AMiRo-OS

<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="1095px" preserveAspectRatio="none" style="width:1085px;height:1095px;" version="1.1" viewBox="0 0 1085 1095" width="1085px" zoomAndPan="magnify"><defs><filter height="300%" id="f18sfotrgi6r4b" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="497.25" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="117" x="483.25" y="47.6611">urtTopicInit()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="544.75" y="68.6143"/><path d="M223.75,72.8594 L223.75,259.3203 L854.75,259.3203 L854.75,82.8594 L844.75,72.8594 L223.75,72.8594 " fill="#FBFB77" filter="url(#f18sfotrgi6r4b)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M844.75,72.8594 L844.75,82.8594 L854.75,82.8594 L844.75,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="223.75" x2="473.25" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="477.25" y="89.4263"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="37" x="477.25" y="89.4263">topic</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="83" x="518.25" y="89.4263">: urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="605.25" x2="854.75" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="134" x="229.75" y="105.0591">The topic to initialize.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="229.75" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="309.75" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="341.75" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="223.75" x2="482.75" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="486.75" y="134.8247"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="14" x="486.75" y="134.8247">id</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="87" x="504.75" y="134.8247">: urt_topicid_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="595.75" x2="854.75" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="244" x="229.75" y="150.4575">Unique, numeric identifier of the topic.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="223.75" x2="404.75" y1="161.0898" y2="161.0898"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="408.75" y="165.0903"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="146" x="408.75" y="165.0903">mandatoryMessage</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="111" x="558.75" y="165.0903">: urt_message_t*</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="673.75" x2="854.75" y1="161.0898" y2="161.0898"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="194" x="229.75" y="180.7231">Starting message of the topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="229.75" y="195.856">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="309.75" y="195.856">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="341.75" y="195.856">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="223.75" x2="854.75" y1="203.9219" y2="203.9219"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="223.75" x2="854.75" y1="205.9219" y2="205.9219"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="223.75" x2="468.25" y1="216.4883" y2="216.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="472.25" y="220.4888"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="472.25" y="220.4888">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="521.25" y="220.4888">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="610.25" x2="854.75" y1="216.4883" y2="216.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="229.75" y="236.1216">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="282.75" y="236.1216">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="75" x="390.75" y="236.1216">on success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="229.75" y="251.2544">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="282.75" y="251.2544">URT_STATUS_TOPIC_DUPLICATE</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="345" x="494.75" y="251.2544">if another topic with the same identifier already exists.</text><ellipse cx="539.25" cy="289.3203" fill="#000000" filter="url(#f18sfotrgi6r4b)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M120.75,309.3203 L120.75,546.3125 A0,0 0 0 0 120.75,546.3125 L453.75,546.3125 A0,0 0 0 0 453.75,546.3125 L453.75,431.8164 L473.75,427.8164 L453.75,423.8164 L453.75,319.3203 L443.75,309.3203 L120.75,309.3203 A0,0 0 0 0 120.75,309.3203 " fill="#FBFB77" filter="url(#f18sfotrgi6r4b)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M443.75,309.3203 L443.75,319.3203 L453.75,319.3203 L443.75,309.3203 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><ellipse cx="132.25" cy="321.9531" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="32" x="137.75" y="326.3872">next</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="173.75" y="326.3872">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="188.75" y="326.3872">NULL</text><ellipse cx="132.25" cy="337.0859" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="14" x="137.75" y="341.52">id</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="26" x="155.75" y="341.52">← id</text><ellipse cx="132.25" cy="352.2188" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="81" x="137.75" y="356.6528">urtMutexInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="30" x="218.75" y="356.6528">lock</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="248.75" y="356.6528">)</text><ellipse cx="132.25" cy="367.3516" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="123" x="137.75" y="371.7856">urtEventSourceInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="73" x="260.75" y="371.7856">evtSource</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="333.75" y="371.7856">)</text><ellipse cx="132.25" cy="382.4844" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="134" x="137.75" y="386.9185">numHrtSubscriber</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="275.75" y="386.9185">← 0</text><ellipse cx="132.25" cy="397.6172" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="95" x="137.75" y="402.0513">urtCondvarInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="232.75" y="402.0513">hrtReleased</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="321.75" y="402.0513">)</text><ellipse cx="132.25" cy="412.75" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="146" x="137.75" y="417.1841">mandatoryMessage</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="142" x="287.75" y="417.1841">← mandatoryMessage</text><ellipse cx="132.25" cy="427.8828" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="108" x="137.75" y="432.3169">latestMessage</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="153" x="249.75" y="432.3169">← &amp;mandatoryMessage</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="120.75" x2="131.25" y1="442.9492" y2="442.9492"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="304" x="135.25" y="446.9497">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="443.25" x2="453.75" y1="442.9492" y2="442.9492"/><ellipse cx="132.25" cy="458.1484" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="108" x="137.75" y="462.5825">hrtSubscribers</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="249.75" y="462.5825">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="264.75" y="462.5825">NULL</text><ellipse cx="132.25" cy="473.2813" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="78" x="137.75" y="477.7153">urtTimerInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="102" x="215.75" y="477.7153">qosRateTimer</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="317.75" y="477.7153">)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="120.75" x2="158.75" y1="488.3477" y2="488.3477"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="249" x="162.75" y="492.3481">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="415.75" x2="453.75" y1="488.3477" y2="488.3477"/><ellipse cx="132.25" cy="503.5469" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="179" x="137.75" y="507.981">numMessagesPublished</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="320.75" y="507.981">← 0</text><ellipse cx="132.25" cy="518.6797" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="181" x="137.75" y="523.1138">numMessagesDiscarded</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="322.75" y="523.1138">← 0</text><ellipse cx="132.25" cy="533.8125" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="119" x="137.75" y="538.2466">numSubscribers</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="260.75" y="538.2466">← 0</text><rect fill="#FEFECE" filter="url(#f18sfotrgi6r4b)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="131" x="473.75" y="410.832"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="111" x="483.75" y="431.9707">initialize members</text><path d="M146.75,570.7305 L146.75,595.8633 A0,0 0 0 0 146.75,595.8633 L416.75,595.8633 A0,0 0 0 0 416.75,595.8633 L416.75,588.7305 L436.75,583.2969 L416.75,580.7305 L416.75,580.7305 L406.75,570.7305 L146.75,570.7305 A0,0 0 0 0 146.75,570.7305 " fill="#FBFB77" filter="url(#f18sfotrgi6r4b)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M406.75,570.7305 L406.75,580.7305 L416.75,580.7305 L406.75,570.7305 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="93" x="152.75" y="587.7974">latestMessage</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="16" x="245.75" y="587.7974">-&gt;</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="140" x="261.75" y="587.7974">next ← latestMessage</text><rect fill="#FEFECE" filter="url(#f18sfotrgi6r4b)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="205" x="436.75" y="566.3125"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="185" x="446.75" y="587.4512">close circular message buffer</text><rect fill="#FEFECE" filter="url(#f18sfotrgi6r4b)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="77" x="500.75" y="620.2813"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="57" x="510.75" y="641.4199">lock core</text><rect fill="#FEFECE" filter="url(#f18sfotrgi6r4b)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="127" x="475.75" y="674.25"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="107" x="485.75" y="695.3887">access first topic</text><rect fill="#FEFECE" filter="url(#f18sfotrgi6r4b)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="155" x="461.75" y="785.5386"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="471.75" y="806.6772">proceed to next topic</text><polygon fill="#FEFECE" filter="url(#f18sfotrgi6r4b)" points="478.25,728.2188,600.25,728.2188,612.25,741.0234,600.25,753.8281,478.25,753.8281,466.25,741.0234,478.25,728.2188" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="543.25" y="764.0386">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="66" x="478.25" y="738.4292">Topic is not</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="28" x="548.25" y="738.4292">NULL</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="122" x="478.25" y="751.2339">and topic ID is lower?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="452.25" y="738.4292">no</text><polygon fill="#FEFECE" filter="url(#f18sfotrgi6r4b)" points="160,861.5073,286,861.5073,298,873.5073,286,885.5073,160,885.5073,148,873.5073,160,861.5073" style="stroke: #A80036; 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/'### PARAMETERS & RETURN ####################################################'/

  - - **mandatoryMessage** : urt_message_t* - -

  Starting message of the topic.

  Must not be ""NULL"".

  ====

  - - **return** : urt_status_t - -

  Returns ""URT_STATUS_OK"" on success.

  Returns ""URT_STATUS_TOPIC_DUPLICATE"" if another topic with the same identifier already exists.

endnote

/'### PROCEDURE ##############################################################'/

start

:initialize members;

note

  * **next** ← ""NULL""

  * **id** ← id

  * urtMutexInit(**lock**)

  * urtEventSourceInit(**evtSource**)

  * **numHrtSubscriber** ← 0

  * urtCondvarInit(**hrtReleased**)

  * **mandatoryMessage** ← mandatoryMessage

  * **latestMessage** ← &mandatoryMessage

  .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..

  * **hrtSubscribers** ← ""NULL""

  * urtTimerInit(**qosRateTimer**)

  .. URT_CFG_PUBSUB_PROFILING == true ..

  * **numMessagesPublished** ← 0

  * **numMessagesDiscarded** ← 0

  * **numSubscribers** ← 0

endnote

:close circular message buffer;

note

  latestMessage""->""next ← latestMessage

endnote

:lock core;

:access first topic;

while (Topic is not ""NULL""\nand topic ID is lower?) is (yes)

  :proceed to next topic;

endwhile (no)

if (Current topic is ""NULL""?) then (yes)

  :append self to core's list of topic;

  :unlock core;

  stop

  note

    Returns ""URT_STATUS_OK"".

  endnote

elseif (Current topic ID is greater?) then (yes)

  :insert self in front of current topic;

  :unlock core;

  stop

  note

    Returns ""URT_STATUS_OK"".

  endnote

else (no)

  :unlock core;

  stop

  note

    Returns ""URT_STATUS_TOPIC_DUPLICATE"".

  endnote

endif

/'### OUTRO ##################################################################'/

@enduml

@startuml

title **µRtWare**\nurtTopicInit()\n

note

  - - **topic** : urt_topic_t* - -

  The topic to initialize.

  Must not be ""NULL"".

  - - **id** : urt_topicid_t - -

  Unique, numeric identifier of the topic.

  - - **mandatoryMessage** : urt_message_t* - -

  Starting message of the topic.

  Must not be ""NULL"".

  * **mandatoryMessage** ← mandatoryMessage

PlantUML version 1.2020.15(Sun Jun 28 13:39:45 CEST 2020)

Language: de

Country: DE

  -- **mandatoryMessage** : urt_message_t* --

  Starting message of the topic.

  Must not be ""NULL"".

  * **mandatoryMessage** ← mandatoryMessage

!procedure $configuration($name)

!endprocedure

!procedure $enumeration($name)

!endprocedure

!procedure $type($name)

!endprocedure

!procedure $structure($name)

!endprocedure

!procedure $union($name)

!endprocedure

!procedure $function($name)

!endprocedure

!procedure $group($name)

!endprocedure

!procedure $module($name)

!endprocedure

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cluster time--><rect fill="#FFFFFF" filter="url(#f1unn8y6gq5xqo)" height="121" style="stroke: #000000; stroke-width: 1.5;" width="402" x="5706.8161" y="1017.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="34" x="5890.8161" y="1032.8545">time</text><!--MD5=[48ccbfc44b1b031f9b243763d7ad5184]

cluster mutex--><rect fill="#FFFFFF" filter="url(#f1unn8y6gq5xqo)" height="134" style="stroke: #000000; stroke-width: 1.5;" width="314" x="4628.8161" y="1011.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="49" x="4761.3161" y="1026.3545">mutex</text><!--MD5=[2e45f233f6bb64aa81ebe67fb6de8946]

cluster condition variable--><rect fill="#FFFFFF" filter="url(#f1unn8y6gq5xqo)" height="463.5" style="stroke: #000000; stroke-width: 1.5;" width="726" x="4961.8161" y="991.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="140" x="5254.8161" y="1006.8545">condition variable</text><!--MD5=[c7113df1f710ca294cbd01734aa00974]

cluster timer--><rect fill="#FFFFFF" filter="url(#f1unn8y6gq5xqo)" height="438" style="stroke: #000000; stroke-width: 1.5;" width="754" x="3855.8161" y="1004.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="4212.3161" y="1019.8545">timer</text><!--MD5=[107bb3f79455a18bd83c75ada1ac7979]

cluster thread--><rect fill="#FFFFFF" filter="url(#f1unn8y6gq5xqo)" height="608" style="stroke: #000000; stroke-width: 1.5;" width="1039" x="2808.8161" y="879.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="3302.3161" y="894.3545">thread</text><!--MD5=[8d74b40516bd265adb19f202ab81f40d]

cluster events--><rect fill="#FFFFFF" filter="url(#f1unn8y6gq5xqo)" height="718" style="stroke: #000000; stroke-width: 1.5;" width="1642" x="1147.8161" y="1017.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="54" x="1941.8161" y="1032.8545">events</text><!--MD5=[b978ecedb6f4da3f32705dc09c84a7d6]

cluster streams--><rect fill="#FFFFFF" filter="url(#f1unn8y6gq5xqo)" height="109" style="stroke: #000000; stroke-width: 1.5;" width="228" x="911.8161" y="1023.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="64" x="993.8161" y="1038.8545">streams</text><!--MD5=[62106fc051f244acf17caf792167c8db]

cluster debug--><rect fill="#FFFFFF" filter="url(#f1unn8y6gq5xqo)" height="96" style="stroke: #000000; stroke-width: 1.5;" width="266" x="626.8161" y="1030.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="50" x="734.8161" y="1045.3545">debug</text><!--MD5=[4e1a3510868d06a507f098bb08f0dae0]

cluster Middleware--><polygon fill="#FFFFFF" filter="url(#f1unn8y6gq5xqo)" points="7831.8161,78.8594,7841.8161,68.8594,18745.8161,68.8594,18745.8161,1481.3594,18735.8161,1491.3594,7831.8161,1491.3594,7831.8161,78.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="18735.8161" x2="18744.8161" y1="78.8594" y2="69.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7831.8161" x2="18735.8161" y1="78.8594" y2="78.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="18735.8161" x2="18735.8161" y1="78.8594" y2="1491.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="91" x="13239.3161" y="94.8545">Middleware</text><!--MD5=[b9de0669a29c7bc934fd916b09c39491]

cluster node--><rect fill="#FFFFFF" filter="url(#f1unn8y6gq5xqo)" height="572.5" style="stroke: #000000; stroke-width: 1.5;" width="1674" x="17063.8161" y="553.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="40" x="17880.8161" y="568.8545">node</text><!--MD5=[d74e2ef346f73688f9378f6d3d42598c]

cluster Publish-Subscribe System--><polygon fill="#FFFFFF" filter="url(#f1unn8y6gq5xqo)" points="11510.8161,512.8594,11520.8161,502.8594,17055.8161,502.8594,17055.8161,1473.3594,17045.8161,1483.3594,11510.8161,1483.3594,11510.8161,512.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="17045.8161" x2="17054.8161" y1="512.8594" y2="503.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="11510.8161" x2="17045.8161" y1="512.8594" y2="512.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="17045.8161" x2="17045.8161" y1="512.8594" y2="1483.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="205" x="14176.8161" y="528.8545">Publish-Subscribe System</text><!--MD5=[16a3bbbe805f94d6e6ce317c08ab945e]

cluster subscriber--><rect fill="#FFFFFF" filter="url(#f1unn8y6gq5xqo)" height="628" style="stroke: #000000; stroke-width: 1.5;" width="4062" x="12985.8161" y="534.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="85" x="14974.3161" y="549.8545">subscriber</text><!--MD5=[810d0f07e53ef611b6d803ef30301147]

cluster Remote Procedure Call System--><polygon fill="#FFFFFF" filter="url(#f1unn8y6gq5xqo)" points="8219.8161,110.8594,8229.8161,100.8594,11502.8161,100.8594,11502.8161,829.3594,11492.8161,839.3594,8219.8161,839.3594,8219.8161,110.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="11492.8161" x2="11501.8161" y1="110.8594" y2="101.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="8219.8161" x2="11492.8161" y1="110.8594" y2="110.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="11492.8161" x2="11492.8161" y1="110.8594" y2="839.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="244" x="9735.3161" y="126.8545">Remote Procedure Call System</text><!--MD5=[ecaf13b018fb9788c80013f5b3634b61]

cluster request--><rect fill="#FFFFFF" filter="url(#f1unn8y6gq5xqo)" height="670.5" style="stroke: #000000; stroke-width: 1.5;" width="2645" x="8849.8161" y="132.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="62" x="10141.3161" y="147.8545">request</text><!--MD5=[e443ac33c80100c2d54e1f5fe669f6d7]

class urt_config--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="328.8984" id="urt_config" style="stroke: #A80036; stroke-width: 1.5;" width="290" x="12503.8161" y="1539.3594"/><ellipse cx="12613.5661" cy="1555.3594" fill="#BFBFBF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12616.5349,1561 Q12615.9567,1561.2969 12615.3161,1561.4375 Q12614.6755,1561.5938 12613.9724,1561.5938 Q12611.4724,1561.5938 12610.1442,1559.9531 Q12608.8317,1558.2969 12608.8317,1555.1719 Q12608.8317,1552.0469 12610.1442,1550.3906 Q12611.4724,1548.7344 12613.9724,1548.7344 Q12614.6755,1548.7344 12615.3161,1548.8906 Q12615.9724,1549.0469 12616.5349,1549.3438 L12616.5349,1552.0625 Q12615.9099,1551.4844 12615.3161,1551.2188 Q12614.7224,1550.9375 12614.0974,1550.9375 Q12612.7536,1550.9375 12612.0661,1552.0156 Q12611.3786,1553.0781 12611.3786,1555.1719 Q12611.3786,1557.2656 12612.0661,1558.3438 Q12612.7536,1559.4063 12614.0974,1559.4063 Q12614.7224,1559.4063 12615.3161,1559.1406 Q12615.9099,1558.8594 12616.5349,1558.2813 L12616.5349,1561 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="62" x="12634.0661" y="1559.5137">urt_config</text><line style="stroke: #A80036; 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stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12504.8161" x2="12582.3161" y1="1721.8086" y2="1721.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="133" x="12582.3161" y="1725.1167">remote procedure calls</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12715.3161" x2="12792.8161" y1="1721.8086" y2="1721.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="12509.8161" y="1819.2495">URT_CFG_DEBUG_ENABLED : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12504.8161" x2="12631.3161" y1="1802.6367" y2="1802.6367"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="35" x="12631.3161" y="1805.9448">debug</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12666.3161" x2="12792.8161" y1="1802.6367" y2="1802.6367"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="12509.8161" y="1848.8589">URT_CFG_OSAL_HEADER : string</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="12509.8161" y="1861.6636">URT_CFG_OSAL_CONDVAR_TIMEOUT : bool</text><line style="stroke: #A80036; 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class urt_osTime_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="385" x="5715.3161" y="1044.8594"/><ellipse cx="5864.0661" cy="1060.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5864.9099,1067.6094 L5862.4567,1067.6094 L5862.4567,1057.3594 L5859.3161,1057.3594 L5859.3161,1055.2188 L5868.0505,1055.2188 L5868.0505,1057.3594 L5864.9099,1057.3594 L5864.9099,1067.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="5884.5661" y="1065.0137">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5716.3161" x2="6099.3161" y1="1076.8594" y2="1076.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5716.3161" x2="6099.3161" y1="1084.8594" y2="1084.8594"/><ellipse cx="5726.3161" cy="1095.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="231" x="5735.3161" y="1099.0698">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="5726.3161" cy="1108.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="5735.3161" y="1111.8745">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="5726.3161" cy="1121.4688" 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="359" x="5735.3161" y="1124.6792">urtTimeAddUs (time : urt_osTime_t*, offset : urt_delay_t) : void</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]

class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="4636.8161" y="1038.3594"/><ellipse cx="4738.0661" cy="1054.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4738.9099,1061.1094 L4736.4567,1061.1094 L4736.4567,1050.8594 L4733.3161,1050.8594 L4733.3161,1048.7188 L4742.0505,1048.7188 L4742.0505,1050.8594 L4738.9099,1050.8594 L4738.9099,1061.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="4758.5661" y="1058.5137">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4637.8161" x2="4933.8161" y1="1070.3594" y2="1070.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4637.8161" x2="4933.8161" y1="1078.3594" y2="1078.3594"/><ellipse cx="4647.8161" cy="1089.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="245" x="4656.8161" y="1092.5698">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="4647.8161" cy="1102.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="253" x="4656.8161" y="1105.3745">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="4647.8161" cy="1114.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="4656.8161" y="1118.1792">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="4647.8161" cy="1127.7734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="4656.8161" y="1130.9839">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--MD5=[52fa11869cb40c93fa7702378ddd839e]

class urt_osCondvarWaitStatus_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="86.4141" id="urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="5189.8161" y="1361.3594"/><ellipse cx="5236.0661" cy="1377.3594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5240.1755,1383.3594 L5232.4567,1383.3594 L5232.4567,1370.9688 L5240.1755,1370.9688 L5240.1755,1373.125 L5234.9099,1373.125 L5234.9099,1375.7969 L5239.6755,1375.7969 L5239.6755,1377.9531 L5234.9099,1377.9531 L5234.9099,1381.2031 L5240.1755,1381.2031 L5240.1755,1383.3594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="169" x="5256.5661" y="1381.5137">urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5190.8161" x2="5458.8161" y1="1393.3594" y2="1393.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="5195.8161" y="1407.5698">URT_CONDVAR_WAITSTATUS_SIGNAL = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="5195.8161" y="1420.3745">URT_CONDVAR_WAITSTATUS_BROADCAST = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="5195.8161" y="1433.1792">URT_CONDVAR_WAITSTATUS_TIMEOUT = 0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5190.8161" x2="5458.8161" y1="1439.7734" y2="1439.7734"/><!--MD5=[004fc5dee471033e8e4138c1c73f0692]

class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="137.6328" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="4969.8161" y="1018.8594"/><ellipse cx="5270.0661" cy="1034.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5270.9099,1041.6094 L5268.4567,1041.6094 L5268.4567,1031.3594 L5265.3161,1031.3594 L5265.3161,1029.2188 L5274.0505,1029.2188 L5274.0505,1031.3594 L5270.9099,1031.3594 L5270.9099,1041.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="5290.5661" y="1039.0137">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4970.8161" x2="5678.8161" y1="1050.8594" y2="1050.8594"/><ellipse cx="4980.8161" cy="1061.8594" 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="283" x="4989.8161" y="1065.0698">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4980.8161" cy="1074.6641" 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="301" x="4989.8161" y="1077.8745">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4980.8161" cy="1087.4688" 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="324" x="4989.8161" y="1090.6792">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4980.8161" cy="1117.0781" 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="559" x="4989.8161" y="1120.2886">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="4970.8161" x2="5196.3161" y1="1103.6758" y2="1103.6758"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="257" x="5196.3161" y="1106.9839">URT_CFG_OSAL_CONDVAR_TIMEOUT == false</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5453.3161" x2="5678.8161" y1="1103.6758" y2="1103.6758"/><ellipse cx="4980.8161" cy="1146.6875" 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="684" x="4989.8161" y="1149.8979">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="4970.8161" x2="5198.8161" y1="1133.2852" y2="1133.2852"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="252" x="5198.8161" y="1136.5933">URT_CFG_OSAL_CONDVAR_TIMEOUT == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5450.8161" x2="5678.8161" y1="1133.2852" y2="1133.2852"/><!--MD5=[93799a03260ba286abda700174f4f205]

class urt_osTimerCallback_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="4089.8161" y="1373.8594"/><ellipse cx="4160.5661" cy="1389.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4161.4099,1396.6094 L4158.9567,1396.6094 L4158.9567,1386.3594 L4155.8161,1386.3594 L4155.8161,1384.2188 L4164.5505,1384.2188 L4164.5505,1386.3594 L4161.4099,1386.3594 L4161.4099,1396.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="4181.0661" y="1394.0137">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4090.8161" x2="4374.8161" y1="1405.8594" y2="1405.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4090.8161" x2="4374.8161" y1="1413.8594" y2="1413.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="4095.8161" y="1428.0698">urt_osTimerCallback_t (parameter : void*) : void</text><!--MD5=[0b340d7b925b1eab6a1b7e084f68a7c2]

class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="112.0234" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="737" x="3864.3161" y="1031.8594"/><ellipse cx="4186.5661" cy="1047.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4187.4099,1054.6094 L4184.9567,1054.6094 L4184.9567,1044.3594 L4181.8161,1044.3594 L4181.8161,1042.2188 L4190.5505,1042.2188 L4190.5505,1044.3594 L4187.4099,1044.3594 L4187.4099,1054.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="4207.0661" y="1052.0137">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3865.3161" x2="4600.3161" y1="1063.8594" y2="1063.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3865.3161" x2="4600.3161" y1="1071.8594" y2="1071.8594"/><ellipse cx="3875.3161" cy="1082.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="3884.3161" y="1086.0698">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="3875.3161" cy="1095.6641" 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="660" x="3884.3161" y="1098.8745">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void</text><ellipse cx="3875.3161" cy="1108.4688" 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="711" x="3884.3161" y="1111.6792">urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void</text><ellipse cx="3875.3161" cy="1121.2734" 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="255" x="3884.3161" y="1124.4839">urtTimerReset (timer : urt_osTimer_t*) : void</text><ellipse cx="3875.3161" cy="1134.0781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3884.3161" y="1137.2886">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--MD5=[86c16d91227b9a9ec3b6b9b0285de4e9]

class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="3365.3161" y="1329.3594"/><ellipse cx="3401.4661" cy="1345.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3402.3099,1352.1094 L3399.8567,1352.1094 L3399.8567,1341.8594 L3396.7161,1341.8594 L3396.7161,1339.7188 L3405.4505,1339.7188 L3405.4505,1341.8594 L3402.3099,1341.8594 L3402.3099,1352.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="3420.1661" y="1349.5137">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3366.3161" x2="3561.3161" y1="1361.3594" y2="1361.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="3371.3161" y="1375.5698">URT_THREAD_PRIO_LOW_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="3371.3161" y="1388.3745">URT_THREAD_PRIO_LOW_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="3371.3161" y="1401.1792">URT_THREAD_PRIO_NORMAL_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="3371.3161" y="1413.9839">URT_THREAD_PRIO_NORMAL_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="3371.3161" y="1426.7886">URT_THREAD_PRIO_HIGH_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="3371.3161" y="1439.5933">URT_THREAD_PRIO_HIGH_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="3371.3161" y="1452.3979">URT_THREAD_PRIO_RT_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="3371.3161" y="1465.2026">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3366.3161" x2="3561.3161" y1="1471.7969" y2="1471.7969"/><!--MD5=[69d8aab9aa387a2f5052ea3da80e80ea]

