt_hrtparams_t

      + {field} frt : urt_frtparams_t

      + {field} srt : urt_srtparans_t

      + {field} nrt : urt_nrtparams_t

    }

      class urt_hrtdata_t <<S,BFAFFF>> {

      + {field} next : urt_subscriber_t*

      .. URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true ..

      + {field} qosDeadlineTimer : urt_osTimer_t

      + {field} deadlineOffset : urt_delay_t

      .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..

      + {field} expectedRate : urt_delay_t

      .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ..

      + {field} maxJitter : urt_delay_t

      + {field} minLatency : urt_delay_t

      + {field} maxLatency : urt_delay_t

    }

      class urt_frtdata_t <<S,BFAFFF>> {

      .. URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true ..

      + {field} qosDeadlineTimer : urt_osTimer_t

      + {field} deadlineOffset : urt_delay_t

      .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..

      + {field} expectedRate : urt_delay_t

      .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ..

      + {field} maxJitter : urt_delay_t

      + {field} minLatency : urt_delay_t

      + {field} maxLatency : urt_delay_t

    }

      package "SRT data" <<Rectangle>> {

        class urt_srtusefulnessfunc_t <<F,E0E0E0>> {

        urt_srtusefulnessfunc_t (dt : urt_delay_t, params : void*) : float

      }

        class urt_srtdata_t <<S,BFAFFF>> {

        + {field} usefullnesscb : urt_srtusefulnessfunc_t*

        + {field} cbparams : void*

      }

    } 

      class urt_nrtdata_t <<S,BFAFFF>> {

    }

  } 

    class urt_subscriber_t <<S,BFAFFF>> {

    + {field} topic : urt_topic_t*

    + {field} evtListener : urt_osEventListener_t

    + {field} rtconstraints : urt_rtconstaints_t*

    + {field} lastMessage : urt_message_t*

    + {field} lastMessageTime : urt_osTime_t

    .. URT_CFG_PUBSUB_PROFILING == true ..

    + {field} sumLatencies : uint64_t

    + {field} numMessagesReceived : uint64_t

    .. URT_CFG_PUBSUB_PROFILING == true && URT_CFG_PUBSUB_QOS_JITTERCHECKS == false ..

    + {field} minLatency : urt_delay_t

    + {field} maxLatency : urt_delay_t

    __

    + {method} urtSubscriberInit (subscriber : urt_subscriber_t*) : urt_status_t

    + {method} urtSubscriberSubscribeHrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, rate : urt_delay_t, jitter : urt_delay_t) : urt_status_t

    + {method} urtSubscriberSubscribeFrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, rate : urt_delay_t, jitter : urt_delay_t) : urt_status_t

    + {method} urtSubscriberSubscribeSrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_srtusefulnessfunc_t*, cbparams : void*) : urt_status_t

    + {method} urtSubscriberSubscribeNrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t

    + {method} urtSubscriberUnsubscribe (subscriber : urt_subscriber_t*) : urt_status_t

    + {method} urtSubscriberFetchNextMessage (subscriber : urt_subscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t

    + {method} urtSubscriberFetchLatestMessage (subscriber : urt_subscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t

    + {method} urtSubscriberCalculateUsefulness (subscriber : urt_subscriber_t*, latency : urt_delay_t) : float

  }

} 

  class urt_publisher_t <<S,BFAFFF>> {

  + {field} topic : urt_topic_t*

  .. URT_CFG_PROFILING == true ..

  + {field} publishAttempts : uint64_t

  + {field} publishFails : uint64_t

  __

  + {method} urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t

  + {method} urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, n : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t

}

  class urt_topic_t <<S,BFAFFF>> {

  + {field} next : urt_topic_t*

  + {field} id : urt_topicid_t

  + {field} lock : urt_osMutex_t

  + {field} evtSource : urt_osEventSource_t

  + {field} numHrtSubscribers : unsigned int

  + {field} hrtSubscribers : urt_subscriber_t*

  + {field} mandatoryMessage : urt_message_t

  + {field} latestMessage : urt_message_t*

  .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..

