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="1807px" preserveAspectRatio="none" style="width:15241px;height:1807px;" version="1.1" viewBox="0 0 15241 1807" width="15241px" zoomAndPan="magnify"><defs><filter height="300%" id="f1ujiseu7zzykl" 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="7562" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="87" x="7563" y="37.6611">Overview</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="7609.5" y="58.6143"/><!--MD5=[915f6a2b4bff9d90dc7327d570275f1b]

cluster Configuration--><polygon fill="#FFFFFF" filter="url(#f1ujiseu7zzykl)" points="875.2145,1535.8594,885.2145,1525.8594,1181.2145,1525.8594,1181.2145,1785.8594,1171.2145,1795.8594,875.2145,1795.8594,875.2145,1535.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="1171.2145" x2="1180.2145" y1="1535.8594" y2="1526.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="875.2145" x2="1171.2145" y1="1535.8594" y2="1535.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="1171.2145" x2="1171.2145" y1="1535.8594" y2="1795.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="107" x="970.7145" y="1551.8545">Configuration</text><!--MD5=[1cb8ced355c85ab51f1ab55883ed8585]

cluster Primitives--><polygon fill="#FFFFFF" filter="url(#f1ujiseu7zzykl)" points="644.2145,1209.8594,654.2145,1199.8594,2103.2145,1199.8594,2103.2145,1495.8594,2093.2145,1505.8594,644.2145,1505.8594,644.2145,1209.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="2093.2145" x2="2102.2145" y1="1209.8594" y2="1200.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="644.2145" x2="2093.2145" y1="1209.8594" y2="1209.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="2093.2145" x2="2093.2145" y1="1209.8594" y2="1505.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="77" x="1331.2145" y="1225.8545">Primitives</text><!--MD5=[ba9da179b6f0b3bb0ea21772c5f4ec75]

cluster OSAL--><polygon fill="#FFFFFF" filter="url(#f1ujiseu7zzykl)" points="9681.2145,746.8594,9691.2145,736.8594,14959.2145,736.8594,14959.2145,1702.8594,14949.2145,1712.8594,9681.2145,1712.8594,9681.2145,746.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="14949.2145" x2="14958.2145" y1="746.8594" y2="737.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="9681.2145" x2="14949.2145" y1="746.8594" y2="746.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="14949.2145" x2="14949.2145" y1="746.8594" y2="1712.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="42" x="12295.2145" y="762.8545">OSAL</text><!--MD5=[2e45f233f6bb64aa81ebe67fb6de8946]

cluster condition variable--><rect fill="#FFFFFF" filter="url(#f1ujiseu7zzykl)" height="508.5" style="stroke: #000000; stroke-width: 1.5;" width="726" x="14225.2145" y="907.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="140" x="14518.2145" y="922.3545">condition variable</text><!--MD5=[c7113df1f710ca294cbd01734aa00974]

cluster timer--><rect fill="#FFFFFF" filter="url(#f1ujiseu7zzykl)" height="502.5" style="stroke: #000000; stroke-width: 1.5;" width="798" x="13408.2145" y="900.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="13786.7145" y="915.8545">timer</text><!--MD5=[107bb3f79455a18bd83c75ada1ac7979]

cluster thread--><rect fill="#FFFFFF" filter="url(#f1ujiseu7zzykl)" height="679" style="stroke: #000000; stroke-width: 1.5;" width="1039" x="12361.2145" y="768.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="12854.7145" y="783.8545">thread</text><!--MD5=[8d74b40516bd265adb19f202ab81f40d]

cluster events--><rect fill="#FFFFFF" filter="url(#f1ujiseu7zzykl)" height="791" style="stroke: #000000; stroke-width: 1.5;" width="1642" x="10700.2145" y="913.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="54" x="11494.2145" y="928.8545">events</text><!--MD5=[4e1a3510868d06a507f098bb08f0dae0]

cluster Middleware--><polygon fill="#FFFFFF" filter="url(#f1ujiseu7zzykl)" points="1910.2145,88.8594,1920.2145,78.8594,9618.2145,78.8594,9618.2145,1064.8594,9608.2145,1074.8594,1910.2145,1074.8594,1910.2145,88.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="9608.2145" x2="9617.2145" y1="88.8594" y2="79.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="1910.2145" x2="9608.2145" y1="88.8594" y2="88.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="9608.2145" x2="9608.2145" y1="88.8594" y2="1074.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="91" x="5714.7145" y="104.8545">Middleware</text><!--MD5=[b9de0669a29c7bc934fd916b09c39491]

cluster node--><rect fill="#FFFFFF" filter="url(#f1ujiseu7zzykl)" height="570.5" style="stroke: #000000; stroke-width: 1.5;" width="1674" x="7292.2145" y="451.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="40" x="8109.2145" y="466.8545">node</text><!--MD5=[d74e2ef346f73688f9378f6d3d42598c]

cluster Publish-Subscribe System--><polygon fill="#FFFFFF" filter="url(#f1ujiseu7zzykl)" points="1918.2145,410.8594,1928.2145,400.8594,7284.2145,400.8594,7284.2145,1056.8594,7274.2145,1066.8594,1918.2145,1066.8594,1918.2145,410.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7274.2145" x2="7283.2145" y1="410.8594" y2="401.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="1918.2145" x2="7274.2145" y1="410.8594" y2="410.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7274.2145" x2="7274.2145" y1="410.8594" y2="1066.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="205" x="4494.7145" y="426.8545">Publish-Subscribe System</text><!--MD5=[16a3bbbe805f94d6e6ce317c08ab945e]

cluster subscriber--><rect fill="#FFFFFF" filter="url(#f1ujiseu7zzykl)" height="626" style="stroke: #000000; stroke-width: 1.5;" width="4101" x="3175.2145" y="432.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="85" x="5183.2145" y="447.8545">subscriber</text><!--MD5=[810d0f07e53ef611b6d803ef30301147]

cluster Remote Procedure Call System--><polygon fill="#FFFFFF" filter="url(#f1ujiseu7zzykl)" points="8974.2145,469.3594,8984.2145,459.3594,9610.2145,459.3594,9610.2145,1012.3594,9600.2145,1022.3594,8974.2145,1022.3594,8974.2145,469.3594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="9600.2145" x2="9609.2145" y1="469.3594" y2="460.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="8974.2145" x2="9600.2145" y1="469.3594" y2="469.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="9600.2145" x2="9600.2145" y1="469.3594" y2="1022.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="244" x="9166.2145" y="485.3545">Remote Procedure Call System</text><!--MD5=[e443ac33c80100c2d54e1f5fe669f6d7]

class urt_config--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="230.4609" id="urt_config" style="stroke: #A80036; stroke-width: 1.5;" width="290" x="883.2145" y="1557.8594"/><ellipse cx="992.9645" cy="1573.8594" fill="#BFBFBF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M995.9333,1579.5 Q995.3551,1579.7969 994.7145,1579.9375 Q994.0739,1580.0938 993.3708,1580.0938 Q990.8708,1580.0938 989.5426,1578.4531 Q988.2301,1576.7969 988.2301,1573.6719 Q988.2301,1570.5469 989.5426,1568.8906 Q990.8708,1567.2344 993.3708,1567.2344 Q994.0739,1567.2344 994.7145,1567.3906 Q995.3708,1567.5469 995.9333,1567.8438 L995.9333,1570.5625 Q995.3083,1569.9844 994.7145,1569.7188 Q994.1208,1569.4375 993.4958,1569.4375 Q992.152,1569.4375 991.4645,1570.5156 Q990.777,1571.5781 990.777,1573.6719 Q990.777,1575.7656 991.4645,1576.8438 Q992.152,1577.9063 993.4958,1577.9063 Q994.1208,1577.9063 994.7145,1577.6406 Q995.3083,1577.3594 995.9333,1576.7813 L995.9333,1579.5 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="62" x="1013.4645" y="1578.0137">urt_config</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="884.2145" x2="1172.2145" y1="1589.8594" y2="1589.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="159" x="889.2145" y="1604.0698">URT_CFG_DELAY_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="169" x="889.2145" y="1616.8745">URT_CFG_TOPICID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="889.2145" y="1629.6792">URT_CFG_SERVICEID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="889.2145" y="1642.4839">URT_CFG_NODESTAGE_WIDTH : int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="884.2145" x2="1172.2145" y1="1649.0781" y2="1649.0781"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="889.2145" y="1663.2886">URT_CFG_DEBUG_ENABLED : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="884.2145" x2="1172.2145" y1="1669.8828" y2="1669.8828"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="889.2145" y="1684.0933">URT_CFG_PUBSUB_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="204" x="889.2145" y="1696.8979">URT_CFG_PUBSUB_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="278" x="889.2145" y="1709.7026">URT_CFG_PUBSUB_QOS_DEADLINECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="252" x="889.2145" y="1722.5073">URT_CFG_PUBSUB_QOS_RATECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="889.2145" y="1735.312">URT_CFG_PUBSUB_QOS_JITTERCHECKS : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="884.2145" x2="1172.2145" y1="1741.9063" y2="1741.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="889.2145" y="1756.1167">URT_CFG_RPC_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="889.2145" y="1768.9214">URT_CFG_RPC_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="889.2145" y="1781.7261">URT_CFG_RPC_QOS_JITTERCHECKS : bool</text><!--MD5=[9f69b6f4e23017059189983d6906a1eb]

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class urt_delay_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="99.2188" id="urt_delay_t" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="1913.7145" y="1315.3594"/><ellipse cx="1965.9645" cy="1331.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1966.8083,1338.1094 L1964.3551,1338.1094 L1964.3551,1327.8594 L1961.2145,1327.8594 L1961.2145,1325.7188 L1969.9489,1325.7188 L1969.9489,1327.8594 L1966.8083,1327.8594 L1966.8083,1338.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="68" x="1986.4645" y="1335.5137">urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1914.7145" x2="2093.7145" y1="1347.3594" y2="1347.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="1919.7145" y="1378.3745">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1914.7145" x2="1917.7145" y1="1361.7617" y2="1361.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="1917.7145" y="1365.0698">URT_CFG_DELAY_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2090.7145" x2="2093.7145" y1="1361.7617" y2="1361.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="1919.7145" y="1407.9839">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1914.7145" x2="1917.7145" y1="1391.3711" y2="1391.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="1917.7145" y="1394.6792">URT_CFG_DELAY_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2090.7145" x2="2093.7145" y1="1391.3711" y2="1391.3711"/><!--MD5=[f106a25c06a671b3918b1a8f37571a4d]

class urt_debug--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="245" x="652.7145" y="1334.3594"/><ellipse cx="738.9645" cy="1350.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M743.1989,1346.125 L737.9176,1346.125 L737.9176,1348.7969 L742.7145,1348.7969 L742.7145,1350.9531 L737.9176,1350.9531 L737.9176,1356.3594 L735.4801,1356.3594 L735.4801,1343.9688 L743.1989,1343.9688 L743.1989,1346.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="759.4645" y="1354.5137">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="653.7145" x2="896.7145" y1="1366.3594" y2="1366.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="653.7145" x2="896.7145" y1="1374.3594" y2="1374.3594"/><ellipse cx="663.7145" cy="1385.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="219" x="672.7145" y="1388.5698">urtDebugAssert(condition : bool) : void</text><!--MD5=[3677786d1f00795918091b0110bfa4af]

class urt_osTime_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="425" x="9933.7145" y="940.8594"/><ellipse cx="10102.4645" cy="956.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10103.3083,963.6094 L10100.8551,963.6094 L10100.8551,953.3594 L10097.7145,953.3594 L10097.7145,951.2188 L10106.4489,951.2188 L10106.4489,953.3594 L10103.3083,953.3594 L10103.3083,963.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="10122.9645" y="961.0137">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9934.7145" x2="10357.7145" y1="972.8594" y2="972.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="9934.7145" x2="10357.7145" y1="980.8594" y2="980.8594"/><ellipse cx="9944.7145" cy="991.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="231" x="9953.7145" y="995.0698">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="9944.7145" cy="1004.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="9953.7145" y="1007.8745">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="9944.7145" cy="1017.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="399" x="9953.7145" y="1020.6792">urtTimeAddUs (time : urt_osTime_t*, offset : uint32_t) : urt_osTime_t*</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]

class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="10394.2145" y="934.3594"/><ellipse cx="10495.4645" cy="950.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10496.3083,957.1094 L10493.8551,957.1094 L10493.8551,946.8594 L10490.7145,946.8594 L10490.7145,944.7188 L10499.4489,944.7188 L10499.4489,946.8594 L10496.3083,946.8594 L10496.3083,957.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="10515.9645" y="954.5137">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10395.2145" x2="10691.2145" y1="966.3594" y2="966.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="10395.2145" x2="10691.2145" y1="974.3594" y2="974.3594"/><ellipse cx="10405.2145" cy="985.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="245" x="10414.2145" y="988.5698">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="10405.2145" cy="998.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="253" x="10414.2145" y="1001.3745">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="10405.2145" cy="1010.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="10414.2145" y="1014.1792">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="10405.2145" cy="1023.7734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="10414.2145" y="1026.9839">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--MD5=[0cf29100c96c506429a28b45d347cc92]

class urt_streams--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="209" x="9689.7145" y="946.8594"/><ellipse cx="9752.4645" cy="962.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9756.6989,958.625 L9751.4176,958.625 L9751.4176,961.2969 L9756.2145,961.2969 L9756.2145,963.4531 L9751.4176,963.4531 L9751.4176,968.8594 L9748.9801,968.8594 L9748.9801,956.4688 L9756.6989,956.4688 L9756.6989,958.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="9772.9645" y="967.0137">urt_streams</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9690.7145" x2="9897.7145" y1="978.8594" y2="978.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="9690.7145" x2="9897.7145" y1="986.8594" y2="986.8594"/><ellipse cx="9700.7145" cy="997.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="166" x="9709.7145" y="1001.0698">urtPrintf(fmt : char*, ... ) : int</text><ellipse cx="9700.7145" cy="1010.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="9709.7145" y="1013.8745">urtErrPrintf(fmt : char*, ... ) : int</text><!--MD5=[52fa11869cb40c93fa7702378ddd839e]

class urt_osCondvarWaitStatus_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="86.4141" id="urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="14453.2145" y="1321.8594"/><ellipse cx="14499.4645" cy="1337.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M14503.5739,1343.8594 L14495.8551,1343.8594 L14495.8551,1331.4688 L14503.5739,1331.4688 L14503.5739,1333.625 L14498.3083,1333.625 L14498.3083,1336.2969 L14503.0739,1336.2969 L14503.0739,1338.4531 L14498.3083,1338.4531 L14498.3083,1341.7031 L14503.5739,1341.7031 L14503.5739,1343.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="169" x="14519.9645" y="1342.0137">urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="14454.2145" x2="14722.2145" y1="1353.8594" y2="1353.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="14459.2145" y="1368.0698">URT_CONDVAR_WAITSTATUS_SIGNAL = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="14459.2145" y="1380.8745">URT_CONDVAR_WAITSTATUS_BROADCAST = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="14459.2145" y="1393.6792">URT_CONDVAR_WAITSTATUS_TIMEOUT = 0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="14454.2145" x2="14722.2145" y1="1400.2734" y2="1400.2734"/><!--MD5=[004fc5dee471033e8e4138c1c73f0692]

class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="99.2188" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="14233.2145" y="934.3594"/><ellipse cx="14533.4645" cy="950.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M14534.3083,957.1094 L14531.8551,957.1094 L14531.8551,946.8594 L14528.7145,946.8594 L14528.7145,944.7188 L14537.4489,944.7188 L14537.4489,946.8594 L14534.3083,946.8594 L14534.3083,957.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="14553.9645" y="954.5137">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="14234.2145" x2="14942.2145" y1="966.3594" y2="966.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="14234.2145" x2="14942.2145" y1="974.3594" y2="974.3594"/><ellipse cx="14244.2145" cy="985.3594" 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="14253.2145" y="988.5698">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="14244.2145" cy="998.1641" 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="14253.2145" y="1001.3745">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="14244.2145" cy="1010.9688" 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="14253.2145" y="1014.1792">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="14244.2145" cy="1023.7734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="684" x="14253.2145" y="1026.9839">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_osCondvarWaitStatus_t</text><!--MD5=[93799a03260ba286abda700174f4f205]

class urt_osTimerCallback_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="13664.2145" y="1334.3594"/><ellipse cx="13734.9645" cy="1350.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M13735.8083,1357.1094 L13733.3551,1357.1094 L13733.3551,1346.8594 L13730.2145,1346.8594 L13730.2145,1344.7188 L13738.9489,1344.7188 L13738.9489,1346.8594 L13735.8083,1346.8594 L13735.8083,1357.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="13755.4645" y="1354.5137">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="13665.2145" x2="13949.2145" y1="1366.3594" y2="1366.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="13665.2145" x2="13949.2145" y1="1374.3594" y2="1374.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="13670.2145" y="1388.5698">urt_osTimerCallback_t (parameter : void*) : void</text><!--MD5=[0b340d7b925b1eab6a1b7e084f68a7c2]

class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="112.0234" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="782" x="13416.2145" y="927.8594"/><ellipse cx="13760.9645" cy="943.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M13761.8083,950.6094 L13759.3551,950.6094 L13759.3551,940.3594 L13756.2145,940.3594 L13756.2145,938.2188 L13764.9489,938.2188 L13764.9489,940.3594 L13761.8083,940.3594 L13761.8083,950.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="13781.4645" y="948.0137">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="13417.2145" x2="14197.2145" y1="959.8594" y2="959.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="13417.2145" x2="14197.2145" y1="967.8594" y2="967.8594"/><ellipse cx="13427.2145" cy="978.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="13436.2145" y="982.0698">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="13427.2145" cy="991.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="705" x="13436.2145" y="994.8745">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="13427.2145" cy="1004.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="756" x="13436.2145" y="1007.6792">urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="13427.2145" cy="1017.2734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="300" x="13436.2145" y="1020.4839">urtTimerReset (timer : urt_osTimer_t*) : urt_status_t</text><ellipse cx="13427.2145" cy="1030.0781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="13436.2145" y="1033.2886">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--MD5=[86c16d91227b9a9ec3b6b9b0285de4e9]

