commit 621aa0b6128a6c962122757d039077f6d1a72e9d
Author: Thomas Schöpping <tschoepp@cit-ec.uni-bielefeld.de>
Date:   Wed Jun 17 11:46:02 2020 +0200

    Introduced getter functions to the core for its event source and mutex.

diff --git a/doc/activitydiagrams/core/urtCoreGetEventSource.svg b/doc/activitydiagrams/core/urtCoreGetEventSource.svg
new file mode 100644
index 0000000..a18bb4f
--- /dev/null
+++ b/doc/activitydiagrams/core/urtCoreGetEventSource.svg
@@ -0,0 +1,34 @@
+<?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="248px" preserveAspectRatio="none" style="width:523px;height:248px;" version="1.1" viewBox="0 0 523 248" width="523px" zoomAndPan="magnify"><defs><filter height="300%" id="f1rbwp4ws1lf8i" 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="216" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="227" x="147" y="47.6611">urtCoreGetEventSource()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="263.5" y="68.6143"/><path d="M205,72.8594 L205,153.3906 L511,153.3906 L511,82.8594 L501,72.8594 L205,72.8594 " fill="#FBFB77" filter="url(#f1rbwp4ws1lf8i)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M501,72.8594 L501,82.8594 L511,82.8594 L501,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="205" x2="340.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="344.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="27" x="344.5" y="89.4263">void</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="375.5" y="89.4263"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="375.5" x2="511" y1="85.4258" y2="85.4258"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="205" x2="511" y1="97.9922" y2="97.9922"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="205" x2="511" y1="99.9922" y2="99.9922"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="205" x2="255.5" y1="110.5586" y2="110.5586"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="259.5" y="114.5591"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="259.5" y="114.5591">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="148" x="308.5" y="114.5591">: urt_osEventSource_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="460.5" x2="511" y1="110.5586" y2="110.5586"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="285" x="211" y="130.1919">Returns a pointer to the core's event source.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="103" x="211" y="145.3247">Will never return</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="318" y="145.3247">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="350" y="145.3247">.</text><ellipse cx="358" cy="183.3906" fill="#000000" filter="url(#f1rbwp4ws1lf8i)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M10,211.8242 L10,236.957 A0,0 0 0 0 10,236.957 L327,236.957 A0,0 0 0 0 327,236.957 L327,229.8242 L347,224.3906 L327,221.8242 L327,221.8242 L317,211.8242 L10,211.8242 A0,0 0 0 0 10,211.8242 " fill="#FBFB77" filter="url(#f1rbwp4ws1lf8i)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M317,211.8242 L317,221.8242 L327,221.8242 L317,211.8242 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="115" x="16" y="228.8911">Returns pointer to</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="80" x="135" y="228.8911">_evtSource</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="93" x="219" y="228.8911">static variable.</text><ellipse cx="358" cy="224.3906" fill="#FFFFFF" filter="url(#f1rbwp4ws1lf8i)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="358" cy="224.3906" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="358" x2="358" y1="153.3906" y2="173.3906"/><polygon fill="#A80036" points="354,163.3906,358,173.3906,362,163.3906,358,167.3906" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="358" x2="358" y1="193.3906" y2="213.3906"/><polygon fill="#A80036" points="354,203.3906,358,213.3906,362,203.3906,358,207.3906" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4061d537ea802e172427e3ae34b7d33d]
+@startuml
+
+title **µRtWare**\nurtCoreGetEventSource()\n
+
+
+note
+  - - //void// - -
+  ====
+  - - **return** : urt_osEventSource_t* - -
+  Returns a pointer to the core's event source.
+  Will never return ""NULL"".
+endnote
+
+
+start
+stop
+note
+  Returns pointer to ""_evtSource"" static variable.
+endnote
+
+
+@enduml
+
+PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
+Operating System: Linux
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/doc/activitydiagrams/core/urtCoreGetEventSource.uml b/doc/activitydiagrams/core/urtCoreGetEventSource.uml
new file mode 100644
index 0000000..4d4e670
--- /dev/null
+++ b/doc/activitydiagrams/core/urtCoreGetEventSource.uml
@@ -0,0 +1,48 @@
+/'
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'/
+
+/'### INTRO ##################################################################'/
+
+@startuml
+
+title **µRtWare**\nurtCoreGetEventSource()\n
+
+/'### PARAMETERS & RETURN ####################################################'/
+
+note
+  -- //void// --
+  ====
+  -- **return** : urt_osEventSource_t* --
+  Returns a pointer to the core's event source.
+  Will never return ""NULL"".
+endnote
+
+/'### PROCEDURE ##############################################################'/
+
+start
+stop
+note
+  Returns pointer to ""_evtSource"" static variable.
+endnote
+
+/'### OUTRO ##################################################################'/
+
+@enduml
diff --git a/doc/activitydiagrams/core/urtCoreGetMutex.svg b/doc/activitydiagrams/core/urtCoreGetMutex.svg
new file mode 100644
index 0000000..3c951c5
--- /dev/null
+++ b/doc/activitydiagrams/core/urtCoreGetMutex.svg
@@ -0,0 +1,34 @@
+<?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="248px" preserveAspectRatio="none" style="width:476px;height:248px;" version="1.1" viewBox="0 0 476 248" width="476px" zoomAndPan="magnify"><defs><filter height="300%" id="f1p16lxz9od5sc" 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="192.75" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="171" x="151.75" y="47.6611">urtCoreGetMutex()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="240.25" y="68.6143"/><path d="M171.5,72.8594 L171.5,153.3906 L464.5,153.3906 L464.5,82.8594 L454.5,72.8594 L171.5,72.8594 " fill="#FBFB77" filter="url(#f1p16lxz9od5sc)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M454.5,72.8594 L454.5,82.8594 L464.5,82.8594 L454.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="171.5" x2="300.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="304.5" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-style="italic" lengthAdjust="spacingAndGlyphs" textLength="27" x="304.5" y="89.4263">void</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="335.5" y="89.4263"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="335.5" x2="464.5" y1="85.4258" y2="85.4258"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="171.5" x2="464.5" y1="97.9922" y2="97.9922"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="171.5" x2="464.5" y1="99.9922" y2="99.9922"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="171.5" x2="236.5" y1="110.5586" y2="110.5586"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="240.5" y="114.5591"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="240.5" y="114.5591">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="106" x="289.5" y="114.5591">: urt_osMutex_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="399.5" x2="464.5" y1="110.5586" y2="110.5586"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="272" x="177.5" y="130.1919">Returns a pointer to the core's mutex lock.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="103" x="177.5" y="145.3247">Will never return</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="284.5" y="145.3247">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="316.5" y="145.3247">.</text><ellipse cx="318" cy="183.3906" fill="#000000" filter="url(#f1p16lxz9od5sc)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M10,211.8242 L10,236.957 A0,0 0 0 0 10,236.957 L287,236.957 A0,0 0 0 0 287,236.957 L287,229.8242 L307,224.3906 L287,221.8242 L287,221.8242 L277,211.8242 L10,211.8242 A0,0 0 0 0 10,211.8242 " fill="#FBFB77" filter="url(#f1p16lxz9od5sc)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M277,211.8242 L277,221.8242 L287,221.8242 L277,211.8242 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="115" x="16" y="228.8911">Returns pointer to</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="40" x="135" y="228.8911">_lock</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="93" x="179" y="228.8911">static variable.</text><ellipse cx="318" cy="224.3906" fill="#FFFFFF" filter="url(#f1p16lxz9od5sc)" rx="11" ry="11" style="stroke: #000000; stroke-width: 1.0;"/><ellipse cx="318" cy="224.3906" fill="#000000" rx="6" ry="6" style="stroke: #7F7F7F; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="318" x2="318" y1="153.3906" y2="173.3906"/><polygon fill="#A80036" points="314,163.3906,318,173.3906,322,163.3906,318,167.3906" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="318" x2="318" y1="193.3906" y2="213.3906"/><polygon fill="#A80036" points="314,203.3906,318,213.3906,322,203.3906,318,207.3906" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[06bc3db2030929c034def7a76ec8eadc]
+@startuml
+
+title **µRtWare**\nurtCoreGetMutex()\n
+
+
+note
+  - - //void// - -
+  ====
+  - - **return** : urt_osMutex_t* - -
+  Returns a pointer to the core's mutex lock.
+  Will never return ""NULL"".
+endnote
+
+
+start
+stop
+note
+  Returns pointer to ""_lock"" static variable.
+endnote
+
+
+@enduml
+
+PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
+Operating System: Linux
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/doc/activitydiagrams/core/urtCoreGetMutex.uml b/doc/activitydiagrams/core/urtCoreGetMutex.uml
new file mode 100644
index 0000000..21b46eb
--- /dev/null
+++ b/doc/activitydiagrams/core/urtCoreGetMutex.uml
@@ -0,0 +1,48 @@
+/'
+µRtWare is a lightweight publish/subscribe middleware for real-time
+applications. It was developed as part of the software habitat for the
+Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
+
+Copyright (C) 2018..2020  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'/
+
+/'### INTRO ##################################################################'/
+
+@startuml
+
+title **µRtWare**\nurtCoreGetMutex()\n
+
+/'### PARAMETERS & RETURN ####################################################'/
+
+note
+  -- //void// --
+  ====
+  -- **return** : urt_osMutex_t* --
+  Returns a pointer to the core's mutex lock.
+  Will never return ""NULL"".
+endnote
+
+/'### PROCEDURE ##############################################################'/
+
+start
+stop
+note
+  Returns pointer to ""_lock"" static variable.