class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="2816.8161" y="1373.8594"/><ellipse cx="2864.5661" cy="1389.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2865.4099,1396.6094 L2862.9567,1396.6094 L2862.9567,1386.3594 L2859.8161,1386.3594 L2859.8161,1384.2188 L2868.5505,1384.2188 L2868.5505,1386.3594 L2865.4099,1386.3594 L2865.4099,1396.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="2885.0661" y="1394.0137">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2817.8161" x2="3067.8161" y1="1405.8594" y2="1405.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2817.8161" x2="3067.8161" y1="1413.8594" y2="1413.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="2822.8161" y="1428.0698">urt_osThreadFunction_t (arg : void*) : void</text><!--MD5=[ab5f611d45c3fa10609c33f780d8c3e1]

class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="3597.8161" y="1367.3594"/><ellipse cx="3619.5661" cy="1383.3594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3623.6755,1389.3594 L3615.9567,1389.3594 L3615.9567,1376.9688 L3623.6755,1376.9688 L3623.6755,1379.125 L3618.4099,1379.125 L3618.4099,1381.7969 L3623.1755,1381.7969 L3623.1755,1383.9531 L3618.4099,1383.9531 L3618.4099,1387.2031 L3623.6755,1387.2031 L3623.6755,1389.3594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="3635.0661" y="1387.5137">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3598.8161" x2="3838.8161" y1="1399.3594" y2="1399.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="3603.8161" y="1413.5698">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="3603.8161" y="1426.3745">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3598.8161" x2="3838.8161" y1="1432.9688" y2="1432.9688"/><!--MD5=[47d14ad2c233fae1b32b8d0a283e820a]

class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="137.6328" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="3103.8161" y="1335.3594"/><ellipse cx="3148.5661" cy="1351.3594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3152.6755,1357.3594 L3144.9567,1357.3594 L3144.9567,1344.9688 L3152.6755,1344.9688 L3152.6755,1347.125 L3147.4099,1347.125 L3147.4099,1349.7969 L3152.1755,1349.7969 L3152.1755,1351.9531 L3147.4099,1351.9531 L3147.4099,1355.2031 L3152.6755,1355.2031 L3152.6755,1357.3594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="3169.0661" y="1355.5137">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3104.8161" x2="3328.8161" y1="1367.3594" y2="1367.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="3109.8161" y="1381.5698">URT_THREAD_STATE_INACTIVE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="3109.8161" y="1394.3745">URT_THREAD_STATE_RUNNING = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="3109.8161" y="1407.1792">URT_THREAD_STATE_READY = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="3109.8161" y="1419.9839">URT_THREAD_STATE_SLEEPING = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="3109.8161" y="1432.7886">URT_THREAD_STATE_SUSPENDED = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="3109.8161" y="1445.5933">URT_THREAD_STATE_WAITING = 5</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="3109.8161" y="1458.3979">URT_THREAD_STATE_TERMINATED = 6</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3104.8161" x2="3328.8161" y1="1464.9922" y2="1464.9922"/><!--MD5=[0a16224ede9ffa9bb2d34e085a076e6d]

class urt_osThread_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="363.3125" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="778" x="3050.8161" y="906.3594"/><ellipse cx="3388.5661" cy="922.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3389.4099,929.1094 L3386.9567,929.1094 L3386.9567,918.8594 L3383.8161,918.8594 L3383.8161,916.7188 L3392.5505,916.7188 L3392.5505,918.8594 L3389.4099,918.8594 L3389.4099,929.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="3409.0661" y="926.5137">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3051.8161" x2="3827.8161" y1="938.3594" y2="938.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="3056.8161" y="952.5698">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="3056.8161" y="965.3745">URT_THREAD_SSLEP_MAX : unsigned int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="3056.8161" y="978.1792">URT_THREAD_MSLEEP_MAX : unsigned int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="3056.8161" y="990.9839">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="3051.8161" x2="3827.8161" y1="997.5781" y2="997.5781"/><ellipse cx="3061.8161" cy="1008.5781" 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="248" x="3070.8161" y="1011.7886">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3051.8161" x2="3827.8161" y1="1018.3828" y2="1018.3828"/><ellipse cx="3061.8161" cy="1029.3828" 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="752" x="3070.8161" y="1032.5933">urtThreadInit (memory : void*, size : size_t, prio : urt_osThreadPrio_t, func : urt_osThreadFunction_t*, arg : void*) : urt_osThread_t*</text><ellipse cx="3061.8161" cy="1042.1875" 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="272" x="3070.8161" y="1045.3979">urtThreadStart (thread : urt_osThread_t*) : void</text><ellipse cx="3061.8161" cy="1054.9922" 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="153" x="3070.8161" y="1058.2026">urtThreadYield (void) : void</text><ellipse cx="3061.8161" cy="1067.7969" 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="271" x="3070.8161" y="1071.0073">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="3061.8161" cy="1080.6016" 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="304" x="3070.8161" y="1083.812">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="3061.8161" cy="1093.4063" 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="220" x="3070.8161" y="1096.6167">urtThreadSleep (seconds : float) : void</text><ellipse cx="3061.8161" cy="1106.2109" 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="273" x="3070.8161" y="1109.4214">urtThreadSSleep (seconds : unsigned int) : void</text><ellipse cx="3061.8161" cy="1119.0156" 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="297" x="3070.8161" y="1122.2261">urtThreadMSleep (milliseconds : unsigned int) : void</text><ellipse cx="3061.8161" cy="1131.8203" 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="297" x="3070.8161" y="1135.0308">urtThreadUSleep (microseconds : urt_delay_t) : void</text><ellipse cx="3061.8161" cy="1144.625" 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="271" x="3070.8161" y="1147.8354">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="3061.8161" cy="1157.4297" 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="146" x="3070.8161" y="1160.6401">urtThreadExit (void) : void</text><ellipse cx="3061.8161" cy="1170.2344" 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="518" x="3070.8161" y="1173.4448">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="3061.8161" cy="1183.0391" fill="#84BE84" 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="3070.8161" y="1186.2495">urtThreadShouldTerminate (void) : bool</text><ellipse cx="3061.8161" cy="1195.8438" 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="264" x="3070.8161" y="1199.0542">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="3061.8161" cy="1208.6484" fill="#84BE84" 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="3070.8161" y="1211.8589">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="3061.8161" cy="1221.4531" fill="#84BE84" 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="3070.8161" y="1224.6636">urtThreadGetSelf (void) : urt_osThread_t*</text><ellipse cx="3061.8161" cy="1234.2578" fill="#84BE84" 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="3070.8161" y="1237.4683">urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="3061.8161" cy="1247.0625" fill="#84BE84" 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="3070.8161" y="1250.2729">urtThreadGetSibling (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="3061.8161" cy="1259.8672" fill="#84BE84" 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="3070.8161" y="1263.0776">urtThreadGetParent (thread : urt_osThread_t*) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]

class urt_osEventMask_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="60.8047" id="urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.5;" width="280" x="2501.8161" y="1373.8594"/><ellipse cx="2579.0661" cy="1389.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2579.9099,1396.6094 L2577.4567,1396.6094 L2577.4567,1386.3594 L2574.3161,1386.3594 L2574.3161,1384.2188 L2583.0505,1384.2188 L2583.0505,1386.3594 L2579.9099,1386.3594 L2579.9099,1396.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="2599.5661" y="1394.0137">urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2502.8161" x2="2780.8161" y1="1405.8594" y2="1405.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="268" x="2507.8161" y="1420.0698">URT_EVENTMASK_MAXPRIO : urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2502.8161" x2="2780.8161" y1="1426.6641" y2="1426.6641"/><!--MD5=[dc1cc33af288560680c15dec1e56eda0]

class urt_osEventFlags_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="48" id="urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="1910.8161" y="1679.8594"/><ellipse cx="1925.8161" cy="1695.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1926.6599,1702.6094 L1924.2067,1702.6094 L1924.2067,1692.3594 L1921.0661,1692.3594 L1921.0661,1690.2188 L1929.8005,1690.2188 L1929.8005,1692.3594 L1926.6599,1692.3594 L1926.6599,1702.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="1939.8161" y="1700.0137">urt_osEventFlags_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1911.8161" x2="2059.8161" y1="1711.8594" y2="1711.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1911.8161" x2="2059.8161" y1="1719.8594" y2="1719.8594"/><!--MD5=[e2bbbd64e6979bf7b755747a6c0ba948]

class urt_osEventWait_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="86.4141" id="urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.5;" width="162" x="2267.8161" y="1361.3594"/><ellipse cx="2290.9161" cy="1377.3594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2295.0255,1383.3594 L2287.3067,1383.3594 L2287.3067,1370.9688 L2295.0255,1370.9688 L2295.0255,1373.125 L2289.7599,1373.125 L2289.7599,1375.7969 L2294.5255,1375.7969 L2294.5255,1377.9531 L2289.7599,1377.9531 L2289.7599,1381.2031 L2295.0255,1381.2031 L2295.0255,1383.3594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="2306.7161" y="1381.5137">urt_osEventWait_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2268.8161" x2="2428.8161" y1="1393.3594" y2="1393.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="2273.8161" y="1407.5698">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="2273.8161" y="1420.3745">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="2273.8161" y="1433.1792">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2268.8161" x2="2428.8161" y1="1439.7734" y2="1439.7734"/><!--MD5=[d054ac2eda12ce4b1fe5a18c9be716c1]

class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="1738.8161" y="1361.3594"/><ellipse cx="1914.0661" cy="1377.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1914.9099,1384.1094 L1912.4567,1384.1094 L1912.4567,1373.8594 L1909.3161,1373.8594 L1909.3161,1371.7188 L1918.0505,1371.7188 L1918.0505,1373.8594 L1914.9099,1373.8594 L1914.9099,1384.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="1934.5661" y="1381.5137">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1739.8161" x2="2231.8161" y1="1393.3594" y2="1393.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1739.8161" x2="2231.8161" y1="1401.3594" y2="1401.3594"/><ellipse cx="1749.8161" cy="1412.3594" 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="341" x="1758.8161" y="1415.5698">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="1749.8161" cy="1425.1641" 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="458" x="1758.8161" y="1428.3745">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="1749.8161" cy="1437.9688" 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="468" x="1758.8161" y="1441.1792">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]

class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="1156.3161" y="1367.3594"/><ellipse cx="1361.0661" cy="1383.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1361.9099,1390.1094 L1359.4567,1390.1094 L1359.4567,1379.8594 L1356.3161,1379.8594 L1356.3161,1377.7188 L1365.0505,1377.7188 L1365.0505,1379.8594 L1361.9099,1379.8594 L1361.9099,1390.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="1381.5661" y="1387.5137">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1157.3161" x2="1702.3161" y1="1399.3594" y2="1399.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1157.3161" x2="1702.3161" y1="1407.3594" y2="1407.3594"/><ellipse cx="1167.3161" cy="1418.3594" 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="325" x="1176.3161" y="1421.5698">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="1167.3161" cy="1431.1641" 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="521" x="1176.3161" y="1434.3745">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--MD5=[04a3b5a37031e2a4d723f19d8adf86f5]

class urt_events--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="845" x="1931.3161" y="1044.8594"/><ellipse cx="2316.5661" cy="1060.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2320.8005,1056.625 L2315.5192,1056.625 L2315.5192,1059.2969 L2320.3161,1059.2969 L2320.3161,1061.4531 L2315.5192,1061.4531 L2315.5192,1066.8594 L2313.0817,1066.8594 L2313.0817,1054.4688 L2320.8005,1054.4688 L2320.8005,1056.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="2337.0661" y="1065.0137">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1932.3161" x2="2775.3161" y1="1076.8594" y2="1076.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1932.3161" x2="2775.3161" y1="1084.8594" y2="1084.8594"/><ellipse cx="1942.3161" cy="1095.8594" 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="819" x="1951.3161" y="1099.0698">urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : void</text><ellipse cx="1942.3161" cy="1108.6641" 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="522" x="1951.3161" y="1111.8745">urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : void</text><ellipse cx="1942.3161" cy="1121.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="618" x="1951.3161" y="1124.6792">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(#f1unn8y6gq5xqo)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="213" x="919.3161" y="1050.8594"/><ellipse cx="984.0661" cy="1066.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M988.3005,1062.625 L983.0192,1062.625 L983.0192,1065.2969 L987.8161,1065.2969 L987.8161,1067.4531 L983.0192,1067.4531 L983.0192,1072.8594 L980.5817,1072.8594 L980.5817,1060.4688 L988.3005,1060.4688 L988.3005,1062.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="1004.5661" y="1071.0137">urt_streams</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="920.3161" x2="1131.3161" y1="1082.8594" y2="1082.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="920.3161" x2="1131.3161" y1="1090.8594" y2="1090.8594"/><ellipse cx="930.3161" cy="1101.8594" 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="170" x="939.3161" y="1105.0698">urtPrintf (fmt : char*, ... ) : int</text><ellipse cx="930.3161" cy="1114.6641" 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="187" x="939.3161" y="1117.8745">urtErrPrintf (fmt : char*, ... ) : int</text><!--MD5=[f106a25c06a671b3918b1a8f37571a4d]

class urt_debug--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="249" x="635.3161" y="1057.3594"/><ellipse cx="723.5661" cy="1073.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M727.8005,1069.125 L722.5192,1069.125 L722.5192,1071.7969 L727.3161,1071.7969 L727.3161,1073.9531 L722.5192,1073.9531 L722.5192,1079.3594 L720.0817,1079.3594 L720.0817,1066.9688 L727.8005,1066.9688 L727.8005,1069.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="744.0661" y="1077.5137">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="636.3161" x2="883.3161" y1="1089.3594" y2="1089.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="636.3161" x2="883.3161" y1="1097.3594" y2="1097.3594"/><ellipse cx="646.3161" cy="1108.3594" 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="223" x="655.3161" y="1111.5698">urtDebugAssert (condition : bool) : void</text><!--MD5=[89d25e87afdd75480e1ec2bd05524873]

class urt_core_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="384.1172" id="urt_core_t" style="stroke: #A80036; stroke-width: 1.5;" width="371" x="7840.3161" y="110.8594"/><ellipse cx="7990.0661" cy="126.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7989.5505,127.4219 Q7987.6911,126.7188 7987.0349,125.9531 Q7986.3942,125.1719 7986.3942,123.8594 Q7986.3942,122.1719 7987.4724,121.2031 Q7988.5505,120.2344 7990.4255,120.2344 Q7991.2849,120.2344 7992.1286,120.4375 Q7992.988,120.625 7993.8317,121.0156 L7993.8317,123.4063 Q7993.0505,122.8438 7992.2224,122.5625 Q7991.4099,122.2656 7990.613,122.2656 Q7989.738,122.2656 7989.2536,122.625 Q7988.7849,122.9844 7988.7849,123.6406 Q7988.7849,124.1563 7989.1286,124.5 Q7989.4724,124.8281 7990.5661,125.2344 L7991.6286,125.6406 Q7993.113,126.1875 7993.8161,127.0938 Q7994.5349,128 7994.5349,129.375 Q7994.5349,131.25 7993.4255,132.1719 Q7992.3161,133.0938 7990.0661,133.0938 Q7989.1442,133.0938 7988.2224,132.875 Q7987.3005,132.6563 7986.4411,132.2344 L7986.4411,129.7031 Q7987.4099,130.3906 7988.3317,130.7344 Q7989.2536,131.0781 7990.1442,131.0781 Q7991.0505,131.0781 7991.5505,130.6719 Q7992.0505,130.25 7992.0505,129.5156 Q7992.0505,128.9531 7991.7067,128.5469 Q7991.3786,128.125 7990.7536,127.875 L7989.5505,127.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="63" x="8010.5661" y="131.0137">urt_core_t</text><line style="stroke: #A80036; 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stroke-width: 1.0;" width="6" x="7848.3161" y="189.2734"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="122" x="7860.3161" y="195.4839">_status : urt_status_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7848.3161" y="218.8828"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="117" x="7860.3161" y="225.0933">_topics : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7841.3161" x2="7920.8161" y1="208.4805" y2="208.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7920.8161" y="211.7886">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8130.8161" x2="8210.3161" y1="208.4805" y2="208.4805"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7848.3161" y="248.4922"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="145" x="7860.3161" y="254.7026">_services : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7841.3161" x2="7933.3161" y1="238.0898" y2="238.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="7933.3161" y="241.3979">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8118.3161" x2="8210.3161" y1="238.0898" y2="238.0898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7841.3161" x2="8210.3161" y1="261.2969" y2="261.2969"/><ellipse cx="7851.3161" cy="272.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="130" x="7860.3161" y="275.5073">urtCoreInit (void) : void</text><ellipse cx="7851.3161" cy="285.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="215" x="7860.3161" y="288.312">urtCoreGetStatus (void) : urt_status_t</text><ellipse cx="7851.3161" cy="297.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="276" x="7860.3161" y="301.1167">urtCoreGetEventMask (void) : urt_osEventMask_t</text><ellipse cx="7851.3161" cy="310.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="290" x="7860.3161" y="313.9214">urtCoreGetEvtSource (void) : urt_osEventSource_t*</text><ellipse cx="7851.3161" cy="323.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="177" x="7860.3161" y="326.7261">urtCoreStartNodes (void) : void</text><ellipse cx="7851.3161" cy="336.3203" 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="345" x="7860.3161" y="339.5308">urtCoreSynchronizeNodes (node : urt_node_t*) : urt_status_t</text><ellipse cx="7851.3161" cy="349.125" 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="317" x="7860.3161" y="352.3354">urtCoreStopNodes (reason : urt_status_t) : urt_status_t</text><ellipse cx="7851.3161" cy="361.9297" 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="304" x="7860.3161" y="365.1401">urtCoreGetEventSource (void) : urt_osEventSource_t*</text><ellipse cx="7851.3161" cy="374.7344" 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="228" x="7860.3161" y="377.9448">urtCoreGetMutex (void) : urt_osMutex_t*</text><ellipse cx="7851.3161" cy="387.5391" 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="212" x="7860.3161" y="390.7495">urtCoreGetNodes (void) : urt_node_t*</text><ellipse cx="7851.3161" cy="400.3438" 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="246" x="7860.3161" y="403.5542">urtCoreAddNode (node : urt_node_t*) : void</text><ellipse cx="7851.3161" cy="429.9531" 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="273" x="7860.3161" y="433.1636">urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*</text><ellipse cx="7851.3161" cy="442.7578" 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="245" x="7860.3161" y="445.9683">urtCoreAddTopic (topic : urt_topic_t*) : void</text><line style="stroke: #A80036; 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class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="17720.8161" y="1057.3594"/><ellipse cx="17866.5661" cy="1073.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17867.4099,1080.1094 L17864.9567,1080.1094 L17864.9567,1069.8594 L17861.8161,1069.8594 L17861.8161,1067.7188 L17870.5505,1067.7188 L17870.5505,1069.8594 L17867.4099,1069.8594 L17867.4099,1080.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="17887.0661" y="1077.5137">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="17721.8161" x2="18175.8161" y1="1089.3594" y2="1089.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="17721.8161" x2="18175.8161" y1="1097.3594" y2="1097.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="17726.8161" y="1111.5698">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]

class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="17071.8161" y="1057.3594"/><ellipse cx="17300.0661" cy="1073.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17300.9099,1080.1094 L17298.4567,1080.1094 L17298.4567,1069.8594 L17295.3161,1069.8594 L17295.3161,1067.7188 L17304.0505,1067.7188 L17304.0505,1069.8594 L17300.9099,1069.8594 L17300.9099,1080.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="17320.5661" y="1077.5137">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="17072.8161" x2="17684.8161" y1="1089.3594" y2="1089.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="17072.8161" x2="17684.8161" y1="1097.3594" y2="1097.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="17077.8161" y="1111.5698">urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t</text><!--MD5=[843db13320bebc2ca47f25c6a57c2ae5]

class urt_nodeShutdownCallback_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="60.8047" id="urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="518" x="18211.8161" y="1057.3594"/><ellipse cx="18376.0661" cy="1073.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M18376.9099,1080.1094 L18374.4567,1080.1094 L18374.4567,1069.8594 L18371.3161,1069.8594 L18371.3161,1067.7188 L18380.0505,1067.7188 L18380.0505,1069.8594 L18376.9099,1069.8594 L18376.9099,1080.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="181" x="18396.5661" y="1077.5137">urt_nodeShutdownCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="18212.8161" x2="18728.8161" y1="1089.3594" y2="1089.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="18212.8161" x2="18728.8161" y1="1097.3594" y2="1097.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="506" x="18217.8161" y="1111.5698">urt_nodeShutdownCallback_t (node : urt_node_t*, cause : urt_status_t, arg : void*) : void</text><!--MD5=[d2563153d77472384a15c07b815d639f]

class urt_node_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="231.2656" id="urt_node_t" style="stroke: #A80036; stroke-width: 1.5;" width="1541" x="17075.3161" y="580.8594"/><ellipse cx="17808.0661" cy="596.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17807.5505,597.4219 Q17805.6911,596.7188 17805.0349,595.9531 Q17804.3942,595.1719 17804.3942,593.8594 Q17804.3942,592.1719 17805.4724,591.2031 Q17806.5505,590.2344 17808.4255,590.2344 Q17809.2849,590.2344 17810.1286,590.4375 Q17810.988,590.625 17811.8317,591.0156 L17811.8317,593.4063 Q17811.0505,592.8438 17810.2224,592.5625 Q17809.4099,592.2656 17808.613,592.2656 Q17807.738,592.2656 17807.2536,592.625 Q17806.7849,592.9844 17806.7849,593.6406 Q17806.7849,594.1563 17807.1286,594.5 Q17807.4724,594.8281 17808.5661,595.2344 L17809.6286,595.6406 Q17811.113,596.1875 17811.8161,597.0938 Q17812.5349,598 17812.5349,599.375 Q17812.5349,601.25 17811.4255,602.1719 Q17810.3161,603.0938 17808.0661,603.0938 Q17807.1442,603.0938 17806.2224,602.875 Q17805.3005,602.6563 17804.4411,602.2344 L17804.4411,599.7031 Q17805.4099,600.3906 17806.3317,600.7344 Q17807.2536,601.0781 17808.1442,601.0781 Q17809.0505,601.0781 17809.5505,600.6719 Q17810.0505,600.25 17810.0505,599.5156 Q17810.0505,598.9531 17809.7067,598.5469 Q17809.3786,598.125 17808.7536,597.875 L17807.5505,597.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="67" x="17828.5661" y="601.0137">urt_node_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="17076.3161" x2="18615.3161" y1="612.8594" y2="612.8594"/><ellipse cx="17086.3161" cy="623.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="102" x="17095.3161" y="627.0698">next : urt_node_t*</text><ellipse cx="17086.3161" cy="636.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="17095.3161" y="639.8745">thread : urt_osThread_t*</text><ellipse cx="17086.3161" cy="649.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="17095.3161" y="652.6792">setupcallback : urt_nodeSetupCallback_t*</text><ellipse cx="17086.3161" cy="662.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="117" x="17095.3161" y="665.4839">setupparams : void*</text><ellipse cx="17086.3161" cy="675.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="221" x="17095.3161" y="678.2886">loopcallback : urt_nodeLoopCallback_t*</text><ellipse cx="17086.3161" cy="687.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="109" x="17095.3161" y="691.0933">loopparams : void*</text><ellipse cx="17086.3161" cy="700.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="281" x="17095.3161" y="703.8979">shutdowncallback : urt_nodeShutdownCallback_t*</text><ellipse cx="17086.3161" cy="713.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="140" x="17095.3161" y="716.7026">shutdownparams : void*</text><ellipse cx="17086.3161" cy="726.2969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="17095.3161" y="729.5073">stage : urt_nodestage_t</text><ellipse cx="17086.3161" cy="739.1016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="178" x="17095.3161" y="742.312">listener : urt_osEventListener_t</text><ellipse cx="17086.3161" cy="768.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="88" x="17095.3161" y="771.9214">loops : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="17076.3161" x2="17637.8161" y1="755.3086" y2="755.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="416" x="17637.8161" y="758.6167">URT_CFG_PUBSUB_PROFILING == true || URT_CFG_RPC_PROFILING = true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="18053.8161" x2="18615.3161" y1="755.3086" y2="755.3086"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="17076.3161" x2="18615.3161" y1="778.5156" y2="778.5156"/><rect fill="#F24D5C" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="17083.3161" y="786.5156"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="179" x="17095.3161" y="792.7261">_main : urt_osThreadFunction_t</text><ellipse cx="17086.3161" cy="802.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1515" x="17095.3161" y="805.5308">urtNodeInit (node : urt_node_t*, thread : urt_osThread_t*, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*, shutdowncallback : urt_nodeShutdownCallback_t*, shutodwnparams : void*) : void</text><!--MD5=[e602aa6d45f270ad04f88c9ca5352b33]