class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="12630.7145" y="1289.8594"/><ellipse cx="12666.8645" cy="1305.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12667.7083,1312.6094 L12665.2551,1312.6094 L12665.2551,1302.3594 L12662.1145,1302.3594 L12662.1145,1300.2188 L12670.8489,1300.2188 L12670.8489,1302.3594 L12667.7083,1302.3594 L12667.7083,1312.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="12685.5645" y="1310.0137">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12631.7145" x2="12826.7145" y1="1321.8594" y2="1321.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="12636.7145" y="1336.0698">URT_THREAD_PRIO_LOW_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="12636.7145" y="1348.8745">URT_THREAD_PRIO_LOW_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="12636.7145" y="1361.6792">URT_THREAD_PRIO_NORMAL_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="12636.7145" y="1374.4839">URT_THREAD_PRIO_NORMAL_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="12636.7145" y="1387.2886">URT_THREAD_PRIO_HIGH_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="12636.7145" y="1400.0933">URT_THREAD_PRIO_HIGH_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="12636.7145" y="1412.8979">URT_THREAD_PRIO_RT_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="12636.7145" y="1425.7026">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12631.7145" x2="12826.7145" y1="1432.2969" y2="1432.2969"/><!--MD5=[69d8aab9aa387a2f5052ea3da80e80ea]

class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="13140.2145" y="1334.3594"/><ellipse cx="13187.9645" cy="1350.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M13188.8083,1357.1094 L13186.3551,1357.1094 L13186.3551,1346.8594 L13183.2145,1346.8594 L13183.2145,1344.7188 L13191.9489,1344.7188 L13191.9489,1346.8594 L13188.8083,1346.8594 L13188.8083,1357.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="13208.4645" y="1354.5137">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="13141.2145" x2="13391.2145" y1="1366.3594" y2="1366.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="13141.2145" x2="13391.2145" y1="1374.3594" y2="1374.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="13146.2145" y="1388.5698">urt_osThreadFunction_t (arg : void*) : void</text><!--MD5=[ab5f611d45c3fa10609c33f780d8c3e1]

class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="12863.2145" y="1327.8594"/><ellipse cx="12884.9645" cy="1343.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12889.0739,1349.8594 L12881.3551,1349.8594 L12881.3551,1337.4688 L12889.0739,1337.4688 L12889.0739,1339.625 L12883.8083,1339.625 L12883.8083,1342.2969 L12888.5739,1342.2969 L12888.5739,1344.4531 L12883.8083,1344.4531 L12883.8083,1347.7031 L12889.0739,1347.7031 L12889.0739,1349.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="12900.4645" y="1348.0137">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12864.2145" x2="13104.2145" y1="1359.8594" y2="1359.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="12869.2145" y="1374.0698">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="12869.2145" y="1386.8745">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12864.2145" x2="13104.2145" y1="1393.4688" y2="1393.4688"/><!--MD5=[47d14ad2c233fae1b32b8d0a283e820a]

class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="137.6328" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="12369.2145" y="1295.8594"/><ellipse cx="12413.9645" cy="1311.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12418.0739,1317.8594 L12410.3551,1317.8594 L12410.3551,1305.4688 L12418.0739,1305.4688 L12418.0739,1307.625 L12412.8083,1307.625 L12412.8083,1310.2969 L12417.5739,1310.2969 L12417.5739,1312.4531 L12412.8083,1312.4531 L12412.8083,1315.7031 L12418.0739,1315.7031 L12418.0739,1317.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="12434.4645" y="1316.0137">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12370.2145" x2="12594.2145" y1="1327.8594" y2="1327.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="12375.2145" y="1342.0698">URT_THREAD_STATE_INACTIVE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="12375.2145" y="1354.8745">URT_THREAD_STATE_RUNNING = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="12375.2145" y="1367.6792">URT_THREAD_STATE_READY = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="12375.2145" y="1380.4839">URT_THREAD_STATE_SLEEPING = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="12375.2145" y="1393.2886">URT_THREAD_STATE_SUSPENDED = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="12375.2145" y="1406.0933">URT_THREAD_STATE_WAITING = 5</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="12375.2145" y="1418.8979">URT_THREAD_STATE_TERMINATED = 6</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12370.2145" x2="12594.2145" y1="1425.4922" y2="1425.4922"/><!--MD5=[0a16224ede9ffa9bb2d34e085a076e6d]

class urt_osThread_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="376.1172" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="560" x="12369.2145" y="795.8594"/><ellipse cx="12597.9645" cy="811.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12598.8083,818.6094 L12596.3551,818.6094 L12596.3551,808.3594 L12593.2145,808.3594 L12593.2145,806.2188 L12601.9489,806.2188 L12601.9489,808.3594 L12598.8083,808.3594 L12598.8083,818.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="12618.4645" y="816.0137">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12370.2145" x2="12928.2145" y1="827.8594" y2="827.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="12375.2145" y="842.0698">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12375.2145" y="854.8745">URT_THREAD_SSLEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="12375.2145" y="867.6792">URT_THREAD_MSLEEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="12375.2145" y="880.4839">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="12370.2145" x2="12928.2145" y1="887.0781" y2="887.0781"/><ellipse cx="12380.2145" cy="898.0781" 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="12389.2145" y="901.2886">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12370.2145" x2="12928.2145" y1="907.8828" y2="907.8828"/><ellipse cx="12380.2145" cy="918.8828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="534" x="12389.2145" y="922.0933">urtThreadInit (memory : void*, size : size_t, func : urt_osThreadFunction_t*) : urt_osThread_t*</text><ellipse cx="12380.2145" cy="931.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="490" x="12389.2145" y="934.8979">urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void</text><ellipse cx="12380.2145" cy="944.4922" 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="12389.2145" y="947.7026">urtThreadYield (void) : void</text><ellipse cx="12380.2145" cy="957.2969" 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="12389.2145" y="960.5073">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="12380.2145" cy="970.1016" 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="12389.2145" y="973.312">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="12380.2145" cy="982.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="294" x="12389.2145" y="986.1167">urtThreadSuspend (thread : urt_osThread_t*) : void</text><ellipse cx="12380.2145" cy="995.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="335" x="12389.2145" y="998.9214">urtThreadResume (thread : urt_osThread_t*) : urt_status_t</text><ellipse cx="12380.2145" cy="1008.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="220" x="12389.2145" y="1011.7261">urtThreadSleep (seconds : float) : void</text><ellipse cx="12380.2145" cy="1021.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="12389.2145" y="1024.5308">urtThreadSSleep (seconds : urt_delay_t) : void</text><ellipse cx="12380.2145" cy="1034.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="289" x="12389.2145" y="1037.3354">urtThreadMSleep (milliseconds : urt_delay_t) : void</text><ellipse cx="12380.2145" cy="1046.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="12389.2145" y="1050.1401">urtThreadUSleep (microseconds : urt_delay_t) : void</text><ellipse cx="12380.2145" cy="1059.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="12389.2145" y="1062.9448">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="12380.2145" cy="1072.5391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="12389.2145" y="1075.7495">urtThreadExit (void) : void</text><ellipse cx="12380.2145" cy="1085.3438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="518" x="12389.2145" y="1088.5542">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="12380.2145" cy="1098.1484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="264" x="12389.2145" y="1101.3589">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="12380.2145" cy="1110.9531" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="387" x="12389.2145" y="1114.1636">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="12380.2145" cy="1123.7578" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="237" x="12389.2145" y="1126.9683">urtThreadGetSelf (void) : urt_osThread_t*</text><ellipse cx="12380.2145" cy="1136.5625" 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="380" x="12389.2145" y="1139.7729">urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="12380.2145" cy="1149.3672" 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="371" x="12389.2145" y="1152.5776">urtThreadGetSibling (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="12380.2145" cy="1162.1719" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="12389.2145" y="1165.3823">urtThreadGetParent (thread : urt_osThread_t*) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]

class urt_osEventMask_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="60.8047" id="urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.5;" width="280" x="10708.2145" y="1334.3594"/><ellipse cx="10785.4645" cy="1350.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10786.3083,1357.1094 L10783.8551,1357.1094 L10783.8551,1346.8594 L10780.7145,1346.8594 L10780.7145,1344.7188 L10789.4489,1344.7188 L10789.4489,1346.8594 L10786.3083,1346.8594 L10786.3083,1357.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="10805.9645" y="1354.5137">urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10709.2145" x2="10987.2145" y1="1366.3594" y2="1366.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="268" x="10714.2145" y="1380.5698">URT_EVENTMASK_MAXPRIO : urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10709.2145" x2="10987.2145" y1="1387.1641" y2="1387.1641"/><!--MD5=[dc1cc33af288560680c15dec1e56eda0]

class urt_osEventFlags_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="48" id="urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="11429.2145" y="1648.8594"/><ellipse cx="11444.2145" cy="1664.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11445.0583,1671.6094 L11442.6051,1671.6094 L11442.6051,1661.3594 L11439.4645,1661.3594 L11439.4645,1659.2188 L11448.1989,1659.2188 L11448.1989,1661.3594 L11445.0583,1661.3594 L11445.0583,1671.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="11458.2145" y="1669.0137">urt_osEventFlags_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11430.2145" x2="11578.2145" y1="1680.8594" y2="1680.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11430.2145" x2="11578.2145" y1="1688.8594" y2="1688.8594"/><!--MD5=[e2bbbd64e6979bf7b755747a6c0ba948]

class urt_osEventWait_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="86.4141" id="urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.5;" width="162" x="11023.2145" y="1321.8594"/><ellipse cx="11046.3145" cy="1337.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11050.4239,1343.8594 L11042.7051,1343.8594 L11042.7051,1331.4688 L11050.4239,1331.4688 L11050.4239,1333.625 L11045.1583,1333.625 L11045.1583,1336.2969 L11049.9239,1336.2969 L11049.9239,1338.4531 L11045.1583,1338.4531 L11045.1583,1341.7031 L11050.4239,1341.7031 L11050.4239,1343.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="11062.1145" y="1342.0137">urt_osEventWait_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11024.2145" x2="11184.2145" y1="1353.8594" y2="1353.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="11029.2145" y="1368.0698">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="11029.2145" y="1380.8745">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="11029.2145" y="1393.6792">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11024.2145" x2="11184.2145" y1="1400.2734" y2="1400.2734"/><!--MD5=[d054ac2eda12ce4b1fe5a18c9be716c1]

class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="11257.2145" y="1321.8594"/><ellipse cx="11432.4645" cy="1337.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11433.3083,1344.6094 L11430.8551,1344.6094 L11430.8551,1334.3594 L11427.7145,1334.3594 L11427.7145,1332.2188 L11436.4489,1332.2188 L11436.4489,1334.3594 L11433.3083,1334.3594 L11433.3083,1344.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="11452.9645" y="1342.0137">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11258.2145" x2="11750.2145" y1="1353.8594" y2="1353.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11258.2145" x2="11750.2145" y1="1361.8594" y2="1361.8594"/><ellipse cx="11268.2145" cy="1372.8594" 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="11277.2145" y="1376.0698">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="11268.2145" cy="1385.6641" 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="11277.2145" y="1388.8745">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="11268.2145" cy="1398.4688" 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="11277.2145" y="1401.6792">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]

class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="11786.7145" y="1327.8594"/><ellipse cx="11991.4645" cy="1343.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11992.3083,1350.6094 L11989.8551,1350.6094 L11989.8551,1340.3594 L11986.7145,1340.3594 L11986.7145,1338.2188 L11995.4489,1338.2188 L11995.4489,1340.3594 L11992.3083,1340.3594 L11992.3083,1350.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="12011.9645" y="1348.0137">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11787.7145" x2="12332.7145" y1="1359.8594" y2="1359.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11787.7145" x2="12332.7145" y1="1367.8594" y2="1367.8594"/><ellipse cx="11797.7145" cy="1378.8594" 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="11806.7145" y="1382.0698">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="11797.7145" cy="1391.6641" 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="11806.7145" y="1394.8745">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--MD5=[04a3b5a37031e2a4d723f19d8adf86f5]

class urt_events--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="890" x="10727.2145" y="940.8594"/><ellipse cx="11134.9645" cy="956.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11139.1989,952.625 L11133.9176,952.625 L11133.9176,955.2969 L11138.7145,955.2969 L11138.7145,957.4531 L11133.9176,957.4531 L11133.9176,962.8594 L11131.4801,962.8594 L11131.4801,950.4688 L11139.1989,950.4688 L11139.1989,952.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="11155.4645" y="961.0137">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10728.2145" x2="11616.2145" y1="972.8594" y2="972.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="10728.2145" x2="11616.2145" y1="980.8594" y2="980.8594"/><ellipse cx="10738.2145" cy="991.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="864" x="10747.2145" y="995.0698">urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : urt_status_t</text><ellipse cx="10738.2145" cy="1004.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="567" x="10747.2145" y="1007.8745">urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : urt_status_t</text><ellipse cx="10738.2145" cy="1017.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="618" x="10747.2145" y="1020.6792">urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWait_t, timeout : urt_delay_t) : urt_osEventMask_t</text><!--MD5=[89d25e87afdd75480e1ec2bd05524873]

class urt_core_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="281.6797" id="urt_core_t" style="stroke: #A80036; stroke-width: 1.5;" width="343" x="2765.7145" y="110.8594"/><ellipse cx="2901.4645" cy="126.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2900.9489,127.4219 Q2899.0895,126.7188 2898.4333,125.9531 Q2897.7926,125.1719 2897.7926,123.8594 Q2897.7926,122.1719 2898.8708,121.2031 Q2899.9489,120.2344 2901.8239,120.2344 Q2902.6833,120.2344 2903.527,120.4375 Q2904.3864,120.625 2905.2301,121.0156 L2905.2301,123.4063 Q2904.4489,122.8438 2903.6208,122.5625 Q2902.8083,122.2656 2902.0114,122.2656 Q2901.1364,122.2656 2900.652,122.625 Q2900.1833,122.9844 2900.1833,123.6406 Q2900.1833,124.1563 2900.527,124.5 Q2900.8708,124.8281 2901.9645,125.2344 L2903.027,125.6406 Q2904.5114,126.1875 2905.2145,127.0938 Q2905.9333,128 2905.9333,129.375 Q2905.9333,131.25 2904.8239,132.1719 Q2903.7145,133.0938 2901.4645,133.0938 Q2900.5426,133.0938 2899.6208,132.875 Q2898.6989,132.6563 2897.8395,132.2344 L2897.8395,129.7031 Q2898.8083,130.3906 2899.7301,130.7344 Q2900.652,131.0781 2901.5426,131.0781 Q2902.4489,131.0781 2902.9489,130.6719 Q2903.4489,130.25 2903.4489,129.5156 Q2903.4489,128.9531 2903.1051,128.5469 Q2902.777,128.125 2902.152,127.875 L2900.9489,127.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="63" x="2921.9645" y="131.0137">urt_core_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2766.7145" x2="3107.7145" y1="142.8594" y2="142.8594"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="2773.7145" y="150.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="2785.7145" y="157.0698">_nodes : urt_node_t*</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="2773.7145" y="163.6641"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="192" x="2785.7145" y="169.8745">_evtSource : urt_osEventSource_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="2773.7145" y="176.4688"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="2785.7145" y="182.6792">_lock : urt_osMutex_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="2773.7145" y="189.2734"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="122" x="2785.7145" y="195.4839">_status : urt_status_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="2773.7145" y="218.8828"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="117" x="2785.7145" y="225.0933">_topics : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2766.7145" x2="2832.2145" y1="208.4805" y2="208.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="2832.2145" y="211.7886">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3042.2145" x2="3107.7145" y1="208.4805" y2="208.4805"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="2773.7145" y="248.4922"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="145" x="2785.7145" y="254.7026">_services : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2766.7145" x2="2844.7145" y1="238.0898" y2="238.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="2844.7145" y="241.3979">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3029.7145" x2="3107.7145" y1="238.0898" y2="238.0898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2766.7145" x2="3107.7145" y1="261.2969" y2="261.2969"/><ellipse cx="2776.7145" cy="272.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="130" x="2785.7145" y="275.5073">urtCoreInit (void) : void</text><ellipse cx="2776.7145" cy="285.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="215" x="2785.7145" y="288.312">urtCoreGetStatus (void) : urt_status_t</text><ellipse cx="2776.7145" cy="297.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="177" x="2785.7145" y="301.1167">urtCoreStartNodes (void) : void</text><ellipse cx="2776.7145" cy="310.7109" 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="309" x="2785.7145" y="313.9214">urtCoreSynchronize (node : urt_node_t*) : urt_status_t</text><ellipse cx="2776.7145" cy="323.5156" 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="317" x="2785.7145" y="326.7261">urtCoreStopNodes (reason : urt_status_t) : urt_status_t</text><ellipse cx="2776.7145" cy="353.125" 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="273" x="2785.7145" y="356.3354">urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2766.7145" x2="2832.2145" y1="339.7227" y2="339.7227"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="2832.2145" y="343.0308">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3042.2145" x2="3107.7145" y1="339.7227" y2="339.7227"/><ellipse cx="2776.7145" cy="382.7344" 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="313" x="2785.7145" y="385.9448">urtCoreGetService (id : urt_serviceid_t) : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2766.7145" x2="2844.7145" y1="369.332" y2="369.332"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="2844.7145" y="372.6401">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3029.7145" x2="3107.7145" y1="369.332" y2="369.332"/><!--MD5=[a7dea26996a1231aa68629b332780450]

class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="7853.2145" y="953.3594"/><ellipse cx="7998.9645" cy="969.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7999.8083,976.1094 L7997.3551,976.1094 L7997.3551,965.8594 L7994.2145,965.8594 L7994.2145,963.7188 L8002.9489,963.7188 L8002.9489,965.8594 L7999.8083,965.8594 L7999.8083,976.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="8019.4645" y="973.5137">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7854.2145" x2="8308.2145" y1="985.3594" y2="985.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7854.2145" x2="8308.2145" y1="993.3594" y2="993.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="7859.2145" y="1007.5698">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]

