AMiRo-OS

<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="1859px" preserveAspectRatio="none" style="width:18976px;height:1859px;" version="1.1" viewBox="0 0 18976 1859" width="18976px" zoomAndPan="magnify"><defs><filter height="300%" id="fagjfti7u2xwn" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="9427.5" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="87" x="9428.5" y="37.6611">Overview</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="9475" y="58.6143"/><!--MD5=[915f6a2b4bff9d90dc7327d570275f1b]

cluster Configuration--><polygon fill="#FFFFFF" filter="url(#fagjfti7u2xwn)" points="12214.0878,1488.8594,12224.0878,1478.8594,12520.0878,1478.8594,12520.0878,1837.8594,12510.0878,1847.8594,12214.0878,1847.8594,12214.0878,1488.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="12510.0878" x2="12519.0878" y1="1488.8594" y2="1479.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="12214.0878" x2="12510.0878" y1="1488.8594" y2="1488.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="12510.0878" x2="12510.0878" y1="1488.8594" y2="1847.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="107" x="12309.5878" y="1504.8545">Configuration</text><!--MD5=[1cb8ced355c85ab51f1ab55883ed8585]

cluster Primitives--><polygon fill="#FFFFFF" filter="url(#fagjfti7u2xwn)" points="6379.0878,898.3594,6389.0878,888.3594,7791.0878,888.3594,7791.0878,1440.3594,7781.0878,1450.3594,6379.0878,1450.3594,6379.0878,898.3594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7781.0878" x2="7790.0878" y1="898.3594" y2="889.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="6379.0878" x2="7781.0878" y1="898.3594" y2="898.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7781.0878" x2="7781.0878" y1="898.3594" y2="1450.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="77" x="7042.5878" y="914.3545">Primitives</text><!--MD5=[ba9da179b6f0b3bb0ea21772c5f4ec75]

cluster OSAL--><polygon fill="#FFFFFF" filter="url(#fagjfti7u2xwn)" points="586.0878,828.8594,596.0878,818.8594,6084.0878,818.8594,6084.0878,1705.3594,6074.0878,1715.3594,586.0878,1715.3594,586.0878,828.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="6074.0878" x2="6083.0878" y1="828.8594" y2="819.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="586.0878" x2="6074.0878" y1="828.8594" y2="828.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="6074.0878" x2="6074.0878" y1="828.8594" y2="1715.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="42" x="3310.0878" y="844.8545">OSAL</text><!--MD5=[3dab47d3fc3e186ff10f67819eb99ff8]

cluster time--><rect fill="#FFFFFF" filter="url(#fagjfti7u2xwn)" height="121" style="stroke: #000000; stroke-width: 1.5;" width="402" x="5674.0878" y="989.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="34" x="5858.0878" y="1004.3545">time</text><!--MD5=[48ccbfc44b1b031f9b243763d7ad5184]

cluster mutex--><rect fill="#FFFFFF" filter="url(#fagjfti7u2xwn)" height="134" style="stroke: #000000; stroke-width: 1.5;" width="314" x="4596.0878" y="982.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="49" x="4728.5878" y="997.8545">mutex</text><!--MD5=[2e45f233f6bb64aa81ebe67fb6de8946]

cluster condition variable--><rect fill="#FFFFFF" filter="url(#fagjfti7u2xwn)" height="463.5" style="stroke: #000000; stroke-width: 1.5;" width="726" x="4929.0878" y="963.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="140" x="5222.0878" y="978.3545">condition variable</text><!--MD5=[c7113df1f710ca294cbd01734aa00974]

cluster timer--><rect fill="#FFFFFF" filter="url(#fagjfti7u2xwn)" height="438" style="stroke: #000000; stroke-width: 1.5;" width="754" x="3823.0878" y="976.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="4179.5878" y="991.3545">timer</text><!--MD5=[107bb3f79455a18bd83c75ada1ac7979]

cluster thread--><rect fill="#FFFFFF" filter="url(#fagjfti7u2xwn)" height="608" style="stroke: #000000; stroke-width: 1.5;" width="1039" x="2776.0878" y="850.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="3269.5878" y="865.8545">thread</text><!--MD5=[8d74b40516bd265adb19f202ab81f40d]

cluster events--><rect fill="#FFFFFF" filter="url(#fagjfti7u2xwn)" height="718" style="stroke: #000000; stroke-width: 1.5;" width="1642" x="1115.0878" y="989.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="54" x="1909.0878" y="1004.3545">events</text><!--MD5=[b978ecedb6f4da3f32705dc09c84a7d6]

cluster streams--><rect fill="#FFFFFF" filter="url(#fagjfti7u2xwn)" height="109" style="stroke: #000000; stroke-width: 1.5;" width="228" x="879.0878" y="995.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="64" x="961.0878" y="1010.3545">streams</text><!--MD5=[62106fc051f244acf17caf792167c8db]

cluster debug--><rect fill="#FFFFFF" filter="url(#fagjfti7u2xwn)" height="96" style="stroke: #000000; stroke-width: 1.5;" width="266" x="594.0878" y="1001.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="50" x="702.0878" y="1016.8545">debug</text><!--MD5=[4e1a3510868d06a507f098bb08f0dae0]

cluster Middleware--><polygon fill="#FFFFFF" filter="url(#fagjfti7u2xwn)" points="7799.0878,88.8594,7809.0878,78.8594,18464.0878,78.8594,18464.0878,1452.8594,18454.0878,1462.8594,7799.0878,1462.8594,7799.0878,88.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="18454.0878" x2="18463.0878" y1="88.8594" y2="79.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7799.0878" x2="18454.0878" y1="88.8594" y2="88.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="18454.0878" x2="18454.0878" y1="88.8594" y2="1462.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="91" x="13082.0878" y="104.8545">Middleware</text><!--MD5=[b9de0669a29c7bc934fd916b09c39491]

cluster node--><rect fill="#FFFFFF" filter="url(#fagjfti7u2xwn)" height="572.5" style="stroke: #000000; stroke-width: 1.5;" width="1674" x="16782.0878" y="525.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="40" x="17599.0878" y="540.3545">node</text><!--MD5=[d74e2ef346f73688f9378f6d3d42598c]

cluster Publish-Subscribe System--><polygon fill="#FFFFFF" filter="url(#fagjfti7u2xwn)" points="11448.0878,484.3594,11458.0878,474.3594,16774.0878,474.3594,16774.0878,1444.8594,16764.0878,1454.8594,11448.0878,1454.8594,11448.0878,484.3594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="16764.0878" x2="16773.0878" y1="484.3594" y2="475.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="11448.0878" x2="16764.0878" y1="484.3594" y2="484.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="16764.0878" x2="16764.0878" y1="484.3594" y2="1454.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="205" x="14004.5878" y="500.3545">Publish-Subscribe System</text><!--MD5=[16a3bbbe805f94d6e6ce317c08ab945e]

cluster subscriber--><rect fill="#FFFFFF" filter="url(#fagjfti7u2xwn)" height="628" style="stroke: #000000; stroke-width: 1.5;" width="4062" x="12704.0878" y="506.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="85" x="14692.5878" y="521.3545">subscriber</text><!--MD5=[810d0f07e53ef611b6d803ef30301147]

cluster Remote Procedure Call System--><polygon fill="#FFFFFF" filter="url(#fagjfti7u2xwn)" points="8157.0878,120.8594,8167.0878,110.8594,11440.0878,110.8594,11440.0878,800.8594,11430.0878,810.8594,8157.0878,810.8594,8157.0878,120.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="11430.0878" x2="11439.0878" y1="120.8594" y2="111.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="8157.0878" x2="11430.0878" y1="120.8594" y2="120.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="11430.0878" x2="11430.0878" y1="120.8594" y2="810.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="244" x="9672.5878" y="136.8545">Remote Procedure Call System</text><!--MD5=[ecaf13b018fb9788c80013f5b3634b61]

cluster request--><rect fill="#FFFFFF" filter="url(#fagjfti7u2xwn)" height="632" style="stroke: #000000; stroke-width: 1.5;" width="2645" x="8787.0878" y="142.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="62" x="10078.5878" y="157.8545">request</text><!--MD5=[e443ac33c80100c2d54e1f5fe669f6d7]

class urt_config--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="328.8984" id="urt_config" style="stroke: #A80036; stroke-width: 1.5;" width="290" x="12222.0878" y="1510.8594"/><ellipse cx="12331.8378" cy="1526.8594" fill="#BFBFBF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12334.8066,1532.5 Q12334.2284,1532.7969 12333.5878,1532.9375 Q12332.9472,1533.0938 12332.2441,1533.0938 Q12329.7441,1533.0938 12328.4159,1531.4531 Q12327.1034,1529.7969 12327.1034,1526.6719 Q12327.1034,1523.5469 12328.4159,1521.8906 Q12329.7441,1520.2344 12332.2441,1520.2344 Q12332.9472,1520.2344 12333.5878,1520.3906 Q12334.2441,1520.5469 12334.8066,1520.8438 L12334.8066,1523.5625 Q12334.1816,1522.9844 12333.5878,1522.7188 Q12332.9941,1522.4375 12332.3691,1522.4375 Q12331.0253,1522.4375 12330.3378,1523.5156 Q12329.6503,1524.5781 12329.6503,1526.6719 Q12329.6503,1528.7656 12330.3378,1529.8438 Q12331.0253,1530.9063 12332.3691,1530.9063 Q12332.9941,1530.9063 12333.5878,1530.6406 Q12334.1816,1530.3594 12334.8066,1529.7813 L12334.8066,1532.5 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="62" x="12352.3378" y="1531.0137">urt_config</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12223.0878" x2="12511.0878" y1="1542.8594" y2="1542.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="159" x="12228.0878" y="1573.8745">URT_CFG_DELAY_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="12228.0878" y="1586.6792">URT_CFG_NODESTAGE_WIDTH : int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12223.0878" x2="12345.5878" y1="1557.2617" y2="1557.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="43" x="12345.5878" y="1560.5698">general</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12388.5878" x2="12511.0878" y1="1557.2617" y2="1557.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="12228.0878" y="1616.2886">URT_CFG_PUBSUB_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="222" x="12228.0878" y="1629.0933">URT_CFG_PUBSUB_TOPICID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="204" x="12228.0878" y="1641.8979">URT_CFG_PUBSUB_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="278" x="12228.0878" y="1654.7026">URT_CFG_PUBSUB_QOS_DEADLINECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="252" x="12228.0878" y="1667.5073">URT_CFG_PUBSUB_QOS_RATECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="12228.0878" y="1680.312">URT_CFG_PUBSUB_QOS_JITTERCHECKS : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12223.0878" x2="12316.5878" y1="1599.6758" y2="1599.6758"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="12316.5878" y="1602.9839">publish-subscribe</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12417.5878" x2="12511.0878" y1="1599.6758" y2="1599.6758"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="12228.0878" y="1709.9214">URT_CFG_RPC_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="12228.0878" y="1722.7261">URT_CFG_RPC_SERVICEID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="12228.0878" y="1735.5308">URT_CFG_RPC_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="253" x="12228.0878" y="1748.3354">URT_CFG_RPC_QOS_DEADLINECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="12228.0878" y="1761.1401">URT_CFG_RPC_QOS_JITTERCHECKS : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12223.0878" x2="12300.5878" y1="1693.3086" y2="1693.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="133" x="12300.5878" y="1696.6167">remote procedure calls</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12433.5878" x2="12511.0878" y1="1693.3086" y2="1693.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="12228.0878" y="1790.7495">URT_CFG_DEBUG_ENABLED : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12223.0878" x2="12349.5878" y1="1774.1367" y2="1774.1367"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="35" x="12349.5878" y="1777.4448">debug</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12384.5878" x2="12511.0878" y1="1774.1367" y2="1774.1367"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="12228.0878" y="1820.3589">URT_CFG_OSAL_HEADER : string</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="12228.0878" y="1833.1636">URT_CFG_OSAL_CONDVAR_TIMEOUT : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12223.0878" x2="12352.0878" y1="1803.7461" y2="1803.7461"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="30" x="12352.0878" y="1807.0542">OSAL</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12382.0878" x2="12511.0878" y1="1803.7461" y2="1803.7461"/><!--MD5=[9f69b6f4e23017059189983d6906a1eb]

class urt_nodestage_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="158.4375" id="urt_nodestage_t" style="stroke: #A80036; stroke-width: 1.5;" width="216" x="7302.0878" y="980.3594"/><ellipse cx="7354.3378" cy="996.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7355.1816,1003.1094 L7352.7284,1003.1094 L7352.7284,992.8594 L7349.5878,992.8594 L7349.5878,990.7188 L7358.3222,990.7188 L7358.3222,992.8594 L7355.1816,992.8594 L7355.1816,1003.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="103" x="7374.8378" y="1000.5137">urt_nodestage_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7303.0878" x2="7517.0878" y1="1012.3594" y2="1012.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="7308.0878" y="1043.3745">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7303.0878" x2="7309.5878" y1="1026.7617" y2="1026.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="201" x="7309.5878" y="1030.0698">URT_CFG_NODESTAGE_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7510.5878" x2="7517.0878" y1="1026.7617" y2="1026.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="7308.0878" y="1072.9839">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7303.0878" x2="7306.0878" y1="1056.3711" y2="1056.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="7306.0878" y="1059.6792">URT_CFG_NODESTAGE_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7514.0878" x2="7517.0878" y1="1056.3711" y2="1056.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="7308.0878" y="1102.5933">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7303.0878" x2="7306.0878" y1="1085.9805" y2="1085.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="7306.0878" y="1089.2886">URT_CFG_NODESTAGE_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7514.0878" x2="7517.0878" y1="1085.9805" y2="1085.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="7308.0878" y="1132.2026">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7303.0878" x2="7306.0878" y1="1115.5898" y2="1115.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="7306.0878" y="1118.8979">URT_CFG_NODESTAGE_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7514.0878" x2="7517.0878" y1="1115.5898" y2="1115.5898"/><!--MD5=[a55671f9c3a4eb2d749fd774fc81a82b]

class urt_topicid_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="158.4375" id="urt_topicid_t" style="stroke: #A80036; stroke-width: 1.5;" width="244" x="6654.0878" y="980.3594"/><ellipse cx="6733.3378" cy="996.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6734.1816,1003.1094 L6731.7284,1003.1094 L6731.7284,992.8594 L6728.5878,992.8594 L6728.5878,990.7188 L6737.3222,990.7188 L6737.3222,992.8594 L6734.1816,992.8594 L6734.1816,1003.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="77" x="6753.8378" y="1000.5137">urt_topicid_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6655.0878" x2="6897.0878" y1="1012.3594" y2="1012.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="6660.0878" y="1043.3745">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6655.0878" x2="6661.5878" y1="1026.7617" y2="1026.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="229" x="6661.5878" y="1030.0698">URT_CFG_PUBSUB_TOPICID_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6890.5878" x2="6897.0878" y1="1026.7617" y2="1026.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6660.0878" y="1072.9839">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6655.0878" x2="6658.0878" y1="1056.3711" y2="1056.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="6658.0878" y="1059.6792">URT_CFG_PUBSUB_TOPICID_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6894.0878" x2="6897.0878" y1="1056.3711" y2="1056.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6660.0878" y="1102.5933">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6655.0878" x2="6658.0878" y1="1085.9805" y2="1085.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="6658.0878" y="1089.2886">URT_CFG_PUBSUB_TOPICID_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6894.0878" x2="6897.0878" y1="1085.9805" y2="1085.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6660.0878" y="1132.2026">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6655.0878" x2="6658.0878" y1="1115.5898" y2="1115.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="6658.0878" y="1118.8979">URT_CFG_PUBSUB_TOPICID_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6894.0878" x2="6897.0878" y1="1115.5898" y2="1115.5898"/><!--MD5=[4d8326c7af3a397210cbde406c7c860c]

class urt_serviceid_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="158.4375" id="urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.5;" width="232" x="6387.0878" y="980.3594"/><ellipse cx="6453.8378" cy="996.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6454.6816,1003.1094 L6452.2284,1003.1094 L6452.2284,992.8594 L6449.0878,992.8594 L6449.0878,990.7188 L6457.8222,990.7188 L6457.8222,992.8594 L6454.6816,992.8594 L6454.6816,1003.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="90" x="6474.3378" y="1000.5137">urt_serviceid_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6388.0878" x2="6618.0878" y1="1012.3594" y2="1012.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="6393.0878" y="1043.3745">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6388.0878" x2="6394.5878" y1="1026.7617" y2="1026.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="6394.5878" y="1030.0698">URT_CFG_RPC_SERVICEID_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6611.5878" x2="6618.0878" y1="1026.7617" y2="1026.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6393.0878" y="1072.9839">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6388.0878" x2="6391.0878" y1="1056.3711" y2="1056.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="6391.0878" y="1059.6792">URT_CFG_RPC_SERVICEID_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6615.0878" x2="6618.0878" y1="1056.3711" y2="1056.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6393.0878" y="1102.5933">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6388.0878" x2="6391.0878" y1="1085.9805" y2="1085.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="6391.0878" y="1089.2886">URT_CFG_RPC_SERVICEID_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6615.0878" x2="6618.0878" y1="1085.9805" y2="1085.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6393.0878" y="1132.2026">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6388.0878" x2="6391.0878" y1="1115.5898" y2="1115.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="6391.0878" y="1118.8979">URT_CFG_RPC_SERVICEID_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6615.0878" x2="6618.0878" y1="1115.5898" y2="1115.5898"/><!--MD5=[e750dab3ce4ebe0433cc930181355272]

class urt_status_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="278.4844" id="urt_status_t" style="stroke: #A80036; stroke-width: 1.5;" width="229" x="7553.5878" y="920.3594"/><ellipse cx="7626.3378" cy="936.3594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7630.4472,942.3594 L7622.7284,942.3594 L7622.7284,929.9688 L7630.4472,929.9688 L7630.4472,932.125 L7625.1816,932.125 L7625.1816,934.7969 L7629.9472,934.7969 L7629.9472,936.9531 L7625.1816,936.9531 L7625.1816,940.2031 L7630.4472,940.2031 L7630.4472,942.3594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="7646.8378" y="940.5137">urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7554.5878" x2="7781.5878" y1="952.3594" y2="952.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="119" x="7559.5878" y="966.5698">URT_STATUS_OK = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="7559.5878" y="979.3745">URT_STATUS_DEADLINEVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="7559.5878" y="992.1792">URT_STATUS_JITTERVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="166" x="7559.5878" y="1004.9839">URT_STATUS_RATEVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="166" x="7559.5878" y="1017.7886">URT_STATUS_SYNC_PENDING</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="7559.5878" y="1030.5933">URT_STATUS_SYNC_ERROR</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="200" x="7559.5878" y="1043.3979">URT_STATUS_NODE_INVALEVTMASK</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="7559.5878" y="1073.0073">URT_STATUS_TOPIC_DUPLICATE</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="7559.5878" y="1085.812">URT_STATUS_PUBLISH_TIMEOUT</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="206" x="7559.5878" y="1098.6167">URT_STATUS_SUBSCRIBE_TOPICSET</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="7559.5878" y="1111.4214">URT_STATUS_FETCH_NOTOPIC</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="7559.5878" y="1124.2261">URT_STATUS_FETCH_NOMESSAGE</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="7559.5878" y="1137.0308">URT_STATUS_UNSUBSCRIBE_NOTOPIC</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7554.5878" x2="7563.0878" y1="1056.3945" y2="1056.3945"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7563.0878" y="1059.7026">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7773.0878" x2="7781.5878" y1="1056.3945" y2="1056.3945"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="7559.5878" y="1166.6401">URT_STATUS_SERVICE_DUPLICATE</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="201" x="7559.5878" y="1179.4448">URT_STATUS_REQUEST_BADOWNER</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="7559.5878" y="1192.2495">URT_STATUS_REQUEST_LOCKED</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7554.5878" x2="7575.5878" y1="1150.0273" y2="1150.0273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="7575.5878" y="1153.3354">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7760.5878" x2="7781.5878" y1="1150.0273" y2="1150.0273"/><!--MD5=[15452fea434e71f16c7de0feaca2b066]

class urt_delay_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="132.8281" id="urt_delay_t" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="6387.5878" y="1309.3594"/><ellipse cx="6439.8378" cy="1325.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6440.6816,1332.1094 L6438.2284,1332.1094 L6438.2284,1321.8594 L6435.0878,1321.8594 L6435.0878,1319.7188 L6443.8222,1319.7188 L6443.8222,1321.8594 L6440.6816,1321.8594 L6440.6816,1332.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="68" x="6460.3378" y="1329.5137">urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6388.5878" x2="6567.5878" y1="1341.3594" y2="1341.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6393.5878" y="1372.3745">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6388.5878" x2="6391.5878" y1="1355.7617" y2="1355.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="6391.5878" y="1359.0698">URT_CFG_DELAY_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6564.5878" x2="6567.5878" y1="1355.7617" y2="1355.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6393.5878" y="1401.9839">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6388.5878" x2="6391.5878" y1="1385.3711" y2="1385.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="6391.5878" y="1388.6792">URT_CFG_DELAY_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6564.5878" x2="6567.5878" y1="1385.3711" y2="1385.3711"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6388.5878" x2="6567.5878" y1="1408.5781" y2="1408.5781"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="6393.5878" y="1422.7886">URT_DELAY_IMMEDIATE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="6393.5878" y="1435.5933">URT_DELAY_INFINITE = 0xF..F</text><!--MD5=[81e47bc16a7baa7cb65c7bc48dd317d5]

class urt_usefulness_f--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="60.8047" id="urt_usefulness_f" style="stroke: #A80036; stroke-width: 1.5;" width="334" x="6933.0878" y="1028.8594"/><ellipse cx="7044.8378" cy="1044.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7049.0722,1040.625 L7043.7909,1040.625 L7043.7909,1043.2969 L7048.5878,1043.2969 L7048.5878,1045.4531 L7043.7909,1045.4531 L7043.7909,1050.8594 L7041.3534,1050.8594 L7041.3534,1038.4688 L7049.0722,1038.4688 L7049.0722,1040.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="7065.3378" y="1049.0137">urt_usefulness_f</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6934.0878" x2="7266.0878" y1="1060.8594" y2="1060.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6934.0878" x2="7266.0878" y1="1068.8594" y2="1068.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="322" x="6939.0878" y="1083.0698">urt_usefulness_f (dt : urt_delay_t, params : void*) : float</text><!--MD5=[3677786d1f00795918091b0110bfa4af]

class urt_osTime_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="385" x="5682.5878" y="1016.3594"/><ellipse cx="5831.3378" cy="1032.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5832.1816,1039.1094 L5829.7284,1039.1094 L5829.7284,1028.8594 L5826.5878,1028.8594 L5826.5878,1026.7188 L5835.3222,1026.7188 L5835.3222,1028.8594 L5832.1816,1028.8594 L5832.1816,1039.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="5851.8378" y="1036.5137">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5683.5878" x2="6066.5878" y1="1048.3594" y2="1048.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5683.5878" x2="6066.5878" y1="1056.3594" y2="1056.3594"/><ellipse cx="5693.5878" cy="1067.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="231" x="5702.5878" y="1070.5698">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="5693.5878" cy="1080.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="5702.5878" y="1083.3745">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="5693.5878" cy="1092.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="359" x="5702.5878" y="1096.1792">urtTimeAddUs (time : urt_osTime_t*, offset : urt_delay_t) : void</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]

class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="4604.0878" y="1009.8594"/><ellipse cx="4705.3378" cy="1025.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4706.1816,1032.6094 L4703.7284,1032.6094 L4703.7284,1022.3594 L4700.5878,1022.3594 L4700.5878,1020.2188 L4709.3222,1020.2188 L4709.3222,1022.3594 L4706.1816,1022.3594 L4706.1816,1032.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="4725.8378" y="1030.0137">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4605.0878" x2="4901.0878" y1="1041.8594" y2="1041.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4605.0878" x2="4901.0878" y1="1049.8594" y2="1049.8594"/><ellipse cx="4615.0878" cy="1060.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="245" x="4624.0878" y="1064.0698">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="4615.0878" cy="1073.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="253" x="4624.0878" y="1076.8745">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="4615.0878" cy="1086.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="4624.0878" y="1089.6792">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="4615.0878" cy="1099.2734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="4624.0878" y="1102.4839">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--MD5=[52fa11869cb40c93fa7702378ddd839e]

class urt_osCondvarWaitStatus_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="86.4141" id="urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="5157.0878" y="1332.8594"/><ellipse cx="5203.3378" cy="1348.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5207.4472,1354.8594 L5199.7284,1354.8594 L5199.7284,1342.4688 L5207.4472,1342.4688 L5207.4472,1344.625 L5202.1816,1344.625 L5202.1816,1347.2969 L5206.9472,1347.2969 L5206.9472,1349.4531 L5202.1816,1349.4531 L5202.1816,1352.7031 L5207.4472,1352.7031 L5207.4472,1354.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="169" x="5223.8378" y="1353.0137">urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5158.0878" x2="5426.0878" y1="1364.8594" y2="1364.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="5163.0878" y="1379.0698">URT_CONDVAR_WAITSTATUS_SIGNAL = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="5163.0878" y="1391.8745">URT_CONDVAR_WAITSTATUS_BROADCAST = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="5163.0878" y="1404.6792">URT_CONDVAR_WAITSTATUS_TIMEOUT = 0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5158.0878" x2="5426.0878" y1="1411.2734" y2="1411.2734"/><!--MD5=[004fc5dee471033e8e4138c1c73f0692]