class urt_message_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="141.6328" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="406" x="12701.8161" y="1333.3594"/><ellipse cx="12854.5661" cy="1349.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12854.0505,1349.9219 Q12852.1911,1349.2188 12851.5349,1348.4531 Q12850.8942,1347.6719 12850.8942,1346.3594 Q12850.8942,1344.6719 12851.9724,1343.7031 Q12853.0505,1342.7344 12854.9255,1342.7344 Q12855.7849,1342.7344 12856.6286,1342.9375 Q12857.488,1343.125 12858.3317,1343.5156 L12858.3317,1345.9063 Q12857.5505,1345.3438 12856.7224,1345.0625 Q12855.9099,1344.7656 12855.113,1344.7656 Q12854.238,1344.7656 12853.7536,1345.125 Q12853.2849,1345.4844 12853.2849,1346.1406 Q12853.2849,1346.6563 12853.6286,1347 Q12853.9724,1347.3281 12855.0661,1347.7344 L12856.1286,1348.1406 Q12857.613,1348.6875 12858.3161,1349.5938 Q12859.0349,1350.5 12859.0349,1351.875 Q12859.0349,1353.75 12857.9255,1354.6719 Q12856.8161,1355.5938 12854.5661,1355.5938 Q12853.6442,1355.5938 12852.7224,1355.375 Q12851.8005,1355.1563 12850.9411,1354.7344 L12850.9411,1352.2031 Q12851.9099,1352.8906 12852.8317,1353.2344 Q12853.7536,1353.5781 12854.6442,1353.5781 Q12855.5505,1353.5781 12856.0505,1353.1719 Q12856.5505,1352.75 12856.5505,1352.0156 Q12856.5505,1351.4531 12856.2067,1351.0469 Q12855.8786,1350.625 12855.2536,1350.375 L12854.0505,1349.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="12875.0661" y="1353.5137">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12702.8161" x2="13106.8161" y1="1365.3594" y2="1365.3594"/><ellipse cx="12712.8161" cy="1376.3594" 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="127" x="12721.8161" y="1379.5698">next : urt_message_t*</text><ellipse cx="12712.8161" cy="1389.1641" 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="85" x="12721.8161" y="1392.3745">payload : void*</text><ellipse cx="12712.8161" cy="1401.9688" 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="146" x="12721.8161" y="1405.1792">originTime : urt_osTime_t</text><ellipse cx="12712.8161" cy="1414.7734" 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="211" x="12721.8161" y="1417.9839">numHrtConsumersLeft : unsigned int</text><ellipse cx="12712.8161" cy="1444.3828" 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="194" x="12721.8161" y="1447.5933">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12702.8161" x2="12796.3161" y1="1430.9805" y2="1430.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12796.3161" y="1434.2886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13013.3161" x2="13106.8161" y1="1430.9805" y2="1430.9805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="12702.8161" x2="13106.8161" y1="1454.1875" y2="1454.1875"/><ellipse cx="12712.8161" cy="1465.1875" 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="380" x="12721.8161" y="1468.3979">urtMessageInit (message : urt_message_t*, payload : void*) : void</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]

class urt_publisher_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="196.0469" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="783" x="12175.3161" y="598.3594"/><ellipse cx="12516.0661" cy="614.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12515.5505,614.9219 Q12513.6911,614.2188 12513.0349,613.4531 Q12512.3942,612.6719 12512.3942,611.3594 Q12512.3942,609.6719 12513.4724,608.7031 Q12514.5505,607.7344 12516.4255,607.7344 Q12517.2849,607.7344 12518.1286,607.9375 Q12518.988,608.125 12519.8317,608.5156 L12519.8317,610.9063 Q12519.0505,610.3438 12518.2224,610.0625 Q12517.4099,609.7656 12516.613,609.7656 Q12515.738,609.7656 12515.2536,610.125 Q12514.7849,610.4844 12514.7849,611.1406 Q12514.7849,611.6563 12515.1286,612 Q12515.4724,612.3281 12516.5661,612.7344 L12517.6286,613.1406 Q12519.113,613.6875 12519.8161,614.5938 Q12520.5349,615.5 12520.5349,616.875 Q12520.5349,618.75 12519.4255,619.6719 Q12518.3161,620.5938 12516.0661,620.5938 Q12515.1442,620.5938 12514.2224,620.375 Q12513.3005,620.1563 12512.4411,619.7344 L12512.4411,617.2031 Q12513.4099,617.8906 12514.3317,618.2344 Q12515.2536,618.5781 12516.1442,618.5781 Q12517.0505,618.5781 12517.5505,618.1719 Q12518.0505,617.75 12518.0505,617.0156 Q12518.0505,616.4531 12517.7067,616.0469 Q12517.3786,615.625 12516.7536,615.375 L12515.5505,614.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="12536.5661" y="618.5137">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12176.3161" x2="12957.3161" y1="630.3594" y2="630.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="289" x="12181.3161" y="644.5698">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT : bool</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12176.3161" x2="12957.3161" y1="651.1641" y2="651.1641"/><ellipse cx="12186.3161" cy="662.1641" 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="104" x="12195.3161" y="665.3745">topic : urt_topic_t*</text><ellipse cx="12186.3161" cy="691.7734" 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="149" x="12195.3161" y="694.9839">publishAttempts : uint64_t</text><ellipse cx="12186.3161" cy="704.5781" 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="124" x="12195.3161" y="707.7886">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12176.3161" x2="12458.3161" y1="678.3711" y2="678.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12458.3161" y="681.6792">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12675.3161" x2="12957.3161" y1="678.3711" y2="678.3711"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="12176.3161" x2="12957.3161" y1="714.3828" y2="714.3828"/><ellipse cx="12186.3161" cy="725.3828" 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="572" x="12195.3161" y="728.5933">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void</text><ellipse cx="12186.3161" cy="754.9922" 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="632" x="12195.3161" y="758.2026">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="12176.3161" x2="12413.3161" y1="741.5898" y2="741.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="307" x="12413.3161" y="744.8979">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == false</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12720.3161" x2="12957.3161" y1="741.5898" y2="741.5898"/><ellipse cx="12186.3161" cy="784.6016" 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="757" x="12195.3161" y="787.812">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="12176.3161" x2="12415.8161" y1="771.1992" y2="771.1992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="302" x="12415.8161" y="774.5073">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12717.8161" x2="12957.3161" y1="771.1992" y2="771.1992"/><!--MD5=[a1b1e66ec52c209a9fa2dab315cd7630]

class urt_topic_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="260.875" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="603" x="11519.3161" y="565.8594"/><ellipse cx="11783.5661" cy="581.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11783.0505,582.4219 Q11781.1911,581.7188 11780.5349,580.9531 Q11779.8942,580.1719 11779.8942,578.8594 Q11779.8942,577.1719 11780.9724,576.2031 Q11782.0505,575.2344 11783.9255,575.2344 Q11784.7849,575.2344 11785.6286,575.4375 Q11786.488,575.625 11787.3317,576.0156 L11787.3317,578.4063 Q11786.5505,577.8438 11785.7224,577.5625 Q11784.9099,577.2656 11784.113,577.2656 Q11783.238,577.2656 11782.7536,577.625 Q11782.2849,577.9844 11782.2849,578.6406 Q11782.2849,579.1563 11782.6286,579.5 Q11782.9724,579.8281 11784.0661,580.2344 L11785.1286,580.6406 Q11786.613,581.1875 11787.3161,582.0938 Q11788.0349,583 11788.0349,584.375 Q11788.0349,586.25 11786.9255,587.1719 Q11785.8161,588.0938 11783.5661,588.0938 Q11782.6442,588.0938 11781.7224,587.875 Q11780.8005,587.6563 11779.9411,587.2344 L11779.9411,584.7031 Q11780.9099,585.3906 11781.8317,585.7344 Q11782.7536,586.0781 11783.6442,586.0781 Q11784.5505,586.0781 11785.0505,585.6719 Q11785.5505,585.25 11785.5505,584.5156 Q11785.5505,583.9531 11785.2067,583.5469 Q11784.8786,583.125 11784.2536,582.875 L11783.0505,582.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="11804.0661" y="586.0137">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11520.3161" x2="12121.3161" y1="597.8594" y2="597.8594"/><ellipse cx="11530.3161" cy="608.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="11539.3161" y="612.0698">next : urt_topic_t*</text><ellipse cx="11530.3161" cy="621.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="11539.3161" y="624.8745">id : urt_topicid_t</text><ellipse cx="11530.3161" cy="634.4688" 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="11539.3161" y="637.6792">lock : urt_osMutex_t</text><ellipse cx="11530.3161" cy="647.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="11539.3161" y="650.4839">evtSource : urt_osEventSource_t</text><ellipse cx="11530.3161" cy="660.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="11539.3161" y="663.2886">numHrtSubscribers : unsigned int</text><ellipse cx="11530.3161" cy="672.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="11539.3161" y="676.0933">hrtReleased : urt_osCondvar_t</text><ellipse cx="11530.3161" cy="685.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="209" x="11539.3161" y="688.8979">mandatoryMessage : urt_message_t</text><ellipse cx="11530.3161" cy="698.4922" 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="11539.3161" y="701.7026">latestMessage : urt_message_t*</text><ellipse cx="11530.3161" cy="728.1016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="212" x="11539.3161" y="731.312">hrtSubscribers : urt_hrtsubscriber_t*</text><ellipse cx="11530.3161" cy="740.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="170" x="11539.3161" y="744.1167">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11520.3161" x2="11688.3161" y1="714.6992" y2="714.6992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="11688.3161" y="718.0073">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11953.3161" x2="12121.3161" y1="714.6992" y2="714.6992"/><ellipse cx="11530.3161" cy="770.5156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="11539.3161" y="773.7261">numMessagesPublished : uint64_t</text><ellipse cx="11530.3161" cy="783.3203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="11539.3161" y="786.5308">numMessagesDiscarded : uint64_t</text><ellipse cx="11530.3161" cy="796.125" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="11539.3161" y="799.3354">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11520.3161" x2="11712.3161" y1="757.1133" y2="757.1133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="11712.3161" y="760.4214">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11929.3161" x2="12121.3161" y1="757.1133" y2="757.1133"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11520.3161" x2="12121.3161" y1="805.9297" y2="805.9297"/><ellipse cx="11530.3161" cy="816.9297" 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="577" x="11539.3161" y="820.1401">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t, mandatoryMessage: urt_message_t*) : urt_status_t</text><!--MD5=[50a042e24f957794dab9ba3ea8701c50]

class urt_basesubscriber_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="133.6328" id="urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="225" x="13066.3161" y="1020.8594"/><ellipse cx="13108.7661" cy="1036.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M13108.2505,1037.4219 Q13106.3911,1036.7188 13105.7349,1035.9531 Q13105.0942,1035.1719 13105.0942,1033.8594 Q13105.0942,1032.1719 13106.1724,1031.2031 Q13107.2505,1030.2344 13109.1255,1030.2344 Q13109.9849,1030.2344 13110.8286,1030.4375 Q13111.688,1030.625 13112.5317,1031.0156 L13112.5317,1033.4063 Q13111.7505,1032.8438 13110.9224,1032.5625 Q13110.1099,1032.2656 13109.313,1032.2656 Q13108.438,1032.2656 13107.9536,1032.625 Q13107.4849,1032.9844 13107.4849,1033.6406 Q13107.4849,1034.1563 13107.8286,1034.5 Q13108.1724,1034.8281 13109.2661,1035.2344 L13110.3286,1035.6406 Q13111.813,1036.1875 13112.5161,1037.0938 Q13113.2349,1038 13113.2349,1039.375 Q13113.2349,1041.25 13112.1255,1042.1719 Q13111.0161,1043.0938 13108.7661,1043.0938 Q13107.8442,1043.0938 13106.9224,1042.875 Q13106.0005,1042.6563 13105.1411,1042.2344 L13105.1411,1039.7031 Q13106.1099,1040.3906 13107.0317,1040.7344 Q13107.9536,1041.0781 13108.8442,1041.0781 Q13109.7505,1041.0781 13110.2505,1040.6719 Q13110.7505,1040.25 13110.7505,1039.5156 Q13110.7505,1038.9531 13110.4067,1038.5469 Q13110.0786,1038.125 13109.4536,1037.875 L13108.2505,1037.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="132" x="13128.8661" y="1041.0137">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="13067.3161" x2="13290.3161" y1="1052.8594" y2="1052.8594"/><ellipse cx="13077.3161" cy="1063.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="13086.3161" y="1067.0698">topic : urt_topic_t*</text><ellipse cx="13077.3161" cy="1076.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="13086.3161" y="1079.8745">evtListener : urt_osEventListener_t</text><ellipse cx="13077.3161" cy="1089.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="175" x="13086.3161" y="1092.6792">lastMessage : urt_message_t*</text><ellipse cx="13077.3161" cy="1102.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="13086.3161" y="1105.4839">lastMessageTime : urt_osTime_t</text><ellipse cx="13077.3161" cy="1131.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="13086.3161" y="1135.0933">sumLatencies : uint64_t</text><ellipse cx="13077.3161" cy="1144.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="13086.3161" y="1147.8979">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13067.3161" x2="13070.3161" y1="1118.4805" y2="1118.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="13070.3161" y="1121.7886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13287.3161" x2="13290.3161" y1="1118.4805" y2="1118.4805"/><!--MD5=[9ff46073dd541e50679ef35e851c67d6]

class urt_nrtsubscriber_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="154.4375" id="urt_nrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="821" x="15210.3161" y="619.3594"/><ellipse cx="15557.0661" cy="635.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M15556.5505,635.9219 Q15554.6911,635.2188 15554.0349,634.4531 Q15553.3942,633.6719 15553.3942,632.3594 Q15553.3942,630.6719 15554.4724,629.7031 Q15555.5505,628.7344 15557.4255,628.7344 Q15558.2849,628.7344 15559.1286,628.9375 Q15559.988,629.125 15560.8317,629.5156 L15560.8317,631.9063 Q15560.0505,631.3438 15559.2224,631.0625 Q15558.4099,630.7656 15557.613,630.7656 Q15556.738,630.7656 15556.2536,631.125 Q15555.7849,631.4844 15555.7849,632.1406 Q15555.7849,632.6563 15556.1286,633 Q15556.4724,633.3281 15557.5661,633.7344 L15558.6286,634.1406 Q15560.113,634.6875 15560.8161,635.5938 Q15561.5349,636.5 15561.5349,637.875 Q15561.5349,639.75 15560.4255,640.6719 Q15559.3161,641.5938 15557.0661,641.5938 Q15556.1442,641.5938 15555.2224,641.375 Q15554.3005,641.1563 15553.4411,640.7344 L15553.4411,638.2031 Q15554.4099,638.8906 15555.3317,639.2344 Q15556.2536,639.5781 15557.1442,639.5781 Q15558.0505,639.5781 15558.5505,639.1719 Q15559.0505,638.75 15559.0505,638.0156 Q15559.0505,637.4531 15558.7067,637.0469 Q15558.3786,636.625 15557.7536,636.375 L15556.5505,635.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="15577.5661" y="639.5137">urt_nrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="15211.3161" x2="16030.3161" y1="651.3594" y2="651.3594"/><ellipse cx="15221.3161" cy="679.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="15230.3161" y="682.3745">minLatency : urt_delay_t</text><ellipse cx="15221.3161" cy="691.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="15230.3161" y="695.1792">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15211.3161" x2="15512.3161" y1="665.7617" y2="665.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="15512.3161" y="669.0698">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15729.3161" x2="16030.3161" y1="665.7617" y2="665.7617"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="15211.3161" x2="16030.3161" y1="701.7734" y2="701.7734"/><ellipse cx="15221.3161" cy="712.7734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="15230.3161" y="715.9839">urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : void</text><ellipse cx="15221.3161" cy="725.5781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="715" x="15230.3161" y="728.7886">urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="15221.3161" cy="738.3828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="15230.3161" y="741.5933">urtNrtSubscriberFetchNextMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="15221.3161" cy="751.1875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="15230.3161" y="754.3979">urtNrtSubscriberFetchLatestMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="15221.3161" cy="763.9922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="15230.3161" y="767.2026">urtNrtSubscriberUnsubscribe (subscriber : urt_nrtsubscriber_t*) : urt_status_t</text><!--MD5=[5c7929572d87ccc448d875bea5da0fb1]

class urt_srtsubscriber_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="192.8516" id="urt_srtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1044" x="14130.8161" y="599.8594"/><ellipse cx="14589.5661" cy="615.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M14589.0505,616.4219 Q14587.1911,615.7188 14586.5349,614.9531 Q14585.8942,614.1719 14585.8942,612.8594 Q14585.8942,611.1719 14586.9724,610.2031 Q14588.0505,609.2344 14589.9255,609.2344 Q14590.7849,609.2344 14591.6286,609.4375 Q14592.488,609.625 14593.3317,610.0156 L14593.3317,612.4063 Q14592.5505,611.8438 14591.7224,611.5625 Q14590.9099,611.2656 14590.113,611.2656 Q14589.238,611.2656 14588.7536,611.625 Q14588.2849,611.9844 14588.2849,612.6406 Q14588.2849,613.1563 14588.6286,613.5 Q14588.9724,613.8281 14590.0661,614.2344 L14591.1286,614.6406 Q14592.613,615.1875 14593.3161,616.0938 Q14594.0349,617 14594.0349,618.375 Q14594.0349,620.25 14592.9255,621.1719 Q14591.8161,622.0938 14589.5661,622.0938 Q14588.6442,622.0938 14587.7224,621.875 Q14586.8005,621.6563 14585.9411,621.2344 L14585.9411,618.7031 Q14586.9099,619.3906 14587.8317,619.7344 Q14588.7536,620.0781 14589.6442,620.0781 Q14590.5505,620.0781 14591.0505,619.6719 Q14591.5505,619.25 14591.5505,618.5156 Q14591.5505,617.9531 14591.2067,617.5469 Q14590.8786,617.125 14590.2536,616.875 L14589.0505,616.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="14610.0661" y="620.0137">urt_srtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="14131.8161" x2="15173.8161" y1="631.8594" y2="631.8594"/><ellipse cx="14141.8161" cy="642.8594" 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="189" x="14150.8161" y="646.0698">usefulnesscb : urt_usefulness_f*</text><ellipse cx="14141.8161" cy="655.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="14150.8161" y="658.8745">cbparams : void*</text><ellipse cx="14141.8161" cy="685.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="14150.8161" y="688.4839">minLatency : urt_delay_t</text><ellipse cx="14141.8161" cy="698.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="14150.8161" y="701.2886">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="14131.8161" x2="14544.3161" y1="671.8711" y2="671.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="14544.3161" y="675.1792">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="14761.3161" x2="15173.8161" y1="671.8711" y2="671.8711"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="14131.8161" x2="15173.8161" y1="707.8828" y2="707.8828"/><ellipse cx="14141.8161" cy="718.8828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="14150.8161" y="722.0933">urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void</text><ellipse cx="14141.8161" cy="731.6875" 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="1018" x="14150.8161" y="734.8979">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="14141.8161" cy="744.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="14150.8161" y="747.7026">urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="14141.8161" cy="757.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="14150.8161" y="760.5073">urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="14141.8161" cy="770.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="14150.8161" y="773.312">urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float</text><ellipse cx="14141.8161" cy="782.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="14150.8161" y="786.1167">urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t</text><!--MD5=[17838fb05fe219fd399839979ec8a4a4]

class urt_frtsubscriber_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="226.4609" id="urt_frtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="974" x="16065.8161" y="583.3594"/><ellipse cx="16491.0661" cy="599.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M16490.5505,599.9219 Q16488.6911,599.2188 16488.0349,598.4531 Q16487.3942,597.6719 16487.3942,596.3594 Q16487.3942,594.6719 16488.4724,593.7031 Q16489.5505,592.7344 16491.4255,592.7344 Q16492.2849,592.7344 16493.1286,592.9375 Q16493.988,593.125 16494.8317,593.5156 L16494.8317,595.9063 Q16494.0505,595.3438 16493.2224,595.0625 Q16492.4099,594.7656 16491.613,594.7656 Q16490.738,594.7656 16490.2536,595.125 Q16489.7849,595.4844 16489.7849,596.1406 Q16489.7849,596.6563 16490.1286,597 Q16490.4724,597.3281 16491.5661,597.7344 L16492.6286,598.1406 Q16494.113,598.6875 16494.8161,599.5938 Q16495.5349,600.5 16495.5349,601.875 Q16495.5349,603.75 16494.4255,604.6719 Q16493.3161,605.5938 16491.0661,605.5938 Q16490.1442,605.5938 16489.2224,605.375 Q16488.3005,605.1563 16487.4411,604.7344 L16487.4411,602.2031 Q16488.4099,602.8906 16489.3317,603.2344 Q16490.2536,603.5781 16491.1442,603.5781 Q16492.0505,603.5781 16492.5505,603.1719 Q16493.0505,602.75 16493.0505,602.0156 Q16493.0505,601.4531 16492.7067,601.0469 Q16492.3786,600.625 16491.7536,600.375 L16490.5505,599.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="16511.5661" y="603.5137">urt_frtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="16066.8161" x2="17038.8161" y1="615.3594" y2="615.3594"/><ellipse cx="16076.8161" cy="643.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="16085.8161" y="646.3745">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16066.8161" x2="16407.3161" y1="629.7617" y2="629.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="16407.3161" y="633.0698">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16698.3161" x2="17038.8161" y1="629.7617" y2="629.7617"/><ellipse cx="16076.8161" cy="672.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="16085.8161" y="675.9839">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16066.8161" x2="16417.3161" y1="659.3711" y2="659.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="16417.3161" y="662.6792">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16688.3161" x2="17038.8161" y1="659.3711" y2="659.3711"/><ellipse cx="16076.8161" cy="702.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="16085.8161" y="705.5933">minLatency : urt_delay_t</text><ellipse cx="16076.8161" cy="715.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="16085.8161" y="718.3979">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16066.8161" x2="16298.8161" y1="688.9805" y2="688.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="508" x="16298.8161" y="692.2886">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ||  URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16806.8161" x2="17038.8161" y1="688.9805" y2="688.9805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="16066.8161" x2="17038.8161" y1="724.9922" y2="724.9922"/><ellipse cx="16076.8161" cy="735.9922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="342" x="16085.8161" y="739.2026">urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : void</text><ellipse cx="16076.8161" cy="748.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="948" x="16085.8161" y="752.0073">urtFrtSubscriberSubscribe (subscriber : urt_frtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="16076.8161" cy="761.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="780" x="16085.8161" y="764.812">urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="16076.8161" cy="774.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="790" x="16085.8161" y="777.6167">urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="16076.8161" cy="787.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="540" x="16085.8161" y="790.4214">urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool</text><ellipse cx="16076.8161" cy="800.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="441" x="16085.8161" y="803.2261">urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t</text><!--MD5=[104dc879e5721421b987fcc467bc3a1d]

class urt_hrtsubscriber_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="268.875" id="urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="12993.8161" y="561.8594"/><ellipse cx="13472.0661" cy="577.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M13471.5505,578.4219 Q13469.6911,577.7188 13469.0349,576.9531 Q13468.3942,576.1719 13468.3942,574.8594 Q13468.3942,573.1719 13469.4724,572.2031 Q13470.5505,571.2344 13472.4255,571.2344 Q13473.2849,571.2344 13474.1286,571.4375 Q13474.988,571.625 13475.8317,572.0156 L13475.8317,574.4063 Q13475.0505,573.8438 13474.2224,573.5625 Q13473.4099,573.2656 13472.613,573.2656 Q13471.738,573.2656 13471.2536,573.625 Q13470.7849,573.9844 13470.7849,574.6406 Q13470.7849,575.1563 13471.1286,575.5 Q13471.4724,575.8281 13472.5661,576.2344 L13473.6286,576.6406 Q13475.113,577.1875 13475.8161,578.0938 Q13476.5349,579 13476.5349,580.375 Q13476.5349,582.25 13475.4255,583.1719 Q13474.3161,584.0938 13472.0661,584.0938 Q13471.1442,584.0938 13470.2224,583.875 Q13469.3005,583.6563 13468.4411,583.2344 L13468.4411,580.7031 Q13469.4099,581.3906 13470.3317,581.7344 Q13471.2536,582.0781 13472.1442,582.0781 Q13473.0505,582.0781 13473.5505,581.6719 Q13474.0505,581.25 13474.0505,580.5156 Q13474.0505,579.9531 13473.7067,579.5469 Q13473.3786,579.125 13472.7536,578.875 L13471.5505,578.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="13492.5661" y="582.0137">urt_hrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12994.8161" x2="14076.8161" y1="593.8594" y2="593.8594"/><ellipse cx="13004.8161" cy="604.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="151" x="13013.8161" y="608.0698">next : urt_hrtsubscriber_t*</text><ellipse cx="13004.8161" cy="634.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="13013.8161" y="637.6792">deadlineOffset : urt_delay_t</text><ellipse cx="13004.8161" cy="647.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="13013.8161" y="650.4839">qosDeadlineTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12994.8161" x2="13390.3161" y1="621.0664" y2="621.0664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="13390.3161" y="624.3745">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13681.3161" x2="14076.8161" y1="621.0664" y2="621.0664"/><ellipse cx="13004.8161" cy="676.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="13013.8161" y="680.0933">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12994.8161" x2="13400.3161" y1="663.4805" y2="663.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="13400.3161" y="666.7886">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13671.3161" x2="14076.8161" y1="663.4805" y2="663.4805"/><ellipse cx="13004.8161" cy="706.4922" 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="13013.8161" y="709.7026">minLatency : urt_delay_t</text><ellipse cx="13004.8161" cy="719.2969" 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="13013.8161" y="722.5073">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12994.8161" x2="13283.8161" y1="693.0898" y2="693.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="13283.8161" y="696.3979">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13787.8161" x2="14076.8161" y1="693.0898" y2="693.0898"/><ellipse cx="13004.8161" cy="748.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="13013.8161" y="752.1167">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12994.8161" x2="13403.3161" y1="735.5039" y2="735.5039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="13403.3161" y="738.812">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13668.3161" x2="14076.8161" y1="735.5039" y2="735.5039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="12994.8161" x2="14076.8161" y1="758.7109" y2="758.7109"/><ellipse cx="13004.8161" cy="769.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="13013.8161" y="772.9214">urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : void</text><ellipse cx="13004.8161" cy="782.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1058" x="13013.8161" y="785.7261">urtHrtSubscriberSubscribe (subscriber : urt_hrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, rate : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="13004.8161" cy="795.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="13013.8161" y="798.5308">urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="13004.8161" cy="808.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="13013.8161" y="811.3354">urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="13004.8161" cy="820.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="13013.8161" y="824.1401">urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t</text><!--MD5=[e60e0f8379a14e7a4a292c65add9d735]