class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="8344.2145" y="953.3594"/><ellipse cx="8572.4645" cy="969.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8573.3083,976.1094 L8570.8551,976.1094 L8570.8551,965.8594 L8567.7145,965.8594 L8567.7145,963.7188 L8576.4489,963.7188 L8576.4489,965.8594 L8573.3083,965.8594 L8573.3083,976.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="8592.9645" y="973.5137">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8345.2145" x2="8957.2145" y1="985.3594" y2="985.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8345.2145" x2="8957.2145" y1="993.3594" y2="993.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="8350.2145" y="1007.5698">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(#f1ujiseu7zzykl)" height="60.8047" id="urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="518" x="7300.2145" y="953.3594"/><ellipse cx="7464.4645" cy="969.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7465.3083,976.1094 L7462.8551,976.1094 L7462.8551,965.8594 L7459.7145,965.8594 L7459.7145,963.7188 L7468.4489,963.7188 L7468.4489,965.8594 L7465.3083,965.8594 L7465.3083,976.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="181" x="7484.9645" y="973.5137">urt_nodeShutdownCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7301.2145" x2="7817.2145" y1="985.3594" y2="985.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7301.2145" x2="7817.2145" y1="993.3594" y2="993.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="506" x="7306.2145" y="1007.5698">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(#f1ujiseu7zzykl)" height="231.2656" id="urt_node_t" style="stroke: #A80036; stroke-width: 1.5;" width="1541" x="7310.7145" y="478.8594"/><ellipse cx="8043.4645" cy="494.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8042.9489,495.4219 Q8041.0895,494.7188 8040.4333,493.9531 Q8039.7926,493.1719 8039.7926,491.8594 Q8039.7926,490.1719 8040.8708,489.2031 Q8041.9489,488.2344 8043.8239,488.2344 Q8044.6833,488.2344 8045.527,488.4375 Q8046.3864,488.625 8047.2301,489.0156 L8047.2301,491.4063 Q8046.4489,490.8438 8045.6208,490.5625 Q8044.8083,490.2656 8044.0114,490.2656 Q8043.1364,490.2656 8042.652,490.625 Q8042.1833,490.9844 8042.1833,491.6406 Q8042.1833,492.1563 8042.527,492.5 Q8042.8708,492.8281 8043.9645,493.2344 L8045.027,493.6406 Q8046.5114,494.1875 8047.2145,495.0938 Q8047.9333,496 8047.9333,497.375 Q8047.9333,499.25 8046.8239,500.1719 Q8045.7145,501.0938 8043.4645,501.0938 Q8042.5426,501.0938 8041.6208,500.875 Q8040.6989,500.6563 8039.8395,500.2344 L8039.8395,497.7031 Q8040.8083,498.3906 8041.7301,498.7344 Q8042.652,499.0781 8043.5426,499.0781 Q8044.4489,499.0781 8044.9489,498.6719 Q8045.4489,498.25 8045.4489,497.5156 Q8045.4489,496.9531 8045.1051,496.5469 Q8044.777,496.125 8044.152,495.875 L8042.9489,495.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="67" x="8063.9645" y="499.0137">urt_node_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7311.7145" x2="8850.7145" y1="510.8594" y2="510.8594"/><ellipse cx="7321.7145" cy="521.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="102" x="7330.7145" y="525.0698">next : urt_node_t*</text><ellipse cx="7321.7145" cy="534.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="7330.7145" y="537.8745">thread : urt_osThread_t*</text><ellipse cx="7321.7145" cy="547.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="7330.7145" y="550.6792">setupcallback : urt_nodeSetupCallback_t*</text><ellipse cx="7321.7145" cy="560.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="117" x="7330.7145" y="563.4839">setupparams : void*</text><ellipse cx="7321.7145" cy="573.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="221" x="7330.7145" y="576.2886">loopcallback : urt_nodeLoopCallback_t*</text><ellipse cx="7321.7145" cy="585.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="109" x="7330.7145" y="589.0933">loopparams : void*</text><ellipse cx="7321.7145" cy="598.6875" 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="281" x="7330.7145" y="601.8979">shutdowncallback : urt_nodeShutdownCallback_t*</text><ellipse cx="7321.7145" cy="611.4922" 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="140" x="7330.7145" y="614.7026">shutdownparams : void*</text><ellipse cx="7321.7145" cy="624.2969" 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="136" x="7330.7145" y="627.5073">stage : urt_nodestage_t</text><ellipse cx="7321.7145" cy="637.1016" 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="178" x="7330.7145" y="640.312">listener : urt_osEventListener_t</text><ellipse cx="7321.7145" cy="666.7109" 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="88" x="7330.7145" y="669.9214">loops : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7311.7145" x2="7873.2145" y1="653.3086" y2="653.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="416" x="7873.2145" y="656.6167">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="8289.2145" x2="8850.7145" y1="653.3086" y2="653.3086"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7311.7145" x2="8850.7145" y1="676.5156" y2="676.5156"/><rect fill="#F24D5C" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7318.7145" y="684.5156"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="179" x="7330.7145" y="690.7261">_main : urt_osThreadFunction_t</text><ellipse cx="7321.7145" cy="700.3203" 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="1515" x="7330.7145" y="703.5308">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(#f1ujiseu7zzykl)" height="141.6328" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="406" x="2743.2145" y="912.8594"/><ellipse cx="2895.9645" cy="928.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2895.4489,929.4219 Q2893.5895,928.7188 2892.9333,927.9531 Q2892.2926,927.1719 2892.2926,925.8594 Q2892.2926,924.1719 2893.3708,923.2031 Q2894.4489,922.2344 2896.3239,922.2344 Q2897.1833,922.2344 2898.027,922.4375 Q2898.8864,922.625 2899.7301,923.0156 L2899.7301,925.4063 Q2898.9489,924.8438 2898.1208,924.5625 Q2897.3083,924.2656 2896.5114,924.2656 Q2895.6364,924.2656 2895.152,924.625 Q2894.6833,924.9844 2894.6833,925.6406 Q2894.6833,926.1563 2895.027,926.5 Q2895.3708,926.8281 2896.4645,927.2344 L2897.527,927.6406 Q2899.0114,928.1875 2899.7145,929.0938 Q2900.4333,930 2900.4333,931.375 Q2900.4333,933.25 2899.3239,934.1719 Q2898.2145,935.0938 2895.9645,935.0938 Q2895.0426,935.0938 2894.1208,934.875 Q2893.1989,934.6563 2892.3395,934.2344 L2892.3395,931.7031 Q2893.3083,932.3906 2894.2301,932.7344 Q2895.152,933.0781 2896.0426,933.0781 Q2896.9489,933.0781 2897.4489,932.6719 Q2897.9489,932.25 2897.9489,931.5156 Q2897.9489,930.9531 2897.6051,930.5469 Q2897.277,930.125 2896.652,929.875 L2895.4489,929.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="2916.4645" y="933.0137">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2744.2145" x2="3148.2145" y1="944.8594" y2="944.8594"/><ellipse cx="2754.2145" cy="955.8594" 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="2763.2145" y="959.0698">next : urt_message_t*</text><ellipse cx="2754.2145" cy="968.6641" 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="2763.2145" y="971.8745">payload : void*</text><ellipse cx="2754.2145" cy="981.4688" 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="2763.2145" y="984.6792">originTime : urt_osTime_t</text><ellipse cx="2754.2145" cy="994.2734" 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="2763.2145" y="997.4839">numHrtConsumersLeft : unsigned int</text><ellipse cx="2754.2145" cy="1023.8828" 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="2763.2145" y="1027.0933">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2744.2145" x2="2837.7145" y1="1010.4805" y2="1010.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2837.7145" y="1013.7886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3054.7145" x2="3148.2145" y1="1010.4805" y2="1010.4805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2744.2145" x2="3148.2145" y1="1033.6875" y2="1033.6875"/><ellipse cx="2754.2145" cy="1044.6875" 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="2763.2145" y="1047.8979">urtMessageInit (message : urt_message_t*, payload : void*) : void</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]

class urt_publisher_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="128.8281" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="783" x="1926.7145" y="529.8594"/><ellipse cx="2267.4645" cy="545.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2266.9489,546.4219 Q2265.0895,545.7188 2264.4333,544.9531 Q2263.7926,544.1719 2263.7926,542.8594 Q2263.7926,541.1719 2264.8708,540.2031 Q2265.9489,539.2344 2267.8239,539.2344 Q2268.6833,539.2344 2269.527,539.4375 Q2270.3864,539.625 2271.2301,540.0156 L2271.2301,542.4063 Q2270.4489,541.8438 2269.6208,541.5625 Q2268.8083,541.2656 2268.0114,541.2656 Q2267.1364,541.2656 2266.652,541.625 Q2266.1833,541.9844 2266.1833,542.6406 Q2266.1833,543.1563 2266.527,543.5 Q2266.8708,543.8281 2267.9645,544.2344 L2269.027,544.6406 Q2270.5114,545.1875 2271.2145,546.0938 Q2271.9333,547 2271.9333,548.375 Q2271.9333,550.25 2270.8239,551.1719 Q2269.7145,552.0938 2267.4645,552.0938 Q2266.5426,552.0938 2265.6208,551.875 Q2264.6989,551.6563 2263.8395,551.2344 L2263.8395,548.7031 Q2264.8083,549.3906 2265.7301,549.7344 Q2266.652,550.0781 2267.5426,550.0781 Q2268.4489,550.0781 2268.9489,549.6719 Q2269.4489,549.25 2269.4489,548.5156 Q2269.4489,547.9531 2269.1051,547.5469 Q2268.777,547.125 2268.152,546.875 L2266.9489,546.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="2287.9645" y="550.0137">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1927.7145" x2="2708.7145" y1="561.8594" y2="561.8594"/><ellipse cx="1937.7145" cy="572.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="1946.7145" y="576.0698">topic : urt_topic_t*</text><ellipse cx="1937.7145" cy="602.4688" 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="149" x="1946.7145" y="605.6792">publishAttempts : uint64_t</text><ellipse cx="1937.7145" cy="615.2734" 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="1946.7145" y="618.4839">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1927.7145" x2="2209.7145" y1="589.0664" y2="589.0664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2209.7145" y="592.3745">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2426.7145" x2="2708.7145" y1="589.0664" y2="589.0664"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1927.7145" x2="2708.7145" y1="625.0781" y2="625.0781"/><ellipse cx="1937.7145" cy="636.0781" 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="572" x="1946.7145" y="639.2886">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void</text><ellipse cx="1937.7145" cy="648.8828" 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="757" x="1946.7145" y="652.0933">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[a1b1e66ec52c209a9fa2dab315cd7630]

class urt_topic_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="260.875" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="2745.2145" y="463.8594"/><ellipse cx="2899.9645" cy="479.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2899.4489,480.4219 Q2897.5895,479.7188 2896.9333,478.9531 Q2896.2926,478.1719 2896.2926,476.8594 Q2896.2926,475.1719 2897.3708,474.2031 Q2898.4489,473.2344 2900.3239,473.2344 Q2901.1833,473.2344 2902.027,473.4375 Q2902.8864,473.625 2903.7301,474.0156 L2903.7301,476.4063 Q2902.9489,475.8438 2902.1208,475.5625 Q2901.3083,475.2656 2900.5114,475.2656 Q2899.6364,475.2656 2899.152,475.625 Q2898.6833,475.9844 2898.6833,476.6406 Q2898.6833,477.1563 2899.027,477.5 Q2899.3708,477.8281 2900.4645,478.2344 L2901.527,478.6406 Q2903.0114,479.1875 2903.7145,480.0938 Q2904.4333,481 2904.4333,482.375 Q2904.4333,484.25 2903.3239,485.1719 Q2902.2145,486.0938 2899.9645,486.0938 Q2899.0426,486.0938 2898.1208,485.875 Q2897.1989,485.6563 2896.3395,485.2344 L2896.3395,482.7031 Q2897.3083,483.3906 2898.2301,483.7344 Q2899.152,484.0781 2900.0426,484.0781 Q2900.9489,484.0781 2901.4489,483.6719 Q2901.9489,483.25 2901.9489,482.5156 Q2901.9489,481.9531 2901.6051,481.5469 Q2901.277,481.125 2900.652,480.875 L2899.4489,480.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="2920.4645" y="484.0137">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2746.2145" x2="3128.2145" y1="495.8594" y2="495.8594"/><ellipse cx="2756.2145" cy="506.8594" 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="101" x="2765.2145" y="510.0698">next : urt_topic_t*</text><ellipse cx="2756.2145" cy="519.6641" 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="91" x="2765.2145" y="522.8745">id : urt_topicid_t</text><ellipse cx="2756.2145" cy="532.4688" 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="2765.2145" y="535.6792">lock : urt_osMutex_t</text><ellipse cx="2756.2145" cy="545.2734" 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="186" x="2765.2145" y="548.4839">evtSource : urt_osEventSource_t</text><ellipse cx="2756.2145" cy="558.0781" 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="193" x="2765.2145" y="561.2886">numHrtSubscribers : unsigned int</text><ellipse cx="2756.2145" cy="570.8828" 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="173" x="2765.2145" y="574.0933">hrtReleased : urt_osCondvar_t</text><ellipse cx="2756.2145" cy="583.6875" 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="209" x="2765.2145" y="586.8979">mandatoryMessage : urt_message_t</text><ellipse cx="2756.2145" cy="596.4922" 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="2765.2145" y="599.7026">latestMessage : urt_message_t*</text><ellipse cx="2756.2145" cy="626.1016" 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="212" x="2765.2145" y="629.312">hrtSubscribers : urt_hrtsubscriber_t*</text><ellipse cx="2756.2145" cy="638.9063" 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="170" x="2765.2145" y="642.1167">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2746.2145" x2="2804.7145" y1="612.6992" y2="612.6992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="2804.7145" y="616.0073">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3069.7145" x2="3128.2145" y1="612.6992" y2="612.6992"/><ellipse cx="2756.2145" cy="668.5156" 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="2765.2145" y="671.7261">numMessagesPublished : uint64_t</text><ellipse cx="2756.2145" cy="681.3203" 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="2765.2145" y="684.5308">numMessagesDiscarded : uint64_t</text><ellipse cx="2756.2145" cy="694.125" 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="2765.2145" y="697.3354">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2746.2145" x2="2828.7145" y1="655.1133" y2="655.1133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2828.7145" y="658.4214">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3045.7145" x2="3128.2145" y1="655.1133" y2="655.1133"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2746.2145" x2="3128.2145" y1="703.9297" y2="703.9297"/><ellipse cx="2756.2145" cy="714.9297" 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="358" x="2765.2145" y="718.1401">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[50a042e24f957794dab9ba3ea8701c50]

class urt_basesubscriber_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="133.6328" id="urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="225" x="4878.7145" y="916.8594"/><ellipse cx="4921.1645" cy="932.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4920.6489,933.4219 Q4918.7895,932.7188 4918.1333,931.9531 Q4917.4926,931.1719 4917.4926,929.8594 Q4917.4926,928.1719 4918.5708,927.2031 Q4919.6489,926.2344 4921.5239,926.2344 Q4922.3833,926.2344 4923.227,926.4375 Q4924.0864,926.625 4924.9301,927.0156 L4924.9301,929.4063 Q4924.1489,928.8438 4923.3208,928.5625 Q4922.5083,928.2656 4921.7114,928.2656 Q4920.8364,928.2656 4920.352,928.625 Q4919.8833,928.9844 4919.8833,929.6406 Q4919.8833,930.1563 4920.227,930.5 Q4920.5708,930.8281 4921.6645,931.2344 L4922.727,931.6406 Q4924.2114,932.1875 4924.9145,933.0938 Q4925.6333,934 4925.6333,935.375 Q4925.6333,937.25 4924.5239,938.1719 Q4923.4145,939.0938 4921.1645,939.0938 Q4920.2426,939.0938 4919.3208,938.875 Q4918.3989,938.6563 4917.5395,938.2344 L4917.5395,935.7031 Q4918.5083,936.3906 4919.4301,936.7344 Q4920.352,937.0781 4921.2426,937.0781 Q4922.1489,937.0781 4922.6489,936.6719 Q4923.1489,936.25 4923.1489,935.5156 Q4923.1489,934.9531 4922.8051,934.5469 Q4922.477,934.125 4921.852,933.875 L4920.6489,933.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="132" x="4941.2645" y="937.0137">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4879.7145" x2="5102.7145" y1="948.8594" y2="948.8594"/><ellipse cx="4889.7145" cy="959.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="4898.7145" y="963.0698">topic : urt_topic_t*</text><ellipse cx="4889.7145" cy="972.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="4898.7145" y="975.8745">evtListener : urt_osEventListener_t</text><ellipse cx="4889.7145" cy="985.4688" 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="175" x="4898.7145" y="988.6792">lastMessage : urt_message_t*</text><ellipse cx="4889.7145" cy="998.2734" 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="186" x="4898.7145" y="1001.4839">lastMessageTime : urt_osTime_t</text><ellipse cx="4889.7145" cy="1027.8828" 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="136" x="4898.7145" y="1031.0933">sumLatencies : uint64_t</text><ellipse cx="4889.7145" cy="1040.6875" 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="190" x="4898.7145" y="1043.8979">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4879.7145" x2="4882.7145" y1="1014.4805" y2="1014.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="4882.7145" y="1017.7886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5099.7145" x2="5102.7145" y1="1014.4805" y2="1014.4805"/><!--MD5=[fc7708c915a0148c667d62e1370980fd]

class urt_srtusefulnessfunc_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="60.8047" id="urt_srtusefulnessfunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="374" x="6072.2145" y="953.3594"/><ellipse cx="6181.4645" cy="969.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6185.6989,965.125 L6180.4176,965.125 L6180.4176,967.7969 L6185.2145,967.7969 L6185.2145,969.9531 L6180.4176,969.9531 L6180.4176,975.3594 L6177.9801,975.3594 L6177.9801,962.9688 L6185.6989,962.9688 L6185.6989,965.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="147" x="6201.9645" y="973.5137">urt_srtusefulnessfunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6073.2145" x2="6445.2145" y1="985.3594" y2="985.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6073.2145" x2="6445.2145" y1="993.3594" y2="993.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="362" x="6078.2145" y="1007.5698">urt_srtusefulnessfunc_t (dt : urt_delay_t, params : void*) : float</text><!--MD5=[9ff46073dd541e50679ef35e851c67d6]