class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="137.6328" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="4937.0878" y="990.3594"/><ellipse cx="5237.3378" cy="1006.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5238.1816,1013.1094 L5235.7284,1013.1094 L5235.7284,1002.8594 L5232.5878,1002.8594 L5232.5878,1000.7188 L5241.3222,1000.7188 L5241.3222,1002.8594 L5238.1816,1002.8594 L5238.1816,1013.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="5257.8378" y="1010.5137">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4938.0878" x2="5646.0878" y1="1022.3594" y2="1022.3594"/><ellipse cx="4948.0878" cy="1033.3594" 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="4957.0878" y="1036.5698">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4948.0878" cy="1046.1641" 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="4957.0878" y="1049.3745">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4948.0878" cy="1058.9688" 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="4957.0878" y="1062.1792">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4948.0878" cy="1088.5781" 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="559" x="4957.0878" y="1091.7886">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*) : urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4938.0878" x2="5163.5878" y1="1075.1758" y2="1075.1758"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="257" x="5163.5878" y="1078.4839">URT_CFG_OSAL_CONDVAR_TIMEOUT == false</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5420.5878" x2="5646.0878" y1="1075.1758" y2="1075.1758"/><ellipse cx="4948.0878" cy="1118.1875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="684" x="4957.0878" y="1121.3979">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4938.0878" x2="5166.0878" y1="1104.7852" y2="1104.7852"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="252" x="5166.0878" y="1108.0933">URT_CFG_OSAL_CONDVAR_TIMEOUT == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5418.0878" x2="5646.0878" y1="1104.7852" y2="1104.7852"/><!--MD5=[93799a03260ba286abda700174f4f205]

class urt_osTimerCallback_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="4057.0878" y="1345.3594"/><ellipse cx="4127.8378" cy="1361.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4128.6815,1368.1094 L4126.2284,1368.1094 L4126.2284,1357.8594 L4123.0878,1357.8594 L4123.0878,1355.7188 L4131.8222,1355.7188 L4131.8222,1357.8594 L4128.6815,1357.8594 L4128.6815,1368.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="4148.3378" y="1365.5137">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4058.0878" x2="4342.0878" y1="1377.3594" y2="1377.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4058.0878" x2="4342.0878" y1="1385.3594" y2="1385.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="4063.0878" y="1399.5698">urt_osTimerCallback_t (parameter : void*) : void</text><!--MD5=[0b340d7b925b1eab6a1b7e084f68a7c2]

class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="112.0234" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="737" x="3831.5878" y="1003.3594"/><ellipse cx="4153.8378" cy="1019.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4154.6815,1026.1094 L4152.2284,1026.1094 L4152.2284,1015.8594 L4149.0878,1015.8594 L4149.0878,1013.7188 L4157.8222,1013.7188 L4157.8222,1015.8594 L4154.6815,1015.8594 L4154.6815,1026.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="4174.3378" y="1023.5137">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3832.5878" x2="4567.5878" y1="1035.3594" y2="1035.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3832.5878" x2="4567.5878" y1="1043.3594" y2="1043.3594"/><ellipse cx="3842.5878" cy="1054.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="3851.5878" y="1057.5698">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="3842.5878" cy="1067.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="660" x="3851.5878" y="1070.3745">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void</text><ellipse cx="3842.5878" cy="1079.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="711" x="3851.5878" y="1083.1792">urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void</text><ellipse cx="3842.5878" cy="1092.7734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="255" x="3851.5878" y="1095.9839">urtTimerReset (timer : urt_osTimer_t*) : void</text><ellipse cx="3842.5878" cy="1105.5781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3851.5878" y="1108.7886">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--MD5=[86c16d91227b9a9ec3b6b9b0285de4e9]

class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="3332.5878" y="1300.8594"/><ellipse cx="3368.7378" cy="1316.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3369.5816,1323.6094 L3367.1284,1323.6094 L3367.1284,1313.3594 L3363.9878,1313.3594 L3363.9878,1311.2188 L3372.7222,1311.2188 L3372.7222,1313.3594 L3369.5816,1313.3594 L3369.5816,1323.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="3387.4378" y="1321.0137">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3333.5878" x2="3528.5878" y1="1332.8594" y2="1332.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="3338.5878" y="1347.0698">URT_THREAD_PRIO_LOW_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="3338.5878" y="1359.8745">URT_THREAD_PRIO_LOW_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="3338.5878" y="1372.6792">URT_THREAD_PRIO_NORMAL_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="3338.5878" y="1385.4839">URT_THREAD_PRIO_NORMAL_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="3338.5878" y="1398.2886">URT_THREAD_PRIO_HIGH_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="3338.5878" y="1411.0933">URT_THREAD_PRIO_HIGH_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="3338.5878" y="1423.8979">URT_THREAD_PRIO_RT_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="3338.5878" y="1436.7026">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3333.5878" x2="3528.5878" y1="1443.2969" y2="1443.2969"/><!--MD5=[69d8aab9aa387a2f5052ea3da80e80ea]

class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="2784.0878" y="1345.3594"/><ellipse cx="2831.8378" cy="1361.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2832.6816,1368.1094 L2830.2284,1368.1094 L2830.2284,1357.8594 L2827.0878,1357.8594 L2827.0878,1355.7188 L2835.8222,1355.7188 L2835.8222,1357.8594 L2832.6816,1357.8594 L2832.6816,1368.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="2852.3378" y="1365.5137">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2785.0878" x2="3035.0878" y1="1377.3594" y2="1377.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2785.0878" x2="3035.0878" y1="1385.3594" y2="1385.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="2790.0878" y="1399.5698">urt_osThreadFunction_t (arg : void*) : void</text><!--MD5=[ab5f611d45c3fa10609c33f780d8c3e1]

class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="3565.0878" y="1338.8594"/><ellipse cx="3586.8378" cy="1354.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3590.9472,1360.8594 L3583.2284,1360.8594 L3583.2284,1348.4688 L3590.9472,1348.4688 L3590.9472,1350.625 L3585.6816,1350.625 L3585.6816,1353.2969 L3590.4472,1353.2969 L3590.4472,1355.4531 L3585.6816,1355.4531 L3585.6816,1358.7031 L3590.9472,1358.7031 L3590.9472,1360.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="3602.3378" y="1359.0137">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3566.0878" x2="3806.0878" y1="1370.8594" y2="1370.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="3571.0878" y="1385.0698">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="3571.0878" y="1397.8745">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3566.0878" x2="3806.0878" y1="1404.4688" y2="1404.4688"/><!--MD5=[47d14ad2c233fae1b32b8d0a283e820a]

class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="137.6328" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="3071.0878" y="1306.8594"/><ellipse cx="3115.8378" cy="1322.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3119.9472,1328.8594 L3112.2284,1328.8594 L3112.2284,1316.4688 L3119.9472,1316.4688 L3119.9472,1318.625 L3114.6816,1318.625 L3114.6816,1321.2969 L3119.4472,1321.2969 L3119.4472,1323.4531 L3114.6816,1323.4531 L3114.6816,1326.7031 L3119.9472,1326.7031 L3119.9472,1328.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="3136.3378" y="1327.0137">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3072.0878" x2="3296.0878" y1="1338.8594" y2="1338.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="3077.0878" y="1353.0698">URT_THREAD_STATE_INACTIVE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="3077.0878" y="1365.8745">URT_THREAD_STATE_RUNNING = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="3077.0878" y="1378.6792">URT_THREAD_STATE_READY = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="3077.0878" y="1391.4839">URT_THREAD_STATE_SLEEPING = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="3077.0878" y="1404.2886">URT_THREAD_STATE_SUSPENDED = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="3077.0878" y="1417.0933">URT_THREAD_STATE_WAITING = 5</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="3077.0878" y="1429.8979">URT_THREAD_STATE_TERMINATED = 6</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3072.0878" x2="3296.0878" y1="1436.4922" y2="1436.4922"/><!--MD5=[0a16224ede9ffa9bb2d34e085a076e6d]

class urt_osThread_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="363.3125" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="778" x="3018.0878" y="877.8594"/><ellipse cx="3355.8378" cy="893.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3356.6816,900.6094 L3354.2284,900.6094 L3354.2284,890.3594 L3351.0878,890.3594 L3351.0878,888.2188 L3359.8222,888.2188 L3359.8222,890.3594 L3356.6816,890.3594 L3356.6816,900.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="3376.3378" y="898.0137">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3019.0878" x2="3795.0878" y1="909.8594" y2="909.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="3024.0878" y="924.0698">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="3024.0878" y="936.8745">URT_THREAD_SSLEP_MAX : unsigned int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="3024.0878" y="949.6792">URT_THREAD_MSLEEP_MAX : unsigned int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="3024.0878" y="962.4839">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="3019.0878" x2="3795.0878" y1="969.0781" y2="969.0781"/><ellipse cx="3029.0878" cy="980.0781" 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="3038.0878" y="983.2886">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3019.0878" x2="3795.0878" y1="989.8828" y2="989.8828"/><ellipse cx="3029.0878" cy="1000.8828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="752" x="3038.0878" y="1004.0933">urtThreadInit (memory : void*, size : size_t, prio : urt_osThreadPrio_t, func : urt_osThreadFunction_t*, arg : void*) : urt_osThread_t*</text><ellipse cx="3029.0878" cy="1013.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="3038.0878" y="1016.8979">urtThreadStart (thread : urt_osThread_t*) : void</text><ellipse cx="3029.0878" cy="1026.4922" 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="3038.0878" y="1029.7026">urtThreadYield (void) : void</text><ellipse cx="3029.0878" cy="1039.2969" 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="3038.0878" y="1042.5073">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="3029.0878" cy="1052.1016" 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="3038.0878" y="1055.312">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="3029.0878" cy="1064.9063" 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="3038.0878" y="1068.1167">urtThreadSleep (seconds : float) : void</text><ellipse cx="3029.0878" cy="1077.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="273" x="3038.0878" y="1080.9214">urtThreadSSleep (seconds : unsigned int) : void</text><ellipse cx="3029.0878" cy="1090.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="3038.0878" y="1093.7261">urtThreadMSleep (milliseconds : unsigned int) : void</text><ellipse cx="3029.0878" cy="1103.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="3038.0878" y="1106.5308">urtThreadUSleep (microseconds : urt_delay_t) : void</text><ellipse cx="3029.0878" cy="1116.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3038.0878" y="1119.3354">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="3029.0878" cy="1128.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="3038.0878" y="1132.1401">urtThreadExit (void) : void</text><ellipse cx="3029.0878" cy="1141.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="518" x="3038.0878" y="1144.9448">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="3029.0878" cy="1154.5391" 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="224" x="3038.0878" y="1157.7495">urtThreadShouldTerminate (void) : bool</text><ellipse cx="3029.0878" cy="1167.3438" 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="264" x="3038.0878" y="1170.5542">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="3029.0878" cy="1180.1484" 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="387" x="3038.0878" y="1183.3589">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="3029.0878" cy="1192.9531" 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="237" x="3038.0878" y="1196.1636">urtThreadGetSelf (void) : urt_osThread_t*</text><ellipse cx="3029.0878" cy="1205.7578" 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="380" x="3038.0878" y="1208.9683">urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="3029.0878" cy="1218.5625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="3038.0878" y="1221.7729">urtThreadGetSibling (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="3029.0878" cy="1231.3672" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="3038.0878" y="1234.5776">urtThreadGetParent (thread : urt_osThread_t*) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]

class urt_osEventMask_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="60.8047" id="urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.5;" width="280" x="2469.0878" y="1345.3594"/><ellipse cx="2546.3378" cy="1361.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2547.1816,1368.1094 L2544.7284,1368.1094 L2544.7284,1357.8594 L2541.5878,1357.8594 L2541.5878,1355.7188 L2550.3222,1355.7188 L2550.3222,1357.8594 L2547.1816,1357.8594 L2547.1816,1368.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="2566.8378" y="1365.5137">urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2470.0878" x2="2748.0878" y1="1377.3594" y2="1377.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="268" x="2475.0878" y="1391.5698">URT_EVENTMASK_MAXPRIO : urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2470.0878" x2="2748.0878" y1="1398.1641" y2="1398.1641"/><!--MD5=[dc1cc33af288560680c15dec1e56eda0]

class urt_osEventFlags_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="48" id="urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="1878.0878" y="1651.3594"/><ellipse cx="1893.0878" cy="1667.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1893.9316,1674.1094 L1891.4784,1674.1094 L1891.4784,1663.8594 L1888.3378,1663.8594 L1888.3378,1661.7188 L1897.0722,1661.7188 L1897.0722,1663.8594 L1893.9316,1663.8594 L1893.9316,1674.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="1907.0878" y="1671.5137">urt_osEventFlags_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1879.0878" x2="2027.0878" y1="1683.3594" y2="1683.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1879.0878" x2="2027.0878" y1="1691.3594" y2="1691.3594"/><!--MD5=[e2bbbd64e6979bf7b755747a6c0ba948]

class urt_osEventWait_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="86.4141" id="urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.5;" width="162" x="2235.0878" y="1332.8594"/><ellipse cx="2258.1878" cy="1348.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2262.2972,1354.8594 L2254.5784,1354.8594 L2254.5784,1342.4688 L2262.2972,1342.4688 L2262.2972,1344.625 L2257.0315,1344.625 L2257.0315,1347.2969 L2261.7972,1347.2969 L2261.7972,1349.4531 L2257.0315,1349.4531 L2257.0315,1352.7031 L2262.2972,1352.7031 L2262.2972,1354.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="2273.9878" y="1353.0137">urt_osEventWait_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2236.0878" x2="2396.0878" y1="1364.8594" y2="1364.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="2241.0878" y="1379.0698">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="2241.0878" y="1391.8745">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="2241.0878" y="1404.6792">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2236.0878" x2="2396.0878" y1="1411.2734" y2="1411.2734"/><!--MD5=[d054ac2eda12ce4b1fe5a18c9be716c1]

class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="1706.0878" y="1332.8594"/><ellipse cx="1881.3378" cy="1348.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1882.1816,1355.6094 L1879.7284,1355.6094 L1879.7284,1345.3594 L1876.5878,1345.3594 L1876.5878,1343.2188 L1885.3222,1343.2188 L1885.3222,1345.3594 L1882.1816,1345.3594 L1882.1816,1355.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="1901.8378" y="1353.0137">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1707.0878" x2="2199.0878" y1="1364.8594" y2="1364.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1707.0878" x2="2199.0878" y1="1372.8594" y2="1372.8594"/><ellipse cx="1717.0878" cy="1383.8594" 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="1726.0878" y="1387.0698">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="1717.0878" cy="1396.6641" 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="1726.0878" y="1399.8745">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="1717.0878" cy="1409.4688" 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="1726.0878" y="1412.6792">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]

class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="1123.5878" y="1338.8594"/><ellipse cx="1328.3378" cy="1354.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1329.1816,1361.6094 L1326.7284,1361.6094 L1326.7284,1351.3594 L1323.5878,1351.3594 L1323.5878,1349.2188 L1332.3222,1349.2188 L1332.3222,1351.3594 L1329.1816,1351.3594 L1329.1816,1361.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="1348.8378" y="1359.0137">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1124.5878" x2="1669.5878" y1="1370.8594" y2="1370.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1124.5878" x2="1669.5878" y1="1378.8594" y2="1378.8594"/><ellipse cx="1134.5878" cy="1389.8594" 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="1143.5878" y="1393.0698">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="1134.5878" cy="1402.6641" 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="1143.5878" y="1405.8745">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--MD5=[04a3b5a37031e2a4d723f19d8adf86f5]

class urt_events--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="845" x="1898.5878" y="1016.3594"/><ellipse cx="2283.8378" cy="1032.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2288.0722,1028.125 L2282.7909,1028.125 L2282.7909,1030.7969 L2287.5878,1030.7969 L2287.5878,1032.9531 L2282.7909,1032.9531 L2282.7909,1038.3594 L2280.3534,1038.3594 L2280.3534,1025.9688 L2288.0722,1025.9688 L2288.0722,1028.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="2304.3378" y="1036.5137">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1899.5878" x2="2742.5878" y1="1048.3594" y2="1048.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1899.5878" x2="2742.5878" y1="1056.3594" y2="1056.3594"/><ellipse cx="1909.5878" cy="1067.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="819" x="1918.5878" y="1070.5698">urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : void</text><ellipse cx="1909.5878" cy="1080.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="522" x="1918.5878" y="1083.3745">urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : void</text><ellipse cx="1909.5878" cy="1092.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="618" x="1918.5878" y="1096.1792">urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWait_t, timeout : urt_delay_t) : urt_osEventMask_t</text><!--MD5=[0cf29100c96c506429a28b45d347cc92]

class urt_streams--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="213" x="886.5878" y="1022.3594"/><ellipse cx="951.3378" cy="1038.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M955.5722,1034.125 L950.2909,1034.125 L950.2909,1036.7969 L955.0878,1036.7969 L955.0878,1038.9531 L950.2909,1038.9531 L950.2909,1044.3594 L947.8534,1044.3594 L947.8534,1031.9688 L955.5722,1031.9688 L955.5722,1034.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="971.8378" y="1042.5137">urt_streams</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="887.5878" x2="1098.5878" y1="1054.3594" y2="1054.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="887.5878" x2="1098.5878" y1="1062.3594" y2="1062.3594"/><ellipse cx="897.5878" cy="1073.3594" 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="170" x="906.5878" y="1076.5698">urtPrintf (fmt : char*, ... ) : int</text><ellipse cx="897.5878" cy="1086.1641" 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="187" x="906.5878" y="1089.3745">urtErrPrintf (fmt : char*, ... ) : int</text><!--MD5=[f106a25c06a671b3918b1a8f37571a4d]

class urt_debug--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="249" x="602.5878" y="1028.8594"/><ellipse cx="690.8378" cy="1044.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M695.0722,1040.625 L689.7909,1040.625 L689.7909,1043.2969 L694.5878,1043.2969 L694.5878,1045.4531 L689.7909,1045.4531 L689.7909,1050.8594 L687.3534,1050.8594 L687.3534,1038.4688 L695.0722,1038.4688 L695.0722,1040.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="711.3378" y="1049.0137">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="603.5878" x2="850.5878" y1="1060.8594" y2="1060.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="603.5878" x2="850.5878" y1="1068.8594" y2="1068.8594"/><ellipse cx="613.5878" cy="1079.8594" 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="223" x="622.5878" y="1083.0698">urtDebugAssert (condition : bool) : void</text><!--MD5=[89d25e87afdd75480e1ec2bd05524873]

class urt_core_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="307.2891" id="urt_core_t" style="stroke: #A80036; stroke-width: 1.5;" width="343" x="7806.5878" y="159.3594"/><ellipse cx="7942.3378" cy="175.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7941.8222,175.9219 Q7939.9628,175.2188 7939.3066,174.4531 Q7938.6659,173.6719 7938.6659,172.3594 Q7938.6659,170.6719 7939.7441,169.7031 Q7940.8222,168.7344 7942.6972,168.7344 Q7943.5566,168.7344 7944.4003,168.9375 Q7945.2597,169.125 7946.1034,169.5156 L7946.1034,171.9063 Q7945.3222,171.3438 7944.4941,171.0625 Q7943.6816,170.7656 7942.8847,170.7656 Q7942.0097,170.7656 7941.5253,171.125 Q7941.0566,171.4844 7941.0566,172.1406 Q7941.0566,172.6563 7941.4003,173 Q7941.7441,173.3281 7942.8378,173.7344 L7943.9003,174.1406 Q7945.3847,174.6875 7946.0878,175.5938 Q7946.8066,176.5 7946.8066,177.875 Q7946.8066,179.75 7945.6972,180.6719 Q7944.5878,181.5938 7942.3378,181.5938 Q7941.4159,181.5938 7940.4941,181.375 Q7939.5722,181.1563 7938.7128,180.7344 L7938.7128,178.2031 Q7939.6816,178.8906 7940.6034,179.2344 Q7941.5253,179.5781 7942.4159,179.5781 Q7943.3222,179.5781 7943.8222,179.1719 Q7944.3222,178.75 7944.3222,178.0156 Q7944.3222,177.4531 7943.9784,177.0469 Q7943.6503,176.625 7943.0253,176.375 L7941.8222,175.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="63" x="7962.8378" y="179.5137">urt_core_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7807.5878" x2="8148.5878" y1="191.3594" y2="191.3594"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7814.5878" y="199.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="7826.5878" y="205.5698">_nodes : urt_node_t*</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7814.5878" y="212.1641"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="192" x="7826.5878" y="218.3745">_evtSource : urt_osEventSource_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7814.5878" y="224.9688"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="7826.5878" y="231.1792">_lock : urt_osMutex_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7814.5878" y="237.7734"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="122" x="7826.5878" y="243.9839">_status : urt_status_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7814.5878" y="267.3828"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="117" x="7826.5878" y="273.5933">_topics : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7807.5878" x2="7873.0878" y1="256.9805" y2="256.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7873.0878" y="260.2886">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8083.0878" x2="8148.5878" y1="256.9805" y2="256.9805"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7814.5878" y="296.9922"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="145" x="7826.5878" y="303.2026">_services : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7807.5878" x2="7885.5878" y1="286.5898" y2="286.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="7885.5878" y="289.8979">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8070.5878" x2="8148.5878" y1="286.5898" y2="286.5898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7807.5878" x2="8148.5878" y1="309.7969" y2="309.7969"/><ellipse cx="7817.5878" cy="320.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="130" x="7826.5878" y="324.0073">urtCoreInit (void) : void</text><ellipse cx="7817.5878" cy="333.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="215" x="7826.5878" y="336.812">urtCoreGetStatus (void) : urt_status_t</text><ellipse cx="7817.5878" cy="346.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="177" x="7826.5878" y="349.6167">urtCoreStartNodes (void) : void</text><ellipse cx="7817.5878" cy="359.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="309" x="7826.5878" y="362.4214">urtCoreSynchronize (node : urt_node_t*) : urt_status_t</text><ellipse cx="7817.5878" cy="372.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="317" x="7826.5878" y="375.2261">urtCoreStopNodes (reason : urt_status_t) : urt_status_t</text><ellipse cx="7817.5878" cy="384.8203" 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="304" x="7826.5878" y="388.0308">urtCoreGetEventSource (void) : urt_osEventSource_t*</text><ellipse cx="7817.5878" cy="397.625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="228" x="7826.5878" y="400.8354">urtCoreGetMutex (void) : urt_osMutex_t*</text><ellipse cx="7817.5878" cy="427.2344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="273" x="7826.5878" y="430.4448">urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7807.5878" x2="7873.0878" y1="413.832" y2="413.832"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7873.0878" y="417.1401">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8083.0878" x2="8148.5878" y1="413.832" y2="413.832"/><ellipse cx="7817.5878" cy="456.8438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="313" x="7826.5878" y="460.0542">urtCoreGetService (id : urt_serviceid_t) : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7807.5878" x2="7885.5878" y1="443.4414" y2="443.4414"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="7885.5878" y="446.7495">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8070.5878" x2="8148.5878" y1="443.4414" y2="443.4414"/><!--MD5=[a7dea26996a1231aa68629b332780450]

class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="17439.0878" y="1028.8594"/><ellipse cx="17584.8378" cy="1044.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17585.6816,1051.6094 L17583.2284,1051.6094 L17583.2284,1041.3594 L17580.0878,1041.3594 L17580.0878,1039.2188 L17588.8222,1039.2188 L17588.8222,1041.3594 L17585.6816,1041.3594 L17585.6816,1051.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="17605.3378" y="1049.0137">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="17440.0878" x2="17894.0878" y1="1060.8594" y2="1060.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="17440.0878" x2="17894.0878" y1="1068.8594" y2="1068.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="17445.0878" y="1083.0698">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]

class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="16790.0878" y="1028.8594"/><ellipse cx="17018.3378" cy="1044.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17019.1816,1051.6094 L17016.7284,1051.6094 L17016.7284,1041.3594 L17013.5878,1041.3594 L17013.5878,1039.2188 L17022.3222,1039.2188 L17022.3222,1041.3594 L17019.1816,1041.3594 L17019.1816,1051.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="17038.8378" y="1049.0137">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="16791.0878" x2="17403.0878" y1="1060.8594" y2="1060.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="16791.0878" x2="17403.0878" y1="1068.8594" y2="1068.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="16796.0878" y="1083.0698">urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t</text><!--MD5=[843db13320bebc2ca47f25c6a57c2ae5]

class urt_nodeShutdownCallback_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="60.8047" id="urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="518" x="17930.0878" y="1028.8594"/><ellipse cx="18094.3378" cy="1044.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M18095.1816,1051.6094 L18092.7284,1051.6094 L18092.7284,1041.3594 L18089.5878,1041.3594 L18089.5878,1039.2188 L18098.3222,1039.2188 L18098.3222,1041.3594 L18095.1816,1041.3594 L18095.1816,1051.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="181" x="18114.8378" y="1049.0137">urt_nodeShutdownCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="17931.0878" x2="18447.0878" y1="1060.8594" y2="1060.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="17931.0878" x2="18447.0878" y1="1068.8594" y2="1068.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="506" x="17936.0878" y="1083.0698">urt_nodeShutdownCallback_t (node : urt_node_t*, cause : urt_status_t, arg : void*) : void</text><!--MD5=[d2563153d77472384a15c07b815d639f]