class urt_service_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="269.6797" id="urt_service_t" style="stroke: #A80036; stroke-width: 1.5;" width="596" x="8227.8161" y="561.3594"/><ellipse cx="8482.0661" cy="577.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8481.5505,577.9219 Q8479.6911,577.2188 8479.0349,576.4531 Q8478.3942,575.6719 8478.3942,574.3594 Q8478.3942,572.6719 8479.4724,571.7031 Q8480.5505,570.7344 8482.4255,570.7344 Q8483.2849,570.7344 8484.1286,570.9375 Q8484.988,571.125 8485.8317,571.5156 L8485.8317,573.9063 Q8485.0505,573.3438 8484.2224,573.0625 Q8483.4099,572.7656 8482.613,572.7656 Q8481.738,572.7656 8481.2536,573.125 Q8480.7849,573.4844 8480.7849,574.1406 Q8480.7849,574.6563 8481.1286,575 Q8481.4724,575.3281 8482.5661,575.7344 L8483.6286,576.1406 Q8485.113,576.6875 8485.8161,577.5938 Q8486.5349,578.5 8486.5349,579.875 Q8486.5349,581.75 8485.4255,582.6719 Q8484.3161,583.5938 8482.0661,583.5938 Q8481.1442,583.5938 8480.2224,583.375 Q8479.3005,583.1563 8478.4411,582.7344 L8478.4411,580.2031 Q8479.4099,580.8906 8480.3317,581.2344 Q8481.2536,581.5781 8482.1442,581.5781 Q8483.0505,581.5781 8483.5505,581.1719 Q8484.0505,580.75 8484.0505,580.0156 Q8484.0505,579.4531 8483.7067,579.0469 Q8483.3786,578.625 8482.7536,578.375 L8481.5505,577.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="8502.5661" y="581.5137">urt_service_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8228.8161" x2="8822.8161" y1="593.3594" y2="593.3594"/><ellipse cx="8238.8161" cy="604.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="115" x="8247.8161" y="607.5698">next : urt_service_t*</text><ellipse cx="8238.8161" cy="617.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="105" x="8247.8161" y="620.3745">id : urt_serviceid_t</text><ellipse cx="8238.8161" cy="629.9688" 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="8247.8161" y="633.1792">lock : urt_osMutex_t</text><ellipse cx="8238.8161" cy="642.7734" 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="236" x="8247.8161" y="645.9839">requestQueue_front : urt_baserequest_t*</text><ellipse cx="8238.8161" cy="655.5781" 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="240" x="8247.8161" y="658.7886">requestQueue_hrtBack : urt_hrtrequest_t*</text><ellipse cx="8238.8161" cy="668.3828" 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="256" x="8247.8161" y="671.5933">requestQueue_fsrtBack : urt_baserequest_t*</text><ellipse cx="8238.8161" cy="681.1875" 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="235" x="8247.8161" y="684.3979">requestQueue_back : urt_baserequest_t*</text><ellipse cx="8238.8161" cy="693.9922" 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="8247.8161" y="697.2026">evtSource : urt_osEventSource_t</text><ellipse cx="8238.8161" cy="706.7969" 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="198" x="8247.8161" y="710.0073">evtListener : urt_osEventListener_t</text><ellipse cx="8238.8161" cy="736.4063" 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="110" x="8247.8161" y="739.6167">numCalls : uint64_t</text><ellipse cx="8238.8161" cy="749.2109" 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="167" x="8247.8161" y="752.4214">numOwnershipLost : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8228.8161" x2="8429.8161" y1="723.0039" y2="723.0039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="8429.8161" y="726.312">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8621.8161" x2="8822.8161" y1="723.0039" y2="723.0039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8228.8161" x2="8822.8161" y1="759.0156" y2="759.0156"/><ellipse cx="8238.8161" cy="770.0156" 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="412" x="8247.8161" y="773.2261">urtServiceInit (service : urt_service_t*, id : urt_serviceid_t) : urt_status_t</text><ellipse cx="8238.8161" cy="782.8203" 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="549" x="8247.8161" y="786.0308">urtServiceDispatch (service : urt_service_t*, payload : void*, bytes : size_t) : urt_baserequest_t*</text><ellipse cx="8238.8161" cy="795.625" 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="552" x="8247.8161" y="798.8354">urtServiceAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="8238.8161" cy="808.4297" 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="570" x="8247.8161" y="811.6401">urtServiceTryAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="8238.8161" cy="821.2344" 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="365" x="8247.8161" y="824.4448">urtServiceRespond (request : urt_baserequest_t*) : urt_status_t</text><!--MD5=[7294e1cfaeb111bef046bc5d07a96458]

class urt_baserequest_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="197.6563" id="urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="224" x="8876.8161" y="597.3594"/><ellipse cx="8927.0661" cy="613.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8926.5505,613.9219 Q8924.6911,613.2188 8924.0349,612.4531 Q8923.3942,611.6719 8923.3942,610.3594 Q8923.3942,608.6719 8924.4724,607.7031 Q8925.5505,606.7344 8927.4255,606.7344 Q8928.2849,606.7344 8929.1286,606.9375 Q8929.988,607.125 8930.8317,607.5156 L8930.8317,609.9063 Q8930.0505,609.3438 8929.2224,609.0625 Q8928.4099,608.7656 8927.613,608.7656 Q8926.738,608.7656 8926.2536,609.125 Q8925.7849,609.4844 8925.7849,610.1406 Q8925.7849,610.6563 8926.1286,611 Q8926.4724,611.3281 8927.5661,611.7344 L8928.6286,612.1406 Q8930.113,612.6875 8930.8161,613.5938 Q8931.5349,614.5 8931.5349,615.875 Q8931.5349,617.75 8930.4255,618.6719 Q8929.3161,619.5938 8927.0661,619.5938 Q8926.1442,619.5938 8925.2224,619.375 Q8924.3005,619.1563 8923.4411,618.7344 L8923.4411,616.2031 Q8924.4099,616.8906 8925.3317,617.2344 Q8926.2536,617.5781 8927.1442,617.5781 Q8928.0505,617.5781 8928.5505,617.1719 Q8929.0505,616.75 8929.0505,616.0156 Q8929.0505,615.4531 8928.7067,615.0469 Q8928.3786,614.625 8927.7536,614.375 L8926.5505,613.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="8947.5661" y="617.5137">urt_baserequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8877.8161" x2="9099.8161" y1="629.3594" y2="629.3594"/><ellipse cx="8887.8161" cy="640.3594" 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="147" x="8896.8161" y="643.5698">prev : urt_baserequest_t*</text><ellipse cx="8887.8161" cy="653.1641" 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="146" x="8896.8161" y="656.3745">next : urt_baserequest_t*</text><ellipse cx="8887.8161" cy="665.9688" 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="8896.8161" y="669.1792">lock : urt_osMutex_t</text><ellipse cx="8887.8161" cy="678.7734" 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="126" x="8896.8161" y="681.9839">owner : urt_service_t*</text><ellipse cx="8887.8161" cy="691.5781" 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="180" x="8896.8161" y="694.7886">submissionTime : urt_osTime_t</text><ellipse cx="8887.8161" cy="704.3828" 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="85" x="8896.8161" y="707.5933">payload : void*</text><ellipse cx="8887.8161" cy="717.1875" 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="186" x="8896.8161" y="720.3979">evtSource : urt_osEventSource_t</text><ellipse cx="8887.8161" cy="729.9922" 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="198" x="8896.8161" y="733.2026">evtListener : urt_osEventListener_t</text><ellipse cx="8887.8161" cy="759.6016" 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="136" x="8896.8161" y="762.812">sumLatencies : uint64_t</text><ellipse cx="8887.8161" cy="772.4063" 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="110" x="8896.8161" y="775.6167">numCalls : uint64_t</text><ellipse cx="8887.8161" cy="785.2109" 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="108" x="8896.8161" y="788.4214">numFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8877.8161" x2="8892.8161" y1="746.1992" y2="746.1992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="8892.8161" y="749.5073">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9084.8161" x2="9099.8161" y1="746.1992" y2="746.1992"/><!--MD5=[65269c71e9a2a076bc4014c9b128c9e6]

class urt_nrtrequest_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="167.2422" id="urt_nrtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="531" x="10264.3161" y="219.3594"/><ellipse cx="10474.5661" cy="235.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10474.0505,235.9219 Q10472.1911,235.2188 10471.5349,234.4531 Q10470.8942,233.6719 10470.8942,232.3594 Q10470.8942,230.6719 10471.9724,229.7031 Q10473.0505,228.7344 10474.9255,228.7344 Q10475.7849,228.7344 10476.6286,228.9375 Q10477.488,229.125 10478.3317,229.5156 L10478.3317,231.9063 Q10477.5505,231.3438 10476.7224,231.0625 Q10475.9099,230.7656 10475.113,230.7656 Q10474.238,230.7656 10473.7536,231.125 Q10473.2849,231.4844 10473.2849,232.1406 Q10473.2849,232.6563 10473.6286,233 Q10473.9724,233.3281 10475.0661,233.7344 L10476.1286,234.1406 Q10477.613,234.6875 10478.3161,235.5938 Q10479.0349,236.5 10479.0349,237.875 Q10479.0349,239.75 10477.9255,240.6719 Q10476.8161,241.5938 10474.5661,241.5938 Q10473.6442,241.5938 10472.7224,241.375 Q10471.8005,241.1563 10470.9411,240.7344 L10470.9411,238.2031 Q10471.9099,238.8906 10472.8317,239.2344 Q10473.7536,239.5781 10474.6442,239.5781 Q10475.5505,239.5781 10476.0505,239.1719 Q10476.5505,238.75 10476.5505,238.0156 Q10476.5505,237.4531 10476.2067,237.0469 Q10475.8786,236.625 10475.2536,236.375 L10474.0505,235.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="10495.0661" y="239.5137">urt_nrtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10265.3161" x2="10794.3161" y1="251.3594" y2="251.3594"/><ellipse cx="10275.3161" cy="279.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="10284.3161" y="282.3745">minLatency : urt_delay_t</text><ellipse cx="10275.3161" cy="291.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="10284.3161" y="295.1792">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10265.3161" x2="10433.8161" y1="265.7617" y2="265.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="10433.8161" y="269.0698">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10625.8161" x2="10794.3161" y1="265.7617" y2="265.7617"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="10265.3161" x2="10794.3161" y1="301.7734" y2="301.7734"/><ellipse cx="10275.3161" cy="312.7734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="10284.3161" y="315.9839">urtNrtRequestInit (request : urt_nrtrequest_t*) : void</text><ellipse cx="10275.3161" cy="325.5781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="367" x="10284.3161" y="328.7886">urtNrtRequestAcquire (request : urt_nrtrequest_t*) : urt_status_t</text><ellipse cx="10275.3161" cy="338.3828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="385" x="10284.3161" y="341.5933">urtNrtRequestTryAcquire (request : urt_nrtrequest_t*) : urt_status_t</text><ellipse cx="10275.3161" cy="351.1875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="10284.3161" y="354.3979">urtNrtRequestRelease (request : urt_nrtrequest_t*) : urt_status_t</text><ellipse cx="10275.3161" cy="363.9922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="505" x="10284.3161" y="367.2026">urtNrtRequestSubmit (request : urt_nrtrequest_t*, service : urt_service_t*) : urt_status_t</text><ellipse cx="10275.3161" cy="376.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="10284.3161" y="380.0073">urtNrtRequestRetrieve (request : urt_nrtrequest_t*) : urt_status_t</text><!--MD5=[e9d515ad43a4cecec056dd09bc14a3c2]

class urt_srtrequest_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="180.0469" id="urt_srtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="675" x="9554.3161" y="212.8594"/><ellipse cx="9837.0661" cy="228.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9836.5505,229.4219 Q9834.6911,228.7188 9834.0349,227.9531 Q9833.3942,227.1719 9833.3942,225.8594 Q9833.3942,224.1719 9834.4724,223.2031 Q9835.5505,222.2344 9837.4255,222.2344 Q9838.2849,222.2344 9839.1286,222.4375 Q9839.988,222.625 9840.8317,223.0156 L9840.8317,225.4063 Q9840.0505,224.8438 9839.2224,224.5625 Q9838.4099,224.2656 9837.613,224.2656 Q9836.738,224.2656 9836.2536,224.625 Q9835.7849,224.9844 9835.7849,225.6406 Q9835.7849,226.1563 9836.1286,226.5 Q9836.4724,226.8281 9837.5661,227.2344 L9838.6286,227.6406 Q9840.113,228.1875 9840.8161,229.0938 Q9841.5349,230 9841.5349,231.375 Q9841.5349,233.25 9840.4255,234.1719 Q9839.3161,235.0938 9837.0661,235.0938 Q9836.1442,235.0938 9835.2224,234.875 Q9834.3005,234.6563 9833.4411,234.2344 L9833.4411,231.7031 Q9834.4099,232.3906 9835.3317,232.7344 Q9836.2536,233.0781 9837.1442,233.0781 Q9838.0505,233.0781 9838.5505,232.6719 Q9839.0505,232.25 9839.0505,231.5156 Q9839.0505,230.9531 9838.7067,230.5469 Q9838.3786,230.125 9837.7536,229.875 L9836.5505,229.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="9857.5661" y="233.0137">urt_srtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9555.3161" x2="10228.3161" y1="244.8594" y2="244.8594"/><ellipse cx="9565.3161" cy="272.6641" 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="9574.3161" y="275.8745">minLatency : urt_delay_t</text><ellipse cx="9565.3161" cy="285.4688" 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="9574.3161" y="288.6792">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9555.3161" x2="9795.8161" y1="259.2617" y2="259.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="9795.8161" y="262.5698">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9987.8161" x2="10228.3161" y1="259.2617" y2="259.2617"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="9555.3161" x2="10228.3161" y1="295.2734" y2="295.2734"/><ellipse cx="9565.3161" cy="306.2734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="9574.3161" y="309.4839">urtSrtRequestInit (request : urt_srtrequest_t*) : void</text><ellipse cx="9565.3161" cy="319.0781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="367" x="9574.3161" y="322.2886">urtSrtRequestAcquire (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9565.3161" cy="331.8828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="385" x="9574.3161" y="335.0933">urtSrtRequestTryAcquire (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9565.3161" cy="344.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="9574.3161" y="347.8979">urtSrtRequestRelease (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9565.3161" cy="357.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="505" x="9574.3161" y="360.7026">urtSrtRequestSubmit (request : urt_srtrequest_t*, service : urt_service_t*) : urt_status_t</text><ellipse cx="9565.3161" cy="370.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="9574.3161" y="373.5073">urtSrtRequestRetrieve (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9565.3161" cy="383.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="649" x="9574.3161" y="386.312">urtSrtCalculateUsefulness (request : urt_srtrequest_t*, usefulnesscb : urt_usefulness_f, cbparams : void*) : float</text><!--MD5=[240977dbca9212fa5365c87da90aa051]

class urt_frtrequest_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="268.875" id="urt_frtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="656" x="10830.8161" y="168.3594"/><ellipse cx="11105.5661" cy="184.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11105.0505,184.9219 Q11103.1911,184.2188 11102.5349,183.4531 Q11101.8942,182.6719 11101.8942,181.3594 Q11101.8942,179.6719 11102.9724,178.7031 Q11104.0505,177.7344 11105.9255,177.7344 Q11106.7849,177.7344 11107.6286,177.9375 Q11108.488,178.125 11109.3317,178.5156 L11109.3317,180.9063 Q11108.5505,180.3438 11107.7224,180.0625 Q11106.9099,179.7656 11106.113,179.7656 Q11105.238,179.7656 11104.7536,180.125 Q11104.2849,180.4844 11104.2849,181.1406 Q11104.2849,181.6563 11104.6286,182 Q11104.9724,182.3281 11106.0661,182.7344 L11107.1286,183.1406 Q11108.613,183.6875 11109.3161,184.5938 Q11110.0349,185.5 11110.0349,186.875 Q11110.0349,188.75 11108.9255,189.6719 Q11107.8161,190.5938 11105.5661,190.5938 Q11104.6442,190.5938 11103.7224,190.375 Q11102.8005,190.1563 11101.9411,189.7344 L11101.9411,187.2031 Q11102.9099,187.8906 11103.8317,188.2344 Q11104.7536,188.5781 11105.6442,188.5781 Q11106.5505,188.5781 11107.0505,188.1719 Q11107.5505,187.75 11107.5505,187.0156 Q11107.5505,186.4531 11107.2067,186.0469 Q11106.8786,185.625 11106.2536,185.375 L11105.0505,184.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="98" x="11126.0661" y="188.5137">urt_frtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10831.8161" x2="11485.8161" y1="200.3594" y2="200.3594"/><ellipse cx="10841.8161" cy="228.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="10850.8161" y="231.3745">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10831.8161" x2="11025.8161" y1="214.7617" y2="214.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="266" x="11025.8161" y="218.0698">URT_CFG_RPC_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11291.8161" x2="11485.8161" y1="214.7617" y2="214.7617"/><ellipse cx="10841.8161" cy="257.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="10850.8161" y="260.9839">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10831.8161" x2="11035.8161" y1="244.3711" y2="244.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="11035.8161" y="247.6792">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11281.8161" x2="11485.8161" y1="244.3711" y2="244.3711"/><ellipse cx="10841.8161" cy="287.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="10850.8161" y="290.5933">minLatency : urt_delay_t</text><ellipse cx="10841.8161" cy="300.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="10850.8161" y="303.3979">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10831.8161" x2="10931.8161" y1="273.9805" y2="273.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="454" x="10931.8161" y="277.2886">URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11385.8161" x2="11485.8161" y1="273.9805" y2="273.9805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="10831.8161" x2="11485.8161" y1="309.9922" y2="309.9922"/><ellipse cx="10841.8161" cy="320.9922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="292" x="10850.8161" y="324.2026">urtFrtRequestInit (request : urt_frtrequest_t*) : void</text><ellipse cx="10841.8161" cy="333.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="362" x="10850.8161" y="337.0073">urtFrtRequestAcquire (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="10841.8161" cy="346.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="10850.8161" y="349.812">urtFrtRequestTryAcquire (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="10841.8161" cy="359.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="365" x="10850.8161" y="362.6167">urtFrtRequestRelease (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="10841.8161" cy="372.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="630" x="10850.8161" y="375.4214">urtFrtRequestSubmit (request : urt_frtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t</text><ellipse cx="10841.8161" cy="385.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="366" x="10850.8161" y="388.2261">urtFrtRequestRetrieve (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="10841.8161" cy="397.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="318" x="10850.8161" y="401.0308">urtDrtCalculateValidity (request : urt_frtrequest_t) : bool</text><ellipse cx="10841.8161" cy="427.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="423" x="10850.8161" y="430.6401">urtFrtRequestGetMaxJitter (request : urt_frtrequest_t*) : urt_delay_t* const</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10831.8161" x2="11035.8161" y1="414.0273" y2="414.0273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="11035.8161" y="417.3354">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; 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class urt_hrtrequest_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="285.6797" id="urt_hrtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="661" x="8858.3161" y="159.8594"/><ellipse cx="9133.5661" cy="175.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9133.0505,176.4219 Q9131.1911,175.7188 9130.5349,174.9531 Q9129.8942,174.1719 9129.8942,172.8594 Q9129.8942,171.1719 9130.9724,170.2031 Q9132.0505,169.2344 9133.9255,169.2344 Q9134.7849,169.2344 9135.6286,169.4375 Q9136.488,169.625 9137.3317,170.0156 L9137.3317,172.4063 Q9136.5505,171.8438 9135.7224,171.5625 Q9134.9099,171.2656 9134.113,171.2656 Q9133.238,171.2656 9132.7536,171.625 Q9132.2849,171.9844 9132.2849,172.6406 Q9132.2849,173.1563 9132.6286,173.5 Q9132.9724,173.8281 9134.0661,174.2344 L9135.1286,174.6406 Q9136.613,175.1875 9137.3161,176.0938 Q9138.0349,177 9138.0349,178.375 Q9138.0349,180.25 9136.9255,181.1719 Q9135.8161,182.0938 9133.5661,182.0938 Q9132.6442,182.0938 9131.7224,181.875 Q9130.8005,181.6563 9129.9411,181.2344 L9129.9411,178.7031 Q9130.9099,179.3906 9131.8317,179.7344 Q9132.7536,180.0781 9133.6442,180.0781 Q9134.5505,180.0781 9135.0505,179.6719 Q9135.5505,179.25 9135.5505,178.5156 Q9135.5505,177.9531 9135.2067,177.5469 Q9134.8786,177.125 9134.2536,176.875 L9133.0505,176.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="9154.0661" y="180.0137">urt_hrtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8859.3161" x2="9518.3161" y1="191.8594" y2="191.8594"/><ellipse cx="8869.3161" cy="219.6641" 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="8878.3161" y="222.8745">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8859.3161" x2="9055.8161" y1="206.2617" y2="206.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="266" x="9055.8161" y="209.5698">URT_CFG_RPC_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9321.8161" x2="9518.3161" y1="206.2617" y2="206.2617"/><ellipse cx="8869.3161" cy="249.2734" 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="8878.3161" y="252.4839">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8859.3161" x2="9065.8161" y1="235.8711" y2="235.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="9065.8161" y="239.1792">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9311.8161" x2="9518.3161" y1="235.8711" y2="235.8711"/><ellipse cx="8869.3161" cy="278.8828" 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="8878.3161" y="282.0933">qosTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8859.3161" x2="8924.8161" y1="265.4805" y2="265.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="528" x="8924.8161" y="268.7886">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="9452.8161" x2="9518.3161" y1="265.4805" y2="265.4805"/><ellipse cx="8869.3161" cy="308.4922" 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="8878.3161" y="311.7026">minLatency : urt_delay_t</text><ellipse cx="8869.3161" cy="321.2969" 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="8878.3161" y="324.5073">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8859.3161" x2="8961.8161" y1="295.0898" y2="295.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="454" x="8961.8161" y="298.3979">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="9415.8161" x2="9518.3161" y1="295.0898" y2="295.0898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8859.3161" x2="9518.3161" y1="331.1016" y2="331.1016"/><ellipse cx="8869.3161" cy="342.1016" 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="8878.3161" y="345.312">urtHrtRequestInit (request : urt_hrtrequest_t*) : void</text><ellipse cx="8869.3161" cy="354.9063" 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="8878.3161" y="358.1167">urtHrtRequestAcquire (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8869.3161" cy="367.7109" 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="8878.3161" y="370.9214">urtHrtRequestTryAcquire (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8869.3161" cy="380.5156" 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="8878.3161" y="383.7261">urtHrtRequestRelease (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8869.3161" cy="393.3203" 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="8878.3161" y="396.5308">urtHrtRequestSubmit (request : urt_hrtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t</text><ellipse cx="8869.3161" cy="406.125" 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="8878.3161" y="409.3354">urtHrtRequestRetrieve (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8869.3161" cy="435.7344" 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="8878.3161" y="438.9448">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="8859.3161" x2="9065.8161" y1="422.332" y2="422.332"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="9065.8161" y="425.6401">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9311.8161" x2="9518.3161" y1="422.332" y2="422.332"/><!--MD5=[e0c5ef58bc626bdfda028ecb031e1681]

link urt_usefulness_f to urt_delay_t--><path d="M7109.727,1118.4276 C7077.8007,1158.6488 7016.4084,1228.9556 6948.8161,1269.3594 C6840.7867,1333.9349 6699.0473,1370.2492 6606.4926,1388.5737 " 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="6601.5722,1389.5401,6611.1744,1391.7304,6606.4784,1388.5764,6609.6325,1383.8804,6601.5722,1389.5401" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5fff9a13948f7f5b5e6ca18c1c7a9716]

link urt_nodestage_t to urt_config--><path d="M7477.7867,1167.0078 C7498.6292,1204.4988 7528.8857,1246.0764 7568.8161,1269.3594 C8005.2095,1523.8151 11702.7011,1669.9615 12498.3636,1698.6292 " 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="12503.5777,1698.8169,12494.7274,1694.4957,12498.5809,1698.637,12494.4396,1702.4905,12503.5777,1698.8169" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7db439499cb1afd557b9be4c8c52b2ba]

link urt_topicid_t to urt_config--><path d="M6853.6392,1167.308 C6877.6087,1203.2441 6910.1725,1243.3873 6948.8161,1269.3594 C7256.1334,1475.9045 7386.0674,1433.6304 7751.8161,1491.3594 C8700.1248,1641.0384 11780.9856,1691.9464 12498.4991,1701.9172 " 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="12503.7247,1701.9896,12494.7811,1697.865,12498.7252,1701.9201,12494.67,1705.8642,12503.7247,1701.9896" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e851a4e79ca88682282ceaaad2100c63]

link urt_serviceid_t to urt_config--><path d="M6584.121,1167.1511 C6607.3006,1201.1721 6637.136,1239.8023 6669.8161,1269.3594 C6813.1785,1399.0211 6858.4111,1436.6795 7043.8161,1491.3594 C7579.7611,1649.421 11660.2199,1694.8718 12498.5455,1702.5826 " 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="12503.7333,1702.6302,12494.7704,1698.5478,12498.7335,1702.5843,12494.697,1706.5475,12503.7333,1702.6302" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[844001065b3bef53527c5dd4ba0c22e5]

link urt_delay_t to urt_config--><path d="M6601.4589,1444.0132 C6646.8827,1461.9442 6703.2777,1481.3299 6755.8161,1491.3594 C7334.4728,1601.8238 11636.5601,1685.4352 12498.6656,1701.1805 " 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="12503.6874,1701.2722,12494.762,1697.1083,12498.6882,1701.1807,12494.6158,1705.1069,12503.6874,1701.2722" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7766572fa0c619a5409829048dc0b6d6]

link urt_osCondvar_t to urt_osCondvarWaitStatus_t--><path d="M5324.8161,1156.9256 C5324.8161,1217.1874 5324.8161,1303.0674 5324.8161,1356.1772 " 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="5324.8161,1361.2126,5328.8161,1352.2126,5324.8161,1356.2126,5320.8161,1352.2126,5324.8161,1361.2126" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9b2507ea88616aeae65e3c4d63560016]

link urt_osCondvar_t to urt_osMutex_t--><path d="M4969.6794,1087.8594 C4959.8472,1087.8594 4950.0151,1087.8594 4940.1829,1087.8594 " 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="4935.0412,1087.8594,4944.0412,1091.8594,4940.0412,1087.8594,4944.0412,1083.8594,4935.0412,1087.8594" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[83094e108045c8f9585007cdb3b7cb2e]

link urt_osTimer_t to urt_osTimerCallback_t--><path d="M4232.8161,1144.0786 C4232.8161,1208.9544 4232.8161,1313.7128 4232.8161,1368.4456 " 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="4232.8161,1373.5831,4236.8161,1364.5831,4232.8161,1368.5831,4228.8161,1364.5831,4232.8161,1373.5831" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8d8c3240b5b2b5edf6544088e583ffa5]

link urt_osThread_t to urt_osThreadPrio_t--><path d="M3453.6032,1269.676 C3455.0422,1288.6533 3456.4462,1307.1682 3457.7298,1324.0957 " 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="3458.1242,1329.2969,3461.4321,1320.0201,3457.746,1324.3112,3453.455,1320.6252,3458.1242,1329.2969" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d7d1d43fd970fb07a484642bc19fcb13]

link urt_osThread_t to urt_osThreadFunction_t--><path d="M3154.67,1269.4464 C3093.434,1308.4428 3035.2334,1345.5062 2995.3851,1370.8824 " 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="2991.103,1373.6093,3000.843,1372.1489,2995.3204,1370.9235,2996.5458,1365.401,2991.103,1373.6093" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6564761b32ad7eeb5abb8896c72cfca5]

