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="290px" preserveAspectRatio="none" style="width:308px;height:290px;" version="1.1" viewBox="0 0 308 290" width="308px" zoomAndPan="magnify"><defs><filter height="300%" id="fvia6mr5z56ky" 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="107.5" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="120" x="92" y="37.6611">Configuration</text><!--MD5=[e443ac33c80100c2d54e1f5fe669f6d7]

class urt_config--><rect fill="#FEFECE" filter="url(#fvia6mr5z56ky)" height="230.4609" id="urt_config" style="stroke: #A80036; stroke-width: 1.5;" width="290" x="7" y="48.9063"/><ellipse cx="116.75" cy="64.9063" fill="#BFBFBF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M119.7188,70.5469 Q119.1406,70.8438 118.5,70.9844 Q117.8594,71.1406 117.1563,71.1406 Q114.6563,71.1406 113.3281,69.5 Q112.0156,67.8438 112.0156,64.7188 Q112.0156,61.5938 113.3281,59.9375 Q114.6563,58.2813 117.1563,58.2813 Q117.8594,58.2813 118.5,58.4375 Q119.1563,58.5938 119.7188,58.8906 L119.7188,61.6094 Q119.0938,61.0313 118.5,60.7656 Q117.9063,60.4844 117.2813,60.4844 Q115.9375,60.4844 115.25,61.5625 Q114.5625,62.625 114.5625,64.7188 Q114.5625,66.8125 115.25,67.8906 Q115.9375,68.9531 117.2813,68.9531 Q117.9063,68.9531 118.5,68.6875 Q119.0938,68.4063 119.7188,67.8281 L119.7188,70.5469 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="62" x="137.25" y="69.0605">urt_config</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8" x2="296" y1="80.9063" y2="80.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="159" x="13" y="95.1167">URT_CFG_DELAY_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="169" x="13" y="107.9214">URT_CFG_TOPICID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="13" y="120.7261">URT_CFG_SERVICEID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="13" y="133.5308">URT_CFG_NODESTAGE_WIDTH : int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8" x2="296" y1="140.125" y2="140.125"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="13" y="154.3354">URT_CFG_DEBUG_ENABLED : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8" x2="296" y1="160.9297" y2="160.9297"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="13" y="175.1401">URT_CFG_PUBSUB_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="204" x="13" y="187.9448">URT_CFG_PUBSUB_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="278" x="13" y="200.7495">URT_CFG_PUBSUB_QOS_DEADLINECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="252" x="13" y="213.5542">URT_CFG_PUBSUB_QOS_RATECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="13" y="226.3589">URT_CFG_PUBSUB_QOS_JITTERCHECKS : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8" x2="296" y1="232.9531" y2="232.9531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="13" y="247.1636">URT_CFG_RPC_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="13" y="259.9683">URT_CFG_RPC_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="13" y="272.7729">URT_CFG_RPC_QOS_JITTERCHECKS : bool</text><!--MD5=[fa463d24fc3844a76136af04696c4d0a]

@startuml

title **µRtWare**\nConfiguration

  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

}

@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>

/'

µRtWare is a lightweight publish/subscribe middleware for real-time

applications. It was developed as part of the software habitat for the

Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.

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

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

'/

/'### INTRO ##################################################################'/

@startuml

title **µRtWare**\nConfiguration

!include ../functions.iuml

/'### ENTITIES ###############################################################'/

!startsub ENTITIES

/' Not a type but a set of configuration macros. '/

$configuration("urt_config") {

    'Selector to specify the width of urt_delay_t type (32 or 64).

  URT_CFG_DELAY_WIDTH : int

    'Selector to specify the width of the urt_topicid_t type (8, 16, 32 or 64).

  URT_CFG_TOPICID_WIDTH : int

    'Selector to specify the width of the urt_serviceid_t type (8, 16, 32 or 64).

  URT_CFG_SERVICEID_WIDTH : int

    'Selector to specify the width of the urt_nodestage_t type (8, 16, 32 or 64).

  URT_CFG_NODESTAGE_WIDTH : int

  ..

    'Selection to en-/disable debug checks.

  URT_CFG_DEBUG_ENABLED : bool

  ..

    'Selection ed-/disable publush-subscribe functionality.

  URT_CFG_PUBSUB_ENABLED : bool

    'Selection to en-/disable profiling for publish-subscribe.

  URT_CFG_PUBSUB_PROFILING : bool

    'Selection to en-/disable QoS deadline checks (e.g. timers) for publish-subscribe.

  URT_CFG_PUBSUB_QOS_DEADLINECHECKS : bool

    'Selection to en-/disable QoS rate checks (e.g. timers) for publish-subscribe.

  URT_CFG_PUBSUB_QOS_RATECHECKS : bool

    'Selection to en-/disable QoS jitter checks for publish-subscribe.

  URT_CFG_PUBSUB_QOS_JITTERCHECKS : bool

  ..

    'Selection to en-/disable RPC functionality.

  URT_CFG_RPC_ENABLED : bool

    'Selection to en-/disable profiling of RPCs.

  URT_CFG_RPC_PROFILING : bool

    'Selection to en-/disable QoS jitter checks for RPCs.

