commit 6c5df8c1f12ad6eb511d679447f13a2828b70eb8
Author: Thomas Schöpping <tschoepp@cit-ec.uni-bielefeld.de>
Date:   Wed Jun 17 12:12:24 2020 +0200

    OSAL: introduced a new thread API function: urtThreadShouldTerminate()
    UML: several minor fixes to text formatting

diff --git a/doc/classdiagrams/overview.svg b/doc/classdiagrams/overview.svg
index 482608e..b7394df 100644
--- a/doc/classdiagrams/overview.svg
+++ b/doc/classdiagrams/overview.svg
@@ -1,194 +1,194 @@
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-class urt_usefulness_f--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="60.8047" id="urt_usefulness_f" style="stroke: #A80036; stroke-width: 1.5;" width="334" x="6918.3567" y="1022.8594"/><ellipse cx="7030.1067" cy="1038.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7034.3411,1034.625 L7029.0598,1034.625 L7029.0598,1037.2969 L7033.8567,1037.2969 L7033.8567,1039.4531 L7029.0598,1039.4531 L7029.0598,1044.8594 L7026.6223,1044.8594 L7026.6223,1032.4688 L7034.3411,1032.4688 L7034.3411,1034.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="7050.6067" y="1043.0137">urt_usefulness_f</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6919.3567" x2="7251.3567" y1="1054.8594" y2="1054.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6919.3567" x2="7251.3567" y1="1062.8594" y2="1062.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="322" x="6924.3567" y="1077.0698">urt_usefulness_f (dt : urt_delay_t, params : void*) : float</text><!--MD5=[3677786d1f00795918091b0110bfa4af]
-class urt_osTime_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="385" x="5667.8567" y="1010.3594"/><ellipse cx="5816.6067" cy="1026.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5817.4505,1033.1094 L5814.9973,1033.1094 L5814.9973,1022.8594 L5811.8567,1022.8594 L5811.8567,1020.7188 L5820.5911,1020.7188 L5820.5911,1022.8594 L5817.4505,1022.8594 L5817.4505,1033.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="5837.1067" y="1030.5137">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5668.8567" x2="6051.8567" y1="1042.3594" y2="1042.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5668.8567" x2="6051.8567" y1="1050.3594" y2="1050.3594"/><ellipse cx="5678.8567" cy="1061.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="231" x="5687.8567" y="1064.5698">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="5678.8567" cy="1074.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="5687.8567" y="1077.3745">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="5678.8567" cy="1086.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="359" x="5687.8567" y="1090.1792">urtTimeAddUs (time : urt_osTime_t*, offset : urt_delay_t) : void</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]
-class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="4589.3567" y="1003.8594"/><ellipse cx="4690.6067" cy="1019.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4691.4505,1026.6094 L4688.9973,1026.6094 L4688.9973,1016.3594 L4685.8567,1016.3594 L4685.8567,1014.2188 L4694.5911,1014.2188 L4694.5911,1016.3594 L4691.4505,1016.3594 L4691.4505,1026.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="4711.1067" y="1024.0137">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4590.3567" x2="4886.3567" y1="1035.8594" y2="1035.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4590.3567" x2="4886.3567" y1="1043.8594" y2="1043.8594"/><ellipse cx="4600.3567" cy="1054.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="245" x="4609.3567" y="1058.0698">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="4600.3567" cy="1067.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="253" x="4609.3567" y="1070.8745">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="4600.3567" cy="1080.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="4609.3567" y="1083.6792">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="4600.3567" cy="1093.2734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="4609.3567" y="1096.4839">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--MD5=[52fa11869cb40c93fa7702378ddd839e]
-class urt_osCondvarWaitStatus_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="86.4141" id="urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="5142.3567" y="1320.8594"/><ellipse cx="5188.6067" cy="1336.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5192.7161,1342.8594 L5184.9973,1342.8594 L5184.9973,1330.4688 L5192.7161,1330.4688 L5192.7161,1332.625 L5187.4505,1332.625 L5187.4505,1335.2969 L5192.2161,1335.2969 L5192.2161,1337.4531 L5187.4505,1337.4531 L5187.4505,1340.7031 L5192.7161,1340.7031 L5192.7161,1342.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="169" x="5209.1067" y="1341.0137">urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5143.3567" x2="5411.3567" y1="1352.8594" y2="1352.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="5148.3567" y="1367.0698">URT_CONDVAR_WAITSTATUS_SIGNAL = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="5148.3567" y="1379.8745">URT_CONDVAR_WAITSTATUS_BROADCAST = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="5148.3567" y="1392.6792">URT_CONDVAR_WAITSTATUS_TIMEOUT = 0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5143.3567" x2="5411.3567" y1="1399.2734" y2="1399.2734"/><!--MD5=[004fc5dee471033e8e4138c1c73f0692]
-class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="137.6328" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="4922.3567" y="984.3594"/><ellipse cx="5222.6067" cy="1000.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5223.4505,1007.1094 L5220.9973,1007.1094 L5220.9973,996.8594 L5217.8567,996.8594 L5217.8567,994.7188 L5226.5911,994.7188 L5226.5911,996.8594 L5223.4505,996.8594 L5223.4505,1007.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="5243.1067" y="1004.5137">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4923.3567" x2="5631.3567" y1="1016.3594" y2="1016.3594"/><ellipse cx="4933.3567" cy="1027.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="283" x="4942.3567" y="1030.5698">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4933.3567" cy="1040.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="301" x="4942.3567" y="1043.3745">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4933.3567" cy="1052.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="324" x="4942.3567" y="1056.1792">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4933.3567" cy="1082.5781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="559" x="4942.3567" y="1085.7886">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*) : urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4923.3567" x2="5148.8567" y1="1069.1758" y2="1069.1758"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="257" x="5148.8567" y="1072.4839">URT_CFG_OSAL_CONDVAR_TIMEOUT == false</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5405.8567" x2="5631.3567" y1="1069.1758" y2="1069.1758"/><ellipse cx="4933.3567" cy="1112.1875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="684" x="4942.3567" y="1115.3979">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4923.3567" x2="5151.3567" y1="1098.7852" y2="1098.7852"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="252" x="5151.3567" y="1102.0933">URT_CFG_OSAL_CONDVAR_TIMEOUT == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5403.3567" x2="5631.3567" y1="1098.7852" y2="1098.7852"/><!--MD5=[93799a03260ba286abda700174f4f205]
-class urt_osTimerCallback_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="4042.3567" y="1333.3594"/><ellipse cx="4113.1067" cy="1349.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4113.9505,1356.1094 L4111.4973,1356.1094 L4111.4973,1345.8594 L4108.3567,1345.8594 L4108.3567,1343.7188 L4117.0911,1343.7188 L4117.0911,1345.8594 L4113.9505,1345.8594 L4113.9505,1356.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="4133.6067" y="1353.5137">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4043.3567" x2="4327.3567" y1="1365.3594" y2="1365.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4043.3567" x2="4327.3567" y1="1373.3594" y2="1373.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="4048.3567" y="1387.5698">urt_osTimerCallback_t (parameter : void*) : void</text><!--MD5=[0b340d7b925b1eab6a1b7e084f68a7c2]
-class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="112.0234" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="737" x="3816.8567" y="997.3594"/><ellipse cx="4139.1067" cy="1013.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4139.9505,1020.1094 L4137.4973,1020.1094 L4137.4973,1009.8594 L4134.3567,1009.8594 L4134.3567,1007.7188 L4143.0911,1007.7188 L4143.0911,1009.8594 L4139.9505,1009.8594 L4139.9505,1020.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="4159.6067" y="1017.5137">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3817.8567" x2="4552.8567" y1="1029.3594" y2="1029.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3817.8567" x2="4552.8567" y1="1037.3594" y2="1037.3594"/><ellipse cx="3827.8567" cy="1048.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="3836.8567" y="1051.5698">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="3827.8567" cy="1061.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="660" x="3836.8567" y="1064.3745">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void</text><ellipse cx="3827.8567" cy="1073.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="711" x="3836.8567" y="1077.1792">urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void</text><ellipse cx="3827.8567" cy="1086.7734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="255" x="3836.8567" y="1089.9839">urtTimerReset (timer : urt_osTimer_t*) : void</text><ellipse cx="3827.8567" cy="1099.5781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3836.8567" y="1102.7886">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--MD5=[86c16d91227b9a9ec3b6b9b0285de4e9]
-class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="3317.8567" y="1288.8594"/><ellipse cx="3354.0067" cy="1304.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3354.8505,1311.6094 L3352.3973,1311.6094 L3352.3973,1301.3594 L3349.2567,1301.3594 L3349.2567,1299.2188 L3357.9911,1299.2188 L3357.9911,1301.3594 L3354.8505,1301.3594 L3354.8505,1311.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="3372.7067" y="1309.0137">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3318.8567" x2="3513.8567" y1="1320.8594" y2="1320.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="3323.8567" y="1335.0698">URT_THREAD_PRIO_LOW_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="3323.8567" y="1347.8745">URT_THREAD_PRIO_LOW_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="3323.8567" y="1360.6792">URT_THREAD_PRIO_NORMAL_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="3323.8567" y="1373.4839">URT_THREAD_PRIO_NORMAL_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="3323.8567" y="1386.2886">URT_THREAD_PRIO_HIGH_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="3323.8567" y="1399.0933">URT_THREAD_PRIO_HIGH_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="3323.8567" y="1411.8979">URT_THREAD_PRIO_RT_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="3323.8567" y="1424.7026">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3318.8567" x2="3513.8567" y1="1431.2969" y2="1431.2969"/><!--MD5=[69d8aab9aa387a2f5052ea3da80e80ea]
-class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="2769.3567" y="1333.3594"/><ellipse cx="2817.1067" cy="1349.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2817.9505,1356.1094 L2815.4973,1356.1094 L2815.4973,1345.8594 L2812.3567,1345.8594 L2812.3567,1343.7188 L2821.0911,1343.7188 L2821.0911,1345.8594 L2817.9505,1345.8594 L2817.9505,1356.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="2837.6067" y="1353.5137">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2770.3567" x2="3020.3567" y1="1365.3594" y2="1365.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2770.3567" x2="3020.3567" y1="1373.3594" y2="1373.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="2775.3567" y="1387.5698">urt_osThreadFunction_t (arg : void*) : void</text><!--MD5=[ab5f611d45c3fa10609c33f780d8c3e1]
-class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="3550.3567" y="1326.8594"/><ellipse cx="3572.1067" cy="1342.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3576.2161,1348.8594 L3568.4973,1348.8594 L3568.4973,1336.4688 L3576.2161,1336.4688 L3576.2161,1338.625 L3570.9505,1338.625 L3570.9505,1341.2969 L3575.7161,1341.2969 L3575.7161,1343.4531 L3570.9505,1343.4531 L3570.9505,1346.7031 L3576.2161,1346.7031 L3576.2161,1348.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="3587.6067" y="1347.0137">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3551.3567" x2="3791.3567" y1="1358.8594" y2="1358.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="3556.3567" y="1373.0698">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="3556.3567" y="1385.8745">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3551.3567" x2="3791.3567" y1="1392.4688" y2="1392.4688"/><!--MD5=[47d14ad2c233fae1b32b8d0a283e820a]
-class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="137.6328" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="3056.3567" y="1294.8594"/><ellipse cx="3101.1067" cy="1310.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3105.2161,1316.8594 L3097.4973,1316.8594 L3097.4973,1304.4688 L3105.2161,1304.4688 L3105.2161,1306.625 L3099.9505,1306.625 L3099.9505,1309.2969 L3104.7161,1309.2969 L3104.7161,1311.4531 L3099.9505,1311.4531 L3099.9505,1314.7031 L3105.2161,1314.7031 L3105.2161,1316.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="3121.6067" y="1315.0137">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3057.3567" x2="3281.3567" y1="1326.8594" y2="1326.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="3062.3567" y="1341.0698">URT_THREAD_STATE_INACTIVE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="3062.3567" y="1353.8745">URT_THREAD_STATE_RUNNING = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="3062.3567" y="1366.6792">URT_THREAD_STATE_READY = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="3062.3567" y="1379.4839">URT_THREAD_STATE_SLEEPING = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="3062.3567" y="1392.2886">URT_THREAD_STATE_SUSPENDED = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="3062.3567" y="1405.0933">URT_THREAD_STATE_WAITING = 5</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="3062.3567" y="1417.8979">URT_THREAD_STATE_TERMINATED = 6</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3057.3567" x2="3281.3567" y1="1424.4922" y2="1424.4922"/><!--MD5=[0a16224ede9ffa9bb2d34e085a076e6d]
-class urt_osThread_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="350.5078" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="778" x="3003.3567" y="877.8594"/><ellipse cx="3341.1067" cy="893.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3341.9505,900.6094 L3339.4973,900.6094 L3339.4973,890.3594 L3336.3567,890.3594 L3336.3567,888.2188 L3345.0911,888.2188 L3345.0911,890.3594 L3341.9505,890.3594 L3341.9505,900.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="3361.6067" y="898.0137">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3004.3567" x2="3780.3567" y1="909.8594" y2="909.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="3009.3567" y="924.0698">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="3009.3567" y="936.8745">URT_THREAD_SSLEP_MAX : unsigned int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="3009.3567" y="949.6792">URT_THREAD_MSLEEP_MAX : unsigned int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="3009.3567" y="962.4839">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="3004.3567" x2="3780.3567" y1="969.0781" y2="969.0781"/><ellipse cx="3014.3567" cy="980.0781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="248" x="3023.3567" y="983.2886">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3004.3567" x2="3780.3567" y1="989.8828" y2="989.8828"/><ellipse cx="3014.3567" cy="1000.8828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="752" x="3023.3567" y="1004.0933">urtThreadInit (memory : void*, size : size_t, prio : urt_osThreadPrio_t, func : urt_osThreadFunction_t*, arg : void*) : urt_osThread_t*</text><ellipse cx="3014.3567" cy="1013.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="3023.3567" y="1016.8979">urtThreadStart (thread : urt_osThread_t*) : void</text><ellipse cx="3014.3567" cy="1026.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="3023.3567" y="1029.7026">urtThreadYield (void) : void</text><ellipse cx="3014.3567" cy="1039.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3023.3567" y="1042.5073">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="3014.3567" cy="1052.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="304" x="3023.3567" y="1055.312">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="3014.3567" cy="1064.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="220" x="3023.3567" y="1068.1167">urtThreadSleep (seconds : float) : void</text><ellipse cx="3014.3567" cy="1077.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; 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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="3023.3567" y="1132.1401">urtThreadExit (void) : void</text><ellipse cx="3014.3567" cy="1141.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="518" x="3023.3567" y="1144.9448">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="3014.3567" cy="1154.5391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="264" x="3023.3567" y="1157.7495">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="3014.3567" cy="1167.3438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="387" x="3023.3567" y="1170.5542">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="3014.3567" cy="1180.1484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="237" x="3023.3567" y="1183.3589">urtThreadGetSelf (void) : urt_osThread_t*</text><ellipse cx="3014.3567" cy="1192.9531" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="3023.3567" y="1196.1636">urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="3014.3567" cy="1205.7578" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="3023.3567" y="1208.9683">urtThreadGetSibling (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="3014.3567" cy="1218.5625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="3023.3567" y="1221.7729">urtThreadGetParent (thread : urt_osThread_t*) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]
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-class urt_osEventFlags_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="48" id="urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="1863.3567" y="1639.3594"/><ellipse cx="1878.3567" cy="1655.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1879.2005,1662.1094 L1876.7473,1662.1094 L1876.7473,1651.8594 L1873.6067,1651.8594 L1873.6067,1649.7188 L1882.3411,1649.7188 L1882.3411,1651.8594 L1879.2005,1651.8594 L1879.2005,1662.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="1892.3567" y="1659.5137">urt_osEventFlags_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1864.3567" x2="2012.3567" y1="1671.3594" y2="1671.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1864.3567" x2="2012.3567" y1="1679.3594" y2="1679.3594"/><!--MD5=[e2bbbd64e6979bf7b755747a6c0ba948]
-class urt_osEventWait_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="86.4141" id="urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.5;" width="162" x="2220.3567" y="1320.8594"/><ellipse cx="2243.4567" cy="1336.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2247.5661,1342.8594 L2239.8473,1342.8594 L2239.8473,1330.4688 L2247.5661,1330.4688 L2247.5661,1332.625 L2242.3004,1332.625 L2242.3004,1335.2969 L2247.0661,1335.2969 L2247.0661,1337.4531 L2242.3004,1337.4531 L2242.3004,1340.7031 L2247.5661,1340.7031 L2247.5661,1342.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="2259.2567" y="1341.0137">urt_osEventWait_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2221.3567" x2="2381.3567" y1="1352.8594" y2="1352.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="2226.3567" y="1367.0698">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="2226.3567" y="1379.8745">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="2226.3567" y="1392.6792">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2221.3567" x2="2381.3567" y1="1399.2734" y2="1399.2734"/><!--MD5=[d054ac2eda12ce4b1fe5a18c9be716c1]