link urt_osThread_t to urt_osThreadTerminateSignal_t--><path d="M3600.0905,1269.676 C3631.0999,1304.8533 3660.7084,1338.4414 3682.6008,1363.2764 " 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="3686.0472,1367.186,3683.0962,1357.7896,3682.7408,1363.4353,3677.0951,1363.0799,3686.0472,1367.186" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[92ba23225d8de8f8080583fedda5e6f8]

link urt_osThread_t to urt_osThreadState_t--><path d="M3311.7116,1269.676 C3296.4606,1291.3215 3281.6335,1312.3653 3268.4063,1331.1383 " 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="3265.4332,1335.3581,3273.8868,1330.3047,3268.313,1331.2707,3267.347,1325.6969,3265.4332,1335.3581" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[78b286ab2177e5f7b31e6e832d821818]

link urt_osThread_t to urt_osTime_t--><path d="M3679.0792,906.2838 C3736.9141,875.2789 3800.7617,850.6431 3865.3161,843.3594 C3890.3379,840.5362 5653.2944,840.5362 5678.3161,843.3594 C5782.8322,855.152 5854.1303,972.0707 5887.0425,1039.8633 " 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="5889.3458,1044.6574,5889.0538,1034.8128,5887.1805,1040.1505,5881.8428,1038.2773,5889.3458,1044.6574" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[659af6ab57e6a38ebfd5c07c5616787c]

link urt_osEventListener_t to urt_osEventFlags_t--><path d="M1985.8161,1447.5894 C1985.8161,1509.4523 1985.8161,1621.6002 1985.8161,1674.6054 " 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="1985.8161,1679.8529,1989.8161,1670.8529,1985.8161,1674.8529,1981.8161,1670.8529,1985.8161,1679.8529" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[eac11679f26c499aa1c571e1f795945d]

link urt_osEventSource_t to urt_osEventFlags_t--><path d="M1498.5503,1441.3844 C1612.2368,1502.6237 1836.7478,1623.5609 1936.2916,1677.182 " 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="1940.9363,1679.684,1934.9098,1671.8942,1936.5344,1677.3127,1931.1158,1678.9373,1940.9363,1679.684" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0259cdb10c6c32168d1d17d25519d939]

link urt_events to urt_osEventSource_t--><path d="M2228.2398,1130.8734 C2047.3626,1192.8297 1716.2225,1306.2559 1542.6968,1365.6941 " 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="1537.8637,1367.3496,1547.6743,1368.2173,1542.5939,1365.7293,1545.0819,1360.649,1537.8637,1367.3496" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0ce043e0e9532fc393f3f8836f5de19a]

link urt_events to urt_osEventListener_t--><path d="M2303.803,1130.8734 C2234.9195,1190.117 2111.3167,1296.4221 2040.2014,1357.5851 " 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="2036.0148,1361.1858,2045.4465,1358.3497,2039.8056,1357.9254,2040.2299,1352.2845,2036.0148,1361.1858" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[430bebba9cd89d3ba8f63b2078968bca]

link urt_events to urt_osEventMask_t--><path d="M2392.9568,1130.8734 C2450.7464,1194.3817 2557.747,1311.971 2610.6032,1370.0577 " 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="2614.0053,1373.7965,2610.9066,1364.4478,2610.6402,1370.0984,2604.9896,1369.832,2614.0053,1373.7965" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b1b185abc2161e087cab32ae7fdb2c40]

link urt_events to urt_osEventFlags_t--><path d="M2383.6462,1130.9288 C2433.5924,1208.8858 2521.7402,1375.9886 2447.8161,1491.3594 C2363.4207,1623.0724 2174.5281,1674.2575 2066.2216,1693.2897 " fill="none" id="urt_events-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2061.1258,1694.1719,2070.6763,1696.5779,2066.0525,1693.3189,2069.3115,1688.6952,2061.1258,1694.1719" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[706a1974d1b474cbba7e7b0213f243a1]

link urt_events to urt_osEventWait_t--><path d="M2353.1366,1130.8734 C2352.2082,1189.6449 2350.548,1294.731 2349.5783,1356.1145 " 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="2349.4982,1361.1858,2353.6399,1352.2501,2349.5772,1356.1864,2345.6409,1352.1237,2349.4982,1361.1858" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ea4c3dac10af85084086a365fe38a187]

link urt_osTime_t to urt_delay_t--><path d="M5950.7079,1131.1378 C5992.7246,1171.5152 6060.1358,1231.1151 6127.8161,1269.3594 C6219.7113,1321.2868 6335.1127,1358.6496 6415.0976,1380.7233 " 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="6420.3142,1382.1551,6412.6941,1375.9154,6415.4926,1380.8315,6410.5764,1383.63,6420.3142,1382.1551" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5f656ccbf337bb70e2692ec6599b22aa]

link urt_osCondvar_t to urt_delay_t--><path d="M5444.5424,1156.9129 C5516.1945,1195.4217 5610.2746,1241.1648 5698.8161,1269.3594 C5949.9655,1349.3338 6260.7082,1384.145 6414.8123,1397.3578 " 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="6420.2278,1397.8187,6411.5996,1393.0696,6415.2458,1397.3945,6410.9209,1401.0408,6420.2278,1397.8187" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[2da0e339f7ca878d257c4a5336e8cad5]

link urt_osThread_t to urt_delay_t--><path d="M3829.0564,1264.7877 C3835.3263,1266.4028 3841.5822,1267.9293 3847.8161,1269.3594 C4248.2957,1361.2346 5285.7254,1303.8554 5695.8161,1329.3594 C5956.3293,1345.561 6262.6157,1377.1287 6414.8464,1393.6679 " 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="6420.1964,1394.2499,6411.6819,1389.2998,6415.2257,1393.709,6410.8165,1397.2528,6420.1964,1394.2499" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8bf77663ad208115c32fd5300d37f092]

link urt_osTimer_t to urt_delay_t--><path d="M4326.2821,1144.0353 C4402.6072,1186.7848 4514.8054,1242.6684 4620.8161,1269.3594 C4852.8358,1327.7765 5457.206,1311.7273 5695.8161,1329.3594 C5956.1228,1348.5948 6262.4991,1378.8424 6414.797,1394.3939 " fill="none" id="urt_osTimer_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6420.1494,1394.9409,6411.6028,1390.0464,6415.1753,1394.4324,6410.7893,1398.005,6420.1494,1394.9409" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[a4e2abbbace7909006fa5f13364d6021]

link urt_events to urt_delay_t--><path d="M2434.1871,1130.9991 C2521.5573,1175.3528 2666.6905,1241.7219 2800.8161,1269.3594 C3115.9316,1334.2911 5374.5892,1311.2732 5695.8161,1329.3594 C5956.4198,1344.0323 6262.6668,1376.2652 6414.8681,1393.3021 " fill="none" id="urt_events-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6420.217,1393.9017,6411.7186,1388.924,6415.2481,1393.3447,6410.8274,1396.8742,6420.217,1393.9017" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[182342162f0b9b45ddce11acc6582c59]

reverse link urt_node_t to urt_node_t--><path d="M18627.8732,664.461 C18642.9828,673.5808 18651.3161,684.2136 18651.3161,696.3594 C18651.3161,711.3081 18638.6928,723.9649 18616.3493,734.3298 " fill="none" id="urt_node_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="18616.3493,658.389,18619.7929,664.7247,18626.9658,663.9828,18623.5221,657.647,18616.3493,658.389" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="18624.8208" y="654.9578">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="18624.8864" y="731.7292">0,1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]

reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M17867.5465,824.7741 C17887.469,907.223 17915.5403,1007.8206 17933.5463,1057.3355 " fill="none" id="urt_node_t&lt;-urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="17864.4835,811.969,17861.9891,818.7349,17867.2751,823.6397,17869.7696,816.8738,17864.4835,811.969" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="17857.469" y="832.3028">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="17908.0185" y="1046.1205">0,1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]

reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M17890.1163,816.9511 C17914.3335,900.761 17940.4487,1006.243 17948.4508,1057.3355 " fill="none" id="urt_node_t&lt;-urt_nodeSetupCallback_t-1" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="17888.6715,811.969,17887.3367,821.727,17890.0642,816.7711,17895.0201,819.4986,17888.6715,811.969" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b913f036db99e36b937989146817bd94]

reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M17685.813,820.4696 C17584.6212,903.6922 17463.0169,1006.9554 17407.9872,1057.3355 " fill="none" id="urt_node_t&lt;-urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="17696.1631,811.969,17688.9877,812.686,17686.8898,819.5852,17694.0652,818.8682,17696.1631,811.969" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="17677.8395" y="832.3028">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="17405.4934" y="1046.1205">1</text><!--MD5=[b913f036db99e36b937989146817bd94]

reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M17716.2924,815.4509 C17618.2629,899.4983 17489.6739,1005.9377 17422.8917,1057.3355 " fill="none" id="urt_node_t&lt;-urt_nodeLoopCallback_t-1" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="17720.351,811.969,17710.9158,814.7933,17716.5562,815.2246,17716.1249,820.865,17720.351,811.969" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[496dffc41052f1912ec8ad492f24fe61]

reverse link urt_node_t to urt_nodeShutdownCallback_t--><path d="M18127.8657,818.2491 C18145.0383,827.5565 18161.822,837.2747 18177.8161,847.3594 C18277.275,910.0703 18377.1208,1007.7411 18431.2693,1057.0943 " fill="none" id="urt_node_t&lt;-urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="18115.9198,811.8716,18119.3289,818.2259,18126.5057,817.523,18123.0966,811.1687,18115.9198,811.8716" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="18125.7986" y="832.1989">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="18401.0503" y="1046.3028">0,1</text><!--MD5=[496dffc41052f1912ec8ad492f24fe61]

reverse link urt_node_t to urt_nodeShutdownCallback_t--><path d="M18155.3388,814.2476 C18175.1804,824.7608 18194.5151,835.8202 18212.8161,847.3594 C18312.275,910.0703 18412.1208,1007.7411 18453.0605,1057.0943 " fill="none" id="urt_node_t&lt;-urt_nodeShutdownCallback_t-1" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="18150.8284,811.8716,18156.9269,819.6051,18155.2522,814.2019,18160.6554,812.5271,18150.8284,811.8716" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[536025241394544a90bc53fb552f3a08]

reverse link urt_message_t to urt_message_t--><path d="M13119.4797,1364.0912 C13133.9979,1373.3734 13142.8161,1386.7962 13142.8161,1404.3594 C13142.8161,1426.1856 13129.1977,1441.6174 13107.9454,1450.6548 " fill="none" id="urt_message_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="13107.9454,1358.064,13111.4106,1364.3879,13118.5809,1363.6216,13115.1157,1357.2976,13107.9454,1358.064" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="13116.0364" y="1353.0393">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="13115.6047" y="1449.1249">0,1</text><!--MD5=[aa8990705afdbad14c7f998fe04b6f05]

reverse link urt_basesubscriber_t to urt_message_t--><path d="M13135.5162,1166.5175 C13115.4608,1199.8214 13090.0495,1238.0706 13062.8161,1269.3594 C13043.2739,1291.8117 13019.9182,1313.8133 12997.2364,1333.3228 " fill="none" id="urt_basesubscriber_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="13142.3809,1154.9633,13135.8773,1158.0784,13136.2515,1165.2798,13142.755,1162.1647,13142.3809,1154.9633" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="13130.211" y="1174.7495">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="12985.736" y="1322.3164">0,1</text><!--MD5=[0585cd4928de92ce6927d9c389eadd29]

link urt_nrtsubscriber_t to urt_basesubscriber_t--><path d="M15417.7211,773.4449 C15347.3557,797.6711 15267.4115,822.474 15192.8161,839.3594 C14494.7931,997.3639 13636.3817,1061.0836 13311.6639,1080.6604 " fill="none" id="urt_nrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="13311.8957,1087.6589,13291.5151,1081.8595,13311.0639,1073.6836,13311.8957,1087.6589" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6d81edfa5aa102b898ad487ae19b49f9]

link urt_srtsubscriber_t to urt_basesubscriber_t--><path d="M14289.4023,792.8835 C13972.0095,877.1842 13528.9452,994.8638 13310.8206,1052.7985 " fill="none" id="urt_srtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="13312.5045,1059.5939,13291.3777,1057.9626,13308.9106,1046.063,13312.5045,1059.5939" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f626d284cba98e1d5d5fe914b1fa4188]

link urt_frtsubscriber_t to urt_basesubscriber_t--><path d="M16184.8447,809.4451 C16139.3334,820.856 16093.2113,831.2158 16048.8161,839.3594 C15006.0242,1030.6429 13722.3047,1075.5303 13311.6918,1085.3112 " fill="none" id="urt_frtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="13311.8052,1092.3104,13291.6479,1085.7771,13311.4798,1078.3141,13311.8052,1092.3104" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[1ea71f2b33e56ab0ac5545988c1af396]

link urt_hrtsubscriber_t to urt_basesubscriber_t--><path d="M13412.957,831.0915 C13359.9266,889.2466 13299.6163,955.3853 13253.4874,1005.972 " fill="none" id="urt_hrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="13258.6052,1010.7485,13239.9568,1020.8102,13248.2604,1001.3153,13258.6052,1010.7485" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ea2ec5c5272e65289dabade75a749f58]

reverse link urt_hrtsubscriber_t to urt_hrtsubscriber_t--><path d="M14089.295,659.3988 C14104.3475,669.5725 14112.8161,681.8927 14112.8161,696.3594 C14112.8161,714.1646 14099.9879,728.7182 14077.8454,740.0203 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="14077.8454,652.6985,14081.0035,659.1813,14088.2022,658.7595,14085.0442,652.2767,14077.8454,652.6985" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="14085.5239" y="649.0477">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="14085.6083" y="737.5975">0,1</text><!--MD5=[54fcf25ad8c5f1d36e678e42d5bfd4cc]

reverse link urt_publisher_t to urt_topic_t--><path d="M12161.8052,696.3594 C12148.6773,696.3594 12135.5495,696.3594 12122.4216,696.3594 " fill="none" id="urt_publisher_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="12174.9331,696.3594,12168.9331,692.3594,12162.9331,696.3594,12168.9331,700.3594,12174.9331,696.3594" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12158.8917" y="693.2748">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12130.5392" y="693.2305">1</text><!--MD5=[5025b4c4053b8e7c7ca8a657f09f21c0]

link urt_publisher_t to urt_message_t--><path d="M12827.9328,794.498 C12846.7639,809.741 12863.5332,827.2557 12876.8161,847.3594 C12973.8506,994.2207 12947.1884,1213.3952 12923.5797,1328.1139 " fill="none" id="urt_publisher_t-&gt;urt_message_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12922.5293,1333.1603,12928.2795,1325.1643,12923.5483,1328.2652,12920.4474,1323.534,12922.5293,1333.1603" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b2afc1defaa6ed5a86f99c07f8466dd]

reverse link urt_topic_t to urt_topic_t--><path d="M12133.6412,649.9875 C12148.5595,661.6389 12157.3161,677.0962 12157.3161,696.3594 C12157.3161,720.0679 12144.0516,738.0113 12122.3607,750.1897 " fill="none" id="urt_topic_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="12122.3607,642.5291,12125.1596,649.1749,12132.3706,649.1474,12129.5718,642.5016,12122.3607,642.5291" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12130.4767" y="637.9703">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="12130.6361" y="748.4906">0,1</text><!--MD5=[ed3fb6de0913094c41bd74c175d366df]

reverse link urt_topic_t to urt_hrtsubscriber_t--><path d="M12003.4883,559.1993 C12056.0729,529.8733 12115.4749,505.6113 12175.3161,498.8594 C12219.3147,493.895 12928.3176,493.895 12972.3161,498.8594 C12980.2442,499.7539 12982.1544,500.6342 12989.8161,502.8594 C13050.0566,520.3547 13113.3557,540.8118 13174.6466,561.7489 " fill="none" id="urt_topic_t&lt;-urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="11992.0258,565.7316,11999.2192,566.2361,12002.4516,559.79,11995.2582,559.2855,11992.0258,565.7316" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11993.6926" y="554.8204">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="13133.1884" y="550.6075">0,1</text><!--MD5=[0b5167e958c0ed93ffc0c98ce399b54d]

reverse link urt_topic_t to urt_message_t--><path d="M12032.0522,834.3254 C12261.1213,983.9388 12617.8173,1216.91 12795.9276,1333.2403 " fill="none" id="urt_topic_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="12020.9017,827.0426,12023.7378,833.6725,12030.9486,833.6046,12028.1125,826.9746,12020.9017,827.0426" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12023.6251" y="846.6734">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12776.286" y="1322.2254">1</text><!--MD5=[ed8977051960dfa72b850fe399f41716]

reverse link urt_baserequest_t to urt_baserequest_t--><path d="M9112.215,634.0121 C9126.5168,645.5426 9135.8161,666.3251 9135.8161,696.3594 C9135.8161,733.6836 9121.4547,756.7197 9100.9784,765.4675 " fill="none" id="urt_baserequest_t&lt;-urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="9100.9784,627.2513,9104.0573,633.772,9111.2607,633.438,9108.1818,626.9172,9100.9784,627.2513" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9108.7831" y="619.1871">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="9108.7883" y="766.3031">0,1,2</text><!--MD5=[426f0ba47802c5735a37a0acd494a192]

reverse link urt_baserequest_t to urt_service_t--><path d="M8863.5313,696.3594 C8850.4322,696.3594 8837.3332,696.3594 8824.2341,696.3594 " fill="none" id="urt_baserequest_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8876.6303,696.3594,8870.6303,692.3594,8864.6303,696.3594,8870.6303,700.3594,8876.6303,696.3594" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8860.8241" y="692.9384">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="8831.4626" y="693.2558">0,1</text><!--MD5=[09de7ef26922535bfe0682cb358ee29c]

reverse link urt_service_t to urt_baserequest_t--><path d="M8837.3332,696.3594 C8850.4322,696.3594 8863.5313,696.3594 8876.6303,696.3594 " fill="none" id="urt_service_t&lt;-urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8824.2341,696.3594,8830.2341,700.3594,8836.2341,696.3594,8830.2341,692.3594,8824.2341,696.3594" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8832.2671" y="708.6315">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="8836.819" y="708.8978">0,2,3</text><!--MD5=[dc2d1805b45628aba9d654613b3d05f9]

link urt_nrtrequest_t to urt_baserequest_t--><path d="M10429.8468,386.5943 C10378.2637,425.5006 10312.4951,468.8189 10246.8161,494.8594 C10042.9845,575.6748 9400.3182,652.1729 9120.8082,682.5672 " fill="none" id="urt_nrtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="9121.5573,689.5269,9100.9204,684.7186,9120.0515,675.6081,9121.5573,689.5269" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d53ae0f00163daee879678d1d1554717]

link urt_nrtrequest_t to urt_service_t--><path d="M10437.1378,386.4545 C10385.1711,427.6789 10316.8463,473.1272 10246.8161,494.8594 C10209.5413,506.4268 8879.3507,492.1649 8841.8161,502.8594 C8797.9424,515.3601 8754.1269,535.7838 8713.7043,558.7816 " fill="none" id="urt_nrtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8709.2993,561.3055,8719.0969,560.3016,8713.6376,558.8196,8715.1195,553.3603,8709.2993,561.3055" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f9755d42ba41539dee622699d8be3a22]

link urt_srtrequest_t to urt_baserequest_t--><path d="M9736.5395,393.1014 C9675.2995,427.0265 9603.7116,464.6584 9536.8161,494.8594 C9397.6604,557.6834 9232.5501,616.3345 9120.199,653.9751 " fill="none" id="urt_srtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="9122.0847,660.7251,9100.8974,660.4088,9117.6575,647.4435,9122.0847,660.7251" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[90efd84e0f70286880ba110c49a1e8f8]

link urt_srtrequest_t to urt_service_t--><path d="M9761.6787,393.0092 C9697.1446,432.4151 9616.1733,474.2875 9536.8161,494.8594 C9462.0598,514.2386 8916.0257,481.4817 8841.8161,502.8594 C8798.128,515.4447 8754.4777,535.829 8714.1741,558.7468 " fill="none" id="urt_srtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8709.782,561.2619,8719.5799,560.2608,8714.121,558.7773,8715.6045,553.3184,8709.782,561.2619" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bfc5f4e50344156edda6a5cfcff14fef]

link urt_frtrequest_t to urt_baserequest_t--><path d="M10946.9746,437.5079 C10903.9376,459.8966 10857.9827,480.4751 10812.8161,494.8594 C10496.3364,595.6494 9485.4035,665.9263 9121.1874,688.5336 " fill="none" id="urt_frtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="9121.368,695.5356,9100.9749,689.7803,9120.506,681.5622,9121.368,695.5356" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[836450d5c472e7b2344319739fa0d5d1]

link urt_frtrequest_t to urt_service_t--><path d="M10955.5619,437.509 C10910.3247,461.1384 10861.34,482.1932 10812.8161,494.8594 C10759.8408,508.6876 8894.4832,487.8998 8841.8161,502.8594 C8797.9322,515.3242 8754.1122,535.7319 8713.6883,558.7253 " fill="none" id="urt_frtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8709.2832,561.2488,8719.0809,560.2459,8713.6217,558.7634,8715.1042,553.3042,8709.2832,561.2488" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7c5d2ea3f0b69f804ad9b60a9539ac96]

link urt_hrtrequest_t to urt_baserequest_t--><path d="M9116.0458,446.0351 C9093.7648,489.873 9069.5314,537.5521 9048.2497,579.4238 " fill="none" id="urt_hrtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="9054.4703,582.6344,9039.1681,597.292,9041.9898,576.291,9054.4703,582.6344" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[189d7bd823f9a098ae8eb3eaa3789ee1]

link urt_hrtrequest_t to urt_service_t--><path d="M8921.7797,445.9968 C8888.988,464.9856 8856.0492,484.3003 8824.8161,502.8594 C8794.7712,520.7125 8763.2468,539.7027 8732.3865,558.5434 " fill="none" id="urt_hrtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8727.8384,561.3219,8737.6039,560.0433,8732.1052,558.7152,8733.4333,553.2165,8727.8384,561.3219" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bcf13f9307d05af3b11663d6e8155fbe]

reverse link urt_service_t to urt_hrtrequest_t--><path d="M8773.9604,554.3718 C8802.8899,536.9071 8831.9876,519.3955 8859.8161,502.8594 C8891.0492,484.3003 8923.988,464.9856 8956.4821,445.9968 " fill="none" id="urt_service_t&lt;-urt_hrtrequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8762.452,561.3219,8769.6559,561.6441,8772.7241,555.1183,8765.5202,554.7961,8762.452,561.3219" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8767.9013" y="550.1614">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="8924.744" y="465.3711">0,1</text><!--MD5=[05f2c35569573d3273c65d3342945557]

reverse link urt_service_t to urt_service_t--><path d="M8835.2093,649.8473 C8850.0808,661.5148 8858.8161,677.0189 8858.8161,696.3594 C8858.8161,720.1631 8845.5839,738.1554 8823.9652,750.3362 " fill="none" id="urt_service_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8823.9652,642.3826,8826.7516,649.0336,8833.9627,649.0196,8831.1763,642.3686,8823.9652,642.3826" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8831.991" y="637.8225">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="8832.1504" y="748.6436">0,1</text><!--MD5=[694e7400eb99f74d44ea388aed89d199]

reverse link urt_core_t to urt_node_t--><path d="M8224.2702,363.0958 C8388.1156,409.5328 8627.6688,469.8993 8841.8161,494.8594 C8955.1324,508.0671 16942.5613,489.1353 17055.8161,502.8594 C17187.1487,518.7741 17328.1606,548.9561 17454.1776,580.8312 " fill="none" id="urt_core_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8211.6206,359.4957,8216.2965,364.9853,8223.1623,362.7805,8218.4864,357.2909,8211.6206,359.4957" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8219.0348" y="374.0682">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="17407.1925" y="569.6277">0,1</text><!--MD5=[250695c91040478b50550bc37a8775c7]

reverse link urt_core_t to urt_topic_t--><path d="M8224.2838,362.9799 C8388.1371,409.3495 8627.6943,469.6817 8841.8161,494.8594 C8878.5218,499.1755 11467.2446,492.8297 11502.8161,502.8594 C11551.3327,516.539 11599.8058,539.846 11643.758,565.6439 " fill="none" id="urt_core_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8211.6335,359.3851,8216.3116,364.8728,8223.1765,362.6653,8218.4984,357.1775,8211.6335,359.3851" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8219.0482" y="358.3673">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="11612.9437" y="554.7276">0,1</text><!--MD5=[8d0a227ec56585cdbc167f8316b34b64]

reverse link urt_core_t to urt_service_t--><path d="M8222.0832,457.3216 C8265.691,491.6409 8311.5881,527.762 8354.1217,561.2359 " fill="none" id="urt_core_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8211.6424,449.1046,8213.8836,455.9586,8221.0723,456.5259,8218.8311,449.6719,8211.6424,449.1046" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8219.0575" y="451.5915">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="8324.1853" y="550.5154">0,1</text><!--MD5=[a42c921bb2ae3ef3cd6ba12c97758939]

reverse link urt_core_t to urt_osEventSource_t--><path d="M7827.2396,308.9692 C6628.9203,346.7746 404.4291,556.7532 133.8161,847.3594 C6,984.6187 8.2524,1130.0367 133.8161,1269.3594 C200.9024,1343.7968 795.9792,1379.8647 1156.0231,1395.0175 " fill="none" id="urt_core_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7840.2488,308.5593,7834.1258,304.7503,7828.2548,308.9373,7834.3778,312.7463,7840.2488,308.5593" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7824.2514" y="305.5506">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1140.6442" y="1407.0424">1</text><!--MD5=[b9eb8460041bde16ab6e44c28de7b0fc]

reverse link urt_core_t to urt_osMutex_t--><path d="M7827.1533,317.4663 C7225.022,364.8763 5432.312,530.0599 4953.8161,847.3594 C4882.9293,894.3658 4833.0349,982.3889 4806.9103,1037.911 " fill="none" id="urt_core_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7840.2858,316.4361,7833.9913,312.9176,7828.3226,317.3746,7834.617,320.8931,7840.2858,316.4361" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7824.29" y="329.3925">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4810.2823" y="1027.2525">1</text><!--MD5=[fcff95a1517f1bbe30c2de95da1c3bda]

reverse link urt_core_t to urt_status_t--><path d="M7827.0446,314.7872 C7570.8495,334.7877 7146.8312,385.1498 7050.8161,502.8594 C6956.2847,618.7502 6945.8841,732.7943 7050.8161,839.3594 C7071.0098,859.8673 7544.1619,832.5092 7568.8161,847.3594 C7607.1676,870.46 7635.1518,909.0218 7655.2115,948.5761 " fill="none" id="urt_core_t&lt;-urt_status_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7840.2531,313.7713,7833.964,310.2432,7828.2884,314.6916,7834.5775,318.2196,7840.2531,313.7713" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7824.2559" y="310.9824">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7644.4987" y="937.6061">1</text><!--MD5=[f6f8ae0abb3c85244c8639cf15039f58]

link urt_core_t to urt_nodestage_t--><path d="M7840.0485,310.4352 C7566.6576,325.9236 7076.5062,371.6981 6967.8161,502.8594 C6872.39,618.0146 6863.2797,732.4062 6967.8161,839.3594 C6981.411,853.2685 7301.3082,837.0749 7317.8161,847.3594 C7372.9656,881.7178 7404.9885,948.9815 7422.7881,1003.6572 " fill="none" id="urt_core_t-&gt;urt_nodestage_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7424.3611,1008.572,7425.4273,998.781,7422.837,1003.8099,7417.8081,1001.2196,7424.3611,1008.572" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e894174e7ccaed139fbaaa0f9b9ae8dc]

link urt_core_t to urt_topicid_t--><path d="M7840.1037,309.4383 C7550.8093,323.7917 7012.3288,368.3133 6883.8161,502.8594 C6755.027,637.695 6771.5119,876.7105 6791.7613,1003.4673 " fill="none" id="urt_core_t-&gt;urt_topicid_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6792.6051,1008.6731,6795.1133,999.149,6791.805,1003.7375,6787.2164,1000.4292,6792.6051,1008.6731" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[972bd788fc5a0ee0badfa994920a3622]

link urt_core_t to urt_serviceid_t--><path d="M7840.1308,310.3376 C7531.7321,326.2978 6931.7565,373.4773 6769.8161,502.8594 C6613.1391,628.0364 6560.8589,873.9503 6543.8029,1003.4711 " fill="none" id="urt_core_t-&gt;urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6543.1138,1008.7894,6548.2375,1000.3782,6543.7565,1003.8309,6540.3039,999.3499,6543.1138,1008.7894" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[addb2e74eebae0995b3a6bf162197d46]

reverse link urt_node_t to urt_osThread_t--><path d="M17263.5205,813.8497 C17193.7753,824.3365 17123.3642,833.2745 17055.8161,839.3594 C17010.14,843.474 3892.0569,835.2763 3847.8161,847.3594 C3798.4405,860.845 3748.953,881.9927 3702.3277,906.2787 " fill="none" id="urt_node_t&lt;-urt_osThread_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="17276.5349,811.8739,17270.0025,808.8198,17264.6708,813.6751,17271.2033,816.7292,17276.5349,811.8739" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="17230.0176" y="832.2013">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3705.2337" y="895.3649">1</text><!--MD5=[71f626b81c482d35e653d2b548781872]

