commit 4d55cea43d23715fd1a519d4207e7bb49c4cccdf
Author: Thomas Schöpping <tschoepp@cit-ec.uni-bielefeld.de>
Date:   Tue Feb 11 10:55:29 2020 +0100

    classdiagrams overhauled:
    - various modules are split into several files
    - introduced a functions.iuml as consistent 'library'

diff --git a/doc/classdiagrams/overview.svg b/doc/classdiagrams/overview.svg
index 3039a93..a3e1f55 100644
--- a/doc/classdiagrams/overview.svg
+++ b/doc/classdiagrams/overview.svg
@@ -1,452 +1,762 @@
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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="8115.47" y="1506.6792">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="8106.47" cy="1517.1758" fill="#84BE84" 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="8115.47" y="1519.4839">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--class urt_streams--><rect fill="#FEFECE" filter="url(#f1hivpbyet8yjp)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="209" x="3593.97" y="1116.3594"/><ellipse cx="3656.72" cy="1132.3594" fill="#FFFFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3660.9544,1128.125 L3655.6731,1128.125 L3655.6731,1130.7969 L3660.47,1130.7969 L3660.47,1132.9531 L3655.6731,1132.9531 L3655.6731,1138.3594 L3653.2356,1138.3594 L3653.2356,1125.9688 L3660.9544,1125.9688 L3660.9544,1128.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="3677.22" y="1136.5137">urt_streams</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3594.97" x2="3801.97" y1="1148.3594" y2="1148.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3594.97" x2="3801.97" y1="1156.3594" y2="1156.3594"/><ellipse cx="3604.97" cy="1168.2617" fill="#84BE84" 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="3613.97" y="1170.5698">urtPrintf(fmt : char*, ... ) : int</text><ellipse cx="3604.97" cy="1181.0664" fill="#84BE84" 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="3613.97" y="1183.3745">urtErrPrintf(fmt : char*, ... ) : int</text><!--class urt_condvarStatus_t--><rect fill="#FEFECE" filter="url(#f1hivpbyet8yjp)" height="86.4141" id="urt_condvarStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="258" x="4831.47" y="1433.3594"/><ellipse cx="4893.22" cy="1449.3594" fill="#EB937F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4897.3294,1455.3594 L4889.6106,1455.3594 L4889.6106,1442.9688 L4897.3294,1442.9688 L4897.3294,1445.125 L4892.0638,1445.125 L4892.0638,1447.7969 L4896.8294,1447.7969 L4896.8294,1449.9531 L4892.0638,1449.9531 L4892.0638,1453.2031 L4897.3294,1453.2031 L4897.3294,1455.3594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="126" x="4913.72" y="1453.5137">urt_condvarStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4832.47" x2="5088.47" y1="1465.3594" y2="1465.3594"/><ellipse cx="4842.47" cy="1477.2617" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="204" x="4851.47" y="1479.5698">URT_CONDVAR_STATUS_SIGNAL = 0</text><ellipse cx="4842.47" cy="1490.0664" fill="none" 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="4851.47" y="1492.3745">URT_CONDVAR_STATUS_BROADCAST = 1</text><ellipse cx="4842.47" cy="1502.8711" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="4851.47" y="1505.1792">URT_CONDVAR_STATUS_TIMEOUT = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4832.47" x2="5088.47" y1="1511.7734" y2="1511.7734"/><!--class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#f1hivpbyet8yjp)" height="99.2188" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="671" x="4624.97" y="1103.8594"/><ellipse cx="4905.72" cy="1119.8594" fill="#ADD8E6" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4906.5638,1126.6094 L4904.1106,1126.6094 L4904.1106,1116.3594 L4900.97,1116.3594 L4900.97,1114.2188 L4909.7044,1114.2188 L4909.7044,1116.3594 L4906.5638,1116.3594 L4906.5638,1126.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="4926.22" y="1124.0137">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4625.97" x2="5294.97" y1="1135.8594" y2="1135.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4625.97" x2="5294.97" y1="1143.8594" y2="1143.8594"/><ellipse cx="4635.97" cy="1155.7617" fill="#84BE84" 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="4644.97" y="1158.0698">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4635.97" cy="1168.5664" fill="#84BE84" 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="4644.97" y="1170.8745">urtConvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4635.97" cy="1181.3711" fill="#84BE84" 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="4644.97" y="1183.6792">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4635.97" cy="1194.1758" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="645" x="4644.97" y="1196.4839">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_condvarStatus_t</text><!