class urt_nrtsubscriber_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="154.4375" id="urt_nrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="821" x="3182.7145" y="517.3594"/><ellipse cx="3529.4645" cy="533.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3528.9489,533.9219 Q3527.0895,533.2188 3526.4333,532.4531 Q3525.7926,531.6719 3525.7926,530.3594 Q3525.7926,528.6719 3526.8708,527.7031 Q3527.9489,526.7344 3529.8239,526.7344 Q3530.6833,526.7344 3531.527,526.9375 Q3532.3864,527.125 3533.2301,527.5156 L3533.2301,529.9063 Q3532.4489,529.3438 3531.6208,529.0625 Q3530.8083,528.7656 3530.0114,528.7656 Q3529.1364,528.7656 3528.652,529.125 Q3528.1833,529.4844 3528.1833,530.1406 Q3528.1833,530.6563 3528.527,531 Q3528.8708,531.3281 3529.9645,531.7344 L3531.027,532.1406 Q3532.5114,532.6875 3533.2145,533.5938 Q3533.9333,534.5 3533.9333,535.875 Q3533.9333,537.75 3532.8239,538.6719 Q3531.7145,539.5938 3529.4645,539.5938 Q3528.5426,539.5938 3527.6208,539.375 Q3526.6989,539.1563 3525.8395,538.7344 L3525.8395,536.2031 Q3526.8083,536.8906 3527.7301,537.2344 Q3528.652,537.5781 3529.5426,537.5781 Q3530.4489,537.5781 3530.9489,537.1719 Q3531.4489,536.75 3531.4489,536.0156 Q3531.4489,535.4531 3531.1051,535.0469 Q3530.777,534.625 3530.152,534.375 L3528.9489,533.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="3549.9645" y="537.5137">urt_nrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3183.7145" x2="4002.7145" y1="549.3594" y2="549.3594"/><ellipse cx="3193.7145" cy="577.1641" 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="3202.7145" y="580.3745">minLatency : urt_delay_t</text><ellipse cx="3193.7145" cy="589.9688" 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="3202.7145" y="593.1792">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3183.7145" x2="3484.7145" y1="563.7617" y2="563.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="3484.7145" y="567.0698">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3701.7145" x2="4002.7145" y1="563.7617" y2="563.7617"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3183.7145" x2="4002.7145" y1="599.7734" y2="599.7734"/><ellipse cx="3193.7145" cy="610.7734" 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="347" x="3202.7145" y="613.9839">urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : void</text><ellipse cx="3193.7145" cy="623.5781" 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="715" x="3202.7145" y="626.7886">urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="3193.7145" cy="636.3828" 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="785" x="3202.7145" y="639.5933">urtNrtSubscriberFetchNextMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="3193.7145" cy="649.1875" 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="795" x="3202.7145" y="652.3979">urtNrtSubscriberFetchLatestMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="3193.7145" cy="661.9922" 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="446" x="3202.7145" y="665.2026">urtNrtSubscriberUnsubscribe (subscriber : urt_nrtsubscriber_t*) : urt_status_t</text><!--MD5=[5c7929572d87ccc448d875bea5da0fb1]

class urt_srtsubscriber_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="192.8516" id="urt_srtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="6184.2145" y="497.8594"/><ellipse cx="6662.9645" cy="513.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6662.4489,514.4219 Q6660.5895,513.7188 6659.9333,512.9531 Q6659.2926,512.1719 6659.2926,510.8594 Q6659.2926,509.1719 6660.3708,508.2031 Q6661.4489,507.2344 6663.3239,507.2344 Q6664.1833,507.2344 6665.027,507.4375 Q6665.8864,507.625 6666.7301,508.0156 L6666.7301,510.4063 Q6665.9489,509.8438 6665.1208,509.5625 Q6664.3083,509.2656 6663.5114,509.2656 Q6662.6364,509.2656 6662.152,509.625 Q6661.6833,509.9844 6661.6833,510.6406 Q6661.6833,511.1563 6662.027,511.5 Q6662.3708,511.8281 6663.4645,512.2344 L6664.527,512.6406 Q6666.0114,513.1875 6666.7145,514.0938 Q6667.4333,515 6667.4333,516.375 Q6667.4333,518.25 6666.3239,519.1719 Q6665.2145,520.0938 6662.9645,520.0938 Q6662.0426,520.0938 6661.1208,519.875 Q6660.1989,519.6563 6659.3395,519.2344 L6659.3395,516.7031 Q6660.3083,517.3906 6661.2301,517.7344 Q6662.152,518.0781 6663.0426,518.0781 Q6663.9489,518.0781 6664.4489,517.6719 Q6664.9489,517.25 6664.9489,516.5156 Q6664.9489,515.9531 6664.6051,515.5469 Q6664.277,515.125 6663.652,514.875 L6662.4489,514.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="6683.4645" y="518.0137">urt_srtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6185.2145" x2="7267.2145" y1="529.8594" y2="529.8594"/><ellipse cx="6195.2145" cy="540.8594" 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="229" x="6204.2145" y="544.0698">usefulnesscb : urt_srtusefulnessfunc_t*</text><ellipse cx="6195.2145" cy="553.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="6204.2145" y="556.8745">cbparams : void*</text><ellipse cx="6195.2145" cy="583.2734" 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="138" x="6204.2145" y="586.4839">minLatency : urt_delay_t</text><ellipse cx="6195.2145" cy="596.0781" 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="141" x="6204.2145" y="599.2886">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6185.2145" x2="6617.7145" y1="569.8711" y2="569.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="6617.7145" y="573.1792">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6834.7145" x2="7267.2145" y1="569.8711" y2="569.8711"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6185.2145" x2="7267.2145" y1="605.8828" y2="605.8828"/><ellipse cx="6195.2145" cy="616.8828" 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="347" x="6204.2145" y="620.0933">urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void</text><ellipse cx="6195.2145" cy="629.6875" 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="1058" x="6204.2145" y="632.8979">urtSrtSubscriberSubscribe (subscriber : urt_srtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_srtusefulnessfunc_t*, cbparams : void*) : urt_status_t</text><ellipse cx="6195.2145" cy="642.4922" 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="785" x="6204.2145" y="645.7026">urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="6195.2145" cy="655.2969" 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="795" x="6204.2145" y="658.5073">urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="6195.2145" cy="668.1016" 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="570" x="6204.2145" y="671.312">urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float</text><ellipse cx="6195.2145" cy="680.9063" 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="446" x="6204.2145" y="684.1167">urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t</text><!--MD5=[17838fb05fe219fd399839979ec8a4a4]

class urt_frtsubscriber_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="226.4609" id="urt_frtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="974" x="4038.2145" y="481.3594"/><ellipse cx="4463.4645" cy="497.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4462.9489,497.9219 Q4461.0895,497.2188 4460.4333,496.4531 Q4459.7926,495.6719 4459.7926,494.3594 Q4459.7926,492.6719 4460.8708,491.7031 Q4461.9489,490.7344 4463.8239,490.7344 Q4464.6833,490.7344 4465.527,490.9375 Q4466.3864,491.125 4467.2301,491.5156 L4467.2301,493.9063 Q4466.4489,493.3438 4465.6208,493.0625 Q4464.8083,492.7656 4464.0114,492.7656 Q4463.1364,492.7656 4462.652,493.125 Q4462.1833,493.4844 4462.1833,494.1406 Q4462.1833,494.6563 4462.527,495 Q4462.8708,495.3281 4463.9645,495.7344 L4465.027,496.1406 Q4466.5114,496.6875 4467.2145,497.5938 Q4467.9333,498.5 4467.9333,499.875 Q4467.9333,501.75 4466.8239,502.6719 Q4465.7145,503.5938 4463.4645,503.5938 Q4462.5426,503.5938 4461.6208,503.375 Q4460.6989,503.1563 4459.8395,502.7344 L4459.8395,500.2031 Q4460.8083,500.8906 4461.7301,501.2344 Q4462.652,501.5781 4463.5426,501.5781 Q4464.4489,501.5781 4464.9489,501.1719 Q4465.4489,500.75 4465.4489,500.0156 Q4465.4489,499.4531 4465.1051,499.0469 Q4464.777,498.625 4464.152,498.375 L4462.9489,497.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="4483.9645" y="501.5137">urt_frtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4039.2145" x2="5011.2145" y1="513.3594" y2="513.3594"/><ellipse cx="4049.2145" cy="541.1641" 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="4058.2145" y="544.3745">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4039.2145" x2="4379.7145" y1="527.7617" y2="527.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="4379.7145" y="531.0698">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4670.7145" x2="5011.2145" y1="527.7617" y2="527.7617"/><ellipse cx="4049.2145" cy="570.7734" 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="4058.2145" y="573.9839">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4039.2145" x2="4389.7145" y1="557.3711" y2="557.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="4389.7145" y="560.6792">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4660.7145" x2="5011.2145" y1="557.3711" y2="557.3711"/><ellipse cx="4049.2145" cy="600.3828" 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="4058.2145" y="603.5933">minLatency : urt_delay_t</text><ellipse cx="4049.2145" cy="613.1875" 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="4058.2145" y="616.3979">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4039.2145" x2="4271.2145" y1="586.9805" y2="586.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="508" x="4271.2145" y="590.2886">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="4779.2145" x2="5011.2145" y1="586.9805" y2="586.9805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4039.2145" x2="5011.2145" y1="622.9922" y2="622.9922"/><ellipse cx="4049.2145" cy="633.9922" 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="342" x="4058.2145" y="637.2026">urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : void</text><ellipse cx="4049.2145" cy="646.7969" 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="948" x="4058.2145" y="650.0073">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="4049.2145" cy="659.6016" 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="780" x="4058.2145" y="662.812">urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4049.2145" cy="672.4063" 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="790" x="4058.2145" y="675.6167">urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4049.2145" cy="685.2109" 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="540" x="4058.2145" y="688.4214">urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool</text><ellipse cx="4049.2145" cy="698.0156" 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="441" x="4058.2145" y="701.2261">urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t</text><!--MD5=[104dc879e5721421b987fcc467bc3a1d]

class urt_hrtsubscriber_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="268.875" id="urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="5047.2145" y="459.8594"/><ellipse cx="5525.4645" cy="475.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5524.9489,476.4219 Q5523.0895,475.7188 5522.4333,474.9531 Q5521.7926,474.1719 5521.7926,472.8594 Q5521.7926,471.1719 5522.8708,470.2031 Q5523.9489,469.2344 5525.8239,469.2344 Q5526.6833,469.2344 5527.527,469.4375 Q5528.3864,469.625 5529.2301,470.0156 L5529.2301,472.4063 Q5528.4489,471.8438 5527.6208,471.5625 Q5526.8083,471.2656 5526.0114,471.2656 Q5525.1364,471.2656 5524.652,471.625 Q5524.1833,471.9844 5524.1833,472.6406 Q5524.1833,473.1563 5524.527,473.5 Q5524.8708,473.8281 5525.9645,474.2344 L5527.027,474.6406 Q5528.5114,475.1875 5529.2145,476.0938 Q5529.9333,477 5529.9333,478.375 Q5529.9333,480.25 5528.8239,481.1719 Q5527.7145,482.0938 5525.4645,482.0938 Q5524.5426,482.0938 5523.6208,481.875 Q5522.6989,481.6563 5521.8395,481.2344 L5521.8395,478.7031 Q5522.8083,479.3906 5523.7301,479.7344 Q5524.652,480.0781 5525.5426,480.0781 Q5526.4489,480.0781 5526.9489,479.6719 Q5527.4489,479.25 5527.4489,478.5156 Q5527.4489,477.9531 5527.1051,477.5469 Q5526.777,477.125 5526.152,476.875 L5524.9489,476.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="5545.9645" y="480.0137">urt_hrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5048.2145" x2="6130.2145" y1="491.8594" y2="491.8594"/><ellipse cx="5058.2145" cy="502.8594" 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="151" x="5067.2145" y="506.0698">next : urt_hrtsubscriber_t*</text><ellipse cx="5058.2145" cy="532.4688" 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="157" x="5067.2145" y="535.6792">deadlineOffset : urt_delay_t</text><ellipse cx="5058.2145" cy="545.2734" 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="194" x="5067.2145" y="548.4839">qosDeadlineTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5048.2145" x2="5443.7145" y1="519.0664" y2="519.0664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="5443.7145" y="522.3745">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5734.7145" x2="6130.2145" y1="519.0664" y2="519.0664"/><ellipse cx="5058.2145" cy="574.8828" 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="124" x="5067.2145" y="578.0933">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5048.2145" x2="5453.7145" y1="561.4805" y2="561.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="5453.7145" y="564.7886">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5724.7145" x2="6130.2145" y1="561.4805" y2="561.4805"/><ellipse cx="5058.2145" cy="604.4922" 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="5067.2145" y="607.7026">minLatency : urt_delay_t</text><ellipse cx="5058.2145" cy="617.2969" 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="5067.2145" y="620.5073">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5048.2145" x2="5337.2145" y1="591.0898" y2="591.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="5337.2145" y="594.3979">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="5841.2145" x2="6130.2145" y1="591.0898" y2="591.0898"/><ellipse cx="5058.2145" cy="646.9063" 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="150" x="5067.2145" y="650.1167">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5048.2145" x2="5456.7145" y1="633.5039" y2="633.5039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="5456.7145" y="636.812">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5721.7145" x2="6130.2145" y1="633.5039" y2="633.5039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5048.2145" x2="6130.2145" y1="656.7109" y2="656.7109"/><ellipse cx="5058.2145" cy="667.7109" 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="347" x="5067.2145" y="670.9214">urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : void</text><ellipse cx="5058.2145" cy="680.5156" 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="1058" x="5067.2145" y="683.7261">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="5058.2145" cy="693.3203" 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="785" x="5067.2145" y="696.5308">urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="5058.2145" cy="706.125" 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="795" x="5067.2145" y="709.3354">urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="5058.2145" cy="718.9297" 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="446" x="5067.2145" y="722.1401">urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t</text><!--MD5=[3226071078d8aeaa18fbafa5359ddee6]

class urt_servicefunc_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="60.8047" id="urt_servicefunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="451" x="8992.7145" y="953.3594"/><ellipse cx="9160.9645" cy="969.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9165.1989,965.125 L9159.9176,965.125 L9159.9176,967.7969 L9164.7145,967.7969 L9164.7145,969.9531 L9159.9176,969.9531 L9159.9176,975.3594 L9157.4801,975.3594 L9157.4801,962.9688 L9165.1989,962.9688 L9165.1989,965.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="106" x="9181.4645" y="973.5137">urt_servicefunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8993.7145" x2="9442.7145" y1="985.3594" y2="985.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8993.7145" x2="9442.7145" y1="993.3594" y2="993.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="439" x="8998.7145" y="1007.5698">urt_servicefunc_t (arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[e60e0f8379a14e7a4a292c65add9d735]

class urt_service_t--><rect fill="#FEFECE" filter="url(#f1ujiseu7zzykl)" height="205.6563" id="urt_service_t" style="stroke: #A80036; stroke-width: 1.5;" width="602" x="8982.2145" y="491.3594"/><ellipse cx="9239.4645" cy="507.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9238.9489,507.9219 Q9237.0895,507.2188 9236.4333,506.4531 Q9235.7926,505.6719 9235.7926,504.3594 Q9235.7926,502.6719 9236.8708,501.7031 Q9237.9489,500.7344 9239.8239,500.7344 Q9240.6833,500.7344 9241.527,500.9375 Q9242.3864,501.125 9243.2301,501.5156 L9243.2301,503.9063 Q9242.4489,503.3438 9241.6208,503.0625 Q9240.8083,502.7656 9240.0114,502.7656 Q9239.1364,502.7656 9238.652,503.125 Q9238.1833,503.4844 9238.1833,504.1406 Q9238.1833,504.6563 9238.527,505 Q9238.8708,505.3281 9239.9645,505.7344 L9241.027,506.1406 Q9242.5114,506.6875 9243.2145,507.5938 Q9243.9333,508.5 9243.9333,509.875 Q9243.9333,511.75 9242.8239,512.6719 Q9241.7145,513.5938 9239.4645,513.5938 Q9238.5426,513.5938 9237.6208,513.375 Q9236.6989,513.1563 9235.8395,512.7344 L9235.8395,510.2031 Q9236.8083,510.8906 9237.7301,511.2344 Q9238.652,511.5781 9239.5426,511.5781 Q9240.4489,511.5781 9240.9489,511.1719 Q9241.4489,510.75 9241.4489,510.0156 Q9241.4489,509.4531 9241.1051,509.0469 Q9240.777,508.625 9240.152,508.375 L9238.9489,507.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="9259.9645" y="511.5137">urt_service_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8983.2145" x2="9583.2145" y1="523.3594" y2="523.3594"/><ellipse cx="8993.2145" cy="534.3594" 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="115" x="9002.2145" y="537.5698">next : urt_service_t*</text><ellipse cx="8993.2145" cy="547.1641" 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="105" x="9002.2145" y="550.3745">id : urt_serviceid_t</text><ellipse cx="8993.2145" cy="559.9688" 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="9002.2145" y="563.1792">lock : urt_osMutex_t</text><ellipse cx="8993.2145" cy="572.7734" 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="160" x="9002.2145" y="575.9839">callback : urt_servicefunc_t*</text><ellipse cx="8993.2145" cy="602.3828" 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="137" x="9002.2145" y="605.5933">sumDurations : uint64_t</text><ellipse cx="8993.2145" cy="615.1875" 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="110" x="9002.2145" y="618.3979">numCalls : uint64_t</text><ellipse cx="8993.2145" cy="627.9922" 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="135" x="9002.2145" y="631.2026">numTimeouts : uint64_t</text><ellipse cx="8993.2145" cy="640.7969" 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="143" x="9002.2145" y="644.0073">minDuration : urt_delay_t</text><ellipse cx="8993.2145" cy="653.6016" 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="146" x="9002.2145" y="656.812">maxDuration : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8983.2145" x2="9187.2145" y1="588.9805" y2="588.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="9187.2145" y="592.2886">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9379.2145" x2="9583.2145" y1="588.9805" y2="588.9805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8983.2145" x2="9583.2145" y1="663.4063" y2="663.4063"/><ellipse cx="8993.2145" cy="674.4063" 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="576" x="9002.2145" y="677.6167">urtServiceInit(service : urt_service_t*, id : urt_serviceid_t, callback : urt_servicefunc_t*) : urt_status_t</text><ellipse cx="8993.2145" cy="687.2109" 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="557" x="9002.2145" y="690.4214">urtServiceCall(service : urt_service_t*, arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[5fff9a13948f7f5b5e6ca18c1c7a9716]