class urt_node_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="231.2656" id="urt_node_t" style="stroke: #A80036; stroke-width: 1.5;" width="1541" x="16793.5878" y="552.3594"/><ellipse cx="17526.3378" cy="568.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17525.8222,568.9219 Q17523.9628,568.2188 17523.3066,567.4531 Q17522.6659,566.6719 17522.6659,565.3594 Q17522.6659,563.6719 17523.7441,562.7031 Q17524.8222,561.7344 17526.6972,561.7344 Q17527.5566,561.7344 17528.4003,561.9375 Q17529.2597,562.125 17530.1034,562.5156 L17530.1034,564.9063 Q17529.3222,564.3438 17528.4941,564.0625 Q17527.6816,563.7656 17526.8847,563.7656 Q17526.0097,563.7656 17525.5253,564.125 Q17525.0566,564.4844 17525.0566,565.1406 Q17525.0566,565.6563 17525.4003,566 Q17525.7441,566.3281 17526.8378,566.7344 L17527.9003,567.1406 Q17529.3847,567.6875 17530.0878,568.5938 Q17530.8066,569.5 17530.8066,570.875 Q17530.8066,572.75 17529.6972,573.6719 Q17528.5878,574.5938 17526.3378,574.5938 Q17525.4159,574.5938 17524.4941,574.375 Q17523.5722,574.1563 17522.7128,573.7344 L17522.7128,571.2031 Q17523.6816,571.8906 17524.6034,572.2344 Q17525.5253,572.5781 17526.4159,572.5781 Q17527.3222,572.5781 17527.8222,572.1719 Q17528.3222,571.75 17528.3222,571.0156 Q17528.3222,570.4531 17527.9784,570.0469 Q17527.6503,569.625 17527.0253,569.375 L17525.8222,568.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="67" x="17546.8378" y="572.5137">urt_node_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="16794.5878" x2="18333.5878" y1="584.3594" y2="584.3594"/><ellipse cx="16804.5878" cy="595.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="102" x="16813.5878" y="598.5698">next : urt_node_t*</text><ellipse cx="16804.5878" cy="608.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="16813.5878" y="611.3745">thread : urt_osThread_t*</text><ellipse cx="16804.5878" cy="620.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="16813.5878" y="624.1792">setupcallback : urt_nodeSetupCallback_t*</text><ellipse cx="16804.5878" cy="633.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="117" x="16813.5878" y="636.9839">setupparams : void*</text><ellipse cx="16804.5878" cy="646.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="221" x="16813.5878" y="649.7886">loopcallback : urt_nodeLoopCallback_t*</text><ellipse cx="16804.5878" cy="659.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="109" x="16813.5878" y="662.5933">loopparams : void*</text><ellipse cx="16804.5878" cy="672.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="281" x="16813.5878" y="675.3979">shutdowncallback : urt_nodeShutdownCallback_t*</text><ellipse cx="16804.5878" cy="684.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="140" x="16813.5878" y="688.2026">shutdownparams : void*</text><ellipse cx="16804.5878" cy="697.7969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="16813.5878" y="701.0073">stage : urt_nodestage_t</text><ellipse cx="16804.5878" cy="710.6016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="178" x="16813.5878" y="713.812">listener : urt_osEventListener_t</text><ellipse cx="16804.5878" cy="740.2109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="88" x="16813.5878" y="743.4214">loops : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16794.5878" x2="17356.0878" y1="726.8086" y2="726.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="416" x="17356.0878" y="730.1167">URT_CFG_PUBSUB_PROFILING == true || URT_CFG_RPC_PROFILING = true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="17772.0878" x2="18333.5878" y1="726.8086" y2="726.8086"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="16794.5878" x2="18333.5878" y1="750.0156" y2="750.0156"/><rect fill="#F24D5C" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="16801.5878" y="758.0156"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="179" x="16813.5878" y="764.2261">_main : urt_osThreadFunction_t</text><ellipse cx="16804.5878" cy="773.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1515" x="16813.5878" y="777.0308">urtNodeInit (node : urt_node_t*, thread : urt_osThread_t*, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*, shutdowncallback : urt_nodeShutdownCallback_t*, shutodwnparams : void*) : void</text><!--MD5=[e602aa6d45f270ad04f88c9ca5352b33]

class urt_message_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="141.6328" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="406" x="12420.0878" y="1304.8594"/><ellipse cx="12572.8378" cy="1320.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12572.3222,1321.4219 Q12570.4628,1320.7188 12569.8066,1319.9531 Q12569.1659,1319.1719 12569.1659,1317.8594 Q12569.1659,1316.1719 12570.2441,1315.2031 Q12571.3222,1314.2344 12573.1972,1314.2344 Q12574.0566,1314.2344 12574.9003,1314.4375 Q12575.7597,1314.625 12576.6034,1315.0156 L12576.6034,1317.4063 Q12575.8222,1316.8438 12574.9941,1316.5625 Q12574.1816,1316.2656 12573.3847,1316.2656 Q12572.5097,1316.2656 12572.0253,1316.625 Q12571.5566,1316.9844 12571.5566,1317.6406 Q12571.5566,1318.1563 12571.9003,1318.5 Q12572.2441,1318.8281 12573.3378,1319.2344 L12574.4003,1319.6406 Q12575.8847,1320.1875 12576.5878,1321.0938 Q12577.3066,1322 12577.3066,1323.375 Q12577.3066,1325.25 12576.1972,1326.1719 Q12575.0878,1327.0938 12572.8378,1327.0938 Q12571.9159,1327.0938 12570.9941,1326.875 Q12570.0722,1326.6563 12569.2128,1326.2344 L12569.2128,1323.7031 Q12570.1816,1324.3906 12571.1034,1324.7344 Q12572.0253,1325.0781 12572.9159,1325.0781 Q12573.8222,1325.0781 12574.3222,1324.6719 Q12574.8222,1324.25 12574.8222,1323.5156 Q12574.8222,1322.9531 12574.4784,1322.5469 Q12574.1503,1322.125 12573.5253,1321.875 L12572.3222,1321.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="12593.3378" y="1325.0137">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12421.0878" x2="12825.0878" y1="1336.8594" y2="1336.8594"/><ellipse cx="12431.0878" cy="1347.8594" 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="12440.0878" y="1351.0698">next : urt_message_t*</text><ellipse cx="12431.0878" cy="1360.6641" 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="12440.0878" y="1363.8745">payload : void*</text><ellipse cx="12431.0878" cy="1373.4688" 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="12440.0878" y="1376.6792">originTime : urt_osTime_t</text><ellipse cx="12431.0878" cy="1386.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="211" x="12440.0878" y="1389.4839">numHrtConsumersLeft : unsigned int</text><ellipse cx="12431.0878" cy="1415.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="12440.0878" y="1419.0933">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12421.0878" x2="12514.5878" y1="1402.4805" y2="1402.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12514.5878" y="1405.7886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12731.5878" x2="12825.0878" y1="1402.4805" y2="1402.4805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="12421.0878" x2="12825.0878" y1="1425.6875" y2="1425.6875"/><ellipse cx="12431.0878" cy="1436.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="12440.0878" y="1439.8979">urtMessageInit (message : urt_message_t*, payload : void*) : void</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]

class urt_publisher_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="196.0469" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="783" x="11893.5878" y="569.8594"/><ellipse cx="12234.3378" cy="585.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12233.8222,586.4219 Q12231.9628,585.7188 12231.3066,584.9531 Q12230.6659,584.1719 12230.6659,582.8594 Q12230.6659,581.1719 12231.7441,580.2031 Q12232.8222,579.2344 12234.6972,579.2344 Q12235.5566,579.2344 12236.4003,579.4375 Q12237.2597,579.625 12238.1034,580.0156 L12238.1034,582.4063 Q12237.3222,581.8438 12236.4941,581.5625 Q12235.6816,581.2656 12234.8847,581.2656 Q12234.0097,581.2656 12233.5253,581.625 Q12233.0566,581.9844 12233.0566,582.6406 Q12233.0566,583.1563 12233.4003,583.5 Q12233.7441,583.8281 12234.8378,584.2344 L12235.9003,584.6406 Q12237.3847,585.1875 12238.0878,586.0938 Q12238.8066,587 12238.8066,588.375 Q12238.8066,590.25 12237.6972,591.1719 Q12236.5878,592.0938 12234.3378,592.0938 Q12233.4159,592.0938 12232.4941,591.875 Q12231.5722,591.6563 12230.7128,591.2344 L12230.7128,588.7031 Q12231.6816,589.3906 12232.6034,589.7344 Q12233.5253,590.0781 12234.4159,590.0781 Q12235.3222,590.0781 12235.8222,589.6719 Q12236.3222,589.25 12236.3222,588.5156 Q12236.3222,587.9531 12235.9784,587.5469 Q12235.6503,587.125 12235.0253,586.875 L12233.8222,586.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="12254.8378" y="590.0137">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11894.5878" x2="12675.5878" y1="601.8594" y2="601.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="289" x="11899.5878" y="616.0698">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT : bool</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11894.5878" x2="12675.5878" y1="622.6641" y2="622.6641"/><ellipse cx="11904.5878" cy="633.6641" 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="104" x="11913.5878" y="636.8745">topic : urt_topic_t*</text><ellipse cx="11904.5878" cy="663.2734" 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="149" x="11913.5878" y="666.4839">publishAttempts : uint64_t</text><ellipse cx="11904.5878" cy="676.0781" 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="124" x="11913.5878" y="679.2886">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11894.5878" x2="12176.5878" y1="649.8711" y2="649.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12176.5878" y="653.1792">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12393.5878" x2="12675.5878" y1="649.8711" y2="649.8711"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11894.5878" x2="12675.5878" y1="685.8828" y2="685.8828"/><ellipse cx="11904.5878" cy="696.8828" 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="572" x="11913.5878" y="700.0933">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void</text><ellipse cx="11904.5878" cy="726.4922" 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="632" x="11913.5878" y="729.7026">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t) : urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11894.5878" x2="12131.5878" y1="713.0898" y2="713.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="307" x="12131.5878" y="716.3979">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == false</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12438.5878" x2="12675.5878" y1="713.0898" y2="713.0898"/><ellipse cx="11904.5878" cy="756.1016" 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="757" x="11913.5878" y="759.312">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11894.5878" x2="12134.0878" y1="742.6992" y2="742.6992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="302" x="12134.0878" y="746.0073">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12436.0878" x2="12675.5878" y1="742.6992" y2="742.6992"/><!--MD5=[a1b1e66ec52c209a9fa2dab315cd7630]

class urt_topic_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="260.875" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="11456.0878" y="537.3594"/><ellipse cx="11610.8378" cy="553.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11610.3222,553.9219 Q11608.4628,553.2188 11607.8066,552.4531 Q11607.1659,551.6719 11607.1659,550.3594 Q11607.1659,548.6719 11608.2441,547.7031 Q11609.3222,546.7344 11611.1972,546.7344 Q11612.0566,546.7344 11612.9003,546.9375 Q11613.7597,547.125 11614.6034,547.5156 L11614.6034,549.9063 Q11613.8222,549.3438 11612.9941,549.0625 Q11612.1816,548.7656 11611.3847,548.7656 Q11610.5097,548.7656 11610.0253,549.125 Q11609.5566,549.4844 11609.5566,550.1406 Q11609.5566,550.6563 11609.9003,551 Q11610.2441,551.3281 11611.3378,551.7344 L11612.4003,552.1406 Q11613.8847,552.6875 11614.5878,553.5938 Q11615.3066,554.5 11615.3066,555.875 Q11615.3066,557.75 11614.1972,558.6719 Q11613.0878,559.5938 11610.8378,559.5938 Q11609.9159,559.5938 11608.9941,559.375 Q11608.0722,559.1563 11607.2128,558.7344 L11607.2128,556.2031 Q11608.1816,556.8906 11609.1034,557.2344 Q11610.0253,557.5781 11610.9159,557.5781 Q11611.8222,557.5781 11612.3222,557.1719 Q11612.8222,556.75 11612.8222,556.0156 Q11612.8222,555.4531 11612.4784,555.0469 Q11612.1503,554.625 11611.5253,554.375 L11610.3222,553.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="11631.3378" y="557.5137">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11457.0878" x2="11839.0878" y1="569.3594" y2="569.3594"/><ellipse cx="11467.0878" cy="580.3594" 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="11476.0878" y="583.5698">next : urt_topic_t*</text><ellipse cx="11467.0878" cy="593.1641" 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="11476.0878" y="596.3745">id : urt_topicid_t</text><ellipse cx="11467.0878" cy="605.9688" 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="11476.0878" y="609.1792">lock : urt_osMutex_t</text><ellipse cx="11467.0878" cy="618.7734" 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="11476.0878" y="621.9839">evtSource : urt_osEventSource_t</text><ellipse cx="11467.0878" cy="631.5781" 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="11476.0878" y="634.7886">numHrtSubscribers : unsigned int</text><ellipse cx="11467.0878" cy="644.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="11476.0878" y="647.5933">hrtReleased : urt_osCondvar_t</text><ellipse cx="11467.0878" cy="657.1875" 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="11476.0878" y="660.3979">mandatoryMessage : urt_message_t</text><ellipse cx="11467.0878" cy="669.9922" 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="11476.0878" y="673.2026">latestMessage : urt_message_t*</text><ellipse cx="11467.0878" cy="699.6016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="212" x="11476.0878" y="702.812">hrtSubscribers : urt_hrtsubscriber_t*</text><ellipse cx="11467.0878" cy="712.4063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="170" x="11476.0878" y="715.6167">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11457.0878" x2="11515.5878" y1="686.1992" y2="686.1992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="11515.5878" y="689.5073">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11780.5878" x2="11839.0878" y1="686.1992" y2="686.1992"/><ellipse cx="11467.0878" cy="742.0156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="11476.0878" y="745.2261">numMessagesPublished : uint64_t</text><ellipse cx="11467.0878" cy="754.8203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="11476.0878" y="758.0308">numMessagesDiscarded : uint64_t</text><ellipse cx="11467.0878" cy="767.625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="11476.0878" y="770.8354">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11457.0878" x2="11539.5878" y1="728.6133" y2="728.6133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="11539.5878" y="731.9214">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11756.5878" x2="11839.0878" y1="728.6133" y2="728.6133"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11457.0878" x2="11839.0878" y1="777.4297" y2="777.4297"/><ellipse cx="11467.0878" cy="788.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="358" x="11476.0878" y="791.6401">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[50a042e24f957794dab9ba3ea8701c50]

class urt_basesubscriber_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="133.6328" id="urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="225" x="12784.5878" y="992.3594"/><ellipse cx="12827.0378" cy="1008.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12826.5222,1008.9219 Q12824.6628,1008.2188 12824.0066,1007.4531 Q12823.3659,1006.6719 12823.3659,1005.3594 Q12823.3659,1003.6719 12824.4441,1002.7031 Q12825.5222,1001.7344 12827.3972,1001.7344 Q12828.2566,1001.7344 12829.1003,1001.9375 Q12829.9597,1002.125 12830.8034,1002.5156 L12830.8034,1004.9063 Q12830.0222,1004.3438 12829.1941,1004.0625 Q12828.3816,1003.7656 12827.5847,1003.7656 Q12826.7097,1003.7656 12826.2253,1004.125 Q12825.7566,1004.4844 12825.7566,1005.1406 Q12825.7566,1005.6563 12826.1003,1006 Q12826.4441,1006.3281 12827.5378,1006.7344 L12828.6003,1007.1406 Q12830.0847,1007.6875 12830.7878,1008.5938 Q12831.5066,1009.5 12831.5066,1010.875 Q12831.5066,1012.75 12830.3972,1013.6719 Q12829.2878,1014.5938 12827.0378,1014.5938 Q12826.1159,1014.5938 12825.1941,1014.375 Q12824.2722,1014.1563 12823.4128,1013.7344 L12823.4128,1011.2031 Q12824.3816,1011.8906 12825.3034,1012.2344 Q12826.2253,1012.5781 12827.1159,1012.5781 Q12828.0222,1012.5781 12828.5222,1012.1719 Q12829.0222,1011.75 12829.0222,1011.0156 Q12829.0222,1010.4531 12828.6784,1010.0469 Q12828.3503,1009.625 12827.7253,1009.375 L12826.5222,1008.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="132" x="12847.1378" y="1012.5137">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12785.5878" x2="13008.5878" y1="1024.3594" y2="1024.3594"/><ellipse cx="12795.5878" cy="1035.3594" 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="12804.5878" y="1038.5698">topic : urt_topic_t*</text><ellipse cx="12795.5878" cy="1048.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="12804.5878" y="1051.3745">evtListener : urt_osEventListener_t</text><ellipse cx="12795.5878" cy="1060.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="175" x="12804.5878" y="1064.1792">lastMessage : urt_message_t*</text><ellipse cx="12795.5878" cy="1073.7734" 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="12804.5878" y="1076.9839">lastMessageTime : urt_osTime_t</text><ellipse cx="12795.5878" cy="1103.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="12804.5878" y="1106.5933">sumLatencies : uint64_t</text><ellipse cx="12795.5878" cy="1116.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="12804.5878" y="1119.3979">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12785.5878" x2="12788.5878" y1="1089.9805" y2="1089.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12788.5878" y="1093.2886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13005.5878" x2="13008.5878" y1="1089.9805" y2="1089.9805"/><!--MD5=[9ff46073dd541e50679ef35e851c67d6]

class urt_nrtsubscriber_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="154.4375" id="urt_nrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="821" x="14928.5878" y="590.8594"/><ellipse cx="15275.3378" cy="606.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M15274.8222,607.4219 Q15272.9628,606.7188 15272.3066,605.9531 Q15271.6659,605.1719 15271.6659,603.8594 Q15271.6659,602.1719 15272.7441,601.2031 Q15273.8222,600.2344 15275.6972,600.2344 Q15276.5566,600.2344 15277.4003,600.4375 Q15278.2597,600.625 15279.1034,601.0156 L15279.1034,603.4063 Q15278.3222,602.8438 15277.4941,602.5625 Q15276.6816,602.2656 15275.8847,602.2656 Q15275.0097,602.2656 15274.5253,602.625 Q15274.0566,602.9844 15274.0566,603.6406 Q15274.0566,604.1563 15274.4003,604.5 Q15274.7441,604.8281 15275.8378,605.2344 L15276.9003,605.6406 Q15278.3847,606.1875 15279.0878,607.0938 Q15279.8066,608 15279.8066,609.375 Q15279.8066,611.25 15278.6972,612.1719 Q15277.5878,613.0938 15275.3378,613.0938 Q15274.4159,613.0938 15273.4941,612.875 Q15272.5722,612.6563 15271.7128,612.2344 L15271.7128,609.7031 Q15272.6816,610.3906 15273.6034,610.7344 Q15274.5253,611.0781 15275.4159,611.0781 Q15276.3222,611.0781 15276.8222,610.6719 Q15277.3222,610.25 15277.3222,609.5156 Q15277.3222,608.9531 15276.9784,608.5469 Q15276.6503,608.125 15276.0253,607.875 L15274.8222,607.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="15295.8378" y="611.0137">urt_nrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="14929.5878" x2="15748.5878" y1="622.8594" y2="622.8594"/><ellipse cx="14939.5878" cy="650.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="14948.5878" y="653.8745">minLatency : urt_delay_t</text><ellipse cx="14939.5878" cy="663.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="14948.5878" y="666.6792">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="14929.5878" x2="15230.5878" y1="637.2617" y2="637.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="15230.5878" y="640.5698">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15447.5878" x2="15748.5878" y1="637.2617" y2="637.2617"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="14929.5878" x2="15748.5878" y1="673.2734" y2="673.2734"/><ellipse cx="14939.5878" cy="684.2734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="14948.5878" y="687.4839">urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : void</text><ellipse cx="14939.5878" cy="697.0781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="715" x="14948.5878" y="700.2886">urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="14939.5878" cy="709.8828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="14948.5878" y="713.0933">urtNrtSubscriberFetchNextMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="14939.5878" cy="722.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="14948.5878" y="725.8979">urtNrtSubscriberFetchLatestMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="14939.5878" cy="735.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="14948.5878" y="738.7026">urtNrtSubscriberUnsubscribe (subscriber : urt_nrtsubscriber_t*) : urt_status_t</text><!--MD5=[5c7929572d87ccc448d875bea5da0fb1]

class urt_srtsubscriber_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="192.8516" id="urt_srtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1044" x="13849.0878" y="571.3594"/><ellipse cx="14307.8378" cy="587.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M14307.3222,587.9219 Q14305.4628,587.2188 14304.8066,586.4531 Q14304.1659,585.6719 14304.1659,584.3594 Q14304.1659,582.6719 14305.2441,581.7031 Q14306.3222,580.7344 14308.1972,580.7344 Q14309.0566,580.7344 14309.9003,580.9375 Q14310.7597,581.125 14311.6034,581.5156 L14311.6034,583.9063 Q14310.8222,583.3438 14309.9941,583.0625 Q14309.1816,582.7656 14308.3847,582.7656 Q14307.5097,582.7656 14307.0253,583.125 Q14306.5566,583.4844 14306.5566,584.1406 Q14306.5566,584.6563 14306.9003,585 Q14307.2441,585.3281 14308.3378,585.7344 L14309.4003,586.1406 Q14310.8847,586.6875 14311.5878,587.5938 Q14312.3066,588.5 14312.3066,589.875 Q14312.3066,591.75 14311.1972,592.6719 Q14310.0878,593.5938 14307.8378,593.5938 Q14306.9159,593.5938 14305.9941,593.375 Q14305.0722,593.1563 14304.2128,592.7344 L14304.2128,590.2031 Q14305.1816,590.8906 14306.1034,591.2344 Q14307.0253,591.5781 14307.9159,591.5781 Q14308.8222,591.5781 14309.3222,591.1719 Q14309.8222,590.75 14309.8222,590.0156 Q14309.8222,589.4531 14309.4784,589.0469 Q14309.1503,588.625 14308.5253,588.375 L14307.3222,587.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="14328.3378" y="591.5137">urt_srtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="13850.0878" x2="14892.0878" y1="603.3594" y2="603.3594"/><ellipse cx="13860.0878" cy="614.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="13869.0878" y="617.5698">usefulnesscb : urt_usefulness_f*</text><ellipse cx="13860.0878" cy="627.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="13869.0878" y="630.3745">cbparams : void*</text><ellipse cx="13860.0878" cy="656.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="13869.0878" y="659.9839">minLatency : urt_delay_t</text><ellipse cx="13860.0878" cy="669.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="13869.0878" y="672.7886">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13850.0878" x2="14262.5878" y1="643.3711" y2="643.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="14262.5878" y="646.6792">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="14479.5878" x2="14892.0878" y1="643.3711" y2="643.3711"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="13850.0878" x2="14892.0878" y1="679.3828" y2="679.3828"/><ellipse cx="13860.0878" cy="690.3828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="13869.0878" y="693.5933">urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void</text><ellipse cx="13860.0878" cy="703.1875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1018" x="13869.0878" y="706.3979">urtSrtSubscriberSubscribe (subscriber : urt_srtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_usefulness_f*, cbparams : void*) : urt_status_t</text><ellipse cx="13860.0878" cy="715.9922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="13869.0878" y="719.2026">urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="13860.0878" cy="728.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="13869.0878" y="732.0073">urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="13860.0878" cy="741.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="13869.0878" y="744.812">urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float</text><ellipse cx="13860.0878" cy="754.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="13869.0878" y="757.6167">urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t</text><!--MD5=[17838fb05fe219fd399839979ec8a4a4]

class urt_frtsubscriber_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="226.4609" id="urt_frtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="974" x="15784.0878" y="554.8594"/><ellipse cx="16209.3378" cy="570.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M16208.8222,571.4219 Q16206.9628,570.7188 16206.3066,569.9531 Q16205.6659,569.1719 16205.6659,567.8594 Q16205.6659,566.1719 16206.7441,565.2031 Q16207.8222,564.2344 16209.6972,564.2344 Q16210.5566,564.2344 16211.4003,564.4375 Q16212.2597,564.625 16213.1034,565.0156 L16213.1034,567.4063 Q16212.3222,566.8438 16211.4941,566.5625 Q16210.6816,566.2656 16209.8847,566.2656 Q16209.0097,566.2656 16208.5253,566.625 Q16208.0566,566.9844 16208.0566,567.6406 Q16208.0566,568.1563 16208.4003,568.5 Q16208.7441,568.8281 16209.8378,569.2344 L16210.9003,569.6406 Q16212.3847,570.1875 16213.0878,571.0938 Q16213.8066,572 16213.8066,573.375 Q16213.8066,575.25 16212.6972,576.1719 Q16211.5878,577.0938 16209.3378,577.0938 Q16208.4159,577.0938 16207.4941,576.875 Q16206.5722,576.6563 16205.7128,576.2344 L16205.7128,573.7031 Q16206.6816,574.3906 16207.6034,574.7344 Q16208.5253,575.0781 16209.4159,575.0781 Q16210.3222,575.0781 16210.8222,574.6719 Q16211.3222,574.25 16211.3222,573.5156 Q16211.3222,572.9531 16210.9784,572.5469 Q16210.6503,572.125 16210.0253,571.875 L16208.8222,571.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="16229.8378" y="575.0137">urt_frtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="15785.0878" x2="16757.0878" y1="586.8594" y2="586.8594"/><ellipse cx="15795.0878" cy="614.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="15804.0878" y="617.8745">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15785.0878" x2="16125.5878" y1="601.2617" y2="601.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="16125.5878" y="604.5698">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16416.5878" x2="16757.0878" y1="601.2617" y2="601.2617"/><ellipse cx="15795.0878" cy="644.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="15804.0878" y="647.4839">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15785.0878" x2="16135.5878" y1="630.8711" y2="630.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="16135.5878" y="634.1792">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16406.5878" x2="16757.0878" y1="630.8711" y2="630.8711"/><ellipse cx="15795.0878" cy="673.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="15804.0878" y="677.0933">minLatency : urt_delay_t</text><ellipse cx="15795.0878" cy="686.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="15804.0878" y="689.8979">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15785.0878" x2="16017.0878" y1="660.4805" y2="660.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="508" x="16017.0878" y="663.7886">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ||  URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16525.0878" x2="16757.0878" y1="660.4805" y2="660.4805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="15785.0878" x2="16757.0878" y1="696.4922" y2="696.4922"/><ellipse cx="15795.0878" cy="707.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="342" x="15804.0878" y="710.7026">urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : void</text><ellipse cx="15795.0878" cy="720.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="948" x="15804.0878" y="723.5073">urtFrtSubscriberSubscribe (subscriber : urt_frtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="15795.0878" cy="733.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="780" x="15804.0878" y="736.312">urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="15795.0878" cy="745.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="790" x="15804.0878" y="749.1167">urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="15795.0878" cy="758.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="540" x="15804.0878" y="761.9214">urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool</text><ellipse cx="15795.0878" cy="771.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="441" x="15804.0878" y="774.7261">urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t</text><!--MD5=[104dc879e5721421b987fcc467bc3a1d]