  URT_CFG_RPC_QOS_JITTERCHECKS : bool

}

!endsub

/'### DEPENDENCIES & LAYOUT ##################################################'/

!startsub DEPENDENCIES

!endsub

/'### OUTRO ##################################################################'/

@enduml

<?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="759px" preserveAspectRatio="none" style="width:5287px;height:759px;" version="1.1" viewBox="0 0 5287 759" width="5287px" zoomAndPan="magnify"><defs><filter height="300%" id="f1o4xjkf1sw9ns" 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="2606.5" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="387" x="2457.5" y="37.6611">Operating System Abstraction Layer (OSAL)</text><!--MD5=[2e45f233f6bb64aa81ebe67fb6de8946]

cluster condition variable--><rect fill="#FFFFFF" filter="url(#f1o4xjkf1sw9ns)" height="431.5" style="stroke: #000000; stroke-width: 1.5;" width="726" x="14" y="177.4063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="140" x="307" y="192.4014">condition variable</text><!--MD5=[c7113df1f710ca294cbd01734aa00974]

cluster timer--><rect fill="#FFFFFF" filter="url(#f1o4xjkf1sw9ns)" height="425.5" style="stroke: #000000; stroke-width: 1.5;" width="798" x="2817" y="170.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="3195.5" y="185.9014">timer</text><!--MD5=[107bb3f79455a18bd83c75ada1ac7979]

cluster thread--><rect fill="#FFFFFF" filter="url(#f1o4xjkf1sw9ns)" height="583" style="stroke: #000000; stroke-width: 1.5;" width="1039" x="1073" y="57.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="1566.5" y="72.9014">thread</text><!--MD5=[8d74b40516bd265adb19f202ab81f40d]

cluster events--><rect fill="#FFFFFF" filter="url(#f1o4xjkf1sw9ns)" height="565" style="stroke: #000000; stroke-width: 1.5;" width="1642" x="3634" y="183.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="54" x="4428" y="198.9014">events</text><!--MD5=[52fa11869cb40c93fa7702378ddd839e]

class urt_osCondvarWaitStatus_t--><rect fill="#FEFECE" filter="url(#f1o4xjkf1sw9ns)" height="86.4141" id="urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="242" y="514.9063"/><ellipse cx="288.25" cy="530.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M292.3594,536.9063 L284.6406,536.9063 L284.6406,524.5156 L292.3594,524.5156 L292.3594,526.6719 L287.0938,526.6719 L287.0938,529.3438 L291.8594,529.3438 L291.8594,531.5 L287.0938,531.5 L287.0938,534.75 L292.3594,534.75 L292.3594,536.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="169" x="308.75" y="535.0605">urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="243" x2="511" y1="546.9063" y2="546.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="248" y="561.1167">URT_CONDVAR_WAITSTATUS_SIGNAL = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="248" y="573.9214">URT_CONDVAR_WAITSTATUS_BROADCAST = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="248" y="586.7261">URT_CONDVAR_WAITSTATUS_TIMEOUT = 0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="243" x2="511" y1="593.3203" y2="593.3203"/><!--MD5=[004fc5dee471033e8e4138c1c73f0692]

class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#f1o4xjkf1sw9ns)" height="99.2188" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="22" y="204.4063"/><ellipse cx="322.25" cy="220.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M323.0938,227.1563 L320.6406,227.1563 L320.6406,216.9063 L317.5,216.9063 L317.5,214.7656 L326.2344,214.7656 L326.2344,216.9063 L323.0938,216.9063 L323.0938,227.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="342.75" y="224.5605">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="23" x2="731" y1="236.4063" y2="236.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="23" x2="731" y1="244.4063" y2="244.4063"/><ellipse cx="33" cy="255.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="283" x="42" y="258.6167">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="33" cy="268.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="301" x="42" y="271.4214">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="33" cy="281.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="324" x="42" y="284.2261">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="33" cy="293.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="684" x="42" y="297.0308">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_osCondvarWaitStatus_t</text><!--MD5=[93799a03260ba286abda700174f4f205]

class urt_osTimerCallback_t--><rect fill="#FEFECE" filter="url(#f1o4xjkf1sw9ns)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="3073" y="527.4063"/><ellipse cx="3143.75" cy="543.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3144.5938,550.1563 L3142.1406,550.1563 L3142.1406,539.9063 L3139,539.9063 L3139,537.7656 L3147.7344,537.7656 L3147.7344,539.9063 L3144.5938,539.9063 L3144.5938,550.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="3164.25" y="547.5605">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3074" x2="3358" y1="559.4063" y2="559.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3074" x2="3358" y1="567.4063" y2="567.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="3079" y="581.6167">urt_osTimerCallback_t (parameter : void*) : void</text><!--MD5=[0b340d7b925b1eab6a1b7e084f68a7c2]