link urt_nodestage_t to urt_config--><path d="M1205.6661,1444.1771 C1179.7775,1477.5397 1149.101,1517.0726 1120.5975,1553.8052 " 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="1117.4907,1557.8089,1126.1683,1553.1507,1120.5559,1553.8586,1119.848,1548.2463,1117.4907,1557.8089" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7db439499cb1afd557b9be4c8c52b2ba]

link urt_topicid_t to urt_config--><path d="M1028.2145,1444.1771 C1028.2145,1477.1345 1028.2145,1516.1132 1028.2145,1552.4655 " 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="1028.2145,1557.8089,1032.2145,1548.8089,1028.2145,1552.8089,1024.2145,1548.8089,1028.2145,1557.8089" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e851a4e79ca88682282ceaaad2100c63]

link urt_serviceid_t to urt_config--><path d="M1455.6538,1444.2061 C1437.4591,1466.0731 1416.0466,1488.5219 1393.2145,1505.8594 C1328.8545,1554.731 1247.9044,1593.5946 1178.6015,1621.4886 " 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="1173.6322,1623.478,1183.4742,1623.8465,1178.2741,1621.6197,1180.5009,1616.4196,1173.6322,1623.478" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[844001065b3bef53527c5dd4ba0c22e5]

link urt_delay_t to urt_config--><path d="M1978.5783,1414.5689 C1959.9292,1445.6774 1931.7549,1483.8921 1896.2145,1505.8594 C1778.2739,1578.7576 1394.3539,1631.9505 1178.7108,1656.9352 " 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="1173.6484,1657.5202,1183.0481,1660.4605,1178.6153,1656.9462,1182.1297,1652.5134,1173.6484,1657.5202" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7766572fa0c619a5409829048dc0b6d6]

link urt_osCondvar_t to urt_osCondvarWaitStatus_t--><path d="M14588.2145,1033.6685 C14588.2145,1107.2408 14588.2145,1244.0695 14588.2145,1316.6892 " 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="14588.2145,1321.8051,14592.2145,1312.8051,14588.2145,1316.8051,14584.2145,1312.8051,14588.2145,1321.8051" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9b2507ea88616aeae65e3c4d63560016]

link urt_osCondvar_t to urt_osMutex_t--><path d="M14542.5252,934.0805 C14474.8868,865.6475 14340.5252,749.0857 14196.7145,732.8594 C14172.6795,730.1475 10737.7495,730.1475 10713.7145,732.8594 C10621.3147,743.2849 10575.2765,858.6638 10555.5952,929.3074 " 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="10554.2234,934.3144,10560.4595,926.6913,10555.5447,929.4921,10552.7439,924.5773,10554.2234,934.3144" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[83094e108045c8f9585007cdb3b7cb2e]

link urt_osTimer_t to urt_osTimerCallback_t--><path d="M13807.2145,1040.0773 C13807.2145,1119.5626 13807.2145,1262.5074 13807.2145,1329.0138 " 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="13807.2145,1334.0536,13811.2145,1325.0536,13807.2145,1329.0536,13803.2145,1325.0536,13807.2145,1334.0536" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8d8c3240b5b2b5edf6544088e583ffa5]

link urt_osThread_t to urt_osThreadPrio_t--><path d="M12688.7458,1172.127 C12697.0411,1211.6334 12705.3633,1251.2679 12712.285,1284.2328 " 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="12713.3837,1289.4652,12715.4487,1279.8352,12712.3561,1284.5719,12707.6195,1281.4793,12713.3837,1289.4652" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d7d1d43fd970fb07a484642bc19fcb13]

link urt_osThread_t to urt_osThreadFunction_t--><path d="M12929.2667,1087.4557 C12995.9871,1118.4882 13064.7352,1156.1239 13123.2145,1199.8594 C13172.6586,1236.8377 13217.0732,1293.5549 13242.8428,1329.9242 " 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="13245.8921,1334.2559,13243.9823,1324.594,13243.014,1330.1673,13237.4406,1329.199,13245.8921,1334.2559" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6564761b32ad7eeb5abb8896c72cfca5]

link urt_osThread_t to urt_osThreadTerminateSignal_t--><path d="M12820.6595,1171.9786 C12828.9925,1181.3788 12837.2149,1190.7106 12845.2145,1199.8594 C12881.7002,1241.5863 12922.4517,1290.2076 12950.3452,1323.8092 " 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="12953.682,1327.831,12951.0138,1318.3504,12950.4894,1323.9829,12944.8569,1323.4586,12953.682,1327.831" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[92ba23225d8de8f8080583fedda5e6f8]

link urt_osThread_t to urt_osThreadState_t--><path d="M12566.693,1172.127 C12548.2088,1214.2977 12529.6606,1256.6142 12514.6723,1290.809 " 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="12512.4872,1295.7942,12519.7638,1289.1571,12514.4945,1291.2148,12512.4368,1285.9454,12512.4872,1295.7942" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[78b286ab2177e5f7b31e6e832d821818]

link urt_osThread_t to urt_osTime_t--><path d="M12479.2414,795.577 C12435.7377,763.7085 12386.0255,738.8745 12332.7145,732.8594 C12305.9676,729.8415 10421.4615,729.8415 10394.7145,732.8594 C10283.8131,745.3725 10204.9977,866.9621 10168.7006,936.2069 " 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="10166.3714,940.6905,10174.0702,934.5481,10168.6765,936.2535,10166.971,930.8599,10166.3714,940.6905" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[659af6ab57e6a38ebfd5c07c5616787c]

link urt_osEventListener_t to urt_osEventFlags_t--><path d="M11504.2145,1408.0098 C11504.2145,1471.6825 11504.2145,1589.1375 11504.2145,1643.6498 " 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="11504.2145,1648.7248,11508.2145,1639.7248,11504.2145,1643.7248,11500.2145,1639.7248,11504.2145,1648.7248" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[eac11679f26c499aa1c571e1f795945d]

link urt_osEventSource_t to urt_osEventFlags_t--><path d="M11993.1479,1402.0114 C11879.4226,1465.0103 11651.4481,1591.2983 11552.2098,1646.2721 " 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="11547.5824,1648.8355,11557.3934,1647.9732,11551.9561,1646.4126,11553.5168,1640.9752,11547.5824,1648.8355" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0259cdb10c6c32168d1d17d25519d939]

link urt_events to urt_osEventSource_t--><path d="M11311.7928,1026.9538 C11434.5031,1066.5746 11616.7833,1129.6775 11769.2145,1199.8594 C11850.4496,1237.2614 11939.2464,1289.3682 11997.1154,1324.9566 " 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="12001.5745,1327.7039,11996.0101,1319.5775,11997.3176,1325.0812,11991.8139,1326.3886,12001.5745,1327.7039" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0ce043e0e9532fc393f3f8836f5de19a]

link urt_events to urt_osEventListener_t--><path d="M11209.9759,1027.194 C11272.8391,1099.3353 11398.4371,1243.4702 11463.3192,1317.9283 " 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="11466.7429,1321.8573,11463.8458,1312.4442,11463.458,1318.0877,11457.8145,1317.6999,11466.7429,1321.8573" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[430bebba9cd89d3ba8f63b2078968bca]

link urt_events to urt_osEventMask_t--><path d="M11135.363,1027.194 C11070.4776,1103.4945 10937.1061,1260.3295 10877.7866,1330.0848 " 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="10874.3309,1334.1484,10883.2085,1329.8835,10877.57,1330.3394,10877.1141,1324.701,10874.3309,1334.1484" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b1b185abc2161e087cab32ae7fdb2c40]

link urt_events to urt_osEventFlags_t--><path d="M11178.7325,1027.261 C11185.2103,1070.8488 11195.2952,1139.9552 11203.2145,1199.8594 C11212.1915,1267.7639 11203.625,1447.9559 11240.2145,1505.8594 C11284.1207,1575.3417 11368.5642,1621.0844 11430.1615,1646.8441 " 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="11434.9281,1648.8168,11428.1417,1641.6792,11430.3081,1646.9048,11425.0825,1649.0712,11434.9281,1648.8168" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[706a1974d1b474cbba7e7b0213f243a1]

link urt_events to urt_osEventWait_t--><path d="M11164.4802,1027.194 C11151.6814,1098.905 11126.1862,1241.7535 11112.8298,1316.5887 " 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="11111.8894,1321.8573,11117.4086,1313.7001,11112.768,1316.9351,11109.533,1312.2945,11111.8894,1321.8573" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5f656ccbf337bb70e2692ec6599b22aa]

link urt_osCondvar_t to urt_delay_t--><path d="M14514.8235,1033.5721 C14442.1349,1079.6173 14325.8308,1144.9154 14214.2145,1171.8594 C14119.1099,1194.8175 10790.0421,1198.5416 10692.2145,1199.8594 C7149.8549,1247.5766 2795.7893,1346.5915 2099.9407,1362.6402 " 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="2094.8974,1362.7565,2103.9873,1366.5476,2099.8961,1362.641,2103.8027,1358.5498,2094.8974,1362.7565" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[2da0e339f7ca878d257c4a5336e8cad5]

link urt_osThread_t to urt_delay_t--><path d="M12369.148,1165.7187 C12362.8474,1167.9273 12356.5327,1169.9802 12350.2145,1171.8594 C12261.9132,1198.1225 10784.3239,1198.207 10692.2145,1199.8594 C7150.1035,1263.404 2795.8304,1349.209 2099.9458,1362.9649 " 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="2094.9023,1363.0646,2103.9796,1366.8858,2099.9013,1362.9657,2103.8215,1358.8874,2094.9023,1363.0646" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4dd831efde278dc905a11b75839a39d0]

link urt_osThread_t to urt_status_t--><path d="M12369.1843,1165.8424 C12362.8727,1168.0134 12356.5459,1170.0251 12350.2145,1171.8594 C12210.7542,1212.2624 2026.9948,1136.7874 1896.2145,1199.8594 C1881.2421,1207.0802 1867.4344,1216.9142 1854.8483,1228.2102 " fill="none" id="urt_osThread_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1850.9815,1231.7614,1860.3158,1228.6196,1854.6641,1228.3792,1854.9044,1222.7275,1850.9815,1231.7614" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8bf77663ad208115c32fd5300d37f092]

link urt_osTimer_t to urt_delay_t--><path d="M13717.3988,1039.9847 C13639.0941,1085.4611 13520.7336,1146.069 13408.2145,1171.8594 C13261.1318,1205.5721 10843.0952,1197.649 10692.2145,1199.8594 C7149.9137,1251.7549 2795.7991,1347.2825 2099.9419,1362.7259 " 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="2094.8986,1362.8379,2103.9852,1366.6371,2099.8974,1362.7269,2103.8076,1358.6391,2094.8986,1362.8379" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[97e66fd6906ece822f393f9bfe719297]

link urt_osTimer_t to urt_status_t--><path d="M13717.839,1039.9827 C13639.5695,1085.6243 13521.0211,1146.4703 13408.2145,1171.8594 C13330.2208,1189.4132 1968.2267,1165.1407 1896.2145,1199.8594 C1881.2412,1207.0784 1867.433,1216.9112 1854.8465,1228.2064 " fill="none" id="urt_osTimer_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1850.9796,1231.7575,1860.3141,1228.6162,1854.6624,1228.3756,1854.903,1222.7238,1850.9796,1231.7575" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[a4e2abbbace7909006fa5f13364d6021]

link urt_events to urt_delay_t--><path d="M11094.4457,1027.0441 C11007.1527,1072.9487 10859.8165,1142.8393 10723.2145,1171.8594 C10279.4257,1266.1392 3021.5543,1353.0829 2100.1473,1363.7607 " 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="2094.8108,1363.8226,2103.8566,1367.7179,2099.8105,1363.7646,2103.7638,1359.7184,2094.8108,1363.8226" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0549e7b45a7543f4046fb7eaa1b75598]

link urt_events to urt_status_t--><path d="M11095.7307,1026.9034 C11008.6803,1073.229 10860.7067,1144.0097 10723.2145,1171.8594 C10603.0568,1196.1979 2006.628,1146.5762 1896.2145,1199.8594 C1881.2439,1207.0839 1867.4374,1216.9203 1854.8519,1228.2177 " fill="none" id="urt_events-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1850.9854,1231.7694,1860.3194,1228.6268,1854.6677,1228.3869,1854.9076,1222.7352,1850.9854,1231.7694" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[182342162f0b9b45ddce11acc6582c59]

reverse link urt_node_t to urt_node_t--><path d="M8863.7055,566.618 C8878.5406,574.5637 8886.7145,583.8108 8886.7145,594.3594 C8886.7145,607.4683 8874.0912,618.5673 8851.7477,627.6565 " fill="none" id="urt_node_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8851.7477,561.0623,8855.5037,567.218,8862.6305,566.1185,8858.8745,559.9628,8851.7477,561.0623" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8860.2192" y="557.6822">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="8860.3067" y="625.0048">0..1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]

reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M8069.1389,723.1081 C8067.408,804.7675 8069.009,903.9849 8073.9421,953.1633 " fill="none" id="urt_node_t&lt;-urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8069.4521,709.9044,8065.3109,715.8078,8069.1674,721.901,8073.3086,715.9976,8069.4521,709.9044" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8060.3931" y="730.2339">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="8045.9672" y="942.3861">0..1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]

reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M8093.8141,715.3429 C8095.9379,798.3813 8094.3047,902.4149 8088.9147,953.1633 " 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="8093.6688,709.9044,8089.9107,719.008,8093.8024,714.9026,8097.9078,718.7943,8093.6688,709.9044" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b913f036db99e36b937989146817bd94]

reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M8279.8011,717.1013 C8290.1475,723.6662 8300.3389,730.2729 8310.2145,736.8594 C8418.3412,808.974 8538.1713,904.8188 8603.4839,953.1746 " fill="none" id="urt_node_t&lt;-urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8268.5209,709.9969,8271.4662,716.5791,8278.6749,716.3919,8275.7296,709.8098,8268.5209,709.9969" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8272.8368" y="730.3326">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8584.8145" y="942.3997">1</text><!--MD5=[b913f036db99e36b937989146817bd94]

reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M8307.7923,712.7083 C8320.5782,720.7133 8333.1326,728.8014 8345.2145,736.8594 C8453.1941,808.8759 8572.8453,904.5581 8625.3269,952.977 " 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="8303.4476,709.9969,8308.9651,718.1551,8307.6894,712.644,8313.2005,711.3682,8303.4476,709.9969" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[496dffc41052f1912ec8ad492f24fe61]

reverse link urt_node_t to urt_nodeShutdownCallback_t--><path d="M7847.4284,717.1983 C7837.7752,723.6786 7828.3308,730.2473 7819.2145,736.8594 C7722.9836,806.6559 7621.5831,904.1423 7578.8119,953.153 " fill="none" id="urt_node_t&lt;-urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="7858.4096,709.9217,7851.1985,709.9015,7848.4065,716.5502,7855.6175,716.5703,7858.4096,709.9217" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7835.1711" y="730.2524">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="7556.3789" y="942.3736">0..1</text><!--MD5=[496dffc41052f1912ec8ad492f24fe61]

reverse link urt_node_t to urt_nodeShutdownCallback_t--><path d="M7888.9522,712.8224 C7877.0572,720.7143 7865.3893,728.7543 7854.2145,736.8594 C7757.9836,806.6559 7656.5831,904.1423 7600.71,953.153 " 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="7893.3444,709.9217,7883.63,711.5436,7889.1721,712.6771,7888.0387,718.2192,7893.3444,709.9217" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[536025241394544a90bc53fb552f3a08]

reverse link urt_message_t to urt_message_t--><path d="M3099.4452,912.6749 C3146.9161,914.071 3184.2145,937.7992 3184.2145,983.8594 C3184.2145,1034.1426 3139.7632,1057.8111 3086.1525,1054.8648 " fill="none" id="urt_message_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3086.1525,912.854,3092.2059,916.7727,3098.1514,912.6922,3092.098,908.7734,3086.1525,912.854" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3092.1711" y="901.8508">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="3074.3466" y="1074.438">0..1</text><!--MD5=[0585cd4928de92ce6927d9c389eadd29]

link urt_nrtsubscriber_t to urt_basesubscriber_t--><path d="M3795.4555,671.3649 C3865.8405,694.539 3946.0143,716.9609 4021.2145,728.8594 C4044.6463,732.5669 4855.2489,724.0466 4875.2145,736.8594 C4930.1985,772.1451 4959.6054,841.0899 4975.0359,897.1912 " fill="none" id="urt_nrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="4981.8793,895.6995,4980.02,916.8074,4968.3104,899.1471,4981.8793,895.6995" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[37a8b7f2877a6b7bb4e9d0352ce3d221]

link urt_nrtsubscriber_t to urt_message_t--><path d="M3296.3112,671.3785 C3251.2116,689.297 3206.6324,710.9296 3167.2145,736.8594 C3098.4594,782.0877 3037.5485,853.8755 2997.1774,908.4288 " fill="none" id="urt_nrtsubscriber_t-&gt;urt_message_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2994.0642,912.6566,3002.6216,907.7811,2997.0289,908.6303,2996.1796,903.0376,2994.0642,912.6566" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6d81edfa5aa102b898ad487ae19b49f9]