class urt_hrtsubscriber_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="268.875" id="urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="12712.0878" y="533.3594"/><ellipse cx="13190.3378" cy="549.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M13189.8222,549.9219 Q13187.9628,549.2188 13187.3066,548.4531 Q13186.6659,547.6719 13186.6659,546.3594 Q13186.6659,544.6719 13187.7441,543.7031 Q13188.8222,542.7344 13190.6972,542.7344 Q13191.5566,542.7344 13192.4003,542.9375 Q13193.2597,543.125 13194.1034,543.5156 L13194.1034,545.9063 Q13193.3222,545.3438 13192.4941,545.0625 Q13191.6816,544.7656 13190.8847,544.7656 Q13190.0097,544.7656 13189.5253,545.125 Q13189.0566,545.4844 13189.0566,546.1406 Q13189.0566,546.6563 13189.4003,547 Q13189.7441,547.3281 13190.8378,547.7344 L13191.9003,548.1406 Q13193.3847,548.6875 13194.0878,549.5938 Q13194.8066,550.5 13194.8066,551.875 Q13194.8066,553.75 13193.6972,554.6719 Q13192.5878,555.5938 13190.3378,555.5938 Q13189.4159,555.5938 13188.4941,555.375 Q13187.5722,555.1563 13186.7128,554.7344 L13186.7128,552.2031 Q13187.6816,552.8906 13188.6034,553.2344 Q13189.5253,553.5781 13190.4159,553.5781 Q13191.3222,553.5781 13191.8222,553.1719 Q13192.3222,552.75 13192.3222,552.0156 Q13192.3222,551.4531 13191.9784,551.0469 Q13191.6503,550.625 13191.0253,550.375 L13189.8222,549.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="13210.8378" y="553.5137">urt_hrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12713.0878" x2="13795.0878" y1="565.3594" y2="565.3594"/><ellipse cx="12723.0878" cy="576.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="151" x="12732.0878" y="579.5698">next : urt_hrtsubscriber_t*</text><ellipse cx="12723.0878" cy="605.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="12732.0878" y="609.1792">deadlineOffset : urt_delay_t</text><ellipse cx="12723.0878" cy="618.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="12732.0878" y="621.9839">qosDeadlineTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12713.0878" x2="13108.5878" y1="592.5664" y2="592.5664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="13108.5878" y="595.8745">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13399.5878" x2="13795.0878" y1="592.5664" y2="592.5664"/><ellipse cx="12723.0878" cy="648.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="12732.0878" y="651.5933">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12713.0878" x2="13118.5878" y1="634.9805" y2="634.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="13118.5878" y="638.2886">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13389.5878" x2="13795.0878" y1="634.9805" y2="634.9805"/><ellipse cx="12723.0878" cy="677.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="12732.0878" y="681.2026">minLatency : urt_delay_t</text><ellipse cx="12723.0878" cy="690.7969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="12732.0878" y="694.0073">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12713.0878" x2="13002.0878" y1="664.5898" y2="664.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="13002.0878" y="667.8979">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13506.0878" x2="13795.0878" y1="664.5898" y2="664.5898"/><ellipse cx="12723.0878" cy="720.4063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="12732.0878" y="723.6167">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12713.0878" x2="13121.5878" y1="707.0039" y2="707.0039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="13121.5878" y="710.312">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13386.5878" x2="13795.0878" y1="707.0039" y2="707.0039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="12713.0878" x2="13795.0878" y1="730.2109" y2="730.2109"/><ellipse cx="12723.0878" cy="741.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="12732.0878" y="744.4214">urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : void</text><ellipse cx="12723.0878" cy="754.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1058" x="12732.0878" y="757.2261">urtHrtSubscriberSubscribe (subscriber : urt_hrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, rate : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="12723.0878" cy="766.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="12732.0878" y="770.0308">urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="12723.0878" cy="779.625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="12732.0878" y="782.8354">urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="12723.0878" cy="792.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="12732.0878" y="795.6401">urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t</text><!--MD5=[e60e0f8379a14e7a4a292c65add9d735]

class urt_service_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="269.6797" id="urt_service_t" style="stroke: #A80036; stroke-width: 1.5;" width="596" x="8165.0878" y="532.8594"/><ellipse cx="8419.3378" cy="548.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8418.8222,549.4219 Q8416.9628,548.7188 8416.3066,547.9531 Q8415.6659,547.1719 8415.6659,545.8594 Q8415.6659,544.1719 8416.7441,543.2031 Q8417.8222,542.2344 8419.6972,542.2344 Q8420.5566,542.2344 8421.4003,542.4375 Q8422.2597,542.625 8423.1034,543.0156 L8423.1034,545.4063 Q8422.3222,544.8438 8421.4941,544.5625 Q8420.6816,544.2656 8419.8847,544.2656 Q8419.0097,544.2656 8418.5253,544.625 Q8418.0566,544.9844 8418.0566,545.6406 Q8418.0566,546.1563 8418.4003,546.5 Q8418.7441,546.8281 8419.8378,547.2344 L8420.9003,547.6406 Q8422.3847,548.1875 8423.0878,549.0938 Q8423.8066,550 8423.8066,551.375 Q8423.8066,553.25 8422.6972,554.1719 Q8421.5878,555.0938 8419.3378,555.0938 Q8418.4159,555.0938 8417.4941,554.875 Q8416.5722,554.6563 8415.7128,554.2344 L8415.7128,551.7031 Q8416.6816,552.3906 8417.6034,552.7344 Q8418.5253,553.0781 8419.4159,553.0781 Q8420.3222,553.0781 8420.8222,552.6719 Q8421.3222,552.25 8421.3222,551.5156 Q8421.3222,550.9531 8420.9784,550.5469 Q8420.6503,550.125 8420.0253,549.875 L8418.8222,549.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="8439.8378" y="553.0137">urt_service_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8166.0878" x2="8760.0878" y1="564.8594" y2="564.8594"/><ellipse cx="8176.0878" cy="575.8594" 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="8185.0878" y="579.0698">next : urt_service_t*</text><ellipse cx="8176.0878" cy="588.6641" 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="8185.0878" y="591.8745">id : urt_serviceid_t</text><ellipse cx="8176.0878" cy="601.4688" 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="8185.0878" y="604.6792">lock : urt_osMutex_t</text><ellipse cx="8176.0878" cy="614.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="8185.0878" y="617.4839">requestQueue_front : urt_baserequest_t*</text><ellipse cx="8176.0878" cy="627.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="8185.0878" y="630.2886">requestQueue_hrtBack : urt_hrtrequest_t*</text><ellipse cx="8176.0878" cy="639.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="256" x="8185.0878" y="643.0933">requestQueue_fsrtBack : urt_baserequest_t*</text><ellipse cx="8176.0878" cy="652.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="8185.0878" y="655.8979">requestQueue_back : urt_baserequest_t*</text><ellipse cx="8176.0878" cy="665.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="8185.0878" y="668.7026">evtSource : urt_osEventSource_t</text><ellipse cx="8176.0878" cy="678.2969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="8185.0878" y="681.5073">evtListener : urt_osEventListener_t</text><ellipse cx="8176.0878" cy="707.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="8185.0878" y="711.1167">numCalls : uint64_t</text><ellipse cx="8176.0878" cy="720.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="8185.0878" y="723.9214">numOwnershipLost : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8166.0878" x2="8367.0878" y1="694.5039" y2="694.5039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="8367.0878" y="697.812">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8559.0878" x2="8760.0878" y1="694.5039" y2="694.5039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8166.0878" x2="8760.0878" y1="730.5156" y2="730.5156"/><ellipse cx="8176.0878" cy="741.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="412" x="8185.0878" y="744.7261">urtServiceInit (service : urt_service_t*, id : urt_serviceid_t) : urt_status_t</text><ellipse cx="8176.0878" cy="754.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="549" x="8185.0878" y="757.5308">urtServiceDispatch (service : urt_service_t*, payload : void*, bytes : size_t) : urt_baserequest_t*</text><ellipse cx="8176.0878" cy="767.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="552" x="8185.0878" y="770.3354">urtServiceAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="8176.0878" cy="779.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="8185.0878" y="783.1401">urtServiceTryAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="8176.0878" cy="792.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="365" x="8185.0878" y="795.9448">urtServiceRespond (request : urt_baserequest_t*) : urt_status_t</text><!--MD5=[7294e1cfaeb111bef046bc5d07a96458]

class urt_baserequest_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="197.6563" id="urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="224" x="8814.0878" y="568.8594"/><ellipse cx="8864.3378" cy="584.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8863.8222,585.4219 Q8861.9628,584.7188 8861.3066,583.9531 Q8860.6659,583.1719 8860.6659,581.8594 Q8860.6659,580.1719 8861.7441,579.2031 Q8862.8222,578.2344 8864.6972,578.2344 Q8865.5566,578.2344 8866.4003,578.4375 Q8867.2597,578.625 8868.1034,579.0156 L8868.1034,581.4063 Q8867.3222,580.8438 8866.4941,580.5625 Q8865.6816,580.2656 8864.8847,580.2656 Q8864.0097,580.2656 8863.5253,580.625 Q8863.0566,580.9844 8863.0566,581.6406 Q8863.0566,582.1563 8863.4003,582.5 Q8863.7441,582.8281 8864.8378,583.2344 L8865.9003,583.6406 Q8867.3847,584.1875 8868.0878,585.0938 Q8868.8066,586 8868.8066,587.375 Q8868.8066,589.25 8867.6972,590.1719 Q8866.5878,591.0938 8864.3378,591.0938 Q8863.4159,591.0938 8862.4941,590.875 Q8861.5722,590.6563 8860.7128,590.2344 L8860.7128,587.7031 Q8861.6816,588.3906 8862.6034,588.7344 Q8863.5253,589.0781 8864.4159,589.0781 Q8865.3222,589.0781 8865.8222,588.6719 Q8866.3222,588.25 8866.3222,587.5156 Q8866.3222,586.9531 8865.9784,586.5469 Q8865.6503,586.125 8865.0253,585.875 L8863.8222,585.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="8884.8378" y="589.0137">urt_baserequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8815.0878" x2="9037.0878" y1="600.8594" y2="600.8594"/><ellipse cx="8825.0878" cy="611.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="147" x="8834.0878" y="615.0698">prev : urt_baserequest_t*</text><ellipse cx="8825.0878" cy="624.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="8834.0878" y="627.8745">next : urt_baserequest_t*</text><ellipse cx="8825.0878" cy="637.4688" 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="8834.0878" y="640.6792">lock : urt_osMutex_t</text><ellipse cx="8825.0878" cy="650.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="126" x="8834.0878" y="653.4839">owner : urt_service_t*</text><ellipse cx="8825.0878" cy="663.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="8834.0878" y="666.2886">submissionTime : urt_osTime_t</text><ellipse cx="8825.0878" cy="675.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="8834.0878" y="679.0933">payload : void*</text><ellipse cx="8825.0878" cy="688.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="8834.0878" y="691.8979">evtSource : urt_osEventSource_t</text><ellipse cx="8825.0878" cy="701.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="8834.0878" y="704.7026">evtListener : urt_osEventListener_t</text><ellipse cx="8825.0878" cy="731.1016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="8834.0878" y="734.312">sumLatencies : uint64_t</text><ellipse cx="8825.0878" cy="743.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="8834.0878" y="747.1167">numCalls : uint64_t</text><ellipse cx="8825.0878" cy="756.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="108" x="8834.0878" y="759.9214">numFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8815.0878" x2="8830.0878" y1="717.6992" y2="717.6992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="8830.0878" y="721.0073">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9022.0878" x2="9037.0878" y1="717.6992" y2="717.6992"/><!--MD5=[65269c71e9a2a076bc4014c9b128c9e6]

class urt_nrtrequest_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="167.2422" id="urt_nrtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="531" x="10201.5878" y="229.3594"/><ellipse cx="10411.8378" cy="245.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10411.3222,245.9219 Q10409.4628,245.2188 10408.8066,244.4531 Q10408.1659,243.6719 10408.1659,242.3594 Q10408.1659,240.6719 10409.2441,239.7031 Q10410.3222,238.7344 10412.1972,238.7344 Q10413.0566,238.7344 10413.9003,238.9375 Q10414.7597,239.125 10415.6034,239.5156 L10415.6034,241.9063 Q10414.8222,241.3438 10413.9941,241.0625 Q10413.1816,240.7656 10412.3847,240.7656 Q10411.5097,240.7656 10411.0253,241.125 Q10410.5566,241.4844 10410.5566,242.1406 Q10410.5566,242.6563 10410.9003,243 Q10411.2441,243.3281 10412.3378,243.7344 L10413.4003,244.1406 Q10414.8847,244.6875 10415.5878,245.5938 Q10416.3066,246.5 10416.3066,247.875 Q10416.3066,249.75 10415.1972,250.6719 Q10414.0878,251.5938 10411.8378,251.5938 Q10410.9159,251.5938 10409.9941,251.375 Q10409.0722,251.1563 10408.2128,250.7344 L10408.2128,248.2031 Q10409.1816,248.8906 10410.1034,249.2344 Q10411.0253,249.5781 10411.9159,249.5781 Q10412.8222,249.5781 10413.3222,249.1719 Q10413.8222,248.75 10413.8222,248.0156 Q10413.8222,247.4531 10413.4784,247.0469 Q10413.1503,246.625 10412.5253,246.375 L10411.3222,245.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="10432.3378" y="249.5137">urt_nrtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10202.5878" x2="10731.5878" y1="261.3594" y2="261.3594"/><ellipse cx="10212.5878" cy="289.1641" 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="138" x="10221.5878" y="292.3745">minLatency : urt_delay_t</text><ellipse cx="10212.5878" cy="301.9688" 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="141" x="10221.5878" y="305.1792">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10202.5878" x2="10371.0878" y1="275.7617" y2="275.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="10371.0878" y="279.0698">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10563.0878" x2="10731.5878" y1="275.7617" y2="275.7617"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="10202.5878" x2="10731.5878" y1="311.7734" y2="311.7734"/><ellipse cx="10212.5878" cy="322.7734" 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="297" x="10221.5878" y="325.9839">urtNrtRequestInit (request : urt_nrtrequest_t*) : void</text><ellipse cx="10212.5878" cy="335.5781" 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="367" x="10221.5878" y="338.7886">urtNrtRequestAcquire (request : urt_nrtrequest_t*) : urt_status_t</text><ellipse cx="10212.5878" cy="348.3828" 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="385" x="10221.5878" y="351.5933">urtNrtRequestTryAcquire (request : urt_nrtrequest_t*) : urt_status_t</text><ellipse cx="10212.5878" cy="361.1875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="10221.5878" y="364.3979">urtNrtRequestRelease (request : urt_nrtrequest_t*) : urt_status_t</text><ellipse cx="10212.5878" cy="373.9922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="505" x="10221.5878" y="377.2026">urtNrtRequestSubmit (request : urt_nrtrequest_t*, service : urt_service_t*) : urt_status_t</text><ellipse cx="10212.5878" cy="386.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="10221.5878" y="390.0073">urtNrtRequestRetrieve (request : urt_nrtrequest_t*) : urt_status_t</text><!--MD5=[e9d515ad43a4cecec056dd09bc14a3c2]

class urt_srtrequest_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="180.0469" id="urt_srtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="675" x="9491.5878" y="222.8594"/><ellipse cx="9774.3378" cy="238.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9773.8222,239.4219 Q9771.9628,238.7188 9771.3066,237.9531 Q9770.6659,237.1719 9770.6659,235.8594 Q9770.6659,234.1719 9771.7441,233.2031 Q9772.8222,232.2344 9774.6972,232.2344 Q9775.5566,232.2344 9776.4003,232.4375 Q9777.2597,232.625 9778.1034,233.0156 L9778.1034,235.4063 Q9777.3222,234.8438 9776.4941,234.5625 Q9775.6816,234.2656 9774.8847,234.2656 Q9774.0097,234.2656 9773.5253,234.625 Q9773.0566,234.9844 9773.0566,235.6406 Q9773.0566,236.1563 9773.4003,236.5 Q9773.7441,236.8281 9774.8378,237.2344 L9775.9003,237.6406 Q9777.3847,238.1875 9778.0878,239.0938 Q9778.8066,240 9778.8066,241.375 Q9778.8066,243.25 9777.6972,244.1719 Q9776.5878,245.0938 9774.3378,245.0938 Q9773.4159,245.0938 9772.4941,244.875 Q9771.5722,244.6563 9770.7128,244.2344 L9770.7128,241.7031 Q9771.6816,242.3906 9772.6034,242.7344 Q9773.5253,243.0781 9774.4159,243.0781 Q9775.3222,243.0781 9775.8222,242.6719 Q9776.3222,242.25 9776.3222,241.5156 Q9776.3222,240.9531 9775.9784,240.5469 Q9775.6503,240.125 9775.0253,239.875 L9773.8222,239.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="9794.8378" y="243.0137">urt_srtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9492.5878" x2="10165.5878" y1="254.8594" y2="254.8594"/><ellipse cx="9502.5878" cy="282.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="9511.5878" y="285.8745">minLatency : urt_delay_t</text><ellipse cx="9502.5878" cy="295.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="9511.5878" y="298.6792">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9492.5878" x2="9733.0878" y1="269.2617" y2="269.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="9733.0878" y="272.5698">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9925.0878" x2="10165.5878" y1="269.2617" y2="269.2617"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="9492.5878" x2="10165.5878" y1="305.2734" y2="305.2734"/><ellipse cx="9502.5878" cy="316.2734" 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="297" x="9511.5878" y="319.4839">urtSrtRequestInit (request : urt_srtrequest_t*) : void</text><ellipse cx="9502.5878" cy="329.0781" 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="367" x="9511.5878" y="332.2886">urtSrtRequestAcquire (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9502.5878" cy="341.8828" 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="385" x="9511.5878" y="345.0933">urtSrtRequestTryAcquire (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9502.5878" cy="354.6875" 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="370" x="9511.5878" y="357.8979">urtSrtRequestRelease (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9502.5878" cy="367.4922" 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="505" x="9511.5878" y="370.7026">urtSrtRequestSubmit (request : urt_srtrequest_t*, service : urt_service_t*) : urt_status_t</text><ellipse cx="9502.5878" cy="380.2969" 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="371" x="9511.5878" y="383.5073">urtSrtRequestRetrieve (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9502.5878" cy="393.1016" 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="649" x="9511.5878" y="396.312">urtSrtCalculateUsefulness (request : urt_srtrequest_t*, usefulnesscb : urt_usefulness_f, cbparams : void*) : float</text><!--MD5=[240977dbca9212fa5365c87da90aa051]

class urt_frtrequest_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="268.875" id="urt_frtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="656" x="10768.0878" y="178.3594"/><ellipse cx="11042.8378" cy="194.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11042.3222,194.9219 Q11040.4628,194.2188 11039.8066,193.4531 Q11039.1659,192.6719 11039.1659,191.3594 Q11039.1659,189.6719 11040.2441,188.7031 Q11041.3222,187.7344 11043.1972,187.7344 Q11044.0566,187.7344 11044.9003,187.9375 Q11045.7597,188.125 11046.6034,188.5156 L11046.6034,190.9063 Q11045.8222,190.3438 11044.9941,190.0625 Q11044.1816,189.7656 11043.3847,189.7656 Q11042.5097,189.7656 11042.0253,190.125 Q11041.5566,190.4844 11041.5566,191.1406 Q11041.5566,191.6563 11041.9003,192 Q11042.2441,192.3281 11043.3378,192.7344 L11044.4003,193.1406 Q11045.8847,193.6875 11046.5878,194.5938 Q11047.3066,195.5 11047.3066,196.875 Q11047.3066,198.75 11046.1972,199.6719 Q11045.0878,200.5938 11042.8378,200.5938 Q11041.9159,200.5938 11040.9941,200.375 Q11040.0722,200.1563 11039.2128,199.7344 L11039.2128,197.2031 Q11040.1816,197.8906 11041.1034,198.2344 Q11042.0253,198.5781 11042.9159,198.5781 Q11043.8222,198.5781 11044.3222,198.1719 Q11044.8222,197.75 11044.8222,197.0156 Q11044.8222,196.4531 11044.4784,196.0469 Q11044.1503,195.625 11043.5253,195.375 L11042.3222,194.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="98" x="11063.3378" y="198.5137">urt_frtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10769.0878" x2="11423.0878" y1="210.3594" y2="210.3594"/><ellipse cx="10779.0878" cy="238.1641" 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="157" x="10788.0878" y="241.3745">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10769.0878" x2="10963.0878" y1="224.7617" y2="224.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="266" x="10963.0878" y="228.0698">URT_CFG_RPC_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11229.0878" x2="11423.0878" y1="224.7617" y2="224.7617"/><ellipse cx="10779.0878" cy="267.7734" 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="10788.0878" y="270.9839">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10769.0878" x2="10973.0878" y1="254.3711" y2="254.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="10973.0878" y="257.6792">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11219.0878" x2="11423.0878" y1="254.3711" y2="254.3711"/><ellipse cx="10779.0878" cy="297.3828" 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="138" x="10788.0878" y="300.5933">minLatency : urt_delay_t</text><ellipse cx="10779.0878" cy="310.1875" 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="141" x="10788.0878" y="313.3979">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10769.0878" x2="10869.0878" y1="283.9805" y2="283.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="454" x="10869.0878" y="287.2886">URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11323.0878" x2="11423.0878" y1="283.9805" y2="283.9805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="10769.0878" x2="11423.0878" y1="319.9922" y2="319.9922"/><ellipse cx="10779.0878" cy="330.9922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="292" x="10788.0878" y="334.2026">urtFrtRequestInit (request : urt_frtrequest_t*) : void</text><ellipse cx="10779.0878" cy="343.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="362" x="10788.0878" y="347.0073">urtFrtRequestAcquire (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="10779.0878" cy="356.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="10788.0878" y="359.812">urtFrtRequestTryAcquire (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="10779.0878" cy="369.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="365" x="10788.0878" y="372.6167">urtFrtRequestRelease (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="10779.0878" cy="382.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="630" x="10788.0878" y="385.4214">urtFrtRequestSubmit (request : urt_frtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t</text><ellipse cx="10779.0878" cy="395.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="366" x="10788.0878" y="398.2261">urtFrtRequestRetrieve (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="10779.0878" cy="407.8203" 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="318" x="10788.0878" y="411.0308">urtDrtCalculateValidity (request : urt_frtrequest_t) : bool</text><ellipse cx="10779.0878" cy="437.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="423" x="10788.0878" y="440.6401">urtFrtRequestGetMaxJitter (request : urt_frtrequest_t*) : urt_delay_t* const</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10769.0878" x2="10973.0878" y1="424.0273" y2="424.0273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="10973.0878" y="427.3354">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11219.0878" x2="11423.0878" y1="424.0273" y2="424.0273"/><!--MD5=[2b0c3d572fefe037473ca776bdd2f803]