+endnote
+
+/'### OUTRO ##################################################################'/
+
+@enduml
diff --git a/doc/classdiagrams/urtware.svg b/doc/classdiagrams/urtware.svg
index d33ce09..b5361b8 100644
--- a/doc/classdiagrams/urtware.svg
+++ b/doc/classdiagrams/urtware.svg
@@ -1,63 +1,63 @@
-<?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="1134px" preserveAspectRatio="none" style="width:10337px;height:1134px;" version="1.1" viewBox="0 0 10337 1134" width="10337px" zoomAndPan="magnify"><defs><filter height="300%" id="f1rypo70thvq1p" 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="5126" y="16.708">µRtWare</text><!--MD5=[b9de0669a29c7bc934fd916b09c39491]
-cluster node--><rect fill="#FFFFFF" filter="url(#f1rypo70thvq1p)" height="443" style="stroke: #000000; stroke-width: 1.5;" width="1674" x="5349" y="441.4531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="40" x="6166" y="456.4482">node</text><!--MD5=[d74e2ef346f73688f9378f6d3d42598c]
-cluster Publish-Subscribe System--><polygon fill="#FFFFFF" filter="url(#f1rypo70thvq1p)" points="14,400.4531,24,390.4531,5341,390.4531,5341,1112.9531,5331,1122.9531,14,1122.9531,14,400.4531" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="5331" x2="5340" y1="400.4531" y2="391.4531"/><line style="stroke: #000000; stroke-width: 1.5;" x1="14" x2="5331" y1="400.4531" y2="400.4531"/><line style="stroke: #000000; stroke-width: 1.5;" x1="5331" x2="5331" y1="400.4531" y2="1122.9531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="205" x="2571" y="416.4482">Publish-Subscribe System</text><!--MD5=[16a3bbbe805f94d6e6ce317c08ab945e]
-cluster subscriber--><rect fill="#FFFFFF" filter="url(#f1rypo70thvq1p)" height="498.5" style="stroke: #000000; stroke-width: 1.5;" width="4062" x="1271" y="422.4531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="85" x="3259.5" y="437.4482">subscriber</text><!--MD5=[810d0f07e53ef611b6d803ef30301147]
-cluster Remote Procedure Call System--><polygon fill="#FFFFFF" filter="url(#f1rypo70thvq1p)" points="7031,47.4531,7041,37.4531,10315,37.4531,10315,716.9531,10305,726.9531,7031,726.9531,7031,47.4531" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="10305" x2="10314" y1="47.4531" y2="38.4531"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7031" x2="10305" y1="47.4531" y2="47.4531"/><line style="stroke: #000000; stroke-width: 1.5;" x1="10305" x2="10305" y1="47.4531" y2="726.9531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="244" x="8547" y="63.4482">Remote Procedure Call System</text><!--MD5=[ecaf13b018fb9788c80013f5b3634b61]
-cluster request--><rect fill="#FFFFFF" filter="url(#f1rypo70thvq1p)" height="621.5" style="stroke: #000000; stroke-width: 1.5;" width="2646" x="7661" y="69.4531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="62" x="8953" y="84.4482">request</text><!--MD5=[a7dea26996a1231aa68629b332780450]
-class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#f1rypo70thvq1p)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="5357" y="815.4531"/><ellipse cx="5502.75" cy="831.4531" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5503.5938,838.2031 L5501.1406,838.2031 L5501.1406,827.9531 L5498,827.9531 L5498,825.8125 L5506.7344,825.8125 L5506.7344,827.9531 L5503.5938,827.9531 L5503.5938,838.2031 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="5523.25" y="835.6074">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5358" x2="5812" y1="847.4531" y2="847.4531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5358" x2="5812" y1="855.4531" y2="855.4531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="5363" y="869.6636">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]
-class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#f1rypo70thvq1p)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="5848" y="815.4531"/><ellipse cx="6076.25" cy="831.4531" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6077.0938,838.2031 L6074.6406,838.2031 L6074.6406,827.9531 L6071.5,827.9531 L6071.5,825.8125 L6080.2344,825.8125 L6080.2344,827.9531 L6077.0938,827.9531 L6077.0938,838.2031 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="6096.75" y="835.6074">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5849" x2="6461" y1="847.4531" y2="847.4531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5849" x2="6461" y1="855.4531" y2="855.4531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="5854" y="869.6636">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(#f1rypo70thvq1p)" height="60.8047" id="urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="518" x="6497" y="815.4531"/><ellipse cx="6661.25" cy="831.4531" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6662.0938,838.2031 L6659.6406,838.2031 L6659.6406,827.9531 L6656.5,827.9531 L6656.5,825.8125 L6665.2344,825.8125 L6665.2344,827.9531 L6662.0938,827.9531 L6662.0938,838.2031 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="181" x="6681.75" y="835.6074">urt_nodeShutdownCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6498" x2="7014" y1="847.4531" y2="847.4531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6498" x2="7014" y1="855.4531" y2="855.4531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="506" x="6503" y="869.6636">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(#f1rypo70thvq1p)" height="231.2656" id="urt_node_t" style="stroke: #A80036; stroke-width: 1.5;" width="1541" x="5384.5" y="468.4531"/><ellipse cx="6117.25" cy="484.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6116.7344,485.0156 Q6114.875,484.3125 6114.2188,483.5469 Q6113.5781,482.7656 6113.5781,481.4531 Q6113.5781,479.7656 6114.6563,478.7969 Q6115.7344,477.8281 6117.6094,477.8281 Q6118.4688,477.8281 6119.3125,478.0313 Q6120.1719,478.2188 6121.0156,478.6094 L6121.0156,481 Q6120.2344,480.4375 6119.4063,480.1563 Q6118.5938,479.8594 6117.7969,479.8594 Q6116.9219,479.8594 6116.4375,480.2188 Q6115.9688,480.5781 6115.9688,481.2344 Q6115.9688,481.75 6116.3125,482.0938 Q6116.6563,482.4219 6117.75,482.8281 L6118.8125,483.2344 Q6120.2969,483.7813 6121,484.6875 Q6121.7188,485.5938 6121.7188,486.9688 Q6121.7188,488.8438 6120.6094,489.7656 Q6119.5,490.6875 6117.25,490.6875 Q6116.3281,490.6875 6115.4063,490.4688 Q6114.4844,490.25 6113.625,489.8281 L6113.625,487.2969 Q6114.5938,487.9844 6115.5156,488.3281 Q6116.4375,488.6719 6117.3281,488.6719 Q6118.2344,488.6719 6118.7344,488.2656 Q6119.2344,487.8438 6119.2344,487.1094 Q6119.2344,486.5469 6118.8906,486.1406 Q6118.5625,485.7188 6117.9375,485.4688 L6116.7344,485.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="67" x="6137.75" y="488.6074">urt_node_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5385.5" x2="6924.5" y1="500.4531" y2="500.4531"/><ellipse cx="5395.5" cy="511.4531" fill="none" 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="5404.5" y="514.6636">next : urt_node_t*</text><ellipse cx="5395.5" cy="524.2578" fill="none" 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="5404.5" y="527.4683">thread : urt_osThread_t*</text><ellipse cx="5395.5" cy="537.0625" fill="none" 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="5404.5" y="540.2729">setupcallback : urt_nodeSetupCallback_t*</text><ellipse cx="5395.5" cy="549.8672" fill="none" 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="5404.5" y="553.0776">setupparams : void*</text><ellipse cx="5395.5" cy="562.6719" fill="none" 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="5404.5" y="565.8823">loopcallback : urt_nodeLoopCallback_t*</text><ellipse cx="5395.5" cy="575.4766" fill="none" 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="5404.5" y="578.687">loopparams : void*</text><ellipse cx="5395.5" cy="588.2813" fill="none" 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="5404.5" y="591.4917">shutdowncallback : urt_nodeShutdownCallback_t*</text><ellipse cx="5395.5" cy="601.0859" fill="none" 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="5404.5" y="604.2964">shutdownparams : void*</text><ellipse cx="5395.5" cy="613.8906" fill="none" 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="5404.5" y="617.1011">stage : urt_nodestage_t</text><ellipse cx="5395.5" cy="626.6953" fill="none" 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="5404.5" y="629.9058">listener : urt_osEventListener_t</text><ellipse cx="5395.5" cy="656.3047" fill="none" 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="5404.5" y="659.5151">loops : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5385.5" x2="5947" y1="642.9023" y2="642.9023"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="416" x="5947" y="646.2104">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="6363" x2="6924.5" y1="642.9023" y2="642.9023"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5385.5" x2="6924.5" y1="666.1094" y2="666.1094"/><rect fill="#F24D5C" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="5392.5" y="674.1094"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="179" x="5404.5" y="680.3198">_main : urt_osThreadFunction_t</text><ellipse cx="5395.5" cy="689.9141" fill="#84BE84" 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="5404.5" y="693.1245">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(#f1rypo70thvq1p)" height="141.6328" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="406" x="830" y="972.9531"/><ellipse cx="982.75" cy="988.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M982.2344,989.5156 Q980.375,988.8125 979.7188,988.0469 Q979.0781,987.2656 979.0781,985.9531 Q979.0781,984.2656 980.1563,983.2969 Q981.2344,982.3281 983.1094,982.3281 Q983.9688,982.3281 984.8125,982.5313 Q985.6719,982.7188 986.5156,983.1094 L986.5156,985.5 Q985.7344,984.9375 984.9063,984.6563 Q984.0938,984.3594 983.2969,984.3594 Q982.4219,984.3594 981.9375,984.7188 Q981.4688,985.0781 981.4688,985.7344 Q981.4688,986.25 981.8125,986.5938 Q982.1563,986.9219 983.25,987.3281 L984.3125,987.7344 Q985.7969,988.2813 986.5,989.1875 Q987.2188,990.0938 987.2188,991.4688 Q987.2188,993.3438 986.1094,994.2656 Q985,995.1875 982.75,995.1875 Q981.8281,995.1875 980.9063,994.9688 Q979.9844,994.75 979.125,994.3281 L979.125,991.7969 Q980.0938,992.4844 981.0156,992.8281 Q981.9375,993.1719 982.8281,993.1719 Q983.7344,993.1719 984.2344,992.7656 Q984.7344,992.3438 984.7344,991.6094 Q984.7344,991.0469 984.3906,990.6406 Q984.0625,990.2188 983.4375,989.9688 L982.2344,989.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="1003.25" y="993.1074">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="831" x2="1235" y1="1004.9531" y2="1004.9531"/><ellipse cx="841" cy="1015.9531" fill="none" 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="850" y="1019.1636">next : urt_message_t*</text><ellipse cx="841" cy="1028.7578" fill="none" 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="850" y="1031.9683">payload : void*</text><ellipse cx="841" cy="1041.5625" fill="none" 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="850" y="1044.7729">originTime : urt_osTime_t</text><ellipse cx="841" cy="1054.3672" fill="none" 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="850" y="1057.5776">numHrtConsumersLeft : unsigned int</text><ellipse cx="841" cy="1083.9766" fill="none" 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="850" y="1087.187">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="831" x2="924.5" y1="1070.5742" y2="1070.5742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="924.5" y="1073.8823">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1141.5" x2="1235" y1="1070.5742" y2="1070.5742"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="831" x2="1235" y1="1093.7813" y2="1093.7813"/><ellipse cx="841" cy="1104.7813" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="850" y="1107.9917">urtMessageInit (message : urt_message_t*, payload : void*) : void</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]