link urt_srtsubscriber_t to urt_basesubscriber_t--><path d="M6362.9724,690.9146 C6298.1469,705.5213 6230.9615,718.9827 6167.2145,728.8594 C6117.8983,736.5002 6104.5609,729.4163 6055.2145,736.8594 C5715.1845,788.1473 5323.006,890.7093 5123.1688,946.1719 " fill="none" id="urt_srtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="5124.999,952.9285,5103.8541,951.5522,5121.2421,939.442,5124.999,952.9285" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[47304731969ac4130b45cc7169c5cada]

reverse link urt_srtsubscriber_t to urt_srtusefulnessfunc_t--><path d="M6600.3884,699.3043 C6498.1934,784.5397 6360.7665,899.1603 6295.9572,953.2143 " fill="none" id="urt_srtsubscriber_t&lt;-urt_srtusefulnessfunc_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="6610.4764,690.8904,6603.3067,691.6616,6601.2609,698.5764,6608.4307,697.8052,6610.4764,690.8904" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6593.309" y="710.9329">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6277.0604" y="942.4476">0..1</text><!--MD5=[dffdac3aea8c81c86dd1d0b8122fcada]

link urt_srtsubscriber_t to urt_message_t--><path d="M6379.9859,690.9257 C6310.0825,706.66 6236.7138,720.522 6167.2145,728.8594 C6146.5294,731.3409 3186.2221,728.3305 3167.2145,736.8594 C3089.1593,771.8836 3027.2247,849.5412 2989.0144,908.4961 " fill="none" id="urt_srtsubscriber_t-&gt;urt_message_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2986.3044,912.7077,2994.5384,907.3038,2989.0101,908.503,2987.8109,902.9747,2986.3044,912.7077" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f626d284cba98e1d5d5fe914b1fa4188]

link urt_frtsubscriber_t to urt_basesubscriber_t--><path d="M4839.6392,707.5095 C4852.2076,716.5919 4864.1496,726.3598 4875.2145,736.8594 C4920.9481,780.2566 4950.4804,845.282 4968.2969,897.722 " fill="none" id="urt_frtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="4974.9633,895.587,4974.45,916.7704,4961.6411,899.8904,4974.9633,895.587" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[cfcdebdb88febc368723fd91f781523c]

link urt_frtsubscriber_t to urt_message_t--><path d="M4141.3063,707.414 C4101.0356,716.0836 4060.4745,723.5238 4021.2145,728.8594 C3997.7073,732.0541 3188.826,727.075 3167.2145,736.8594 C3089.2771,772.1449 3027.3234,849.7603 2989.0765,908.6339 " fill="none" id="urt_frtsubscriber_t-&gt;urt_message_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2986.3638,912.8396,2994.6036,907.4446,2989.074,908.6378,2987.8808,903.1082,2986.3638,912.8396" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[1ea71f2b33e56ab0ac5545988c1af396]

link urt_hrtsubscriber_t to urt_basesubscriber_t--><path d="M5382.5795,728.9486 C5292.0311,787.9262 5188.9507,855.0663 5111.3172,905.632 " fill="none" id="urt_hrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="5114.735,911.7597,5094.1559,916.8098,5107.0941,900.0287,5114.735,911.7597" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ea2ec5c5272e65289dabade75a749f58]

reverse link urt_hrtsubscriber_t to urt_hrtsubscriber_t--><path d="M6143.1257,562.2057 C6157.9079,571.0773 6166.2145,581.7952 6166.2145,594.3594 C6166.2145,609.9732 6153.3862,622.7356 6131.2437,632.6467 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="6131.2437,556.0721,6134.7404,562.3786,6141.9068,561.5765,6138.41,555.2699,6131.2437,556.0721" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6138.9222" y="552.4969">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6139.0347" y="630.1483">0..1</text><!--MD5=[a8adaa0500715125c1ab51b9b0fda3ce]

link urt_hrtsubscriber_t to urt_message_t--><path d="M5047.0083,726.7353 C5041.3879,727.4774 5035.7888,728.1861 5030.2145,728.8594 C5004.526,731.9623 3190.8134,726.2472 3167.2145,736.8594 C3089.1879,771.9471 3027.2486,849.5945 2989.0295,908.5296 " fill="none" id="urt_hrtsubscriber_t-&gt;urt_message_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2986.3188,912.7398,2994.5541,907.3379,2989.0255,908.5358,2987.8277,903.0072,2986.3188,912.7398" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[54fcf25ad8c5f1d36e678e42d5bfd4cc]

reverse link urt_publisher_t to urt_topic_t--><path d="M2723.0767,594.3594 C2730.3829,594.3594 2737.6892,594.3594 2744.9954,594.3594 " fill="none" id="urt_publisher_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2709.9254,594.3594,2715.9254,598.3594,2721.9254,594.3594,2715.9254,590.3594,2709.9254,594.3594" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2717.9633" y="591.277">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2729.3306" y="591.1383">1</text><!--MD5=[5025b4c4053b8e7c7ca8a657f09f21c0]

link urt_publisher_t to urt_message_t--><path d="M2422.2682,658.8959 C2533.6879,728.0009 2710.1959,837.4752 2827.0979,909.9805 " 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="2831.5776,912.759,2826.0377,904.6159,2827.3286,910.1235,2821.821,911.4144,2831.5776,912.759" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b2afc1defaa6ed5a86f99c07f8466dd]

reverse link urt_topic_t to urt_topic_t--><path d="M3140.8373,547.3034 C3155.3493,557.9801 3164.2145,573.6654 3164.2145,594.3594 C3164.2145,620.0762 3150.5235,638.0579 3129.3184,648.3044 " fill="none" id="urt_topic_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3129.3184,540.4144,3132.4146,546.927,3139.617,546.5738,3136.5208,540.0612,3129.3184,540.4144" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3136.9787" y="535.0861">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="3137.2912" y="647.1906">0..1</text><!--MD5=[ed3fb6de0913094c41bd74c175d366df]

reverse link urt_topic_t to urt_hrtsubscriber_t--><path d="M3058.2261,455.2111 C3094.9296,425.8896 3138.0284,402.127 3184.7145,396.8594 C3209.9433,394.0128 4987.4857,394.0128 5012.7145,396.8594 C5100.6296,406.7789 5192.6244,431.2924 5276.6526,459.8069 " fill="none" id="urt_topic_t&lt;-urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3048.0457,463.6179,3055.2191,462.8817,3057.2986,455.9769,3050.1252,456.7131,3048.0457,463.6179" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3046.2219" y="452.7001">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="5259.2764" y="448.6688">0..1</text><!--MD5=[0b5167e958c0ed93ffc0c98ce399b54d]

reverse link urt_topic_t to urt_message_t--><path d="M2940.5388,738.2281 C2941.9122,797.6648 2943.4427,863.9011 2944.568,912.6003 " fill="none" id="urt_topic_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="2940.2301,724.8697,2936.3698,730.9605,2940.5074,736.8665,2944.3677,730.7756,2940.2301,724.8697" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2932.1732" y="744.9227">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2935.9857" y="901.5709">1</text><!--MD5=[05f2c35569573d3273c65d3342945557]

reverse link urt_service_t to urt_service_t--><path d="M9595.5747,553.6948 C9610.4708,563.9122 9619.2145,577.4671 9619.2145,594.3594 C9619.2145,615.1499 9605.9697,630.8849 9584.311,641.5645 " fill="none" id="urt_service_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="9584.311,547.1543,9587.4911,553.6263,9594.6884,553.1801,9591.5083,546.708,9584.311,547.1543" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9592.4151" y="542.7744">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="9592.6276" y="639.6924">0..1</text><!--MD5=[586e61fedafd54ae7ea71cebd9f9032a]

reverse link urt_service_t to urt_servicefunc_t--><path d="M9263.8431,710.4387 C9249.8532,794.2708 9231.9618,901.4813 9223.3286,953.2144 " fill="none" id="urt_service_t&lt;-urt_servicefunc_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="9266.0089,697.4605,9261.0758,702.7202,9264.0335,709.2968,9268.9666,704.0371,9266.0089,697.4605" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9256.5841" y="716.9744">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="9197.9084" y="942.4477">0..1</text><!--MD5=[694e7400eb99f74d44ea388aed89d199]

reverse link urt_core_t to urt_node_t--><path d="M3121.8717,253.1763 C3841.8228,259.0876 6461.1763,288.0464 7284.2145,400.8594 C7412.6752,418.4674 7550.5913,448.0324 7674.9818,478.8201 " fill="none" id="urt_core_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3108.8237,253.07,3114.7909,257.1188,3120.8233,253.1678,3114.8561,249.119,3108.8237,253.07" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3116.781" y="265.5418">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="7622.8818" y="467.6158">0..1</text><!--MD5=[250695c91040478b50550bc37a8775c7]

reverse link urt_core_t to urt_topic_t--><path d="M2937.2145,406.3776 C2937.2145,425.5745 2937.2145,445.0546 2937.2145,463.8405 " fill="none" id="urt_core_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="2937.2145,393.1447,2933.2145,399.1447,2937.2145,405.1447,2941.2145,399.1447,2937.2145,393.1447" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2929.0208" y="412.4293">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2912.5208" y="452.9356">0..1</text><!--MD5=[8d0a227ec56585cdbc167f8316b34b64]

reverse link urt_core_t to urt_service_t--><path d="M3122.1844,253.6721 C4105.6668,263.6573 8687.5296,314.6611 8974.2145,400.8594 C9037.5578,419.905 9100.6758,455.6445 9153.1976,491.2754 " fill="none" id="urt_core_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="3109.0209,253.5387,3114.98,257.5993,3121.0203,253.6604,3115.0612,249.5997,3109.0209,253.5387" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3116.4906" y="250.0899">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="9118.7682" y="480.2388">0..1</text><!--MD5=[a42c921bb2ae3ef3cd6ba12c97758939]

reverse link urt_core_t to urt_osEventSource_t--><path d="M3121.9858,252.6433 C3934.971,256.7469 7275.0032,280.4524 10014.2145,400.8594 C11131.6305,449.9774 14272.1737,-80.0082 15036.2145,736.8594 C15168.28,878.056 15172.2066,1034.4406 15036.2145,1171.8594 C14983.7882,1224.8356 12425.2095,1180.5795 12353.2145,1199.8594 C12259.3214,1225.0035 12163.6214,1287.2369 12108.1823,1327.6785 " fill="none" id="urt_core_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="3108.7461,252.5771,3114.726,256.6071,3120.7459,252.6372,3114.7661,248.6072,3108.7461,252.5771" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3116.6999" y="265.0266">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12108.0141" y="1316.8332">1</text><!--MD5=[b9eb8460041bde16ab6e44c28de7b0fc]

reverse link urt_core_t to urt_osMutex_t--><path d="M3122.2462,253.9348 C4167.0034,265.9116 9292.9301,328.1975 9618.2145,400.8594 C9977.8541,481.1955 10093.6009,500.3766 10376.2145,736.8594 C10442.1142,792.0023 10492.7689,879.4882 10520.2406,934.1862 " fill="none" id="urt_core_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="3109.0238,253.7835,3114.9776,257.852,3121.023,253.921,3115.0693,249.8525,3109.0238,253.7835" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3116.4408" y="250.6247">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10508.4474" y="923.207">1</text><!--MD5=[53eb1ed31b8ffcbb98ca8a87ecf3ad40]

link urt_core_t to urt_status_t--><path d="M2765.5303,263.3039 C2302.6319,298.1965 1047.9043,420.7924 814.2145,736.8594 C699.275,892.3158 679.8659,1032.8334 814.2145,1171.8594 C877.4108,1237.2559 1550.934,1159.0678 1632.2145,1199.8594 C1646.7741,1207.1663 1660.2543,1216.9029 1672.5917,1228.0066 " fill="none" id="urt_core_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1676.3837,1231.4952,1672.4685,1222.458,1672.704,1228.1099,1667.0521,1228.3455,1676.3837,1231.4952" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f6f8ae0abb3c85244c8639cf15039f58]

link urt_core_t to urt_nodestage_t--><path d="M2765.7106,256.4742 C2235.2266,271.5541 651.9495,322.9323 575.2145,400.8594 C522.4097,454.4846 530.4083,1141.634 559.2145,1171.8594 C603.8801,1218.7256 1083.8896,1169.771 1141.2145,1199.8594 C1175.7278,1217.9746 1203.5669,1250.2297 1224.2116,1281.4455 " 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="1226.9488,1285.6424,1225.3828,1275.9188,1224.2174,1281.4543,1218.6819,1280.289,1226.9488,1285.6424" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e894174e7ccaed139fbaaa0f9b9ae8dc]

link urt_core_t to urt_topicid_t--><path d="M2765.5346,256.1063 C2227.5709,270.2405 605.7318,319.4611 529.2145,400.8594 C281.0376,664.8675 501.3367,958.5178 794.2145,1171.8594 C838.8312,1204.3596 869.6213,1168.7439 915.2145,1199.8594 C945.1446,1220.2855 969.452,1251.4809 987.7467,1281.2697 " 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="990.4022,1285.6531,989.1598,1275.8829,987.8114,1281.3767,982.3176,1280.0282,990.4022,1285.6531" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[972bd788fc5a0ee0badfa994920a3622]

link urt_core_t to urt_serviceid_t--><path d="M2765.4225,253.0348 C2288.0686,257.8043 970.7047,281.7342 819.2145,400.8594 C547.2718,614.7031 472.6678,922.2611 712.2145,1171.8594 C764.6526,1226.4979 1326.5213,1163.9827 1393.2145,1199.8594 C1426.7144,1217.8802 1453.0896,1249.943 1472.4055,1281.0427 " 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="1475.2042,1285.6224,1473.9242,1275.857,1472.5969,1281.356,1467.098,1280.0287,1475.2042,1285.6224" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[addb2e74eebae0995b3a6bf162197d46]

reverse link urt_node_t to urt_osThread_t--><path d="M8788.944,711.4331 C8848.7833,718.4364 8908.4698,724.4278 8966.2145,728.8594 C8989.6457,730.6576 12328.1104,728.8807 12350.2145,736.8594 C12388.3718,750.6327 12425.1301,771.6042 12459.0342,795.6229 " fill="none" id="urt_node_t&lt;-urt_osThread_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8775.7701,709.8754,8781.2588,714.5523,8787.6871,711.2847,8782.1983,706.6077,8775.7701,709.8754" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8814.1668" y="730.2029">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12443.449" y="785.0441">1</text><!--MD5=[71f626b81c482d35e653d2b548781872]

reverse link urt_node_t to urt_nodestage_t--><path d="M7443.5715,711.5668 C7389.8046,718.5267 7336.1559,724.4725 7284.2145,728.8594 C7273.859,729.734 1305.7372,729.6893 1298.2145,736.8594 C1149.5624,878.5441 1202.6475,1151.1261 1241.247,1285.7091 " fill="none" id="urt_node_t&lt;-urt_nodestage_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7456.5043,709.8737,7450.0358,706.6865,7444.6059,711.4316,7451.0744,714.6188,7456.5043,709.8737" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7406.2628" y="730.2011">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1230.4844" y="1274.7739">1</text><!--MD5=[ecbb69d8dc7b8a34ff21337736794c2a]

reverse link urt_node_t to urt_osEventListener_t--><path d="M8788.378,711.4326 C8848.4063,718.4498 8908.287,724.4438 8966.2145,728.8594 C8976.5889,729.6502 14951.8623,729.4974 14959.2145,736.8594 C15095.8305,873.6579 15095.3205,1034.5535 14959.2145,1171.8594 C14928.0223,1203.3266 11811.7613,1187.494 11769.2145,1199.8594 C11686.7267,1223.8329 11604.7982,1281.3708 11554.3569,1321.721 " fill="none" id="urt_node_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8775.1626,709.8716,8780.6519,714.5478,8787.0797,711.2793,8781.5904,706.603,8775.1626,709.8716" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8813.5185" y="730.1989">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11553.7108" y="1310.695">1</text><!--MD5=[a052f483eba01ccbd89eefaa281cffa6]

reverse link urt_node_t to urt_osThreadFunction_t--><path d="M8788.3779,711.4345 C8848.4062,718.4513 8908.287,724.4447 8966.2145,728.8594 C8976.8209,729.6677 15085.6978,729.3329 15093.2145,736.8594 C15229.8325,873.6559 15228.7868,1034.0264 15093.2145,1171.8594 C15027.2504,1238.9235 13484.8105,1158.7209 13400.2145,1199.8594 C13342.1381,1228.1016 13300.8448,1294.836 13280.528,1334.2389 " fill="none" id="urt_node_t&lt;-urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8775.1624,709.8736,8780.6518,714.5497,8787.0796,711.2811,8781.5902,706.605,8775.1624,709.8736" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="8822.5597" y="730.201">0..*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="13274.6552" y="1323.4773">1</text><!--MD5=[0cba389305cd35ebcbacaedacb3fbe88]

link urt_node_t to urt_status_t--><path d="M7456.5037,709.8664 C7398.417,717.5576 7340.3197,724.1174 7284.2145,728.8594 C7274.7188,729.662 1802.1122,730.2842 1795.2145,736.8594 C1665.9801,860.0514 1689.2293,1082.1787 1722.8699,1226.5326 " 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="1724.0708,1231.6346,1725.9021,1221.9575,1722.9251,1226.7676,1718.115,1223.7906,1724.0708,1231.6346" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b00c0c61b5ae38465e12763fb588229]

link urt_nodeSetupCallback_t to urt_osEventMask_t--><path d="M8109.4831,1014.6103 C8151.9219,1058.4373 8236.8163,1137.3705 8327.2145,1171.8594 C8549.2633,1256.5759 10199.832,1336.0814 10703.0202,1358.5632 " 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="10708.157,1358.7925,10699.3444,1354.3951,10703.162,1358.5695,10698.9876,1362.3871,10708.157,1358.7925" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[aa0b59559007c8ad9b783f6dc5ed8ad9]