class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#f1o4xjkf1sw9ns)" height="112.0234" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="782" x="2825" y="197.9063"/><ellipse cx="3169.75" cy="213.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3170.5938,220.6563 L3168.1406,220.6563 L3168.1406,210.4063 L3165,210.4063 L3165,208.2656 L3173.7344,208.2656 L3173.7344,210.4063 L3170.5938,210.4063 L3170.5938,220.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="3190.25" y="218.0605">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2826" x2="3606" y1="229.9063" y2="229.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2826" x2="3606" y1="237.9063" y2="237.9063"/><ellipse cx="2836" cy="248.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="2845" y="252.1167">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="2836" cy="261.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="705" x="2845" y="264.9214">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="2836" cy="274.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="756" x="2845" y="277.7261">urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="2836" cy="287.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="300" x="2845" y="290.5308">urtTimerReset (timer : urt_osTimer_t*) : urt_status_t</text><ellipse cx="2836" cy="300.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="2845" y="303.3354">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--MD5=[86c16d91227b9a9ec3b6b9b0285de4e9]

class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#f1o4xjkf1sw9ns)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="1081.5" y="482.9063"/><ellipse cx="1117.65" cy="498.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1118.4938,505.6563 L1116.0406,505.6563 L1116.0406,495.4063 L1112.9,495.4063 L1112.9,493.2656 L1121.6344,493.2656 L1121.6344,495.4063 L1118.4938,495.4063 L1118.4938,505.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="1136.35" y="503.0605">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1082.5" x2="1277.5" y1="514.9063" y2="514.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="1087.5" y="529.1167">URT_THREAD_PRIO_LOW_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="1087.5" y="541.9214">URT_THREAD_PRIO_LOW_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="1087.5" y="554.7261">URT_THREAD_PRIO_NORMAL_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="1087.5" y="567.5308">URT_THREAD_PRIO_NORMAL_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="1087.5" y="580.3354">URT_THREAD_PRIO_HIGH_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="1087.5" y="593.1401">URT_THREAD_PRIO_HIGH_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="1087.5" y="605.9448">URT_THREAD_PRIO_RT_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="1087.5" y="618.7495">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1082.5" x2="1277.5" y1="625.3438" y2="625.3438"/><!--MD5=[69d8aab9aa387a2f5052ea3da80e80ea]

class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#f1o4xjkf1sw9ns)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="1314" y="527.4063"/><ellipse cx="1361.75" cy="543.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1362.5938,550.1563 L1360.1406,550.1563 L1360.1406,539.9063 L1357,539.9063 L1357,537.7656 L1365.7344,537.7656 L1365.7344,539.9063 L1362.5938,539.9063 L1362.5938,550.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="1382.25" y="547.5605">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1315" x2="1565" y1="559.4063" y2="559.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1315" x2="1565" y1="567.4063" y2="567.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="1320" y="581.6167">urt_osThreadFunction_t (arg : void*) : void</text><!--MD5=[ab5f611d45c3fa10609c33f780d8c3e1]

class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#f1o4xjkf1sw9ns)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="1601" y="520.9063"/><ellipse cx="1622.75" cy="536.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1626.8594,542.9063 L1619.1406,542.9063 L1619.1406,530.5156 L1626.8594,530.5156 L1626.8594,532.6719 L1621.5938,532.6719 L1621.5938,535.3438 L1626.3594,535.3438 L1626.3594,537.5 L1621.5938,537.5 L1621.5938,540.75 L1626.8594,540.75 L1626.8594,542.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="1638.25" y="541.0605">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1602" x2="1842" y1="552.9063" y2="552.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="1607" y="567.1167">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="1607" y="579.9214">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1602" x2="1842" y1="586.5156" y2="586.5156"/><!--MD5=[47d14ad2c233fae1b32b8d0a283e820a]

class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#f1o4xjkf1sw9ns)" height="137.6328" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="1878" y="488.9063"/><ellipse cx="1922.75" cy="504.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1926.8594,510.9063 L1919.1406,510.9063 L1919.1406,498.5156 L1926.8594,498.5156 L1926.8594,500.6719 L1921.5938,500.6719 L1921.5938,503.3438 L1926.3594,503.3438 L1926.3594,505.5 L1921.5938,505.5 L1921.5938,508.75 L1926.8594,508.75 L1926.8594,510.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="1943.25" y="509.0605">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1879" x2="2103" y1="520.9063" y2="520.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="1884" y="535.1167">URT_THREAD_STATE_INACTIVE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="1884" y="547.9214">URT_THREAD_STATE_RUNNING = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="1884" y="560.7261">URT_THREAD_STATE_READY = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="1884" y="573.5308">URT_THREAD_STATE_SLEEPING = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="1884" y="586.3354">URT_THREAD_STATE_SUSPENDED = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="1884" y="599.1401">URT_THREAD_STATE_WAITING = 5</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="1884" y="611.9448">URT_THREAD_STATE_TERMINATED = 6</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1879" x2="2103" y1="618.5391" y2="618.5391"/><!--MD5=[0a16224ede9ffa9bb2d34e085a076e6d]