-class urt_publisher_t--><rect fill="#FEFECE" filter="url(#f1rypo70thvq1p)" height="128.8281" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="783" x="22.5" y="519.4531"/><ellipse cx="363.25" cy="535.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M362.7344,536.0156 Q360.875,535.3125 360.2188,534.5469 Q359.5781,533.7656 359.5781,532.4531 Q359.5781,530.7656 360.6563,529.7969 Q361.7344,528.8281 363.6094,528.8281 Q364.4688,528.8281 365.3125,529.0313 Q366.1719,529.2188 367.0156,529.6094 L367.0156,532 Q366.2344,531.4375 365.4063,531.1563 Q364.5938,530.8594 363.7969,530.8594 Q362.9219,530.8594 362.4375,531.2188 Q361.9688,531.5781 361.9688,532.2344 Q361.9688,532.75 362.3125,533.0938 Q362.6563,533.4219 363.75,533.8281 L364.8125,534.2344 Q366.2969,534.7813 367,535.6875 Q367.7188,536.5938 367.7188,537.9688 Q367.7188,539.8438 366.6094,540.7656 Q365.5,541.6875 363.25,541.6875 Q362.3281,541.6875 361.4063,541.4688 Q360.4844,541.25 359.625,540.8281 L359.625,538.2969 Q360.5938,538.9844 361.5156,539.3281 Q362.4375,539.6719 363.3281,539.6719 Q364.2344,539.6719 364.7344,539.2656 Q365.2344,538.8438 365.2344,538.1094 Q365.2344,537.5469 364.8906,537.1406 Q364.5625,536.7188 363.9375,536.4688 L362.7344,536.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="383.75" y="539.6074">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="23.5" x2="804.5" y1="551.4531" y2="551.4531"/><ellipse cx="33.5" cy="562.4531" fill="none" 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="42.5" y="565.6636">topic : urt_topic_t*</text><ellipse cx="33.5" cy="592.0625" fill="none" 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="42.5" y="595.2729">publishAttempts : uint64_t</text><ellipse cx="33.5" cy="604.8672" fill="none" 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="42.5" y="608.0776">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="23.5" x2="305.5" y1="578.6602" y2="578.6602"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="305.5" y="581.9683">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="522.5" x2="804.5" y1="578.6602" y2="578.6602"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="23.5" x2="804.5" y1="614.6719" y2="614.6719"/><ellipse cx="33.5" cy="625.6719" fill="#84BE84" 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="42.5" y="628.8823">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void</text><ellipse cx="33.5" cy="638.4766" fill="#84BE84" 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="42.5" y="641.687">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(#f1rypo70thvq1p)" height="260.875" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="841" y="453.4531"/><ellipse cx="995.75" cy="469.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M995.2344,470.0156 Q993.375,469.3125 992.7188,468.5469 Q992.0781,467.7656 992.0781,466.4531 Q992.0781,464.7656 993.1563,463.7969 Q994.2344,462.8281 996.1094,462.8281 Q996.9688,462.8281 997.8125,463.0313 Q998.6719,463.2188 999.5156,463.6094 L999.5156,466 Q998.7344,465.4375 997.9063,465.1563 Q997.0938,464.8594 996.2969,464.8594 Q995.4219,464.8594 994.9375,465.2188 Q994.4688,465.5781 994.4688,466.2344 Q994.4688,466.75 994.8125,467.0938 Q995.1563,467.4219 996.25,467.8281 L997.3125,468.2344 Q998.7969,468.7813 999.5,469.6875 Q1000.2188,470.5938 1000.2188,471.9688 Q1000.2188,473.8438 999.1094,474.7656 Q998,475.6875 995.75,475.6875 Q994.8281,475.6875 993.9063,475.4688 Q992.9844,475.25 992.125,474.8281 L992.125,472.2969 Q993.0938,472.9844 994.0156,473.3281 Q994.9375,473.6719 995.8281,473.6719 Q996.7344,473.6719 997.2344,473.2656 Q997.7344,472.8438 997.7344,472.1094 Q997.7344,471.5469 997.3906,471.1406 Q997.0625,470.7188 996.4375,470.4688 L995.2344,470.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="1016.25" y="473.6074">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="842" x2="1224" y1="485.4531" y2="485.4531"/><ellipse cx="852" cy="496.4531" fill="none" 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="861" y="499.6636">next : urt_topic_t*</text><ellipse cx="852" cy="509.2578" fill="none" 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="861" y="512.4683">id : urt_topicid_t</text><ellipse cx="852" cy="522.0625" fill="none" 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="861" y="525.2729">lock : urt_osMutex_t</text><ellipse cx="852" cy="534.8672" fill="none" 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="861" y="538.0776">evtSource : urt_osEventSource_t</text><ellipse cx="852" cy="547.6719" fill="none" 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="861" y="550.8823">numHrtSubscribers : unsigned int</text><ellipse cx="852" cy="560.4766" fill="none" 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="861" y="563.687">hrtReleased : urt_osCondvar_t</text><ellipse cx="852" cy="573.2813" fill="none" 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="861" y="576.4917">mandatoryMessage : urt_message_t</text><ellipse cx="852" cy="586.0859" fill="none" 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="861" y="589.2964">latestMessage : urt_message_t*</text><ellipse cx="852" cy="615.6953" fill="none" 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="861" y="618.9058">hrtSubscribers : urt_hrtsubscriber_t*</text><ellipse cx="852" cy="628.5" fill="none" 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="861" y="631.7104">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="842" x2="900.5" y1="602.293" y2="602.293"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="900.5" y="605.6011">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1165.5" x2="1224" y1="602.293" y2="602.293"/><ellipse cx="852" cy="658.1094" fill="none" 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="861" y="661.3198">numMessagesPublished : uint64_t</text><ellipse cx="852" cy="670.9141" fill="none" 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="861" y="674.1245">numMessagesDiscarded : uint64_t</text><ellipse cx="852" cy="683.7188" fill="none" 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="861" y="686.9292">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="842" x2="924.5" y1="644.707" y2="644.707"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="924.5" y="648.0151">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1141.5" x2="1224" y1="644.707" y2="644.707"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="842" x2="1224" y1="693.5234" y2="693.5234"/><ellipse cx="852" cy="704.5234" fill="#84BE84" 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="861" y="707.7339">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[50a042e24f957794dab9ba3ea8701c50]
-class urt_basesubscriber_t--><rect fill="#FEFECE" filter="url(#f1rypo70thvq1p)" height="133.6328" id="urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="225" x="2564.5" y="778.9531"/><ellipse cx="2606.95" cy="794.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2606.4344,795.5156 Q2604.575,794.8125 2603.9188,794.0469 Q2603.2781,793.2656 2603.2781,791.9531 Q2603.2781,790.2656 2604.3563,789.2969 Q2605.4344,788.3281 2607.3094,788.3281 Q2608.1688,788.3281 2609.0125,788.5313 Q2609.8719,788.7188 2610.7156,789.1094 L2610.7156,791.5 Q2609.9344,790.9375 2609.1063,790.6563 Q2608.2938,790.3594 2607.4969,790.3594 Q2606.6219,790.3594 2606.1375,790.7188 Q2605.6688,791.0781 2605.6688,791.7344 Q2605.6688,792.25 2606.0125,792.5938 Q2606.3563,792.9219 2607.45,793.3281 L2608.5125,793.7344 Q2609.9969,794.2813 2610.7,795.1875 Q2611.4188,796.0938 2611.4188,797.4688 Q2611.4188,799.3438 2610.3094,800.2656 Q2609.2,801.1875 2606.95,801.1875 Q2606.0281,801.1875 2605.1063,800.9688 Q2604.1844,800.75 2603.325,800.3281 L2603.325,797.7969 Q2604.2938,798.4844 2605.2156,798.8281 Q2606.1375,799.1719 2607.0281,799.1719 Q2607.9344,799.1719 2608.4344,798.7656 Q2608.9344,798.3438 2608.9344,797.6094 Q2608.9344,797.0469 2608.5906,796.6406 Q2608.2625,796.2188 2607.6375,795.9688 L2606.4344,795.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="132" x="2627.05" y="799.1074">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2565.5" x2="2788.5" y1="810.9531" y2="810.9531"/><ellipse cx="2575.5" cy="821.9531" fill="none" 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="2584.5" y="825.1636">topic : urt_topic_t*</text><ellipse cx="2575.5" cy="834.7578" fill="none" 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="2584.5" y="837.9683">evtListener : urt_osEventListener_t</text><ellipse cx="2575.5" cy="847.5625" fill="none" 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="2584.5" y="850.7729">lastMessage : urt_message_t*</text><ellipse cx="2575.5" cy="860.3672" fill="none" 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="2584.5" y="863.5776">lastMessageTime : urt_osTime_t</text><ellipse cx="2575.5" cy="889.9766" fill="none" 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="2584.5" y="893.187">sumLatencies : uint64_t</text><ellipse cx="2575.5" cy="902.7813" fill="none" 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="2584.5" y="905.9917">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2565.5" x2="2568.5" y1="876.5742" y2="876.5742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2568.5" y="879.8823">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2785.5" x2="2788.5" y1="876.5742" y2="876.5742"/><!--MD5=[9ff46073dd541e50679ef35e851c67d6]
-class urt_nrtsubscriber_t--><rect fill="#FEFECE" filter="url(#f1rypo70thvq1p)" height="154.4375" id="urt_nrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="821" x="1278.5" y="506.9531"/><ellipse cx="1625.25" cy="522.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1624.7344,523.5156 Q1622.875,522.8125 1622.2188,522.0469 Q1621.5781,521.2656 1621.5781,519.9531 Q1621.5781,518.2656 1622.6563,517.2969 Q1623.7344,516.3281 1625.6094,516.3281 Q1626.4688,516.3281 1627.3125,516.5313 Q1628.1719,516.7188 1629.0156,517.1094 L1629.0156,519.5 Q1628.2344,518.9375 1627.4063,518.6563 Q1626.5938,518.3594 1625.7969,518.3594 Q1624.9219,518.3594 1624.4375,518.7188 Q1623.9688,519.0781 1623.9688,519.7344 Q1623.9688,520.25 1624.3125,520.5938 Q1624.6563,520.9219 1625.75,521.3281 L1626.8125,521.7344 Q1628.2969,522.2813 1629,523.1875 Q1629.7188,524.0938 1629.7188,525.4688 Q1629.7188,527.3438 1628.6094,528.2656 Q1627.5,529.1875 1625.25,529.1875 Q1624.3281,529.1875 1623.4063,528.9688 Q1622.4844,528.75 1621.625,528.3281 L1621.625,525.7969 Q1622.5938,526.4844 1623.5156,526.8281 Q1624.4375,527.1719 1625.3281,527.1719 Q1626.2344,527.1719 1626.7344,526.7656 Q1627.2344,526.3438 1627.2344,525.6094 Q1627.2344,525.0469 1626.8906,524.6406 Q1626.5625,524.2188 1625.9375,523.9688 L1624.7344,523.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="1645.75" y="527.1074">urt_nrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1279.5" x2="2098.5" y1="538.9531" y2="538.9531"/><ellipse cx="1289.5" cy="566.7578" fill="none" 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="1298.5" y="569.9683">minLatency : urt_delay_t</text><ellipse cx="1289.5" cy="579.5625" fill="none" 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="1298.5" y="582.7729">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1279.5" x2="1580.5" y1="553.3555" y2="553.3555"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="1580.5" y="556.6636">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1797.5" x2="2098.5" y1="553.3555" y2="553.3555"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1279.5" x2="2098.5" y1="589.3672" y2="589.3672"/><ellipse cx="1289.5" cy="600.3672" 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="347" x="1298.5" y="603.5776">urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : void</text><ellipse cx="1289.5" cy="613.1719" 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="715" x="1298.5" y="616.3823">urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="1289.5" cy="625.9766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="1298.5" y="629.187">urtNrtSubscriberFetchNextMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="1289.5" cy="638.7813" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="1298.5" y="641.9917">urtNrtSubscriberFetchLatestMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="1289.5" cy="651.5859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="1298.5" y="654.7964">urtNrtSubscriberUnsubscribe (subscriber : urt_nrtsubscriber_t*) : urt_status_t</text><!--MD5=[5c7929572d87ccc448d875bea5da0fb1]
-class urt_srtsubscriber_t--><rect fill="#FEFECE" filter="url(#f1rypo70thvq1p)" height="192.8516" id="urt_srtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1044" x="4281" y="487.4531"/><ellipse cx="4739.75" cy="503.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4739.2344,504.0156 Q4737.375,503.3125 4736.7188,502.5469 Q4736.0781,501.7656 4736.0781,500.4531 Q4736.0781,498.7656 4737.1563,497.7969 Q4738.2344,496.8281 4740.1094,496.8281 Q4740.9688,496.8281 4741.8125,497.0313 Q4742.6719,497.2188 4743.5156,497.6094 L4743.5156,500 Q4742.7344,499.4375 4741.9063,499.1563 Q4741.0938,498.8594 4740.2969,498.8594 Q4739.4219,498.8594 4738.9375,499.2188 Q4738.4688,499.5781 4738.4688,500.2344 Q4738.4688,500.75 4738.8125,501.0938 Q4739.1563,501.4219 4740.25,501.8281 L4741.3125,502.2344 Q4742.7969,502.7813 4743.5,503.6875 Q4744.2188,504.5938 4744.2188,505.9688 Q4744.2188,507.8438 4743.1094,508.7656 Q4742,509.6875 4739.75,509.6875 Q4738.8281,509.6875 4737.9063,509.4688 Q4736.9844,509.25 4736.125,508.8281 L4736.125,506.2969 Q4737.0938,506.9844 4738.0156,507.3281 Q4738.9375,507.6719 4739.8281,507.6719 Q4740.7344,507.6719 4741.2344,507.2656 Q4741.7344,506.8438 4741.7344,506.1094 Q4741.7344,505.5469 4741.3906,505.1406 Q4741.0625,504.7188 4740.4375,504.4688 L4739.2344,504.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="4760.25" y="507.6074">urt_srtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4282" x2="5324" y1="519.4531" y2="519.4531"/><ellipse cx="4292" cy="530.4531" fill="none" 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="4301" y="533.6636">usefulnesscb : urt_usefulness_f*</text><ellipse cx="4292" cy="543.2578" fill="none" 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="4301" y="546.4683">cbparams : void*</text><ellipse cx="4292" cy="572.8672" fill="none" 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="4301" y="576.0776">minLatency : urt_delay_t</text><ellipse cx="4292" cy="585.6719" fill="none" 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="4301" y="588.8823">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4282" x2="4694.5" y1="559.4648" y2="559.4648"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="4694.5" y="562.7729">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4911.5" x2="5324" y1="559.4648" y2="559.4648"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4282" x2="5324" y1="595.4766" y2="595.4766"/><ellipse cx="4292" cy="606.4766" fill="#84BE84" 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="4301" y="609.687">urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void</text><ellipse cx="4292" cy="619.2813" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1018" x="4301" y="622.4917">urtSrtSubscriberSubscribe (subscriber : urt_srtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_usefulness_f*, cbparams : void*) : urt_status_t</text><ellipse cx="4292" cy="632.0859" fill="#84BE84" 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="4301" y="635.2964">urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4292" cy="644.8906" fill="#84BE84" 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="4301" y="648.1011">urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4292" cy="657.6953" fill="#84BE84" 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="4301" y="660.9058">urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float</text><ellipse cx="4292" cy="670.5" fill="#84BE84" 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="4301" y="673.7104">urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t</text><!--MD5=[17838fb05fe219fd399839979ec8a4a4]