-class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="1691.3567" y="1320.8594"/><ellipse cx="1866.6067" cy="1336.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1867.4505,1343.6094 L1864.9973,1343.6094 L1864.9973,1333.3594 L1861.8567,1333.3594 L1861.8567,1331.2188 L1870.5911,1331.2188 L1870.5911,1333.3594 L1867.4505,1333.3594 L1867.4505,1343.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="1887.1067" y="1341.0137">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1692.3567" x2="2184.3567" y1="1352.8594" y2="1352.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1692.3567" x2="2184.3567" y1="1360.8594" y2="1360.8594"/><ellipse cx="1702.3567" cy="1371.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="341" x="1711.3567" y="1375.0698">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="1702.3567" cy="1384.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="458" x="1711.3567" y="1387.8745">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="1702.3567" cy="1397.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="468" x="1711.3567" y="1400.6792">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]
-class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="1108.8567" y="1326.8594"/><ellipse cx="1313.6067" cy="1342.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1314.4505,1349.6094 L1311.9973,1349.6094 L1311.9973,1339.3594 L1308.8567,1339.3594 L1308.8567,1337.2188 L1317.5911,1337.2188 L1317.5911,1339.3594 L1314.4505,1339.3594 L1314.4505,1349.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="1334.1067" y="1347.0137">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1109.8567" x2="1654.8567" y1="1358.8594" y2="1358.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1109.8567" x2="1654.8567" y1="1366.8594" y2="1366.8594"/><ellipse cx="1119.8567" cy="1377.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="325" x="1128.8567" y="1381.0698">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="1119.8567" cy="1390.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="521" x="1128.8567" y="1393.8745">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--MD5=[04a3b5a37031e2a4d723f19d8adf86f5]
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-class urt_streams--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="209" x="874.8567" y="1016.3594"/><ellipse cx="937.6067" cy="1032.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M941.8411,1028.125 L936.5598,1028.125 L936.5598,1030.7969 L941.3567,1030.7969 L941.3567,1032.9531 L936.5598,1032.9531 L936.5598,1038.3594 L934.1223,1038.3594 L934.1223,1025.9688 L941.8411,1025.9688 L941.8411,1028.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="958.1067" y="1036.5137">urt_streams</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="875.8567" x2="1082.8567" y1="1048.3594" y2="1048.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="875.8567" x2="1082.8567" y1="1056.3594" y2="1056.3594"/><ellipse cx="885.8567" cy="1067.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="166" x="894.8567" y="1070.5698">urtPrintf(fmt : char*, ... ) : int</text><ellipse cx="885.8567" cy="1080.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="894.8567" y="1083.3745">urtErrPrintf(fmt : char*, ... ) : int</text><!--MD5=[f106a25c06a671b3918b1a8f37571a4d]
-class urt_debug--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="245" x="594.8567" y="1022.8594"/><ellipse cx="681.1067" cy="1038.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M685.3411,1034.625 L680.0598,1034.625 L680.0598,1037.2969 L684.8567,1037.2969 L684.8567,1039.4531 L680.0598,1039.4531 L680.0598,1044.8594 L677.6223,1044.8594 L677.6223,1032.4688 L685.3411,1032.4688 L685.3411,1034.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="701.6067" y="1043.0137">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="595.8567" x2="838.8567" y1="1054.8594" y2="1054.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="595.8567" x2="838.8567" y1="1062.8594" y2="1062.8594"/><ellipse cx="605.8567" cy="1073.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="219" x="614.8567" y="1077.0698">urtDebugAssert(condition : bool) : void</text><!--MD5=[89d25e87afdd75480e1ec2bd05524873]
-class urt_core_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="307.2891" id="urt_core_t" style="stroke: #A80036; stroke-width: 1.5;" width="343" x="7791.8567" y="159.3594"/><ellipse cx="7927.6067" cy="175.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7927.0911,175.9219 Q7925.2317,175.2188 7924.5755,174.4531 Q7923.9348,173.6719 7923.9348,172.3594 Q7923.9348,170.6719 7925.013,169.7031 Q7926.0911,168.7344 7927.9661,168.7344 Q7928.8255,168.7344 7929.6692,168.9375 Q7930.5286,169.125 7931.3723,169.5156 L7931.3723,171.9063 Q7930.5911,171.3438 7929.763,171.0625 Q7928.9505,170.7656 7928.1536,170.7656 Q7927.2786,170.7656 7926.7942,171.125 Q7926.3255,171.4844 7926.3255,172.1406 Q7926.3255,172.6563 7926.6692,173 Q7927.013,173.3281 7928.1067,173.7344 L7929.1692,174.1406 Q7930.6536,174.6875 7931.3567,175.5938 Q7932.0755,176.5 7932.0755,177.875 Q7932.0755,179.75 7930.9661,180.6719 Q7929.8567,181.5938 7927.6067,181.5938 Q7926.6848,181.5938 7925.763,181.375 Q7924.8411,181.1563 7923.9817,180.7344 L7923.9817,178.2031 Q7924.9505,178.8906 7925.8723,179.2344 Q7926.7942,179.5781 7927.6848,179.5781 Q7928.5911,179.5781 7929.0911,179.1719 Q7929.5911,178.75 7929.5911,178.0156 Q7929.5911,177.4531 7929.2473,177.0469 Q7928.9192,176.625 7928.2942,176.375 L7927.0911,175.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="63" x="7948.1067" y="179.5137">urt_core_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7792.8567" x2="8133.8567" y1="191.3594" y2="191.3594"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8567" y="199.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="7811.8567" y="205.5698">_nodes : urt_node_t*</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8567" y="212.1641"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="192" x="7811.8567" y="218.3745">_evtSource : urt_osEventSource_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8567" y="224.9688"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="7811.8567" y="231.1792">_lock : urt_osMutex_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8567" y="237.7734"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="122" x="7811.8567" y="243.9839">_status : urt_status_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8567" y="267.3828"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="117" x="7811.8567" y="273.5933">_topics : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7792.8567" x2="7858.3567" y1="256.9805" y2="256.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7858.3567" y="260.2886">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8068.3567" x2="8133.8567" y1="256.9805" y2="256.9805"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8567" y="296.9922"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="145" x="7811.8567" y="303.2026">_services : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7792.8567" x2="7870.8567" y1="286.5898" y2="286.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="7870.8567" y="289.8979">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8055.8567" x2="8133.8567" y1="286.5898" y2="286.5898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7792.8567" x2="8133.8567" y1="309.7969" y2="309.7969"/><ellipse cx="7802.8567" cy="320.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="130" x="7811.8567" y="324.0073">urtCoreInit (void) : void</text><ellipse cx="7802.8567" cy="333.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="215" x="7811.8567" y="336.812">urtCoreGetStatus (void) : urt_status_t</text><ellipse cx="7802.8567" cy="346.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="177" x="7811.8567" y="349.6167">urtCoreStartNodes (void) : void</text><ellipse cx="7802.8567" cy="359.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="309" x="7811.8567" y="362.4214">urtCoreSynchronize (node : urt_node_t*) : urt_status_t</text><ellipse cx="7802.8567" cy="372.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="317" x="7811.8567" y="375.2261">urtCoreStopNodes (reason : urt_status_t) : urt_status_t</text><ellipse cx="7802.8567" cy="384.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="300" x="7811.8567" y="388.0308">urtCoreGetEventSource(void) : urt_osEventSource_t*</text><ellipse cx="7802.8567" cy="397.625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="7811.8567" y="400.8354">urtCoreGetMutex(void) : urt_osMutex_t*</text><ellipse cx="7802.8567" cy="427.2344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="273" x="7811.8567" y="430.4448">urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7792.8567" x2="7858.3567" y1="413.832" y2="413.832"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7858.3567" y="417.1401">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; 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-class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="17424.3567" y="1022.8594"/><ellipse cx="17570.1067" cy="1038.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17570.9505,1045.6094 L17568.4973,1045.6094 L17568.4973,1035.3594 L17565.3567,1035.3594 L17565.3567,1033.2188 L17574.0911,1033.2188 L17574.0911,1035.3594 L17570.9505,1035.3594 L17570.9505,1045.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="17590.6067" y="1043.0137">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="17425.3567" x2="17879.3567" y1="1054.8594" y2="1054.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="17425.3567" x2="17879.3567" y1="1062.8594" y2="1062.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="17430.3567" y="1077.0698">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]
-class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="16775.3567" y="1022.8594"/><ellipse cx="17003.6067" cy="1038.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17004.4505,1045.6094 L17001.9973,1045.6094 L17001.9973,1035.3594 L16998.8567,1035.3594 L16998.8567,1033.2188 L17007.5911,1033.2188 L17007.5911,1035.3594 L17004.4505,1035.3594 L17004.4505,1045.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="17024.1067" y="1043.0137">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="16776.3567" x2="17388.3567" y1="1054.8594" y2="1054.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="16776.3567" x2="17388.3567" y1="1062.8594" y2="1062.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="16781.3567" y="1077.0698">urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t</text><!--MD5=[843db13320bebc2ca47f25c6a57c2ae5]
-class urt_nodeShutdownCallback_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="60.8047" id="urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="518" x="17915.3567" y="1022.8594"/><ellipse cx="18079.6067" cy="1038.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M18080.4505,1045.6094 L18077.9973,1045.6094 L18077.9973,1035.3594 L18074.8567,1035.3594 L18074.8567,1033.2188 L18083.5911,1033.2188 L18083.5911,1035.3594 L18080.4505,1035.3594 L18080.4505,1045.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="181" x="18100.1067" y="1043.0137">urt_nodeShutdownCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="17916.3567" x2="18432.3567" y1="1054.8594" y2="1054.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="17916.3567" x2="18432.3567" y1="1062.8594" y2="1062.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="506" x="17921.3567" y="1077.0698">urt_nodeShutdownCallback_t (node : urt_node_t*, cause : urt_status_t, arg : void*) : void</text><!--MD5=[d2563153d77472384a15c07b815d639f]
-class urt_node_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="231.2656" id="urt_node_t" style="stroke: #A80036; stroke-width: 1.5;" width="1541" x="16778.8567" y="552.3594"/><ellipse cx="17511.6067" cy="568.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17511.0911,568.9219 Q17509.2317,568.2188 17508.5755,567.4531 Q17507.9348,566.6719 17507.9348,565.3594 Q17507.9348,563.6719 17509.013,562.7031 Q17510.0911,561.7344 17511.9661,561.7344 Q17512.8255,561.7344 17513.6692,561.9375 Q17514.5286,562.125 17515.3723,562.5156 L17515.3723,564.9063 Q17514.5911,564.3438 17513.763,564.0625 Q17512.9505,563.7656 17512.1536,563.7656 Q17511.2786,563.7656 17510.7942,564.125 Q17510.3255,564.4844 17510.3255,565.1406 Q17510.3255,565.6563 17510.6692,566 Q17511.013,566.3281 17512.1067,566.7344 L17513.1692,567.1406 Q17514.6536,567.6875 17515.3567,568.5938 Q17516.0755,569.5 17516.0755,570.875 Q17516.0755,572.75 17514.9661,573.6719 Q17513.8567,574.5938 17511.6067,574.5938 Q17510.6848,574.5938 17509.763,574.375 Q17508.8411,574.1563 17507.9817,573.7344 L17507.9817,571.2031 Q17508.9505,571.8906 17509.8723,572.2344 Q17510.7942,572.5781 17511.6848,572.5781 Q17512.5911,572.5781 17513.0911,572.1719 Q17513.5911,571.75 17513.5911,571.0156 Q17513.5911,570.4531 17513.2473,570.0469 Q17512.9192,569.625 17512.2942,569.375 L17511.0911,568.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="67" x="17532.1067" y="572.5137">urt_node_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="16779.8567" x2="18318.8567" y1="584.3594" y2="584.3594"/><ellipse cx="16789.8567" cy="595.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="102" x="16798.8567" y="598.5698">next : urt_node_t*</text><ellipse cx="16789.8567" cy="608.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="16798.8567" y="611.3745">thread : urt_osThread_t*</text><ellipse cx="16789.8567" cy="620.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="16798.8567" y="624.1792">setupcallback : urt_nodeSetupCallback_t*</text><ellipse cx="16789.8567" cy="633.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="117" x="16798.8567" y="636.9839">setupparams : void*</text><ellipse cx="16789.8567" cy="646.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="221" x="16798.8567" y="649.7886">loopcallback : urt_nodeLoopCallback_t*</text><ellipse cx="16789.8567" cy="659.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="109" x="16798.8567" y="662.5933">loopparams : void*</text><ellipse cx="16789.8567" cy="672.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="281" x="16798.8567" y="675.3979">shutdowncallback : urt_nodeShutdownCallback_t*</text><ellipse cx="16789.8567" cy="684.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="140" x="16798.8567" y="688.2026">shutdownparams : void*</text><ellipse cx="16789.8567" cy="697.7969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="16798.8567" y="701.0073">stage : urt_nodestage_t</text><ellipse cx="16789.8567" cy="710.6016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="178" x="16798.8567" y="713.812">listener : urt_osEventListener_t</text><ellipse cx="16789.8567" cy="740.2109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="88" x="16798.8567" y="743.4214">loops : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16779.8567" x2="17341.3567" y1="726.8086" y2="726.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="416" x="17341.3567" y="730.1167">URT_CFG_PUBSUB_PROFILING == true || URT_CFG_RPC_PROFILING = true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="17757.3567" x2="18318.8567" y1="726.8086" y2="726.8086"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="16779.8567" x2="18318.8567" y1="750.0156" y2="750.0156"/><rect fill="#F24D5C" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="16786.8567" y="758.0156"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="179" x="16798.8567" y="764.2261">_main : urt_osThreadFunction_t</text><ellipse cx="16789.8567" cy="773.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1515" x="16798.8567" y="777.0308">urtNodeInit (node : urt_node_t*, thread : urt_osThread_t*, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*, shutdowncallback : urt_nodeShutdownCallback_t*, shutodwnparams : void*) : void</text><!--MD5=[e602aa6d45f270ad04f88c9ca5352b33]
-class urt_message_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="141.6328" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="406" x="12405.3567" y="1292.8594"/><ellipse cx="12558.1067" cy="1308.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12557.5911,1309.4219 Q12555.7317,1308.7188 12555.0755,1307.9531 Q12554.4348,1307.1719 12554.4348,1305.8594 Q12554.4348,1304.1719 12555.513,1303.2031 Q12556.5911,1302.2344 12558.4661,1302.2344 Q12559.3255,1302.2344 12560.1692,1302.4375 Q12561.0286,1302.625 12561.8723,1303.0156 L12561.8723,1305.4063 Q12561.0911,1304.8438 12560.263,1304.5625 Q12559.4505,1304.2656 12558.6536,1304.2656 Q12557.7786,1304.2656 12557.2942,1304.625 Q12556.8255,1304.9844 12556.8255,1305.6406 Q12556.8255,1306.1563 12557.1692,1306.5 Q12557.513,1306.8281 12558.6067,1307.2344 L12559.6692,1307.6406 Q12561.1536,1308.1875 12561.8567,1309.0938 Q12562.5755,1310 12562.5755,1311.375 Q12562.5755,1313.25 12561.4661,1314.1719 Q12560.3567,1315.0938 12558.1067,1315.0938 Q12557.1848,1315.0938 12556.263,1314.875 Q12555.3411,1314.6563 12554.4817,1314.2344 L12554.4817,1311.7031 Q12555.4505,1312.3906 12556.3723,1312.7344 Q12557.2942,1313.0781 12558.1848,1313.0781 Q12559.0911,1313.0781 12559.5911,1312.6719 Q12560.0911,1312.25 12560.0911,1311.5156 Q12560.0911,1310.9531 12559.7473,1310.5469 Q12559.4192,1310.125 12558.7942,1309.875 L12557.5911,1309.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="12578.6067" y="1313.0137">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12406.3567" x2="12810.3567" y1="1324.8594" y2="1324.8594"/><ellipse cx="12416.3567" cy="1335.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="127" x="12425.3567" y="1339.0698">next : urt_message_t*</text><ellipse cx="12416.3567" cy="1348.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="12425.3567" y="1351.8745">payload : void*</text><ellipse cx="12416.3567" cy="1361.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="12425.3567" y="1364.6792">originTime : urt_osTime_t</text><ellipse cx="12416.3567" cy="1374.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="211" x="12425.3567" y="1377.4839">numHrtConsumersLeft : unsigned int</text><ellipse cx="12416.3567" cy="1403.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="12425.3567" y="1407.0933">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12406.3567" x2="12499.8567" y1="1390.4805" y2="1390.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12499.8567" y="1393.7886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12716.8567" x2="12810.3567" y1="1390.4805" y2="1390.4805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="12406.3567" x2="12810.3567" y1="1413.6875" y2="1413.6875"/><ellipse cx="12416.3567" cy="1424.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="12425.3567" y="1427.8979">urtMessageInit (message : urt_message_t*, payload : void*) : void</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]
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stroke-width: 1.5;" x1="11879.8567" x2="12660.8567" y1="601.8594" y2="601.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="289" x="11884.8567" y="616.0698">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT : bool</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11879.8567" x2="12660.8567" y1="622.6641" y2="622.6641"/><ellipse cx="11889.8567" cy="633.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="11898.8567" y="636.8745">topic : urt_topic_t*</text><ellipse cx="11889.8567" cy="663.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="149" x="11898.8567" y="666.4839">publishAttempts : uint64_t</text><ellipse cx="11889.8567" cy="676.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="11898.8567" y="679.2886">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11879.8567" x2="12161.8567" y1="649.8711" y2="649.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12161.8567" y="653.1792">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12378.8567" x2="12660.8567" y1="649.8711" y2="649.8711"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11879.8567" x2="12660.8567" y1="685.8828" y2="685.8828"/><ellipse cx="11889.8567" cy="696.8828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="572" x="11898.8567" y="700.0933">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void</text><ellipse cx="11889.8567" cy="726.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="632" x="11898.8567" y="729.7026">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t) : urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11879.8567" x2="12116.8567" y1="713.0898" y2="713.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="307" x="12116.8567" y="716.3979">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == false</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12423.8567" x2="12660.8567" y1="713.0898" y2="713.0898"/><ellipse cx="11889.8567" cy="756.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="757" x="11898.8567" y="759.312">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11879.8567" x2="12119.3567" y1="742.6992" y2="742.6992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="302" x="12119.3567" y="746.0073">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12421.3567" x2="12660.8567" y1="742.6992" y2="742.6992"/><!--MD5=[a1b1e66ec52c209a9fa2dab315cd7630]