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reverse link urt_node_t to urt_osEventListener_t--><path d="M17263.5212,813.8577 C17193.7759,824.3431 17123.3646,833.2786 17055.8161,839.3594 C17041.5561,840.6431 571.9378,837.2328 561.8161,847.3594 C495.5213,913.6864 497.2421,1201.356 561.8161,1269.3594 C650.6094,1362.8683 1593.5912,1308.3362 1720.8161,1329.3594 C1765.3959,1336.7259 1813.1734,1348.8738 1855.7132,1361.2691 " fill="none" id="urt_node_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="17276.5357,811.8822,17270.0033,808.828,17264.6716,813.6832,17271.204,816.7374,17276.5357,811.8822" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="17143.1306" y="832.5645">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1826.3406" y="1350.2507">1</text><!--MD5=[a052f483eba01ccbd89eefaa281cffa6]

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link urt_node_t to urt_status_t--><path d="M17275.9897,811.8633 C17202.1816,823.1821 17127.3906,832.8629 17055.8161,839.3594 C16943.0019,849.5991 13091.0622,844.669 12977.8161,847.3594 C10911.2612,896.4549 8392.9127,1045.5382 7820.4,1080.4768 " fill="none" id="urt_node_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7815.4039,1080.7818,7824.6309,1084.2259,7820.3946,1080.4771,7824.1434,1076.2407,7815.4039,1080.7818" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b00c0c61b5ae38465e12763fb588229]

link urt_nodeSetupCallback_t to urt_osEventMask_t--><path d="M17920.7658,1118.4065 C17878.6282,1161.7886 17794.2377,1239.3132 17703.8161,1269.3594 C17310.9617,1399.9012 3204.5969,1238.053 2800.8161,1329.3594 C2764.3638,1337.6023 2726.4058,1355.1188 2696.7224,1371.1516 " fill="none" id="urt_nodeSetupCallback_t-&gt;urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2692.0309,1373.7104,2701.8474,1372.9126,2696.4204,1371.3162,2698.0168,1365.8893,2692.0309,1373.7104" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[aa0b59559007c8ad9b783f6dc5ed8ad9]

link urt_nodeLoopCallback_t to urt_osEventMask_t--><path d="M17339.9155,1118.5377 C17281.9711,1162.0831 17167.7634,1239.8092 17055.8161,1269.3594 C16672.9543,1370.4217 3187.0324,1241.9877 2800.8161,1329.3594 C2764.3645,1337.6057 2726.4066,1355.1223 2696.723,1371.1544 " fill="none" id="urt_nodeLoopCallback_t-&gt;urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2692.0315,1373.713,2701.848,1372.9152,2696.421,1371.3188,2698.0174,1365.8919,2692.0315,1373.713" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b3fa89608aace108b23bbfcd22712ec]

link urt_publisher_t to urt_config--><path d="M12519.3758,794.5058 C12512.9296,811.7568 12507.3299,829.8123 12503.8161,847.3594 C12447.6174,1128.0102 12419.398,1217.8695 12503.8161,1491.3594 C12508.3134,1505.9292 12514.19,1520.3923 12520.9981,1534.518 " fill="none" id="urt_publisher_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12523.342,1539.2952,12522.9686,1529.4534,12521.1395,1534.8064,12515.7865,1532.9773,12523.342,1539.2952" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[48a81098d0aa451a4923659bb2bbea3c]

link urt_publisher_t to urt_status_t--><path d="M12327.7885,794.4214 C12272.845,812.8706 12214.0262,829.4627 12157.8161,839.3594 C12086.1355,851.98 11575.5477,844.6167 11502.8161,847.3594 C10050.4152,902.1301 8289.9285,1040.0882 7820.5332,1078.0553 " fill="none" id="urt_publisher_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7815.4097,1078.4699,7824.703,1081.7309,7820.3934,1078.0666,7824.0577,1073.757,7815.4097,1078.4699" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[c16173558393ca1d9128284d70afa235]

link urt_publisher_t to urt_delay_t--><path d="M12316.4383,794.3627 C12264.6393,811.6627 12209.9593,827.8067 12157.8161,839.3594 C9947.559,1329.0567 7155.8313,1394.8595 6606.9177,1403.2032 " fill="none" id="urt_publisher_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6601.7429,1403.2812,6610.8022,1407.1449,6606.7423,1403.2057,6610.6815,1399.1459,6601.7429,1403.2812" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3f75a4ca5db56e37c381a718c71f2950]

reverse link urt_topic_t to urt_topicid_t--><path d="M11537.5454,830.652 C11525.9354,833.9486 11514.3324,836.8786 11502.8161,839.3594 C11471.9003,846.0192 6976.2186,831.5717 6948.8161,847.3594 C6888.9537,881.8487 6852.285,952.8495 6831.5771,1008.81 " fill="none" id="urt_topic_t&lt;-urt_topicid_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11550.1426,826.9349,11543.2558,824.7966,11538.6332,830.3312,11545.52,832.4695,11550.1426,826.9349" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11503.5166" y="841.3274">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6825.3066" y="997.8841">1</text><!--MD5=[2ea2859f8de074b5c128ff5997404a58]

reverse link urt_topic_t to urt_osMutex_t--><path d="M11537.5471,830.6599 C11525.9366,833.9543 11514.333,836.8817 11502.8161,839.3594 C11480.5852,844.1421 4973.9741,836.8358 4953.8161,847.3594 C4877.062,887.4292 4828.1625,980.3368 4803.9701,1038.237 " fill="none" id="urt_topic_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11550.1448,826.945,11543.2584,824.8055,11538.6349,830.3393,11545.5213,832.4788,11550.1448,826.945" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11534.7279" y="847.0024">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4807.0855" y="1027.265">1</text><!--MD5=[ee40dc1875ed5325eec4e6c8c8102744]

reverse link urt_topic_t to urt_osEventSource_t--><path d="M11537.5487,830.6672 C11525.9377,833.9596 11514.3336,836.8845 11502.8161,839.3594 C11484.1145,843.378 498.3371,833.8286 484.8161,847.3594 C352.2425,980.0293 361.9294,1127.6698 484.8161,1269.3594 C528.6405,1319.8893 892.9957,1360.3756 1156.1905,1383.391 " fill="none" id="urt_topic_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11550.1468,826.9544,11543.2608,824.8137,11538.6363,830.3467,11545.5223,832.4874,11550.1468,826.9544" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11502.6463" y="845.9705">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1139.9485" y="1379.6205">1</text><!--MD5=[fd684a39d2d7f503df403fc4f1515616]

reverse link urt_topic_t to urt_osCondvar_t--><path d="M11537.5466,830.6576 C11525.9363,833.9526 11514.3328,836.8808 11502.8161,839.3594 C11463.4128,847.8397 5737.4797,835.9721 5698.8161,847.3594 C5585.5171,880.7287 5474.0556,960.1162 5402.7049,1018.5964 " fill="none" id="urt_topic_t&lt;-urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11550.1441,826.9421,11543.2576,824.8028,11538.6343,830.3368,11545.5207,832.476,11550.1441,826.9421" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11526.2646" y="846.9993">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5411.1497" y="1007.7729">1</text><!--MD5=[f5e2f818dfb7c47ef0a661b061d2efd0]

link urt_topic_t to urt_config--><path d="M11921.176,827.1454 C12044.3094,986.3932 12260.7771,1262.4431 12455.8161,1491.3594 C12470.0142,1508.0236 12485.0224,1525.2257 12500.1446,1542.2905 " fill="none" id="urt_topic_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12503.5774,1546.1597,12500.5966,1536.7727,12500.2591,1542.4195,12494.6123,1542.082,12503.5774,1546.1597" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[a01366c261f16bb61c03de8616a1256c]

reverse link urt_topic_t to urt_osTimer_t--><path d="M11537.5473,830.6608 C11525.9367,833.9549 11514.3331,836.882 11502.8161,839.3594 C11456.0932,849.4098 4666.7726,834.2427 4620.8161,847.3594 C4495.2624,883.1944 4370.6149,972.5119 4297.707,1031.6326 " fill="none" id="urt_topic_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11550.145,826.9462,11543.2586,824.8065,11538.635,830.3402,11545.5213,832.4799,11550.145,826.9462" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11526.2656" y="847.0037">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="4306.8343" y="1020.9394">0,1</text><!--MD5=[23aed2412a22c58889d68b772ca9654f]

link urt_topic_t to urt_status_t--><path d="M11546.3029,826.8936 C11531.7574,831.5715 11517.2078,835.7775 11502.8161,839.3594 C10779.7762,1019.314 8384.9621,1074.9877 7820.6675,1085.7573 " fill="none" id="urt_topic_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7815.3332,1085.8589,7824.4078,1089.6866,7820.3323,1085.7636,7824.2553,1081.6881,7815.3332,1085.8589" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[40d97a101b79fe2b6aede42ee911a5e3]

reverse link urt_message_t to urt_osTime_t--><path d="M12688.5446,1401.8676 C11595.5234,1389.0205 6718.9124,1328.5802 6403.8161,1269.3594 C6256.474,1241.6672 6095.0192,1175.3133 5997.5795,1130.9776 " fill="none" id="urt_message_t&lt;-urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="12701.6209,1402.0211,12695.6683,1397.9509,12689.6217,1401.8801,12695.5743,1405.9503,12701.6209,1402.0211" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12685.5273" y="1398.7134">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6003.7841" y="1151.4048">1</text><!--MD5=[2bb9471b6fda5815e085c87a24a67f11]

link urt_message_t to urt_config--><path d="M12843.823,1475.7166 C12828.2299,1493.9593 12810.7891,1514.3636 12792.923,1535.2656 " fill="none" id="urt_message_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12789.5824,1539.1739,12798.4708,1534.9317,12792.8312,1535.3732,12792.3897,1529.7336,12789.5824,1539.1739" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[570f5794230ed2cf7946261591bb6cd1]

link urt_message_t to urt_status_t--><path d="M12701.7676,1392.0103 C11839.993,1339.5983 8498.3696,1136.3655 7820.9881,1095.1681 " fill="none" id="urt_message_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7815.5741,1094.8388,7824.3146,1099.3778,7820.5649,1095.1424,7824.8004,1091.3926,7815.5741,1094.8388" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0614ecc40a2323571c35dab79c646fe8]

reverse link urt_basesubscriber_t to urt_osEventListener_t--><path d="M13052.818,1093.2162 C12463.4116,1118.0479 9919.1801,1222.7183 7831.8161,1269.3594 C7211.824,1283.2128 2864.6086,1240.8096 2250.8161,1329.3594 C2204.7935,1335.9989 2155.4948,1348.4173 2112.0508,1361.2658 " fill="none" id="urt_basesubscriber_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="13065.9604,1092.6621,13059.7972,1088.9184,13053.9711,1093.1677,13060.1343,1096.9113,13065.9604,1092.6621" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="13050.4743" y="1089.5722">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2123.532" y="1350.2469">1</text><!--MD5=[60df476f9c89db6ca6af2af6f6dc5b29]

reverse link urt_basesubscriber_t to urt_osTime_t--><path d="M13167.7265,1007.963 C13153.1386,939.9007 13119.9241,851.7775 13045.3161,843.3594 C12999.6062,838.2019 6467.0261,838.2019 6421.3161,843.3594 C6241.5175,863.6462 6056.0091,980.1711 5965.0939,1044.7608 " fill="none" id="urt_basesubscriber_t&lt;-urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="13170.321,1020.846,13173.0576,1014.1743,13167.9517,1009.0822,13165.2151,1015.7538,13170.321,1020.846" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="13160.9543" y="1009.7903">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5965.585" y="1033.7411">1</text><!--MD5=[45abaca6e1a4b5e9e9e5f81f99145f21]

link urt_basesubscriber_t to urt_config--><path d="M13195.2278,1155.2083 C13212.1128,1241.4907 13227.0993,1391.7653 13156.8161,1491.3594 C13075.0063,1607.2873 12917.3068,1660.2203 12799.2112,1684.2364 " fill="none" id="urt_basesubscriber_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12793.971,1685.2885,12803.5823,1687.4388,12798.8732,1684.3043,12802.0076,1679.5953,12793.971,1685.2885" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[fb477f5fd8787be5b7605dfea5d27dc3]

link urt_basesubscriber_t to urt_status_t--><path d="M13066.2074,1087.8594 C11317.6803,1087.8594 9569.1532,1087.8594 7820.626,1087.8594 " fill="none" id="urt_basesubscriber_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7815.4984,1087.8594,7824.4984,1091.8594,7820.4984,1087.8594,7824.4984,1083.8594,7815.4984,1087.8594" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[c18fda7f16d94dac1a94387e8df76308]

reverse link urt_nrtsubscriber_t to urt_delay_t--><path d="M15420.7883,777.8718 C15350.0092,802.7554 15269.026,826.8384 15192.8161,839.3594 C15158.882,844.9346 12749.4337,836.4643 12716.8161,847.3594 C12419.5389,946.6576 12448.0499,1166.9903 12151.8161,1269.3594 C11878.3877,1363.8477 7305.4411,1398.9121 6601.4771,1403.76 " fill="none" id="urt_nrtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="15433.4238,773.3833,15426.431,771.6224,15422.116,777.4001,15429.1089,779.1609,15433.4238,773.3833" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="15406.5836" y="793.7555">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6609.184" y="1400.2184">0,2</text><!--MD5=[cf4e9b81c32b9b138596f59fa1fb3fd6]

link urt_nrtsubscriber_t to urt_config--><path d="M15433.4203,773.3621 C15359.7471,799.7979 15273.5985,826.0664 15192.8161,839.3594 C15163.4333,844.1944 13075.568,834.2801 13048.8161,847.3594 C12804.2413,966.9349 12767.1946,1074.7492 12670.8161,1329.3594 C12646.5468,1393.4736 12638.5156,1468.1761 12637.4723,1533.9212 " fill="none" id="urt_nrtsubscriber_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12637.4048,1539.041,12641.5233,1530.0946,12637.4708,1534.0414,12633.5239,1529.989,12637.4048,1539.041" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[249ee4d4a0d0f021e94ff447977fc36f]

link urt_nrtsubscriber_t to urt_status_t--><path d="M15433.4244,773.3871 C15359.7518,799.8261 15273.6024,826.0903 15192.8161,839.3594 C15123.0013,850.8265 12716.5428,845.5294 12645.8161,847.3594 C10718.6753,897.2234 8372.6493,1044.3171 7820.9586,1079.9968 " fill="none" id="urt_nrtsubscriber_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7815.7436,1080.3342,7824.9831,1083.7447,7820.7332,1080.0113,7824.4665,1075.7614,7815.7436,1080.3342" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[1ffa2ec21542e79acf15fa09492f4ab5]

reverse link urt_srtsubscriber_t to urt_usefulness_f--><path d="M14331.0935,796.1872 C14260.2046,814.106 14185.0161,830.0325 14113.8161,839.3594 C14090.4188,842.4244 7338.98,836.9228 7317.8161,847.3594 C7228.0501,891.626 7169.6247,1002.6619 7145.4656,1056.9726 " fill="none" id="urt_srtsubscriber_t&lt;-urt_usefulness_f" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="14343.814,792.939,14337.0109,790.5478,14332.1871,795.908,14338.9902,798.2991,14343.814,792.939" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="14321.4154" y="812.6595">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="7126.0121" y="1046.156">0,1</text><!--MD5=[af3bb42c2cc648980c9a8c0bd0e49df3]

reverse link urt_srtsubscriber_t to urt_delay_t--><path d="M14330.3868,796.128 C14259.698,813.9916 14184.7697,829.9105 14113.8161,839.3594 C14032.9731,850.1252 12725.82,831.5196 12645.8161,847.3594 C12156.4894,944.24 12094.0966,1167.3364 11605.8161,1269.3594 C11097.898,1375.4856 7243.3345,1400.4703 6601.3321,1403.9105 " fill="none" id="urt_srtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="14343.0719,792.8903,14336.269,790.4985,14331.4447,795.8581,14338.2476,798.2499,14343.0719,792.8903" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="14311.0509" y="812.9328">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6609.0095" y="1398.2973">0,2</text><!--MD5=[57f9c03e706aa97ce919c51d40a1f0dd]

link urt_srtsubscriber_t to urt_config--><path d="M14962.4092,792.8809 C15037.1131,812.1138 15117.2134,829.4321 15192.8161,839.3594 C15205.048,840.9656 18737.1025,838.6261 18745.8161,847.3594 C18812.0524,913.7449 18809.7268,1200.7321 18745.8161,1269.3594 C18536.4681,1494.1575 13716.79,1667.7996 12799.0106,1698.8874 " fill="none" id="urt_srtsubscriber_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12793.9993,1699.0571,12803.1296,1702.7501,12798.9964,1698.8878,12802.8587,1694.7547,12793.9993,1699.0571" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ddfd53c980ad9ebb8f86954377552edb]

link urt_srtsubscriber_t to urt_status_t--><path d="M14343.0737,792.904 C14268.7117,812.0698 14189.0311,829.3527 14113.8161,839.3594 C14029.0618,850.6353 12660.2856,845.0297 12574.8161,847.3594 C10676.9319,899.0911 8366.8578,1044.5479 7820.5969,1079.9963 " fill="none" id="urt_srtsubscriber_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7815.4329,1080.3315,7824.6732,1083.7399,7820.4224,1080.0075,7824.1548,1075.7567,7815.4329,1080.3315" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b350769e483c42ea2704e388ea6a04f2]

reverse link urt_frtsubscriber_t to urt_delay_t--><path d="M16187.8325,812.5117 C16141.4449,823.538 16094.297,832.9703 16048.8161,839.3594 C16007.5545,845.1558 13088.4691,834.5621 13048.8161,847.3594 C12742.349,946.2664 12765.2777,1167.3893 12459.8161,1269.3594 C12314.6463,1317.8204 7338.2433,1392.2761 6601.5705,1403.0439 " fill="none" id="urt_frtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="16200.5706,809.4398,16193.8,806.958,16188.9051,812.2532,16195.6756,814.735,16200.5706,809.4398" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="16167.5221" y="829.9734">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6609.4376" y="1399.4475">0..4</text><!--MD5=[7be759a40cf40f1b9231b6649fee3f4f]

link urt_frtsubscriber_t to urt_config--><path d="M16904.7078,809.4352 C16954.9646,821.7558 17006.3775,832.3525 17055.8161,839.3594 C17067.78,841.055 18787.2915,838.7955 18795.8161,847.3594 C18928.1327,980.2857 18912.1149,1122.2143 18795.8161,1269.3594 C18530.9764,1604.4436 18283.9265,1433.0569 17860.8161,1491.3594 C16844.3693,1631.4206 13543.7907,1690.0231 12799.0509,1701.6367 " fill="none" id="urt_frtsubscriber_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12793.8984,1701.7169,12802.9597,1705.576,12798.8978,1701.6389,12802.8349,1697.577,12793.8984,1701.7169" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[29df74e07807e6378398cb43d45b3c27]

link urt_frtsubscriber_t to urt_status_t--><path d="M16200.9152,809.3656 C16150.3397,821.7431 16098.5803,832.374 16048.8161,839.3594 C15959.112,851.9512 12878.3718,845.1088 12787.8161,847.3594 C10801.0079,896.7372 8381.2322,1044.8258 7820.6559,1080.2064 " fill="none" id="urt_frtsubscriber_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7815.358,1080.5409,7824.5922,1083.9657,7820.3481,1080.2257,7824.088,1075.9816,7815.358,1080.5409" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bc1cc9ca99c1274e9c895cd105ca1d4c]

reverse link urt_hrtsubscriber_t to urt_delay_t--><path d="M13031.4584,833.0455 C13017.4669,835.3584 13003.5666,837.4734 12989.8161,839.3594 C12882.8034,854.0368 12611.0478,834.377 12503.8161,847.3594 C11667.4476,948.6175 11491.3425,1161.3725 10655.8161,1269.3594 C9832.8615,1375.7215 7131.5031,1399.9937 6601.5072,1403.7738 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="13044.3317,830.8666,13037.7483,827.924,13032.5,832.8693,13039.0834,835.8118,13044.3317,830.8666" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="13009.2349" y="850.7065">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6609.3695" y="1416.3817">0..5</text><!--MD5=[47265b8b91af56102ad98d46909bef01]

reverse link urt_hrtsubscriber_t to urt_osTimer_t--><path d="M13033.3593,833.0333 C13018.7277,835.3803 13004.191,837.5012 12989.8161,839.3594 C12932.1776,846.8101 4676.7041,831.4144 4620.8161,847.3594 C4495.2587,883.1814 4370.6123,972.5027 4297.7056,1031.6277 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="13046.2402,830.9135,13039.6703,827.9409,13034.3995,832.8621,13040.9694,835.8347,13046.2402,830.9135" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="13019.6853" y="850.756">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4297.1265" y="1020.9339">1</text><!--MD5=[c255c4720016d78ffa1594ef43d10003]

link urt_hrtsubscriber_t to urt_config--><path d="M13042.4327,830.8983 C13024.7318,834.0273 13007.1536,836.868 12989.8161,839.3594 C12974.7972,841.5176 12728.3846,837.5412 12716.8161,847.3594 C12523.5331,1011.4005 12556.9125,1335.1227 12601.1886,1534.2107 " fill="none" id="urt_hrtsubscriber_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12602.3026,1539.1836,12604.2385,1529.5268,12601.2096,1534.3045,12596.432,1531.2756,12602.3026,1539.1836" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[acfaba0e8df90d54cbfcf78ceb19e2ee]

link urt_hrtsubscriber_t to urt_status_t--><path d="M13044.3383,830.9152 C13025.9961,834.077 13007.7785,836.9149 12989.8161,839.3594 C12928.4862,847.7056 12494.6786,845.3438 12432.8161,847.3594 C10594.4799,907.2572 8357.4671,1045.9975 7820.6787,1080.1561 " fill="none" id="urt_hrtsubscriber_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7815.6032,1080.4792,7824.8392,1083.8992,7820.5931,1080.1615,7824.3308,1075.9154,7815.6032,1080.4792" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8a07eed8d365d510d46940e8916e2aca]

reverse link urt_baserequest_t to urt_osMutex_t--><path d="M8918.9095,805.414 C8905.3328,819.1243 8889.925,831.1864 8872.8161,839.3594 C8848.259,851.0906 4977.9366,834.7547 4953.8161,847.3594 C4877.0784,887.4607 4828.1735,980.3579 4803.9757,1038.2476 " fill="none" id="urt_baserequest_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8928.0145,795.6865,8920.994,797.3335,8919.8141,804.4474,8926.8346,802.8004,8928.0145,795.6865" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8915.6606" y="814.9468">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4797.9669" y="1027.2771">1</text><!--MD5=[7c9c768598bcd949a3bf11c8b3a21e4b]

reverse link urt_baserequest_t to urt_osTime_t--><path d="M8918.9008,805.3959 C8905.3253,819.1086 8889.9201,831.1761 8872.8161,839.3594 C8841.8825,854.1594 6437.2255,839.6298 6403.8161,847.3594 C6238.3203,885.6484 6063.87,986.461 5972.4443,1044.6873 " fill="none" id="urt_baserequest_t&lt;-urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8928.0053,795.6672,8920.985,797.3149,8919.8058,804.4289,8926.8261,802.7812,8928.0053,795.6672" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8924.1883" y="814.9262">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5974.1069" y="1033.6559">1</text><!--MD5=[abb05cad5cff2c76ceafdc2a055c056c]