--class urt_osTimerCallback_t--><rect fill="#FEFECE" filter="url(#f1hivpbyet8yjp)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="3949.47" y="1445.8594"/><ellipse cx="4020.22" cy="1461.8594" fill="#ADD8E6" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4021.0638,1468.6094 L4018.6106,1468.6094 L4018.6106,1458.3594 L4015.47,1458.3594 L4015.47,1456.2188 L4024.2044,1456.2188 L4024.2044,1458.3594 L4021.0638,1458.3594 L4021.0638,1468.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="4040.72" y="1466.0137">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3950.47" x2="4234.47" y1="1477.8594" y2="1477.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3950.47" x2="4234.47" y1="1485.8594" y2="1485.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="3955.47" y="1500.0698">urt_osTimerCallback_t (parameter : void*) : void</text><!--class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#f1hivpbyet8yjp)" height="99.2188" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="731" x="3837.97" y="1103.8594"/><ellipse cx="4157.22" cy="1119.8594" fill="#ADD8E6" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4158.0637,1126.6094 L4155.6106,1126.6094 L4155.6106,1116.3594 L4152.47,1116.3594 L4152.47,1114.2188 L4161.2044,1114.2188 L4161.2044,1116.3594 L4158.0637,1116.3594 L4158.0637,1126.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="4177.72" y="1124.0137">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3838.97" x2="4567.97" y1="1135.8594" y2="1135.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3838.97" x2="4567.97" y1="1143.8594" y2="1143.8594"/><ellipse cx="3848.97" cy="1155.7617" fill="#84BE84" 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="3857.97" y="1158.0698">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="3848.97" cy="1168.5664" fill="#84BE84" 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="3857.97" y="1170.8745">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="3848.97" cy="1181.3711" fill="#84BE84" 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="3857.97" y="1183.6792">urtTimerReset (timer : urt_osTimer_t*) : urt_status_t</text><ellipse cx="3848.97" cy="1194.1758" fill="#84BE84" 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="3857.97" y="1196.4839">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#f1hivpbyet8yjp)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="211" x="5639.97" y="1401.3594"/><ellipse cx="5682.42" cy="1417.3594" fill="#ADD8E6" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5683.2638,1424.1094 L5680.8106,1424.1094 L5680.8106,1413.8594 L5677.67,1413.8594 L5677.67,1411.7188 L5686.4044,1411.7188 L5686.4044,1413.8594 L5683.2638,1413.8594 L5683.2638,1424.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="5702.52" y="1421.5137">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5640.97" x2="5849.97" y1="1433.3594" y2="1433.3594"/><ellipse cx="5650.97" cy="1445.2617" fill="none" 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="5659.97" y="1447.5698">URT_THREAD_PRIO_LOW_MIN</text><ellipse cx="5650.97" cy="1458.0664" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="5659.97" y="1460.3745">URT_THREAD_PRIO_LOW_MAX</text><ellipse cx="5650.97" cy="1470.8711" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="5659.97" y="1473.1792">URT_THREAD_PRIO_NORMAL_MIN</text><ellipse cx="5650.97" cy="1483.6758" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="5659.97" y="1485.9839">URT_THREAD_PRIO_NORMAL_MAX</text><ellipse cx="5650.97" cy="1496.4805" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="5659.97" y="1498.7886">URT_THREAD_PRIO_HIGH_MIN</text><ellipse cx="5650.97" cy="1509.2852" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="5659.97" y="1511.5933">URT_THREAD_PRIO_HIGH_MAX</text><ellipse cx="5650.97" cy="1522.0898" fill="none" 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="5659.97" y="1524.3979">URT_THREAD_PRIO_RT_MIN</text><ellipse cx="5650.97" cy="1534.8945" fill="none" 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="5659.97" y="1537.2026">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; 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stroke-width: 1.5;" x1="5887.47" x2="6111.47" y1="1530.6875" y2="1530.6875"/><!--class urt_osThread_t--><rect fill="#FEFECE" filter="url(#f1hivpbyet8yjp)" height="376.1172" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="560" x="5465.47" y="965.3594"/><ellipse cx="5694.22" cy="981.3594" fill="#ADD8E6" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5695.0638,988.1094 L5692.6106,988.1094 L5692.6106,977.8594 L5689.47,977.8594 L5689.47,975.7188 L5698.2044,975.7188 L5698.2044,977.8594 L5695.0638,977.8594 L5695.0638,988.