-class urt_topic_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="260.875" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="11441.3567" y="537.3594"/><ellipse cx="11596.1067" cy="553.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11595.5911,553.9219 Q11593.7317,553.2188 11593.0755,552.4531 Q11592.4348,551.6719 11592.4348,550.3594 Q11592.4348,548.6719 11593.513,547.7031 Q11594.5911,546.7344 11596.4661,546.7344 Q11597.3255,546.7344 11598.1692,546.9375 Q11599.0286,547.125 11599.8723,547.5156 L11599.8723,549.9063 Q11599.0911,549.3438 11598.263,549.0625 Q11597.4505,548.7656 11596.6536,548.7656 Q11595.7786,548.7656 11595.2942,549.125 Q11594.8255,549.4844 11594.8255,550.1406 Q11594.8255,550.6563 11595.1692,551 Q11595.513,551.3281 11596.6067,551.7344 L11597.6692,552.1406 Q11599.1536,552.6875 11599.8567,553.5938 Q11600.5755,554.5 11600.5755,555.875 Q11600.5755,557.75 11599.4661,558.6719 Q11598.3567,559.5938 11596.1067,559.5938 Q11595.1848,559.5938 11594.263,559.375 Q11593.3411,559.1563 11592.4817,558.7344 L11592.4817,556.2031 Q11593.4505,556.8906 11594.3723,557.2344 Q11595.2942,557.5781 11596.1848,557.5781 Q11597.0911,557.5781 11597.5911,557.1719 Q11598.0911,556.75 11598.0911,556.0156 Q11598.0911,555.4531 11597.7473,555.0469 Q11597.4192,554.625 11596.7942,554.375 L11595.5911,553.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="11616.6067" y="557.5137">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11442.3567" x2="11824.3567" y1="569.3594" y2="569.3594"/><ellipse cx="11452.3567" cy="580.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="11461.3567" y="583.5698">next : urt_topic_t*</text><ellipse cx="11452.3567" cy="593.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="11461.3567" y="596.3745">id : urt_topicid_t</text><ellipse cx="11452.3567" cy="605.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="11461.3567" y="609.1792">lock : urt_osMutex_t</text><ellipse cx="11452.3567" cy="618.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="11461.3567" y="621.9839">evtSource : urt_osEventSource_t</text><ellipse cx="11452.3567" cy="631.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="11461.3567" y="634.7886">numHrtSubscribers : unsigned int</text><ellipse cx="11452.3567" cy="644.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="11461.3567" y="647.5933">hrtReleased : urt_osCondvar_t</text><ellipse cx="11452.3567" cy="657.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="209" x="11461.3567" y="660.3979">mandatoryMessage : urt_message_t</text><ellipse cx="11452.3567" cy="669.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="11461.3567" y="673.2026">latestMessage : urt_message_t*</text><ellipse cx="11452.3567" cy="699.6016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="212" x="11461.3567" y="702.812">hrtSubscribers : urt_hrtsubscriber_t*</text><ellipse cx="11452.3567" cy="712.4063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="170" x="11461.3567" y="715.6167">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11442.3567" x2="11500.8567" y1="686.1992" y2="686.1992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="11500.8567" y="689.5073">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11765.8567" x2="11824.3567" y1="686.1992" y2="686.1992"/><ellipse cx="11452.3567" cy="742.0156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="11461.3567" y="745.2261">numMessagesPublished : uint64_t</text><ellipse cx="11452.3567" cy="754.8203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="11461.3567" y="758.0308">numMessagesDiscarded : uint64_t</text><ellipse cx="11452.3567" cy="767.625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="11461.3567" y="770.8354">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11442.3567" x2="11524.8567" y1="728.6133" y2="728.6133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="11524.8567" y="731.9214">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11741.8567" x2="11824.3567" y1="728.6133" y2="728.6133"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11442.3567" x2="11824.3567" y1="777.4297" y2="777.4297"/><ellipse cx="11452.3567" cy="788.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="358" x="11461.3567" y="791.6401">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[50a042e24f957794dab9ba3ea8701c50]
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stroke-width: 1.5;" x1="13835.3567" x2="14877.3567" y1="603.3594" y2="603.3594"/><ellipse cx="13845.3567" cy="614.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="13854.3567" y="617.5698">usefulnesscb : urt_usefulness_f*</text><ellipse cx="13845.3567" cy="627.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="13854.3567" y="630.3745">cbparams : void*</text><ellipse cx="13845.3567" cy="656.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="13854.3567" y="659.9839">minLatency : urt_delay_t</text><ellipse cx="13845.3567" cy="669.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="13854.3567" y="672.7886">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13835.3567" x2="14247.8567" y1="643.3711" y2="643.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="14247.8567" y="646.6792">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="14464.8567" x2="14877.3567" y1="643.3711" y2="643.3711"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="13835.3567" x2="14877.3567" y1="679.3828" y2="679.3828"/><ellipse cx="13845.3567" cy="690.3828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="13854.3567" y="693.5933">urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void</text><ellipse cx="13845.3567" cy="703.1875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1018" x="13854.3567" y="706.3979">urtSrtSubscriberSubscribe (subscriber : urt_srtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_usefulness_f*, cbparams : void*) : urt_status_t</text><ellipse cx="13845.3567" cy="715.9922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="13854.3567" y="719.2026">urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="13845.3567" cy="728.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="13854.3567" y="732.0073">urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="13845.3567" cy="741.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="13854.3567" y="744.812">urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float</text><ellipse cx="13845.3567" cy="754.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="13854.3567" y="757.6167">urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t</text><!--MD5=[17838fb05fe219fd399839979ec8a4a4]
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stroke-width: 1.5;" x1="15770.3567" x2="16742.3567" y1="586.8594" y2="586.8594"/><ellipse cx="15780.3567" cy="614.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="15789.3567" y="617.8745">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15770.3567" x2="16110.8567" y1="601.2617" y2="601.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="16110.8567" y="604.5698">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16401.8567" x2="16742.3567" y1="601.2617" y2="601.2617"/><ellipse cx="15780.3567" cy="644.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="15789.3567" y="647.4839">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15770.3567" x2="16120.8567" y1="630.8711" y2="630.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="16120.8567" y="634.1792">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16391.8567" x2="16742.3567" y1="630.8711" y2="630.8711"/><ellipse cx="15780.3567" cy="673.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="15789.3567" y="677.0933">minLatency : urt_delay_t</text><ellipse cx="15780.3567" cy="686.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="15789.3567" y="689.8979">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15770.3567" x2="16002.3567" y1="660.4805" y2="660.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="508" x="16002.3567" y="663.7886">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ||  URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16510.3567" x2="16742.3567" y1="660.4805" y2="660.4805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="15770.3567" x2="16742.3567" y1="696.4922" y2="696.4922"/><ellipse cx="15780.3567" cy="707.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="342" x="15789.3567" y="710.7026">urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : void</text><ellipse cx="15780.3567" cy="720.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="948" x="15789.3567" y="723.5073">urtFrtSubscriberSubscribe (subscriber : urt_frtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="15780.3567" cy="733.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="780" x="15789.3567" y="736.312">urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="15780.3567" cy="745.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="790" x="15789.3567" y="749.1167">urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="15780.3567" cy="758.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="540" x="15789.3567" y="761.9214">urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool</text><ellipse cx="15780.3567" cy="771.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="441" x="15789.3567" y="774.7261">urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t</text><!--MD5=[104dc879e5721421b987fcc467bc3a1d]
-class urt_hrtsubscriber_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="268.875" id="urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="12697.3567" y="533.3594"/><ellipse cx="13175.6067" cy="549.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M13175.0911,549.9219 Q13173.2317,549.2188 13172.5755,548.4531 Q13171.9348,547.6719 13171.9348,546.3594 Q13171.9348,544.6719 13173.013,543.7031 Q13174.0911,542.7344 13175.9661,542.7344 Q13176.8255,542.7344 13177.6692,542.9375 Q13178.5286,543.125 13179.3723,543.5156 L13179.3723,545.9063 Q13178.5911,545.3438 13177.763,545.0625 Q13176.9505,544.7656 13176.1536,544.7656 Q13175.2786,544.7656 13174.7942,545.125 Q13174.3255,545.4844 13174.3255,546.1406 Q13174.3255,546.6563 13174.6692,547 Q13175.013,547.3281 13176.1067,547.7344 L13177.1692,548.1406 Q13178.6536,548.6875 13179.3567,549.5938 Q13180.0755,550.5 13180.0755,551.875 Q13180.0755,553.75 13178.9661,554.6719 Q13177.8567,555.5938 13175.6067,555.5938 Q13174.6848,555.5938 13173.763,555.375 Q13172.8411,555.1563 13171.9817,554.7344 L13171.9817,552.2031 Q13172.9505,552.8906 13173.8723,553.2344 Q13174.7942,553.5781 13175.6848,553.5781 Q13176.5911,553.5781 13177.0911,553.1719 Q13177.5911,552.75 13177.5911,552.0156 Q13177.5911,551.4531 13177.2473,551.0469 Q13176.9192,550.625 13176.2942,550.375 L13175.0911,549.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="13196.1067" y="553.5137">urt_hrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12698.3567" x2="13780.3567" y1="565.3594" y2="565.3594"/><ellipse cx="12708.3567" cy="576.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="151" x="12717.3567" y="579.5698">next : urt_hrtsubscriber_t*</text><ellipse cx="12708.3567" cy="605.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="12717.3567" y="609.1792">deadlineOffset : urt_delay_t</text><ellipse cx="12708.3567" cy="618.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="12717.3567" y="621.9839">qosDeadlineTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12698.3567" x2="13093.8567" y1="592.5664" y2="592.5664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="13093.8567" y="595.8745">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13384.8567" x2="13780.3567" y1="592.5664" y2="592.5664"/><ellipse cx="12708.3567" cy="648.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="12717.3567" y="651.5933">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12698.3567" x2="13103.8567" y1="634.9805" y2="634.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="13103.8567" y="638.2886">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13374.8567" x2="13780.3567" y1="634.9805" y2="634.9805"/><ellipse cx="12708.3567" cy="677.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="12717.3567" y="681.2026">minLatency : urt_delay_t</text><ellipse cx="12708.3567" cy="690.7969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="12717.3567" y="694.0073">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12698.3567" x2="12987.3567" y1="664.5898" y2="664.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="12987.3567" y="667.8979">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13491.3567" x2="13780.3567" y1="664.5898" y2="664.5898"/><ellipse cx="12708.3567" cy="720.4063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="12717.3567" y="723.6167">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12698.3567" x2="13106.8567" y1="707.0039" y2="707.0039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="13106.8567" y="710.312">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13371.8567" x2="13780.3567" y1="707.0039" y2="707.0039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="12698.3567" x2="13780.3567" y1="730.2109" y2="730.2109"/><ellipse cx="12708.3567" cy="741.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="12717.3567" y="744.4214">urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : void</text><ellipse cx="12708.3567" cy="754.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1058" x="12717.3567" y="757.2261">urtHrtSubscriberSubscribe (subscriber : urt_hrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, rate : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="12708.3567" cy="766.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="12717.3567" y="770.0308">urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="12708.3567" cy="779.625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="12717.3567" y="782.8354">urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="12708.3567" cy="792.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="12717.3567" y="795.6401">urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t</text><!--MD5=[e60e0f8379a14e7a4a292c65add9d735]
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stroke-width: 1.5;" x1="8151.3567" x2="8745.3567" y1="564.8594" y2="564.8594"/><ellipse cx="8161.3567" cy="575.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="115" x="8170.3567" y="579.0698">next : urt_service_t*</text><ellipse cx="8161.3567" cy="588.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="105" x="8170.3567" y="591.8745">id : urt_serviceid_t</text><ellipse cx="8161.3567" cy="601.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="8170.3567" y="604.6792">lock : urt_osMutex_t</text><ellipse cx="8161.3567" cy="614.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="8170.3567" y="617.4839">requestQueue_front : urt_baserequest_t*</text><ellipse cx="8161.3567" cy="627.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="8170.3567" y="630.2886">requestQueue_hrtBack : urt_hrtrequest_t*</text><ellipse cx="8161.3567" cy="639.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="256" x="8170.3567" y="643.0933">requestQueue_fsrtBack : urt_baserequest_t*</text><ellipse cx="8161.3567" cy="652.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="8170.3567" y="655.8979">requestQueue_back : urt_baserequest_t*</text><ellipse cx="8161.3567" cy="665.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="8170.3567" y="668.7026">evtSource : urt_osEventSource_t</text><ellipse cx="8161.3567" cy="678.2969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="8170.3567" y="681.5073">evtListener : urt_osEventListener_t</text><ellipse cx="8161.3567" cy="707.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="8170.3567" y="711.1167">numCalls : uint64_t</text><ellipse cx="8161.3567" cy="720.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="8170.3567" y="723.9214">numOwnershipLost : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8151.3567" x2="8352.3567" y1="694.5039" y2="694.5039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="8352.3567" y="697.812">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8544.3567" x2="8745.3567" y1="694.5039" y2="694.5039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8151.3567" x2="8745.3567" y1="730.5156" y2="730.5156"/><ellipse cx="8161.3567" cy="741.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="412" x="8170.3567" y="744.7261">urtServiceInit (service : urt_service_t*, id : urt_serviceid_t) : urt_status_t</text><ellipse cx="8161.3567" cy="754.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="549" x="8170.3567" y="757.5308">urtServiceDispatch (service : urt_service_t*, payload : void*, bytes : size_t) : urt_baserequest_t*</text><ellipse cx="8161.3567" cy="767.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="552" x="8170.3567" y="770.3354">urtServiceAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="8161.3567" cy="779.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="8170.3567" y="783.1401">urtServiceTryAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="8161.3567" cy="792.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="365" x="8170.3567" y="795.9448">urtServiceRespond (request : urt_baserequest_t*) : urt_status_t</text><!--MD5=[7294e1cfaeb111bef046bc5d07a96458]
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stroke-width: 1.5;" x1="8800.3567" x2="9022.3567" y1="600.8594" y2="600.8594"/><ellipse cx="8810.3567" cy="611.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="147" x="8819.3567" y="615.0698">prev : urt_baserequest_t*</text><ellipse cx="8810.3567" cy="624.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="8819.3567" y="627.8745">next : urt_baserequest_t*</text><ellipse cx="8810.3567" cy="637.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="8819.3567" y="640.6792">lock : urt_osMutex_t</text><ellipse cx="8810.3567" cy="650.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="126" x="8819.3567" y="653.4839">owner : urt_service_t*</text><ellipse cx="8810.3567" cy="663.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="8819.3567" y="666.2886">submissionTime : urt_osTime_t</text><ellipse cx="8810.3567" cy="675.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="8819.3567" y="679.0933">payload : void*</text><ellipse cx="8810.3567" cy="688.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="8819.3567" y="691.8979">evtSource : urt_osEventSource_t</text><ellipse cx="8810.3567" cy="701.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="8819.3567" y="704.7026">evtListener : urt_osEventListener_t</text><ellipse cx="8810.3567" cy="731.1016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="8819.3567" y="734.312">sumLatencies : uint64_t</text><ellipse cx="8810.3567" cy="743.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="8819.3567" y="747.1167">numCalls : uint64_t</text><ellipse cx="8810.3567" cy="756.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="108" x="8819.3567" y="759.9214">numFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8800.3567" x2="8815.3567" y1="717.6992" y2="717.6992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="8815.3567" y="721.0073">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; 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+class urt_usefulness_f--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="60.8047" id="urt_usefulness_f" style="stroke: #A80036; stroke-width: 1.5;" width="334" x="6933.0878" y="1028.8594"/><ellipse cx="7044.8378" cy="1044.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7049.0722,1040.625 L7043.7909,1040.625 L7043.7909,1043.2969 L7048.5878,1043.2969 L7048.5878,1045.4531 L7043.7909,1045.4531 L7043.7909,1050.8594 L7041.3534,1050.8594 L7041.3534,1038.4688 L7049.0722,1038.4688 L7049.0722,1040.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="7065.3378" y="1049.0137">urt_usefulness_f</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6934.0878" x2="7266.0878" y1="1060.8594" y2="1060.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6934.0878" x2="7266.0878" y1="1068.8594" y2="1068.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="322" x="6939.0878" y="1083.0698">urt_usefulness_f (dt : urt_delay_t, params : void*) : float</text><!--MD5=[3677786d1f00795918091b0110bfa4af]