reverse link urt_baserequest_t to urt_osEventSource_t--><path d="M8918.9174,805.4307 C8905.3397,819.1388 8889.9295,831.1958 8872.8161,839.3594 C8859.5064,845.7086 389.2386,836.9271 378.8161,847.3594 C246.2568,980.0436 254.9302,1128.5426 378.8161,1269.3594 C429.5862,1327.0679 861.9929,1366.9641 1156.1094,1387.7101 " fill="none" id="urt_baserequest_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8928.023,795.7043,8921.0024,797.3507,8919.822,804.4646,8926.8426,802.8181,8928.023,795.7043" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8915.6697" y="814.9658">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1140.7328" y="1399.5409">1</text><!--MD5=[6e4cdc2fe71f4b9ae682dc44b1d45b47]

reverse link urt_baserequest_t to urt_osEventListener_t--><path d="M8918.9173,805.4305 C8905.3396,819.1386 8889.9294,831.1957 8872.8161,839.3594 C8859.6726,845.6294 495.1085,837.0572 484.8161,847.3594 C352.2576,980.0444 355.4495,1133.5605 484.8161,1269.3594 C579.6535,1368.9122 1585.1248,1307.1614 1720.8161,1329.3594 C1765.5256,1336.6735 1813.4411,1348.8475 1856.0648,1361.2819 " fill="none" id="urt_baserequest_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8928.0229,795.7041,8921.0023,797.3505,8919.8218,804.4643,8926.8424,802.8179,8928.0229,795.7041" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8904.2296" y="815.2162">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1836.0232" y="1350.2656">1</text><!--MD5=[8b261aef1d2e0a451326ad6807af1e66]

reverse link urt_nrtrequest_t to urt_delay_t--><path d="M10426.9128,394.5456 C10376.3847,433.5298 10312.3583,474.6107 10246.8161,494.8594 C10213.2826,505.2193 7754.1189,495.433 7719.8161,502.8594 C7363.9306,579.9068 7328.3321,760.6238 6972.8161,839.3594 C6955.6745,843.1557 6353.152,834.8664 6340.8161,847.3594 C6274.9262,914.0886 6300.0407,1184.9104 6340.8161,1269.3594 C6357.8587,1304.6559 6389.1108,1333.5542 6420.2146,1355.4276 " fill="none" id="urt_nrtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="10437.1599,386.5256,10429.9696,387.0736,10427.71,393.9215,10434.9003,393.3735,10437.1599,386.5256" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10420.5515" y="406.7071">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6392.1979" y="1348.0097">0,2</text><!--MD5=[8aa30e666b650ddcf5fdd53ac0c33b2b]

link urt_nrtrequest_t to urt_config--><path d="M10622.8292,386.5916 C10674.9816,427.8555 10743.5476,473.2978 10813.8161,494.8594 C10827.4392,499.0396 19011.7448,492.7782 19021.8161,502.8594 C19099.4422,580.5611 19098.175,1412.412 19021.8161,1491.3594 C18910.0475,1606.9169 13751.0633,1687.7644 12799.016,1701.7132 " 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="12793.8192,1701.7893,12802.8769,1705.6569,12798.8187,1701.716,12802.7596,1697.6578,12793.8192,1701.7893" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4d5eda3ecbcd41d6d2b940fb4748a5e6]

link urt_nrtrequest_t to urt_status_t--><path d="M10437.1576,386.5183 C10385.1966,427.7611 10316.8709,473.2066 10246.8161,494.8594 C10231.3239,499.6478 7925.0695,493.5166 7911.8161,502.8594 C7771.1101,602.0481 7723.8258,804.6238 7708.1736,943.3177 " 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="7707.5853,948.6359,7712.5505,940.1302,7708.135,943.6662,7704.599,939.2507,7707.5853,948.6359" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[094c3c4918275dedd163d58d6c00e2be]

reverse link urt_srtrequest_t to urt_delay_t--><path d="M9751.0348,399.78 C9688.3923,437.2723 9611.9168,475.716 9536.8161,494.8594 C9473.2646,511.0589 7238.0903,482.2888 7175.8161,502.8594 C6936.3125,581.9732 6957.7429,758.52 6718.8161,839.3594 C6707,843.3573 6278.5578,838.4606 6269.8161,847.3594 C6204.0985,914.2583 6222.401,1188.4516 6269.8161,1269.3594 C6302.1871,1324.5962 6366.3351,1358.9355 6420.3146,1379.1512 " fill="none" id="urt_srtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9762.1653,393.0414,9754.9611,392.727,9751.9,399.2561,9759.1042,399.5705,9762.1653,393.0414" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9743.515" y="412.8957">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6392.3059" y="1373.6238">0,1</text><!--MD5=[421371e2a1201d214a6175d8cede910e]

link urt_srtrequest_t to urt_config--><path d="M10021.0321,392.875 C10085.6784,432.5138 10167.0116,474.6219 10246.8161,494.8594 C10261.4636,498.5738 18940.1359,492.1693 18950.8161,502.8594 C19028.4443,580.559 19027.1602,1412.3977 18950.8161,1491.3594 C18840.3869,1605.575 13745.6335,1687.4207 12799.2446,1701.6523 " 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="12794.0783,1701.7299,12803.1375,1705.5939,12799.0777,1701.6546,12803.0171,1697.5948,12794.0783,1701.7299" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[74f0decf3779c06ec30af8770fc7e1ae]

link urt_srtrequest_t to urt_status_t--><path d="M9762.1621,393.0285 C9697.5766,432.5705 9616.4222,474.5521 9536.8161,494.8594 C9522.4767,498.5174 7416.2608,492.3755 7405.8161,502.8594 C7300.2631,608.8095 7302.689,731.0466 7405.8161,839.3594 C7418.3198,852.4918 7553.4427,837.7438 7568.8161,847.3594 C7605.0974,870.0522 7632.1711,906.4404 7652.0313,944.1156 " 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="7654.4176,948.7157,7653.8239,938.8847,7652.1152,944.2773,7646.7225,942.5686,7654.4176,948.7157" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4360c48b38d2a92e1c3ebeee4ab98bfc]

link urt_srtrequest_t to urt_usefulness_f--><path d="M9762.1634,393.0337 C9697.5783,432.5769 9616.4237,474.5579 9536.8161,494.8594 C9521.891,498.6656 7331.2323,493.7441 7318.8161,502.8594 C7226.655,570.5197 7158.3225,935.7007 7138.6149,1052.1543 " 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="7137.7683,1057.1813,7143.2077,1048.9708,7138.5989,1052.2507,7135.3189,1047.6419,7137.7683,1057.1813" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e590cea536a036f5956f75e03ef95bbf]

reverse link urt_frtrequest_t to urt_delay_t--><path d="M10943.8318,443.59 C10901.9206,464.7401 10857.1779,483.312 10812.8161,494.8594 C10772.8694,505.2576 7880.0945,490.1679 7840.8161,502.8594 C7596.6972,581.7384 7615.7147,759.8016 7371.8161,839.3594 C7359.0209,843.5331 6412.2936,837.8034 6402.8161,847.3594 C6336.7795,913.9435 6371.7751,1180.868 6402.8161,1269.3594 C6411.4596,1294.0001 6426.7016,1317.4845 6443.0588,1337.7527 " fill="none" id="urt_frtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="10955.5751,437.5599,10948.4105,436.7423,10944.9002,443.0414,10952.0648,443.8589,10955.5751,437.5599" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10936.2416" y="457.4104">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6410.3353" y="1326.7308">0..4</text><!--MD5=[b1f137a561f49721d911648e5542119f]

link urt_frtrequest_t to urt_config--><path d="M11486.8929,304.9346 C12967.1664,315.062 18957.9465,364.5471 19092.8161,502.8594 C19246.1743,660.1321 19245.5628,1333.4927 19092.8161,1491.3594 C18979.7216,1608.2449 13757.7357,1688.0838 12799.1417,1701.7677 " 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="12793.9095,1701.8423,12802.9656,1705.7136,12798.909,1701.771,12802.8516,1697.7144,12793.9095,1701.8423" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d63fe507f799090eb2c242d7ab41013e]

link urt_frtrequest_t to urt_status_t--><path d="M10955.5714,437.5456 C10910.3336,461.1725 10861.3462,482.217 10812.8161,494.8594 C10777.8577,503.9663 8244.6836,487.8674 8211.8161,502.8594 C8013.8247,593.1704 7862.3968,802.0776 7777.5017,944.1783 " 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="7774.7597,948.7835,7782.801,943.0968,7777.3177,944.4873,7775.9272,939.0041,7774.7597,948.7835" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bea47d1dd6f09b5135df7519b40184db]

reverse link urt_hrtrequest_t to urt_delay_t--><path d="M8964.7746,452.1015 C8929.2523,469.6538 8891.9497,484.8519 8854.8161,494.8594 C8809.8102,506.9884 7222.7422,494.8944 7176.8161,502.8594 C6722.7493,581.6085 6465.1032,471.2353 6198.8161,847.3594 C6090.4421,1000.4351 6095.8408,1112.6011 6198.8161,1269.3594 C6247.5035,1343.4756 6346.5143,1377.0953 6420.0063,1392.2238 " fill="none" id="urt_hrtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8976.7502,446.0628,8969.5918,445.1926,8966.0353,451.4657,8973.1937,452.3359,8976.7502,446.0628" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8958.2845" y="465.4403">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6388.4562" y="1387.8599">0..4</text><!--MD5=[50bfbddabe3b6f3afe991f5d307785f8]

reverse link urt_hrtrequest_t to urt_osTimer_t--><path d="M8964.7791,452.1182 C8929.2562,469.6682 8891.9522,484.8612 8854.8161,494.8594 C8804.5232,508.3998 7031.7549,498.9755 6979.8161,502.8594 C5923.2008,581.8709 5616.1619,484.0888 4620.8161,847.3594 C4500.5818,891.2413 4377.6317,975.4716 4303.2438,1031.6777 " fill="none" id="urt_hrtrequest_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8976.7549,446.0803,8969.5965,445.2098,8966.0398,451.4827,8973.1981,452.3532,8976.7549,446.0803" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8966.6769" y="465.4587">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="4290.6084" y="1020.99">0,1</text><!--MD5=[2663060494b35c1af191cf8ba65e9057]

link urt_hrtrequest_t to urt_config--><path d="M9409.8061,446.0053 C9450.588,466.1724 9493.8883,483.7829 9536.8161,494.8594 C9552.297,498.8538 18732.7637,493.6265 18745.8161,502.8594 C18886.6259,602.464 18963.9225,1126.1392 18867.8161,1269.3594 C18722.7672,1485.5153 18580.2413,1436.3103 18325.8161,1491.3594 C17772.3804,1611.1044 13643.4954,1687.0148 12799.3078,1701.3743 " 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="12794.084,1701.4631,12803.1507,1705.3095,12799.0833,1701.3781,12803.0147,1697.3107,12794.084,1701.4631" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3d55577c6a64a095d4d92af2794b0aa7]

link urt_hrtrequest_t to urt_status_t--><path d="M8976.7477,446.0537 C8937.6859,466.1432 8896.146,483.7153 8854.8161,494.8594 C8833.4806,500.6123 7279.4021,487.1949 7263.8161,502.8594 C7158.3306,608.8767 7159.46,732.2302 7263.8161,839.3594 C7275.6436,851.5012 7554.3438,838.5355 7568.8161,847.3594 C7605.5493,869.7559 7632.7942,906.2895 7652.6733,944.1954 " 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="7655.0612,948.824,7654.4897,938.9917,7652.7688,944.3805,7647.3801,942.6596,7655.0612,948.824" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[85137379eadac9ac066ccd1aa3005a20]

reverse link urt_service_t to urt_serviceid_t--><path d="M8214.4512,751.8993 C8018.4134,784.1605 7759.6675,821.8074 7528.8161,839.3594 C7505.0227,841.1685 6690.3332,835.1753 6669.8161,847.3594 C6611.1506,882.1981 6576.2454,952.9638 6556.8434,1008.7569 " fill="none" id="urt_service_t&lt;-urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8227.5679,749.7334,8220.9964,746.7644,8215.7282,751.6885,8222.2998,754.6575,8227.5679,749.7334" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8211.5394" y="748.0248">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6550.4131" y="997.8261">1</text><!--MD5=[bfc39859b663e58a9d342532110a4ed9]

reverse link urt_service_t to urt_osMutex_t--><path d="M8214.7823,732.8304 C7899.3734,767.9168 7396.9424,818.6045 6960.8161,839.3594 C6946.8943,840.0219 4966.1625,840.8922 4953.8161,847.3594 C4877.1174,887.5353 4828.1997,980.408 4803.9889,1038.2729 " fill="none" id="urt_service_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8227.7899,731.3804,8221.3837,728.0697,8215.8638,732.7099,8222.27,736.0205,8227.7899,731.3804" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8211.7673" y="729.1843">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4803.6068" y="1027.6952">1</text><!--MD5=[1bad46d95b358cb94878caad932de3eb]

reverse link urt_service_t to urt_osEventSource_t--><path d="M8214.4364,699.1024 C6715.1498,712.6664 309.0351,774.8311 237.8161,847.3594 C106.4078,981.1837 112.8793,1129.4742 237.8161,1269.3594 C297.9485,1336.6865 823.3575,1374.739 1156.2491,1392.2887 " fill="none" id="urt_service_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8227.5251,698.9841,8221.4892,695.0385,8215.5256,699.0926,8221.5615,703.0382,8227.5251,698.9841" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8211.4955" y="695.9275">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1140.0088" y="1388.7823">1</text><!--MD5=[7ece8bae7b00261083263672987da7c8]

reverse link urt_service_t to urt_osEventListener_t--><path d="M8214.4247,699.1766 C6726.8551,712.9913 413.0623,775.805 342.8161,847.3594 C211.4235,981.199 213.1109,1133.8838 342.8161,1269.3594 C395.8088,1324.7096 1645.1627,1317.1769 1720.8161,1329.3594 C1765.7798,1336.5999 1813.9698,1348.8352 1856.7606,1361.3461 " fill="none" id="urt_service_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8227.6808,699.0536,8221.6439,695.1095,8215.6813,699.165,8221.7182,703.1091,8227.6808,699.0536" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8211.6553" y="711.3973">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1827.5549" y="1350.34">1</text><!--MD5=[33249c42c81fffc5b10022c232aa2b33]

link urt_service_t to urt_config--><path d="M8819.454,831.3813 C8826.9545,834.1381 8834.417,836.8033 8841.8161,839.3594 C9992.7261,1236.9495 10312.3797,1235.366 11502.8161,1491.3594 C11858.0865,1567.7573 12278.8685,1641.5418 12498.4152,1678.7831 " 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="12503.5638,1679.656,12495.3591,1674.2077,12498.6342,1678.8201,12494.0218,1682.0951,12503.5638,1679.656" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5471b15d17b5493f5e528354308bf7b4]

link urt_service_t to urt_status_t--><path d="M8241.3205,831.3655 C8097.1354,899.7879 7929.7899,979.201 7819.9543,1031.3229 " 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="7815.4202,1033.4745,7825.266,1033.2298,7819.9374,1031.3309,7821.8363,1026.0023,7815.4202,1033.4745" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0a28cfad957140e9467edb4bdc4a4fe6]

!include ./functions.iuml

/'### ENTITIES ###############################################################'/

!startsub ENTITIES

$module("Configuration") {

  !includesub config.uml!ENTITIES

}

$module("Primitives") {

  !includesub primitives.uml!ENTITIES

}

$module("OSAL") {

  !includesub osal.uml!ENTITIES

}

$module("Middleware") {

  !includesub urtware.uml!ENTITIES

}

!endsub

/'### DEPENDENCIES & LAYOUT ##################################################'/

!startsub DEPENDENCIES

!includesub config.uml!DEPENDENCIES

!includesub primitives.uml!DEPENDENCIES

urt_nodestage_t ..> urt_config

urt_topicid_t ..> urt_config

urt_serviceid_t ..> urt_config

urt_delay_t ..> urt_config

!includesub osal.uml!DEPENDENCIES

urt_osTime_t ..> urt_delay_t

urt_osCondvar_t ..> urt_delay_t

urt_osThread_t ..> urt_delay_t

urt_osTimer_t ..> urt_delay_t

urt_events ..> urt_delay_t

!includesub urtware.uml!DEPENDENCIES

urt_core_t "1" *- - "1" urt_osEventSource_t

urt_core_t "1" *- - "1" urt_osMutex_t

urt_core_t "1" *- - "1" urt_status_t

urt_core_t ..> urt_nodestage_t

urt_core_t ..> urt_topicid_t

urt_core_t ..> urt_serviceid_t

urt_node_t "1" o- - "1" urt_osThread_t

urt_node_t "1" *- - "1" urt_nodestage_t

urt_node_t "1" *- - "1" urt_osEventListener_t

urt_node_t "0..*" o- - "1" urt_osThreadFunction_t

urt_node_t ..> urt_status_t

urt_nodeSetupCallback_t ..> urt_osEventMask_t

urt_nodeLoopCallback_t ..> urt_osEventMask_t

urt_publisher_t ..> urt_config

urt_publisher_t ..> urt_status_t

urt_publisher_t ..> urt_delay_t

urt_topic_t "1" *- - "1" urt_topicid_t

urt_topic_t "1" *- - "1" urt_osMutex_t

urt_topic_t "1" *- - "1" urt_osEventSource_t

urt_topic_t "1" *- - "1" urt_osCondvar_t

urt_topic_t ..> urt_config

urt_topic_t "1" *- - "0,1" urt_osTimer_t

urt_topic_t ..> urt_status_t

urt_message_t "1" *- - "1" urt_osTime_t

urt_message_t ..> urt_config

urt_message_t ..> urt_status_t

urt_basesubscriber_t "1" *- - "1" urt_osEventListener_t

urt_basesubscriber_t "1" *- - "1" urt_osTime_t

urt_basesubscriber_t ..> urt_config

urt_basesubscriber_t ..> urt_status_t

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

urt_nrtsubscriber_t ..> urt_config

urt_nrtsubscriber_t ..> urt_status_t

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

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

urt_srtsubscriber_t ..> urt_config

urt_srtsubscriber_t ..> urt_status_t

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

urt_frtsubscriber_t ..> urt_config

urt_frtsubscriber_t ..> urt_status_t

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

urt_hrtsubscriber_t "1" *- - "1" urt_osTimer_t

urt_hrtsubscriber_t ..> urt_config

urt_hrtsubscriber_t ..> urt_status_t

urt_baserequest_t "1" *- - "1" urt_osMutex_t

urt_baserequest_t "1" *- - "1" urt_osTime_t

urt_baserequest_t "1" *- - "1" urt_osEventSource_t

urt_baserequest_t "1" *- - "1" urt_osEventListener_t

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

urt_nrtrequest_t ..> urt_config

urt_nrtrequest_t ..> urt_status_t

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

urt_srtrequest_t ..> urt_config

urt_srtrequest_t ..> urt_status_t

urt_srtrequest_t ..> urt_usefulness_f

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

urt_frtrequest_t ..> urt_config

urt_frtrequest_t ..> urt_status_t

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

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

urt_hrtrequest_t ..> urt_config

urt_hrtrequest_t ..> urt_status_t

urt_service_t "1" *- - "1" urt_serviceid_t

urt_service_t "1" *- - "1" urt_osMutex_t

urt_service_t "1" *- - "1" urt_osEventSource_t

urt_service_t "1" *- - "1" urt_osEventListener_t

urt_service_t ..> urt_config

urt_service_t ..> urt_status_t

!endsub

/'### OUTRO ##################################################################'/

@enduml

@startuml

title **µRtWare**\nOverview\n

  + {method} urtCoreGetEventMask (void) : urt_osEventMask_t

  + {method} urtCoreGetEvtSource (void) : urt_osEventSource_t*

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

  + {method} urtCoreGetNodes (void) : urt_node_t*

  + {method} urtCoreAddNode (node : urt_node_t*) : void

  + {method} urtCoreAddTopic (topic : urt_topic_t*) : void

  + {method} urtCoreGetService (service : urt_service_t*) : void

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

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

PlantUML version 1.2020.15(Sun Jun 28 13:39:45 CEST 2020)

Language: de

Country: DE

<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="827px" preserveAspectRatio="none" style="width:5557px;height:827px;" version="1.1" viewBox="0 0 5557 827" width="5557px" zoomAndPan="magnify"><defs><filter height="300%" id="f11mdjur5d2uci" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="2725.25" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="225" x="2657.25" y="37.6611">Publish-Subscribe System</text><!--MD5=[16a3bbbe805f94d6e6ce317c08ab945e]

cluster subscriber--><rect fill="#FFFFFF" filter="url(#f11mdjur5d2uci)" height="498" style="stroke: #000000; stroke-width: 1.5;" width="4063" x="1473.5" y="117.3228"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="85" x="3462.5" y="132.3179">subscriber</text><!--MD5=[50a042e24f957794dab9ba3ea8701c50]

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class urt_nrtsubscriber_t--><rect fill="#FEFECE" filter="url(#f11mdjur5d2uci)" height="154.4375" id="urt_nrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="821" x="3570" y="201.8228"/><ellipse cx="3916.75" cy="217.8228" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3916.2344,218.3853 Q3914.375,217.6821 3913.7188,216.9165 Q3913.0781,216.1353 3913.0781,214.8228 Q3913.0781,213.1353 3914.1563,212.1665 Q3915.2344,211.1978 3917.1094,211.1978 Q3917.9688,211.1978 3918.8125,211.4009 Q3919.6719,211.5884 3920.5156,211.979 L3920.5156,214.3696 Q3919.7344,213.8071 3918.9063,213.5259 Q3918.0938,213.229 3917.2969,213.229 Q3916.4219,213.229 3915.9375,213.5884 Q3915.4688,213.9478 3915.4688,214.604 Q3915.4688,215.1196 3915.8125,215.4634 Q3916.1563,215.7915 3917.25,216.1978 L3918.3125,216.604 Q3919.7969,217.1509 3920.5,218.0571 Q3921.2188,218.9634 3921.2188,220.3384 Q3921.2188,222.2134 3920.1094,223.1353 Q3919,224.0571 3916.75,224.0571 Q3915.8281,224.0571 3914.9063,223.8384 Q3913.9844,223.6196 3913.125,223.1978 L3913.125,220.6665 Q3914.0938,221.354 3915.0156,221.6978 Q3915.9375,222.0415 3916.8281,222.0415 Q3917.7344,222.0415 3918.2344,221.6353 Q3918.7344,221.2134 3918.7344,220.479 Q3918.7344,219.9165 3918.3906,219.5103 Q3918.0625,219.0884 3917.4375,218.8384 L3916.2344,218.3853 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="3937.25" y="221.977">urt_nrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3571" x2="4390" y1="233.8228" y2="233.8228"/><ellipse cx="3581" cy="261.6274" fill="none" 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="3590" y="264.8379">minLatency : urt_delay_t</text><ellipse cx="3581" cy="274.4321" fill="none" 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="3590" y="277.6426">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3571" x2="3872" y1="248.2251" y2="248.2251"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="3872" y="251.5332">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4089" x2="4390" y1="248.2251" y2="248.2251"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3571" x2="4390" y1="284.2368" y2="284.2368"/><ellipse cx="3581" cy="295.2368" fill="#84BE84" 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="3590" y="298.4473">urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : void</text><ellipse cx="3581" cy="308.0415" fill="#84BE84" 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="3590" y="311.2519">urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="3581" cy="320.8462" fill="#84BE84" 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="3590" y="324.0566">urtNrtSubscriberFetchNextMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="3581" cy="333.6509" fill="#84BE84" 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="3590" y="336.8613">urtNrtSubscriberFetchLatestMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="3581" cy="346.4556" fill="#84BE84" 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="3590" y="349.666">urtNrtSubscriberUnsubscribe (subscriber : urt_nrtsubscriber_t*) : urt_status_t</text><!--MD5=[5c7929572d87ccc448d875bea5da0fb1]

class urt_srtsubscriber_t--><rect fill="#FEFECE" filter="url(#f11mdjur5d2uci)" height="192.8516" id="urt_srtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1044" x="2490.5" y="182.3228"/><ellipse cx="2949.25" cy="198.3228" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2948.7344,198.8853 Q2946.875,198.1821 2946.2188,197.4165 Q2945.5781,196.6353 2945.5781,195.3228 Q2945.5781,193.6353 2946.6563,192.6665 Q2947.7344,191.6978 2949.6094,191.6978 Q2950.4688,191.6978 2951.3125,191.9009 Q2952.1719,192.0884 2953.0156,192.479 L2953.0156,194.8696 Q2952.2344,194.3071 2951.4063,194.0259 Q2950.5938,193.729 2949.7969,193.729 Q2948.9219,193.729 2948.4375,194.0884 Q2947.9688,194.4478 2947.9688,195.104 Q2947.9688,195.6196 2948.3125,195.9634 Q2948.6563,196.2915 2949.75,196.6978 L2950.8125,197.104 Q2952.2969,197.6509 2953,198.5571 Q2953.7188,199.4634 2953.7188,200.8384 Q2953.7188,202.7134 2952.6094,203.6353 Q2951.5,204.5571 2949.25,204.5571 Q2948.3281,204.5571 2947.4063,204.3384 Q2946.4844,204.1196 2945.625,203.6978 L2945.625,201.1665 Q2946.5938,201.854 2947.5156,202.1978 Q2948.4375,202.5415 2949.3281,202.5415 Q2950.2344,202.5415 2950.7344,202.1353 Q2951.2344,201.7134 2951.2344,200.979 Q2951.2344,200.4165 2950.8906,200.0103 Q2950.5625,199.5884 2949.9375,199.3384 L2948.7344,198.8853 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="2969.75" y="202.477">urt_srtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2491.5" x2="3533.5" y1="214.3228" y2="214.3228"/><ellipse cx="2501.5" cy="225.3228" fill="none" 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="2510.5" y="228.5332">usefulnesscb : urt_usefulness_f*</text><ellipse cx="2501.5" cy="238.1274" fill="none" 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="2510.5" y="241.3379">cbparams : void*</text><ellipse cx="2501.5" cy="267.7368" fill="none" 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="2510.5" y="270.9473">minLatency : urt_delay_t</text><ellipse cx="2501.5" cy="280.5415" fill="none" 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="2510.5" y="283.7519">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2491.5" x2="2904" y1="254.3345" y2="254.3345"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2904" y="257.6426">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3121" x2="3533.5" y1="254.3345" y2="254.3345"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2491.5" x2="3533.5" y1="290.3462" y2="290.3462"/><ellipse cx="2501.5" cy="301.3462" fill="#84BE84" 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="2510.5" y="304.5566">urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void</text><ellipse cx="2501.5" cy="314.1509" fill="#84BE84" 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="2510.5" y="317.3613">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="2501.5" cy="326.9556" fill="#84BE84" 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="2510.5" y="330.166">urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="2501.5" cy="339.7603" fill="#84BE84" 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="2510.5" y="342.9707">urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="2501.5" cy="352.5649" fill="#84BE84" 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="2510.5" y="355.7754">urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float</text><ellipse cx="2501.5" cy="365.3696" fill="#84BE84" 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="2510.5" y="368.5801">urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t</text><!--MD5=[17838fb05fe219fd399839979ec8a4a4]