class urt_osThread_t--><rect fill="#FEFECE" filter="url(#f1o4xjkf1sw9ns)" height="337.7031" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="560" x="1442" y="84.9063"/><ellipse cx="1670.75" cy="100.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1671.5938,107.6563 L1669.1406,107.6563 L1669.1406,97.4063 L1666,97.4063 L1666,95.2656 L1674.7344,95.2656 L1674.7344,97.4063 L1671.5938,97.4063 L1671.5938,107.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="1691.25" y="105.0605">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1443" x2="2001" y1="116.9063" y2="116.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="1448" y="131.1167">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="1448" y="143.9214">URT_THREAD_SSLEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="1448" y="156.7261">URT_THREAD_MSLEEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="1448" y="169.5308">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="1443" x2="2001" y1="176.125" y2="176.125"/><ellipse cx="1453" cy="187.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="248" x="1462" y="190.3354">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1443" x2="2001" y1="196.9297" y2="196.9297"/><ellipse cx="1453" cy="207.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="534" x="1462" y="211.1401">urtThreadInit (memory : void*, size : size_t, func : urt_osThreadFunction_t*) : urt_osThread_t*</text><ellipse cx="1453" cy="220.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="490" x="1462" y="223.9448">urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void</text><ellipse cx="1453" cy="233.5391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="1462" y="236.7495">urtThreadYield (void) : void</text><ellipse cx="1453" cy="246.3438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="1462" y="249.5542">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="1453" cy="259.1484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="304" x="1462" y="262.3589">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="1453" cy="271.9531" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="294" x="1462" y="275.1636">urtThreadSuspend (thread : urt_osThread_t*) : void</text><ellipse cx="1453" cy="284.7578" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="335" x="1462" y="287.9683">urtThreadResume (thread : urt_osThread_t*) : urt_status_t</text><ellipse cx="1453" cy="297.5625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="220" x="1462" y="300.7729">urtThreadSleep (seconds : float) : void</text><ellipse cx="1453" cy="310.3672" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="1462" y="313.5776">urtThreadSSleep (seconds : urt_delay_t) : void</text><ellipse cx="1453" cy="323.1719" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="289" x="1462" y="326.3823">urtThreadMSleep (milliseconds : urt_delay_t) : void</text><ellipse cx="1453" cy="335.9766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="1462" y="339.187">urtThreadUSleep (microseconds : urt_delay_t) : void</text><ellipse cx="1453" cy="348.7813" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="1462" y="351.9917">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="1453" cy="361.5859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="1462" y="364.7964">urtThreadExit (void) : void</text><ellipse cx="1453" cy="374.3906" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="518" x="1462" y="377.6011">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="1453" cy="387.1953" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="264" x="1462" y="390.4058">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="1453" cy="400" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="387" x="1462" y="403.2104">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="1453" cy="412.8047" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="237" x="1462" y="416.0151">urtThreadGetSelf (void) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]

class urt_osEventMask_t--><rect fill="#FEFECE" filter="url(#f1o4xjkf1sw9ns)" height="60.8047" id="urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.5;" width="280" x="3642" y="527.4063"/><ellipse cx="3719.25" cy="543.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3720.0938,550.1563 L3717.6406,550.1563 L3717.6406,539.9063 L3714.5,539.9063 L3714.5,537.7656 L3723.2344,537.7656 L3723.2344,539.9063 L3720.0938,539.9063 L3720.0938,550.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="3739.75" y="547.5605">urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3643" x2="3921" y1="559.4063" y2="559.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="268" x="3648" y="573.6167">URT_EVENTMASK_MAXPRIO : urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3643" x2="3921" y1="580.2109" y2="580.2109"/><!--MD5=[dc1cc33af288560680c15dec1e56eda0]

class urt_osEventFlags_t--><rect fill="#FEFECE" filter="url(#f1o4xjkf1sw9ns)" height="48" id="urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="4363" y="692.9063"/><ellipse cx="4378" cy="708.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4378.8438,715.6563 L4376.3906,715.6563 L4376.3906,705.4063 L4373.25,705.4063 L4373.25,703.2656 L4381.9844,703.2656 L4381.9844,705.4063 L4378.8438,705.4063 L4378.8438,715.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="4392" y="713.0605">urt_osEventFlags_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4364" x2="4512" y1="724.9063" y2="724.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4364" x2="4512" y1="732.9063" y2="732.9063"/><!--MD5=[e2bbbd64e6979bf7b755747a6c0ba948]

class urt_osEventWait_t--><rect fill="#FEFECE" filter="url(#f1o4xjkf1sw9ns)" height="86.4141" id="urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.5;" width="162" x="3994" y="514.9063"/><ellipse cx="4017.1" cy="530.9063" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4021.2094,536.9063 L4013.4906,536.9063 L4013.4906,524.5156 L4021.2094,524.5156 L4021.2094,526.6719 L4015.9438,526.6719 L4015.9438,529.3438 L4020.7094,529.3438 L4020.7094,531.5 L4015.9438,531.5 L4015.9438,534.75 L4021.2094,534.75 L4021.2094,536.9063 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="4032.9" y="535.0605">urt_osEventWait_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3995" x2="4155" y1="546.9063" y2="546.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="4000" y="561.1167">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="4000" y="573.9214">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="4000" y="586.7261">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3995" x2="4155" y1="593.3203" y2="593.3203"/><!--MD5=[d054ac2eda12ce4b1fe5a18c9be716c1]