-class urt_frtsubscriber_t--><rect fill="#FEFECE" filter="url(#f1rypo70thvq1p)" height="226.4609" id="urt_frtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="974" x="3272" y="470.9531"/><ellipse cx="3697.25" cy="486.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3696.7344,487.5156 Q3694.875,486.8125 3694.2188,486.0469 Q3693.5781,485.2656 3693.5781,483.9531 Q3693.5781,482.2656 3694.6563,481.2969 Q3695.7344,480.3281 3697.6094,480.3281 Q3698.4688,480.3281 3699.3125,480.5313 Q3700.1719,480.7188 3701.0156,481.1094 L3701.0156,483.5 Q3700.2344,482.9375 3699.4063,482.6563 Q3698.5938,482.3594 3697.7969,482.3594 Q3696.9219,482.3594 3696.4375,482.7188 Q3695.9688,483.0781 3695.9688,483.7344 Q3695.9688,484.25 3696.3125,484.5938 Q3696.6563,484.9219 3697.75,485.3281 L3698.8125,485.7344 Q3700.2969,486.2813 3701,487.1875 Q3701.7188,488.0938 3701.7188,489.4688 Q3701.7188,491.3438 3700.6094,492.2656 Q3699.5,493.1875 3697.25,493.1875 Q3696.3281,493.1875 3695.4063,492.9688 Q3694.4844,492.75 3693.625,492.3281 L3693.625,489.7969 Q3694.5938,490.4844 3695.5156,490.8281 Q3696.4375,491.1719 3697.3281,491.1719 Q3698.2344,491.1719 3698.7344,490.7656 Q3699.2344,490.3438 3699.2344,489.6094 Q3699.2344,489.0469 3698.8906,488.6406 Q3698.5625,488.2188 3697.9375,487.9688 L3696.7344,487.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="3717.75" y="491.1074">urt_frtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3273" x2="4245" y1="502.9531" y2="502.9531"/><ellipse cx="3283" cy="530.7578" fill="none" 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="3292" y="533.9683">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3273" x2="3613.5" y1="517.3555" y2="517.3555"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="3613.5" y="520.6636">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3904.5" x2="4245" y1="517.3555" y2="517.3555"/><ellipse cx="3283" cy="560.3672" fill="none" 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="3292" y="563.5776">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3273" x2="3623.5" y1="546.9648" y2="546.9648"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3623.5" y="550.2729">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3894.5" x2="4245" y1="546.9648" y2="546.9648"/><ellipse cx="3283" cy="589.9766" fill="none" 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="3292" y="593.187">minLatency : urt_delay_t</text><ellipse cx="3283" cy="602.7813" fill="none" 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="3292" y="605.9917">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3273" x2="3505" y1="576.5742" y2="576.5742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="508" x="3505" y="579.8823">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="4013" x2="4245" y1="576.5742" y2="576.5742"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3273" x2="4245" y1="612.5859" y2="612.5859"/><ellipse cx="3283" cy="623.5859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="342" x="3292" y="626.7964">urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : void</text><ellipse cx="3283" cy="636.3906" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="948" x="3292" y="639.6011">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="3283" cy="649.1953" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="780" x="3292" y="652.4058">urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="3283" cy="662" fill="#84BE84" 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="3292" y="665.2104">urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="3283" cy="674.8047" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="540" x="3292" y="678.0151">urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool</text><ellipse cx="3283" cy="687.6094" fill="#84BE84" 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="3292" y="690.8198">urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t</text><!--MD5=[104dc879e5721421b987fcc467bc3a1d]
-class urt_hrtsubscriber_t--><rect fill="#FEFECE" filter="url(#f1rypo70thvq1p)" height="268.875" id="urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="2135" y="449.4531"/><ellipse cx="2613.25" cy="465.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2612.7344,466.0156 Q2610.875,465.3125 2610.2188,464.5469 Q2609.5781,463.7656 2609.5781,462.4531 Q2609.5781,460.7656 2610.6563,459.7969 Q2611.7344,458.8281 2613.6094,458.8281 Q2614.4688,458.8281 2615.3125,459.0313 Q2616.1719,459.2188 2617.0156,459.6094 L2617.0156,462 Q2616.2344,461.4375 2615.4063,461.1563 Q2614.5938,460.8594 2613.7969,460.8594 Q2612.9219,460.8594 2612.4375,461.2188 Q2611.9688,461.5781 2611.9688,462.2344 Q2611.9688,462.75 2612.3125,463.0938 Q2612.6563,463.4219 2613.75,463.8281 L2614.8125,464.2344 Q2616.2969,464.7813 2617,465.6875 Q2617.7188,466.5938 2617.7188,467.9688 Q2617.7188,469.8438 2616.6094,470.7656 Q2615.5,471.6875 2613.25,471.6875 Q2612.3281,471.6875 2611.4063,471.4688 Q2610.4844,471.25 2609.625,470.8281 L2609.625,468.2969 Q2610.5938,468.9844 2611.5156,469.3281 Q2612.4375,469.6719 2613.3281,469.6719 Q2614.2344,469.6719 2614.7344,469.2656 Q2615.2344,468.8438 2615.2344,468.1094 Q2615.2344,467.5469 2614.8906,467.1406 Q2614.5625,466.7188 2613.9375,466.4688 L2612.7344,466.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="2633.75" y="469.6074">urt_hrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2136" x2="3218" y1="481.4531" y2="481.4531"/><ellipse cx="2146" cy="492.4531" fill="none" 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="2155" y="495.6636">next : urt_hrtsubscriber_t*</text><ellipse cx="2146" cy="522.0625" fill="none" 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="2155" y="525.2729">deadlineOffset : urt_delay_t</text><ellipse cx="2146" cy="534.8672" fill="none" 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="2155" y="538.0776">qosDeadlineTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2136" x2="2531.5" y1="508.6602" y2="508.6602"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="2531.5" y="511.9683">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2822.5" x2="3218" y1="508.6602" y2="508.6602"/><ellipse cx="2146" cy="564.4766" fill="none" 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="2155" y="567.687">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2136" x2="2541.5" y1="551.0742" y2="551.0742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="2541.5" y="554.3823">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2812.5" x2="3218" y1="551.0742" y2="551.0742"/><ellipse cx="2146" cy="594.0859" fill="none" 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="2155" y="597.2964">minLatency : urt_delay_t</text><ellipse cx="2146" cy="606.8906" fill="none" 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="2155" y="610.1011">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2136" x2="2425" y1="580.6836" y2="580.6836"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="2425" y="583.9917">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="2929" x2="3218" y1="580.6836" y2="580.6836"/><ellipse cx="2146" cy="636.5" fill="none" 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="2155" y="639.7104">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2136" x2="2544.5" y1="623.0977" y2="623.0977"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="2544.5" y="626.4058">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2809.5" x2="3218" y1="623.0977" y2="623.0977"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2136" x2="3218" y1="646.3047" y2="646.3047"/><ellipse cx="2146" cy="657.3047" fill="#84BE84" 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="2155" y="660.5151">urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : void</text><ellipse cx="2146" cy="670.1094" fill="#84BE84" 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="2155" y="673.3198">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="2146" cy="682.9141" fill="#84BE84" 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="2155" y="686.1245">urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="2146" cy="695.7188" fill="#84BE84" 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="2155" y="698.9292">urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="2146" cy="708.5234" fill="#84BE84" 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="2155" y="711.7339">urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t</text><!--MD5=[e60e0f8379a14e7a4a292c65add9d735]
-class urt_service_t--><rect fill="#FEFECE" filter="url(#f1rypo70thvq1p)" height="269.6797" id="urt_service_t" style="stroke: #A80036; stroke-width: 1.5;" width="596" x="7039" y="448.9531"/><ellipse cx="7293.25" cy="464.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7292.7344,465.5156 Q7290.875,464.8125 7290.2188,464.0469 Q7289.5781,463.2656 7289.5781,461.9531 Q7289.5781,460.2656 7290.6563,459.2969 Q7291.7344,458.3281 7293.6094,458.3281 Q7294.4688,458.3281 7295.3125,458.5313 Q7296.1719,458.7188 7297.0156,459.1094 L7297.0156,461.5 Q7296.2344,460.9375 7295.4063,460.6563 Q7294.5938,460.3594 7293.7969,460.3594 Q7292.9219,460.3594 7292.4375,460.7188 Q7291.9688,461.0781 7291.9688,461.7344 Q7291.9688,462.25 7292.3125,462.5938 Q7292.6563,462.9219 7293.75,463.3281 L7294.8125,463.7344 Q7296.2969,464.2813 7297,465.1875 Q7297.7188,466.0938 7297.7188,467.4688 Q7297.7188,469.3438 7296.6094,470.2656 Q7295.5,471.1875 7293.25,471.1875 Q7292.3281,471.1875 7291.4063,470.9688 Q7290.4844,470.75 7289.625,470.3281 L7289.625,467.7969 Q7290.5938,468.4844 7291.5156,468.8281 Q7292.4375,469.1719 7293.3281,469.1719 Q7294.2344,469.1719 7294.7344,468.7656 Q7295.2344,468.3438 7295.2344,467.6094 Q7295.2344,467.0469 7294.8906,466.6406 Q7294.5625,466.2188 7293.9375,465.9688 L7292.7344,465.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="7313.75" y="469.1074">urt_service_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7040" x2="7634" y1="480.9531" y2="480.9531"/><ellipse cx="7050" cy="491.9531" fill="none" 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="7059" y="495.1636">next : urt_service_t*</text><ellipse cx="7050" cy="504.7578" fill="none" 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="7059" y="507.9683">id : urt_serviceid_t</text><ellipse cx="7050" cy="517.5625" fill="none" 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="7059" y="520.7729">lock : urt_osMutex_t</text><ellipse cx="7050" cy="530.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="7059" y="533.5776">requestQueue_front : urt_baserequest_t*</text><ellipse cx="7050" cy="543.1719" fill="none" 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="7059" y="546.3823">requestQueue_hrtBack : urt_hrtrequest_t*</text><ellipse cx="7050" cy="555.9766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="256" x="7059" y="559.187">requestQueue_fsrtBack : urt_baserequest_t*</text><ellipse cx="7050" cy="568.7813" fill="none" 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="7059" y="571.9917">requestQueue_back : urt_baserequest_t*</text><ellipse cx="7050" cy="581.5859" fill="none" 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="7059" y="584.7964">evtSource : urt_osEventSource_t</text><ellipse cx="7050" cy="594.3906" fill="none" 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="7059" y="597.6011">evtListener : urt_osEventListener_t</text><ellipse cx="7050" cy="624" fill="none" 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="7059" y="627.2104">numCalls : uint64_t</text><ellipse cx="7050" cy="636.8047" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="7059" y="640.0151">numOwnershipLost : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7040" x2="7241" y1="610.5977" y2="610.5977"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="7241" y="613.9058">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7433" x2="7634" y1="610.5977" y2="610.5977"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7040" x2="7634" y1="646.6094" y2="646.6094"/><ellipse cx="7050" cy="657.6094" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="412" x="7059" y="660.8198">urtServiceInit (service : urt_service_t*, id : urt_serviceid_t) : urt_status_t</text><ellipse cx="7050" cy="670.4141" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="549" x="7059" y="673.6245">urtServiceDispatch (service : urt_service_t*, payload : void*, bytes : size_t) : urt_baserequest_t*</text><ellipse cx="7050" cy="683.2188" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="552" x="7059" y="686.4292">urtServiceAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="7050" cy="696.0234" fill="#84BE84" 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="7059" y="699.2339">urtServiceTryAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="7050" cy="708.8281" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="365" x="7059" y="712.0386">urtServiceRespond (request : urt_baserequest_t*) : urt_status_t</text><!--MD5=[7294e1cfaeb111bef046bc5d07a96458]