class urt_hrtrequest_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="285.6797" id="urt_hrtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="661" x="8795.5878" y="169.8594"/><ellipse cx="9070.8378" cy="185.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9070.3222,186.4219 Q9068.4628,185.7188 9067.8066,184.9531 Q9067.1659,184.1719 9067.1659,182.8594 Q9067.1659,181.1719 9068.2441,180.2031 Q9069.3222,179.2344 9071.1972,179.2344 Q9072.0566,179.2344 9072.9003,179.4375 Q9073.7597,179.625 9074.6034,180.0156 L9074.6034,182.4063 Q9073.8222,181.8438 9072.9941,181.5625 Q9072.1816,181.2656 9071.3847,181.2656 Q9070.5097,181.2656 9070.0253,181.625 Q9069.5566,181.9844 9069.5566,182.6406 Q9069.5566,183.1563 9069.9003,183.5 Q9070.2441,183.8281 9071.3378,184.2344 L9072.4003,184.6406 Q9073.8847,185.1875 9074.5878,186.0938 Q9075.3066,187 9075.3066,188.375 Q9075.3066,190.25 9074.1972,191.1719 Q9073.0878,192.0938 9070.8378,192.0938 Q9069.9159,192.0938 9068.9941,191.875 Q9068.0722,191.6563 9067.2128,191.2344 L9067.2128,188.7031 Q9068.1816,189.3906 9069.1034,189.7344 Q9070.0253,190.0781 9070.9159,190.0781 Q9071.8222,190.0781 9072.3222,189.6719 Q9072.8222,189.25 9072.8222,188.5156 Q9072.8222,187.9531 9072.4784,187.5469 Q9072.1503,187.125 9071.5253,186.875 L9070.3222,186.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="9091.3378" y="190.0137">urt_hrtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8796.5878" x2="9455.5878" y1="201.8594" y2="201.8594"/><ellipse cx="8806.5878" cy="229.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="8815.5878" y="232.8745">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8796.5878" x2="8993.0878" y1="216.2617" y2="216.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="266" x="8993.0878" y="219.5698">URT_CFG_RPC_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9259.0878" x2="9455.5878" y1="216.2617" y2="216.2617"/><ellipse cx="8806.5878" cy="259.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="8815.5878" y="262.4839">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8796.5878" x2="9003.0878" y1="245.8711" y2="245.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="9003.0878" y="249.1792">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9249.0878" x2="9455.5878" y1="245.8711" y2="245.8711"/><ellipse cx="8806.5878" cy="288.8828" 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="145" x="8815.5878" y="292.0933">qosTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8796.5878" x2="8862.0878" y1="275.4805" y2="275.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="528" x="8862.0878" y="278.7886">URT_CFG_RPC_QOS_DEADLINECHECKS == true || URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9390.0878" x2="9455.5878" y1="275.4805" y2="275.4805"/><ellipse cx="8806.5878" cy="318.4922" 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="138" x="8815.5878" y="321.7026">minLatency : urt_delay_t</text><ellipse cx="8806.5878" cy="331.2969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="8815.5878" y="334.5073">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8796.5878" x2="8899.0878" y1="305.0898" y2="305.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="454" x="8899.0878" y="308.3979">URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9353.0878" x2="9455.5878" y1="305.0898" y2="305.0898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8796.5878" x2="9455.5878" y1="341.1016" y2="341.1016"/><ellipse cx="8806.5878" cy="352.1016" 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="297" x="8815.5878" y="355.312">urtHrtRequestInit (request : urt_hrtrequest_t*) : void</text><ellipse cx="8806.5878" cy="364.9063" 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="367" x="8815.5878" y="368.1167">urtHrtRequestAcquire (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8806.5878" cy="377.7109" 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="385" x="8815.5878" y="380.9214">urtHrtRequestTryAcquire (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8806.5878" cy="390.5156" 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="370" x="8815.5878" y="393.7261">urtHrtRequestRelease (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8806.5878" cy="403.3203" 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="635" x="8815.5878" y="406.5308">urtHrtRequestSubmit (request : urt_hrtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t</text><ellipse cx="8806.5878" cy="416.125" 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="371" x="8815.5878" y="419.3354">urtHrtRequestRetrieve (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8806.5878" cy="445.7344" 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="428" x="8815.5878" y="448.9448">urtHrtRequestGetMaxJitter (request : urt_hrtrequest_t*) : urt_delay_t* const</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8796.5878" x2="9003.0878" y1="432.332" y2="432.332"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="9003.0878" y="435.6401">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9249.0878" x2="9455.5878" y1="432.332" y2="432.332"/><!--MD5=[e0c5ef58bc626bdfda028ecb031e1681]

link urt_usefulness_f to urt_delay_t--><path d="M7076.9987,1089.9276 C7045.0724,1130.1488 6983.6801,1200.4556 6916.0878,1240.8594 C6808.0584,1305.4349 6666.319,1341.7492 6573.7643,1360.0737 " fill="none" id="urt_usefulness_f-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6568.8439,1361.0401,6578.4461,1363.2304,6573.7501,1360.0764,6576.9042,1355.3804,6568.8439,1361.0401" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5fff9a13948f7f5b5e6ca18c1c7a9716]

link urt_nodestage_t to urt_config--><path d="M7445.0697,1138.4885 C7465.9151,1175.9745 7496.1708,1217.5535 7536.0878,1240.8594 C7949.8072,1482.4131 11445.2887,1637.8532 12216.7975,1669.4075 " 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="12221.8547,1669.6141,12213.0255,1665.2499,12216.8589,1669.4099,12212.6989,1673.2433,12221.8547,1669.6141" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7db439499cb1afd557b9be4c8c52b2ba]

link urt_topicid_t to urt_config--><path d="M6820.9443,1138.7583 C6844.9214,1174.6831 6877.482,1214.8312 6916.0878,1240.8594 C7219.909,1445.6969 7348.2938,1404.8011 7710.0878,1462.8594 C8608.527,1607.0349 11521.5063,1661.8802 12216.9747,1673.091 " 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="12222.041,1673.1725,12213.1066,1669.028,12217.0416,1673.0919,12212.9777,1677.0269,12222.041,1673.1725" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e851a4e79ca88682282ceaaad2100c63]

link urt_serviceid_t to urt_config--><path d="M6551.4091,1138.633 C6574.5918,1172.6505 6604.425,1211.2831 6637.0878,1240.8594 C6780.0908,1370.349 6825.1293,1408.0167 7010.0878,1462.8594 C7520.7409,1614.275 11401.0236,1664.8077 12216.8596,1673.8099 " 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="12221.9094,1673.8655,12212.9541,1669.7665,12216.9097,1673.8103,12212.8658,1677.766,12221.9094,1673.8655" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[844001065b3bef53527c5dd4ba0c22e5]

link urt_delay_t to urt_config--><path d="M6568.7375,1415.4771 C6614.163,1433.3994 6670.5574,1452.7882 6723.0878,1462.8594 C7275.8232,1568.8306 11376.5114,1655.6379 12216.8716,1672.4237 " 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="12222.0719,1672.5275,12213.1536,1668.3485,12217.0729,1672.4276,12212.9938,1676.3469,12222.0719,1672.5275" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7766572fa0c619a5409829048dc0b6d6]

link urt_osCondvar_t to urt_osCondvarWaitStatus_t--><path d="M5292.0878,1128.4256 C5292.0878,1188.6874 5292.0878,1274.5674 5292.0878,1327.6772 " 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="5292.0878,1332.7126,5296.0878,1323.7126,5292.0878,1327.7126,5288.0878,1323.7126,5292.0878,1332.7126" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9b2507ea88616aeae65e3c4d63560016]

link urt_osCondvar_t to urt_osMutex_t--><path d="M4936.9511,1059.3594 C4927.1189,1059.3594 4917.2868,1059.3594 4907.4546,1059.3594 " fill="none" id="urt_osCondvar_t-&gt;urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4902.3129,1059.3594,4911.3129,1063.3594,4907.3129,1059.3594,4911.3129,1055.3594,4902.3129,1059.3594" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[83094e108045c8f9585007cdb3b7cb2e]

link urt_osTimer_t to urt_osTimerCallback_t--><path d="M4200.0878,1115.5786 C4200.0878,1180.4544 4200.0878,1285.2128 4200.0878,1339.9456 " 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="4200.0878,1345.0831,4204.0878,1336.0831,4200.0878,1340.0831,4196.0878,1336.0831,4200.0878,1345.0831" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8d8c3240b5b2b5edf6544088e583ffa5]

link urt_osThread_t to urt_osThreadPrio_t--><path d="M3420.8749,1241.176 C3422.3139,1260.1533 3423.7179,1278.6682 3425.0015,1295.5957 " 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="3425.3959,1300.7969,3428.7038,1291.5201,3425.0177,1295.8112,3420.7267,1292.1252,3425.3959,1300.7969" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d7d1d43fd970fb07a484642bc19fcb13]

link urt_osThread_t to urt_osThreadFunction_t--><path d="M3121.9417,1240.9464 C3060.7057,1279.9428 3002.5051,1317.0062 2962.6568,1342.3824 " 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="2958.3747,1345.1093,2968.1147,1343.6489,2962.5921,1342.4235,2963.8175,1336.901,2958.3747,1345.1093" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6564761b32ad7eeb5abb8896c72cfca5]

link urt_osThread_t to urt_osThreadTerminateSignal_t--><path d="M3567.3622,1241.176 C3598.3716,1276.3533 3627.9801,1309.9414 3649.8725,1334.7764 " 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="3653.3189,1338.686,3650.3679,1329.2896,3650.0125,1334.9353,3644.3668,1334.5799,3653.3189,1338.686" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[92ba23225d8de8f8080583fedda5e6f8]

link urt_osThread_t to urt_osThreadState_t--><path d="M3278.9833,1241.176 C3263.7323,1262.8215 3248.9052,1283.8653 3235.678,1302.6383 " 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="3232.7049,1306.8581,3241.1585,1301.8047,3235.5847,1302.7707,3234.6187,1297.1969,3232.7049,1306.8581" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[78b286ab2177e5f7b31e6e832d821818]

link urt_osThread_t to urt_osTime_t--><path d="M3646.3509,877.7838 C3704.1858,846.7789 3768.0334,822.1431 3832.5878,814.8594 C3857.6096,812.0362 5620.5661,812.0362 5645.5878,814.8594 C5750.1039,826.652 5821.402,943.5707 5854.3142,1011.3633 " 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="5856.6175,1016.1574,5856.3255,1006.3128,5854.4522,1011.6505,5849.1145,1009.7773,5856.6175,1016.1574" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[659af6ab57e6a38ebfd5c07c5616787c]

link urt_osEventListener_t to urt_osEventFlags_t--><path d="M1953.0878,1419.0894 C1953.0878,1480.9523 1953.0878,1593.1002 1953.0878,1646.1054 " 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="1953.0878,1651.3529,1957.0878,1642.3529,1953.0878,1646.3529,1949.0878,1642.3529,1953.0878,1651.3529" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[eac11679f26c499aa1c571e1f795945d]

link urt_osEventSource_t to urt_osEventFlags_t--><path d="M1465.822,1412.8844 C1579.5085,1474.1237 1804.0195,1595.0609 1903.5633,1648.682 " 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="1908.208,1651.184,1902.1815,1643.3942,1903.8061,1648.8127,1898.3875,1650.4373,1908.208,1651.184" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0259cdb10c6c32168d1d17d25519d939]

link urt_events to urt_osEventSource_t--><path d="M2195.5115,1102.3734 C2014.6343,1164.3297 1683.4942,1277.7559 1509.9685,1337.1941 " 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="1505.1354,1338.8496,1514.946,1339.7173,1509.8656,1337.2293,1512.3536,1332.149,1505.1354,1338.8496" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0ce043e0e9532fc393f3f8836f5de19a]

link urt_events to urt_osEventListener_t--><path d="M2271.0747,1102.3734 C2202.1912,1161.617 2078.5884,1267.9221 2007.4731,1329.0851 " 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="2003.2865,1332.6858,2012.7182,1329.8497,2007.0773,1329.4254,2007.5016,1323.7845,2003.2865,1332.6858" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[430bebba9cd89d3ba8f63b2078968bca]

link urt_events to urt_osEventMask_t--><path d="M2360.2285,1102.3734 C2418.0181,1165.8817 2525.0187,1283.471 2577.8749,1341.5577 " 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="2581.277,1345.2965,2578.1783,1335.9478,2577.9119,1341.5984,2572.2613,1341.332,2581.277,1345.2965" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b1b185abc2161e087cab32ae7fdb2c40]

link urt_events to urt_osEventFlags_t--><path d="M2350.9179,1102.4288 C2400.8641,1180.3858 2489.0119,1347.4886 2415.0878,1462.8594 C2330.6924,1594.5724 2141.7998,1645.7575 2033.4933,1664.7897 " 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="2028.3975,1665.6719,2037.948,1668.0779,2033.3242,1664.8189,2036.5832,1660.1952,2028.3975,1665.6719" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[706a1974d1b474cbba7e7b0213f243a1]

link urt_events to urt_osEventWait_t--><path d="M2320.4083,1102.3734 C2319.4799,1161.1449 2317.8197,1266.231 2316.85,1327.6145 " 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="2316.7699,1332.6858,2320.9116,1323.7501,2316.8489,1327.6864,2312.9126,1323.6237,2316.7699,1332.6858" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ea4c3dac10af85084086a365fe38a187]

link urt_osTime_t to urt_delay_t--><path d="M5917.9796,1102.6378 C5959.9963,1143.0152 6027.4075,1202.6151 6095.0878,1240.8594 C6186.983,1292.7868 6302.3844,1330.1496 6382.3693,1352.2233 " fill="none" id="urt_osTime_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6387.5859,1353.6551,6379.9658,1347.4154,6382.7643,1352.3315,6377.8481,1355.13,6387.5859,1353.6551" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5f656ccbf337bb70e2692ec6599b22aa]

link urt_osCondvar_t to urt_delay_t--><path d="M5411.8141,1128.4129 C5483.4662,1166.9217 5577.5463,1212.6648 5666.0878,1240.8594 C5917.2372,1320.8338 6227.9799,1355.645 6382.084,1368.8578 " 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="6387.4995,1369.3187,6378.8713,1364.5696,6382.5175,1368.8945,6378.1926,1372.5408,6387.4995,1369.3187" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[2da0e339f7ca878d257c4a5336e8cad5]

link urt_osThread_t to urt_delay_t--><path d="M3796.3281,1236.2877 C3802.598,1237.9028 3808.8539,1239.4293 3815.0878,1240.8594 C4215.5674,1332.7346 5252.9971,1275.3554 5663.0878,1300.8594 C5923.601,1317.061 6229.8874,1348.6287 6382.1181,1365.1679 " fill="none" id="urt_osThread_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6387.4681,1365.7499,6378.9536,1360.7998,6382.4974,1365.209,6378.0882,1368.7528,6387.4681,1365.7499" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8bf77663ad208115c32fd5300d37f092]

link urt_osTimer_t to urt_delay_t--><path d="M4293.5538,1115.5353 C4369.8789,1158.2848 4482.0771,1214.1684 4588.0878,1240.8594 C4820.1075,1299.2765 5424.4777,1283.2273 5663.0878,1300.8594 C5923.3945,1320.0948 6229.7708,1350.3424 6382.0687,1365.8939 " fill="none" id="urt_osTimer_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6387.4211,1366.4409,6378.8745,1361.5464,6382.447,1365.9324,6378.061,1369.505,6387.4211,1366.4409" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[a4e2abbbace7909006fa5f13364d6021]

link urt_events to urt_delay_t--><path d="M2401.4588,1102.4991 C2488.829,1146.8528 2633.9622,1213.2219 2768.0878,1240.8594 C3083.2033,1305.7911 5341.8609,1282.7732 5663.0878,1300.8594 C5923.6915,1315.5323 6229.9385,1347.7652 6382.1398,1364.8021 " fill="none" id="urt_events-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6387.4887,1365.4017,6378.9903,1360.424,6382.5198,1364.8447,6378.0991,1368.3742,6387.4887,1365.4017" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[182342162f0b9b45ddce11acc6582c59]

reverse link urt_node_t to urt_node_t--><path d="M18346.5789,639.1446 C18361.414,647.3691 18369.5878,656.9407 18369.5878,667.8594 C18369.5878,681.4282 18356.9645,692.9167 18334.621,702.3248 " fill="none" id="urt_node_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="18334.621,633.394,18338.2947,639.5992,18345.4355,638.5947,18341.7618,632.3895,18334.621,633.394" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="18343.0925" y="630.0011">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="18343.1581" y="699.6859">0,1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]

reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M17585.8182,796.2741 C17605.7407,878.723 17633.812,979.3206 17651.818,1028.8355 " fill="none" id="urt_node_t&lt;-urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="17582.7552,783.469,17580.2608,790.2349,17585.5468,795.1397,17588.0413,788.3738,17582.7552,783.469" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="17575.7407" y="803.8028">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="17626.2902" y="1017.6205">0,1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]

reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M17608.388,788.4511 C17632.6052,872.261 17658.7204,977.743 17666.7225,1028.8355 " fill="none" id="urt_node_t&lt;-urt_nodeSetupCallback_t-1" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="17606.9432,783.469,17605.6084,793.227,17608.3359,788.2711,17613.2918,790.9986,17606.9432,783.469" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b913f036db99e36b937989146817bd94]

reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M17404.0847,791.9696 C17302.8929,875.1922 17181.2886,978.4554 17126.2589,1028.8355 " fill="none" id="urt_node_t&lt;-urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="17414.4348,783.469,17407.2594,784.186,17405.1615,791.0852,17412.3369,790.3682,17414.4348,783.469" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="17396.1112" y="803.8028">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="17123.7651" y="1017.6205">1</text><!--MD5=[b913f036db99e36b937989146817bd94]

reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M17434.5641,786.9509 C17336.5346,870.9983 17207.9456,977.4377 17141.1634,1028.8355 " fill="none" id="urt_node_t&lt;-urt_nodeLoopCallback_t-1" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="17438.6227,783.469,17429.1875,786.2933,17434.8279,786.7246,17434.3966,792.365,17438.6227,783.469" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[496dffc41052f1912ec8ad492f24fe61]

reverse link urt_node_t to urt_nodeShutdownCallback_t--><path d="M17846.1374,789.7491 C17863.31,799.0565 17880.0937,808.7747 17896.0878,818.8594 C17995.5467,881.5703 18095.3925,979.2411 18149.541,1028.5943 " fill="none" id="urt_node_t&lt;-urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="17834.1915,783.3716,17837.6006,789.7259,17844.7774,789.023,17841.3683,782.6687,17834.1915,783.3716" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="17844.0703" y="803.6989">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="18119.322" y="1017.8028">0,1</text><!--MD5=[496dffc41052f1912ec8ad492f24fe61]

reverse link urt_node_t to urt_nodeShutdownCallback_t--><path d="M17873.6105,785.7476 C17893.4521,796.2608 17912.7868,807.3202 17931.0878,818.8594 C18030.5467,881.5703 18130.3925,979.2411 18171.3322,1028.5943 " fill="none" id="urt_node_t&lt;-urt_nodeShutdownCallback_t-1" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="17869.1001,783.3716,17875.1986,791.1051,17873.5239,785.7019,17878.9271,784.0271,17869.1001,783.3716" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[536025241394544a90bc53fb552f3a08]

reverse link urt_message_t to urt_message_t--><path d="M12837.7514,1335.5912 C12852.2696,1344.8734 12861.0878,1358.2962 12861.0878,1375.8594 C12861.0878,1397.6856 12847.4694,1413.1174 12826.2171,1422.1548 " fill="none" id="urt_message_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="12826.2171,1329.564,12829.6823,1335.8879,12836.8526,1335.1216,12833.3874,1328.7976,12826.2171,1329.564" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12834.3081" y="1324.5393">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="12833.8764" y="1420.6249">0,1</text><!--MD5=[aa8990705afdbad14c7f998fe04b6f05]

reverse link urt_basesubscriber_t to urt_message_t--><path d="M12853.7879,1138.0175 C12833.7325,1171.3214 12808.3212,1209.5706 12781.0878,1240.8594 C12761.5456,1263.3117 12738.1899,1285.3133 12715.5081,1304.8228 " fill="none" id="urt_basesubscriber_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="12860.6526,1126.4633,12854.149,1129.5784,12854.5232,1136.7798,12861.0267,1133.6647,12860.6526,1126.4633" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12848.4827" y="1146.2495">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="12704.0077" y="1293.8164">0,1</text><!--MD5=[0585cd4928de92ce6927d9c389eadd29]

link urt_nrtsubscriber_t to urt_basesubscriber_t--><path d="M15135.9928,744.9449 C15065.6274,769.1711 14985.6832,793.974 14911.0878,810.8594 C14213.0648,968.8639 13354.6534,1032.5836 13029.9356,1052.1604 " fill="none" id="urt_nrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="13030.1674,1059.1589,13009.7868,1053.3595,13029.3356,1045.1836,13030.1674,1059.1589" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6d81edfa5aa102b898ad487ae19b49f9]

link urt_srtsubscriber_t to urt_basesubscriber_t--><path d="M14007.674,764.3835 C13690.2812,848.6842 13247.2169,966.3638 13029.0923,1024.2985 " fill="none" id="urt_srtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="13030.7762,1031.0939,13009.6494,1029.4626,13027.1823,1017.563,13030.7762,1031.0939" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f626d284cba98e1d5d5fe914b1fa4188]

link urt_frtsubscriber_t to urt_basesubscriber_t--><path d="M15903.1164,780.9451 C15857.6051,792.356 15811.483,802.7158 15767.0878,810.8594 C14724.2959,1002.1429 13440.5764,1047.0303 13029.9635,1056.8112 " fill="none" id="urt_frtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="13030.0769,1063.8104,13009.9196,1057.2771,13029.7515,1049.8141,13030.0769,1063.8104" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[1ea71f2b33e56ab0ac5545988c1af396]

link urt_hrtsubscriber_t to urt_basesubscriber_t--><path d="M13131.2287,802.5915 C13078.1983,860.7466 13017.888,926.8853 12971.7591,977.472 " fill="none" id="urt_hrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="12976.8769,982.2485,12958.2285,992.3102,12966.5321,972.8153,12976.8769,982.2485" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ea2ec5c5272e65289dabade75a749f58]

reverse link urt_hrtsubscriber_t to urt_hrtsubscriber_t--><path d="M13807.9991,634.5775 C13822.7813,643.7604 13831.0878,654.8543 13831.0878,667.8594 C13831.0878,684.021 13818.2596,697.2313 13796.1171,707.4901 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="13796.1171,628.2287,13799.524,634.5842,13806.701,633.8838,13803.2941,627.5283,13796.1171,628.2287" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="13803.7956" y="624.6346">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="13803.88" y="705.0106">0,1</text><!--MD5=[54fcf25ad8c5f1d36e678e42d5bfd4cc]

reverse link urt_publisher_t to urt_topic_t--><path d="M11880.0511,667.8594 C11866.8033,667.8594 11853.5554,667.8594 11840.3076,667.8594 " fill="none" id="urt_publisher_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="11893.299,667.8594,11887.299,663.8594,11881.299,667.8594,11887.299,671.8594,11893.299,667.8594" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11877.2595" y="664.7748">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11847.9724" y="664.6383">1</text><!--MD5=[5025b4c4053b8e7c7ca8a657f09f21c0]

link urt_publisher_t to urt_message_t--><path d="M12546.2045,765.998 C12565.0356,781.241 12581.8049,798.7557 12595.0878,818.8594 C12692.1223,965.7207 12665.4601,1184.8952 12641.8514,1299.6139 " fill="none" id="urt_publisher_t-&gt;urt_message_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12640.801,1304.6603,12646.5512,1296.6643,12641.82,1299.7652,12638.7191,1295.034,12640.801,1304.6603" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b2afc1defaa6ed5a86f99c07f8466dd]

reverse link urt_topic_t to urt_topic_t--><path d="M11851.2864,618.8319 C11866.0496,629.8889 11875.0878,646.2313 11875.0878,667.8594 C11875.0878,694.4785 11861.3968,713.0911 11840.1918,723.6972 " fill="none" id="urt_topic_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="11840.1918,612.0216,11843.2126,618.5694,11850.4187,618.2994,11847.3978,611.7515,11840.1918,612.0216" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11847.8521" y="606.6194">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="11848.0865" y="722.6573">0,1</text><!--MD5=[ed3fb6de0913094c41bd74c175d366df]

reverse link urt_topic_t to urt_hrtsubscriber_t--><path d="M11791.1584,529.0526 C11817.8708,508.3667 11846.6829,489.083 11876.0878,474.3594 C11883.2219,470.7873 11885.6598,471.2539 11893.5878,470.3594 C11937.5864,465.395 12646.5893,465.395 12690.5878,470.3594 C12776.9883,480.108 12867.2623,504.6694 12949.5967,533.2907 " fill="none" id="urt_topic_t&lt;-urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="11780.6352,537.3571,11787.8232,536.7801,11790.0552,529.9231,11782.8672,530.5001,11780.6352,537.3571" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11780.0668" y="526.4532">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="12911.4152" y="522.1517">0,1</text><!--MD5=[0b5167e958c0ed93ffc0c98ce399b54d]

reverse link urt_topic_t to urt_message_t--><path d="M11838.6972,806.2711 C12044.7555,955.9011 12365.1067,1188.5254 12525.1485,1304.7403 " fill="none" id="urt_topic_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11828.0541,798.5426,11830.5588,805.3047,11837.7641,805.5936,11835.2594,798.8314,11828.0541,798.5426" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11829.6773" y="818.1734">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12506.636" y="1293.7254">1</text><!--MD5=[ed8977051960dfa72b850fe399f41716]

reverse link urt_baserequest_t to urt_baserequest_t--><path d="M9049.9018,611.5745 C9063.9682,622.1005 9073.0878,640.8621 9073.0878,667.8594 C9073.0878,701.7383 9058.7264,722.6479 9038.2501,730.5883 " fill="none" id="urt_baserequest_t&lt;-urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="9038.2501,605.1305,9041.5648,611.5346,9048.7511,610.9381,9045.4365,604.5339,9038.2501,605.1305" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9046.0548" y="597.4949">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="9046.06" y="731.0352">0,1,2</text><!--MD5=[426f0ba47802c5735a37a0acd494a192]

reverse link urt_baserequest_t to urt_service_t--><path d="M8800.803,667.8594 C8787.7039,667.8594 8774.6049,667.8594 8761.5058,667.8594 " fill="none" id="urt_baserequest_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8813.902,667.8594,8807.902,663.8594,8801.902,667.8594,8807.902,671.8594,8813.902,667.8594" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8798.0958" y="664.4384">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="8768.7343" y="664.7558">0,1</text><!--MD5=[09de7ef26922535bfe0682cb358ee29c]