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="5714.72" y="985.5137">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5466.47" x2="6024.47" y1="997.3594" y2="997.3594"/><ellipse cx="5476.47" cy="1009.2617" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="5485.47" y="1011.5698">URT_THREAD_SLEEP_MAX : float</text><ellipse cx="5476.47" cy="1022.0664" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="5485.47" y="1024.3745">URT_THREAD_SSLEP_MAX : unsigned int</text><ellipse cx="5476.47" cy="1034.8711" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="5485.47" y="1037.1792">URT_THREAD_MSLEEP_MAX : unsigned int</text><ellipse cx="5476.47" cy="1047.6758" fill="none" 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="5485.47" y="1049.9839">URT_THREAD_USLEEP_MAX : unisgned int</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5466.47" x2="6024.47" y1="1056.5781" y2="1056.5781"/><ellipse cx="5476.47" cy="1068.4805" fill="#84BE84" 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="5485.47" y="1070.7886">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5466.47" x2="6024.47" y1="1077.3828" y2="1077.3828"/><ellipse cx="5476.47" cy="1089.2852" fill="#84BE84" 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="5485.47" y="1091.5933">urtThreadInit (memory : void*, size : size_t, func : urt_osThreadFunction_t*) : urt_osThread_t*</text><ellipse cx="5476.47" cy="1102.0898" fill="#84BE84" 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="5485.47" y="1104.3979">urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void</text><ellipse cx="5476.47" cy="1114.8945" fill="#84BE84" 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="5485.47" y="1117.2026">urtThreadYield (void) : void</text><ellipse cx="5476.47" cy="1127.6992" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; 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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="220" x="5485.47" y="1181.2261">urtThreadSleep (seconds : float) : void</text><ellipse cx="5476.47" cy="1191.7227" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="273" x="5485.47" y="1194.0308">urtThreadSSleep (seconds : usnigned int) : void</text><ellipse cx="5476.47" cy="1204.5273" fill="#84BE84" 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="5485.47" y="1206.8354">urtThreadMSleep (milliseconds : unsigned int) : void</text><ellipse cx="5476.47" cy="1217.332" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="305" x="5485.47" y="1219.6401">urtThreadUSleep (microseconds : unsigned int) : void</text><ellipse cx="5476.47" cy="1230.1367" fill="#84BE84" 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="5485.47" y="1232.4448">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="5476.47" cy="1242.9414" fill="#84BE84" 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="5485.47" y="1245.2495">urtThreadExit (void) : void</text><ellipse cx="5476.47" cy="1255.7461" fill="#84BE84" 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="5485.47" y="1258.0542">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="5476.47" cy="1268.5508" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="255" x="5485.47" y="1270.8589">urtThreadJoin (thread : urt_osThread_t*) : int</text><ellipse cx="5476.47" cy="1281.3555" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; 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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="341" x="7586.47" y="1487.5698">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="7577.47" cy="1498.0664" fill="#84BE84" 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="7586.47" y="1500.3745">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="7577.47" cy="1510.8711" fill="#84BE84" 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="7586.47" y="1513.1792">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#f1hivpbyet8yjp)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; 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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="521" x="7003.97" y="1506.3745">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--class urt_events--><rect fill="#FEFECE" filter="url(#f1hivpbyet8yjp)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="735" x="6444.97" y="1110.3594"/><ellipse cx="6775.22" cy="1126.3594" fill="#FFFFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6779.4544,1122.125 L6774.1731,1122.125 L6774.1731,1124.7969 L6778.97,1124.7969 L6778.97,1126.9531 L6774.1731,1126.9531 L6774.1731,1132.3594 L6771.7356,1132.3594 L6771.7356,1119.9688 L6779.4544,1119.9688 L6779.4544,1122.