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stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9487" x2="9587" y1="210.5742" y2="210.5742"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8933" x2="9587" y1="246.5859" y2="246.5859"/><ellipse cx="8943" cy="257.5859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="292" x="8952" y="260.7964">urtFrtRequestInit (request : urt_frtrequest_t*) : void</text><ellipse cx="8943" cy="270.3906" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="362" x="8952" y="273.6011">urtFrtRequestAcquire (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="8943" cy="283.1953" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="8952" y="286.4058">urtFrtRequestTryAcquire (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="8943" cy="296" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="365" x="8952" y="299.2104">urtFrtRequestRelease (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="8943" cy="308.8047" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="630" x="8952" y="312.0151">urtFrtRequestSubmit (request : urt_frtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t</text><ellipse cx="8943" cy="321.6094" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="366" x="8952" y="324.8198">urtFrtRequestRetrieve (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="8943" cy="334.4141" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="318" x="8952" y="337.6245">urtDrtCalculateValidity (request : urt_frtrequest_t) : bool</text><ellipse cx="8943" cy="364.0234" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="419" x="8952" y="367.2339">urtFrtRequestGetMaxJitter(request : urt_frtrequest_t*) : urt_delay_t* const</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8933" x2="9137" y1="350.6211" y2="350.6211"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="9137" y="353.9292">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9383" x2="9587" y1="350.6211" y2="350.6211"/><!--MD5=[2b0c3d572fefe037473ca776bdd2f803]
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stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7670.5" x2="7877" y1="172.4648" y2="172.4648"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="7877" y="175.7729">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8123" x2="8329.5" y1="172.4648" y2="172.4648"/><ellipse cx="7680.5" cy="215.4766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="7689.5" y="218.687">qosTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7670.5" x2="7736" y1="202.0742" y2="202.0742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="528" x="7736" y="205.3823">URT_CFG_RPC_QOS_DEADLINECHECKS == true || URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; 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+cluster Publish-Subscribe System--><polygon fill="#FFFFFF" filter="url(#fmc3ssws0d5gl)" points="14,410.4531,24,400.4531,5341,400.4531,5341,1122.9531,5331,1132.9531,14,1132.9531,14,410.4531" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="5331" x2="5340" y1="410.4531" y2="401.4531"/><line style="stroke: #000000; stroke-width: 1.5;" x1="14" x2="5331" y1="410.4531" y2="410.4531"/><line style="stroke: #000000; stroke-width: 1.5;" x1="5331" x2="5331" y1="410.4531" y2="1132.9531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="205" x="2571" y="426.4482">Publish-Subscribe System</text><!--MD5=[16a3bbbe805f94d6e6ce317c08ab945e]
+cluster subscriber--><rect fill="#FFFFFF" filter="url(#fmc3ssws0d5gl)" height="498.5" style="stroke: #000000; stroke-width: 1.5;" width="4062" x="1271" y="432.4531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="85" x="3259.5" y="447.4482">subscriber</text><!--MD5=[810d0f07e53ef611b6d803ef30301147]
+cluster Remote Procedure Call System--><polygon fill="#FFFFFF" filter="url(#fmc3ssws0d5gl)" points="7031,46.9531,7041,36.9531,10315,36.9531,10315,726.9531,10305,736.9531,7031,736.9531,7031,46.9531" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="10305" x2="10314" y1="46.9531" y2="37.9531"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7031" x2="10305" y1="46.9531" y2="46.9531"/><line style="stroke: #000000; stroke-width: 1.5;" x1="10305" x2="10305" y1="46.9531" y2="736.9531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="244" x="8547" y="62.9482">Remote Procedure Call System</text><!--MD5=[ecaf13b018fb9788c80013f5b3634b61]
+cluster request--><rect fill="#FFFFFF" filter="url(#fmc3ssws0d5gl)" height="632" style="stroke: #000000; stroke-width: 1.5;" width="2646" x="7661" y="68.9531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="62" x="8953" y="83.9482">request</text><!--MD5=[a7dea26996a1231aa68629b332780450]
+class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#fmc3ssws0d5gl)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="5357" y="825.4531"/><ellipse cx="5502.75" cy="841.4531" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5503.5938,848.2031 L5501.1406,848.2031 L5501.1406,837.9531 L5498,837.9531 L5498,835.8125 L5506.7344,835.8125 L5506.7344,837.9531 L5503.5938,837.9531 L5503.5938,848.2031 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="5523.25" y="845.6074">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5358" x2="5812" y1="857.4531" y2="857.4531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5358" x2="5812" y1="865.4531" y2="865.4531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="5363" y="879.6636">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]
+class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#fmc3ssws0d5gl)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="5848" y="825.4531"/><ellipse cx="6076.25" cy="841.4531" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6077.0938,848.2031 L6074.6406,848.2031 L6074.6406,837.9531 L6071.5,837.9531 L6071.5,835.8125 L6080.2344,835.8125 L6080.2344,837.9531 L6077.0938,837.9531 L6077.0938,848.2031 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="6096.75" y="845.6074">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5849" x2="6461" y1="857.4531" y2="857.4531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5849" x2="6461" y1="865.4531" y2="865.4531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="5854" y="879.6636">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(#fmc3ssws0d5gl)" height="60.8047" id="urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="518" x="6497" y="825.4531"/><ellipse cx="6661.25" cy="841.4531" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6662.0938,848.2031 L6659.6406,848.2031 L6659.6406,837.9531 L6656.5,837.9531 L6656.5,835.8125 L6665.2344,835.8125 L6665.2344,837.9531 L6662.0938,837.9531 L6662.0938,848.2031 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="181" x="6681.75" y="845.6074">urt_nodeShutdownCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6498" x2="7014" y1="857.4531" y2="857.4531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6498" x2="7014" y1="865.4531" y2="865.4531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="506" x="6503" y="879.6636">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(#fmc3ssws0d5gl)" height="231.2656" id="urt_node_t" style="stroke: #A80036; stroke-width: 1.5;" width="1541" x="5384.5" y="478.4531"/><ellipse cx="6117.25" cy="494.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6116.7344,495.0156 Q6114.875,494.3125 6114.2188,493.5469 Q6113.5781,492.7656 6113.5781,491.4531 Q6113.5781,489.7656 6114.6563,488.7969 Q6115.7344,487.8281 6117.6094,487.8281 Q6118.4688,487.8281 6119.3125,488.0313 Q6120.1719,488.2188 6121.0156,488.6094 L6121.0156,491 Q6120.2344,490.4375 6119.4063,490.1563 Q6118.5938,489.8594 6117.7969,489.8594 Q6116.9219,489.8594 6116.4375,490.2188 Q6115.9688,490.5781 6115.9688,491.2344 Q6115.9688,491.75 6116.3125,492.0938 Q6116.6563,492.4219 6117.75,492.8281 L6118.8125,493.2344 Q6120.2969,493.7813 6121,494.6875 Q6121.7188,495.5938 6121.7188,496.9688 Q6121.7188,498.8438 6120.6094,499.7656 Q6119.5,500.6875 6117.25,500.6875 Q6116.3281,500.6875 6115.4063,500.4688 Q6114.4844,500.25 6113.625,499.8281 L6113.625,497.2969 Q6114.5938,497.9844 6115.5156,498.3281 Q6116.4375,498.6719 6117.3281,498.6719 Q6118.2344,498.6719 6118.7344,498.2656 Q6119.2344,497.8438 6119.2344,497.1094 Q6119.2344,496.5469 6118.8906,496.1406 Q6118.5625,495.7188 6117.9375,495.4688 L6116.7344,495.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="67" x="6137.75" y="498.6074">urt_node_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5385.5" x2="6924.5" y1="510.4531" y2="510.4531"/><ellipse cx="5395.5" cy="521.4531" fill="none" 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="5404.5" y="524.6636">next : urt_node_t*</text><ellipse cx="5395.5" cy="534.2578" fill="none" 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="5404.5" y="537.4683">thread : urt_osThread_t*</text><ellipse cx="5395.5" cy="547.0625" fill="none" 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="5404.5" y="550.2729">setupcallback : urt_nodeSetupCallback_t*</text><ellipse cx="5395.5" cy="559.8672" fill="none" 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="5404.5" y="563.0776">setupparams : void*</text><ellipse cx="5395.5" cy="572.6719" fill="none" 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="5404.5" y="575.8823">loopcallback : urt_nodeLoopCallback_t*</text><ellipse cx="5395.5" cy="585.4766" fill="none" 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="5404.5" y="588.687">loopparams : void*</text><ellipse cx="5395.5" cy="598.2813" fill="none" 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="5404.5" y="601.4917">shutdowncallback : urt_nodeShutdownCallback_t*</text><ellipse cx="5395.5" cy="611.0859" fill="none" 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="5404.5" y="614.2964">shutdownparams : void*</text><ellipse cx="5395.5" cy="623.8906" fill="none" 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="5404.5" y="627.1011">stage : urt_nodestage_t</text><ellipse cx="5395.5" cy="636.6953" fill="none" 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="5404.5" y="639.9058">listener : urt_osEventListener_t</text><ellipse cx="5395.5" cy="666.3047" fill="none" 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="5404.5" y="669.5151">loops : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5385.5" x2="5947" y1="652.9023" y2="652.9023"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="416" x="5947" y="656.2104">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="6363" x2="6924.5" y1="652.9023" y2="652.9023"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5385.5" x2="6924.5" y1="676.1094" y2="676.1094"/><rect fill="#F24D5C" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="5392.5" y="684.1094"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="179" x="5404.5" y="690.3198">_main : urt_osThreadFunction_t</text><ellipse cx="5395.5" cy="699.9141" fill="#84BE84" 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="5404.5" y="703.1245">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(#fmc3ssws0d5gl)" height="141.6328" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="406" x="830" y="982.9531"/><ellipse cx="982.75" cy="998.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M982.2344,999.5156 Q980.375,998.8125 979.7188,998.0469 Q979.0781,997.2656 979.0781,995.9531 Q979.0781,994.2656 980.1563,993.2969 Q981.2344,992.3281 983.1094,992.3281 Q983.9688,992.3281 984.8125,992.5313 Q985.6719,992.7188 986.5156,993.1094 L986.5156,995.5 Q985.7344,994.9375 984.9063,994.6563 Q984.0938,994.3594 983.2969,994.3594 Q982.4219,994.3594 981.9375,994.7188 Q981.4688,995.0781 981.4688,995.7344 Q981.4688,996.25 981.8125,996.5938 Q982.1563,996.9219 983.25,997.3281 L984.3125,997.7344 Q985.7969,998.2813 986.5,999.1875 Q987.2188,1000.0938 987.2188,1001.4688 Q987.2188,1003.3438 986.1094,1004.2656 Q985,1005.1875 982.75,1005.1875 Q981.8281,1005.1875 980.9063,1004.9688 Q979.9844,1004.75 979.125,1004.3281 L979.125,1001.7969 Q980.0938,1002.4844 981.0156,1002.8281 Q981.9375,1003.1719 982.8281,1003.1719 Q983.7344,1003.1719 984.2344,1002.7656 Q984.7344,1002.3438 984.7344,1001.6094 Q984.7344,1001.0469 984.3906,1000.6406 Q984.0625,1000.2188 983.4375,999.9688 L982.2344,999.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="1003.25" y="1003.1074">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="831" x2="1235" y1="1014.9531" y2="1014.9531"/><ellipse cx="841" cy="1025.9531" fill="none" 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="850" y="1029.1636">next : urt_message_t*</text><ellipse cx="841" cy="1038.7578" fill="none" 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="850" y="1041.9683">payload : void*</text><ellipse cx="841" cy="1051.5625" fill="none" 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="850" y="1054.7729">originTime : urt_osTime_t</text><ellipse cx="841" cy="1064.3672" fill="none" 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="850" y="1067.5776">numHrtConsumersLeft : unsigned int</text><ellipse cx="841" cy="1093.9766" fill="none" 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="850" y="1097.187">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="831" x2="924.5" y1="1080.5742" y2="1080.5742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="924.5" y="1083.8823">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1141.5" x2="1235" y1="1080.5742" y2="1080.5742"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="831" x2="1235" y1="1103.7813" y2="1103.7813"/><ellipse cx="841" cy="1114.7813" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="850" y="1117.9917">urtMessageInit (message : urt_message_t*, payload : void*) : void</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]