class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#f1o4xjkf1sw9ns)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="4191" y="514.9063"/><ellipse cx="4366.25" cy="530.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4367.0938,537.6563 L4364.6406,537.6563 L4364.6406,527.4063 L4361.5,527.4063 L4361.5,525.2656 L4370.2344,525.2656 L4370.2344,527.4063 L4367.0938,527.4063 L4367.0938,537.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="4386.75" y="535.0605">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4192" x2="4684" y1="546.9063" y2="546.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4192" x2="4684" y1="554.9063" y2="554.9063"/><ellipse cx="4202" cy="565.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="341" x="4211" y="569.1167">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="4202" cy="578.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="458" x="4211" y="581.9214">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="4202" cy="591.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="468" x="4211" y="594.7261">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]

class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#f1o4xjkf1sw9ns)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="4720.5" y="520.9063"/><ellipse cx="4925.25" cy="536.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4926.0938,543.6563 L4923.6406,543.6563 L4923.6406,533.4063 L4920.5,533.4063 L4920.5,531.2656 L4929.2344,531.2656 L4929.2344,533.4063 L4926.0938,533.4063 L4926.0938,543.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="4945.75" y="541.0605">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4721.5" x2="5266.5" y1="552.9063" y2="552.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4721.5" x2="5266.5" y1="560.9063" y2="560.9063"/><ellipse cx="4731.5" cy="571.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="325" x="4740.5" y="575.1167">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="4731.5" cy="584.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="521" x="4740.5" y="587.9214">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--MD5=[04a3b5a37031e2a4d723f19d8adf86f5]

class urt_events--><rect fill="#FEFECE" filter="url(#f1o4xjkf1sw9ns)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="890" x="3642" y="210.9063"/><ellipse cx="4049.75" cy="226.9063" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4053.9844,222.6719 L4048.7031,222.6719 L4048.7031,225.3438 L4053.5,225.3438 L4053.5,227.5 L4048.7031,227.5 L4048.7031,232.9063 L4046.2656,232.9063 L4046.2656,220.5156 L4053.9844,220.5156 L4053.9844,222.6719 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="4070.25" y="231.0605">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3643" x2="4531" y1="242.9063" y2="242.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3643" x2="4531" y1="250.9063" y2="250.9063"/><ellipse cx="3653" cy="261.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="864" x="3662" y="265.1167">urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : urt_status_t</text><ellipse cx="3653" cy="274.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="567" x="3662" y="277.9214">urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : urt_status_t</text><ellipse cx="3653" cy="287.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="618" x="3662" y="290.7261">urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWait_t, timeout : urt_delay_t) : urt_osEventMask_t</text><!--MD5=[3677786d1f00795918091b0110bfa4af]

class urt_osTime_t--><rect fill="#FEFECE" filter="url(#f1o4xjkf1sw9ns)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="425" x="2120.5" y="210.9063"/><ellipse cx="2289.25" cy="226.9063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2290.0938,233.6563 L2287.6406,233.6563 L2287.6406,223.4063 L2284.5,223.4063 L2284.5,221.2656 L2293.2344,221.2656 L2293.2344,223.4063 L2290.0938,223.4063 L2290.0938,233.6563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="2309.75" y="231.0605">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2121.5" x2="2544.5" y1="242.9063" y2="242.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2121.5" x2="2544.5" y1="250.9063" y2="250.9063"/><ellipse cx="2131.5" cy="261.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="231" x="2140.5" y="265.1167">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="2131.5" cy="274.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="2140.5" y="277.9214">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="2131.5" cy="287.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="399" x="2140.5" y="290.7261">urtTimeAddUs (time : urt_osTime_t*, offset : uint32_t) : urt_osTime_t*</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]

class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#f1o4xjkf1sw9ns)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="767" y="204.4063"/><ellipse cx="868.25" cy="220.4063" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M869.0938,227.1563 L866.6406,227.1563 L866.6406,216.9063 L863.5,216.9063 L863.5,214.7656 L872.2344,214.7656 L872.2344,216.9063 L869.0938,216.9063 L869.0938,227.1563 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="888.75" y="224.5605">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="768" x2="1064" y1="236.4063" y2="236.4063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="768" x2="1064" y1="244.4063" y2="244.4063"/><ellipse cx="778" cy="255.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="245" x="787" y="258.6167">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="778" cy="268.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="253" x="787" y="271.4214">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="778" cy="281.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="787" y="284.2261">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="778" cy="293.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="787" y="297.0308">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--MD5=[0cf29100c96c506429a28b45d347cc92]

class urt_streams--><rect fill="#FEFECE" filter="url(#f1o4xjkf1sw9ns)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="209" x="2580.5" y="216.9063"/><ellipse cx="2643.25" cy="232.9063" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2647.4844,228.6719 L2642.2031,228.6719 L2642.2031,231.3438 L2647,231.3438 L2647,233.5 L2642.2031,233.5 L2642.2031,238.9063 L2639.7656,238.9063 L2639.7656,226.5156 L2647.4844,226.5156 L2647.4844,228.6719 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="2663.75" y="237.0605">urt_streams</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2581.5" x2="2788.5" y1="248.9063" y2="248.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2581.5" x2="2788.5" y1="256.9063" y2="256.9063"/><ellipse cx="2591.5" cy="267.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="166" x="2600.5" y="271.1167">urtPrintf(fmt : char*, ... ) : int</text><ellipse cx="2591.5" cy="280.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="2600.5" y="283.9214">urtErrPrintf(fmt : char*, ... ) : int</text><!--MD5=[7766572fa0c619a5409829048dc0b6d6]