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="6795.72" y="1130.5137">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6445.97" x2="7178.97" y1="1142.3594" y2="1142.3594"/><line style="stroke: #A80036; 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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="211" x="3088.97" y="801.7886">numHrtConsumersLeft : unsigned int</text><ellipse cx="3079.97" cy="812.2852" fill="none" 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="3088.97" y="814.5933">hrtConsumersLeft : urt_osCondvar_t</text><ellipse cx="3079.97" cy="841.8945" fill="none" 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="3088.97" y="844.2026">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="3069.97" x2="3250.97" y1="827.5898" y2="827.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="87" x="3250.97" y="830.8979">evaluation data</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="3337.97" x2="3518.97" y1="827.5898" y2="827.5898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3069.97" x2="3518.97" y1="850.7969" y2="850.7969"/><ellipse cx="3079.97" cy="862.6992" fill="#84BE84" 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="3088.97" y="865.0073">urtMessageInit (message : urt_message_t*, payload : void*) : urt_status_t</text><!--class urt_subscriber_t--><rect fill="#FEFECE" filter="url(#f1hivpbyet8yjp)" height="244.0703" id="urt_subscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="851" x="2387.97" y="122.3594"/><ellipse cx="2758.72" cy="138.3594" fill="#D3D3D3" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2758.2044,138.9219 Q2756.345,138.2188 2755.6966,137.4453 Q2755.0481,136.6719 2755.0481,135.3594 Q2755.0481,133.6719 2756.1263,132.7031 Q2757.2044,131.7344 2759.0794,131.7344 Q2759.9388,131.7344 2760.7903,131.9297 Q2761.6419,132.125 2762.4856,132.5156 L2762.4856,134.9063 Q2761.7044,134.3438 2760.8841,134.0547 Q2760.0638,133.7656 2759.2669,133.7656 Q2758.3919,133.7656 2757.9153,134.125 Q2757.4388,134.4844 2757.4388,135.1406 Q2757.4388,135.6563 2757.7825,135.9922 Q2758.1263,136.3281 2759.22,136.7344 L2760.2825,137.1406 Q2761.7669,137.6875 2762.4778,138.5938 Q2763.1888,139.5 2763.1888,140.875 Q2763.1888,142.75 2762.0794,143.6719 Q2760.97,144.5938 2758.72,144.5938 Q2757.7981,144.5938 2756.8763,144.375 Q2755.9544,144.1563 2755.095,143.7344 L2755.095,141.2031 Q2756.0638,141.8906 2756.9856,142.2344 Q2757.9075,142.5781 2758.7981,142.5781 Q2759.7044,142.5781 2760.2044,142.1641 Q2760.7044,141.75 2760.7044,141.0156 Q2760.7044,140.4531 2760.3684,140.0391 Q2760.0325,139.625 2759.4075,139.375 L2758.2044,138.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="2779.22" y="142.5137">urt_subscriber_t</text><line style="stroke: #A80036; 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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="175" x="2407.97" y="219.7886">lastMessage : urt_message_t*</text><ellipse cx="2398.97" cy="230.2852" fill="none" 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="2407.97" y="232.5933">lastMessageTime : urt_osTime_t</text><ellipse cx="2398.97" cy="259.8945" fill="none" 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="2407.97" y="262.2026">minLatency : urt_delay_t</text><ellipse cx="2398.97" cy="272.6992" fill="none" 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="2407.97" y="275.0073">maxLatency : urt_delay_t</text><ellipse cx="2398.97" cy="285.5039" fill="none" 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="2407.97" y="287.812">sumLatencies : uint64_t</text><ellipse cx="2398.97" cy="298.3086" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="215" x="2407.97" y="300.6167">numMessagesReceived : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="2388.97" x2="2769.97" y1="245.5898" y2="245.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="87" x="2769.97" y="248.8979">evaluation data</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="2856.97" x2="3237.97" y1="245.5898" y2="245.5898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2388.97" x2="3237.97" y1="307.2109" y2="307.2109"/><ellipse cx="2398.97" cy="319.1133" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; 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+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]
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+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]
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+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]
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+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; 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+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]
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+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
 