+class urt_publisher_t--><rect fill="#FEFECE" filter="url(#fmc3ssws0d5gl)" height="196.0469" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="783" x="22.5" y="495.9531"/><ellipse cx="363.25" cy="511.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M362.7344,512.5156 Q360.875,511.8125 360.2188,511.0469 Q359.5781,510.2656 359.5781,508.9531 Q359.5781,507.2656 360.6563,506.2969 Q361.7344,505.3281 363.6094,505.3281 Q364.4688,505.3281 365.3125,505.5313 Q366.1719,505.7188 367.0156,506.1094 L367.0156,508.5 Q366.2344,507.9375 365.4063,507.6563 Q364.5938,507.3594 363.7969,507.3594 Q362.9219,507.3594 362.4375,507.7188 Q361.9688,508.0781 361.9688,508.7344 Q361.9688,509.25 362.3125,509.5938 Q362.6563,509.9219 363.75,510.3281 L364.8125,510.7344 Q366.2969,511.2813 367,512.1875 Q367.7188,513.0938 367.7188,514.4688 Q367.7188,516.3438 366.6094,517.2656 Q365.5,518.1875 363.25,518.1875 Q362.3281,518.1875 361.4063,517.9688 Q360.4844,517.75 359.625,517.3281 L359.625,514.7969 Q360.5938,515.4844 361.5156,515.8281 Q362.4375,516.1719 363.3281,516.1719 Q364.2344,516.1719 364.7344,515.7656 Q365.2344,515.3438 365.2344,514.6094 Q365.2344,514.0469 364.8906,513.6406 Q364.5625,513.2188 363.9375,512.9688 L362.7344,512.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="383.75" y="516.1074">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="23.5" x2="804.5" y1="527.9531" y2="527.9531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="289" x="28.5" y="542.1636">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT : bool</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="23.5" x2="804.5" y1="548.7578" y2="548.7578"/><ellipse cx="33.5" cy="559.7578" fill="none" 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="42.5" y="562.9683">topic : urt_topic_t*</text><ellipse cx="33.5" cy="589.3672" fill="none" 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="42.5" y="592.5776">publishAttempts : uint64_t</text><ellipse cx="33.5" cy="602.1719" fill="none" 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="42.5" y="605.3823">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="23.5" x2="305.5" y1="575.9648" y2="575.9648"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="305.5" y="579.2729">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="522.5" x2="804.5" y1="575.9648" y2="575.9648"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="23.5" x2="804.5" y1="611.9766" y2="611.9766"/><ellipse cx="33.5" cy="622.9766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="572" x="42.5" y="626.187">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void</text><ellipse cx="33.5" cy="652.5859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="632" x="42.5" y="655.7964">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t) : urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="23.5" x2="260.5" y1="639.1836" y2="639.1836"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="307" x="260.5" y="642.4917">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == false</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="567.5" x2="804.5" y1="639.1836" y2="639.1836"/><ellipse cx="33.5" cy="682.1953" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="757" x="42.5" y="685.4058">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="23.5" x2="263" y1="668.793" y2="668.793"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="302" x="263" y="672.1011">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="565" x2="804.5" y1="668.793" y2="668.793"/><!--MD5=[a1b1e66ec52c209a9fa2dab315cd7630]
+class urt_topic_t--><rect fill="#FEFECE" filter="url(#fmc3ssws0d5gl)" height="260.875" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="841" y="463.4531"/><ellipse cx="995.75" cy="479.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M995.2344,480.0156 Q993.375,479.3125 992.7188,478.5469 Q992.0781,477.7656 992.0781,476.4531 Q992.0781,474.7656 993.1563,473.7969 Q994.2344,472.8281 996.1094,472.8281 Q996.9688,472.8281 997.8125,473.0313 Q998.6719,473.2188 999.5156,473.6094 L999.5156,476 Q998.7344,475.4375 997.9063,475.1563 Q997.0938,474.8594 996.2969,474.8594 Q995.4219,474.8594 994.9375,475.2188 Q994.4688,475.5781 994.4688,476.2344 Q994.4688,476.75 994.8125,477.0938 Q995.1563,477.4219 996.25,477.8281 L997.3125,478.2344 Q998.7969,478.7813 999.5,479.6875 Q1000.2188,480.5938 1000.2188,481.9688 Q1000.2188,483.8438 999.1094,484.7656 Q998,485.6875 995.75,485.6875 Q994.8281,485.6875 993.9063,485.4688 Q992.9844,485.25 992.125,484.8281 L992.125,482.2969 Q993.0938,482.9844 994.0156,483.3281 Q994.9375,483.6719 995.8281,483.6719 Q996.7344,483.6719 997.2344,483.2656 Q997.7344,482.8438 997.7344,482.1094 Q997.7344,481.5469 997.3906,481.1406 Q997.0625,480.7188 996.4375,480.4688 L995.2344,480.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="1016.25" y="483.6074">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="842" x2="1224" y1="495.4531" y2="495.4531"/><ellipse cx="852" cy="506.4531" fill="none" 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="861" y="509.6636">next : urt_topic_t*</text><ellipse cx="852" cy="519.2578" fill="none" 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="861" y="522.4683">id : urt_topicid_t</text><ellipse cx="852" cy="532.0625" fill="none" 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="861" y="535.2729">lock : urt_osMutex_t</text><ellipse cx="852" cy="544.8672" fill="none" 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="861" y="548.0776">evtSource : urt_osEventSource_t</text><ellipse cx="852" cy="557.6719" fill="none" 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="861" y="560.8823">numHrtSubscribers : unsigned int</text><ellipse cx="852" cy="570.4766" fill="none" 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="861" y="573.687">hrtReleased : urt_osCondvar_t</text><ellipse cx="852" cy="583.2813" fill="none" 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="861" y="586.4917">mandatoryMessage : urt_message_t</text><ellipse cx="852" cy="596.0859" fill="none" 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="861" y="599.2964">latestMessage : urt_message_t*</text><ellipse cx="852" cy="625.6953" fill="none" 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="861" y="628.9058">hrtSubscribers : urt_hrtsubscriber_t*</text><ellipse cx="852" cy="638.5" fill="none" 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="861" y="641.7104">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="842" x2="900.5" y1="612.293" y2="612.293"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="900.5" y="615.6011">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1165.5" x2="1224" y1="612.293" y2="612.293"/><ellipse cx="852" cy="668.1094" fill="none" 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="861" y="671.3198">numMessagesPublished : uint64_t</text><ellipse cx="852" cy="680.9141" fill="none" 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="861" y="684.1245">numMessagesDiscarded : uint64_t</text><ellipse cx="852" cy="693.7188" fill="none" 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="861" y="696.9292">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="842" x2="924.5" y1="654.707" y2="654.707"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="924.5" y="658.0151">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1141.5" x2="1224" y1="654.707" y2="654.707"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="842" x2="1224" y1="703.5234" y2="703.5234"/><ellipse cx="852" cy="714.5234" fill="#84BE84" 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="861" y="717.7339">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[50a042e24f957794dab9ba3ea8701c50]
+class urt_basesubscriber_t--><rect fill="#FEFECE" filter="url(#fmc3ssws0d5gl)" height="133.6328" id="urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="225" x="2564.5" y="788.9531"/><ellipse cx="2606.95" cy="804.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2606.4344,805.5156 Q2604.575,804.8125 2603.9188,804.0469 Q2603.2781,803.2656 2603.2781,801.9531 Q2603.2781,800.2656 2604.3563,799.2969 Q2605.4344,798.3281 2607.3094,798.3281 Q2608.1688,798.3281 2609.0125,798.5313 Q2609.8719,798.7188 2610.7156,799.1094 L2610.7156,801.5 Q2609.9344,800.9375 2609.1063,800.6563 Q2608.2938,800.3594 2607.4969,800.3594 Q2606.6219,800.3594 2606.1375,800.7188 Q2605.6688,801.0781 2605.6688,801.7344 Q2605.6688,802.25 2606.0125,802.5938 Q2606.3563,802.9219 2607.45,803.3281 L2608.5125,803.7344 Q2609.9969,804.2813 2610.7,805.1875 Q2611.4188,806.0938 2611.4188,807.4688 Q2611.4188,809.3438 2610.3094,810.2656 Q2609.2,811.1875 2606.95,811.1875 Q2606.0281,811.1875 2605.1063,810.9688 Q2604.1844,810.75 2603.325,810.3281 L2603.325,807.7969 Q2604.2938,808.4844 2605.2156,808.8281 Q2606.1375,809.1719 2607.0281,809.1719 Q2607.9344,809.1719 2608.4344,808.7656 Q2608.9344,808.3438 2608.9344,807.6094 Q2608.9344,807.0469 2608.5906,806.6406 Q2608.2625,806.2188 2607.6375,805.9688 L2606.4344,805.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="132" x="2627.05" y="809.1074">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2565.5" x2="2788.5" y1="820.9531" y2="820.9531"/><ellipse cx="2575.5" cy="831.9531" fill="none" 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="2584.5" y="835.1636">topic : urt_topic_t*</text><ellipse cx="2575.5" cy="844.7578" fill="none" 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="2584.5" y="847.9683">evtListener : urt_osEventListener_t</text><ellipse cx="2575.5" cy="857.5625" fill="none" 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="2584.5" y="860.7729">lastMessage : urt_message_t*</text><ellipse cx="2575.5" cy="870.3672" fill="none" 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="2584.5" y="873.5776">lastMessageTime : urt_osTime_t</text><ellipse cx="2575.5" cy="899.9766" fill="none" 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="2584.5" y="903.187">sumLatencies : uint64_t</text><ellipse cx="2575.5" cy="912.7813" fill="none" 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="2584.5" y="915.9917">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2565.5" x2="2568.5" y1="886.5742" y2="886.5742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2568.5" y="889.8823">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2785.5" x2="2788.5" y1="886.5742" y2="886.5742"/><!--MD5=[9ff46073dd541e50679ef35e851c67d6]
+class urt_nrtsubscriber_t--><rect fill="#FEFECE" filter="url(#fmc3ssws0d5gl)" height="154.4375" id="urt_nrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="821" x="1278.5" y="516.9531"/><ellipse cx="1625.25" cy="532.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1624.7344,533.5156 Q1622.875,532.8125 1622.2188,532.0469 Q1621.5781,531.2656 1621.5781,529.9531 Q1621.5781,528.2656 1622.6563,527.2969 Q1623.7344,526.3281 1625.6094,526.3281 Q1626.4688,526.3281 1627.3125,526.5313 Q1628.1719,526.7188 1629.0156,527.1094 L1629.0156,529.5 Q1628.2344,528.9375 1627.4063,528.6563 Q1626.5938,528.3594 1625.7969,528.3594 Q1624.9219,528.3594 1624.4375,528.7188 Q1623.9688,529.0781 1623.9688,529.7344 Q1623.9688,530.25 1624.3125,530.5938 Q1624.6563,530.9219 1625.75,531.3281 L1626.8125,531.7344 Q1628.2969,532.2813 1629,533.1875 Q1629.7188,534.0938 1629.7188,535.4688 Q1629.7188,537.3438 1628.6094,538.2656 Q1627.5,539.1875 1625.25,539.1875 Q1624.3281,539.1875 1623.4063,538.9688 Q1622.4844,538.75 1621.625,538.3281 L1621.625,535.7969 Q1622.5938,536.4844 1623.5156,536.8281 Q1624.4375,537.1719 1625.3281,537.1719 Q1626.2344,537.1719 1626.7344,536.7656 Q1627.2344,536.3438 1627.2344,535.6094 Q1627.2344,535.0469 1626.8906,534.6406 Q1626.5625,534.2188 1625.9375,533.9688 L1624.7344,533.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="1645.75" y="537.1074">urt_nrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1279.5" x2="2098.5" y1="548.9531" y2="548.9531"/><ellipse cx="1289.5" cy="576.7578" fill="none" 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="1298.5" y="579.9683">minLatency : urt_delay_t</text><ellipse cx="1289.5" cy="589.5625" fill="none" 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="1298.5" y="592.7729">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1279.5" x2="1580.5" y1="563.3555" y2="563.3555"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="1580.5" y="566.6636">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1797.5" x2="2098.5" y1="563.3555" y2="563.3555"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1279.5" x2="2098.5" y1="599.3672" y2="599.3672"/><ellipse cx="1289.5" cy="610.3672" 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="347" x="1298.5" y="613.5776">urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : void</text><ellipse cx="1289.5" cy="623.1719" 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="715" x="1298.5" y="626.3823">urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="1289.5" cy="635.9766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="1298.5" y="639.187">urtNrtSubscriberFetchNextMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="1289.5" cy="648.7813" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="1298.5" y="651.9917">urtNrtSubscriberFetchLatestMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="1289.5" cy="661.5859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="1298.5" y="664.7964">urtNrtSubscriberUnsubscribe (subscriber : urt_nrtsubscriber_t*) : urt_status_t</text><!--MD5=[5c7929572d87ccc448d875bea5da0fb1]