link urt_osCondvar_t to urt_osCondvarWaitStatus_t--><path d="M377,303.4257 C377,360.4234 377,453.4073 377,509.8014 " fill="none" id="urt_osCondvar_t-&gt;urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="377,514.8055,381,505.8055,377,509.8055,373,505.8055,377,514.8055" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9b2507ea88616aeae65e3c4d63560016]

link urt_osCondvar_t to urt_osMutex_t--><path d="M732.0347,253.9063 C741.9278,253.9063 751.8209,253.9063 761.714,253.9063 " fill="none" id="urt_osCondvar_t-&gt;urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="766.8875,253.9063,757.8875,249.9063,761.8875,253.9063,757.8875,257.9063,766.8875,253.9063" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[83094e108045c8f9585007cdb3b7cb2e]

link urt_osTimer_t to urt_osTimerCallback_t--><path d="M3216,310.0189 C3216,371.8862 3216,469.5749 3216,521.9342 " 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="3216,527.1651,3220,518.1651,3216,522.1651,3212,518.1651,3216,527.1651" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8d8c3240b5b2b5edf6544088e583ffa5]

link urt_osThread_t to urt_osThreadPrio_t--><path d="M1441.9776,400.8869 C1393.2866,427.5518 1343.4045,455.5841 1297,482.9063 C1292.3837,485.6243 1287.688,488.435 1282.9614,491.3019 " 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="1278.6134,493.9495,1288.3807,492.6849,1282.8839,491.3489,1284.2199,485.8521,1278.6134,493.9495" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d7d1d43fd970fb07a484642bc19fcb13]

link urt_osThread_t to urt_osThreadFunction_t--><path d="M1564.9208,423.2399 C1529.4819,461.4435 1495.4158,498.1672 1471.8352,523.5875 " 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="1468.4333,527.2548,1477.4866,523.3768,1471.8337,523.5891,1471.6215,517.9362,1468.4333,527.2548" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6564761b32ad7eeb5abb8896c72cfca5]

link urt_osThread_t to urt_osThreadTerminateSignal_t--><path d="M1722,423.2399 C1722,457.6059 1722,490.7744 1722,515.5947 " 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="1722,520.7618,1726,511.7618,1722,515.7618,1718,511.7618,1722,520.7618" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[92ba23225d8de8f8080583fedda5e6f8]

link urt_osThread_t to urt_osThreadState_t--><path d="M1871.838,423.2399 C1890.9516,444.8405 1909.6467,465.968 1926.3519,484.8467 " 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="1929.6659,488.5919,1926.6974,479.201,1926.3525,484.8473,1920.7062,484.5024,1929.6659,488.5919" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[78b286ab2177e5f7b31e6e832d821818]

link urt_osThread_t to urt_osTime_t--><path d="M2002.1411,253.9063 C2039.8661,253.9063 2077.591,253.9063 2115.316,253.9063 " fill="none" id="urt_osThread_t-&gt;urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2120.3973,253.9063,2111.3973,249.9063,2115.3973,253.9063,2111.3973,257.9063,2120.3973,253.9063" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[659af6ab57e6a38ebfd5c07c5616787c]

link urt_osEventListener_t to urt_osEventFlags_t--><path d="M4438,600.934 C4438,628.41 4438,663.3065 4438,687.6092 " fill="none" id="urt_osEventListener_t-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4438,692.6279,4442,683.6279,4438,687.6279,4434,683.6279,4438,692.6279" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[eac11679f26c499aa1c571e1f795945d]

link urt_osEventSource_t to urt_osEventFlags_t--><path d="M4864.3444,594.9841 C4757.2675,625.605 4608.6667,668.1005 4518.1503,693.9856 " fill="none" id="urt_osEventSource_t-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4513.0794,695.4357,4522.8323,696.807,4517.8867,694.0609,4520.6328,689.1153,4513.0794,695.4357" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0259cdb10c6c32168d1d17d25519d939]

link urt_events to urt_osEventSource_t--><path d="M4215.5072,296.9782 C4392.5015,356.3015 4708.6381,462.2613 4878.4989,519.1936 " 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="4883.4814,520.8637,4876.2192,514.2108,4878.7406,519.2746,4873.6768,521.796,4883.4814,520.8637" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0ce043e0e9532fc393f3f8836f5de19a]

link urt_events to urt_osEventListener_t--><path d="M4136.917,297.1392 C4202.4234,353.8742 4316.9494,453.0647 4384.2879,511.3864 " 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="4388.2552,514.8225,4384.0708,505.9067,4384.4757,511.5491,4378.8333,511.954,4388.2552,514.8225" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[430bebba9cd89d3ba8f63b2078968bca]

link urt_events to urt_osEventMask_t--><path d="M4043.6248,297.1392 C3982.4716,358.092 3872.1543,468.0476 3816.3369,523.682 " 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="3812.7402,527.2669,3821.9384,523.7465,3816.2816,523.7372,3816.291,518.0803,3812.7402,527.2669" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b1b185abc2161e087cab32ae7fdb2c40]