+class urt_osTime_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="385" x="5682.5878" y="1016.3594"/><ellipse cx="5831.3378" cy="1032.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5832.1816,1039.1094 L5829.7284,1039.1094 L5829.7284,1028.8594 L5826.5878,1028.8594 L5826.5878,1026.7188 L5835.3222,1026.7188 L5835.3222,1028.8594 L5832.1816,1028.8594 L5832.1816,1039.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="5851.8378" y="1036.5137">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5683.5878" x2="6066.5878" y1="1048.3594" y2="1048.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5683.5878" x2="6066.5878" y1="1056.3594" y2="1056.3594"/><ellipse cx="5693.5878" cy="1067.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="231" x="5702.5878" y="1070.5698">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="5693.5878" cy="1080.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="5702.5878" y="1083.3745">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="5693.5878" cy="1092.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="359" x="5702.5878" y="1096.1792">urtTimeAddUs (time : urt_osTime_t*, offset : urt_delay_t) : void</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]
+class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="4604.0878" y="1009.8594"/><ellipse cx="4705.3378" cy="1025.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4706.1816,1032.6094 L4703.7284,1032.6094 L4703.7284,1022.3594 L4700.5878,1022.3594 L4700.5878,1020.2188 L4709.3222,1020.2188 L4709.3222,1022.3594 L4706.1816,1022.3594 L4706.1816,1032.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="4725.8378" y="1030.0137">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4605.0878" x2="4901.0878" y1="1041.8594" y2="1041.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4605.0878" x2="4901.0878" y1="1049.8594" y2="1049.8594"/><ellipse cx="4615.0878" cy="1060.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="245" x="4624.0878" y="1064.0698">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="4615.0878" cy="1073.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="253" x="4624.0878" y="1076.8745">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="4615.0878" cy="1086.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="4624.0878" y="1089.6792">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="4615.0878" cy="1099.2734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="4624.0878" y="1102.4839">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--MD5=[52fa11869cb40c93fa7702378ddd839e]
+class urt_osCondvarWaitStatus_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="86.4141" id="urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="5157.0878" y="1332.8594"/><ellipse cx="5203.3378" cy="1348.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5207.4472,1354.8594 L5199.7284,1354.8594 L5199.7284,1342.4688 L5207.4472,1342.4688 L5207.4472,1344.625 L5202.1816,1344.625 L5202.1816,1347.2969 L5206.9472,1347.2969 L5206.9472,1349.4531 L5202.1816,1349.4531 L5202.1816,1352.7031 L5207.4472,1352.7031 L5207.4472,1354.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="169" x="5223.8378" y="1353.0137">urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5158.0878" x2="5426.0878" y1="1364.8594" y2="1364.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="5163.0878" y="1379.0698">URT_CONDVAR_WAITSTATUS_SIGNAL = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="5163.0878" y="1391.8745">URT_CONDVAR_WAITSTATUS_BROADCAST = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="5163.0878" y="1404.6792">URT_CONDVAR_WAITSTATUS_TIMEOUT = 0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5158.0878" x2="5426.0878" y1="1411.2734" y2="1411.2734"/><!--MD5=[004fc5dee471033e8e4138c1c73f0692]
+class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="137.6328" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="4937.0878" y="990.3594"/><ellipse cx="5237.3378" cy="1006.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5238.1816,1013.1094 L5235.7284,1013.1094 L5235.7284,1002.8594 L5232.5878,1002.8594 L5232.5878,1000.7188 L5241.3222,1000.7188 L5241.3222,1002.8594 L5238.1816,1002.8594 L5238.1816,1013.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="5257.8378" y="1010.5137">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4938.0878" x2="5646.0878" y1="1022.3594" y2="1022.3594"/><ellipse cx="4948.0878" cy="1033.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="283" x="4957.0878" y="1036.5698">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4948.0878" cy="1046.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="301" x="4957.0878" y="1049.3745">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4948.0878" cy="1058.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="324" x="4957.0878" y="1062.1792">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4948.0878" cy="1088.5781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="559" x="4957.0878" y="1091.7886">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*) : urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4938.0878" x2="5163.5878" y1="1075.1758" y2="1075.1758"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="257" x="5163.5878" y="1078.4839">URT_CFG_OSAL_CONDVAR_TIMEOUT == false</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5420.5878" x2="5646.0878" y1="1075.1758" y2="1075.1758"/><ellipse cx="4948.0878" cy="1118.1875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="684" x="4957.0878" y="1121.3979">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4938.0878" x2="5166.0878" y1="1104.7852" y2="1104.7852"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="252" x="5166.0878" y="1108.0933">URT_CFG_OSAL_CONDVAR_TIMEOUT == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5418.0878" x2="5646.0878" y1="1104.7852" y2="1104.7852"/><!--MD5=[93799a03260ba286abda700174f4f205]
+class urt_osTimerCallback_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="4057.0878" y="1345.3594"/><ellipse cx="4127.8378" cy="1361.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4128.6815,1368.1094 L4126.2284,1368.1094 L4126.2284,1357.8594 L4123.0878,1357.8594 L4123.0878,1355.7188 L4131.8222,1355.7188 L4131.8222,1357.8594 L4128.6815,1357.8594 L4128.6815,1368.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="4148.3378" y="1365.5137">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4058.0878" x2="4342.0878" y1="1377.3594" y2="1377.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4058.0878" x2="4342.0878" y1="1385.3594" y2="1385.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="4063.0878" y="1399.5698">urt_osTimerCallback_t (parameter : void*) : void</text><!--MD5=[0b340d7b925b1eab6a1b7e084f68a7c2]
+class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="112.0234" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="737" x="3831.5878" y="1003.3594"/><ellipse cx="4153.8378" cy="1019.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4154.6815,1026.1094 L4152.2284,1026.1094 L4152.2284,1015.8594 L4149.0878,1015.8594 L4149.0878,1013.7188 L4157.8222,1013.7188 L4157.8222,1015.8594 L4154.6815,1015.8594 L4154.6815,1026.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="4174.3378" y="1023.5137">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3832.5878" x2="4567.5878" y1="1035.3594" y2="1035.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3832.5878" x2="4567.5878" y1="1043.3594" y2="1043.3594"/><ellipse cx="3842.5878" cy="1054.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="3851.5878" y="1057.5698">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="3842.5878" cy="1067.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="660" x="3851.5878" y="1070.3745">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void</text><ellipse cx="3842.5878" cy="1079.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="711" x="3851.5878" y="1083.1792">urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void</text><ellipse cx="3842.5878" cy="1092.7734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="255" x="3851.5878" y="1095.9839">urtTimerReset (timer : urt_osTimer_t*) : void</text><ellipse cx="3842.5878" cy="1105.5781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3851.5878" y="1108.7886">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--MD5=[86c16d91227b9a9ec3b6b9b0285de4e9]
+class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="3332.5878" y="1300.8594"/><ellipse cx="3368.7378" cy="1316.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3369.5816,1323.6094 L3367.1284,1323.6094 L3367.1284,1313.3594 L3363.9878,1313.3594 L3363.9878,1311.2188 L3372.7222,1311.2188 L3372.7222,1313.3594 L3369.5816,1313.3594 L3369.5816,1323.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="3387.4378" y="1321.0137">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3333.5878" x2="3528.5878" y1="1332.8594" y2="1332.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="3338.5878" y="1347.0698">URT_THREAD_PRIO_LOW_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="3338.5878" y="1359.8745">URT_THREAD_PRIO_LOW_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="3338.5878" y="1372.6792">URT_THREAD_PRIO_NORMAL_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="3338.5878" y="1385.4839">URT_THREAD_PRIO_NORMAL_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="3338.5878" y="1398.2886">URT_THREAD_PRIO_HIGH_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="3338.5878" y="1411.0933">URT_THREAD_PRIO_HIGH_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="3338.5878" y="1423.8979">URT_THREAD_PRIO_RT_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="3338.5878" y="1436.7026">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3333.5878" x2="3528.5878" y1="1443.2969" y2="1443.2969"/><!--MD5=[69d8aab9aa387a2f5052ea3da80e80ea]
+class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="2784.0878" y="1345.3594"/><ellipse cx="2831.8378" cy="1361.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2832.6816,1368.1094 L2830.2284,1368.1094 L2830.2284,1357.8594 L2827.0878,1357.8594 L2827.0878,1355.7188 L2835.8222,1355.7188 L2835.8222,1357.8594 L2832.6816,1357.8594 L2832.6816,1368.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="2852.3378" y="1365.5137">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2785.0878" x2="3035.0878" y1="1377.3594" y2="1377.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2785.0878" x2="3035.0878" y1="1385.3594" y2="1385.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="2790.0878" y="1399.5698">urt_osThreadFunction_t (arg : void*) : void</text><!--MD5=[ab5f611d45c3fa10609c33f780d8c3e1]
+class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="3565.0878" y="1338.8594"/><ellipse cx="3586.8378" cy="1354.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3590.9472,1360.8594 L3583.2284,1360.8594 L3583.2284,1348.4688 L3590.9472,1348.4688 L3590.9472,1350.625 L3585.6816,1350.625 L3585.6816,1353.2969 L3590.4472,1353.2969 L3590.4472,1355.4531 L3585.6816,1355.4531 L3585.6816,1358.7031 L3590.9472,1358.7031 L3590.9472,1360.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="3602.3378" y="1359.0137">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3566.0878" x2="3806.0878" y1="1370.8594" y2="1370.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="3571.0878" y="1385.0698">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="3571.0878" y="1397.8745">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3566.0878" x2="3806.0878" y1="1404.4688" y2="1404.4688"/><!--MD5=[47d14ad2c233fae1b32b8d0a283e820a]
+class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="137.6328" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="3071.0878" y="1306.8594"/><ellipse cx="3115.8378" cy="1322.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3119.9472,1328.8594 L3112.2284,1328.8594 L3112.2284,1316.4688 L3119.9472,1316.4688 L3119.9472,1318.625 L3114.6816,1318.625 L3114.6816,1321.2969 L3119.4472,1321.2969 L3119.4472,1323.4531 L3114.6816,1323.4531 L3114.6816,1326.7031 L3119.9472,1326.7031 L3119.9472,1328.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="3136.3378" y="1327.0137">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3072.0878" x2="3296.0878" y1="1338.8594" y2="1338.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="3077.0878" y="1353.0698">URT_THREAD_STATE_INACTIVE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="3077.0878" y="1365.8745">URT_THREAD_STATE_RUNNING = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="3077.0878" y="1378.6792">URT_THREAD_STATE_READY = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="3077.0878" y="1391.4839">URT_THREAD_STATE_SLEEPING = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="3077.0878" y="1404.2886">URT_THREAD_STATE_SUSPENDED = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="3077.0878" y="1417.0933">URT_THREAD_STATE_WAITING = 5</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="3077.0878" y="1429.8979">URT_THREAD_STATE_TERMINATED = 6</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3072.0878" x2="3296.0878" y1="1436.4922" y2="1436.4922"/><!--MD5=[0a16224ede9ffa9bb2d34e085a076e6d]
+class urt_osThread_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="363.3125" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="778" x="3018.0878" y="877.8594"/><ellipse cx="3355.8378" cy="893.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3356.6816,900.6094 L3354.2284,900.6094 L3354.2284,890.3594 L3351.0878,890.3594 L3351.0878,888.2188 L3359.8222,888.2188 L3359.8222,890.3594 L3356.6816,890.3594 L3356.6816,900.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="3376.3378" y="898.0137">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3019.0878" x2="3795.0878" y1="909.8594" y2="909.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="3024.0878" y="924.0698">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="3024.0878" y="936.8745">URT_THREAD_SSLEP_MAX : unsigned int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="3024.0878" y="949.6792">URT_THREAD_MSLEEP_MAX : unsigned int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="3024.0878" y="962.4839">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="3019.0878" x2="3795.0878" y1="969.0781" y2="969.0781"/><ellipse cx="3029.0878" cy="980.0781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="248" x="3038.0878" y="983.2886">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3019.0878" x2="3795.0878" y1="989.8828" y2="989.8828"/><ellipse cx="3029.0878" cy="1000.8828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="752" x="3038.0878" y="1004.0933">urtThreadInit (memory : void*, size : size_t, prio : urt_osThreadPrio_t, func : urt_osThreadFunction_t*, arg : void*) : urt_osThread_t*</text><ellipse cx="3029.0878" cy="1013.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="3038.0878" y="1016.8979">urtThreadStart (thread : urt_osThread_t*) : void</text><ellipse cx="3029.0878" cy="1026.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="3038.0878" y="1029.7026">urtThreadYield (void) : void</text><ellipse cx="3029.0878" cy="1039.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3038.0878" y="1042.5073">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="3029.0878" cy="1052.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="304" x="3038.0878" y="1055.312">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="3029.0878" cy="1064.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="220" x="3038.0878" y="1068.1167">urtThreadSleep (seconds : float) : void</text><ellipse cx="3029.0878" cy="1077.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="273" x="3038.0878" y="1080.9214">urtThreadSSleep (seconds : unsigned int) : void</text><ellipse cx="3029.0878" cy="1090.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="3038.0878" y="1093.7261">urtThreadMSleep (milliseconds : unsigned int) : void</text><ellipse cx="3029.0878" cy="1103.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="3038.0878" y="1106.5308">urtThreadUSleep (microseconds : urt_delay_t) : void</text><ellipse cx="3029.0878" cy="1116.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3038.0878" y="1119.3354">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="3029.0878" cy="1128.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="3038.0878" y="1132.1401">urtThreadExit (void) : void</text><ellipse cx="3029.0878" cy="1141.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="518" x="3038.0878" y="1144.9448">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="3029.0878" cy="1154.5391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="3038.0878" y="1157.7495">urtThreadShouldTerminate (void) : bool</text><ellipse cx="3029.0878" cy="1167.3438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="264" x="3038.0878" y="1170.5542">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="3029.0878" cy="1180.1484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="387" x="3038.0878" y="1183.3589">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="3029.0878" cy="1192.9531" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="237" x="3038.0878" y="1196.1636">urtThreadGetSelf (void) : urt_osThread_t*</text><ellipse cx="3029.0878" cy="1205.7578" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="3038.0878" y="1208.9683">urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="3029.0878" cy="1218.5625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="3038.0878" y="1221.7729">urtThreadGetSibling (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="3029.0878" cy="1231.3672" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="3038.0878" y="1234.5776">urtThreadGetParent (thread : urt_osThread_t*) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]
+class urt_osEventMask_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="60.8047" id="urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.5;" width="280" x="2469.0878" y="1345.3594"/><ellipse cx="2546.3378" cy="1361.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2547.1816,1368.1094 L2544.7284,1368.1094 L2544.7284,1357.8594 L2541.5878,1357.8594 L2541.5878,1355.7188 L2550.3222,1355.7188 L2550.3222,1357.8594 L2547.1816,1357.8594 L2547.1816,1368.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="2566.8378" y="1365.5137">urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2470.0878" x2="2748.0878" y1="1377.3594" y2="1377.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="268" x="2475.0878" y="1391.5698">URT_EVENTMASK_MAXPRIO : urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2470.0878" x2="2748.0878" y1="1398.1641" y2="1398.1641"/><!--MD5=[dc1cc33af288560680c15dec1e56eda0]
+class urt_osEventFlags_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="48" id="urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="1878.0878" y="1651.3594"/><ellipse cx="1893.0878" cy="1667.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1893.9316,1674.1094 L1891.4784,1674.1094 L1891.4784,1663.8594 L1888.3378,1663.8594 L1888.3378,1661.7188 L1897.0722,1661.7188 L1897.0722,1663.8594 L1893.9316,1663.8594 L1893.9316,1674.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="1907.0878" y="1671.5137">urt_osEventFlags_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1879.0878" x2="2027.0878" y1="1683.3594" y2="1683.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1879.0878" x2="2027.0878" y1="1691.3594" y2="1691.3594"/><!--MD5=[e2bbbd64e6979bf7b755747a6c0ba948]
+class urt_osEventWait_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="86.4141" id="urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.5;" width="162" x="2235.0878" y="1332.8594"/><ellipse cx="2258.1878" cy="1348.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2262.2972,1354.8594 L2254.5784,1354.8594 L2254.5784,1342.4688 L2262.2972,1342.4688 L2262.2972,1344.625 L2257.0315,1344.625 L2257.0315,1347.2969 L2261.7972,1347.2969 L2261.7972,1349.4531 L2257.0315,1349.4531 L2257.0315,1352.7031 L2262.2972,1352.7031 L2262.2972,1354.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="2273.9878" y="1353.0137">urt_osEventWait_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2236.0878" x2="2396.0878" y1="1364.8594" y2="1364.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="2241.0878" y="1379.0698">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="2241.0878" y="1391.8745">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="2241.0878" y="1404.6792">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2236.0878" x2="2396.0878" y1="1411.2734" y2="1411.2734"/><!--MD5=[d054ac2eda12ce4b1fe5a18c9be716c1]
+class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="1706.0878" y="1332.8594"/><ellipse cx="1881.3378" cy="1348.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1882.1816,1355.6094 L1879.7284,1355.6094 L1879.7284,1345.3594 L1876.5878,1345.3594 L1876.5878,1343.2188 L1885.3222,1343.2188 L1885.3222,1345.3594 L1882.1816,1345.3594 L1882.1816,1355.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="1901.8378" y="1353.0137">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1707.0878" x2="2199.0878" y1="1364.8594" y2="1364.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1707.0878" x2="2199.0878" y1="1372.8594" y2="1372.8594"/><ellipse cx="1717.0878" cy="1383.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="341" x="1726.0878" y="1387.0698">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="1717.0878" cy="1396.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="458" x="1726.0878" y="1399.8745">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="1717.0878" cy="1409.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="468" x="1726.0878" y="1412.6792">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]