reverse link urt_service_t to urt_baserequest_t--><path d="M8774.6049,667.8594 C8787.7039,667.8594 8800.803,667.8594 8813.902,667.8594 " fill="none" id="urt_service_t&lt;-urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8761.5058,667.8594,8767.5058,671.8594,8773.5058,667.8594,8767.5058,663.8594,8761.5058,667.8594" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8769.5388" y="680.1315">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="8774.0907" y="680.3978">0,2,3</text><!--MD5=[dc2d1805b45628aba9d654613b3d05f9]

link urt_nrtrequest_t to urt_baserequest_t--><path d="M10334.9458,396.5383 C10288.7511,422.4956 10235.5485,448.853 10184.0878,466.3594 C9788.5354,600.9224 9291.7864,646.6127 9058.5462,661.3201 " fill="none" id="urt_nrtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="9058.886,668.3123,9038.4953,662.5486,9058.0298,654.3385,9058.886,668.3123" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d53ae0f00163daee879678d1d1554717]

link urt_nrtrequest_t to urt_service_t--><path d="M10344.4131,396.4658 C10296.5529,424.3961 10239.8497,452.0413 10184.0878,466.3594 C10108.4836,485.7725 8854.157,452.9704 8779.0878,474.3594 C8735.2141,486.8601 8691.3986,507.2838 8650.976,530.2816 " fill="none" id="urt_nrtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8646.571,532.8055,8656.3686,531.8016,8650.9093,530.3196,8652.3912,524.8603,8646.571,532.8055" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f9755d42ba41539dee622699d8be3a22]

link urt_srtrequest_t to urt_baserequest_t--><path d="M9626.2192,402.8907 C9576.6748,424.237 9523.6568,446.5473 9474.0878,466.3594 C9332.8683,522.803 9168.9554,582.2964 9057.4527,621.8784 " fill="none" id="urt_srtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="9059.4862,628.5842,9038.2968,628.6657,9054.8106,615.3881,9059.4862,628.5842" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[90efd84e0f70286880ba110c49a1e8f8]

link urt_srtrequest_t to urt_service_t--><path d="M9658.4967,402.8678 C9601.4506,428.5097 9536.4783,453.0735 9474.0878,466.3594 C9436.321,474.4018 8816.1926,463.6706 8779.0878,474.3594 C8735.3997,486.9447 8691.7494,507.329 8651.4458,530.2468 " fill="none" id="urt_srtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8647.0537,532.7619,8656.8516,531.7608,8651.3927,530.2773,8652.8762,524.8184,8647.0537,532.7619" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bfc5f4e50344156edda6a5cfcff14fef]

link urt_frtrequest_t to urt_baserequest_t--><path d="M10810.6212,447.5065 C10790.3771,454.5687 10770.0722,460.962 10750.0878,466.3594 C10429.5297,552.9368 9421.72,632.1156 9058.3487,658.5453 " fill="none" id="urt_frtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="9058.6357,665.5427,9038.1823,660.006,9057.6243,651.5793,9058.6357,665.5427" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[836450d5c472e7b2344319739fa0d5d1]

link urt_frtrequest_t to urt_service_t--><path d="M10818.9761,447.458 C10796.0396,454.9984 10772.9004,461.4778 10750.0878,466.3594 C10696.5494,477.8158 8831.7549,459.3998 8779.0878,474.3594 C8735.2039,486.8242 8691.3839,507.2319 8650.96,530.2253 " fill="none" id="urt_frtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8646.5549,532.7488,8656.3526,531.7459,8650.8934,530.2634,8652.3759,524.8042,8646.5549,532.7488" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7c5d2ea3f0b69f804ad9b60a9539ac96]

link urt_hrtrequest_t to urt_baserequest_t--><path d="M9045.4607,455.9726 C9027.6418,487.6011 9008.9696,520.7443 8991.8256,551.1749 " fill="none" id="urt_hrtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="8997.8417,554.7575,8981.9261,568.7465,8985.6443,547.8856,8997.8417,554.7575" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[189d7bd823f9a098ae8eb3eaa3789ee1]

link urt_hrtrequest_t to urt_service_t--><path d="M8797.0613,456.0038 C8785.1965,462.1019 8773.5052,468.2325 8762.0878,474.3594 C8729.8104,491.6806 8696.2574,510.8699 8663.7803,530.2394 " fill="none" id="urt_hrtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8659.4126,532.8493,8669.1902,531.6665,8663.7047,530.2846,8665.0867,524.7991,8659.4126,532.8493" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bcf13f9307d05af3b11663d6e8155fbe]

reverse link urt_service_t to urt_hrtrequest_t--><path d="M8705.2452,526.2105 C8735.9076,508.2159 8767.0501,490.4787 8797.0878,474.3594 C8808.5052,468.2325 8820.1965,462.1019 8832.0458,456.0038 " fill="none" id="urt_service_t&lt;-urt_hrtrequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8693.9732,532.8493,8701.1731,533.2509,8704.3131,526.7594,8697.1132,526.3577,8693.9732,532.8493" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8699.09" y="521.6904">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="8797.3188" y="475.3785">0,1</text><!--MD5=[05f2c35569573d3273c65d3342945557]

reverse link urt_service_t to urt_service_t--><path d="M8772.481,625.6407 C8787.3525,636.2313 8796.0878,650.3042 8796.0878,667.8594 C8796.0878,689.4658 8782.8556,705.7973 8761.2369,716.8537 " fill="none" id="urt_service_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8761.2369,618.8651,8764.3114,625.3879,8771.515,625.0587,8768.4405,618.5358,8761.2369,618.8651" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8769.2627" y="614.4374">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="8769.4221" y="715.0288">0,1</text><!--MD5=[694e7400eb99f74d44ea388aed89d199]

reverse link urt_core_t to urt_node_t--><path d="M8162.7164,358.5046 C8324.1525,395.9438 8565.5148,445.972 8779.0878,466.3594 C8889.6271,476.9113 16663.8527,460.9998 16774.0878,474.3594 C16905.4202,490.2759 17046.4321,520.4583 17172.4491,552.3333 " fill="none" id="urt_core_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8149.7787,355.4915,8154.715,360.7482,8161.4659,358.2134,8156.5296,352.9567,8149.7787,355.4915" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8157.7397" y="369.8264">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="17125.464" y="541.1299">0,1</text><!--MD5=[250695c91040478b50550bc37a8775c7]

reverse link urt_core_t to urt_topic_t--><path d="M8162.7266,358.3976 C8324.1692,395.769 8565.5354,445.7578 8779.0878,466.3594 C8815.8756,469.9083 11405.7133,460.7829 11440.0878,474.3594 C11475.6391,488.4007 11508.728,511.6743 11537.5872,537.3035 " fill="none" id="urt_core_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8149.7884,355.39,8154.7269,360.6447,8161.4767,358.1071,8156.5383,352.8524,8149.7884,355.39" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8157.7498" y="354.0407">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="11510.6208" y="526.3965">0,1</text><!--MD5=[8d0a227ec56585cdbc167f8316b34b64]

reverse link urt_core_t to urt_service_t--><path d="M8160.5763,446.4335 C8199.1293,474.6526 8239.8415,504.4523 8278.4723,532.7284 " fill="none" id="urt_core_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8149.7632,438.5187,8152.2423,445.2903,8159.4464,445.6063,8156.9674,438.8348,8149.7632,438.5187" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8157.7235" y="440.9361">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="8247.8293" y="522.0075">0,1</text><!--MD5=[a42c921bb2ae3ef3cd6ba12c97758939]

reverse link urt_core_t to urt_osEventSource_t--><path d="M7793.2361,317.6267 C6630.8915,348.4771 372.1221,527.8008 101.0878,818.8594 C-26.7283,956.1187 -24.4759,1101.5367 101.0878,1240.8594 C168.1741,1315.2968 763.2509,1351.3647 1123.2948,1366.5175 " fill="none" id="urt_core_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7806.2606,317.2815,7800.1567,313.4418,7794.2648,317.5994,7800.3687,321.439,7806.2606,317.2815" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7790.8429" y="314.2152">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1107.9159" y="1378.5424">1</text><!--MD5=[b9eb8460041bde16ab6e44c28de7b0fc]

reverse link urt_core_t to urt_osMutex_t--><path d="M7793.3549,323.7921 C7207.222,361.4584 5399.797,501.375 4921.0878,818.8594 C4850.204,865.8702 4800.3086,953.892 4774.1831,1009.4126 " fill="none" id="urt_core_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7806.5504,322.9482,7800.3073,319.3393,7794.5749,323.7141,7800.8179,327.323,7806.5504,322.9482" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7790.5964" y="320.1288">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4777.5553" y="998.7543">1</text><!--MD5=[fcff95a1517f1bbe30c2de95da1c3bda]

reverse link urt_core_t to urt_status_t--><path d="M7793.2699,331.141 C7528.5194,359.2171 7067.5616,415.8675 7018.0878,474.3594 C6921.5056,588.5467 6913.1558,704.2943 7018.0878,810.8594 C7038.2815,831.3673 7511.4336,804.0092 7536.0878,818.8594 C7574.4393,841.96 7602.4235,880.5218 7622.4832,920.0761 " fill="none" id="urt_core_t&lt;-urt_status_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7806.5076,329.7437,7800.1208,326.3956,7794.5739,331.0034,7800.9607,334.3514,7806.5076,329.7437" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7790.5516" y="342.9119">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7611.7704" y="909.1061">1</text><!--MD5=[f6f8ae0abb3c85244c8639cf15039f58]

link urt_core_t to urt_nodestage_t--><path d="M7806.4261,327.2896 C7524.7882,352.718 6990.0768,409.0433 6934.0878,474.3594 C6836.7546,587.9072 6829.5479,703.9096 6934.0878,810.8594 C6947.722,824.8078 7268.5324,808.546 7285.0878,818.8594 C7340.2384,853.216 7372.2612,920.4798 7390.0605,975.156 " fill="none" id="urt_core_t-&gt;urt_nodestage_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7391.6335,980.0709,7392.6997,970.2799,7390.1093,975.3088,7385.0804,972.7185,7391.6335,980.0709" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e894174e7ccaed139fbaaa0f9b9ae8dc]

link urt_core_t to urt_topicid_t--><path d="M7806.4378,326.0487 C7507.358,350.6716 6916.0962,407.2609 6850.0878,474.3594 C6719.176,607.4333 6737.2148,847.7393 6758.4307,974.9988 " fill="none" id="urt_core_t-&gt;urt_topicid_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6759.3144,980.225,6761.7578,970.684,6758.4807,975.295,6753.8698,972.0179,6759.3144,980.225" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[972bd788fc5a0ee0badfa994920a3622]

link urt_core_t to urt_serviceid_t--><path d="M7806.5435,325.5025 C7485.3797,350.5642 6818.1446,409.7359 6735.0878,474.3594 C6576.7851,597.5293 6526.2181,844.8812 6510.2767,974.9708 " fill="none" id="urt_core_t-&gt;urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6509.6336,980.3122,6514.681,971.855,6510.2315,975.348,6506.7384,970.8985,6509.6336,980.3122" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[addb2e74eebae0995b3a6bf162197d46]

reverse link urt_node_t to urt_osThread_t--><path d="M16981.7922,785.349 C16912.0469,795.8358 16841.6359,804.7741 16774.0878,810.8594 C16729.2728,814.8967 3858.4945,807.0038 3815.0878,818.8594 C3765.7123,832.3453 3716.2249,853.4931 3669.5996,877.7792 " fill="none" id="urt_node_t&lt;-urt_osThread_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="16994.8065,783.3731,16988.274,780.3191,16982.9425,785.1744,16989.4749,788.2284,16994.8065,783.3731" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="16948.2892" y="803.7005">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3672.5056" y="866.8655">1</text><!--MD5=[71f626b81c482d35e653d2b548781872]

reverse link urt_node_t to urt_nodestage_t--><path d="M16981.5377,785.3705 C16911.8754,795.8439 16841.5535,804.7731 16774.0878,810.8594 C16758.1145,812.3004 7549.8064,810.5513 7536.0878,818.8594 C7478.5322,853.7158 7445.9865,924.4795 7428.455,980.2673 " fill="none" id="urt_node_t&lt;-urt_nodestage_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="16994.5366,783.3972,16988.0042,780.343,16982.6725,785.1982,16989.2049,788.2524,16994.5366,783.3972" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="16956.5386" y="803.7262">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7421.7795" y="969.3374">1</text><!--MD5=[ecbb69d8dc7b8a34ff21337736794c2a]

reverse link urt_node_t to urt_osEventListener_t--><path d="M16981.7929,785.3573 C16912.0475,795.8427 16841.6363,804.7783 16774.0878,810.8594 C16760.0431,812.1238 539.0567,808.8856 529.0878,818.8594 C462.7933,885.1866 464.5138,1172.856 529.0878,1240.8594 C617.8811,1334.3683 1560.8629,1279.8362 1688.0878,1300.8594 C1732.6676,1308.2259 1780.4451,1320.3738 1822.9849,1332.7691 " fill="none" id="urt_node_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="16994.8073,783.3817,16988.2749,780.3274,16982.9432,785.1826,16989.4756,788.2368,16994.8073,783.3817" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="16861.4022" y="804.0639">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1793.6123" y="1321.7507">1</text><!--MD5=[a052f483eba01ccbd89eefaa281cffa6]

reverse link urt_node_t to urt_osThreadFunction_t--><path d="M16981.7929,785.3571 C16912.0475,795.8426 16841.6363,804.7783 16774.0878,810.8594 C16760.0924,812.1194 596.0217,808.9206 586.0878,818.8594 C519.7933,885.1867 520.6959,1173.6421 586.0878,1240.8594 C670.5328,1327.6616 2647.8245,1270.6126 2765.0878,1300.8594 C2800.3527,1309.9556 2836.7487,1328.8168 2864.2551,1345.3481 " fill="none" id="urt_node_t&lt;-urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="16994.8073,783.3816,16988.2749,780.3274,16982.9432,785.1826,16989.4756,788.2368,16994.8073,783.3816" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="16932.7861" y="803.7096">0..*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2845.3542" y="1334.1359">1</text><!--MD5=[0cba389305cd35ebcbacaedacb3fbe88]

link urt_node_t to urt_status_t--><path d="M16994.2614,783.3633 C16920.4533,794.6821 16845.6623,804.3629 16774.0878,810.8594 C16661.2736,821.0991 12809.3308,816.0415 12696.0878,818.8594 C10733.9056,867.6861 8344.5771,1015.9545 7787.9214,1051.5949 " fill="none" id="urt_node_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7782.6601,1051.9319,7791.8974,1055.3482,7787.6499,1051.6122,7791.3859,1047.3646,7782.6601,1051.9319" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b00c0c61b5ae38465e12763fb588229]

link urt_nodeSetupCallback_t to urt_osEventMask_t--><path d="M17639.0372,1089.9057 C17596.8993,1133.2868 17512.5084,1210.8101 17422.0878,1240.8594 C17035.8015,1369.2334 3165.1193,1211.065 2768.0878,1300.8594 C2731.6358,1309.1036 2693.6778,1326.6201 2663.9943,1342.6526 " fill="none" id="urt_nodeSetupCallback_t-&gt;urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2659.3028,1345.2114,2669.1193,1344.4136,2663.6923,1342.8172,2665.2887,1337.3903,2659.3028,1345.2114" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[aa0b59559007c8ad9b783f6dc5ed8ad9]

link urt_nodeLoopCallback_t to urt_osEventMask_t--><path d="M17058.1869,1090.0366 C17000.2421,1133.5807 16886.034,1211.305 16774.0878,1240.8594 C16397.9173,1340.1704 3147.5547,1214.9997 2768.0878,1300.8594 C2731.6365,1309.107 2693.6786,1326.6237 2663.9949,1342.6555 " fill="none" id="urt_nodeLoopCallback_t-&gt;urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2659.3034,1345.2141,2669.1199,1344.4165,2663.693,1342.8201,2665.2895,1337.3932,2659.3034,1345.2141" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b3fa89608aace108b23bbfcd22712ec]

link urt_publisher_t to urt_config--><path d="M12237.6475,766.0058 C12231.2013,783.2568 12225.6016,801.3123 12222.0878,818.8594 C12165.8891,1099.5102 12137.6697,1189.3695 12222.0878,1462.8594 C12226.5851,1477.4292 12232.4617,1491.8923 12239.2698,1506.018 " fill="none" id="urt_publisher_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12241.6137,1510.7952,12241.2403,1500.9534,12239.4112,1506.3064,12234.0582,1504.4773,12241.6137,1510.7952" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[48a81098d0aa451a4923659bb2bbea3c]

link urt_publisher_t to urt_status_t--><path d="M12045.1998,765.9391 C11990.4924,784.2927 11931.9896,800.8401 11876.0878,810.8594 C11828.3952,819.4074 11488.4997,816.8729 11440.0878,818.8594 C10000.5144,877.9292 8255.5615,1012.5906 7788.0593,1049.7223 " fill="none" id="urt_publisher_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7782.9562,1050.1278,7792.2448,1053.4021,7787.9405,1049.7316,7791.611,1045.4273,7782.9562,1050.1278" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[c16173558393ca1d9128284d70afa235]

link urt_publisher_t to urt_delay_t--><path d="M12033.84,765.9171 C11982.2884,783.1309 11927.9244,799.2281 11876.0878,810.8594 C10098.6746,1209.6814 9611.9602,1052.7753 7800.0878,1240.8594 C7340.7401,1288.5427 6791.4591,1344.1968 6573.7388,1366.2024 " fill="none" id="urt_publisher_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6568.6577,1366.7159,6578.0144,1369.7905,6573.6323,1366.213,6577.2098,1361.831,6568.6577,1366.7159" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3f75a4ca5db56e37c381a718c71f2950]

reverse link urt_topic_t to urt_topicid_t--><path d="M11460.5787,803.553 C11453.7905,806.269 11446.952,808.7208 11440.0878,810.8594 C11410.0932,820.2045 6943.3097,803.1756 6916.0878,818.8594 C6856.2256,853.349 6819.5569,924.3498 6798.8489,980.3102 " fill="none" id="urt_topic_t&lt;-urt_topicid_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11472.7375,798.3892,11465.6513,797.0529,11461.6923,803.08,11468.7785,804.4163,11472.7375,798.3892" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11440.6373" y="812.0055">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6792.5784" y="969.3843">1</text><!--MD5=[2ea2859f8de074b5c128ff5997404a58]

reverse link urt_topic_t to urt_osMutex_t--><path d="M11460.5802,803.5578 C11453.7916,806.2725 11446.9525,808.7227 11440.0878,810.8594 C11418.4752,817.5866 4941.1535,808.384 4921.0878,818.8594 C4844.3338,858.9294 4795.4342,951.8369 4771.2419,1009.737 " fill="none" id="urt_topic_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11472.7397,798.3964,11465.6537,797.0588,11461.6937,803.0853,11468.7797,804.4228,11472.7397,798.3964" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11462.8336" y="818.451">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4774.3573" y="998.765">1</text><!--MD5=[ee40dc1875ed5325eec4e6c8c8102744]

reverse link urt_topic_t to urt_osEventSource_t--><path d="M11460.5816,803.5623 C11453.7926,806.2757 11446.9531,808.7244 11440.0878,810.8594 C11421.872,816.5243 465.572,805.3654 452.0878,818.8594 C319.5143,951.5295 329.2011,1099.1698 452.0878,1240.8594 C495.9122,1291.3893 860.2674,1331.8756 1123.4622,1354.891 " fill="none" id="urt_topic_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11472.7418,798.403,11465.6561,797.0643,11461.695,803.0901,11468.7808,804.4288,11472.7418,798.403" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11441.1499" y="818.1798">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1107.2202" y="1351.1205">1</text><!--MD5=[fd684a39d2d7f503df403fc4f1515616]

reverse link urt_topic_t to urt_osCondvar_t--><path d="M11460.5798,803.5564 C11453.7913,806.2715 11446.9524,808.7221 11440.0878,810.8594 C11401.8033,822.7793 5704.5515,807.5308 5666.0878,818.8594 C5552.7889,852.2291 5441.3274,931.6165 5369.9766,990.0966 " fill="none" id="urt_topic_t&lt;-urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11472.7391,798.3943,11465.6531,797.0571,11461.6933,803.0838,11468.7794,804.4209,11472.7391,798.3943" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11454.3705" y="818.4488">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5378.4214" y="979.2731">1</text><!--MD5=[f5e2f818dfb7c47ef0a661b061d2efd0]

link urt_topic_t to urt_config--><path d="M11726.0912,798.7038 C11824.0359,959.7894 12000.3691,1239.454 12174.0878,1462.8594 C12188.0242,1480.7819 12203.1122,1499.0547 12218.5005,1516.9857 " fill="none" id="urt_topic_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12221.9968,1521.0479,12219.1574,1511.6172,12218.7351,1517.2583,12213.094,1516.836,12221.9968,1521.0479" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[a01366c261f16bb61c03de8616a1256c]

reverse link urt_topic_t to urt_osTimer_t--><path d="M11460.5804,803.5584 C11453.7917,806.2729 11446.9526,808.7229 11440.0878,810.8594 C11394.6541,824.9998 4633.844,805.7998 4588.0878,818.8594 C4462.5342,854.6947 4337.8867,944.0122 4264.9787,1003.1328 " fill="none" id="urt_topic_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11472.74,798.3972,11465.6541,797.0594,11461.6938,803.0857,11468.7798,804.4235,11472.74,798.3972" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11454.3715" y="818.4518">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="4274.106" y="992.4397">0,1</text><!--MD5=[23aed2412a22c58889d68b772ca9654f]

link urt_topic_t to urt_status_t--><path d="M11470.6273,798.4032 C11460.5436,803.0985 11450.3343,807.3035 11440.0878,810.8594 C11088.1062,933.0114 8392.5956,1033.9861 7788.1279,1055.2393 " fill="none" id="urt_topic_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7782.8539,1055.4246,7791.9888,1059.1061,7787.8508,1055.249,7791.7079,1051.111,7782.8539,1055.4246" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[40d97a101b79fe2b6aede42ee911a5e3]

reverse link urt_message_t to urt_osTime_t--><path d="M12406.8649,1373.1824 C11339.6939,1359.7173 6673.3128,1297.7905 6371.0878,1240.8594 C6223.7572,1213.1063 6062.2992,1146.7692 5964.8557,1102.4538 " fill="none" id="urt_message_t&lt;-urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="12420.0197,1373.3483,12414.0706,1369.273,12408.0207,1373.197,12413.9698,1377.2723,12420.0197,1373.3483" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12403.9311" y="1370.0339">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5971.061" y="1122.8771">1</text><!--MD5=[2bb9471b6fda5815e085c87a24a67f11]

link urt_message_t to urt_config--><path d="M12562.0947,1447.2166 C12546.5016,1465.4593 12529.0608,1485.8636 12511.1947,1506.7656 " fill="none" id="urt_message_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12507.8541,1510.6739,12516.7425,1506.4317,12511.1029,1506.8732,12510.6614,1501.2336,12507.8541,1510.6739" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[570f5794230ed2cf7946261591bb6cd1]

link urt_message_t to urt_status_t--><path d="M12419.8195,1362.8757 C11586.1791,1309.627 8442.4016,1108.8186 7787.9099,1067.013 " fill="none" id="urt_message_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7782.6769,1066.6788,7791.4036,1071.2443,7787.6667,1066.9975,7791.9136,1063.2606,7782.6769,1066.6788" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0614ecc40a2323571c35dab79c646fe8]

reverse link urt_basesubscriber_t to urt_osEventListener_t--><path d="M12771.37,1064.9875 C12199.1065,1090.3638 9782.795,1194.8911 7799.0878,1240.8594 C7179.1073,1255.2261 2831.8803,1212.3096 2218.0878,1300.8594 C2172.0652,1307.4989 2122.7665,1319.9173 2079.3225,1332.7658 " fill="none" id="urt_basesubscriber_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="12784.544,1064.4028,12778.3725,1060.6728,12772.5558,1064.9349,12778.7273,1068.6649,12784.544,1064.4028" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12768.7137" y="1061.3214">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2090.8037" y="1321.7469">1</text><!--MD5=[60df476f9c89db6ca6af2af6f6dc5b29]

reverse link urt_basesubscriber_t to urt_osTime_t--><path d="M12885.9982,979.463 C12871.4103,911.4007 12838.1958,823.2775 12763.5878,814.8594 C12719.5962,809.8958 6432.5795,809.8958 6388.5878,814.8594 C6208.7892,835.1462 6023.2808,951.6711 5932.3656,1016.2608 " fill="none" id="urt_basesubscriber_t&lt;-urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="12888.5927,992.346,12891.3293,985.6743,12886.2234,980.5822,12883.4868,987.2538,12888.5927,992.346" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12879.226" y="981.2903">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5932.8567" y="1005.2411">1</text><!--MD5=[45abaca6e1a4b5e9e9e5f81f99145f21]

link urt_basesubscriber_t to urt_config--><path d="M12913.4995,1126.7083 C12930.3845,1212.9907 12945.371,1363.2653 12875.0878,1462.8594 C12793.278,1578.7873 12635.5785,1631.7203 12517.4829,1655.7364 " fill="none" id="urt_basesubscriber_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12512.2427,1656.7885,12521.854,1658.9388,12517.1449,1655.8043,12520.2793,1651.0953,12512.2427,1656.7885" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[fb477f5fd8787be5b7605dfea5d27dc3]