+class urt_srtsubscriber_t--><rect fill="#FEFECE" filter="url(#fmc3ssws0d5gl)" height="192.8516" id="urt_srtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1044" x="4281" y="497.4531"/><ellipse cx="4739.75" cy="513.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4739.2344,514.0156 Q4737.375,513.3125 4736.7188,512.5469 Q4736.0781,511.7656 4736.0781,510.4531 Q4736.0781,508.7656 4737.1563,507.7969 Q4738.2344,506.8281 4740.1094,506.8281 Q4740.9688,506.8281 4741.8125,507.0313 Q4742.6719,507.2188 4743.5156,507.6094 L4743.5156,510 Q4742.7344,509.4375 4741.9063,509.1563 Q4741.0938,508.8594 4740.2969,508.8594 Q4739.4219,508.8594 4738.9375,509.2188 Q4738.4688,509.5781 4738.4688,510.2344 Q4738.4688,510.75 4738.8125,511.0938 Q4739.1563,511.4219 4740.25,511.8281 L4741.3125,512.2344 Q4742.7969,512.7813 4743.5,513.6875 Q4744.2188,514.5938 4744.2188,515.9688 Q4744.2188,517.8438 4743.1094,518.7656 Q4742,519.6875 4739.75,519.6875 Q4738.8281,519.6875 4737.9063,519.4688 Q4736.9844,519.25 4736.125,518.8281 L4736.125,516.2969 Q4737.0938,516.9844 4738.0156,517.3281 Q4738.9375,517.6719 4739.8281,517.6719 Q4740.7344,517.6719 4741.2344,517.2656 Q4741.7344,516.8438 4741.7344,516.1094 Q4741.7344,515.5469 4741.3906,515.1406 Q4741.0625,514.7188 4740.4375,514.4688 L4739.2344,514.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="4760.25" y="517.6074">urt_srtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4282" x2="5324" y1="529.4531" y2="529.4531"/><ellipse cx="4292" cy="540.4531" fill="none" 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="4301" y="543.6636">usefulnesscb : urt_usefulness_f*</text><ellipse cx="4292" cy="553.2578" fill="none" 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="4301" y="556.4683">cbparams : void*</text><ellipse cx="4292" cy="582.8672" fill="none" 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="4301" y="586.0776">minLatency : urt_delay_t</text><ellipse cx="4292" cy="595.6719" fill="none" 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="4301" y="598.8823">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4282" x2="4694.5" y1="569.4648" y2="569.4648"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="4694.5" y="572.7729">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4911.5" x2="5324" y1="569.4648" y2="569.4648"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4282" x2="5324" y1="605.4766" y2="605.4766"/><ellipse cx="4292" cy="616.4766" fill="#84BE84" 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="4301" y="619.687">urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void</text><ellipse cx="4292" cy="629.2813" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1018" x="4301" y="632.4917">urtSrtSubscriberSubscribe (subscriber : urt_srtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_usefulness_f*, cbparams : void*) : urt_status_t</text><ellipse cx="4292" cy="642.0859" fill="#84BE84" 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="4301" y="645.2964">urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4292" cy="654.8906" fill="#84BE84" 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="4301" y="658.1011">urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4292" cy="667.6953" fill="#84BE84" 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="4301" y="670.9058">urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float</text><ellipse cx="4292" cy="680.5" fill="#84BE84" 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="4301" y="683.7104">urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t</text><!--MD5=[17838fb05fe219fd399839979ec8a4a4]
+class urt_frtsubscriber_t--><rect fill="#FEFECE" filter="url(#fmc3ssws0d5gl)" height="226.4609" id="urt_frtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="974" x="3272" y="480.9531"/><ellipse cx="3697.25" cy="496.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3696.7344,497.5156 Q3694.875,496.8125 3694.2188,496.0469 Q3693.5781,495.2656 3693.5781,493.9531 Q3693.5781,492.2656 3694.6563,491.2969 Q3695.7344,490.3281 3697.6094,490.3281 Q3698.4688,490.3281 3699.3125,490.5313 Q3700.1719,490.7188 3701.0156,491.1094 L3701.0156,493.5 Q3700.2344,492.9375 3699.4063,492.6563 Q3698.5938,492.3594 3697.7969,492.3594 Q3696.9219,492.3594 3696.4375,492.7188 Q3695.9688,493.0781 3695.9688,493.7344 Q3695.9688,494.25 3696.3125,494.5938 Q3696.6563,494.9219 3697.75,495.3281 L3698.8125,495.7344 Q3700.2969,496.2813 3701,497.1875 Q3701.7188,498.0938 3701.7188,499.4688 Q3701.7188,501.3438 3700.6094,502.2656 Q3699.5,503.1875 3697.25,503.1875 Q3696.3281,503.1875 3695.4063,502.9688 Q3694.4844,502.75 3693.625,502.3281 L3693.625,499.7969 Q3694.5938,500.4844 3695.5156,500.8281 Q3696.4375,501.1719 3697.3281,501.1719 Q3698.2344,501.1719 3698.7344,500.7656 Q3699.2344,500.3438 3699.2344,499.6094 Q3699.2344,499.0469 3698.8906,498.6406 Q3698.5625,498.2188 3697.9375,497.9688 L3696.7344,497.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="3717.75" y="501.1074">urt_frtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3273" x2="4245" y1="512.9531" y2="512.9531"/><ellipse cx="3283" cy="540.7578" fill="none" 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="3292" y="543.9683">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3273" x2="3613.5" y1="527.3555" y2="527.3555"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="3613.5" y="530.6636">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3904.5" x2="4245" y1="527.3555" y2="527.3555"/><ellipse cx="3283" cy="570.3672" fill="none" 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="3292" y="573.5776">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3273" x2="3623.5" y1="556.9648" y2="556.9648"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3623.5" y="560.2729">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3894.5" x2="4245" y1="556.9648" y2="556.9648"/><ellipse cx="3283" cy="599.9766" fill="none" 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="3292" y="603.187">minLatency : urt_delay_t</text><ellipse cx="3283" cy="612.7813" fill="none" 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="3292" y="615.9917">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3273" x2="3505" y1="586.5742" y2="586.5742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="508" x="3505" y="589.8823">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="4013" x2="4245" y1="586.5742" y2="586.5742"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3273" x2="4245" y1="622.5859" y2="622.5859"/><ellipse cx="3283" cy="633.5859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="342" x="3292" y="636.7964">urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : void</text><ellipse cx="3283" cy="646.3906" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="948" x="3292" y="649.6011">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="3283" cy="659.1953" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="780" x="3292" y="662.4058">urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="3283" cy="672" fill="#84BE84" 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="3292" y="675.2104">urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="3283" cy="684.8047" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="540" x="3292" y="688.0151">urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool</text><ellipse cx="3283" cy="697.6094" fill="#84BE84" 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="3292" y="700.8198">urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t</text><!--MD5=[104dc879e5721421b987fcc467bc3a1d]
+class urt_hrtsubscriber_t--><rect fill="#FEFECE" filter="url(#fmc3ssws0d5gl)" height="268.875" id="urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="2135" y="459.4531"/><ellipse cx="2613.25" cy="475.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2612.7344,476.0156 Q2610.875,475.3125 2610.2188,474.5469 Q2609.5781,473.7656 2609.5781,472.4531 Q2609.5781,470.7656 2610.6563,469.7969 Q2611.7344,468.8281 2613.6094,468.8281 Q2614.4688,468.8281 2615.3125,469.0313 Q2616.1719,469.2188 2617.0156,469.6094 L2617.0156,472 Q2616.2344,471.4375 2615.4063,471.1563 Q2614.5938,470.8594 2613.7969,470.8594 Q2612.9219,470.8594 2612.4375,471.2188 Q2611.9688,471.5781 2611.9688,472.2344 Q2611.9688,472.75 2612.3125,473.0938 Q2612.6563,473.4219 2613.75,473.8281 L2614.8125,474.2344 Q2616.2969,474.7813 2617,475.6875 Q2617.7188,476.5938 2617.7188,477.9688 Q2617.7188,479.8438 2616.6094,480.7656 Q2615.5,481.6875 2613.25,481.6875 Q2612.3281,481.6875 2611.4063,481.4688 Q2610.4844,481.25 2609.625,480.8281 L2609.625,478.2969 Q2610.5938,478.9844 2611.5156,479.3281 Q2612.4375,479.6719 2613.3281,479.6719 Q2614.2344,479.6719 2614.7344,479.2656 Q2615.2344,478.8438 2615.2344,478.1094 Q2615.2344,477.5469 2614.8906,477.1406 Q2614.5625,476.7188 2613.9375,476.4688 L2612.7344,476.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="2633.75" y="479.6074">urt_hrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2136" x2="3218" y1="491.4531" y2="491.4531"/><ellipse cx="2146" cy="502.4531" fill="none" 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="2155" y="505.6636">next : urt_hrtsubscriber_t*</text><ellipse cx="2146" cy="532.0625" fill="none" 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="2155" y="535.2729">deadlineOffset : urt_delay_t</text><ellipse cx="2146" cy="544.8672" fill="none" 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="2155" y="548.0776">qosDeadlineTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2136" x2="2531.5" y1="518.6602" y2="518.6602"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="2531.5" y="521.9683">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2822.5" x2="3218" y1="518.6602" y2="518.6602"/><ellipse cx="2146" cy="574.4766" fill="none" 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="2155" y="577.687">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2136" x2="2541.5" y1="561.0742" y2="561.0742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="2541.5" y="564.3823">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2812.5" x2="3218" y1="561.0742" y2="561.0742"/><ellipse cx="2146" cy="604.0859" fill="none" 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="2155" y="607.2964">minLatency : urt_delay_t</text><ellipse cx="2146" cy="616.8906" fill="none" 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="2155" y="620.1011">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2136" x2="2425" y1="590.6836" y2="590.6836"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="2425" y="593.9917">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="2929" x2="3218" y1="590.6836" y2="590.6836"/><ellipse cx="2146" cy="646.5" fill="none" 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="2155" y="649.7104">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2136" x2="2544.5" y1="633.0977" y2="633.0977"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="2544.5" y="636.4058">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2809.5" x2="3218" y1="633.0977" y2="633.0977"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2136" x2="3218" y1="656.3047" y2="656.3047"/><ellipse cx="2146" cy="667.3047" fill="#84BE84" 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="2155" y="670.5151">urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : void</text><ellipse cx="2146" cy="680.1094" fill="#84BE84" 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="2155" y="683.3198">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="2146" cy="692.9141" fill="#84BE84" 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="2155" y="696.1245">urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="2146" cy="705.7188" fill="#84BE84" 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="2155" y="708.9292">urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="2146" cy="718.5234" fill="#84BE84" 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="2155" y="721.7339">urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t</text><!--MD5=[e60e0f8379a14e7a4a292c65add9d735]
+class urt_service_t--><rect fill="#FEFECE" filter="url(#fmc3ssws0d5gl)" height="269.6797" id="urt_service_t" style="stroke: #A80036; stroke-width: 1.5;" width="596" x="7039" y="458.9531"/><ellipse cx="7293.25" cy="474.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7292.7344,475.5156 Q7290.875,474.8125 7290.2188,474.0469 Q7289.5781,473.2656 7289.5781,471.9531 Q7289.5781,470.2656 7290.6563,469.2969 Q7291.7344,468.3281 7293.6094,468.3281 Q7294.4688,468.3281 7295.3125,468.5313 Q7296.1719,468.7188 7297.0156,469.1094 L7297.0156,471.5 Q7296.2344,470.9375 7295.4063,470.6563 Q7294.5938,470.3594 7293.7969,470.3594 Q7292.9219,470.3594 7292.4375,470.7188 Q7291.9688,471.0781 7291.9688,471.7344 Q7291.9688,472.25 7292.3125,472.5938 Q7292.6563,472.9219 7293.75,473.3281 L7294.8125,473.7344 Q7296.2969,474.2813 7297,475.1875 Q7297.7188,476.0938 7297.7188,477.4688 Q7297.7188,479.3438 7296.6094,480.2656 Q7295.5,481.1875 7293.25,481.1875 Q7292.3281,481.1875 7291.4063,480.9688 Q7290.4844,480.75 7289.625,480.3281 L7289.625,477.7969 Q7290.5938,478.4844 7291.5156,478.8281 Q7292.4375,479.1719 7293.3281,479.1719 Q7294.2344,479.1719 7294.7344,478.7656 Q7295.2344,478.3438 7295.2344,477.6094 Q7295.2344,477.0469 7294.8906,476.6406 Q7294.5625,476.2188 7293.9375,475.9688 L7292.7344,475.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="7313.75" y="479.1074">urt_service_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7040" x2="7634" y1="490.9531" y2="490.9531"/><ellipse cx="7050" cy="501.9531" fill="none" 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="7059" y="505.1636">next : urt_service_t*</text><ellipse cx="7050" cy="514.7578" fill="none" 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="7059" y="517.9683">id : urt_serviceid_t</text><ellipse cx="7050" cy="527.5625" fill="none" 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="7059" y="530.7729">lock : urt_osMutex_t</text><ellipse cx="7050" cy="540.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="7059" y="543.5776">requestQueue_front : urt_baserequest_t*</text><ellipse cx="7050" cy="553.1719" fill="none" 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="7059" y="556.3823">requestQueue_hrtBack : urt_hrtrequest_t*</text><ellipse cx="7050" cy="565.9766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="256" x="7059" y="569.187">requestQueue_fsrtBack : urt_baserequest_t*</text><ellipse cx="7050" cy="578.7813" fill="none" 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="7059" y="581.9917">requestQueue_back : urt_baserequest_t*</text><ellipse cx="7050" cy="591.5859" fill="none" 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="7059" y="594.7964">evtSource : urt_osEventSource_t</text><ellipse cx="7050" cy="604.3906" fill="none" 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="7059" y="607.6011">evtListener : urt_osEventListener_t</text><ellipse cx="7050" cy="634" fill="none" 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="7059" y="637.2104">numCalls : uint64_t</text><ellipse cx="7050" cy="646.8047" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="7059" y="650.0151">numOwnershipLost : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7040" x2="7241" y1="620.5977" y2="620.5977"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="7241" y="623.9058">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7433" x2="7634" y1="620.5977" y2="620.5977"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7040" x2="7634" y1="656.6094" y2="656.6094"/><ellipse cx="7050" cy="667.6094" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="412" x="7059" y="670.8198">urtServiceInit (service : urt_service_t*, id : urt_serviceid_t) : urt_status_t</text><ellipse cx="7050" cy="680.4141" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="549" x="7059" y="683.6245">urtServiceDispatch (service : urt_service_t*, payload : void*, bytes : size_t) : urt_baserequest_t*</text><ellipse cx="7050" cy="693.2188" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="552" x="7059" y="696.4292">urtServiceAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="7050" cy="706.0234" fill="#84BE84" 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="7059" y="709.2339">urtServiceTryAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="7050" cy="718.8281" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="365" x="7059" y="722.0386">urtServiceRespond (request : urt_baserequest_t*) : urt_status_t</text><!--MD5=[7294e1cfaeb111bef046bc5d07a96458]