  + {field} qosRateTimer : urt_osTimer_t

  .. URT_CFG_PUBSUB_PROFILING == true ..

  + {field} numDiscardedMessages : uint64_t

  + {field} numSubscribers : unsigned int

  __

  + {method} urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t

}

  class urt_pubsub_t <<S,BFAFFF>> {

  - {field} {static} _topics : urt_topic_t*

  __

  + {method} urtPubsubInit (void) : urt_status_t

  + {method} urtPubsubRetrieveTopic (id : urt_topicid_t) : urt_topic_t*

}

}

  package "Remote Procedure Call System" <<Node>> {

  package "service" <<Rectangle>> {

    class urt_servicefunc_t <<F,E0E0E0>> {

    urt_servicefunc_t (arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t

  }

    class urt_service_t <<S,BFAFFF>> {

    + {field} next : urt_service_t*

    + {field} id : urt_serviceid_t

    + {field} lock : urt_osMutex_t

    + {field} callback : urt_servicefunc_t*

    .. URT_CFG_RPC_PROFLING == true ..

    + {field} sumDurations : uint64_t

    + {field} numCalls : uint64_t

    + {field} numTimeouts : uint64_t

    .. URT_CFG_RPC_PROFILING == true && URT_CFG_RPC_QOS_JITTERCHECKS == true ..

    + {field} minDuration : urt_delay_t

    + {field} maxDuration : urt_delay_t

    __

    + {method} urtServiceInit(service : urt_service_t*, id : urt_serviceid_t, callback : urt_servicefunc_t*) : urt_status_t

    + {method} urtServiceCall(service : urt_service_t*, arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t

  }

}

  class urt_rpc_t <<S,BFAFFF>> {

  - {field} {static} _services : urt_service_t*

  __

  + {method} urtRpcInit (void) : urt_status_t

  + {method} urtRpcRetrieveService (id : urt_serviceid_t) : urt_service_t*

}

}

}

urt_nodestage_t ..> urt_config

urt_topicid_t ..> urt_config

urt_serviceid_t ..> urt_config

urt_delay_t ..> urt_config

urt_osCondvar_t ..> urt_osCondvarWaitStatus_t

urt_osCondvar_t .> urt_osMutex_t

urt_osTimer_t ..> urt_osTimerCallback_t

urt_osThread_t ..> urt_osThreadPrio_t

urt_osThread_t ..> urt_osThreadFunction_t

urt_osThread_t ..> urt_osThreadTerminateSignal_t

urt_osThread_t ..> urt_osThreadState_t

urt_osThread_t .> urt_osTime_t

urt_osEventListener_t ..> urt_osEventFlags_t

urt_osEventSource_t ..> urt_osEventFlags_t

urt_events ..> urt_osEventSource_t

urt_events ..> urt_osEventListener_t

urt_events ..> urt_osEventMask_t

urt_events ..> urt_osEventFlags_t

urt_events ..> urt_osEventWait_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