+class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="1123.5878" y="1338.8594"/><ellipse cx="1328.3378" cy="1354.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1329.1816,1361.6094 L1326.7284,1361.6094 L1326.7284,1351.3594 L1323.5878,1351.3594 L1323.5878,1349.2188 L1332.3222,1349.2188 L1332.3222,1351.3594 L1329.1816,1351.3594 L1329.1816,1361.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="1348.8378" y="1359.0137">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1124.5878" x2="1669.5878" y1="1370.8594" y2="1370.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1124.5878" x2="1669.5878" y1="1378.8594" y2="1378.8594"/><ellipse cx="1134.5878" cy="1389.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="325" x="1143.5878" y="1393.0698">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="1134.5878" cy="1402.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="521" x="1143.5878" y="1405.8745">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--MD5=[04a3b5a37031e2a4d723f19d8adf86f5]
+class urt_events--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="845" x="1898.5878" y="1016.3594"/><ellipse cx="2283.8378" cy="1032.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2288.0722,1028.125 L2282.7909,1028.125 L2282.7909,1030.7969 L2287.5878,1030.7969 L2287.5878,1032.9531 L2282.7909,1032.9531 L2282.7909,1038.3594 L2280.3534,1038.3594 L2280.3534,1025.9688 L2288.0722,1025.9688 L2288.0722,1028.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="2304.3378" y="1036.5137">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1899.5878" x2="2742.5878" y1="1048.3594" y2="1048.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1899.5878" x2="2742.5878" y1="1056.3594" y2="1056.3594"/><ellipse cx="1909.5878" cy="1067.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="819" x="1918.5878" y="1070.5698">urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : void</text><ellipse cx="1909.5878" cy="1080.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="522" x="1918.5878" y="1083.3745">urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : void</text><ellipse cx="1909.5878" cy="1092.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="618" x="1918.5878" y="1096.1792">urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWait_t, timeout : urt_delay_t) : urt_osEventMask_t</text><!--MD5=[0cf29100c96c506429a28b45d347cc92]
+class urt_streams--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="213" x="886.5878" y="1022.3594"/><ellipse cx="951.3378" cy="1038.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M955.5722,1034.125 L950.2909,1034.125 L950.2909,1036.7969 L955.0878,1036.7969 L955.0878,1038.9531 L950.2909,1038.9531 L950.2909,1044.3594 L947.8534,1044.3594 L947.8534,1031.9688 L955.5722,1031.9688 L955.5722,1034.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="971.8378" y="1042.5137">urt_streams</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="887.5878" x2="1098.5878" y1="1054.3594" y2="1054.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="887.5878" x2="1098.5878" y1="1062.3594" y2="1062.3594"/><ellipse cx="897.5878" cy="1073.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="170" x="906.5878" y="1076.5698">urtPrintf (fmt : char*, ... ) : int</text><ellipse cx="897.5878" cy="1086.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="187" x="906.5878" y="1089.3745">urtErrPrintf (fmt : char*, ... ) : int</text><!--MD5=[f106a25c06a671b3918b1a8f37571a4d]
+class urt_debug--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="249" x="602.5878" y="1028.8594"/><ellipse cx="690.8378" cy="1044.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M695.0722,1040.625 L689.7909,1040.625 L689.7909,1043.2969 L694.5878,1043.2969 L694.5878,1045.4531 L689.7909,1045.4531 L689.7909,1050.8594 L687.3534,1050.8594 L687.3534,1038.4688 L695.0722,1038.4688 L695.0722,1040.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="711.3378" y="1049.0137">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="603.5878" x2="850.5878" y1="1060.8594" y2="1060.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="603.5878" x2="850.5878" y1="1068.8594" y2="1068.8594"/><ellipse cx="613.5878" cy="1079.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="223" x="622.5878" y="1083.0698">urtDebugAssert (condition : bool) : void</text><!--MD5=[89d25e87afdd75480e1ec2bd05524873]
+class urt_core_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="307.2891" id="urt_core_t" style="stroke: #A80036; stroke-width: 1.5;" width="343" x="7806.5878" y="159.3594"/><ellipse cx="7942.3378" cy="175.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7941.8222,175.9219 Q7939.9628,175.2188 7939.3066,174.4531 Q7938.6659,173.6719 7938.6659,172.3594 Q7938.6659,170.6719 7939.7441,169.7031 Q7940.8222,168.7344 7942.6972,168.7344 Q7943.5566,168.7344 7944.4003,168.9375 Q7945.2597,169.125 7946.1034,169.5156 L7946.1034,171.9063 Q7945.3222,171.3438 7944.4941,171.0625 Q7943.6816,170.7656 7942.8847,170.7656 Q7942.0097,170.7656 7941.5253,171.125 Q7941.0566,171.4844 7941.0566,172.1406 Q7941.0566,172.6563 7941.4003,173 Q7941.7441,173.3281 7942.8378,173.7344 L7943.9003,174.1406 Q7945.3847,174.6875 7946.0878,175.5938 Q7946.8066,176.5 7946.8066,177.875 Q7946.8066,179.75 7945.6972,180.6719 Q7944.5878,181.5938 7942.3378,181.5938 Q7941.4159,181.5938 7940.4941,181.375 Q7939.5722,181.1563 7938.7128,180.7344 L7938.7128,178.2031 Q7939.6816,178.8906 7940.6034,179.2344 Q7941.5253,179.5781 7942.4159,179.5781 Q7943.3222,179.5781 7943.8222,179.1719 Q7944.3222,178.75 7944.3222,178.0156 Q7944.3222,177.4531 7943.9784,177.0469 Q7943.6503,176.625 7943.0253,176.375 L7941.8222,175.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="63" x="7962.8378" y="179.5137">urt_core_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7807.5878" x2="8148.5878" y1="191.3594" y2="191.3594"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7814.5878" y="199.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="7826.5878" y="205.5698">_nodes : urt_node_t*</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7814.5878" y="212.1641"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="192" x="7826.5878" y="218.3745">_evtSource : urt_osEventSource_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7814.5878" y="224.9688"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="7826.5878" y="231.1792">_lock : urt_osMutex_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7814.5878" y="237.7734"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="122" x="7826.5878" y="243.9839">_status : urt_status_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7814.5878" y="267.3828"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="117" x="7826.5878" y="273.5933">_topics : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7807.5878" x2="7873.0878" y1="256.9805" y2="256.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7873.0878" y="260.2886">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8083.0878" x2="8148.5878" y1="256.9805" y2="256.9805"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7814.5878" y="296.9922"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="145" x="7826.5878" y="303.2026">_services : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7807.5878" x2="7885.5878" y1="286.5898" y2="286.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="7885.5878" y="289.8979">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8070.5878" x2="8148.5878" y1="286.5898" y2="286.5898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7807.5878" x2="8148.5878" y1="309.7969" y2="309.7969"/><ellipse cx="7817.5878" cy="320.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="130" x="7826.5878" y="324.0073">urtCoreInit (void) : void</text><ellipse cx="7817.5878" cy="333.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="215" x="7826.5878" y="336.812">urtCoreGetStatus (void) : urt_status_t</text><ellipse cx="7817.5878" cy="346.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="177" x="7826.5878" y="349.6167">urtCoreStartNodes (void) : void</text><ellipse cx="7817.5878" cy="359.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="309" x="7826.5878" y="362.4214">urtCoreSynchronize (node : urt_node_t*) : urt_status_t</text><ellipse cx="7817.5878" cy="372.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="317" x="7826.5878" y="375.2261">urtCoreStopNodes (reason : urt_status_t) : urt_status_t</text><ellipse cx="7817.5878" cy="384.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="304" x="7826.5878" y="388.0308">urtCoreGetEventSource (void) : urt_osEventSource_t*</text><ellipse cx="7817.5878" cy="397.625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="228" x="7826.5878" y="400.8354">urtCoreGetMutex (void) : urt_osMutex_t*</text><ellipse cx="7817.5878" cy="427.2344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="273" x="7826.5878" y="430.4448">urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7807.5878" x2="7873.0878" y1="413.832" y2="413.832"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7873.0878" y="417.1401">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8083.0878" x2="8148.5878" y1="413.832" y2="413.832"/><ellipse cx="7817.5878" cy="456.8438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="313" x="7826.5878" y="460.0542">urtCoreGetService (id : urt_serviceid_t) : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7807.5878" x2="7885.5878" y1="443.4414" y2="443.4414"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="7885.5878" y="446.7495">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8070.5878" x2="8148.5878" y1="443.4414" y2="443.4414"/><!--MD5=[a7dea26996a1231aa68629b332780450]
+class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="17439.0878" y="1028.8594"/><ellipse cx="17584.8378" cy="1044.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17585.6816,1051.6094 L17583.2284,1051.6094 L17583.2284,1041.3594 L17580.0878,1041.3594 L17580.0878,1039.2188 L17588.8222,1039.2188 L17588.8222,1041.3594 L17585.6816,1041.3594 L17585.6816,1051.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="17605.3378" y="1049.0137">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="17440.0878" x2="17894.0878" y1="1060.8594" y2="1060.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="17440.0878" x2="17894.0878" y1="1068.8594" y2="1068.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="17445.0878" y="1083.0698">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]
+class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="16790.0878" y="1028.8594"/><ellipse cx="17018.3378" cy="1044.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17019.1816,1051.6094 L17016.7284,1051.6094 L17016.7284,1041.3594 L17013.5878,1041.3594 L17013.5878,1039.2188 L17022.3222,1039.2188 L17022.3222,1041.3594 L17019.1816,1041.3594 L17019.1816,1051.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="17038.8378" y="1049.0137">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="16791.0878" x2="17403.0878" y1="1060.8594" y2="1060.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="16791.0878" x2="17403.0878" y1="1068.8594" y2="1068.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="16796.0878" y="1083.0698">urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t</text><!--MD5=[843db13320bebc2ca47f25c6a57c2ae5]
+class urt_nodeShutdownCallback_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="60.8047" id="urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="518" x="17930.0878" y="1028.8594"/><ellipse cx="18094.3378" cy="1044.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M18095.1816,1051.6094 L18092.7284,1051.6094 L18092.7284,1041.3594 L18089.5878,1041.3594 L18089.5878,1039.2188 L18098.3222,1039.2188 L18098.3222,1041.3594 L18095.1816,1041.3594 L18095.1816,1051.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="181" x="18114.8378" y="1049.0137">urt_nodeShutdownCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="17931.0878" x2="18447.0878" y1="1060.8594" y2="1060.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="17931.0878" x2="18447.0878" y1="1068.8594" y2="1068.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="506" x="17936.0878" y="1083.0698">urt_nodeShutdownCallback_t (node : urt_node_t*, cause : urt_status_t, arg : void*) : void</text><!--MD5=[d2563153d77472384a15c07b815d639f]
+class urt_node_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="231.2656" id="urt_node_t" style="stroke: #A80036; stroke-width: 1.5;" width="1541" x="16793.5878" y="552.3594"/><ellipse cx="17526.3378" cy="568.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17525.8222,568.9219 Q17523.9628,568.2188 17523.3066,567.4531 Q17522.6659,566.6719 17522.6659,565.3594 Q17522.6659,563.6719 17523.7441,562.7031 Q17524.8222,561.7344 17526.6972,561.7344 Q17527.5566,561.7344 17528.4003,561.9375 Q17529.2597,562.125 17530.1034,562.5156 L17530.1034,564.9063 Q17529.3222,564.3438 17528.4941,564.0625 Q17527.6816,563.7656 17526.8847,563.7656 Q17526.0097,563.7656 17525.5253,564.125 Q17525.0566,564.4844 17525.0566,565.1406 Q17525.0566,565.6563 17525.4003,566 Q17525.7441,566.3281 17526.8378,566.7344 L17527.9003,567.1406 Q17529.3847,567.6875 17530.0878,568.5938 Q17530.8066,569.5 17530.8066,570.875 Q17530.8066,572.75 17529.6972,573.6719 Q17528.5878,574.5938 17526.3378,574.5938 Q17525.4159,574.5938 17524.4941,574.375 Q17523.5722,574.1563 17522.7128,573.7344 L17522.7128,571.2031 Q17523.6816,571.8906 17524.6034,572.2344 Q17525.5253,572.5781 17526.4159,572.5781 Q17527.3222,572.5781 17527.8222,572.1719 Q17528.3222,571.75 17528.3222,571.0156 Q17528.3222,570.4531 17527.9784,570.0469 Q17527.6503,569.625 17527.0253,569.375 L17525.8222,568.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="67" x="17546.8378" y="572.5137">urt_node_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="16794.5878" x2="18333.5878" y1="584.3594" y2="584.3594"/><ellipse cx="16804.5878" cy="595.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="102" x="16813.5878" y="598.5698">next : urt_node_t*</text><ellipse cx="16804.5878" cy="608.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="16813.5878" y="611.3745">thread : urt_osThread_t*</text><ellipse cx="16804.5878" cy="620.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="16813.5878" y="624.1792">setupcallback : urt_nodeSetupCallback_t*</text><ellipse cx="16804.5878" cy="633.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="117" x="16813.5878" y="636.9839">setupparams : void*</text><ellipse cx="16804.5878" cy="646.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="221" x="16813.5878" y="649.7886">loopcallback : urt_nodeLoopCallback_t*</text><ellipse cx="16804.5878" cy="659.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="109" x="16813.5878" y="662.5933">loopparams : void*</text><ellipse cx="16804.5878" cy="672.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="281" x="16813.5878" y="675.3979">shutdowncallback : urt_nodeShutdownCallback_t*</text><ellipse cx="16804.5878" cy="684.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="140" x="16813.5878" y="688.2026">shutdownparams : void*</text><ellipse cx="16804.5878" cy="697.7969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="16813.5878" y="701.0073">stage : urt_nodestage_t</text><ellipse cx="16804.5878" cy="710.6016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="178" x="16813.5878" y="713.812">listener : urt_osEventListener_t</text><ellipse cx="16804.5878" cy="740.2109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="88" x="16813.5878" y="743.4214">loops : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16794.5878" x2="17356.0878" y1="726.8086" y2="726.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="416" x="17356.0878" y="730.1167">URT_CFG_PUBSUB_PROFILING == true || URT_CFG_RPC_PROFILING = true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="17772.0878" x2="18333.5878" y1="726.8086" y2="726.8086"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="16794.5878" x2="18333.5878" y1="750.0156" y2="750.0156"/><rect fill="#F24D5C" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="16801.5878" y="758.0156"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="179" x="16813.5878" y="764.2261">_main : urt_osThreadFunction_t</text><ellipse cx="16804.5878" cy="773.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1515" x="16813.5878" y="777.0308">urtNodeInit (node : urt_node_t*, thread : urt_osThread_t*, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*, shutdowncallback : urt_nodeShutdownCallback_t*, shutodwnparams : void*) : void</text><!--MD5=[e602aa6d45f270ad04f88c9ca5352b33]
+class urt_message_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="141.6328" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="406" x="12420.0878" y="1304.8594"/><ellipse cx="12572.8378" cy="1320.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12572.3222,1321.4219 Q12570.4628,1320.7188 12569.8066,1319.9531 Q12569.1659,1319.1719 12569.1659,1317.8594 Q12569.1659,1316.1719 12570.2441,1315.2031 Q12571.3222,1314.2344 12573.1972,1314.2344 Q12574.0566,1314.2344 12574.9003,1314.4375 Q12575.7597,1314.625 12576.6034,1315.0156 L12576.6034,1317.4063 Q12575.8222,1316.8438 12574.9941,1316.5625 Q12574.1816,1316.2656 12573.3847,1316.2656 Q12572.5097,1316.2656 12572.0253,1316.625 Q12571.5566,1316.9844 12571.5566,1317.6406 Q12571.5566,1318.1563 12571.9003,1318.5 Q12572.2441,1318.8281 12573.3378,1319.2344 L12574.4003,1319.6406 Q12575.8847,1320.1875 12576.5878,1321.0938 Q12577.3066,1322 12577.3066,1323.375 Q12577.3066,1325.25 12576.1972,1326.1719 Q12575.0878,1327.0938 12572.8378,1327.0938 Q12571.9159,1327.0938 12570.9941,1326.875 Q12570.0722,1326.6563 12569.2128,1326.2344 L12569.2128,1323.7031 Q12570.1816,1324.3906 12571.1034,1324.7344 Q12572.0253,1325.0781 12572.9159,1325.0781 Q12573.8222,1325.0781 12574.3222,1324.6719 Q12574.8222,1324.25 12574.8222,1323.5156 Q12574.8222,1322.9531 12574.4784,1322.5469 Q12574.1503,1322.125 12573.5253,1321.875 L12572.3222,1321.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="12593.3378" y="1325.0137">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12421.0878" x2="12825.0878" y1="1336.8594" y2="1336.8594"/><ellipse cx="12431.0878" cy="1347.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="127" x="12440.0878" y="1351.0698">next : urt_message_t*</text><ellipse cx="12431.0878" cy="1360.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="12440.0878" y="1363.8745">payload : void*</text><ellipse cx="12431.0878" cy="1373.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="12440.0878" y="1376.6792">originTime : urt_osTime_t</text><ellipse cx="12431.0878" cy="1386.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="211" x="12440.0878" y="1389.4839">numHrtConsumersLeft : unsigned int</text><ellipse cx="12431.0878" cy="1415.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="12440.0878" y="1419.0933">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12421.0878" x2="12514.5878" y1="1402.4805" y2="1402.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12514.5878" y="1405.7886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12731.5878" x2="12825.0878" y1="1402.4805" y2="1402.4805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="12421.0878" x2="12825.0878" y1="1425.6875" y2="1425.6875"/><ellipse cx="12431.0878" cy="1436.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="12440.0878" y="1439.8979">urtMessageInit (message : urt_message_t*, payload : void*) : void</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]