link urt_nodeLoopCallback_t to urt_osEventMask_t--><path d="M8689.7207,1014.5525 C8746.4958,1057.9297 8857.7048,1135.8839 8966.2145,1171.8594 C9288.828,1278.8194 10319.8507,1338.9782 10703.0113,1358.1011 " 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="10708.0471,1358.352,10699.2573,1353.909,10703.0533,1358.1031,10698.8592,1361.8991,10708.0471,1358.352" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b3fa89608aace108b23bbfcd22712ec]

link urt_publisher_t to urt_config--><path d="M1926.7072,605.66 C1304.3937,625.5548 152.9441,671.0537 91.2145,736.8594 C-25.7004,861.4945 -18.51,1374.8497 91.2145,1505.8594 C189.7532,1623.5133 638.6226,1658.3526 877.5398,1668.6136 " 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="882.7936,1668.8367,873.9715,1664.4582,877.7981,1668.6244,873.6319,1672.4509,882.7936,1668.8367" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[48a81098d0aa451a4923659bb2bbea3c]

link urt_publisher_t to urt_status_t--><path d="M1926.4603,606.3487 C1522.5913,622.8468 942.0923,659.7568 872.2145,736.8594 C807.2991,808.4865 805.1309,1102.2588 872.2145,1171.8594 C930.856,1232.7012 1556.7397,1161.8581 1632.2145,1199.8594 C1646.7645,1207.1853 1660.2386,1216.9343 1672.5721,1228.0455 " 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="1676.363,1231.5363,1672.4518,1222.4973,1672.6848,1228.1494,1667.0328,1228.3824,1676.363,1231.5363" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[c16173558393ca1d9128284d70afa235]

link urt_publisher_t to urt_delay_t--><path d="M1926.4242,634.5394 C1708.064,660.9904 1473.4085,697.8436 1440.2145,736.8594 C1314.9354,884.1107 1307.7627,1031.0251 1440.2145,1171.8594 C1474.9914,1208.8372 1852.3214,1174.3606 1896.2145,1199.8594 C1938.3166,1224.3178 1966.9715,1272.5243 1984.1262,1310.5442 " 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="1986.1614,1315.1281,1986.1651,1305.2792,1984.1324,1310.5583,1978.8534,1308.5256,1986.1614,1315.1281" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3f75a4ca5db56e37c381a718c71f2950]

reverse link urt_topic_t to urt_topicid_t--><path d="M2732.4819,727.246 C2730.7271,727.8029 2728.9712,728.3409 2727.2145,728.8594 C2714.9393,732.4824 893.2449,727.7897 884.2145,736.8594 C747.8042,873.8631 805.7162,995.1795 884.2145,1171.8594 C891.7527,1188.826 902.9956,1185.8812 915.2145,1199.8594 C938.2933,1226.2611 960.7505,1257.5133 979.4842,1285.679 " fill="none" id="urt_topic_t&lt;-urt_topicid_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="2744.9245,722.9833,2737.952,721.1438,2733.5722,726.8724,2740.5447,728.7119,2744.9245,722.9833" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2729.2569" y="724.7866">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="966.6231" y="1274.741">1</text><!--MD5=[2ea2859f8de074b5c128ff5997404a58]

reverse link urt_topic_t to urt_osMutex_t--><path d="M3141.8195,720.8346 C3150.2606,723.8599 3158.7415,726.5588 3167.2145,728.8594 C3191.3711,735.4185 10354.1133,725.1078 10376.2145,736.8594 C10454.4832,778.476 10502.7674,874.9436 10526.1588,934.2547 " fill="none" id="urt_topic_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="3129.4864,716.1768,3133.6861,722.0387,3140.7124,720.4166,3136.5127,714.5547,3129.4864,716.1768" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3137.1533" y="717.7142">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10515.1978" y="923.2852">1</text><!--MD5=[ee40dc1875ed5325eec4e6c8c8102744]

reverse link urt_topic_t to urt_osEventSource_t--><path d="M3141.8182,720.8393 C3150.2597,723.8633 3158.741,726.5606 3167.2145,728.8594 C3186.9725,734.2196 14944.7434,722.3784 14959.2145,736.8594 C15095.8754,873.6131 15095.1855,1034.4197 14959.2145,1171.8594 C14908.3006,1223.3233 12423.1406,1181.122 12353.2145,1199.8594 C12259.3253,1225.018 12163.6241,1287.2471 12108.1838,1327.6838 " fill="none" id="urt_topic_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="3129.4847,716.1833,3133.6853,722.0446,3140.7113,720.4215,3136.5108,714.5602,3129.4847,716.1833" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3137.0758" y="738.9705">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12117.4408" y="1316.8394">1</text><!--MD5=[f5e2f818dfb7c47ef0a661b061d2efd0]

link urt_topic_t to urt_config--><path d="M2744.9273,722.993 C2739.0429,725.1511 2733.1328,727.1166 2727.2145,728.8594 C2710.1274,733.8912 174.7902,724.2444 162.2145,736.8594 C41.5664,857.8844 53.418,1374.078 162.2145,1505.8594 C251.2579,1613.7145 654.2277,1652.6798 877.7305,1666.152 " 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="882.9765,1666.4655,874.2312,1661.9357,877.9854,1666.1672,873.7539,1669.9214,882.9765,1666.4655" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[a01366c261f16bb61c03de8616a1256c]

reverse link urt_topic_t to urt_osTimer_t--><path d="M3141.8185,720.8382 C3150.2599,723.8625 3158.7411,726.5602 3167.2145,728.8594 C3235.8506,747.4837 13339.818,717.3734 13408.2145,736.8594 C13538.4746,773.9702 13667.8229,867.0499 13742.508,927.7534 " fill="none" id="urt_topic_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="3129.4851,716.1817,3133.6855,722.0432,3140.7116,720.4203,3136.5112,714.5588,3129.4851,716.1817" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3137.1519" y="733.3053">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="13708.68" y="916.6778">0..1</text><!--MD5=[23aed2412a22c58889d68b772ca9654f]

link urt_topic_t to urt_status_t--><path d="M2744.9241,722.9822 C2739.0406,725.1434 2733.1316,727.1125 2727.2145,728.8594 C2715.3325,732.3672 951.9552,728.0794 943.2145,736.8594 C875.0143,805.3661 876.263,1102.1318 943.2145,1171.8594 C996.2808,1227.126 1563.846,1165.2736 1632.2145,1199.8594 C1646.7506,1207.2128 1660.2156,1216.9799 1672.5436,1228.102 " 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="1676.3329,1231.596,1672.4279,1222.5543,1672.6571,1228.2066,1667.0048,1228.4357,1676.3329,1231.596" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[40d97a101b79fe2b6aede42ee911a5e3]

reverse link urt_message_t to urt_osTime_t--><path d="M2985.9355,900.8125 C3025.236,831.7882 3092.8165,743.2283 3184.7145,732.8594 C3231.0455,727.6318 9852.3835,727.6318 9898.7145,732.8594 C10011.8254,745.6218 10091.2255,872.34 10126.1904,940.6848 " fill="none" id="urt_message_t&lt;-urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="2979.3995,912.5769,2985.81,909.2746,2985.2274,902.0871,2978.8168,905.3894,2979.3995,912.5769" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2974.2724" y="901.9132">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10114.3616" y="929.653">1</text><!--MD5=[7527c1e2a180419f2ba2182e8f11877d]

reverse link urt_message_t to urt_osMutex_t--><path d="M2985.9355,900.8125 C3025.236,831.7882 3092.8165,743.2283 3184.7145,732.8594 C3209.4672,730.0665 10333.9618,730.0665 10358.7145,732.8594 C10455.7177,743.8043 10507.6527,864.0961 10529.8489,934.0975 " fill="none" id="urt_message_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="2979.3995,912.5769,2985.81,909.2746,2985.2274,902.0871,2978.8168,905.3894,2979.3995,912.5769" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2983.0599" y="901.9132">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10528.5904" y="923.464">1</text><!--MD5=[107def0b4b669b7e1be29db2eeb634c8]

reverse link urt_message_t to urt_osCondvar_t--><path d="M2985.9355,900.8125 C3025.236,831.7882 3092.8165,743.2283 3184.7145,732.8594 C3222.7095,728.5724 14158.7195,728.5724 14196.7145,732.8594 C14340.5252,749.0857 14474.8868,865.6475 14542.5252,934.0805 " fill="none" id="urt_message_t&lt;-urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="2979.3995,912.5769,2985.81,909.2746,2985.2274,902.0871,2978.8168,905.3894,2979.3995,912.5769" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2974.2724" y="901.9132">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="14527.8482" y="923.4447">1</text><!--MD5=[2bb9471b6fda5815e085c87a24a67f11]

link urt_message_t to urt_config--><path d="M2859.6278,1054.985 C2714.5994,1170.0173 2409.0806,1395.1503 2111.2145,1505.8594 C1942.9644,1568.3936 1434.3193,1629.4754 1178.5156,1657.2688 " 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="1173.2696,1657.838,1182.6485,1660.8439,1178.2404,1657.2987,1181.7857,1652.8906,1173.2696,1657.838" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[570f5794230ed2cf7946261591bb6cd1]

link urt_message_t to urt_status_t--><path d="M2743.0403,1008.9751 C2479.1658,1044.4092 2035.7836,1114.3907 1896.2145,1199.8594 C1883.2851,1207.777 1871.0901,1217.4385 1859.7294,1228.0744 " 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="1855.9087,1231.7177,1865.1825,1228.4015,1859.5272,1228.2671,1859.6616,1222.6119,1855.9087,1231.7177" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0614ecc40a2323571c35dab79c646fe8]

reverse link urt_basesubscriber_t to urt_osEventListener_t--><path d="M5116.4959,1013.1173 C5314.4825,1057.7362 5712.4497,1140.8707 6055.2145,1171.8594 C6197.6358,1184.7354 11064.7805,1164.0038 11203.2145,1199.8594 C11294.7969,1223.58 11388.5438,1281.3315 11446.5532,1321.7859 " fill="none" id="urt_basesubscriber_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="5103.7467,1010.2349,5108.7169,1015.4595,5115.4513,1012.8811,5110.4811,1007.6564,5103.7467,1010.2349" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5111.5762" y="1008.5868">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11428.7259" y="1310.7702">1</text><!--MD5=[60df476f9c89db6ca6af2af6f6dc5b29]

reverse link urt_basesubscriber_t to urt_osTime_t--><path d="M5116.3332,944.8322 C5316.0769,884.8089 5720.4226,772.6088 6072.7145,732.8594 C6099.1164,729.8805 9872.3126,729.8805 9898.7145,732.8594 C10011.8254,745.6218 10091.2255,872.34 10126.1904,940.6848 " fill="none" id="urt_basesubscriber_t&lt;-urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="5103.7667,948.6208,5110.6659,950.7186,5115.2559,945.1569,5108.3567,943.0591,5103.7667,948.6208" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5111.5976" y="942.833">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10123.6366" y="929.653">1</text><!--MD5=[45abaca6e1a4b5e9e9e5f81f99145f21]

link urt_basesubscriber_t to urt_config--><path d="M4967.0614,1051.2443 C4948.509,1092.9036 4918.6244,1143.6416 4875.2145,1171.8594 C3949.3801,1773.6805 3508.5081,1365.5384 2413.2145,1505.8594 C1964.3719,1563.3618 1432.9531,1625.8844 1178.5761,1655.4697 " 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="1173.363,1656.0759,1182.7648,1659.0095,1178.3295,1655.4983,1181.8407,1651.063,1173.363,1656.0759" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[fb477f5fd8787be5b7605dfea5d27dc3]

link urt_basesubscriber_t to urt_status_t--><path d="M4968.9859,1051.2252 C4950.9797,1094.0147 4920.9758,1146.0411 4875.2145,1171.8594 C4803.1407,1212.5231 1970.6314,1163.6613 1896.2145,1199.8594 C1881.4159,1207.0578 1867.7505,1216.7999 1855.2754,1227.9733 " 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="1851.4422,1231.4856,1860.7802,1228.3547,1855.1287,1228.1078,1855.3757,1222.4563,1851.4422,1231.4856" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[c18fda7f16d94dac1a94387e8df76308]

reverse link urt_nrtsubscriber_t to urt_delay_t--><path d="M3385.8457,675.5932 C3320.7393,697.3143 3247.9091,717.8116 3179.2145,728.8594 C3167.778,730.6987 1519.3856,728.649 1511.2145,736.8594 C1443.025,805.3768 1445.3866,1101.0701 1511.2145,1171.8594 C1569.6299,1234.6775 1822.2848,1156.3523 1896.2145,1199.8594 C1939.884,1225.5586 1969.1573,1276.6908 1986.0844,1315.2597 " fill="none" id="urt_nrtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="3398.3344,671.3804,3391.3706,669.508,3386.9639,675.2159,3393.9277,677.0883,3398.3344,671.3804" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3370.7571" y="691.7523">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1985.2224" y="1304.2909">0..2</text><!--MD5=[cf4e9b81c32b9b138596f59fa1fb3fd6]

link urt_nrtsubscriber_t to urt_config--><path d="M3398.6093,671.3783 C3330.3577,694.6696 3252.4419,717.1608 3179.2145,728.8594 C3169.1134,730.4731 240.4378,729.6164 233.2145,736.8594 C112.542,857.86 125.5122,1373.1822 233.2145,1505.8594 C312.8231,1603.9283 670.2528,1646.5198 877.7395,1663.2562 " 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="882.9179,1663.671,874.2662,1658.9648,877.9339,1663.2716,873.6271,1666.9392,882.9179,1663.671" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[249ee4d4a0d0f021e94ff447977fc36f]

link urt_nrtsubscriber_t to urt_status_t--><path d="M3398.3418,671.4264 C3330.1521,694.6827 3252.3429,717.1398 3179.2145,728.8594 C3164.3691,731.2385 1024.8261,726.2085 1014.2145,736.8594 C945.9873,805.3392 947.4256,1101.976 1014.2145,1171.8594 C1061.7063,1221.5516 1570.9514,1168.6885 1632.2145,1199.8594 C1646.7334,1207.2467 1660.1872,1217.0359 1672.5084,1228.1713 " 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="1676.2958,1231.6692,1672.3981,1222.6244,1672.6227,1228.2768,1666.9703,1228.5014,1676.2958,1231.6692" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[af3bb42c2cc648980c9a8c0bd0e49df3]

reverse link urt_srtsubscriber_t to urt_delay_t--><path d="M6367.6105,693.728 C6301.4618,708.3122 6232.6253,721.0392 6167.2145,728.8594 C6152.386,730.6322 1876.7646,726.2896 1866.2145,736.8594 C1729.6344,873.6938 1789.1618,994.5443 1866.2145,1171.8594 C1873.4834,1188.5868 1884.4689,1185.9065 1896.2145,1199.8594 C1926.6413,1236.0042 1955.6477,1281.1275 1975.9235,1315.046 " fill="none" id="urt_srtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="6380.365,690.8859,6373.6386,688.2867,6368.6523,693.496,6375.3787,696.0951,6380.365,690.8859" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6345.5796" y="710.9281">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1946.5094" y="1304.4056">0..2</text><!--MD5=[57f9c03e706aa97ce919c51d40a1f0dd]

link urt_srtsubscriber_t to urt_config--><path d="M7071.8207,690.8835 C7141.5993,706.6213 7214.8377,720.4954 7284.2145,728.8594 C7300.2788,730.7961 9602.7927,725.3983 9614.2145,736.8594 C9682.4507,805.3303 9680.5474,1101.5431 9614.2145,1171.8594 C9312.5938,1491.5929 2299.9111,1647.0419 1178.7578,1669.887 " 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="1173.4565,1669.9949,1182.5361,1673.8107,1178.4555,1669.893,1182.3731,1665.8124,1173.4565,1669.9949" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ddfd53c980ad9ebb8f86954377552edb]

link urt_srtsubscriber_t to urt_status_t--><path d="M6380.3652,690.888 C6310.3492,706.6532 6236.8412,720.5365 6167.2145,728.8594 C6152.0757,730.669 1787.0882,726.172 1776.2145,736.8594 C1649.2026,861.6948 1679.3598,1082.8325 1717.8464,1226.5973 " 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="1719.2188,1231.6786,1720.7338,1221.9469,1717.9151,1226.8515,1713.0105,1224.0328,1719.2188,1231.6786" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b350769e483c42ea2704e388ea6a04f2]

reverse link urt_frtsubscriber_t to urt_delay_t--><path d="M4129.8241,710.0889 C4093.3454,717.6646 4056.7497,724.1401 4021.2145,728.8594 C4004.4243,731.0892 1594.1715,724.8631 1582.2145,736.8594 C1513.973,805.3251 1516.967,1100.5347 1582.2145,1171.8594 C1629.4996,1223.5486 1836.1311,1163.8367 1896.2145,1199.8594 C1939.5258,1225.8264 1968.7808,1276.6462 1985.7989,1315.0595 " fill="none" id="urt_frtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="4142.7202,707.3644,4136.023,704.691,4130.9794,709.8448,4137.6766,712.5182,4142.7202,707.3644" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4107.5448" y="727.8927">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1945.4505" y="1304.3671">0..4</text><!--MD5=[7be759a40cf40f1b9231b6649fee3f4f]

link urt_frtsubscriber_t to urt_config--><path d="M4142.7256,707.4051 C4101.9941,716.146 4060.9421,723.6035 4021.2145,728.8594 C4009.1529,730.4551 525.9462,728.3867 517.2145,736.8594 C271.8844,974.9133 300.3543,1229.9809 502.2145,1505.8594 C547.1905,1567.3273 739.1837,1616.8586 878.2354,1645.5713 " 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="883.1593,1646.5839,875.1497,1640.8528,878.2618,1645.5766,873.538,1648.6887,883.1593,1646.5839" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[29df74e07807e6378398cb43d45b3c27]

link urt_frtsubscriber_t to urt_status_t--><path d="M4142.7232,707.3871 C4101.9921,716.1315 4060.9409,723.5947 4021.2145,728.8594 C4011.1084,730.1987 1092.4133,729.641 1085.2145,736.8594 C1016.954,805.3061 1018.6309,1101.7804 1085.2145,1171.8594 C1127.1328,1215.9783 1578.0556,1172.1028 1632.2145,1199.8594 C1646.7117,1207.2893 1660.1513,1217.1062 1672.4638,1228.2586 " 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="1676.2487,1231.7613,1672.3602,1222.7126,1672.579,1228.3652,1666.9264,1228.584,1676.2487,1231.7613" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bc1cc9ca99c1274e9c895cd105ca1d4c]