urt_node_t "1" o- - "1" urt_nodeSetupCallback_t

urt_node_t <.. urt_nodeSetupCallback_t

urt_node_t "1" o- - "1" urt_nodeLoopCallback_t

urt_node_t <.. urt_nodeLoopCallback_t

urt_srtdata_t "1" o- - "0..1" urt_srtusefulnessfunc_t

urt_rtclassdata_t "1" *- - "0..1" urt_hrtdata_t

urt_rtclassdata_t "1" *- - "0..1" urt_frtdata_t

urt_rtclassdata_t "1" *- - "0..1" urt_srtdata_t

urt_rtclassdata_t "1" *- - "0..1" urt_nrtdata_t

urt_rtdata_t "1" *- - "1" urt_rtclass_t

urt_rtdata_t "1" *- - "1" urt_rtclassdata_t

urt_hrtdata_t "1" o-up- "0..1" urt_subscriber_t

urt_message_t "1" o- - "0..1" urt_message_t

urt_subscriber_t "1" *- - "1" urt_rtdata_t

urt_subscriber_t "1" o- "0..1" urt_topic_t

urt_subscriber_t "1" o- - "0..1" urt_message_t

urt_publisher_t "1" o- "1" urt_topic_t

urt_publisher_t ..> urt_message_t

urt_topic_t "1" o- - "0..1" urt_topic_t

urt_topic_t "1" o- "0..1" urt_subscriber_t

urt_topic_t "1" o- - "1..1" urt_message_t

urt_topic_t "1" *- - "1" urt_message_t

urt_pubsub_t "1" o- - "0..1" urt_topic_t

urt_pubsub_t -[hidden]-> urt_publisher_t

urt_service_t "1" o- - "0..1" urt_service_t

urt_service_t "1" o- - "0..1" urt_servicefunc_t

urt_rpc_t "1" o- - "0..1" urt_service_t

urt_core_t "1" o- - "0..1" urt_node_t

urt_core_t "1" *- - "0..1" urt_pubsub_t

urt_core_t "1" *- - "0..1" urt_rpc_t

urt_core_t "1" *- - "1" urt_osEventSource_t

urt_core_t "1" *- - "1" urt_osMutex_t

urt_core_t ..> urt_status_t

urt_core_t ..> urt_nodestage_t

urt_node_t "1" o- - "0..1" urt_osThread_t

urt_node_t "1" *- - "1" urt_nodestage_t

urt_node_t "1" *- - "1" urt_osEventListener_t

urt_node_t "0..*" o- - "1" urt_osThreadFunction_t

urt_node_t ..> urt_status_t

urt_nodeSetupCallback_t ..> urt_osEventMask_t

urt_nodeLoopCallback_t ..> urt_osEventMask_t

urt_pubsub_t ..> urt_status_t

urt_publisher_t ..> urt_config

urt_publisher_t ..> urt_status_t

urt_publisher_t ..> urt_delay_t

urt_topic_t "1" *- - "1" urt_topicid_t

urt_topic_t "1" *- - "1" urt_osMutex_t

urt_topic_t "1" *- - "1" urt_osEventSource_t

urt_topic_t ..> urt_config

urt_topic_t "1" *- - "0..1" urt_osTimer_t

urt_topic_t ..> urt_status_t

urt_message_t "1" *- - "1" urt_osTime_t

urt_message_t "1" *- - "1" urt_osMutex_t

urt_message_t "1" *- - "1" urt_osCondvar_t

urt_message_t ..> urt_config

urt_message_t ..> urt_status_t

urt_subscriber_t "1" *- - "1" urt_osEventListener_t

urt_subscriber_t "1" *- - "1" urt_osTime_t

urt_subscriber_t ..> urt_config

urt_subscriber_t "1" *- - "0..2" urt_delay_t

urt_subscriber_t ..> urt_status_t

urt_hrtdata_t ..> urt_config

urt_hrtdata_t "1" *- - "0..1" urt_osTimer_t

urt_hrtdata_t "1" *- - "0..5" urt_delay_t

urt_frtdata_t ..> urt_config

urt_frtdata_t "1" *- - "0..1" urt_osTimer_t

urt_frtdata_t "1" *- - "0..5" urt_delay_t

urt_srtusefulnessfunc_t ..> urt_delay_t

urt_rpc_t ..> urt_status_t

urt_rpc_t ..> urt_serviceid_t

urt_service_t "1" *- - "1" urt_serviceid_t

urt_service_t "1" *- - "1" urt_osMutex_t

urt_service_t ..> urt_config

urt_service_t "1" *- - "0..2" urt_delay_t

urt_service_t ..> urt_status_t

urt_servicefunc_t ..> urt_delay_t

urt_servicefunc_t ..> urt_status_t

@enduml

PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)

(GPL source distribution)

Java Runtime: OpenJDK Runtime Environment

JVM: OpenJDK 64-Bit Server VM

Java Version: 11.0.6+10-post-Ubuntu-1ubuntu118.04.1

Operating System: Linux

Default Encoding: UTF-8

Language: en

Country: US

--></g></svg>