 
 
-class urt_config <<(C,grey)>> {
-  + URT_CFG_DEBUG : bool
-  + URT_CFG_DELAY_WIDTH
-  + URT_CFG_TOPICID_WIDTH
-  + URT_CFG_NODESTAGE_WIDTH
-}
 
-package "primitives" {
 
-  class urt_delay_t <<(T,lightblue)>> {
-    .. either ..
-    uint32_t
-    .. or ..
-    uint64_t
-  }
-  urt_delay_t ..> urt_config
 
-  enum urt_status_t {
-    URT_STATUS_OK = 0
-    URT_STATUS_WARNING = 1
-    URT_STATUS_ERROR = -1
-  }
-  
-  class urt_topicid_t <<(T,lightblue)>> {
-    uin8_t
-    .. or ..
-    uint16_t
-    .. or ..
-    uint32_t
-    .. or ..
-    uint64_t
-  }
-  urt_topicid_t ..> urt_config
-
-  class urt_nodestage_t <<T,lightblue>> {
-    uin8_t
-    .. or ..
-    uint16_t
-    .. or ..
-    uint32_t
-    .. or ..
-    uint64_t
-  }
-  urt_nodestage_t ..> urt_config
 
-} 
 
 
 
-package "OSAL" {
 
-  class urt_osTime_t <<(T,lightblue)>> {
-    + urtTime2Us (t : urt_osTime_t*) : uint64_t
-    + urtTimeNow (void) : urt_osTime_t
-  }
 
-  class urt_osMutex_t <<(T,lightblue)>> {
-    + urtMutexInit (mutex : urt_osMutex_t*) : void
-    + urtMutexLock (mutex : urt_osMutex_t*) : void
-    + urtMutexTryLock (mutex : urt_osMutex_t*) : bool
-    + urtMutexUnlock (mutex : urt_osMutex_t*) : void
-  }
 
-  package "condition variable" {
+  package "Configuration" <<Node>> {
 
-    enum urt_condvarStatus_t {
-      + URT_CONDVAR_STATUS_SIGNAL = 0
-      + URT_CONDVAR_STATUS_BROADCAST = 1
-      + URT_CONDVAR_STATUS_TIMEOUT = 2
-    }
+  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
+}
 
-    class urt_osCondvar_t <<(T,lightblue)>> {
-      + urtCondvarInit (condvar : urt_osCondvar_t*) : void
-      + urtConvarSignal (condvar : urt_osCondvar_t*) : void
-      + urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void
-      + urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_condvarStatus_t
-    }
-    urt_osCondvar_t ..> urt_osMutex_t
-    urt_osCondvar_t ..> urt_delay_t
-    urt_osCondvar_t ..> urt_condvarStatus_t
+}
 
-  } 
+  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
+}
 
-  package "timer" {
+  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_osTimerCallback_t <<(T,lightblue)>> {
-      urt_osTimerCallback_t (parameter : void*) : void
-    }
-  
-    class urt_osTimer_t <<(T,lightblue)>> {
-      + urtTimerInit (timer : urt_osTimer_t*) : void
-      + urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t
-      + urtTimerReset (timer : urt_osTimer_t*) : urt_status_t
-      + urtTimerIsArmed (timer : urt_osTimer_t*) : bool
-    }
-    urt_osTimer_t ..> urt_delay_t
-    urt_osTimer_t ..> urt_status_t
-    urt_osTimer_t ..> urt_osTimerCallback_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
+}
 
-  package "thread" {
-
-    class urt_osThreadPrio_t <<(T,lightblue)>> {
-      + 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_delay_t <<T,00CFFF>> {
+  .. URT_CFG_DELAY_WIDTH == 32 ..
+  uint32_t
+  .. URT_CFG_DELAY_WIDTH == 64 ..
+  uint64_t
+}
 
-    class urt_osThreadFunction_t <<(T,lightblue)>> {
-      urt_osThreadFunction_t (arg : void*) : void
-    }
+  class urt_debug <<F,E0E0E0>> {
+  + {method} urtDebugAssert(condition : bool) : void
+}
 
-    enum urt_osThreadTerminateSignal_t {
-      URT_THREAD_TERMINATE_REQUEST = 15
-      URT_THREAD_TERMINATE_KILL = 9
-    }
+}
 
-    enum urt_osThreadState_t {
-      URT_THREAD_STATE_RUNNING = 0
-      URT_THREAD_STATE_READY = 1
-      URT_THREAD_STATE_SLEEPING = 2
-      URT_THREAD_STATE_SUSPENDED = 3
-      URT_THREAD_STATE_WAITING = 4
-      URT_THREAD_STATE_TERMINATED = 5
-    }
+  package "OSAL" <<Node>> {
 