+class urt_publisher_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="196.0469" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="783" x="11893.5878" y="569.8594"/><ellipse cx="12234.3378" cy="585.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12233.8222,586.4219 Q12231.9628,585.7188 12231.3066,584.9531 Q12230.6659,584.1719 12230.6659,582.8594 Q12230.6659,581.1719 12231.7441,580.2031 Q12232.8222,579.2344 12234.6972,579.2344 Q12235.5566,579.2344 12236.4003,579.4375 Q12237.2597,579.625 12238.1034,580.0156 L12238.1034,582.4063 Q12237.3222,581.8438 12236.4941,581.5625 Q12235.6816,581.2656 12234.8847,581.2656 Q12234.0097,581.2656 12233.5253,581.625 Q12233.0566,581.9844 12233.0566,582.6406 Q12233.0566,583.1563 12233.4003,583.5 Q12233.7441,583.8281 12234.8378,584.2344 L12235.9003,584.6406 Q12237.3847,585.1875 12238.0878,586.0938 Q12238.8066,587 12238.8066,588.375 Q12238.8066,590.25 12237.6972,591.1719 Q12236.5878,592.0938 12234.3378,592.0938 Q12233.4159,592.0938 12232.4941,591.875 Q12231.5722,591.6563 12230.7128,591.2344 L12230.7128,588.7031 Q12231.6816,589.3906 12232.6034,589.7344 Q12233.5253,590.0781 12234.4159,590.0781 Q12235.3222,590.0781 12235.8222,589.6719 Q12236.3222,589.25 12236.3222,588.5156 Q12236.3222,587.9531 12235.9784,587.5469 Q12235.6503,587.125 12235.0253,586.875 L12233.8222,586.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="12254.8378" y="590.0137">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11894.5878" x2="12675.5878" y1="601.8594" y2="601.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="289" x="11899.5878" y="616.0698">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT : bool</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11894.5878" x2="12675.5878" y1="622.6641" y2="622.6641"/><ellipse cx="11904.5878" cy="633.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="11913.5878" y="636.8745">topic : urt_topic_t*</text><ellipse cx="11904.5878" cy="663.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="149" x="11913.5878" y="666.4839">publishAttempts : uint64_t</text><ellipse cx="11904.5878" cy="676.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="11913.5878" y="679.2886">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11894.5878" x2="12176.5878" y1="649.8711" y2="649.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12176.5878" y="653.1792">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12393.5878" x2="12675.5878" y1="649.8711" y2="649.8711"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11894.5878" x2="12675.5878" y1="685.8828" y2="685.8828"/><ellipse cx="11904.5878" cy="696.8828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="572" x="11913.5878" y="700.0933">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void</text><ellipse cx="11904.5878" cy="726.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="632" x="11913.5878" y="729.7026">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t) : urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11894.5878" x2="12131.5878" y1="713.0898" y2="713.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="307" x="12131.5878" y="716.3979">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == false</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12438.5878" x2="12675.5878" y1="713.0898" y2="713.0898"/><ellipse cx="11904.5878" cy="756.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="757" x="11913.5878" y="759.312">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11894.5878" x2="12134.0878" y1="742.6992" y2="742.6992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="302" x="12134.0878" y="746.0073">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12436.0878" x2="12675.5878" y1="742.6992" y2="742.6992"/><!--MD5=[a1b1e66ec52c209a9fa2dab315cd7630]
+class urt_topic_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="260.875" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="11456.0878" y="537.3594"/><ellipse cx="11610.8378" cy="553.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11610.3222,553.9219 Q11608.4628,553.2188 11607.8066,552.4531 Q11607.1659,551.6719 11607.1659,550.3594 Q11607.1659,548.6719 11608.2441,547.7031 Q11609.3222,546.7344 11611.1972,546.7344 Q11612.0566,546.7344 11612.9003,546.9375 Q11613.7597,547.125 11614.6034,547.5156 L11614.6034,549.9063 Q11613.8222,549.3438 11612.9941,549.0625 Q11612.1816,548.7656 11611.3847,548.7656 Q11610.5097,548.7656 11610.0253,549.125 Q11609.5566,549.4844 11609.5566,550.1406 Q11609.5566,550.6563 11609.9003,551 Q11610.2441,551.3281 11611.3378,551.7344 L11612.4003,552.1406 Q11613.8847,552.6875 11614.5878,553.5938 Q11615.3066,554.5 11615.3066,555.875 Q11615.3066,557.75 11614.1972,558.6719 Q11613.0878,559.5938 11610.8378,559.5938 Q11609.9159,559.5938 11608.9941,559.375 Q11608.0722,559.1563 11607.2128,558.7344 L11607.2128,556.2031 Q11608.1816,556.8906 11609.1034,557.2344 Q11610.0253,557.5781 11610.9159,557.5781 Q11611.8222,557.5781 11612.3222,557.1719 Q11612.8222,556.75 11612.8222,556.0156 Q11612.8222,555.4531 11612.4784,555.0469 Q11612.1503,554.625 11611.5253,554.375 L11610.3222,553.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="11631.3378" y="557.5137">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11457.0878" x2="11839.0878" y1="569.3594" y2="569.3594"/><ellipse cx="11467.0878" cy="580.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="11476.0878" y="583.5698">next : urt_topic_t*</text><ellipse cx="11467.0878" cy="593.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="11476.0878" y="596.3745">id : urt_topicid_t</text><ellipse cx="11467.0878" cy="605.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="11476.0878" y="609.1792">lock : urt_osMutex_t</text><ellipse cx="11467.0878" cy="618.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="11476.0878" y="621.9839">evtSource : urt_osEventSource_t</text><ellipse cx="11467.0878" cy="631.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="11476.0878" y="634.7886">numHrtSubscribers : unsigned int</text><ellipse cx="11467.0878" cy="644.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="11476.0878" y="647.5933">hrtReleased : urt_osCondvar_t</text><ellipse cx="11467.0878" cy="657.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="209" x="11476.0878" y="660.3979">mandatoryMessage : urt_message_t</text><ellipse cx="11467.0878" cy="669.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="11476.0878" y="673.2026">latestMessage : urt_message_t*</text><ellipse cx="11467.0878" cy="699.6016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="212" x="11476.0878" y="702.812">hrtSubscribers : urt_hrtsubscriber_t*</text><ellipse cx="11467.0878" cy="712.4063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="170" x="11476.0878" y="715.6167">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11457.0878" x2="11515.5878" y1="686.1992" y2="686.1992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="11515.5878" y="689.5073">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11780.5878" x2="11839.0878" y1="686.1992" y2="686.1992"/><ellipse cx="11467.0878" cy="742.0156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="11476.0878" y="745.2261">numMessagesPublished : uint64_t</text><ellipse cx="11467.0878" cy="754.8203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="11476.0878" y="758.0308">numMessagesDiscarded : uint64_t</text><ellipse cx="11467.0878" cy="767.625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="11476.0878" y="770.8354">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11457.0878" x2="11539.5878" y1="728.6133" y2="728.6133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="11539.5878" y="731.9214">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11756.5878" x2="11839.0878" y1="728.6133" y2="728.6133"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11457.0878" x2="11839.0878" y1="777.4297" y2="777.4297"/><ellipse cx="11467.0878" cy="788.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="358" x="11476.0878" y="791.6401">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[50a042e24f957794dab9ba3ea8701c50]
+class urt_basesubscriber_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="133.6328" id="urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="225" x="12784.5878" y="992.3594"/><ellipse cx="12827.0378" cy="1008.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12826.5222,1008.9219 Q12824.6628,1008.2188 12824.0066,1007.4531 Q12823.3659,1006.6719 12823.3659,1005.3594 Q12823.3659,1003.6719 12824.4441,1002.7031 Q12825.5222,1001.7344 12827.3972,1001.7344 Q12828.2566,1001.7344 12829.1003,1001.9375 Q12829.9597,1002.125 12830.8034,1002.5156 L12830.8034,1004.9063 Q12830.0222,1004.3438 12829.1941,1004.0625 Q12828.3816,1003.7656 12827.5847,1003.7656 Q12826.7097,1003.7656 12826.2253,1004.125 Q12825.7566,1004.4844 12825.7566,1005.1406 Q12825.7566,1005.6563 12826.1003,1006 Q12826.4441,1006.3281 12827.5378,1006.7344 L12828.6003,1007.1406 Q12830.0847,1007.6875 12830.7878,1008.5938 Q12831.5066,1009.5 12831.5066,1010.875 Q12831.5066,1012.75 12830.3972,1013.6719 Q12829.2878,1014.5938 12827.0378,1014.5938 Q12826.1159,1014.5938 12825.1941,1014.375 Q12824.2722,1014.1563 12823.4128,1013.7344 L12823.4128,1011.2031 Q12824.3816,1011.8906 12825.3034,1012.2344 Q12826.2253,1012.5781 12827.1159,1012.5781 Q12828.0222,1012.5781 12828.5222,1012.1719 Q12829.0222,1011.75 12829.0222,1011.0156 Q12829.0222,1010.4531 12828.6784,1010.0469 Q12828.3503,1009.625 12827.7253,1009.375 L12826.5222,1008.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="132" x="12847.1378" y="1012.5137">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12785.5878" x2="13008.5878" y1="1024.3594" y2="1024.3594"/><ellipse cx="12795.5878" cy="1035.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="12804.5878" y="1038.5698">topic : urt_topic_t*</text><ellipse cx="12795.5878" cy="1048.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="12804.5878" y="1051.3745">evtListener : urt_osEventListener_t</text><ellipse cx="12795.5878" cy="1060.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="175" x="12804.5878" y="1064.1792">lastMessage : urt_message_t*</text><ellipse cx="12795.5878" cy="1073.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="12804.5878" y="1076.9839">lastMessageTime : urt_osTime_t</text><ellipse cx="12795.5878" cy="1103.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="12804.5878" y="1106.5933">sumLatencies : uint64_t</text><ellipse cx="12795.5878" cy="1116.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="12804.5878" y="1119.3979">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12785.5878" x2="12788.5878" y1="1089.9805" y2="1089.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12788.5878" y="1093.2886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13005.5878" x2="13008.5878" y1="1089.9805" y2="1089.9805"/><!--MD5=[9ff46073dd541e50679ef35e851c67d6]
+class urt_nrtsubscriber_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="154.4375" id="urt_nrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="821" x="14928.5878" y="590.8594"/><ellipse cx="15275.3378" cy="606.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M15274.8222,607.4219 Q15272.9628,606.7188 15272.3066,605.9531 Q15271.6659,605.1719 15271.6659,603.8594 Q15271.6659,602.1719 15272.7441,601.2031 Q15273.8222,600.2344 15275.6972,600.2344 Q15276.5566,600.2344 15277.4003,600.4375 Q15278.2597,600.625 15279.1034,601.0156 L15279.1034,603.4063 Q15278.3222,602.8438 15277.4941,602.5625 Q15276.6816,602.2656 15275.8847,602.2656 Q15275.0097,602.2656 15274.5253,602.625 Q15274.0566,602.9844 15274.0566,603.6406 Q15274.0566,604.1563 15274.4003,604.5 Q15274.7441,604.8281 15275.8378,605.2344 L15276.9003,605.6406 Q15278.3847,606.1875 15279.0878,607.0938 Q15279.8066,608 15279.8066,609.375 Q15279.8066,611.25 15278.6972,612.1719 Q15277.5878,613.0938 15275.3378,613.0938 Q15274.4159,613.0938 15273.4941,612.875 Q15272.5722,612.6563 15271.7128,612.2344 L15271.7128,609.7031 Q15272.6816,610.3906 15273.6034,610.7344 Q15274.5253,611.0781 15275.4159,611.0781 Q15276.3222,611.0781 15276.8222,610.6719 Q15277.3222,610.25 15277.3222,609.5156 Q15277.3222,608.9531 15276.9784,608.5469 Q15276.6503,608.125 15276.0253,607.875 L15274.8222,607.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="15295.8378" y="611.0137">urt_nrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="14929.5878" x2="15748.5878" y1="622.8594" y2="622.8594"/><ellipse cx="14939.5878" cy="650.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="14948.5878" y="653.8745">minLatency : urt_delay_t</text><ellipse cx="14939.5878" cy="663.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="14948.5878" y="666.6792">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="14929.5878" x2="15230.5878" y1="637.2617" y2="637.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="15230.5878" y="640.5698">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15447.5878" x2="15748.5878" y1="637.2617" y2="637.2617"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="14929.5878" x2="15748.5878" y1="673.2734" y2="673.2734"/><ellipse cx="14939.5878" cy="684.2734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="14948.5878" y="687.4839">urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : void</text><ellipse cx="14939.5878" cy="697.0781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="715" x="14948.5878" y="700.2886">urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="14939.5878" cy="709.8828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="14948.5878" y="713.0933">urtNrtSubscriberFetchNextMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="14939.5878" cy="722.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="14948.5878" y="725.8979">urtNrtSubscriberFetchLatestMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="14939.5878" cy="735.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="14948.5878" y="738.7026">urtNrtSubscriberUnsubscribe (subscriber : urt_nrtsubscriber_t*) : urt_status_t</text><!--MD5=[5c7929572d87ccc448d875bea5da0fb1]
+class urt_srtsubscriber_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="192.8516" id="urt_srtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1044" x="13849.0878" y="571.3594"/><ellipse cx="14307.8378" cy="587.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M14307.3222,587.9219 Q14305.4628,587.2188 14304.8066,586.4531 Q14304.1659,585.6719 14304.1659,584.3594 Q14304.1659,582.6719 14305.2441,581.7031 Q14306.3222,580.7344 14308.1972,580.7344 Q14309.0566,580.7344 14309.9003,580.9375 Q14310.7597,581.125 14311.6034,581.5156 L14311.6034,583.9063 Q14310.8222,583.3438 14309.9941,583.0625 Q14309.1816,582.7656 14308.3847,582.7656 Q14307.5097,582.7656 14307.0253,583.125 Q14306.5566,583.4844 14306.5566,584.1406 Q14306.5566,584.6563 14306.9003,585 Q14307.2441,585.3281 14308.3378,585.7344 L14309.4003,586.1406 Q14310.8847,586.6875 14311.5878,587.5938 Q14312.3066,588.5 14312.3066,589.875 Q14312.3066,591.75 14311.1972,592.6719 Q14310.0878,593.5938 14307.8378,593.5938 Q14306.9159,593.5938 14305.9941,593.375 Q14305.0722,593.1563 14304.2128,592.7344 L14304.2128,590.2031 Q14305.1816,590.8906 14306.1034,591.2344 Q14307.0253,591.5781 14307.9159,591.5781 Q14308.8222,591.5781 14309.3222,591.1719 Q14309.8222,590.75 14309.8222,590.0156 Q14309.8222,589.4531 14309.4784,589.0469 Q14309.1503,588.625 14308.5253,588.375 L14307.3222,587.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="14328.3378" y="591.5137">urt_srtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="13850.0878" x2="14892.0878" y1="603.3594" y2="603.3594"/><ellipse cx="13860.0878" cy="614.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="13869.0878" y="617.5698">usefulnesscb : urt_usefulness_f*</text><ellipse cx="13860.0878" cy="627.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="13869.0878" y="630.3745">cbparams : void*</text><ellipse cx="13860.0878" cy="656.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="13869.0878" y="659.9839">minLatency : urt_delay_t</text><ellipse cx="13860.0878" cy="669.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="13869.0878" y="672.7886">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13850.0878" x2="14262.5878" y1="643.3711" y2="643.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="14262.5878" y="646.6792">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="14479.5878" x2="14892.0878" y1="643.3711" y2="643.3711"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="13850.0878" x2="14892.0878" y1="679.3828" y2="679.3828"/><ellipse cx="13860.0878" cy="690.3828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="13869.0878" y="693.5933">urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void</text><ellipse cx="13860.0878" cy="703.1875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1018" x="13869.0878" y="706.3979">urtSrtSubscriberSubscribe (subscriber : urt_srtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_usefulness_f*, cbparams : void*) : urt_status_t</text><ellipse cx="13860.0878" cy="715.9922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="13869.0878" y="719.2026">urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="13860.0878" cy="728.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="13869.0878" y="732.0073">urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="13860.0878" cy="741.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="13869.0878" y="744.812">urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float</text><ellipse cx="13860.0878" cy="754.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="13869.0878" y="757.6167">urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t</text><!--MD5=[17838fb05fe219fd399839979ec8a4a4]
+class urt_frtsubscriber_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="226.4609" id="urt_frtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="974" x="15784.0878" y="554.8594"/><ellipse cx="16209.3378" cy="570.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M16208.8222,571.4219 Q16206.9628,570.7188 16206.3066,569.9531 Q16205.6659,569.1719 16205.6659,567.8594 Q16205.6659,566.1719 16206.7441,565.2031 Q16207.8222,564.2344 16209.6972,564.2344 Q16210.5566,564.2344 16211.4003,564.4375 Q16212.2597,564.625 16213.1034,565.0156 L16213.1034,567.4063 Q16212.3222,566.8438 16211.4941,566.5625 Q16210.6816,566.2656 16209.8847,566.2656 Q16209.0097,566.2656 16208.5253,566.625 Q16208.0566,566.9844 16208.0566,567.6406 Q16208.0566,568.1563 16208.4003,568.5 Q16208.7441,568.8281 16209.8378,569.2344 L16210.9003,569.6406 Q16212.3847,570.1875 16213.0878,571.0938 Q16213.8066,572 16213.8066,573.375 Q16213.8066,575.25 16212.6972,576.1719 Q16211.5878,577.0938 16209.3378,577.0938 Q16208.4159,577.0938 16207.4941,576.875 Q16206.5722,576.6563 16205.7128,576.2344 L16205.7128,573.7031 Q16206.6816,574.3906 16207.6034,574.7344 Q16208.5253,575.0781 16209.4159,575.0781 Q16210.3222,575.0781 16210.8222,574.6719 Q16211.3222,574.25 16211.3222,573.5156 Q16211.3222,572.9531 16210.9784,572.5469 Q16210.6503,572.125 16210.0253,571.875 L16208.8222,571.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="16229.8378" y="575.0137">urt_frtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="15785.0878" x2="16757.0878" y1="586.8594" y2="586.8594"/><ellipse cx="15795.0878" cy="614.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="15804.0878" y="617.8745">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15785.0878" x2="16125.5878" y1="601.2617" y2="601.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="16125.5878" y="604.5698">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16416.5878" x2="16757.0878" y1="601.2617" y2="601.2617"/><ellipse cx="15795.0878" cy="644.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="15804.0878" y="647.4839">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15785.0878" x2="16135.5878" y1="630.8711" y2="630.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="16135.5878" y="634.1792">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16406.5878" x2="16757.0878" y1="630.8711" y2="630.8711"/><ellipse cx="15795.0878" cy="673.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="15804.0878" y="677.0933">minLatency : urt_delay_t</text><ellipse cx="15795.0878" cy="686.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="15804.0878" y="689.8979">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15785.0878" x2="16017.0878" y1="660.4805" y2="660.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="508" x="16017.0878" y="663.7886">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ||  URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16525.0878" x2="16757.0878" y1="660.4805" y2="660.4805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="15785.0878" x2="16757.0878" y1="696.4922" y2="696.4922"/><ellipse cx="15795.0878" cy="707.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="342" x="15804.0878" y="710.7026">urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : void</text><ellipse cx="15795.0878" cy="720.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="948" x="15804.0878" y="723.5073">urtFrtSubscriberSubscribe (subscriber : urt_frtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="15795.0878" cy="733.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="780" x="15804.0878" y="736.312">urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="15795.0878" cy="745.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="790" x="15804.0878" y="749.1167">urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="15795.0878" cy="758.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="540" x="15804.0878" y="761.9214">urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool</text><ellipse cx="15795.0878" cy="771.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="441" x="15804.0878" y="774.7261">urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t</text><!--MD5=[104dc879e5721421b987fcc467bc3a1d]