link urt_basesubscriber_t to urt_status_t--><path d="M12784.3982,1059.3594 C11118.8833,1059.3594 9453.3684,1059.3594 7787.8535,1059.3594 " fill="none" id="urt_basesubscriber_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7782.6637,1059.3594,7791.6637,1063.3594,7787.6637,1059.3594,7791.6637,1055.3594,7782.6637,1059.3594" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[c18fda7f16d94dac1a94387e8df76308]

reverse link urt_nrtsubscriber_t to urt_delay_t--><path d="M15139.06,749.3718 C15068.2809,774.2554 14987.2977,798.3384 14911.0878,810.8594 C14843.2196,822.0099 12501.356,800.4484 12435.0878,818.8594 C12082.8693,916.7147 12080.1847,1139.0527 11729.0878,1240.8594 C11471.2581,1315.6217 7244.1032,1367.0776 6568.7513,1374.8392 " fill="none" id="urt_nrtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="15151.6955,744.8833,15144.7027,743.1224,15140.3877,748.9001,15147.3806,750.6609,15151.6955,744.8833" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="15124.8553" y="765.2555">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6576.4583" y="1387.4138">0,2</text><!--MD5=[cf4e9b81c32b9b138596f59fa1fb3fd6]

link urt_nrtsubscriber_t to urt_config--><path d="M15151.692,744.8621 C15078.0188,771.2979 14991.8702,797.5664 14911.0878,810.8594 C14881.705,815.6944 12793.8397,805.7801 12767.0878,818.8594 C12522.513,938.4349 12485.4663,1046.2492 12389.0878,1300.8594 C12364.8185,1364.9736 12356.7873,1439.6761 12355.744,1505.4212 " fill="none" id="urt_nrtsubscriber_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12355.6765,1510.541,12359.795,1501.5946,12355.7425,1505.5414,12351.7956,1501.489,12355.6765,1510.541" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[249ee4d4a0d0f021e94ff447977fc36f]

link urt_nrtsubscriber_t to urt_status_t--><path d="M15151.6961,744.8871 C15078.0235,771.3261 14991.8741,797.5903 14911.0878,810.8594 C14841.273,822.3265 12434.8121,816.9384 12364.0878,818.8594 C10540.4227,868.3932 8322.1331,1014.7179 7787.9146,1051.0986 " fill="none" id="urt_nrtsubscriber_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7782.8632,1051.4428,7792.1144,1054.8215,7787.8516,1051.1028,7791.5704,1046.84,7782.8632,1051.4428" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[1ffa2ec21542e79acf15fa09492f4ab5]

reverse link urt_srtsubscriber_t to urt_usefulness_f--><path d="M14049.3649,767.6848 C13978.476,785.6038 13903.2876,801.5309 13832.0878,810.8594 C13809.5478,813.8126 7305.476,808.8048 7285.0878,818.8594 C7195.3228,863.128 7136.8969,974.163 7112.7375,1028.473 " fill="none" id="urt_srtsubscriber_t&lt;-urt_usefulness_f" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="14062.0854,764.4366,14055.2823,762.0454,14050.4585,767.4056,14057.2616,769.7967,14062.0854,764.4366" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="14039.6868" y="784.157">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="7093.284" y="1017.6565">0,1</text><!--MD5=[af3bb42c2cc648980c9a8c0bd0e49df3]

reverse link urt_srtsubscriber_t to urt_delay_t--><path d="M14048.6585,767.628 C13977.9697,785.4916 13903.0414,801.4105 13832.0878,810.8594 C13751.2448,821.6252 12444.6387,806.0899 12364.0878,818.8594 C11754.9301,915.4278 11650.0367,1136.9514 11042.0878,1240.8594 C10586.4474,1318.7355 7172.2409,1366.7727 6569.0174,1374.6955 " fill="none" id="urt_srtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="14061.3436,764.3903,14054.5407,761.9985,14049.7164,767.3581,14056.5193,769.7499,14061.3436,764.3903" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="14029.3226" y="784.4328">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6576.7448" y="1371.1107">0,2</text><!--MD5=[57f9c03e706aa97ce919c51d40a1f0dd]

link urt_srtsubscriber_t to urt_config--><path d="M14680.6809,764.3809 C14755.3848,783.6138 14835.4851,800.9321 14911.0878,810.8594 C14923.3197,812.4656 18455.3742,810.1261 18464.0878,818.8594 C18530.3241,885.2449 18527.9985,1172.2321 18464.0878,1240.8594 C18254.7398,1465.6575 13435.0617,1639.2996 12517.2823,1670.3874 " fill="none" id="urt_srtsubscriber_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12512.271,1670.5571,12521.4013,1674.2501,12517.2681,1670.3878,12521.1304,1666.2547,12512.271,1670.5571" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ddfd53c980ad9ebb8f86954377552edb]

link urt_srtsubscriber_t to urt_status_t--><path d="M14061.3454,764.404 C13986.9834,783.5698 13907.3028,800.8527 13832.0878,810.8594 C13747.3335,822.1353 12378.5541,816.4165 12293.0878,818.8594 C10498.9965,870.1407 8317.1161,1014.8533 7787.8692,1051.0652 " fill="none" id="urt_srtsubscriber_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7782.8643,1051.4077,7792.1164,1054.7838,7787.8526,1051.0662,7791.5701,1046.8024,7782.8643,1051.4077" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b350769e483c42ea2704e388ea6a04f2]

reverse link urt_frtsubscriber_t to urt_delay_t--><path d="M15906.1042,784.0117 C15859.7166,795.038 15812.5687,804.4703 15767.0878,810.8594 C15725.8262,816.6558 12807.0608,807.0997 12767.0878,818.8594 C12433.4325,917.0179 12440.6786,1139.1519 12108.0878,1240.8594 C11832.0157,1325.2833 7271.8741,1368.8494 6568.7935,1375.078 " fill="none" id="urt_frtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="15918.8423,780.9398,15912.0717,778.458,15907.1768,783.7532,15913.9473,786.235,15918.8423,780.9398" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="15885.7938" y="801.4734">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6576.6569" y="1387.6709">0..4</text><!--MD5=[7be759a40cf40f1b9231b6649fee3f4f]

link urt_frtsubscriber_t to urt_config--><path d="M16622.9795,780.9352 C16673.2363,793.2558 16724.6492,803.8525 16774.0878,810.8594 C16786.0517,812.555 18505.5632,810.2955 18514.0878,818.8594 C18646.4044,951.7857 18630.3866,1093.7143 18514.0878,1240.8594 C18249.2481,1575.9436 18002.1982,1404.5569 17579.0878,1462.8594 C16562.641,1602.9206 13262.0624,1661.5231 12517.3226,1673.1367 " fill="none" id="urt_frtsubscriber_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12512.1701,1673.2169,12521.2314,1677.076,12517.1695,1673.1389,12521.1066,1669.077,12512.1701,1673.2169" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[29df74e07807e6378398cb43d45b3c27]

link urt_frtsubscriber_t to urt_status_t--><path d="M15919.1869,780.8656 C15868.6114,793.2431 15816.852,803.874 15767.0878,810.8594 C15677.3837,823.4512 12596.6407,816.4989 12506.0878,818.8594 C10623.1752,867.942 8331.7363,1015.2306 7787.8856,1051.314 " fill="none" id="urt_frtsubscriber_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7782.7441,1051.6553,7791.9894,1055.0502,7787.7331,1051.324,7791.4593,1047.0677,7782.7441,1051.6553" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bc1cc9ca99c1274e9c895cd105ca1d4c]

reverse link urt_hrtsubscriber_t to urt_delay_t--><path d="M12749.7301,804.5455 C12735.7386,806.8584 12721.8383,808.9734 12708.0878,810.8594 C12601.0751,825.5368 12329.6168,808.6277 12222.0878,818.8594 C11139.1337,921.906 10892.7262,1124.8129 9811.0878,1240.8594 C9156.2774,1311.1125 7034.2208,1363.092 6568.8468,1373.8164 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="12762.6034,802.3666,12756.02,799.424,12750.7717,804.3693,12757.3551,807.3118,12762.6034,802.3666" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12727.5066" y="822.2065">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6576.7143" y="1370.1643">0..5</text><!--MD5=[47265b8b91af56102ad98d46909bef01]

reverse link urt_hrtsubscriber_t to urt_osTimer_t--><path d="M12751.6309,804.5327 C12736.9993,806.8799 12722.4627,809.001 12708.0878,810.8594 C12652.1643,818.0893 4642.3128,803.388 4588.0878,818.8594 C4462.5309,854.6832 4337.8844,944.004 4264.9775,1003.1284 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="12764.5118,802.4128,12757.9418,799.4403,12752.6711,804.3617,12759.2411,807.3341,12764.5118,802.4128" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12737.9569" y="822.2553">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4264.3984" y="992.4347">1</text><!--MD5=[c255c4720016d78ffa1594ef43d10003]

link urt_hrtsubscriber_t to urt_config--><path d="M12760.7044,802.3983 C12743.0035,805.5273 12725.4253,808.368 12708.0878,810.8594 C12693.0689,813.0176 12446.6563,809.0412 12435.0878,818.8594 C12241.8048,982.9005 12275.1842,1306.6227 12319.4603,1505.7107 " fill="none" id="urt_hrtsubscriber_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12320.5743,1510.6836,12322.5102,1501.0268,12319.4813,1505.8045,12314.7037,1502.7756,12320.5743,1510.6836" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[acfaba0e8df90d54cbfcf78ceb19e2ee]

link urt_hrtsubscriber_t to urt_status_t--><path d="M12762.61,802.4152 C12744.2678,805.577 12726.0502,808.4149 12708.0878,810.8594 C12646.7579,819.2056 12212.9474,816.7567 12151.0878,818.8594 C10416.5305,877.8201 8307.7018,1016.1694 7788.0406,1051.1909 " fill="none" id="urt_hrtsubscriber_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7782.7499,1051.5476,7791.9986,1054.9329,7787.7386,1051.2111,7791.4604,1046.9511,7782.7499,1051.5476" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8a07eed8d365d510d46940e8916e2aca]

reverse link urt_baserequest_t to urt_osMutex_t--><path d="M8856.181,776.9138 C8842.6044,790.6241 8827.1966,802.6862 8810.0878,810.8594 C8785.7188,822.501 4945.0235,806.351 4921.0878,818.8594 C4844.3504,858.9613 4795.4454,951.8583 4771.2475,1009.7478 " fill="none" id="urt_baserequest_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8865.2861,767.1863,8858.2656,768.8332,8857.0857,775.9471,8864.1062,774.3002,8865.2861,767.1863" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8852.9322" y="786.4466">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4765.2387" y="998.7773">1</text><!--MD5=[7c9c768598bcd949a3bf11c8b3a21e4b]

reverse link urt_baserequest_t to urt_osTime_t--><path d="M8856.1722,776.8953 C8842.5967,790.608 8827.1916,802.6758 8810.0878,810.8594 C8779.5304,825.4802 6404.0911,811.2231 6371.0878,818.8594 C6205.5928,857.1517 6031.1422,957.9631 5939.7162,1016.1882 " fill="none" id="urt_baserequest_t&lt;-urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8865.2767,767.1665,8858.2564,768.8142,8857.0772,775.9282,8864.0976,774.2805,8865.2767,767.1665" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8861.4597" y="786.4255">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5941.3789" y="1005.1569">1</text><!--MD5=[abb05cad5cff2c76ceafdc2a055c056c]

reverse link urt_baserequest_t to urt_osEventSource_t--><path d="M8856.1891,776.9307 C8842.6114,790.6387 8827.2011,802.6958 8810.0878,810.8594 C8796.8252,817.1862 356.4735,808.4639 346.0878,818.8594 C213.5287,951.5439 222.2019,1100.0426 346.0878,1240.8594 C396.8579,1298.5679 829.2646,1338.4641 1123.3811,1359.2101 " fill="none" id="urt_baserequest_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8865.2947,767.2042,8858.2741,768.8506,8857.0937,775.9645,8864.1143,774.318,8865.2947,767.2042" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8852.9414" y="786.4657">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1108.0045" y="1371.0409">1</text><!--MD5=[6e4cdc2fe71f4b9ae682dc44b1d45b47]

reverse link urt_baserequest_t to urt_osEventListener_t--><path d="M8856.189,776.9305 C8842.6113,790.6386 8827.2011,802.6956 8810.0878,810.8594 C8796.9913,817.107 462.3434,808.5941 452.0878,818.8594 C319.5295,951.5447 322.7212,1105.0605 452.0878,1240.8594 C546.9252,1340.4122 1552.3965,1278.6614 1688.0878,1300.8594 C1732.7973,1308.1735 1780.7128,1320.3475 1823.3365,1332.7819 " fill="none" id="urt_baserequest_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8865.2946,767.204,8858.274,768.8504,8857.0936,775.9643,8864.1142,774.3178,8865.2946,767.204" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8841.5013" y="786.7161">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1803.2949" y="1321.7656">1</text><!--MD5=[8b261aef1d2e0a451326ad6807af1e66]

reverse link urt_nrtrequest_t to urt_delay_t--><path d="M10333.0582,403.0768 C10287.7194,428.7152 10235.5098,453.2241 10184.0878,466.3594 C10116.6959,483.5741 7748.0425,459.5207 7680.0878,474.3594 C7327.1093,551.4366 7292.6978,732.113 6940.0878,810.8594 C6922.953,814.686 6320.4237,806.3664 6308.0878,818.8594 C6242.1979,885.5886 6267.3124,1156.4104 6308.0878,1240.8594 C6325.1304,1276.1559 6356.3825,1305.0542 6387.4863,1326.9276 " fill="none" id="urt_nrtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="10344.4323,396.5405,10337.2371,396.0619,10334.0279,402.5195,10341.2231,402.9981,10344.4323,396.5405" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10325.152" y="416.7233">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6359.4696" y="1319.5097">0,2</text><!--MD5=[8aa30e666b650ddcf5fdd53ac0c33b2b]

link urt_nrtrequest_t to urt_config--><path d="M10589.8472,396.4053 C10637.95,424.4215 10694.9938,452.1403 10751.0878,466.3594 C10764.5324,469.7674 18730.2853,464.5471 18740.0878,474.3594 C18817.7128,552.0622 18816.4467,1383.912 18740.0878,1462.8594 C18628.3192,1578.4169 13469.335,1659.2644 12517.2877,1673.2132 " fill="none" id="urt_nrtrequest_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12512.0909,1673.2893,12521.1486,1677.1569,12517.0904,1673.216,12521.0313,1669.1578,12512.0909,1673.2893" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4d5eda3ecbcd41d6d2b940fb4748a5e6]

link urt_nrtrequest_t to urt_status_t--><path d="M10344.4303,396.5329 C10296.572,424.471 10239.8657,452.1039 10184.0878,466.3594 C10168.4784,470.3488 7877.1489,464.9265 7864.0878,474.3594 C7725.7395,574.2762 7683.6793,776.4182 7671.6421,914.8399 " fill="none" id="urt_nrtrequest_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7671.1925,920.1476,7675.9381,911.5174,7671.6146,915.1654,7667.9666,910.842,7671.1925,920.1476" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[094c3c4918275dedd163d58d6c00e2be]

reverse link urt_srtrequest_t to urt_delay_t--><path d="M9646.8396,408.372 C9592.7085,432.0992 9532.2937,454.2102 9474.0878,466.3594 C9442.3957,472.9745 7173.8291,464.2041 7143.0878,474.3594 C6903.5859,553.4784 6925.0146,730.02 6686.0878,810.8594 C6674.2717,814.8573 6245.8295,809.9606 6237.0878,818.8594 C6171.3702,885.7583 6189.6727,1159.9516 6237.0878,1240.8594 C6269.4588,1296.0962 6333.6068,1330.4355 6387.5863,1350.6512 " fill="none" id="urt_srtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9659.0099,402.9644,9651.9026,401.7453,9648.0437,407.837,9655.151,409.0561,9659.0099,402.9644" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9636.5941" y="423.1177">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6359.5776" y="1345.1238">0,1</text><!--MD5=[421371e2a1201d214a6175d8cede910e]

link urt_srtrequest_t to urt_config--><path d="M9999.1466,403.0566 C10056.2958,428.7956 10121.4637,453.3692 10184.0878,466.3594 C10198.5117,469.3513 18658.6764,463.9382 18669.0878,474.3594 C18746.7151,552.0599 18745.4319,1383.8977 18669.0878,1462.8594 C18558.6586,1577.075 13463.9052,1658.9207 12517.5163,1673.1523 " fill="none" id="urt_srtrequest_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12512.35,1673.2299,12521.4092,1677.0939,12517.3494,1673.1546,12521.2888,1669.0948,12512.35,1673.2299" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[74f0decf3779c06ec30af8770fc7e1ae]

link urt_srtrequest_t to urt_status_t--><path d="M9659.007,402.9505 C9601.8564,428.683 9536.6933,453.2795 9474.0878,466.3594 C9459.8058,469.3433 7383.3851,464.0228 7373.0878,474.3594 C7267.5376,580.3123 7269.9607,702.5466 7373.0878,810.8594 C7385.5915,823.9918 7520.7144,809.2438 7536.0878,818.8594 C7572.3691,841.5522 7599.4428,877.9404 7619.303,915.6156 " fill="none" id="urt_srtrequest_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7621.6893,920.2157,7621.0956,910.3847,7619.3869,915.7773,7613.9942,914.0686,7621.6893,920.2157" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4360c48b38d2a92e1c3ebeee4ab98bfc]

link urt_srtrequest_t to urt_usefulness_f--><path d="M9659.0082,402.9561 C9601.8577,428.6889 9536.6943,453.2843 9474.0878,466.3594 C9459.2142,469.4657 7298.3358,465.3671 7286.0878,474.3594 C7193.9283,542.022 7125.5947,907.2015 7105.8867,1023.6545 " fill="none" id="urt_srtrequest_t-&gt;urt_usefulness_f" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7105.0401,1028.6814,7110.4793,1020.4707,7105.8705,1023.7508,7102.5904,1019.142,7105.0401,1028.6814" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e590cea536a036f5956f75e03ef95bbf]

reverse link urt_frtrequest_t to urt_delay_t--><path d="M10806.3322,451.5302 C10787.5589,457.346 10768.7148,462.3866 10750.0878,466.3594 C10709.9624,474.9173 7835.0698,461.5649 7796.0878,474.3594 C7555.413,553.353 7576.5417,731.1954 7336.0878,810.8594 C7323.3515,815.079 6379.5358,809.3329 6370.0878,818.8594 C6304.0521,885.4443 6339.0468,1152.368 6370.0878,1240.8594 C6378.7313,1265.5001 6393.9733,1288.9845 6410.3305,1309.2527 " fill="none" id="urt_frtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="10818.9834,447.4923,10812.0512,445.506,10807.5516,451.141,10814.4837,453.1273,10818.9834,447.4923" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10795.6105" y="467.3391">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6377.607" y="1298.2308">0..4</text><!--MD5=[b1f137a561f49721d911648e5542119f]

link urt_frtrequest_t to urt_config--><path d="M11424.1765,313.5244 C12878.7744,317.2389 18679.9415,340.439 18811.0878,474.3594 C18964.7816,631.3042 18963.8345,1304.9927 18811.0878,1462.8594 C18697.9933,1579.7449 13476.0074,1659.5838 12517.4134,1673.2677 " fill="none" id="urt_frtrequest_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12512.1812,1673.3423,12521.2373,1677.2136,12517.1807,1673.271,12521.1233,1669.2144,12512.1812,1673.3423" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d63fe507f799090eb2c242d7ab41013e]

link urt_frtrequest_t to urt_status_t--><path d="M10818.9814,447.483 C10796.0437,455.0177 10772.9028,461.4891 10750.0878,466.3594 C10714.7587,473.9012 8181.728,458.8787 8149.0878,474.3594 C7957.5231,565.2154 7816.448,773.7121 7738.2607,915.6039 " fill="none" id="urt_frtrequest_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7735.7358,920.2024,7743.5736,914.2384,7738.1422,915.8195,7736.5611,910.3882,7735.7358,920.2024" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bea47d1dd6f09b5135df7519b40184db]

reverse link urt_hrtrequest_t to urt_delay_t--><path d="M8819.5077,459.5425 C8810.3425,462.0599 8801.1908,464.3446 8792.0878,466.3594 C8702.6947,486.1453 7234.2972,458.7103 7144.0878,474.3594 C6690.0244,553.1282 6432.3749,442.7353 6166.0878,818.8594 C6057.7138,971.9351 6063.1125,1084.1011 6166.0878,1240.8594 C6214.7752,1314.9756 6313.786,1348.5953 6387.278,1363.7238 " fill="none" id="urt_hrtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8832.0109,455.9692,8825.1427,453.7719,8820.4729,459.2667,8827.341,461.4639,8832.0109,455.9692" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8817.0538" y="475.8136">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6355.7279" y="1359.3599">0..4</text><!--MD5=[50bfbddabe3b6f3afe991f5d307785f8]

reverse link urt_hrtrequest_t to urt_osTimer_t--><path d="M8819.5091,459.5488 C8810.3435,462.0643 8801.1913,464.347 8792.0878,466.3594 C8742.0455,477.4219 6998.1955,470.5359 6947.0878,474.3594 C5890.4753,553.4076 5583.4336,455.5888 4588.0878,818.8594 C4467.8535,862.7413 4344.9034,946.9716 4270.5155,1003.1777 " fill="none" id="urt_hrtrequest_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8832.0129,455.9778,8825.1451,453.7793,8820.4743,459.2733,8827.3421,461.4717,8832.0129,455.9778" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8780.2331" y="472.9969">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="4257.8801" y="992.49">0,1</text><!--MD5=[2663060494b35c1af191cf8ba65e9057]

link urt_hrtrequest_t to urt_config--><path d="M9432.1702,455.9078 C9446.1852,459.9017 9460.1972,463.4255 9474.0878,466.3594 C9489.3586,469.5848 18451.3459,465.346 18464.0878,474.3594 C18604.8966,573.9655 18682.1942,1097.6392 18586.0878,1240.8594 C18441.0389,1457.0153 18298.513,1407.8103 18044.0878,1462.8594 C17490.6521,1582.6044 13361.7671,1658.5148 12517.5795,1672.8743 " fill="none" id="urt_hrtrequest_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12512.3557,1672.9631,12521.4224,1676.8095,12517.355,1672.8781,12521.2864,1668.8107,12512.3557,1672.9631" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3d55577c6a64a095d4d92af2794b0aa7]

link urt_hrtrequest_t to urt_status_t--><path d="M8832.0099,455.9647 C8818.6715,459.9238 8805.3281,463.427 8792.0878,466.3594 C8781.5039,468.7035 7238.7335,466.6744 7231.0878,474.3594 C7125.6074,580.3818 7126.7317,703.7302 7231.0878,810.8594 C7242.9153,823.0012 7521.6155,810.0355 7536.0878,818.8594 C7572.821,841.2559 7600.0659,877.7895 7619.945,915.6954 " fill="none" id="urt_hrtrequest_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7622.3329,920.324,7621.7614,910.4917,7620.0405,915.8805,7614.6518,914.1596,7622.3329,920.324" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[85137379eadac9ac066ccd1aa3005a20]

reverse link urt_service_t to urt_serviceid_t--><path d="M8152.1505,724.9461 C7963.1669,756.8679 7716.5743,793.6122 7496.0878,810.8594 C7472.2984,812.7203 6657.6049,806.6753 6637.0878,818.8594 C6578.4223,853.6981 6543.5171,924.4638 6524.1151,980.2569 " fill="none" id="urt_service_t&lt;-urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8165.0851,722.7537,8158.501,719.8127,8153.2539,724.7593,8159.838,727.7002,8165.0851,722.7537" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8149.0632" y="721.0855">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6517.6848" y="969.3261">1</text><!--MD5=[bfc39859b663e58a9d342532110a4ed9]

reverse link urt_service_t to urt_osMutex_t--><path d="M8151.8374,705.0397 C7842.1359,740.102 7353.0583,790.2582 6928.0878,810.8594 C6914.1666,811.5343 4933.4342,812.3922 4921.0878,818.8594 C4844.3891,859.0353 4795.4714,951.908 4771.2606,1009.7729 " fill="none" id="urt_service_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8165.0709,703.5383,8158.6582,700.2402,8153.1474,704.8911,8159.5601,708.1892,8165.0709,703.5383" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8149.0486" y="701.3597">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4770.8785" y="999.1952">1</text><!--MD5=[1bad46d95b358cb94878caad932de3eb]

reverse link urt_service_t to urt_osEventSource_t--><path d="M8151.9078,670.6216 C6656.3355,684.2531 276.032,746.6061 205.0878,818.8594 C73.6839,952.688 80.151,1100.9742 205.0878,1240.8594 C265.2202,1308.1865 790.6292,1346.239 1123.5208,1363.7887 " fill="none" id="urt_service_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8164.9643,670.5027,8158.9281,666.5575,8152.9648,670.612,8159.001,674.5572,8164.9643,670.5027" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8148.9391" y="682.845">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1107.2805" y="1360.2823">1</text><!--MD5=[7ece8bae7b00261083263672987da7c8]

reverse link urt_service_t to urt_osEventListener_t--><path d="M8151.6099,670.6989 C6667.2503,684.5873 380.0548,747.5846 310.0878,818.8594 C178.6997,952.7035 180.3826,1105.3838 310.0878,1240.8594 C363.0805,1296.2096 1612.4344,1288.6769 1688.0878,1300.8594 C1733.0515,1308.0999 1781.2415,1320.3352 1824.0323,1332.8461 " fill="none" id="urt_service_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8164.8378,670.5753,8158.8007,666.6316,8152.8383,670.6875,8158.8755,674.6312,8164.8378,670.5753" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8148.8093" y="667.5211">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1794.8266" y="1321.84">1</text><!--MD5=[33249c42c81fffc5b10022c232aa2b33]

link urt_service_t to urt_config--><path d="M8756.7257,802.8813 C8764.2262,805.6381 8771.6887,808.3033 8779.0878,810.8594 C9929.9978,1208.4495 10255.2887,1181.9277 11440.0878,1462.8594 C11713.6559,1527.726 12033.4294,1600.317 12216.9044,1641.6573 " 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="12222.0227,1642.8104,12214.122,1636.93,12217.145,1641.7114,12212.3636,1644.7344,12222.0227,1642.8104" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5471b15d17b5493f5e528354308bf7b4]

link urt_service_t to urt_status_t--><path d="M8188.9375,802.8655 C8051.9026,870.3487 7893.1581,948.5229 7787.2833,1000.6613 " 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="7782.5968,1002.9692,7792.438,1002.5814,7787.0824,1000.7602,7788.9036,995.4045,7782.5968,1002.9692" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b20e4c090fab6eb99d32d929022c00f1]

@startuml

title **µRtWare**\nOverview\n

  package "Configuration" <<Node>> {

  class urt_config <<C,BFBFBF>> {

  .. general ..