-    class urt_osThread_t <<(T,lightblue)>> {
-      + URT_THREAD_SLEEP_MAX : float
-      + URT_THREAD_SSLEP_MAX : unsigned int
-      + URT_THREAD_MSLEEP_MAX : unsigned int
-      + URT_THREAD_USLEEP_MAX : unisgned int
-      __
-      + URT_THREAD_MEMORY (varname, stacksize)
-      ..
-      + urtThreadInit (memory : void*, size : size_t, func : urt_osThreadFunction_t*) : urt_osThread_t*
-      + urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void
-      + urtThreadYield (void) : void
-      + urtThreadGetPriority (void) : urt_osThreadPrio_t
-      + urtThreadSetPriority (prio : urt_osThreadPrio_t) : void
-      + urtThreadSuspend (thread : urt_osThread_t*) : void
-      + urtThreadResume (thread : urt_osThread_t*) : urt_status_t
-      + urtThreadSleep (seconds : float) : void
-      + urtThreadSSleep (seconds : usnigned int) : void
-      + urtThreadMSleep (milliseconds : unsigned int) : void
-      + urtThreadUSleep (microseconds : unsigned int) : void
-      + urtThreadSleepUntil (time : urt_osTime_t) : void
-      + urtThreadExit (void) : void
-      + urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void
-      + urtThreadJoin (thread : urt_osThread_t*) : int
-      + urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t
-      + urtThreadGetSelf (void) : urt_osThread_t*
-      + urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*
-      + urtThreadGetSibling (thread : urt_osThread_t*) : urt_osThread_t*
-      + urtThreadGetParent (thread : urt_osThread_t) : urt_osThread_t*
-    }
-    urt_osThread_t ..> urt_osThreadPrio_t
-    urt_osThread_t ..> urt_osThreadFunction_t
-    urt_osThread_t ..> urt_osTime_t
-    urt_osThread_t ..> urt_osThreadTerminateSignal_t
-    urt_osThread_t ..> urt_osThreadState_t
-    urt_osThread_t ..> urt_status_t
+  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 "events" {
+  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_osEventMask_t <<(T,lightblue)>> {
-      + URT_EVENTMASK_MAXPRIO : urt_osEventMask_t
-    }
+    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
+  }
+}
 
-    class urt_osEventFlags_t <<(T,lightblue)>>
+  package "timer" <<Rectangle>> {
+    class urt_osTimerCallback_t <<T,00CFFF>> {
+    urt_osTimerCallback_t (parameter : void*) : void
+  }
 
-    enum urt_osEventWaitType_t {
-      URT_EVENT_WAIT_ONE = 0
-      URT_EVENT_WAIT_ANY = 1
-      URT_EVENT_WAIT_ALL = 2
-    }
+    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
+  }
+} 
 
-    class urt_osEventListener_t <<(T,lightblue)>> {
-      + urtEventListenerInit (listener : urt_osEventListener_t*) : void
-      + urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t
-      + urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t
-    }
-    urt_osEventListener_t ..> urt_osEventFlags_t
+  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_osEventSource_t <<(T,lightblue)>> {
-      + urtEventSourceInit (source : urt_osEventSource_t*) : void
-      + urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void
-    }
-    urt_osEventSource_t ..> urt_osEventFlags_t
+    class urt_osThreadFunction_t <<T,00CFFF>> {
+    urt_osThreadFunction_t (arg : void*) : void
+  }
 
-    class urt_events <<(F,white)>> {
-      + urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t) : urt_status_t
-      + urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : urt_status_t
-      + urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWaitType_t, timeout : urt_delay_t) : urt_osEventMask_t
-    }
-    urt_events ..> urt_osEventSource_t
-    urt_events ..> urt_osEventListener_t
-    urt_events ..> urt_osEventMask_t
-    urt_events ..> urt_status_t
-    urt_events ..> urt_osEventWaitType_t
-    urt_events ..> urt_delay_t
+    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_streams <<(F,white)>> {
-      + urtPrintf(fmt : char*, ... ) : int
-      + urtErrPrintf(fmt : char*, ... ) : int
-    }
+    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
+  }
 } 
 
-package "middleware" {
+  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
+}
 
-  class urt_debug <<(F,white)>> {
-    + urtDebugAssert(condition : bool) : void
+  package "node" <<Rectangle>> {
+    class urt_nodeSetupCallback_t <<T,00CFFF>> {
+    urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t
   }
-  urt_debug ..> urt_config
 
-  package "real-time class" {
+    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
+}
 
-    class urt_rtclass_t <<(S,lightgrey)>> {
-      + class : urt_rtclasstype_t
-      + params : urt_rtclassparams_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
     }
-    urt_rtclass_t "1" *- - "1" urt_rtclasstype_t
-    urt_rtclass_t "1" *- - "1" urt_rtclassparams_t
 