reverse link urt_hrtsubscriber_t to urt_delay_t--><path d="M5033.8766,728.416 C5032.6547,728.5655 5031.434,728.7133 5030.2145,728.8594 C5018.572,730.2543 1661.496,728.5582 1653.2145,736.8594 C1584.9419,805.294 1588.8919,1099.6995 1653.2145,1171.8594 C1689.3842,1212.4361 1849.9583,1171.3097 1896.2145,1199.8594 C1939.1874,1226.3826 1968.4939,1277.1177 1985.6166,1315.3592 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="5047.0101,726.7507,5040.5546,723.5372,5035.1054,728.2602,5041.5609,731.4737,5047.0101,726.7507" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5031.3291" y="725.5757">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1957.3138" y="1304.4044">0..5</text><!--MD5=[47265b8b91af56102ad98d46909bef01]

reverse link urt_hrtsubscriber_t to urt_osTimer_t--><path d="M6144.2199,726.0376 C6151.9244,727.0379 6159.5923,727.98 6167.2145,728.8594 C6217.1679,734.6228 13359.8563,723.0738 13408.2145,736.8594 C13538.4686,773.9913 13667.8187,867.0646 13742.5058,927.7612 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="6131.2209,724.2998,6136.638,729.0595,6143.1151,725.8899,6137.698,721.1301,6131.2209,724.2998" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6138.8991" y="723.0903">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="13734.7275" y="916.6866">1</text><!--MD5=[c255c4720016d78ffa1594ef43d10003]

link urt_hrtsubscriber_t to urt_config--><path d="M5047.0106,726.755 C5041.3896,727.4909 5035.7896,728.193 5030.2145,728.8594 C5015.1447,730.6608 670.8763,727.1462 659.2145,736.8594 C527.088,846.9086 474.776,1364.8697 573.2145,1505.8594 C609.4129,1557.705 759.9289,1606.234 878.0599,1637.4715 " 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="882.9532,1638.7605,875.2691,1632.5998,878.1181,1637.4868,873.2312,1640.3359,882.9532,1638.7605" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[acfaba0e8df90d54cbfcf78ceb19e2ee]

link urt_hrtsubscriber_t to urt_status_t--><path d="M5047.0104,726.7531 C5041.3894,727.4896 5035.7895,728.1923 5030.2145,728.8594 C5016.8584,730.4576 1165.7163,727.338 1156.2145,736.8594 C1087.9315,805.2836 1089.8981,1101.5274 1156.2145,1171.8594 C1192.5607,1210.4064 1585.1579,1175.5162 1632.2145,1199.8594 C1646.5357,1207.268 1659.8303,1216.9965 1672.0287,1228.0299 " 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="1675.7792,1231.4948,1671.883,1222.4494,1672.1066,1228.1018,1666.4542,1228.3254,1675.7792,1231.4948" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[19bf7f91edc926705d1714d4ed8cf052]

link urt_srtusefulnessfunc_t to urt_delay_t--><path d="M6105.2946,1014.4106 C5887.2172,1056.5241 5475.3902,1131.7447 5121.2145,1171.8594 C3934.4514,1306.2747 2482.1175,1352.2696 2099.99,1362.4868 " fill="none" id="urt_srtusefulnessfunc_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2094.7173,1362.6274,2103.8207,1366.386,2099.7155,1362.4941,2103.6075,1358.3889,2094.7173,1362.6274" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[85137379eadac9ac066ccd1aa3005a20]

reverse link urt_service_t to urt_serviceid_t--><path d="M9065.6459,702.0253 C9035.5454,713.06 9004.5427,722.5274 8974.2145,728.8594 C8949.7524,733.9667 1798.0307,723.0331 1777.2145,736.8594 C1590.047,861.1783 1534.7423,1146.5567 1518.6595,1285.6891 " fill="none" id="urt_service_t&lt;-urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9078.0319,697.3791,9071.0093,695.7412,9066.7964,701.5937,9073.819,703.2316,9078.0319,697.3791" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9055.3237" y="717.2336">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1510.8849" y="1274.752">1</text><!--MD5=[bfc39859b663e58a9d342532110a4ed9]

reverse link urt_service_t to urt_osMutex_t--><path d="M9597.3014,658.3899 C9741.634,685.0884 9915.4522,713.426 10073.2145,728.8594 C10089.9737,730.4989 10361.4475,728.7665 10376.2145,736.8594 C10453.8373,779.4 10502.2733,875.316 10525.8804,934.3204 " fill="none" id="urt_service_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9584.3149,655.9774,9589.4834,661.006,9596.113,658.1692,9590.9446,653.1406,9584.3149,655.9774" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9592.4191" y="654.4881">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10524.0053" y="923.3601">1</text><!--MD5=[33249c42c81fffc5b10022c232aa2b33]

link urt_service_t to urt_config--><path d="M9078.0321,697.3802 C9044.1014,710.3927 9008.7214,721.6556 8974.2145,728.8594 C8923.611,739.4236 1580.4338,724.5982 1530.2145,736.8594 C1095.5255,842.9903 868.7456,817.5669 636.2145,1199.8594 C565.5391,1316.0532 561.2253,1392.4018 636.2145,1505.8594 C689.757,1586.8685 791.4584,1628.7093 877.8521,1650.2505 " 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="882.7352,1651.4506,874.95,1645.418,877.8797,1650.2572,873.0406,1653.1868,882.7352,1651.4506" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ac5bbcedbd2eba97f2e594f2b75734f9]

reverse link urt_service_t to urt_delay_t--><path d="M9065.6457,702.0247 C9035.5453,713.0595 9004.5426,722.5271 8974.2145,728.8594 C8962.2163,731.3646 1922.8766,728.1875 1914.2145,736.8594 C1845.8996,805.2518 1893.2915,1077.4842 1914.2145,1171.8594 C1925.6176,1223.2942 1952.2123,1277.2684 1973.5527,1315.018 " fill="none" id="urt_service_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9078.0318,697.3785,9071.0092,695.7406,9066.7963,701.5931,9073.8189,703.231,9078.0318,697.3785" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9063.8861" y="717.233">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1971.045" y="1304.3738">0..2</text><!--MD5=[5471b15d17b5493f5e528354308bf7b4]

link urt_service_t to urt_status_t--><path d="M9078.0318,697.3787 C9044.1011,710.3913 9008.7212,721.6547 8974.2145,728.8594 C8962.1415,731.3801 1879.6288,728.8919 1870.2145,736.8594 C1833.2058,768.1806 1797.1514,1051.375 1778.116,1226.6043 " 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="1777.5578,1231.7567,1782.504,1223.2399,1778.0964,1226.7858,1774.5505,1222.3782,1777.5578,1231.7567" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0826203957815bb9ddac9132e239afa7]

link urt_servicefunc_t to urt_delay_t--><path d="M9191.1368,1014.4525 C9149.6168,1058.8544 9065.3989,1139.39 8974.2145,1171.8594 C8635.252,1292.5588 2912.4707,1355.5486 2099.8869,1363.9005 " fill="none" id="urt_servicefunc_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2094.8814,1363.9519,2103.9221,1367.8591,2099.8811,1363.9004,2103.8398,1359.8595,2094.8814,1363.9519" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3a1e539c88376aaf116c25a44ec54d4f]

link urt_servicefunc_t to urt_status_t--><path d="M9191.5764,1014.3616 C9150.3031,1059.0418 9066.0307,1140.3873 8974.2145,1171.8594 C8881.2196,1203.7355 1984.7339,1157.099 1896.2145,1199.8594 C1881.2467,1207.0898 1867.442,1216.93 1854.8577,1228.2296 " fill="none" id="urt_servicefunc_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1850.9914,1231.7819,1860.3251,1228.6382,1854.6733,1228.399,1854.9125,1222.7472,1850.9914,1231.7819" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[57f2d85e337abdc0ac29c5f49a215cf6]

@startuml

title **µRtWare**\nOverview\n

  package "Configuration" <<Node>> {

  class urt_config <<C,BFBFBF>> {

  URT_CFG_DELAY_WIDTH : int

  URT_CFG_TOPICID_WIDTH : int

  URT_CFG_SERVICEID_WIDTH : int

  URT_CFG_NODESTAGE_WIDTH : int

  ..

  URT_CFG_DEBUG_ENABLED : bool

  ..

  URT_CFG_PUBSUB_ENABLED : bool

  URT_CFG_PUBSUB_PROFILING : bool

  URT_CFG_PUBSUB_QOS_DEADLINECHECKS : bool

  URT_CFG_PUBSUB_QOS_RATECHECKS : bool

  URT_CFG_PUBSUB_QOS_JITTERCHECKS : bool

  ..

  URT_CFG_RPC_ENABLED : bool

  URT_CFG_RPC_PROFILING : bool

  URT_CFG_RPC_QOS_JITTERCHECKS : bool

}

}

  package "Primitives" <<Node>> {

  class urt_nodestage_t <<T,00CFFF>> {

  .. URT_CFG_NODESTAGE_WIDTH == 8 ..

  uin8_t

  .. URT_CFG_NODESTAGE_WIDTH == 16 ..

  uint16_t

  .. URT_CFG_NODESTAGE_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_NODESTAGE_WIDTH == 64 ..

  uint64_t

}

  class urt_topicid_t <<T,00CFFF>> {

  .. URT_CFG_TOPICID_WIDTH == 8 ..

  uin8_t

  .. URT_CFG_TOPICID_WIDTH == 16 ..

  uint16_t

  .. URT_CFG_TOPICID_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_TOPICID_WIDTH == 64 ..

  uint64_t

}

  class urt_serviceid_t <<T,00CFFF>> {

  .. URT_CFG_SERVICEID_WIDTH == 8 ..

  uin8_t

  .. URT_CFG_SERVICEID_WIDTH == 16 ..

  uint16_t

  .. URT_CFG_SERVICEID_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_SERVICEID_WIDTH == 64 ..

  uint64_t

}

  class urt_status_t <<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_SERVICE_TIMEOUT

}

  class urt_delay_t <<T,00CFFF>> {

  .. URT_CFG_DELAY_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_DELAY_WIDTH == 64 ..

  uint64_t

}

  class urt_debug <<F,E0E0E0>> {

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

}

}

  package "OSAL" <<Node>> {

  class urt_osTime_t <<T,00CFFF>> {

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

  + {method} urtTimeNow (void) : urt_osTime_t

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

}

  class urt_osMutex_t <<T,00CFFF>> {

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

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

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

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

}

  package "condition variable" <<Rectangle>> {

    class urt_osCondvarWaitStatus_t <<E,FF7F3F>> {

    URT_CONDVAR_WAITSTATUS_SIGNAL = 1

    URT_CONDVAR_WAITSTATUS_BROADCAST = 2

    URT_CONDVAR_WAITSTATUS_TIMEOUT = 0

  }

    class urt_osCondvar_t <<T,00CFFF>> {

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

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

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

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

  }

}

  package "timer" <<Rectangle>> {

    class urt_osTimerCallback_t <<T,00CFFF>> {

    urt_osTimerCallback_t (parameter : void*) : void

  }

    class urt_osTimer_t <<T,00CFFF>> {

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

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

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

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

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

  }

} 

  package "thread" <<Rectangle>> {

    class urt_osThreadPrio_t <<T,00CFFF>> {

    URT_THREAD_PRIO_LOW_MIN

    URT_THREAD_PRIO_LOW_MAX

    URT_THREAD_PRIO_NORMAL_MIN

    URT_THREAD_PRIO_NORMAL_MAX

    URT_THREAD_PRIO_HIGH_MIN

    URT_THREAD_PRIO_HIGH_MAX

    URT_THREAD_PRIO_RT_MIN

    URT_THREAD_PRIO_RT_MAX

  }

    class urt_osThreadFunction_t <<T,00CFFF>> {

    urt_osThreadFunction_t (arg : void*) : void

  }

    class urt_osThreadTerminateSignal_t <<E,FF7F3F>> {

    URT_THREAD_TERMINATE_REQUEST = 15

    URT_THREAD_TERMINATE_KILL = 9

  }

    class urt_osThreadState_t <<E,FF7F3F>> {

    URT_THREAD_STATE_INACTIVE = 0

    URT_THREAD_STATE_RUNNING = 1

    URT_THREAD_STATE_READY = 2

    URT_THREAD_STATE_SLEEPING = 3

    URT_THREAD_STATE_SUSPENDED = 4

    URT_THREAD_STATE_WAITING = 5

    URT_THREAD_STATE_TERMINATED = 6

  }

    class urt_osThread_t <<T,00CFFF>> {

    URT_THREAD_SLEEP_MAX : float

    URT_THREAD_SSLEP_MAX : urt_delay_t

    URT_THREAD_MSLEEP_MAX : urt_delay_t

    URT_THREAD_USLEEP_MAX : urt_delay_t

    - -

    + {method} URT_THREAD_MEMORY (varname, stacksize)

    ..

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

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

    + {method} urtThreadYield (void) : void

    + {method} urtThreadGetPriority (void) : urt_osThreadPrio_t

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

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

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

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

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

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

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

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

    + {method} urtThreadExit (void) : void

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

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

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

    + {method} urtThreadGetSelf (void) : urt_osThread_t*

    + 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) : urt_status_t

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

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

  }

} 

  class urt_streams <<F,E0E0E0>> {

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

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

}

}

  package "Middleware" <<Node>> {

  class urt_core_t <<S,BFAFFF>> {

  - {field} {static} _nodes : urt_node_t*

  - {field} {static} _evtSource : urt_osEventSource_t

  - {field} {static} _lock : urt_osMutex_t

  - {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

  .. 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_srtusefulnessfunc_t <<F,E0E0E0>> {

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

  }

    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_srtusefulnessfunc_t*

    + {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_srtusefulnessfunc_t*, 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>> {

  + {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

  + {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>> {

  class urt_servicefunc_t <<F,E0E0E0>> {

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

}

  class urt_service_t <<S,BFAFFF>> {

  + {field} next : urt_service_t*

  + {field} id : urt_serviceid_t

  + {field} lock : urt_osMutex_t

  + {field} callback : urt_servicefunc_t*

  .. URT_CFG_RPC_PROFILING == true ..

  + {field} sumDurations : uint64_t

  + {field} numCalls : uint64_t

  + {field} numTimeouts : uint64_t

  + {field} minDuration : urt_delay_t

  + {field} maxDuration : urt_delay_t

  __

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

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

}

}

}

urt_nodestage_t ..> urt_config

urt_topicid_t ..> urt_config

urt_serviceid_t ..> urt_config

urt_delay_t ..> urt_config

urt_osCondvar_t ..> urt_osCondvarWaitStatus_t

urt_osCondvar_t .> urt_osMutex_t

urt_osTimer_t ..> urt_osTimerCallback_t

urt_osThread_t ..> urt_osThreadPrio_t

urt_osThread_t ..> urt_osThreadFunction_t

urt_osThread_t ..> urt_osThreadTerminateSignal_t

urt_osThread_t ..> urt_osThreadState_t

urt_osThread_t .> urt_osTime_t

urt_osEventListener_t ..> urt_osEventFlags_t

urt_osEventSource_t ..> urt_osEventFlags_t

urt_events ..> urt_osEventSource_t

urt_events ..> urt_osEventListener_t

urt_events ..> urt_osEventMask_t

urt_events ..> urt_osEventFlags_t

urt_events ..> urt_osEventWait_t

urt_osCondvar_t ..> urt_delay_t

urt_osThread_t ..> urt_delay_t

urt_osThread_t ..> urt_status_t

urt_osTimer_t ..> urt_delay_t

urt_osTimer_t ..> urt_status_t

urt_events ..> urt_delay_t

urt_events ..> urt_status_t

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

urt_node_t "1" o- - "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_nrtsubscriber_t - -|> urt_basesubscriber_t

urt_nrtsubscriber_t ..> urt_message_t

urt_srtsubscriber_t - -|> urt_basesubscriber_t

urt_srtsubscriber_t "1" o- - "0..1" urt_srtusefulnessfunc_t

urt_srtsubscriber_t ..> urt_message_t

urt_frtsubscriber_t - -|> urt_basesubscriber_t

urt_frtsubscriber_t ..> urt_message_t

urt_hrtsubscriber_t - -|> urt_basesubscriber_t

urt_hrtsubscriber_t "1" o- - "0..1" urt_hrtsubscriber_t

urt_hrtsubscriber_t ..> urt_message_t

urt_publisher_t "1" o- "1" urt_topic_t

urt_publisher_t ..> urt_message_t

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

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

urt_topic_t "1" *- - "1" urt_message_t

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

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

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

urt_core_t "1" *- - "0..1" urt_topic_t

urt_core_t "1" *- - "0..1" urt_service_t

urt_core_t "1" *- - "1" urt_osEventSource_t

urt_core_t "1" *- - "1" urt_osMutex_t

urt_core_t ..> urt_status_t

urt_core_t ..> urt_nodestage_t

urt_core_t ..> urt_topicid_t

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 ..> urt_config

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

urt_topic_t ..> urt_status_t

urt_message_t "1" *- - "1" urt_osTime_t

urt_message_t "1" *- - "1" urt_osMutex_t

urt_message_t "1" *- - "1" urt_osCondvar_t

urt_message_t ..> urt_config

urt_message_t ..> urt_status_t

urt_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..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_srtusefulnessfunc_t ..> urt_delay_t

urt_service_t "1" *- - "1" urt_serviceid_t

urt_service_t "1" *- - "1" urt_osMutex_t

urt_service_t ..> urt_config

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

urt_service_t ..> urt_status_t

urt_servicefunc_t ..> urt_delay_t

urt_servicefunc_t ..> urt_status_t

@enduml

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

(GPL source distribution)

Java Runtime: OpenJDK Runtime Environment

JVM: OpenJDK 64-Bit Server VM

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

Operating System: Linux

Default Encoding: UTF-8

Language: en

Country: US

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