+class urt_hrtsubscriber_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="268.875" id="urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="12712.0878" y="533.3594"/><ellipse cx="13190.3378" cy="549.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M13189.8222,549.9219 Q13187.9628,549.2188 13187.3066,548.4531 Q13186.6659,547.6719 13186.6659,546.3594 Q13186.6659,544.6719 13187.7441,543.7031 Q13188.8222,542.7344 13190.6972,542.7344 Q13191.5566,542.7344 13192.4003,542.9375 Q13193.2597,543.125 13194.1034,543.5156 L13194.1034,545.9063 Q13193.3222,545.3438 13192.4941,545.0625 Q13191.6816,544.7656 13190.8847,544.7656 Q13190.0097,544.7656 13189.5253,545.125 Q13189.0566,545.4844 13189.0566,546.1406 Q13189.0566,546.6563 13189.4003,547 Q13189.7441,547.3281 13190.8378,547.7344 L13191.9003,548.1406 Q13193.3847,548.6875 13194.0878,549.5938 Q13194.8066,550.5 13194.8066,551.875 Q13194.8066,553.75 13193.6972,554.6719 Q13192.5878,555.5938 13190.3378,555.5938 Q13189.4159,555.5938 13188.4941,555.375 Q13187.5722,555.1563 13186.7128,554.7344 L13186.7128,552.2031 Q13187.6816,552.8906 13188.6034,553.2344 Q13189.5253,553.5781 13190.4159,553.5781 Q13191.3222,553.5781 13191.8222,553.1719 Q13192.3222,552.75 13192.3222,552.0156 Q13192.3222,551.4531 13191.9784,551.0469 Q13191.6503,550.625 13191.0253,550.375 L13189.8222,549.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="13210.8378" y="553.5137">urt_hrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12713.0878" x2="13795.0878" y1="565.3594" y2="565.3594"/><ellipse cx="12723.0878" cy="576.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="151" x="12732.0878" y="579.5698">next : urt_hrtsubscriber_t*</text><ellipse cx="12723.0878" cy="605.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="12732.0878" y="609.1792">deadlineOffset : urt_delay_t</text><ellipse cx="12723.0878" cy="618.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="12732.0878" y="621.9839">qosDeadlineTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12713.0878" x2="13108.5878" y1="592.5664" y2="592.5664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="13108.5878" y="595.8745">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13399.5878" x2="13795.0878" y1="592.5664" y2="592.5664"/><ellipse cx="12723.0878" cy="648.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="12732.0878" y="651.5933">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12713.0878" x2="13118.5878" y1="634.9805" y2="634.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="13118.5878" y="638.2886">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13389.5878" x2="13795.0878" y1="634.9805" y2="634.9805"/><ellipse cx="12723.0878" cy="677.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="12732.0878" y="681.2026">minLatency : urt_delay_t</text><ellipse cx="12723.0878" cy="690.7969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="12732.0878" y="694.0073">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12713.0878" x2="13002.0878" y1="664.5898" y2="664.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="13002.0878" y="667.8979">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13506.0878" x2="13795.0878" y1="664.5898" y2="664.5898"/><ellipse cx="12723.0878" cy="720.4063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="12732.0878" y="723.6167">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12713.0878" x2="13121.5878" y1="707.0039" y2="707.0039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="13121.5878" y="710.312">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13386.5878" x2="13795.0878" y1="707.0039" y2="707.0039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="12713.0878" x2="13795.0878" y1="730.2109" y2="730.2109"/><ellipse cx="12723.0878" cy="741.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="12732.0878" y="744.4214">urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : void</text><ellipse cx="12723.0878" cy="754.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1058" x="12732.0878" y="757.2261">urtHrtSubscriberSubscribe (subscriber : urt_hrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, rate : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="12723.0878" cy="766.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="12732.0878" y="770.0308">urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="12723.0878" cy="779.625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="12732.0878" y="782.8354">urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="12723.0878" cy="792.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="12732.0878" y="795.6401">urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t</text><!--MD5=[e60e0f8379a14e7a4a292c65add9d735]
+class urt_service_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="269.6797" id="urt_service_t" style="stroke: #A80036; stroke-width: 1.5;" width="596" x="8165.0878" y="532.8594"/><ellipse cx="8419.3378" cy="548.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8418.8222,549.4219 Q8416.9628,548.7188 8416.3066,547.9531 Q8415.6659,547.1719 8415.6659,545.8594 Q8415.6659,544.1719 8416.7441,543.2031 Q8417.8222,542.2344 8419.6972,542.2344 Q8420.5566,542.2344 8421.4003,542.4375 Q8422.2597,542.625 8423.1034,543.0156 L8423.1034,545.4063 Q8422.3222,544.8438 8421.4941,544.5625 Q8420.6816,544.2656 8419.8847,544.2656 Q8419.0097,544.2656 8418.5253,544.625 Q8418.0566,544.9844 8418.0566,545.6406 Q8418.0566,546.1563 8418.4003,546.5 Q8418.7441,546.8281 8419.8378,547.2344 L8420.9003,547.6406 Q8422.3847,548.1875 8423.0878,549.0938 Q8423.8066,550 8423.8066,551.375 Q8423.8066,553.25 8422.6972,554.1719 Q8421.5878,555.0938 8419.3378,555.0938 Q8418.4159,555.0938 8417.4941,554.875 Q8416.5722,554.6563 8415.7128,554.2344 L8415.7128,551.7031 Q8416.6816,552.3906 8417.6034,552.7344 Q8418.5253,553.0781 8419.4159,553.0781 Q8420.3222,553.0781 8420.8222,552.6719 Q8421.3222,552.25 8421.3222,551.5156 Q8421.3222,550.9531 8420.9784,550.5469 Q8420.6503,550.125 8420.0253,549.875 L8418.8222,549.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="8439.8378" y="553.0137">urt_service_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8166.0878" x2="8760.0878" y1="564.8594" y2="564.8594"/><ellipse cx="8176.0878" cy="575.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="115" x="8185.0878" y="579.0698">next : urt_service_t*</text><ellipse cx="8176.0878" cy="588.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="105" x="8185.0878" y="591.8745">id : urt_serviceid_t</text><ellipse cx="8176.0878" cy="601.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="8185.0878" y="604.6792">lock : urt_osMutex_t</text><ellipse cx="8176.0878" cy="614.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="8185.0878" y="617.4839">requestQueue_front : urt_baserequest_t*</text><ellipse cx="8176.0878" cy="627.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="8185.0878" y="630.2886">requestQueue_hrtBack : urt_hrtrequest_t*</text><ellipse cx="8176.0878" cy="639.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="256" x="8185.0878" y="643.0933">requestQueue_fsrtBack : urt_baserequest_t*</text><ellipse cx="8176.0878" cy="652.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="8185.0878" y="655.8979">requestQueue_back : urt_baserequest_t*</text><ellipse cx="8176.0878" cy="665.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="8185.0878" y="668.7026">evtSource : urt_osEventSource_t</text><ellipse cx="8176.0878" cy="678.2969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="8185.0878" y="681.5073">evtListener : urt_osEventListener_t</text><ellipse cx="8176.0878" cy="707.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="8185.0878" y="711.1167">numCalls : uint64_t</text><ellipse cx="8176.0878" cy="720.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="8185.0878" y="723.9214">numOwnershipLost : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8166.0878" x2="8367.0878" y1="694.5039" y2="694.5039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="8367.0878" y="697.812">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8559.0878" x2="8760.0878" y1="694.5039" y2="694.5039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8166.0878" x2="8760.0878" y1="730.5156" y2="730.5156"/><ellipse cx="8176.0878" cy="741.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="412" x="8185.0878" y="744.7261">urtServiceInit (service : urt_service_t*, id : urt_serviceid_t) : urt_status_t</text><ellipse cx="8176.0878" cy="754.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="549" x="8185.0878" y="757.5308">urtServiceDispatch (service : urt_service_t*, payload : void*, bytes : size_t) : urt_baserequest_t*</text><ellipse cx="8176.0878" cy="767.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="552" x="8185.0878" y="770.3354">urtServiceAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="8176.0878" cy="779.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="8185.0878" y="783.1401">urtServiceTryAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="8176.0878" cy="792.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="365" x="8185.0878" y="795.9448">urtServiceRespond (request : urt_baserequest_t*) : urt_status_t</text><!--MD5=[7294e1cfaeb111bef046bc5d07a96458]
+class urt_baserequest_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="197.6563" id="urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="224" x="8814.0878" y="568.8594"/><ellipse cx="8864.3378" cy="584.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8863.8222,585.4219 Q8861.9628,584.7188 8861.3066,583.9531 Q8860.6659,583.1719 8860.6659,581.8594 Q8860.6659,580.1719 8861.7441,579.2031 Q8862.8222,578.2344 8864.6972,578.2344 Q8865.5566,578.2344 8866.4003,578.4375 Q8867.2597,578.625 8868.1034,579.0156 L8868.1034,581.4063 Q8867.3222,580.8438 8866.4941,580.5625 Q8865.6816,580.2656 8864.8847,580.2656 Q8864.0097,580.2656 8863.5253,580.625 Q8863.0566,580.9844 8863.0566,581.6406 Q8863.0566,582.1563 8863.4003,582.5 Q8863.7441,582.8281 8864.8378,583.2344 L8865.9003,583.6406 Q8867.3847,584.1875 8868.0878,585.0938 Q8868.8066,586 8868.8066,587.375 Q8868.8066,589.25 8867.6972,590.1719 Q8866.5878,591.0938 8864.3378,591.0938 Q8863.4159,591.0938 8862.4941,590.875 Q8861.5722,590.6563 8860.7128,590.2344 L8860.7128,587.7031 Q8861.6816,588.3906 8862.6034,588.7344 Q8863.5253,589.0781 8864.4159,589.0781 Q8865.3222,589.0781 8865.8222,588.6719 Q8866.3222,588.25 8866.3222,587.5156 Q8866.3222,586.9531 8865.9784,586.5469 Q8865.6503,586.125 8865.0253,585.875 L8863.8222,585.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="8884.8378" y="589.0137">urt_baserequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8815.0878" x2="9037.0878" y1="600.8594" y2="600.8594"/><ellipse cx="8825.0878" cy="611.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="147" x="8834.0878" y="615.0698">prev : urt_baserequest_t*</text><ellipse cx="8825.0878" cy="624.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="8834.0878" y="627.8745">next : urt_baserequest_t*</text><ellipse cx="8825.0878" cy="637.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="8834.0878" y="640.6792">lock : urt_osMutex_t</text><ellipse cx="8825.0878" cy="650.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="126" x="8834.0878" y="653.4839">owner : urt_service_t*</text><ellipse cx="8825.0878" cy="663.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="8834.0878" y="666.2886">submissionTime : urt_osTime_t</text><ellipse cx="8825.0878" cy="675.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="8834.0878" y="679.0933">payload : void*</text><ellipse cx="8825.0878" cy="688.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="8834.0878" y="691.8979">evtSource : urt_osEventSource_t</text><ellipse cx="8825.0878" cy="701.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="8834.0878" y="704.7026">evtListener : urt_osEventListener_t</text><ellipse cx="8825.0878" cy="731.1016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="8834.0878" y="734.312">sumLatencies : uint64_t</text><ellipse cx="8825.0878" cy="743.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="8834.0878" y="747.1167">numCalls : uint64_t</text><ellipse cx="8825.0878" cy="756.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="108" x="8834.0878" y="759.9214">numFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8815.0878" x2="8830.0878" y1="717.6992" y2="717.6992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="8830.0878" y="721.0073">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; 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stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8796.5878" x2="9003.0878" y1="245.8711" y2="245.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="9003.0878" y="249.1792">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9249.0878" x2="9455.5878" y1="245.8711" y2="245.8711"/><ellipse cx="8806.5878" cy="288.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="8815.5878" y="292.0933">qosTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8796.5878" x2="8862.0878" y1="275.4805" y2="275.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="528" x="8862.0878" y="278.7886">URT_CFG_RPC_QOS_DEADLINECHECKS == true || URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9390.0878" x2="9455.5878" y1="275.4805" y2="275.4805"/><ellipse cx="8806.5878" cy="318.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="8815.5878" y="321.7026">minLatency : urt_delay_t</text><ellipse cx="8806.5878" cy="331.2969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="8815.5878" y="334.5073">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8796.5878" x2="8899.0878" y1="305.0898" y2="305.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="454" x="8899.0878" y="308.3979">URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9353.0878" x2="9455.5878" y1="305.0898" y2="305.0898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8796.5878" x2="9455.5878" y1="341.1016" y2="341.1016"/><ellipse cx="8806.5878" cy="352.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="8815.5878" y="355.312">urtHrtRequestInit (request : urt_hrtrequest_t*) : void</text><ellipse cx="8806.5878" cy="364.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="367" x="8815.5878" y="368.1167">urtHrtRequestAcquire (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8806.5878" cy="377.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="385" x="8815.5878" y="380.9214">urtHrtRequestTryAcquire (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8806.5878" cy="390.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="8815.5878" y="393.7261">urtHrtRequestRelease (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8806.5878" cy="403.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="635" x="8815.5878" y="406.5308">urtHrtRequestSubmit (request : urt_hrtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t</text><ellipse cx="8806.5878" cy="416.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="8815.5878" y="419.3354">urtHrtRequestRetrieve (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8806.5878" cy="445.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="428" x="8815.5878" y="448.9448">urtHrtRequestGetMaxJitter (request : urt_hrtrequest_t*) : urt_delay_t* const</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8796.5878" x2="9003.0878" y1="432.332" y2="432.332"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="9003.0878" y="435.6401">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9249.0878" x2="9455.5878" y1="432.332" y2="432.332"/><!--MD5=[e0c5ef58bc626bdfda028ecb031e1681]
+link urt_usefulness_f to urt_delay_t--><path d="M7076.9987,1089.9276 C7045.0724,1130.1488 6983.6801,1200.4556 6916.0878,1240.8594 C6808.0584,1305.4349 6666.319,1341.7492 6573.7643,1360.0737 " fill="none" id="urt_usefulness_f-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6568.8439,1361.0401,6578.4461,1363.2304,6573.7501,1360.0764,6576.9042,1355.3804,6568.8439,1361.0401" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5fff9a13948f7f5b5e6ca18c1c7a9716]
+link urt_nodestage_t to urt_config--><path d="M7445.0697,1138.4885 C7465.9151,1175.9745 7496.1708,1217.5535 7536.0878,1240.8594 C7949.8072,1482.4131 11445.2887,1637.8532 12216.7975,1669.4075 " fill="none" id="urt_nodestage_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12221.8547,1669.6141,12213.0255,1665.2499,12216.8589,1669.4099,12212.6989,1673.2433,12221.8547,1669.6141" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7db439499cb1afd557b9be4c8c52b2ba]
+link urt_topicid_t to urt_config--><path d="M6820.9443,1138.7583 C6844.9214,1174.6831 6877.482,1214.8312 6916.0878,1240.8594 C7219.909,1445.6969 7348.2938,1404.8011 7710.0878,1462.8594 C8608.527,1607.0349 11521.5063,1661.8802 12216.9747,1673.091 " fill="none" id="urt_topicid_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12222.041,1673.1725,12213.1066,1669.028,12217.0416,1673.0919,12212.9777,1677.0269,12222.041,1673.1725" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e851a4e79ca88682282ceaaad2100c63]
+link urt_serviceid_t to urt_config--><path d="M6551.4091,1138.633 C6574.5918,1172.6505 6604.425,1211.2831 6637.0878,1240.8594 C6780.0908,1370.349 6825.1293,1408.0167 7010.0878,1462.8594 C7520.7409,1614.275 11401.0236,1664.8077 12216.8596,1673.8099 " fill="none" id="urt_serviceid_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12221.9094,1673.8655,12212.9541,1669.7665,12216.9097,1673.8103,12212.8658,1677.766,12221.9094,1673.8655" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[844001065b3bef53527c5dd4ba0c22e5]
+link urt_delay_t to urt_config--><path d="M6568.7375,1415.4771 C6614.163,1433.3994 6670.5574,1452.7882 6723.0878,1462.8594 C7275.8232,1568.8306 11376.5114,1655.6379 12216.8716,1672.4237 " fill="none" id="urt_delay_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12222.0719,1672.5275,12213.1536,1668.3485,12217.0729,1672.4276,12212.9938,1676.3469,12222.0719,1672.5275" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7766572fa0c619a5409829048dc0b6d6]
+link urt_osCondvar_t to urt_osCondvarWaitStatus_t--><path d="M5292.0878,1128.4256 C5292.0878,1188.6874 5292.0878,1274.5674 5292.0878,1327.6772 " fill="none" id="urt_osCondvar_t-&gt;urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="5292.0878,1332.7126,5296.0878,1323.7126,5292.0878,1327.7126,5288.0878,1323.7126,5292.0878,1332.7126" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9b2507ea88616aeae65e3c4d63560016]
+link urt_osCondvar_t to urt_osMutex_t--><path d="M4936.9511,1059.3594 C4927.1189,1059.3594 4917.2868,1059.3594 4907.4546,1059.3594 " fill="none" id="urt_osCondvar_t-&gt;urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4902.3129,1059.3594,4911.3129,1063.3594,4907.3129,1059.3594,4911.3129,1055.3594,4902.3129,1059.3594" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[83094e108045c8f9585007cdb3b7cb2e]
+link urt_osTimer_t to urt_osTimerCallback_t--><path d="M4200.0878,1115.5786 C4200.0878,1180.4544 4200.0878,1285.2128 4200.0878,1339.9456 " fill="none" id="urt_osTimer_t-&gt;urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4200.0878,1345.0831,4204.0878,1336.0831,4200.0878,1340.0831,4196.0878,1336.0831,4200.0878,1345.0831" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8d8c3240b5b2b5edf6544088e583ffa5]
+link urt_osThread_t to urt_osThreadPrio_t--><path d="M3420.8749,1241.176 C3422.3139,1260.1533 3423.7179,1278.6682 3425.0015,1295.5957 " fill="none" id="urt_osThread_t-&gt;urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="3425.3959,1300.7969,3428.7038,1291.5201,3425.0177,1295.8112,3420.7267,1292.1252,3425.3959,1300.7969" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d7d1d43fd970fb07a484642bc19fcb13]
+link urt_osThread_t to urt_osThreadFunction_t--><path d="M3121.9417,1240.9464 C3060.7057,1279.9428 3002.5051,1317.0062 2962.6568,1342.3824 " fill="none" id="urt_osThread_t-&gt;urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2958.3747,1345.1093,2968.1147,1343.6489,2962.5921,1342.4235,2963.8175,1336.901,2958.3747,1345.1093" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6564761b32ad7eeb5abb8896c72cfca5]
+link urt_osThread_t to urt_osThreadTerminateSignal_t--><path d="M3567.3622,1241.176 C3598.3716,1276.3533 3627.9801,1309.9414 3649.8725,1334.7764 " fill="none" id="urt_osThread_t-&gt;urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="3653.3189,1338.686,3650.3679,1329.2896,3650.0125,1334.9353,3644.3668,1334.5799,3653.3189,1338.686" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[92ba23225d8de8f8080583fedda5e6f8]