-    enum urt_rtclasstype_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_rtclassparams_t <<(U,lightgreen)>> {
-      + hrt : urt_hrtparams_t
-      + frt : urt_frtparams_t
-      + srt : urt_srtparans_t
-      + nrt : urt_nrtparams_t
+      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
     }
-    urt_rtclassparams_t "1" *- - "0..1" urt_hrtparams_t
-    urt_rtclassparams_t "1" *- - "0..1" urt_frtparams_t
-    urt_rtclassparams_t "1" *- - "0..1" urt_srtparams_t
-    urt_rtclassparams_t "1" *- - "0..1" urt_nrtparams_t
-
-    class urt_hrtparams_t <<(S,lightgrey)>> {
-      + deadlineOffset : urt_delay_t
-      + expectedRate : urt_delay_t
-      + qosTimer : urt_osTimer_t
-    }
-    urt_hrtparams_t ..> urt_delay_t
-    urt_hrtparams_t "1" *- - "1" urt_osTimer_t
-
-    class urt_frtparams_t <<(S,lightgrey)>> {
-      + deadlineOffset : urt_delay_t
-      + expectedRate : urt_delay_t
-      + qosTimer : urt_osTimer_t
-      + callback : urt_osTimerCallback_t
-      + cbparams : void*
-    }
-    urt_frtparams_t ..> urt_delay_t
-    urt_frtparams_t "1" *- - "1" urt_osTimer_t
-    urt_frtparams_t "1" *- - "1" urt_osTimerCallback_t
 
-    class urt_srtparams_t <<(S,lightgrey)>> {
-      + *usefulness (dt : urt_delay_t, params : void*) : float
-      + params : void*
+      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
     }
-    urt_srtparams_t ..> urt_delay_t
 
-    class urt_nrtparams_t <<(S,lightgrey)>> {
+      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_message_t <<(S,lightgrey)>> {
-    + next : urt_message_t*
-    + payload : void*
-    + originTime : urt_osTime_t
-    + lock : urt_osMutex_t
-    + numHrtConsumersLeft : unsigned int
-    + hrtConsumersLeft : urt_osCondvar_t
-    - - evaluation data - -
-    + numConsumersLeft : unsigned int
-    __
-    + urtMessageInit (message : urt_message_t*, payload : void*) : urt_status_t
-  }
-  urt_message_t "1" o- - "0..1" urt_message_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
-
-  class urt_subscriber_t <<(S,lightgrey)>> {
-    + next : urt_subscriber_t*
-    + topic : urt_topic_t*
-    + evtListener : urt_osEventListener_t
-    + rtclass : urt_rtclass_t
-    + lastMessage : urt_message_t*
-    + lastMessageTime : urt_osTime_t
-    - - evaluation data - -
-    + minLatency : urt_delay_t
-    + maxLatency : urt_delay_t
-    + sumLatencies : uint64_t
-    + numMessagesReceived : unsigned int
+    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
     __
-    + urtSubscriberInit (subscriber : urt_subscriber_t*) : urt_status_t
-    + urtSubscriberSubscribe (subscriber : urt_subscriber_t*, topic : urt_topic_t*, rtclass : urt_rtclass_t*, messages : urt_messages_t*) : urt_status_t
-    + urtSubscriberUnsubscribe (subscriber : urt_subscriber_t*) : urt_status_t
-    + urtSubscriberFetchMessage (subscriber : urt_subscriber_t*, payload : void*, bytes : size_t, latest : bool) : urt_status_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
   }
-  urt_subscriber_t "1" o- - "0..1" urt_subscriber_t
-  urt_subscriber_t "1" o- - "0..1" urt_topic_t
-  urt_subscriber_t "1" *- - "1" urt_osEventListener_t
-  urt_subscriber_t "1" *- - "1" urt_rtclass_t
-  urt_subscriber_t "1" o- - "0..1" urt_message_t
-  urt_subscriber_t "1" *- - "1" urt_osTime_t
-  urt_subscriber_t "1" *- - "2" urt_delay_t
-  urt_subscriber_t ..> urt_status_t
-  urt_subscriber_t ..> urt_topicid_t
-
-  class urt_publisher_t <<(S,lightgrey)>> {
-    + topic : urt_topic_t*
-    - - evaluation data - -
-    + publishAttempts : unsigned int
-    + publishFails : unsigned int
-    __
-    + urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t
-    + urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, n : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t
-  }
-  urt_publisher_t "1" o- - "1" urt_topic_t
-  urt_publisher_t ..> urt_message_t
-  urt_publisher_t ..> urt_osTime_t
-  urt_publisher_t ..> urt_delay_t
-  urt_publisher_t ..> urt_status_t
-
-  class urt_topic_t <<(S,lightgrey)>> {
-    + next : urt_topic_t*
-    + lock : urt_osMutex_t
-    + evtSource : urt_osEventSource_t
-    + numHrtSubscribers : unsigned int
-    + hrtSubscribers : urt_subscriber_t*
-    + qosTimer : urt_osTimer_t
-    + mandatoryMessage : urt_message_t
-    + latestMessage : urt_message_t*
-    + id : urt_topicid_t
-    - - evaluation data - -
-    + numDiscardedMessages : unsigned int
-    + numSubscribers : unsigned int
-    __
-    + urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t
+} 
+
+  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
   }
-  urt_topic_t "1" o- - "0..1" urt_topic_t
-  urt_topic_t "1" *- - "1" urt_osMutex_t
-  urt_topic_t "1" *- - "1" urt_osEventSource_t
-  urt_topic_t "1" o- - "0..*" urt_subscriber_t
-  urt_topic_t "1" *- - "1" urt_osTimer_t
-  urt_topic_t "1" o- - "1..*" urt_message_t
-  urt_topic_t "1" *- - "1" urt_message_t
-  urt_topic_t "1" *- - "1" urt_topicid_t
-  urt_topic_t ..> urt_osTime_t
-  urt_topic_t ..> urt_status_t
-
-  class urt_core_t <<(S,lightgrey)>> {
-    - {static} _nodes : urt_node_t*
-    - {static} _topics : urt_topic_t*
-    - {static} _evtSource : urt_osEventSource_t
-    - {static} _lock : urt_osMutex_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
     __
-    + urtCoreInit (void) : urt_status_t
-    + urtCoreStartNodes (void) : urt_status_t
-    + urtCoreSynchronizeNodes (node : urt_node_t*, stage : urt_nodestage_t) : urt_status_t
-    + urtCoreStopNodes (void) : urt_status_t
-    + urtCoreRetrieveTopic (id : urt_topicid_t) : urt_topic_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
   }
-  urt_core_t "1" o- - "0..*" urt_topic_t
-  urt_core_t "1" o- - "0..*" urt_node_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_core_t ..> urt_topicid_t
-
-  package "node" {
-
-    class urt_nodeSetupCallback_t <<(T,lightblue)>> {
-      urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t
-    }
-    urt_nodeSetupCallback_t ..> urt_node_t
-    urt_nodeSetupCallback_t ..> urt_status_t
+}
 