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stroke-width: 1.5;" x1="8933" x2="9587" y1="136.4531" y2="136.4531"/><ellipse cx="8943" cy="164.2578" fill="none" 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="8952" y="167.4683">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8933" x2="9127" y1="150.8555" y2="150.8555"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="266" x="9127" y="154.1636">URT_CFG_RPC_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9393" x2="9587" y1="150.8555" y2="150.8555"/><ellipse cx="8943" cy="193.8672" fill="none" 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="8952" y="197.0776">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8933" x2="9137" y1="180.4648" y2="180.4648"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="9137" y="183.7729">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9383" x2="9587" y1="180.4648" y2="180.4648"/><ellipse cx="8943" cy="223.4766" fill="none" 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="8952" y="226.687">minLatency : urt_delay_t</text><ellipse cx="8943" cy="236.2813" fill="none" 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="8952" y="239.4917">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8933" x2="9033" y1="210.0742" y2="210.0742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="454" x="9033" y="213.3823">URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9487" x2="9587" y1="210.0742" y2="210.0742"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8933" x2="9587" y1="246.0859" y2="246.0859"/><ellipse cx="8943" cy="257.0859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="292" x="8952" y="260.2964">urtFrtRequestInit (request : urt_frtrequest_t*) : void</text><ellipse cx="8943" cy="269.8906" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="362" x="8952" y="273.1011">urtFrtRequestAcquire (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="8943" cy="282.6953" fill="#84BE84" 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="8952" y="285.9058">urtFrtRequestTryAcquire (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="8943" cy="295.5" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="365" x="8952" y="298.7104">urtFrtRequestRelease (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="8943" cy="308.3047" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="630" x="8952" y="311.5151">urtFrtRequestSubmit (request : urt_frtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t</text><ellipse cx="8943" cy="321.1094" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="366" x="8952" y="324.3198">urtFrtRequestRetrieve (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="8943" cy="333.9141" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="318" x="8952" y="337.1245">urtDrtCalculateValidity (request : urt_frtrequest_t) : bool</text><ellipse cx="8943" cy="363.5234" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; 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+reverse link urt_node_t to urt_nodeShutdownCallback_t--><path d="M6419.6574,714.8715 C6513.1922,755.7662 6611.416,797.9789 6677.4708,825.4419 " fill="none" id="urt_node_t&lt;-urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="6407.6846,709.6328,6411.578,715.7026,6418.6782,714.4432,6414.7849,708.3735,6407.6846,709.6328" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6416.3931" y="729.9714">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6638.105" y="814.2298">0,1</text><!--MD5=[496dffc41052f1912ec8ad492f24fe61]
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+reverse link urt_basesubscriber_t to urt_message_t--><path d="M2568.7112,928.1333 C2566.1446,929.1376 2563.5726,930.0801 2561,930.9531 C2321.2643,1012.3021 1593.9511,1040.6718 1236.1648,1049.8784 " fill="none" id="urt_basesubscriber_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2580.6632,923.0124,2573.5728,921.6986,2569.633,927.7383,2576.7234,929.0521,2580.6632,923.0124" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2562.316" y="942.794">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="1243.8254" y="1046.5383">0,1</text><!--MD5=[0585cd4928de92ce6927d9c389eadd29]
+link urt_nrtsubscriber_t to urt_basesubscriber_t--><path d="M1891.7135,671.0027 C1962.4365,695.3368 2042.9049,720.2157 2118,736.9531 C2304.8793,778.6053 2368.4942,730.082 2545.1263,783.9702 " fill="none" id="urt_nrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="2547.3836,777.3426,2564.314,790.0847,2543.1328,790.6817,2547.3836,777.3426" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6d81edfa5aa102b898ad487ae19b49f9]
+link urt_srtsubscriber_t to urt_basesubscriber_t--><path d="M4478.0414,690.4988 C4407.9682,708.4065 4333.9284,725.1589 4264,736.9531 C3730.3517,826.9585 3084.2591,848.8977 2810.1996,854.2383 " fill="none" id="urt_srtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="2810.0655,861.242,2789.9385,854.6159,2809.8046,847.2444,2810.0655,861.242" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f626d284cba98e1d5d5fe914b1fa4188]
+link urt_frtsubscriber_t to urt_basesubscriber_t--><path d="M3371.4405,707.0088 C3332.2104,717.5233 3292.881,727.6928 3255,736.9531 C3103.1803,774.0664 2927.0543,809.2045 2809.5003,831.5426 " fill="none" id="urt_frtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="2810.6553,838.4482,2789.7026,835.2889,2808.0523,824.6923,2810.6553,838.4482" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[1ea71f2b33e56ab0ac5545988c1af396]
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+link urt_nrtrequest_t to urt_baserequest_t--><path d="M8631,322.6336 C8631,367.945 8631,424.7031 8631,474.5785 " fill="none" id="urt_nrtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="8638.0001,474.7538,8631,494.7538,8624.0001,474.7538,8638.0001,474.7538" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d53ae0f00163daee879678d1d1554717]
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+link urt_frtrequest_t to urt_baserequest_t--><path d="M9021.3052,373.6696 C8932.8256,423.6064 8835.8339,478.3473 8760.6723,520.7676 " fill="none" id="urt_frtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="8763.89,526.9895,8743.032,530.7236,8757.0088,514.7973,8763.89,526.9895" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[836450d5c472e7b2344319739fa0d5d1]
+link urt_frtrequest_t to urt_service_t--><path d="M8982.8758,373.4937 C8959.9421,381.0472 8936.807,387.5455 8914,392.4531 C8845.5107,407.1907 7720.3692,381.2343 7653,400.4531 C7609.1303,412.9681 7565.3167,433.3981 7524.8945,456.3976 " fill="none" id="urt_frtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7520.4896,458.9217,7530.2872,457.9178,7524.8279,456.4359,7526.3098,450.9766,7520.4896,458.9217" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7c5d2ea3f0b69f804ad9b60a9539ac96]
+link urt_hrtrequest_t to urt_baserequest_t--><path d="M8309.1881,382.0587 C8322.1767,385.9261 8335.1461,389.4211 8348,392.4531 C8366.0807,396.7179 8499.0599,390.913 8515,400.4531 C8544.8504,418.3184 8567.951,447.0791 8585.3922,477.0244 " fill="none" id="urt_hrtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="8591.6096,473.8052,8595.0156,494.7193,8579.3108,480.494,8591.6096,473.8052" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[189d7bd823f9a098ae8eb3eaa3789ee1]
+link urt_hrtrequest_t to urt_service_t--><path d="M7670.9735,382.0975 C7659.1086,388.1956 7647.4173,394.3262 7636,400.4531 C7603.7225,417.7743 7570.1695,436.9636 7537.6925,456.3331 " fill="none" id="urt_hrtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7533.3248,458.943,7543.1024,457.76,7537.6169,456.3782,7538.9987,450.8927,7533.3248,458.943" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bcf13f9307d05af3b11663d6e8155fbe]
+reverse link urt_service_t to urt_hrtrequest_t--><path d="M7579.1573,452.3042 C7609.8197,434.3096 7640.9622,416.5724 7671,400.4531 C7682.4173,394.3262 7694.1086,388.1956 7705.958,382.0975 " fill="none" id="urt_service_t&lt;-urt_hrtrequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="7567.8853,458.943,7575.0852,459.3448,7578.2252,452.8532,7571.0253,452.4515,7567.8853,458.943" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7573.0021" y="447.7842">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="7671.231" y="401.4722">0,1</text><!--MD5=[05f2c35569573d3273c65d3342945557]
+reverse link urt_service_t to urt_service_t--><path d="M7647.2443,563.1615 C7661.5974,570.9463 7670,581.2101 7670,593.9531 C7670,609.9443 7656.7678,622.0314 7635.1491,630.2144 " fill="none" id="urt_service_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="7635.1491,557.6918,7638.9678,563.8088,7646.083,562.6365,7642.2643,556.5195,7635.1491,557.6918" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7643.1749" y="553.6023">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="7643.3343" y="628.0513">0,1</text><!--MD5=[694e7400eb99f74d44ea388aed89d199]
+reverse link urt_core_t to urt_node_t--><path d="M6155,405.791 C6155,430.332 6155,455.1459 6155,478.3469 " fill="none" id="urt_core_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="6155,392.5966,6151,398.5966,6155,404.5966,6159,398.5966,6155,392.5966" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6146.7938" y="412.9685">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6134.3594" y="467.5231">0,1</text><!--MD5=[250695c91040478b50550bc37a8775c7]
+reverse link urt_core_t to urt_topic_t--><path d="M5970.1848,241.6707 C5104.877,254.8244 1486.4238,314.7673 1263,400.4531 C1225.6058,414.7942 1189.9605,437.9286 1158.3764,463.2947 " fill="none" id="urt_core_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="5983.3424,241.471,5977.2823,237.5626,5971.3438,241.6533,5977.4038,245.5617,5983.3424,241.471" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5967.3829" y="238.3086">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="1145.0466" y="452.3818">0,1</text><!--MD5=[8d0a227ec56585cdbc167f8316b34b64]
+reverse link urt_core_t to urt_service_t--><path d="M6339.7014,252.4707 C6520.9369,270.4327 6802.5869,311.0467 7031,400.4531 C7070.5086,415.9177 7110.4566,436.6798 7147.8655,458.8707 " fill="none" id="urt_core_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="6326.5572,251.1903,6332.1411,255.7532,6338.5007,252.3538,6332.9168,247.7909,6326.5572,251.1903" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6334.5121" y="248.4683">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="7116.353" y="447.7077">0,1</text><!--MD5=[e40e33a6a2b46ca1577da36002ceb94f]
 @startuml
 
 title **µRtWare**
@@ -89,6 +89,8 @@ title **µRtWare**
   + {method} urtCoreStartNodes (void) : void
   + {method} urtCoreSynchronize (node : urt_node_t*) : urt_status_t
   + {method} urtCoreStopNodes (reason : urt_status_t) : urt_status_t
+  + {method} urtCoreGetEventSource(void) : urt_osEventSource_t*
+  + {method} urtCoreGetMutex(void) : urt_osMutex_t*
   .. URT_CFG_PUBSUB_ENABLED == true ..
   + {method} urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*
   .. URT_CFG_RPC_ENABLED == true ..
@@ -217,12 +219,17 @@ title **µRtWare**
 } 
 
   class urt_publisher_t <<S,BFAFFF>> {
+  URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT : bool
+  __
   + {field} topic : urt_topic_t*
   .. URT_CFG_PUBSUB_PROFILING == true ..
   + {field} publishAttempts : uint64_t
   + {field} publishFails : uint64_t
   __
   + {method} urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void
+  .. URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == false ..
+  + {method} urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t) : urt_status_t
+  .. URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == true ..
   + {method} urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t
 }
 
diff --git a/doc/classdiagrams/urtware.uml b/doc/classdiagrams/urtware.uml
index 638cfbb..5c4389a 100644
--- a/doc/classdiagrams/urtware.uml
+++ b/doc/classdiagrams/urtware.uml
@@ -58,6 +58,10 @@ $structure("urt_core_t") {
   + {method} urtCoreSynchronize (node : urt_node_t*) : urt_status_t
     'Stops all nodes and propagates a specified reason.
   + {method} urtCoreStopNodes (reason : urt_status_t) : urt_status_t
+    'Retrieve the core event source.
+  + {method} urtCoreGetEventSource(void) : urt_osEventSource_t*
+    'Retrieve the core mutex lock.
+  + {method} urtCoreGetMutex(void) : urt_osMutex_t*
   .. URT_CFG_PUBSUB_ENABLED == true ..
     'Retrieves a topic given an identifier.
   + {method} urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*