+link urt_osThread_t to urt_osThreadState_t--><path d="M3278.9833,1241.176 C3263.7323,1262.8215 3248.9052,1283.8653 3235.678,1302.6383 " fill="none" id="urt_osThread_t-&gt;urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="3232.7049,1306.8581,3241.1585,1301.8047,3235.5847,1302.7707,3234.6187,1297.1969,3232.7049,1306.8581" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[78b286ab2177e5f7b31e6e832d821818]
+link urt_osThread_t to urt_osTime_t--><path d="M3646.3509,877.7838 C3704.1858,846.7789 3768.0334,822.1431 3832.5878,814.8594 C3857.6096,812.0362 5620.5661,812.0362 5645.5878,814.8594 C5750.1039,826.652 5821.402,943.5707 5854.3142,1011.3633 " fill="none" id="urt_osThread_t-&gt;urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="5856.6175,1016.1574,5856.3255,1006.3128,5854.4522,1011.6505,5849.1145,1009.7773,5856.6175,1016.1574" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[659af6ab57e6a38ebfd5c07c5616787c]
+link urt_osEventListener_t to urt_osEventFlags_t--><path d="M1953.0878,1419.0894 C1953.0878,1480.9523 1953.0878,1593.1002 1953.0878,1646.1054 " fill="none" id="urt_osEventListener_t-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1953.0878,1651.3529,1957.0878,1642.3529,1953.0878,1646.3529,1949.0878,1642.3529,1953.0878,1651.3529" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[eac11679f26c499aa1c571e1f795945d]
+link urt_osEventSource_t to urt_osEventFlags_t--><path d="M1465.822,1412.8844 C1579.5085,1474.1237 1804.0195,1595.0609 1903.5633,1648.682 " fill="none" id="urt_osEventSource_t-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1908.208,1651.184,1902.1815,1643.3942,1903.8061,1648.8127,1898.3875,1650.4373,1908.208,1651.184" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0259cdb10c6c32168d1d17d25519d939]
+link urt_events to urt_osEventSource_t--><path d="M2195.5115,1102.3734 C2014.6343,1164.3297 1683.4942,1277.7559 1509.9685,1337.1941 " fill="none" id="urt_events-&gt;urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1505.1354,1338.8496,1514.946,1339.7173,1509.8656,1337.2293,1512.3536,1332.149,1505.1354,1338.8496" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0ce043e0e9532fc393f3f8836f5de19a]
+link urt_events to urt_osEventListener_t--><path d="M2271.0747,1102.3734 C2202.1912,1161.617 2078.5884,1267.9221 2007.4731,1329.0851 " fill="none" id="urt_events-&gt;urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2003.2865,1332.6858,2012.7182,1329.8497,2007.0773,1329.4254,2007.5016,1323.7845,2003.2865,1332.6858" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[430bebba9cd89d3ba8f63b2078968bca]
+link urt_events to urt_osEventMask_t--><path d="M2360.2285,1102.3734 C2418.0181,1165.8817 2525.0187,1283.471 2577.8749,1341.5577 " fill="none" id="urt_events-&gt;urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2581.277,1345.2965,2578.1783,1335.9478,2577.9119,1341.5984,2572.2613,1341.332,2581.277,1345.2965" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b1b185abc2161e087cab32ae7fdb2c40]
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+link urt_events to urt_osEventWait_t--><path d="M2320.4083,1102.3734 C2319.4799,1161.1449 2317.8197,1266.231 2316.85,1327.6145 " fill="none" id="urt_events-&gt;urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2316.7699,1332.6858,2320.9116,1323.7501,2316.8489,1327.6864,2312.9126,1323.6237,2316.7699,1332.6858" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ea4c3dac10af85084086a365fe38a187]
+link urt_osTime_t to urt_delay_t--><path d="M5917.9796,1102.6378 C5959.9963,1143.0152 6027.4075,1202.6151 6095.0878,1240.8594 C6186.983,1292.7868 6302.3844,1330.1496 6382.3693,1352.2233 " fill="none" id="urt_osTime_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6387.5859,1353.6551,6379.9658,1347.4154,6382.7643,1352.3315,6377.8481,1355.13,6387.5859,1353.6551" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5f656ccbf337bb70e2692ec6599b22aa]
+link urt_osCondvar_t to urt_delay_t--><path d="M5411.8141,1128.4129 C5483.4662,1166.9217 5577.5463,1212.6648 5666.0878,1240.8594 C5917.2372,1320.8338 6227.9799,1355.645 6382.084,1368.8578 " fill="none" id="urt_osCondvar_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6387.4995,1369.3187,6378.8713,1364.5696,6382.5175,1368.8945,6378.1926,1372.5408,6387.4995,1369.3187" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[2da0e339f7ca878d257c4a5336e8cad5]
+link urt_osThread_t to urt_delay_t--><path d="M3796.3281,1236.2877 C3802.598,1237.9028 3808.8539,1239.4293 3815.0878,1240.8594 C4215.5674,1332.7346 5252.9971,1275.3554 5663.0878,1300.8594 C5923.601,1317.061 6229.8874,1348.6287 6382.1181,1365.1679 " fill="none" id="urt_osThread_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6387.4681,1365.7499,6378.9536,1360.7998,6382.4974,1365.209,6378.0882,1368.7528,6387.4681,1365.7499" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8bf77663ad208115c32fd5300d37f092]
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+link urt_nrtsubscriber_t to urt_basesubscriber_t--><path d="M15135.9928,744.9449 C15065.6274,769.1711 14985.6832,793.974 14911.0878,810.8594 C14213.0648,968.8639 13354.6534,1032.5836 13029.9356,1052.1604 " fill="none" id="urt_nrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="13030.1674,1059.1589,13009.7868,1053.3595,13029.3356,1045.1836,13030.1674,1059.1589" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6d81edfa5aa102b898ad487ae19b49f9]
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+link urt_hrtsubscriber_t to urt_basesubscriber_t--><path d="M13131.2287,802.5915 C13078.1983,860.7466 13017.888,926.8853 12971.7591,977.472 " fill="none" id="urt_hrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="12976.8769,982.2485,12958.2285,992.3102,12966.5321,972.8153,12976.8769,982.2485" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ea2ec5c5272e65289dabade75a749f58]
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+reverse link urt_nrtrequest_t to urt_delay_t--><path d="M10333.0582,403.0768 C10287.7194,428.7152 10235.5098,453.2241 10184.0878,466.3594 C10116.6959,483.5741 7748.0425,459.5207 7680.0878,474.3594 C7327.1093,551.4366 7292.6978,732.113 6940.0878,810.8594 C6922.953,814.686 6320.4237,806.3664 6308.0878,818.8594 C6242.1979,885.5886 6267.3124,1156.4104 6308.0878,1240.8594 C6325.1304,1276.1559 6356.3825,1305.0542 6387.4863,1326.9276 " fill="none" id="urt_nrtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="10344.4323,396.5405,10337.2371,396.0619,10334.0279,402.5195,10341.2231,402.9981,10344.4323,396.5405" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10325.152" y="416.7233">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6359.4696" y="1319.5097">0,2</text><!--MD5=[8aa30e666b650ddcf5fdd53ac0c33b2b]
+link urt_nrtrequest_t to urt_config--><path d="M10589.8472,396.4053 C10637.95,424.4215 10694.9938,452.1403 10751.0878,466.3594 C10764.5324,469.7674 18730.2853,464.5471 18740.0878,474.3594 C18817.7128,552.0622 18816.4467,1383.912 18740.0878,1462.8594 C18628.3192,1578.4169 13469.335,1659.2644 12517.2877,1673.2132 " fill="none" id="urt_nrtrequest_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12512.0909,1673.2893,12521.1486,1677.1569,12517.0904,1673.216,12521.0313,1669.1578,12512.0909,1673.2893" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4d5eda3ecbcd41d6d2b940fb4748a5e6]
+link urt_nrtrequest_t to urt_status_t--><path d="M10344.4303,396.5329 C10296.572,424.471 10239.8657,452.1039 10184.0878,466.3594 C10168.4784,470.3488 7877.1489,464.9265 7864.0878,474.3594 C7725.7395,574.2762 7683.6793,776.4182 7671.6421,914.8399 " fill="none" id="urt_nrtrequest_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7671.1925,920.1476,7675.9381,911.5174,7671.6146,915.1654,7667.9666,910.842,7671.1925,920.1476" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[094c3c4918275dedd163d58d6c00e2be]
+reverse link urt_srtrequest_t to urt_delay_t--><path d="M9646.8396,408.372 C9592.7085,432.0992 9532.2937,454.2102 9474.0878,466.3594 C9442.3957,472.9745 7173.8291,464.2041 7143.0878,474.3594 C6903.5859,553.4784 6925.0146,730.02 6686.0878,810.8594 C6674.2717,814.8573 6245.8295,809.9606 6237.0878,818.8594 C6171.3702,885.7583 6189.6727,1159.9516 6237.0878,1240.8594 C6269.4588,1296.0962 6333.6068,1330.4355 6387.5863,1350.6512 " fill="none" id="urt_srtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9659.0099,402.9644,9651.9026,401.7453,9648.0437,407.837,9655.151,409.0561,9659.0099,402.9644" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9636.5941" y="423.1177">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6359.5776" y="1345.1238">0,1</text><!--MD5=[421371e2a1201d214a6175d8cede910e]
+link urt_srtrequest_t to urt_config--><path d="M9999.1466,403.0566 C10056.2958,428.7956 10121.4637,453.3692 10184.0878,466.3594 C10198.5117,469.3513 18658.6764,463.9382 18669.0878,474.3594 C18746.7151,552.0599 18745.4319,1383.8977 18669.0878,1462.8594 C18558.6586,1577.075 13463.9052,1658.9207 12517.5163,1673.1523 " fill="none" id="urt_srtrequest_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12512.35,1673.2299,12521.4092,1677.0939,12517.3494,1673.1546,12521.2888,1669.0948,12512.35,1673.2299" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[74f0decf3779c06ec30af8770fc7e1ae]
+link urt_srtrequest_t to urt_status_t--><path d="M9659.007,402.9505 C9601.8564,428.683 9536.6933,453.2795 9474.0878,466.3594 C9459.8058,469.3433 7383.3851,464.0228 7373.0878,474.3594 C7267.5376,580.3123 7269.9607,702.5466 7373.0878,810.8594 C7385.5915,823.9918 7520.7144,809.2438 7536.0878,818.8594 C7572.3691,841.5522 7599.4428,877.9404 7619.303,915.6156 " fill="none" id="urt_srtrequest_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7621.6893,920.2157,7621.0956,910.3847,7619.3869,915.7773,7613.9942,914.0686,7621.6893,920.2157" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4360c48b38d2a92e1c3ebeee4ab98bfc]
+link urt_srtrequest_t to urt_usefulness_f--><path d="M9659.0082,402.9561 C9601.8577,428.6889 9536.6943,453.2843 9474.0878,466.3594 C9459.2142,469.4657 7298.3358,465.3671 7286.0878,474.3594 C7193.9283,542.022 7125.5947,907.2015 7105.8867,1023.6545 " fill="none" id="urt_srtrequest_t-&gt;urt_usefulness_f" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7105.0401,1028.6814,7110.4793,1020.4707,7105.8705,1023.7508,7102.5904,1019.142,7105.0401,1028.6814" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e590cea536a036f5956f75e03ef95bbf]
+reverse link urt_frtrequest_t to urt_delay_t--><path d="M10806.3322,451.5302 C10787.5589,457.346 10768.7148,462.3866 10750.0878,466.3594 C10709.9624,474.9173 7835.0698,461.5649 7796.0878,474.3594 C7555.413,553.353 7576.5417,731.1954 7336.0878,810.8594 C7323.3515,815.079 6379.5358,809.3329 6370.0878,818.8594 C6304.0521,885.4443 6339.0468,1152.368 6370.0878,1240.8594 C6378.7313,1265.5001 6393.9733,1288.9845 6410.3305,1309.2527 " fill="none" id="urt_frtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="10818.9834,447.4923,10812.0512,445.506,10807.5516,451.141,10814.4837,453.1273,10818.9834,447.4923" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10795.6105" y="467.3391">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6377.607" y="1298.2308">0..4</text><!--MD5=[b1f137a561f49721d911648e5542119f]
+link urt_frtrequest_t to urt_config--><path d="M11424.1765,313.5244 C12878.7744,317.2389 18679.9415,340.439 18811.0878,474.3594 C18964.7816,631.3042 18963.8345,1304.9927 18811.0878,1462.8594 C18697.9933,1579.7449 13476.0074,1659.5838 12517.4134,1673.2677 " fill="none" id="urt_frtrequest_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12512.1812,1673.3423,12521.2373,1677.2136,12517.1807,1673.271,12521.1233,1669.2144,12512.1812,1673.3423" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d63fe507f799090eb2c242d7ab41013e]
+link urt_frtrequest_t to urt_status_t--><path d="M10818.9814,447.483 C10796.0437,455.0177 10772.9028,461.4891 10750.0878,466.3594 C10714.7587,473.9012 8181.728,458.8787 8149.0878,474.3594 C7957.5231,565.2154 7816.448,773.7121 7738.2607,915.6039 " fill="none" id="urt_frtrequest_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7735.7358,920.2024,7743.5736,914.2384,7738.1422,915.8195,7736.5611,910.3882,7735.7358,920.2024" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bea47d1dd6f09b5135df7519b40184db]
+reverse link urt_hrtrequest_t to urt_delay_t--><path d="M8819.5077,459.5425 C8810.3425,462.0599 8801.1908,464.3446 8792.0878,466.3594 C8702.6947,486.1453 7234.2972,458.7103 7144.0878,474.3594 C6690.0244,553.1282 6432.3749,442.7353 6166.0878,818.8594 C6057.7138,971.9351 6063.1125,1084.1011 6166.0878,1240.8594 C6214.7752,1314.9756 6313.786,1348.5953 6387.278,1363.7238 " fill="none" id="urt_hrtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8832.0109,455.9692,8825.1427,453.7719,8820.4729,459.2667,8827.341,461.4639,8832.0109,455.9692" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8817.0538" y="475.8136">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6355.7279" y="1359.3599">0..4</text><!--MD5=[50bfbddabe3b6f3afe991f5d307785f8]
+reverse link urt_hrtrequest_t to urt_osTimer_t--><path d="M8819.5091,459.5488 C8810.3435,462.0643 8801.1913,464.347 8792.0878,466.3594 C8742.0455,477.4219 6998.1955,470.5359 6947.0878,474.3594 C5890.4753,553.4076 5583.4336,455.5888 4588.0878,818.8594 C4467.8535,862.7413 4344.9034,946.9716 4270.5155,1003.1777 " fill="none" id="urt_hrtrequest_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8832.0129,455.9778,8825.1451,453.7793,8820.4743,459.2733,8827.3421,461.4717,8832.0129,455.9778" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8780.2331" y="472.9969">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="4257.8801" y="992.49">0,1</text><!--MD5=[2663060494b35c1af191cf8ba65e9057]
+link urt_hrtrequest_t to urt_config--><path d="M9432.1702,455.9078 C9446.1852,459.9017 9460.1972,463.4255 9474.0878,466.3594 C9489.3586,469.5848 18451.3459,465.346 18464.0878,474.3594 C18604.8966,573.9655 18682.1942,1097.6392 18586.0878,1240.8594 C18441.0389,1457.0153 18298.513,1407.8103 18044.0878,1462.8594 C17490.6521,1582.6044 13361.7671,1658.5148 12517.5795,1672.8743 " fill="none" id="urt_hrtrequest_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12512.3557,1672.9631,12521.4224,1676.8095,12517.355,1672.8781,12521.2864,1668.8107,12512.3557,1672.9631" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3d55577c6a64a095d4d92af2794b0aa7]
+link urt_hrtrequest_t to urt_status_t--><path d="M8832.0099,455.9647 C8818.6715,459.9238 8805.3281,463.427 8792.0878,466.3594 C8781.5039,468.7035 7238.7335,466.6744 7231.0878,474.3594 C7125.6074,580.3818 7126.7317,703.7302 7231.0878,810.8594 C7242.9153,823.0012 7521.6155,810.0355 7536.0878,818.8594 C7572.821,841.2559 7600.0659,877.7895 7619.945,915.6954 " fill="none" id="urt_hrtrequest_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7622.3329,920.324,7621.7614,910.4917,7620.0405,915.8805,7614.6518,914.1596,7622.3329,920.324" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[85137379eadac9ac066ccd1aa3005a20]
+reverse link urt_service_t to urt_serviceid_t--><path d="M8152.1505,724.9461 C7963.1669,756.8679 7716.5743,793.6122 7496.0878,810.8594 C7472.2984,812.7203 6657.6049,806.6753 6637.0878,818.8594 C6578.4223,853.6981 6543.5171,924.4638 6524.1151,980.2569 " fill="none" id="urt_service_t&lt;-urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8165.0851,722.7537,8158.501,719.8127,8153.2539,724.7593,8159.838,727.7002,8165.0851,722.7537" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8149.0632" y="721.0855">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6517.6848" y="969.3261">1</text><!--MD5=[bfc39859b663e58a9d342532110a4ed9]
+reverse link urt_service_t to urt_osMutex_t--><path d="M8151.8374,705.0397 C7842.1359,740.102 7353.0583,790.2582 6928.0878,810.8594 C6914.1666,811.5343 4933.4342,812.3922 4921.0878,818.8594 C4844.3891,859.0353 4795.4714,951.908 4771.2606,1009.7729 " fill="none" id="urt_service_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8165.0709,703.5383,8158.6582,700.2402,8153.1474,704.8911,8159.5601,708.1892,8165.0709,703.5383" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8149.0486" y="701.3597">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4770.8785" y="999.1952">1</text><!--MD5=[1bad46d95b358cb94878caad932de3eb]
+reverse link urt_service_t to urt_osEventSource_t--><path d="M8151.9078,670.6216 C6656.3355,684.2531 276.032,746.6061 205.0878,818.8594 C73.6839,952.688 80.151,1100.9742 205.0878,1240.8594 C265.2202,1308.1865 790.6292,1346.239 1123.5208,1363.7887 " fill="none" id="urt_service_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8164.9643,670.5027,8158.9281,666.5575,8152.9648,670.612,8159.001,674.5572,8164.9643,670.5027" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8148.9391" y="682.845">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1107.2805" y="1360.2823">1</text><!--MD5=[7ece8bae7b00261083263672987da7c8]
+reverse link urt_service_t to urt_osEventListener_t--><path d="M8151.6099,670.6989 C6667.2503,684.5873 380.0548,747.5846 310.0878,818.8594 C178.6997,952.7035 180.3826,1105.3838 310.0878,1240.8594 C363.0805,1296.2096 1612.4344,1288.6769 1688.0878,1300.8594 C1733.0515,1308.0999 1781.2415,1320.3352 1824.0323,1332.8461 " fill="none" id="urt_service_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8164.8378,670.5753,8158.8007,666.6316,8152.8383,670.6875,8158.8755,674.6312,8164.8378,670.5753" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8148.8093" y="667.5211">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1794.8266" y="1321.84">1</text><!--MD5=[33249c42c81fffc5b10022c232aa2b33]
+link urt_service_t to urt_config--><path d="M8756.7257,802.8813 C8764.2262,805.6381 8771.6887,808.3033 8779.0878,810.8594 C9929.9978,1208.4495 10255.2887,1181.9277 11440.0878,1462.8594 C11713.6559,1527.726 12033.4294,1600.317 12216.9044,1641.6573 " fill="none" id="urt_service_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12222.0227,1642.8104,12214.122,1636.93,12217.145,1641.7114,12212.3636,1644.7344,12222.0227,1642.8104" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5471b15d17b5493f5e528354308bf7b4]
+link urt_service_t to urt_status_t--><path d="M8188.9375,802.8655 C8051.9026,870.3487 7893.1581,948.5229 7787.2833,1000.6613 " fill="none" id="urt_service_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7782.5968,1002.9692,7792.438,1002.5814,7787.0824,1000.7602,7788.9036,995.4045,7782.5968,1002.9692" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b20e4c090fab6eb99d32d929022c00f1]
 @startuml
 
 title **µRtWare**\nOverview\n
@@ -407,6 +407,7 @@ title **µRtWare**\nOverview\n
     + {method} urtThreadSleepUntil (time : urt_osTime_t) : void
     + {method} urtThreadExit (void) : void
     + {method} urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void
+    + {method} urtThreadShouldTerminate (void) : bool
     + {method} urtThreadJoin (thread : urt_osThread_t*) : void
     + {method} urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t
     + {method} urtThreadGetSelf (void) : urt_osThread_t*
@@ -450,14 +451,14 @@ title **µRtWare**\nOverview\n
 
   package "streams" <<Rectangle>> {
     class urt_streams <<F,E0E0E0>> {
-    + {method} urtPrintf(fmt : char*, ... ) : int
-    + {method} urtErrPrintf(fmt : char*, ... ) : int
+    + {method} urtPrintf (fmt : char*, ... ) : int
+    + {method} urtErrPrintf (fmt : char*, ... ) : int
   }
 }
 
   package "debug" <<Rectangle>> {
     class urt_debug <<F,E0E0E0>> {
-    + {method} urtDebugAssert(condition : bool) : void
+    + {method} urtDebugAssert (condition : bool) : void
   }
 }
 
@@ -480,8 +481,8 @@ title **µRtWare**\nOverview\n
   + {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*
+  + {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 ..
@@ -708,7 +709,7 @@ title **µRtWare**\nOverview\n
     + {method} urtFrtRequestRetrieve (request : urt_frtrequest_t*) : urt_status_t
     + {method} urtDrtCalculateValidity (request : urt_frtrequest_t) : bool
     .. URT_CFG_RPC_QOS_JITTERCHECKS == true ..
-    + {method} urtFrtRequestGetMaxJitter(request : urt_frtrequest_t*) : urt_delay_t* const
+    + {method} urtFrtRequestGetMaxJitter (request : urt_frtrequest_t*) : urt_delay_t* const
   }
 
     class urt_hrtrequest_t <<S,BFAFFF>> {
@@ -729,7 +730,7 @@ title **µRtWare**\nOverview\n
     + {method} urtHrtRequestSubmit (request : urt_hrtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t
     + {method} urtHrtRequestRetrieve (request : urt_hrtrequest_t*) : urt_status_t
     .. URT_CFG_RPC_QOS_JITTERCHECKS == true ..
-    + {method} urtHrtRequestGetMaxJitter(request : urt_hrtrequest_t*) : urt_delay_t* const
+    + {method} urtHrtRequestGetMaxJitter (request : urt_hrtrequest_t*) : urt_delay_t* const
   }
 }
 