-    class urt_nodeLoopCallback_t <<(T,lightblue)>> {
-      urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t
-    }
-    urt_nodeLoopCallback_t ..> urt_node_t
-    urt_nodeLoopCallback_t ..> urt_osEventMask_t
-    urt_nodeLoopCallback_t ..> urt_status_t
-
-    class urt_node_t <<(S,lightgrey)>> {
-      + next : urt_node_t*
-      + thread : urt_osThread_t*
-      + setupcallback : urt_nodeSetupCallback_t*
-      + setupparams : void*
-      + loopcallback : urt_nodeLoopCallback_t*
-      + loopparams : void*
-      + stage : urt_nodestage_t
-      + listener : urt_osEventListener_t
-      __
-      - {static} _main : urt_osThreadFunction_t
-      + urtNodeInit (node : urt_node_t*, stacksize : size_t, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*) : urt_status_t
-    }
-    urt_node_t "1" o- - "0..1" urt_node_t
-    urt_node_t "1" o- - "1" urt_osThread_t
-    urt_node_t "1" o- - "1" urt_nodeSetupCallback_t
-    urt_node_t "1" o- - "1" urt_nodeLoopCallback_t
-    urt_node_t "1" *- - "1" urt_nodestage_t
-    urt_node_t "1" *- - "1" urt_osEventMask_t
-    urt_node_t "1" *- - "1" urt_osEventWaitType_t
-    urt_node_t "1" *- - "1" urt_osEventListener_t
-    urt_node_t ..> urt_osThreadTerminateSignal_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 1.2018.11(Sat Sep 22 18:43:53 CEST 2018)
+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: 1.8.0_181-8u181-b13-1ubuntu0.16.04.1-b13
+Java Version: 11.0.6+10-post-Ubuntu-1ubuntu118.04.1
 Operating System: Linux
-OS Version: 4.15.0-38-generic
 Default Encoding: UTF-8
 Language: en
 Country: US