link urt_events to urt_osEventFlags_t--><path d="M4052.173,297.0212 C3993.8544,374.6913 3890.9027,539.453 3977,640.9063 C4001.3308,669.5766 4232.2829,696.5873 4357.765,709.3005 " fill="none" id="urt_events-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4362.9214,709.8209,4354.3686,704.9372,4357.9467,709.3187,4353.5652,712.8968,4362.9214,709.8209" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[706a1974d1b474cbba7e7b0213f243a1]

link urt_events to urt_osEventWait_t--><path d="M4085.2934,297.1392 C4083.0762,353.3091 4079.2163,451.093 4076.9056,509.6317 " 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="4076.7007,514.8225,4081.0527,505.9873,4076.898,509.8263,4073.0589,505.6716,4076.7007,514.8225" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[87ef9ac974d8a52180f0f0c2ec91e759]

@startuml

title **µRtWare**\nOperating System Abstraction Layer (OSAL)

  class urt_osTime_t <<T,00CFFF>> {

  + {method} urtTime2Us (t : urt_osTime_t*) : uint64_t

  + {method} urtTimeNow (void) : urt_osTime_t

  + {method} urtTimeAddUs (time : urt_osTime_t*, offset : uint32_t) : urt_osTime_t*

}

  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

}

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

@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>

/'

µRtWare is a lightweight publish/subscribe middleware for real-time

applications. It was developed as part of the software habitat for the

Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.

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

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

'/

/'### INTRO ##################################################################'/

@startuml

title **µRtWare**\nOperating System Abstraction Layer (OSAL)

!include ../functions.iuml

/'### ENTITIES ###############################################################'/

!startsub ENTITIES

/' OS time type with arbitrary resolution. '/

$type("urt_osTime_t") {

    'Converts an OS time to 64 bit microsecond precise value.

  + {method} urtTime2Us (t : urt_osTime_t*) : uint64_t

    'Retrieves the current time.

  + {method} urtTimeNow (void) : urt_osTime_t

    'Increase a system time object.

  + {method} urtTimeAddUs (time : urt_osTime_t*, offset : uint32_t) : urt_osTime_t*

}

/' OS mutex lock interface. '/

$type("urt_osMutex_t") {

    'Initializes a urt_osMutex_t object.

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

    'Block the thread until the mutex could be locked.

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

    'Tries to lock the mutex, but does not block but immediately returns an indicator.

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

    'Unlocks a previously locked mutex.

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

}

/' OS condition variable feature. '/

$group("condition variable") {

  /' Return type for the wait function on condition variables. '/

  $enumeration("urt_osCondvarWaitStatus_t") {

      'The condition variable has been signaled.

    URT_CONDVAR_WAITSTATUS_SIGNAL = 1

      'The condition variable has been broadcasted.

    URT_CONDVAR_WAITSTATUS_BROADCAST = 2

      'The wait function timed out.

    URT_CONDVAR_WAITSTATUS_TIMEOUT = 0

  }

  /' Condition variable interface. '/

  $type("urt_osCondvar_t") {

      'Initializes a urt_osCondvar_t object.

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

      'Signals one thread that is waiting for the condition variable.

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

      'Signals all threads that are waiting for the condition variable.

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

      'Waits for the condition variable.

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

  }

}

/' OS timer feature. '/

$group("timer") {

  /' Timer callback definition. '/

  $type("urt_osTimerCallback_t") {

    urt_osTimerCallback_t (parameter : void*) : void

  }

  /' OS timer interface. '/

  $type("urt_osTimer_t") {

      'Initializes an urt_osTimer_t object.

    + {method} urtTimerInit (timer : urt_osTimer_t*) : void

      'Sets the timer to a specified delay with specified callback and arguments.

    + {method} urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t

      'Sets the timer to a specified period with specified callback and arguments.

    + {method} urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t

      'Resets the timer.

    + {method} urtTimerReset (timer : urt_osTimer_t*) : urt_status_t

      'Check whether the timer is already armed.

    + {method} urtTimerIsArmed (timer : urt_osTimer_t*) : bool

  }

} /'condition variable'/

/' OS thread feature. '/

$group("thread") {

  /' Thread priority type. '/

  $type("urt_osThreadPrio_t") {

      'Minimum priority for low priority threads.

    URT_THREAD_PRIO_LOW_MIN

      'Maximum priority for low priority threads.

    URT_THREAD_PRIO_LOW_MAX

      'Minimum priority for normal priority threads.

    URT_THREAD_PRIO_NORMAL_MIN

      'Maximum priority for normal priority threads.

    URT_THREAD_PRIO_NORMAL_MAX

      'Minimum priority for high priority threads.

    URT_THREAD_PRIO_HIGH_MIN

      'Maximum priority for high priority threads.

    URT_THREAD_PRIO_HIGH_MAX

      'Minimum priority for real-time threads.

    URT_THREAD_PRIO_RT_MIN

      'Maximum priority for real-time threads.

    URT_THREAD_PRIO_RT_MAX

  }

  /' Thread main function type. '/

  $type("urt_osThreadFunction_t") {

    urt_osThreadFunction_t (arg : void*) : void

  }

  /' Thread terminate signals. '/

  $enumeration("urt_osThreadTerminateSignal_t") {

      'Signal to request termination asap.