  URT_CFG_DELAY_WIDTH : int

  URT_CFG_NODESTAGE_WIDTH : int

  .. publish-subscribe ..

  URT_CFG_PUBSUB_ENABLED : bool

  URT_CFG_PUBSUB_TOPICID_WIDTH : int

  URT_CFG_PUBSUB_PROFILING : bool

  URT_CFG_PUBSUB_QOS_DEADLINECHECKS : bool

  URT_CFG_PUBSUB_QOS_RATECHECKS : bool

  URT_CFG_PUBSUB_QOS_JITTERCHECKS : bool

  .. remote procedure calls ..

  URT_CFG_RPC_ENABLED : bool

  URT_CFG_RPC_SERVICEID_WIDTH : int

  URT_CFG_RPC_PROFILING : bool

  URT_CFG_RPC_QOS_DEADLINECHECKS : bool

  URT_CFG_RPC_QOS_JITTERCHECKS : bool

  .. debug ..

  URT_CFG_DEBUG_ENABLED : bool

  .. OSAL ..

  URT_CFG_OSAL_HEADER : string

  URT_CFG_OSAL_CONDVAR_TIMEOUT : bool

}

}

  package "Primitives" <<Node>> {

  class urt_nodestage_t <<T,00CFFF>> {

  .. URT_CFG_NODESTAGE_WIDTH == 8 ..

  uin8_t

  .. URT_CFG_NODESTAGE_WIDTH == 16 ..

  uint16_t

  .. URT_CFG_NODESTAGE_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_NODESTAGE_WIDTH == 64 ..

  uint64_t

}

  class urt_topicid_t <<T,00CFFF>> {

  .. URT_CFG_PUBSUB_TOPICID_WIDTH == 8 ..

  uin8_t

  .. URT_CFG_PUBSUB_TOPICID_WIDTH == 16 ..

  uint16_t

  .. URT_CFG_PUBSUB_TOPICID_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_PUBSUB_TOPICID_WIDTH == 64 ..

  uint64_t

}

  class urt_serviceid_t <<T,00CFFF>> {

  .. URT_CFG_RPC_SERVICEID_WIDTH == 8 ..

  uin8_t

  .. URT_CFG_RPC_SERVICEID_WIDTH == 16 ..

  uint16_t

  .. URT_CFG_RPC_SERVICEID_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_RPC_SERVICEID_WIDTH == 64 ..

  uint64_t

}

  class urt_status_t <<E,FF7F3F>> {

  URT_STATUS_OK = 0

  URT_STATUS_DEADLINEVIOLATION

  URT_STATUS_JITTERVIOLATION

  URT_STATUS_RATEVIOLATION

  URT_STATUS_SYNC_PENDING

  URT_STATUS_SYNC_ERROR

  URT_STATUS_NODE_INVALEVTMASK

  .. URT_CFG_PUBSUB_ENABLED == true ..

  URT_STATUS_TOPIC_DUPLICATE

  URT_STATUS_PUBLISH_TIMEOUT

  URT_STATUS_SUBSCRIBE_TOPICSET

  URT_STATUS_FETCH_NOTOPIC

  URT_STATUS_FETCH_NOMESSAGE

  URT_STATUS_UNSUBSCRIBE_NOTOPIC

  .. URT_CFG_RPC_ENABLED == true ..

  URT_STATUS_SERVICE_DUPLICATE

  URT_STATUS_REQUEST_BADOWNER

  URT_STATUS_REQUEST_LOCKED

}

  class urt_delay_t <<T,00CFFF>> {

  .. URT_CFG_DELAY_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_DELAY_WIDTH == 64 ..

  uint64_t

  __

  URT_DELAY_IMMEDIATE = 0

  URT_DELAY_INFINITE = 0xF..F

}

  class urt_usefulness_f <<F,E0E0E0>> {

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

}

}

  package "OSAL" <<Node>> {

  package "time" <<Rectangle>> {

    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 : urt_delay_t) : void

  }

}

  package "mutex" <<Rectangle>> {

    class urt_osMutex_t <<T,00CFFF>> {

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

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

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

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

  }

}

  package "condition variable" <<Rectangle>> {

    class urt_osCondvarWaitStatus_t <<E,FF7F3F>> {

    URT_CONDVAR_WAITSTATUS_SIGNAL = 1

    URT_CONDVAR_WAITSTATUS_BROADCAST = 2

    URT_CONDVAR_WAITSTATUS_TIMEOUT = 0

  }

    class urt_osCondvar_t <<T,00CFFF>> {

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

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

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

    .. URT_CFG_OSAL_CONDVAR_TIMEOUT == false ..

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

    .. URT_CFG_OSAL_CONDVAR_TIMEOUT == true ..

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

  }

}

  package "timer" <<Rectangle>> {

    class urt_osTimerCallback_t <<T,00CFFF>> {

    urt_osTimerCallback_t (parameter : void*) : void

  }

    class urt_osTimer_t <<T,00CFFF>> {

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

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

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

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

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

  }

} 

  package "thread" <<Rectangle>> {

    class urt_osThreadPrio_t <<T,00CFFF>> {

    URT_THREAD_PRIO_LOW_MIN

    URT_THREAD_PRIO_LOW_MAX

    URT_THREAD_PRIO_NORMAL_MIN

    URT_THREAD_PRIO_NORMAL_MAX

    URT_THREAD_PRIO_HIGH_MIN

    URT_THREAD_PRIO_HIGH_MAX

    URT_THREAD_PRIO_RT_MIN

    URT_THREAD_PRIO_RT_MAX

  }

    class urt_osThreadFunction_t <<T,00CFFF>> {

    urt_osThreadFunction_t (arg : void*) : void

  }

    class urt_osThreadTerminateSignal_t <<E,FF7F3F>> {

    URT_THREAD_TERMINATE_REQUEST = 15

    URT_THREAD_TERMINATE_KILL = 9

  }

    class urt_osThreadState_t <<E,FF7F3F>> {

    URT_THREAD_STATE_INACTIVE = 0

    URT_THREAD_STATE_RUNNING = 1

    URT_THREAD_STATE_READY = 2

    URT_THREAD_STATE_SLEEPING = 3

    URT_THREAD_STATE_SUSPENDED = 4

    URT_THREAD_STATE_WAITING = 5

    URT_THREAD_STATE_TERMINATED = 6

  }

    class urt_osThread_t <<T,00CFFF>> {

    URT_THREAD_SLEEP_MAX : float

    URT_THREAD_SSLEP_MAX : unsigned int

    URT_THREAD_MSLEEP_MAX : unsigned int

    URT_THREAD_USLEEP_MAX : urt_delay_t

    - -

    + {method} URT_THREAD_MEMORY (varname, stacksize)

    ..

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

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

    + {method} urtThreadYield (void) : void

    + {method} urtThreadGetPriority (void) : urt_osThreadPrio_t

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

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

    + {method} urtThreadSSleep (seconds : unsigned int) : void

    + {method} urtThreadMSleep (milliseconds : unsigned int) : void

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

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

    + {method} urtThreadExit (void) : void

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

    + {method} urtThreadShouldTerminate (void) : bool

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

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

    + {method} 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*

  }

} 

  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) : void

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

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

  }

} 

  package "streams" <<Rectangle>> {

    class urt_streams <<F,E0E0E0>> {

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

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

  }

}

  package "debug" <<Rectangle>> {

    class urt_debug <<F,E0E0E0>> {

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

  }

}

}

  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

  - {field} {static} _status : urt_status_t

  .. URT_CFG_PUBSUB_ENABLED == true ..

  - {field} {static} _topics : urt_topic_t*

  .. URT_CFG_RPC_ENABLED == true ..

  - {field} {static} _services : urt_service_t*

  __

  + {method} urtCoreInit (void) : void

  + {method} urtCoreGetStatus (void) : urt_status_t

  + {method} urtCoreStartNodes (void) : void

  + {method} urtCoreSynchronize (node : urt_node_t*) : urt_status_t

  + {method} urtCoreStopNodes (reason : urt_status_t) : urt_status_t

  + {method} urtCoreGetEventSource (void) : urt_osEventSource_t*

  + {method} urtCoreGetMutex (void) : urt_osMutex_t*

  .. URT_CFG_PUBSUB_ENABLED == true ..

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

  .. URT_CFG_RPC_ENABLED == true ..

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

}

  package "node" <<Rectangle>> {

    class urt_nodeSetupCallback_t <<T,00CFFF>> {

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

  }

    class urt_nodeLoopCallback_t <<T,00CFFF>> {

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

  }

    class urt_nodeShutdownCallback_t <<T,00CFFF>> {

    urt_nodeShutdownCallback_t (node : urt_node_t*, cause : urt_status_t, arg : void*) : void

  }

    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} shutdowncallback : urt_nodeShutdownCallback_t*

    + {field} shutdownparams : void*

    + {field} stage : urt_nodestage_t

    + {field} listener : urt_osEventListener_t

    .. URT_CFG_PUBSUB_PROFILING == true || URT_CFG_RPC_PROFILING = true ..

    + {field} loops : uint64_t

    __

    - {method} {static} _main : urt_osThreadFunction_t

    + {method} urtNodeInit (node : urt_node_t*, thread : urt_osThread_t*, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*, shutdowncallback : urt_nodeShutdownCallback_t*, shutodwnparams : void*) : void

  }

} 

  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} numHrtConsumersLeft : unsigned int

  .. URT_CFG_PUBSUB_PROFILING == true ..

  + {field} numConsumersLeft : unsigned int

  __

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

}

  package "subscriber" <<Rectangle>> {

    class urt_basesubscriber_t <<S,BFAFFF>> {

    + {field} topic : urt_topic_t*

    + {field} evtListener : urt_osEventListener_t

    + {field} lastMessage : urt_message_t*

    + {field} lastMessageTime : urt_osTime_t

    .. URT_CFG_PUBSUB_PROFILING == true ..

    + {field} sumLatencies : uint64_t

    + {field} numMessagesReceived : uint64_t

  }

    class urt_nrtsubscriber_t <<S,BFAFFF>> {

    .. URT_CFG_PUBSUB_PROFILING == true ..

    + {field} minLatency : urt_delay_t

    + {field} maxLatency : urt_delay_t

    __

    + {method} urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : void

    + {method} urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t

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

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

    + {method} urtNrtSubscriberUnsubscribe (subscriber : urt_nrtsubscriber_t*) : urt_status_t

  }

    class urt_srtsubscriber_t <<S,BFAFFF>> {

    + {field} usefulnesscb : urt_usefulness_f*

    + {field} cbparams : void*

    .. URT_CFG_PUBSUB_PROFILING == true ..

    + {field} minLatency : urt_delay_t

    + {field} maxLatency : urt_delay_t

    __

    + {method} urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void

    + {method} urtSrtSubscriberSubscribe (subscriber : urt_srtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_usefulness_f*, cbparams : void*) : urt_status_t

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

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

    + {method} urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float

    + {method} urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t

  }

    class urt_frtsubscriber_t <<S,BFAFFF>> {

    .. URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true ..

    + {field} deadlineOffset : urt_delay_t

    .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ..

    + {field} maxJitter : urt_delay_t

    .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ||  URT_CFG_PUBSUB_PROFILING == true ..

    + {field} minLatency : urt_delay_t

    + {field} maxLatency : urt_delay_t

    __

    + {method} urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : void

    + {method} urtFrtSubscriberSubscribe (subscriber : urt_frtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, jitter : urt_delay_t) : urt_status_t

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

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

    + {method} urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool

    + {method} urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t

  }

    class urt_hrtsubscriber_t <<S,BFAFFF>> {

    + {field} next : urt_hrtsubscriber_t*

    .. URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true ..

    + {field} deadlineOffset : urt_delay_t

    + {field} qosDeadlineTimer : urt_osTimer_t

    .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ..

    + {field} maxJitter : urt_delay_t

    .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true..

    + {field} minLatency : urt_delay_t

    + {field} maxLatency : urt_delay_t

    .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..

    + {field} expectedRate : urt_delay_t

    __

    + {method} urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : void

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

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

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

    + {method} urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t

  }

} 

  class urt_publisher_t <<S,BFAFFF>> {

  URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT : bool

  __

  + {field} topic : urt_topic_t*

  .. URT_CFG_PUBSUB_PROFILING == true ..

  + {field} publishAttempts : uint64_t

  + {field} publishFails : uint64_t

  __

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

  .. URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == false ..

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

  .. URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == true ..

  + {method} urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : 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} hrtReleased : urt_osCondvar_t

  + {field} mandatoryMessage : urt_message_t

  + {field} latestMessage : urt_message_t*

  .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..

  + {field} hrtSubscribers : urt_hrtsubscriber_t*

  + {field} qosRateTimer : urt_osTimer_t

  .. URT_CFG_PUBSUB_PROFILING == true ..

  + {field} numMessagesPublished : uint64_t

  + {field} numMessagesDiscarded : uint64_t

  + {field} numSubscribers : unsigned int

  __

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

}

}

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

  package "request" <<Rectangle>> {

    class urt_baserequest_t <<S,BFAFFF>> {

    + {field} prev : urt_baserequest_t*

    + {field} next : urt_baserequest_t*

    + {field} lock : urt_osMutex_t

    + {field} owner : urt_service_t*

    + {field} submissionTime : urt_osTime_t

    + {field} payload : void*

    + {field} evtSource : urt_osEventSource_t

    + {field} evtListener : urt_osEventListener_t

    .. URT_CFG_RPC_PROFILING == true ..

    + {field} sumLatencies : uint64_t

    + {field} numCalls : uint64_t

    + {field} numFails : uint64_t

  }

    class urt_nrtrequest_t <<S,BFAFFF>> {

    .. URT_CFG_RPC_PROFILING == true ..

    + {field} minLatency : urt_delay_t

    + {field} maxLatency : urt_delay_t

    __

    + {method} urtNrtRequestInit (request : urt_nrtrequest_t*) : void

    + {method} urtNrtRequestAcquire (request : urt_nrtrequest_t*) : urt_status_t

    + {method} urtNrtRequestTryAcquire (request : urt_nrtrequest_t*) : urt_status_t

    + {method} urtNrtRequestRelease (request : urt_nrtrequest_t*) : urt_status_t

    + {method} urtNrtRequestSubmit (request : urt_nrtrequest_t*, service : urt_service_t*) : urt_status_t

    + {method} urtNrtRequestRetrieve (request : urt_nrtrequest_t*) : urt_status_t

  }

    class urt_srtrequest_t <<S,BFAFFF>> {

    .. URT_CFG_RPC_PROFILING == true ..

    + {field} minLatency : urt_delay_t

    + {field} maxLatency : urt_delay_t

    __

    + {method} urtSrtRequestInit (request : urt_srtrequest_t*) : void

    + {method} urtSrtRequestAcquire (request : urt_srtrequest_t*) : urt_status_t

    + {method} urtSrtRequestTryAcquire (request : urt_srtrequest_t*) : urt_status_t

    + {method} urtSrtRequestRelease (request : urt_srtrequest_t*) : urt_status_t

    + {method} urtSrtRequestSubmit (request : urt_srtrequest_t*, service : urt_service_t*) : urt_status_t

    + {method} urtSrtRequestRetrieve (request : urt_srtrequest_t*) : urt_status_t

    + {method} urtSrtCalculateUsefulness (request : urt_srtrequest_t*, usefulnesscb : urt_usefulness_f, cbparams : void*) : float

  }

    class urt_frtrequest_t <<S,BFAFFF>> {

    .. URT_CFG_RPC_QOS_DEADLINECHECKS == true ..

    + {field} deadlineOffset : urt_delay_t

    .. URT_CFG_RPC_QOS_JITTERCHECKS == true ..

    + {field} maxJitter : urt_delay_t

    .. URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true ..

    + {field} minLatency : urt_delay_t

    + {field} maxLatency : urt_delay_t

    __

    + {method} urtFrtRequestInit (request : urt_frtrequest_t*) : void

    + {method} urtFrtRequestAcquire (request : urt_frtrequest_t*) : urt_status_t

    + {method} urtFrtRequestTryAcquire (request : urt_frtrequest_t*) : urt_status_t

    + {method} urtFrtRequestRelease (request : urt_frtrequest_t*) : urt_status_t

    + {method} urtFrtRequestSubmit (request : urt_frtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t

    + {method} urtFrtRequestRetrieve (request : urt_frtrequest_t*) : urt_status_t

    + {method} urtDrtCalculateValidity (request : urt_frtrequest_t) : bool

    .. URT_CFG_RPC_QOS_JITTERCHECKS == true ..

    + {method} urtFrtRequestGetMaxJitter (request : urt_frtrequest_t*) : urt_delay_t* const

  }

    class urt_hrtrequest_t <<S,BFAFFF>> {

    .. URT_CFG_RPC_QOS_DEADLINECHECKS == true ..

    + {field} deadlineOffset : urt_delay_t

    .. URT_CFG_RPC_QOS_JITTERCHECKS == true ..

    + {field} maxJitter : urt_delay_t

    .. URT_CFG_RPC_QOS_DEADLINECHECKS == true || URT_CFG_RPC_QOS_JITTERCHECKS == true ..

    + {field} qosTimer : urt_osTimer_t

    .. URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true ..

    + {field} minLatency : urt_delay_t

    + {field} maxLatency : urt_delay_t

    __

    + {method} urtHrtRequestInit (request : urt_hrtrequest_t*) : void

    + {method} urtHrtRequestAcquire (request : urt_hrtrequest_t*) : urt_status_t

    + {method} urtHrtRequestTryAcquire (request : urt_hrtrequest_t*) : urt_status_t

    + {method} urtHrtRequestRelease (request : urt_hrtrequest_t*) : urt_status_t

    + {method} urtHrtRequestSubmit (request : urt_hrtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t

    + {method} urtHrtRequestRetrieve (request : urt_hrtrequest_t*) : urt_status_t

    .. URT_CFG_RPC_QOS_JITTERCHECKS == true ..

    + {method} urtHrtRequestGetMaxJitter (request : urt_hrtrequest_t*) : urt_delay_t* const

  }

}

  class urt_service_t <<S,BFAFFF>> {

  + {field} next : urt_service_t*

  + {field} id : urt_serviceid_t

  + {field} lock : urt_osMutex_t

  + {field} requestQueue_front : urt_baserequest_t*

  + {field} requestQueue_hrtBack : urt_hrtrequest_t*

  + {field} requestQueue_fsrtBack : urt_baserequest_t*

  + {field} requestQueue_back : urt_baserequest_t*

  + {field} evtSource : urt_osEventSource_t

  + {field} evtListener : urt_osEventListener_t

  .. URT_CFG_RPC_PROFILING == true ..

  + {field} numCalls : uint64_t

  + {field} numOwnershipLost : uint64_t

  __

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

  + {method} urtServiceDispatch (service : urt_service_t*, payload : void*, bytes : size_t) : urt_baserequest_t*

  + {method} urtServiceAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t

  + {method} urtServiceTryAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t

  + {method} urtServiceRespond (request : urt_baserequest_t*) : urt_status_t

}

}

}

urt_usefulness_f ..> urt_delay_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_osTime_t ..> urt_delay_t

urt_osCondvar_t ..> urt_delay_t

urt_osThread_t ..> urt_delay_t

urt_osTimer_t ..> urt_delay_t

urt_events ..> urt_delay_t

urt_node_t "1" o- - "0,1" urt_node_t

urt_node_t "1" o- - "0,1" 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_node_t "1" o- - "0,1" urt_nodeShutdownCallback_t

urt_node_t <.. urt_nodeShutdownCallback_t

urt_message_t "1" o- "0,1" urt_message_t

urt_basesubscriber_t "1" o- - "0,1" urt_message_t

urt_nrtsubscriber_t - -|> urt_basesubscriber_t

urt_srtsubscriber_t - -|> urt_basesubscriber_t

urt_frtsubscriber_t - -|> urt_basesubscriber_t

urt_hrtsubscriber_t - -|> urt_basesubscriber_t

urt_hrtsubscriber_t "1" o- "0,1" urt_hrtsubscriber_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_hrtsubscriber_t

urt_topic_t "1" *- - "1" urt_message_t

urt_baserequest_t "1" o- "0,1,2" urt_baserequest_t

urt_baserequest_t "1" o- "0,1" urt_service_t

urt_nrtrequest_t - -|> urt_baserequest_t

urt_nrtrequest_t ..> urt_service_t

urt_srtrequest_t - -|> urt_baserequest_t

urt_srtrequest_t ..> urt_service_t

urt_frtrequest_t - -|> urt_baserequest_t

urt_frtrequest_t ..> urt_service_t

urt_hrtrequest_t - -|> urt_baserequest_t

urt_hrtrequest_t ..> urt_service_t

urt_service_t "1" o- "0,1" urt_service_t

urt_service_t "1" o- "0,2,3" urt_baserequest_t

urt_service_t "1" o- "0,1" urt_hrtrequest_t

urt_core_t "1" o- - "0,1" urt_node_t

urt_core_t "1" o- - "0,1" urt_topic_t

urt_core_t "1" o- - "0,1" urt_service_t

urt_core_t "1" *- - "1" urt_osEventSource_t

urt_core_t "1" *- - "1" urt_osMutex_t

urt_core_t "1" *- - "1" urt_status_t

urt_core_t ..> urt_nodestage_t

urt_core_t ..> urt_topicid_t

urt_core_t ..> urt_serviceid_t

urt_node_t "1" o- - "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_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 "1" *- - "1" urt_osCondvar_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 ..> urt_config

urt_message_t ..> urt_status_t

urt_basesubscriber_t "1" *- - "1" urt_osEventListener_t

urt_basesubscriber_t "1" *- - "1" urt_osTime_t

urt_basesubscriber_t ..> urt_config

urt_basesubscriber_t ..> urt_status_t

urt_nrtsubscriber_t "1" *- - "0,2" urt_delay_t

urt_nrtsubscriber_t ..> urt_config

urt_nrtsubscriber_t ..> urt_status_t

urt_srtsubscriber_t "1" *- - "0,1" urt_usefulness_f

urt_srtsubscriber_t "1" *- - "0,2" urt_delay_t

urt_srtsubscriber_t ..> urt_config

urt_srtsubscriber_t ..> urt_status_t

urt_frtsubscriber_t "1" *- - "0..4" urt_delay_t

urt_frtsubscriber_t ..> urt_config

urt_frtsubscriber_t ..> urt_status_t

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

urt_hrtsubscriber_t "1" *- - "1" urt_osTimer_t

urt_hrtsubscriber_t ..> urt_config

urt_hrtsubscriber_t ..> urt_status_t

urt_baserequest_t "1" *- - "1" urt_osMutex_t

urt_baserequest_t "1" *- - "1" urt_osTime_t

urt_baserequest_t "1" *- - "1" urt_osEventSource_t

urt_baserequest_t "1" *- - "1" urt_osEventListener_t

urt_nrtrequest_t "1" *- - "0,2" urt_delay_t

urt_nrtrequest_t ..> urt_config

urt_nrtrequest_t ..> urt_status_t

urt_srtrequest_t "1" *- - "0,1" urt_delay_t

urt_srtrequest_t ..> urt_config

urt_srtrequest_t ..> urt_status_t

urt_srtrequest_t ..> urt_usefulness_f

urt_frtrequest_t "1" *- - "0..4" urt_delay_t

urt_frtrequest_t ..> urt_config

urt_frtrequest_t ..> urt_status_t

urt_hrtrequest_t "1" *- - "0..4" urt_delay_t

urt_hrtrequest_t "1" *- - "0,1" urt_osTimer_t

urt_hrtrequest_t ..> urt_config

urt_hrtrequest_t ..> urt_status_t

urt_service_t "1" *- - "1" urt_serviceid_t

urt_service_t "1" *- - "1" urt_osMutex_t

urt_service_t "1" *- - "1" urt_osEventSource_t

urt_service_t "1" *- - "1" urt_osEventListener_t

urt_service_t ..> urt_config

urt_service_t ..> urt_status_t

@enduml

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

(GPL source distribution)

Java Runtime: OpenJDK Runtime Environment

JVM: OpenJDK 64-Bit Server VM

Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04

Operating System: Linux

Default Encoding: UTF-8

Language: en

Country: US

--></g></svg>