    URT_THREAD_TERMINATE_REQUEST = 15

      'Signal to kill a thread immediately.

    URT_THREAD_TERMINATE_KILL = 9

  }

  /' Thread execution states. '/

  $enumeration("urt_osThreadState_t") {

      'Thread has not been started yet.

    URT_THREAD_STATE_INACTIVE = 0

      'Thread is currently being executed.

    URT_THREAD_STATE_RUNNING = 1

      'Thread is ready but waiting to be scheduled.

    URT_THREAD_STATE_READY = 2

      'Thread is actively sleeping.

    URT_THREAD_STATE_SLEEPING = 3

      'Thread has ben suspended explicitely.

    URT_THREAD_STATE_SUSPENDED = 4

      'Thread is waiting for something (e.g. Mutex, event, etc.).

    URT_THREAD_STATE_WAITING = 5

      'Thread has terminated.

    URT_THREAD_STATE_TERMINATED = 6

  }

  /' OS thread interface. '/

  $type("urt_osThread_t") {

     'Maximum sleep interval in seconds (as float).

    URT_THREAD_SLEEP_MAX : float

      'Maximum sleep interval in seconds.

    URT_THREAD_SSLEP_MAX : urt_delay_t

      'Maximum sleep interval in milliseconds.

    URT_THREAD_MSLEEP_MAX : urt_delay_t

      'Maximum sleep interval in microseconds.

    URT_THREAD_USLEEP_MAX : urt_delay_t

    --

      'Macro to setup working area as static variable (handles alignment if required).

    + {method} URT_THREAD_MEMORY (varname, stacksize)

    ..

      'Initializes an urt_osThread_t object.

    + {method} urtThreadInit (memory : void*, size : size_t, func : urt_osThreadFunction_t*) : urt_osThread_t*

      'Starts a thread.

    + {method} urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void

      'The calling threads yields.

    + {method} urtThreadYield (void) : void

      'Retrieves the priority of the calling thread.

    + {method} urtThreadGetPriority (void) : urt_osThreadPrio_t

      'Sets the priority of the calling thread.

    + {method} urtThreadSetPriority (prio : urt_osThreadPrio_t) : void

      'Suspends a thread so it will no longer be executed.

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

      'Wakes a suspended thread.

    + {method} urtThreadResume (thread : urt_osThread_t*) : urt_status_t

      'Suspends the calling thread for the specified time.

    + {method} urtThreadSleep (seconds : float) : void

      'Suspends the calling thread for the specified time.

    + {method} urtThreadSSleep (seconds : urt_delay_t) : void

      'Suspends the calling thread for the specified time.

    + {method} urtThreadMSleep (milliseconds : urt_delay_t) : void

      'Suspends the calling thread for the specified time.

    + {method} urtThreadUSleep (microseconds : urt_delay_t) : void

      'Suspends the calling thread until the specified time.

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

      'The calling thread exits execution (terminates).

    + {method} urtThreadExit (void) : void

      'Terminates a specified thread.

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

      'Waits until the specified thread terminates.

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

      'Retrieves the execution state of the specified thread.

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

      'Retrieves the calling thread itself.

    + {method} urtThreadGetSelf (void) : urt_osThread_t*

  }

} /'thread'/

/' OS event feature. '/

$group("events") {

  /' OS event mask type. '/

  $type("urt_osEventMask_t") {

      'The event mask, which will be handled with maximum priority by the event system.

    URT_EVENTMASK_MAXPRIO : urt_osEventMask_t

  }

  /' OS event flag type. '/

  $type("urt_osEventFlags_t") {

  }

  /' OS event wait type. '/

  $enumeration("urt_osEventWait_t") {

      'Wait for exactly one event.

    URT_EVENT_WAIT_ONE = 0

      'Wait for at least one event.

    URT_EVENT_WAIT_ANY = 1

      'Wait for all events.

    URT_EVENT_WAIT_ALL = 2

  }

  /' OS event listener interface. '/

  $type("urt_osEventListener_t") {

      'Initializes an urt_osEventListener_t object.

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

      'Retrieves the flags of the event listener.

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

      'Retrieves and clears the flags of the event listener.

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

  }

  /' OS event source interface. '/

  $type("urt_osEventSource_t") {

      'Initializes an urt_osEventSource_t object.

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

      'Emits an event.

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

  }

  /' Not a class/type but a set of static event-related functions. '/

  $function("urt_events") {

      'Registers a lister to a source.

    + {method} urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : urt_status_t

      'Unregisters a listener from a source.

    + {method} urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : urt_status_t

      'Blocks the thread until any event occurs or the timeout expires.

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

  }

} /'events'/

/' Not a class/type but a set of output-related functions. '/

$function("urt_streams") {

    'Prints a formatted string to the standard output stream (stdout).

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

    'Prints a formatted string to the standard error stream (stderr).

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

}

!endsub

/'### DEPENDENCIES & LAYOUT ##################################################'/

!startsub DEPENDENCIES

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

!endsub

/'### OUTRO ##################################################################'/

@enduml