class urt_frtsubscriber_t--><rect fill="#FEFECE" filter="url(#f11mdjur5d2uci)" height="226.4609" id="urt_frtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="974" x="1481.5" y="165.8228"/><ellipse cx="1906.75" cy="181.8228" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1906.2344,182.3853 Q1904.375,181.6821 1903.7188,180.9165 Q1903.0781,180.1353 1903.0781,178.8228 Q1903.0781,177.1353 1904.1563,176.1665 Q1905.2344,175.1978 1907.1094,175.1978 Q1907.9688,175.1978 1908.8125,175.4009 Q1909.6719,175.5884 1910.5156,175.979 L1910.5156,178.3696 Q1909.7344,177.8071 1908.9063,177.5259 Q1908.0938,177.229 1907.2969,177.229 Q1906.4219,177.229 1905.9375,177.5884 Q1905.4688,177.9478 1905.4688,178.604 Q1905.4688,179.1196 1905.8125,179.4634 Q1906.1563,179.7915 1907.25,180.1978 L1908.3125,180.604 Q1909.7969,181.1509 1910.5,182.0571 Q1911.2188,182.9634 1911.2188,184.3384 Q1911.2188,186.2134 1910.1094,187.1353 Q1909,188.0571 1906.75,188.0571 Q1905.8281,188.0571 1904.9063,187.8384 Q1903.9844,187.6196 1903.125,187.1978 L1903.125,184.6665 Q1904.0938,185.354 1905.0156,185.6978 Q1905.9375,186.0415 1906.8281,186.0415 Q1907.7344,186.0415 1908.2344,185.6353 Q1908.7344,185.2134 1908.7344,184.479 Q1908.7344,183.9165 1908.3906,183.5103 Q1908.0625,183.0884 1907.4375,182.8384 L1906.2344,182.3853 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="1927.25" y="185.977">urt_frtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1482.5" x2="2454.5" y1="197.8228" y2="197.8228"/><ellipse cx="1492.5" cy="225.6274" fill="none" 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="1501.5" y="228.8379">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1482.5" x2="1823" y1="212.2251" y2="212.2251"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="1823" y="215.5332">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2114" x2="2454.5" y1="212.2251" y2="212.2251"/><ellipse cx="1492.5" cy="255.2368" fill="none" 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="1501.5" y="258.4473">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1482.5" x2="1833" y1="241.8345" y2="241.8345"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="1833" y="245.1426">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2104" x2="2454.5" y1="241.8345" y2="241.8345"/><ellipse cx="1492.5" cy="284.8462" fill="none" 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="1501.5" y="288.0566">minLatency : urt_delay_t</text><ellipse cx="1492.5" cy="297.6509" fill="none" 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="1501.5" y="300.8613">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1482.5" x2="1714.5" y1="271.4438" y2="271.4438"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="508" x="1714.5" y="274.7519">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="2222.5" x2="2454.5" y1="271.4438" y2="271.4438"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1482.5" x2="2454.5" y1="307.4556" y2="307.4556"/><ellipse cx="1492.5" cy="318.4556" fill="#84BE84" 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="1501.5" y="321.666">urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : void</text><ellipse cx="1492.5" cy="331.2603" fill="#84BE84" 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="1501.5" y="334.4707">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="1492.5" cy="344.0649" fill="#84BE84" 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="1501.5" y="347.2754">urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="1492.5" cy="356.8696" fill="#84BE84" 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="1501.5" y="360.0801">urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="1492.5" cy="369.6743" fill="#84BE84" 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="1501.5" y="372.8848">urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool</text><ellipse cx="1492.5" cy="382.479" fill="#84BE84" 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="1501.5" y="385.6894">urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t</text><!--MD5=[104dc879e5721421b987fcc467bc3a1d]

class urt_hrtsubscriber_t--><rect fill="#FEFECE" filter="url(#f11mdjur5d2uci)" height="268.875" id="urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="4426.5" y="144.3228"/><ellipse cx="4904.75" cy="160.3228" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4904.2344,160.8853 Q4902.375,160.1821 4901.7188,159.4165 Q4901.0781,158.6353 4901.0781,157.3228 Q4901.0781,155.6353 4902.1563,154.6665 Q4903.2344,153.6978 4905.1094,153.6978 Q4905.9688,153.6978 4906.8125,153.9009 Q4907.6719,154.0884 4908.5156,154.479 L4908.5156,156.8696 Q4907.7344,156.3071 4906.9063,156.0259 Q4906.0938,155.729 4905.2969,155.729 Q4904.4219,155.729 4903.9375,156.0884 Q4903.4688,156.4478 4903.4688,157.104 Q4903.4688,157.6196 4903.8125,157.9634 Q4904.1563,158.2915 4905.25,158.6978 L4906.3125,159.104 Q4907.7969,159.6509 4908.5,160.5571 Q4909.2188,161.4634 4909.2188,162.8384 Q4909.2188,164.7134 4908.1094,165.6353 Q4907,166.5571 4904.75,166.5571 Q4903.8281,166.5571 4902.9063,166.3384 Q4901.9844,166.1196 4901.125,165.6978 L4901.125,163.1665 Q4902.0938,163.854 4903.0156,164.1978 Q4903.9375,164.5415 4904.8281,164.5415 Q4905.7344,164.5415 4906.2344,164.1353 Q4906.7344,163.7134 4906.7344,162.979 Q4906.7344,162.4165 4906.3906,162.0103 Q4906.0625,161.5884 4905.4375,161.3384 L4904.2344,160.8853 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="4925.25" y="164.477">urt_hrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4427.5" x2="5509.5" y1="176.3228" y2="176.3228"/><ellipse cx="4437.5" cy="187.3228" fill="none" 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="4446.5" y="190.5332">next : urt_hrtsubscriber_t*</text><ellipse cx="4437.5" cy="216.9321" fill="none" 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="4446.5" y="220.1426">deadlineOffset : urt_delay_t</text><ellipse cx="4437.5" cy="229.7368" fill="none" 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="4446.5" y="232.9473">qosDeadlineTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4427.5" x2="4823" y1="203.5298" y2="203.5298"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="4823" y="206.8379">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5114" x2="5509.5" y1="203.5298" y2="203.5298"/><ellipse cx="4437.5" cy="259.3462" fill="none" 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="4446.5" y="262.5566">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4427.5" x2="4833" y1="245.9438" y2="245.9438"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="4833" y="249.2519">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5104" x2="5509.5" y1="245.9438" y2="245.9438"/><ellipse cx="4437.5" cy="288.9556" fill="none" 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="4446.5" y="292.166">minLatency : urt_delay_t</text><ellipse cx="4437.5" cy="301.7603" fill="none" 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="4446.5" y="304.9707">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4427.5" x2="4716.5" y1="275.5532" y2="275.5532"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="4716.5" y="278.8613">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="5220.5" x2="5509.5" y1="275.5532" y2="275.5532"/><ellipse cx="4437.5" cy="331.3696" fill="none" 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="4446.5" y="334.5801">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4427.5" x2="4836" y1="317.9673" y2="317.9673"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="4836" y="321.2754">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5101" x2="5509.5" y1="317.9673" y2="317.9673"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4427.5" x2="5509.5" y1="341.1743" y2="341.1743"/><ellipse cx="4437.5" cy="352.1743" fill="#84BE84" 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="4446.5" y="355.3848">urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : void</text><ellipse cx="4437.5" cy="364.979" fill="#84BE84" 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="4446.5" y="368.1894">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="4437.5" cy="377.7837" fill="#84BE84" 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="4446.5" y="380.9941">urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4437.5" cy="390.5884" fill="#84BE84" 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="4446.5" y="393.7988">urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4437.5" cy="403.3931" fill="#84BE84" 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="4446.5" y="406.6035">urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t</text><!--MD5=[e602aa6d45f270ad04f88c9ca5352b33]

class urt_message_t--><rect fill="#FEFECE" filter="url(#f11mdjur5d2uci)" height="141.6328" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="406" x="923.5" y="667.3228"/><ellipse cx="1076.25" cy="683.3228" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1075.7344,683.8853 Q1073.875,683.1821 1073.2188,682.4165 Q1072.5781,681.6353 1072.5781,680.3228 Q1072.5781,678.6353 1073.6563,677.6665 Q1074.7344,676.6978 1076.6094,676.6978 Q1077.4688,676.6978 1078.3125,676.9009 Q1079.1719,677.0884 1080.0156,677.479 L1080.0156,679.8696 Q1079.2344,679.3071 1078.4063,679.0259 Q1077.5938,678.729 1076.7969,678.729 Q1075.9219,678.729 1075.4375,679.0884 Q1074.9688,679.4478 1074.9688,680.104 Q1074.9688,680.6196 1075.3125,680.9634 Q1075.6563,681.2915 1076.75,681.6978 L1077.8125,682.104 Q1079.2969,682.6509 1080,683.5571 Q1080.7188,684.4634 1080.7188,685.8384 Q1080.7188,687.7134 1079.6094,688.6353 Q1078.5,689.5571 1076.25,689.5571 Q1075.3281,689.5571 1074.4063,689.3384 Q1073.4844,689.1196 1072.625,688.6978 L1072.625,686.1665 Q1073.5938,686.854 1074.5156,687.1978 Q1075.4375,687.5415 1076.3281,687.5415 Q1077.2344,687.5415 1077.7344,687.1353 Q1078.2344,686.7134 1078.2344,685.979 Q1078.2344,685.4165 1077.8906,685.0103 Q1077.5625,684.5884 1076.9375,684.3384 L1075.7344,683.8853 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="1096.75" y="687.477">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="924.5" x2="1328.5" y1="699.3228" y2="699.3228"/><ellipse cx="934.5" cy="710.3228" fill="none" 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="943.5" y="713.5332">next : urt_message_t*</text><ellipse cx="934.5" cy="723.1274" fill="none" 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="943.5" y="726.3379">payload : void*</text><ellipse cx="934.5" cy="735.9321" fill="none" 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="943.5" y="739.1426">originTime : urt_osTime_t</text><ellipse cx="934.5" cy="748.7368" fill="none" 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="943.5" y="751.9473">numHrtConsumersLeft : unsigned int</text><ellipse cx="934.5" cy="778.3462" fill="none" 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="943.5" y="781.5566">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="924.5" x2="1018" y1="764.9438" y2="764.9438"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="1018" y="768.2519">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1235" x2="1328.5" y1="764.9438" y2="764.9438"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="924.5" x2="1328.5" y1="788.1509" y2="788.1509"/><ellipse cx="934.5" cy="799.1509" fill="#84BE84" 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="943.5" y="802.3613">urtMessageInit (message : urt_message_t*, payload : void*) : void</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]

class urt_publisher_t--><rect fill="#FEFECE" filter="url(#f11mdjur5d2uci)" height="196.0469" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="783" x="7" y="180.8228"/><ellipse cx="347.75" cy="196.8228" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M347.2344,197.3853 Q345.375,196.6821 344.7188,195.9165 Q344.0781,195.1353 344.0781,193.8228 Q344.0781,192.1353 345.1563,191.1665 Q346.2344,190.1978 348.1094,190.1978 Q348.9688,190.1978 349.8125,190.4009 Q350.6719,190.5884 351.5156,190.979 L351.5156,193.3696 Q350.7344,192.8071 349.9063,192.5259 Q349.0938,192.229 348.2969,192.229 Q347.4219,192.229 346.9375,192.5884 Q346.4688,192.9478 346.4688,193.604 Q346.4688,194.1196 346.8125,194.4634 Q347.1563,194.7915 348.25,195.1978 L349.3125,195.604 Q350.7969,196.1509 351.5,197.0571 Q352.2188,197.9634 352.2188,199.3384 Q352.2188,201.2134 351.1094,202.1353 Q350,203.0571 347.75,203.0571 Q346.8281,203.0571 345.9063,202.8384 Q344.9844,202.6196 344.125,202.1978 L344.125,199.6665 Q345.0938,200.354 346.0156,200.6978 Q346.9375,201.0415 347.8281,201.0415 Q348.7344,201.0415 349.2344,200.6353 Q349.7344,200.2134 349.7344,199.479 Q349.7344,198.9165 349.3906,198.5103 Q349.0625,198.0884 348.4375,197.8384 L347.2344,197.3853 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="368.25" y="200.977">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8" x2="789" y1="212.8228" y2="212.8228"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="289" x="13" y="227.0332">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT : bool</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8" x2="789" y1="233.6274" y2="233.6274"/><ellipse cx="18" cy="244.6274" fill="none" 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="27" y="247.8379">topic : urt_topic_t*</text><ellipse cx="18" cy="274.2368" fill="none" 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="27" y="277.4473">publishAttempts : uint64_t</text><ellipse cx="18" cy="287.0415" fill="none" 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="27" y="290.2519">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8" x2="290" y1="260.8345" y2="260.8345"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="290" y="264.1426">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="507" x2="789" y1="260.8345" y2="260.8345"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8" x2="789" y1="296.8462" y2="296.8462"/><ellipse cx="18" cy="307.8462" fill="#84BE84" 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="27" y="311.0566">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void</text><ellipse cx="18" cy="337.4556" fill="#84BE84" 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="27" y="340.666">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="8" x2="245" y1="324.0532" y2="324.0532"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="307" x="245" y="327.3613">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == false</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="552" x2="789" y1="324.0532" y2="324.0532"/><ellipse cx="18" cy="367.0649" fill="#84BE84" 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="27" y="370.2754">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="8" x2="247.5" y1="353.6626" y2="353.6626"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="302" x="247.5" y="356.9707">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="549.5" x2="789" y1="353.6626" y2="353.6626"/><!--MD5=[a1b1e66ec52c209a9fa2dab315cd7630]

class urt_topic_t--><rect fill="#FEFECE" filter="url(#f11mdjur5d2uci)" height="260.875" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="603" x="825" y="148.3228"/><ellipse cx="1089.25" cy="164.3228" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1088.7344,164.8853 Q1086.875,164.1821 1086.2188,163.4165 Q1085.5781,162.6353 1085.5781,161.3228 Q1085.5781,159.6353 1086.6563,158.6665 Q1087.7344,157.6978 1089.6094,157.6978 Q1090.4688,157.6978 1091.3125,157.9009 Q1092.1719,158.0884 1093.0156,158.479 L1093.0156,160.8696 Q1092.2344,160.3071 1091.4063,160.0259 Q1090.5938,159.729 1089.7969,159.729 Q1088.9219,159.729 1088.4375,160.0884 Q1087.9688,160.4478 1087.9688,161.104 Q1087.9688,161.6196 1088.3125,161.9634 Q1088.6563,162.2915 1089.75,162.6978 L1090.8125,163.104 Q1092.2969,163.6509 1093,164.5571 Q1093.7188,165.4634 1093.7188,166.8384 Q1093.7188,168.7134 1092.6094,169.6353 Q1091.5,170.5571 1089.25,170.5571 Q1088.3281,170.5571 1087.4063,170.3384 Q1086.4844,170.1196 1085.625,169.6978 L1085.625,167.1665 Q1086.5938,167.854 1087.5156,168.1978 Q1088.4375,168.5415 1089.3281,168.5415 Q1090.2344,168.5415 1090.7344,168.1353 Q1091.2344,167.7134 1091.2344,166.979 Q1091.2344,166.4165 1090.8906,166.0103 Q1090.5625,165.5884 1089.9375,165.3384 L1088.7344,164.8853 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="1109.75" y="168.477">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="826" x2="1427" y1="180.3228" y2="180.3228"/><ellipse cx="836" cy="191.3228" fill="none" 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="845" y="194.5332">next : urt_topic_t*</text><ellipse cx="836" cy="204.1274" fill="none" 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="845" y="207.3379">id : urt_topicid_t</text><ellipse cx="836" cy="216.9321" fill="none" 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="845" y="220.1426">lock : urt_osMutex_t</text><ellipse cx="836" cy="229.7368" fill="none" 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="845" y="232.9473">evtSource : urt_osEventSource_t</text><ellipse cx="836" cy="242.5415" fill="none" 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="845" y="245.7519">numHrtSubscribers : unsigned int</text><ellipse cx="836" cy="255.3462" fill="none" 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="845" y="258.5566">hrtReleased : urt_osCondvar_t</text><ellipse cx="836" cy="268.1509" fill="none" 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="845" y="271.3613">mandatoryMessage : urt_message_t</text><ellipse cx="836" cy="280.9556" fill="none" 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="845" y="284.166">latestMessage : urt_message_t*</text><ellipse cx="836" cy="310.5649" fill="none" 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="845" y="313.7754">hrtSubscribers : urt_hrtsubscriber_t*</text><ellipse cx="836" cy="323.3696" fill="none" 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="845" y="326.5801">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="826" x2="994" y1="297.1626" y2="297.1626"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="994" y="300.4707">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1259" x2="1427" y1="297.1626" y2="297.1626"/><ellipse cx="836" cy="352.979" fill="none" 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="845" y="356.1894">numMessagesPublished : uint64_t</text><ellipse cx="836" cy="365.7837" fill="none" 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="845" y="368.9941">numMessagesDiscarded : uint64_t</text><ellipse cx="836" cy="378.5884" fill="none" 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="845" y="381.7988">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="826" x2="1018" y1="339.5767" y2="339.5767"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="1018" y="342.8848">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1235" x2="1427" y1="339.5767" y2="339.5767"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="826" x2="1427" y1="388.3931" y2="388.3931"/><ellipse cx="836" cy="399.3931" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="577" x="845" y="402.6035">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t, mandatoryMessage: urt_message_t*) : urt_status_t</text><!--MD5=[536025241394544a90bc53fb552f3a08]

reverse link urt_message_t to urt_message_t--><path d="M1342.0028,711.9298 C1356.0209,718.0822 1364.5,726.8799 1364.5,738.3228 C1364.5,752.8248 1350.8815,763.0781 1329.6293,769.0828 " fill="none" id="urt_message_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1329.6293,707.5628,1333.956,713.3316,1340.9452,711.5565,1336.6185,705.7877,1329.6293,707.5628" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1337.7203" y="703.1449">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="1337.2886" y="766.9945">0,1</text><!--MD5=[aa8990705afdbad14c7f998fe04b6f05]

reverse link urt_basesubscriber_t to urt_message_t--><path d="M2886.8336,553.5158 C2567.1591,587.0765 1720.724,675.9387 1329.7427,716.9856 " fill="none" id="urt_basesubscriber_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2899.8207,552.1523,2893.4358,548.8006,2887.8863,553.4053,2894.2712,556.7569,2899.8207,552.1523" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2883.9813" y="549.5268">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="1337.4061" y="728.5642">0,1</text><!--MD5=[0585cd4928de92ce6927d9c389eadd29]

link urt_nrtsubscriber_t to urt_basesubscriber_t--><path d="M3746.2283,355.8554 C3683.5669,375.5229 3615.689,395.9888 3552.5,413.3228 C3414.3193,451.2285 3254.3631,487.97 3144.6129,512.0977 " fill="none" id="urt_nrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="3146.0966,518.9386,3125.0621,516.3791,3143.1016,505.2627,3146.0966,518.9386" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6d81edfa5aa102b898ad487ae19b49f9]

link urt_srtsubscriber_t to urt_basesubscriber_t--><path d="M3012.5,375.4528 C3012.5,400.8001 3012.5,427.9869 3012.5,452.8265 " fill="none" id="urt_srtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="3019.5001,453.0478,3012.5,473.0477,3005.5001,453.0477,3019.5001,453.0478" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f626d284cba98e1d5d5fe914b1fa4188]

link urt_frtsubscriber_t to urt_basesubscriber_t--><path d="M2389.1729,391.8435 C2417.6878,399.2022 2445.9994,406.4223 2473.5,413.3228 C2611.7604,448.0156 2770.6746,485.1241 2879.9377,510.2122 " fill="none" id="urt_frtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="2881.8156,503.4611,2899.7455,514.7535,2878.687,517.107,2881.8156,503.4611" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[1ea71f2b33e56ab0ac5545988c1af396]

link urt_hrtsubscriber_t to urt_basesubscriber_t--><path d="M4426.3442,410.3156 C4420.3691,411.3449 4414.4195,412.348 4408.5,413.3228 C3948.3838,489.0967 3394.9618,522.5887 3145.6847,534.6426 " fill="none" id="urt_hrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="3145.7015,541.6496,3125.3912,535.6088,3145.0356,527.6655,3145.7015,541.6496" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ea2ec5c5272e65289dabade75a749f58]

reverse link urt_hrtsubscriber_t to urt_hrtsubscriber_t--><path d="M5522.8399,254.5753 C5537.3539,261.2813 5545.5,269.3638 5545.5,278.8228 C5545.5,290.6929 5532.6717,300.3953 5510.5292,307.9301 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="5510.5292,249.7155,5514.6414,255.6391,5521.691,254.1217,5517.5788,248.198,5510.5292,249.7155" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5518.2077" y="246.2694">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="5518.2921" y="305.3026">0,1</text><!--MD5=[54fcf25ad8c5f1d36e678e42d5bfd4cc]

reverse link urt_publisher_t to urt_topic_t--><path d="M803.4264,278.8228 C810.5202,278.8228 817.6139,278.8228 824.7077,278.8228 " fill="none" id="urt_publisher_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="790.2266,278.8228,796.2266,282.8228,802.2266,278.8228,796.2266,274.8228,790.2266,278.8228" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="798.2648" y="275.7382">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="808.5851" y="275.6938">1</text><!--MD5=[5025b4c4053b8e7c7ca8a657f09f21c0]

link urt_publisher_t to urt_message_t--><path d="M553.7813,376.8335 C690.2804,462.9891 885.9234,586.4753 1009.557,664.5105 " fill="none" id="urt_publisher_t-&gt;urt_message_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1013.9244,667.2672,1008.4487,659.0808,1009.6962,664.5984,1004.1786,665.8459,1013.9244,667.2672" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b2afc1defaa6ed5a86f99c07f8466dd]

reverse link urt_topic_t to urt_topic_t--><path d="M1440.1789,248.3591 C1454.5769,256.0731 1463,266.2277 1463,278.8228 C1463,294.6285 1449.7354,306.5908 1428.0445,314.7097 " fill="none" id="urt_topic_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1428.0445,242.9359,1431.8902,249.0359,1439.0001,247.8322,1435.1544,241.7322,1428.0445,242.9359" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1436.1605" y="238.8537">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="1436.3199" y="312.534">0,1</text><!--MD5=[ed3fb6de0913094c41bd74c175d366df]

reverse link urt_topic_t to urt_hrtsubscriber_t--><path d="M1340.4758,142.25 C1385.8905,119.5486 1434.7383,99.4646 1483,87.3228 C1639.6734,47.9063 4231.5104,61.5688 4391,87.3228 C4467.3838,99.6571 4547.3368,120.6113 4622.5629,144.2429 " fill="none" id="urt_topic_t&lt;-urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1328.6966,148.2344,1335.8576,149.0829,1339.3951,142.7991,1332.2341,141.9505,1328.6966,148.2344" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1332.1548" y="137.3255">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="4581.9853" y="133.1032">0,1</text><!--MD5=[0b5167e958c0ed93ffc0c98ce399b54d]

reverse link urt_topic_t to urt_message_t--><path d="M1126.5,422.7376 C1126.5,504.0857 1126.5,602.2013 1126.5,667.2092 " fill="none" id="urt_topic_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1126.5,409.5749,1122.5,415.5749,1126.5,421.5749,1130.5,415.5749,1126.5,409.5749" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1118.2813" y="429.2095">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1118.0875" y="656.1948">1</text><!--MD5=[ee7ff9c6693c901f37603259b2a8871e]

!include ./functions.iuml

/'### ENTITIES ###############################################################'/

!startsub ENTITIES

/' Message type. '/

$structure("urt_message_t") {

    'Pointer to the next message in a list.

  + {field} next : urt_message_t*

    'Pointer to some arbitrary (reusable) payload object.

  + {field} payload : void*

    'Origin time of the message.

  + {field} originTime : urt_osTime_t

    'Counter of HRT subscribers that did not consume the message yet.

  + {field} numHrtConsumersLeft : unsigned int

  .. URT_CFG_PUBSUB_PROFILING == true ..

    'Counter of overall subscribers that did not consume the message yet.

  + {field} numConsumersLeft : unsigned int

  __

    'Initializes a urt_message_t object.

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

}

$group("subscriber") {

  /' Base subscriber type. '/

  $structure("urt_basesubscriber_t") {

      'Pointer to the topic, this subscriber subscribed to.

    + {field} topic : urt_topic_t*

      'Event listener to notify the node about new messages.

    + {field} evtListener : urt_osEventListener_t

      'Pointer to the message consumed most recently.

    + {field} lastMessage : urt_message_t*

      'Copy of the origin time of the message consumed most recently.

    + {field} lastMessageTime : urt_osTime_t

    .. URT_CFG_PUBSUB_PROFILING == true ..

      'Sum of all latencies.

    + {field} sumLatencies : uint64_t

      'Number of messages received.

    + {field} numMessagesReceived : uint64_t

  }

  /' NRT subscriber type. '/

  $structure("urt_nrtsubscriber_t") {

    .. URT_CFG_PUBSUB_PROFILING == true ..

      'Minimum latency ever detected.

    + {field} minLatency : urt_delay_t

      'Maximum latency ever detected.

    + {field} maxLatency : urt_delay_t

    __

      'Initializes a urt_nrtsubscriber_t object.

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

      'Tries to subscribe to a topic and optionally contributes a list of messages to the topic.

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

      'Fetches the next message in the buffer, optionally copies the payload and optionally returns the latency.

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

      'Fetches the latest message, optionally copies the payload and optionally returns the latency.

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

      'Unsubscribes from a topic.

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

  }

  /' SRT subscriber type. '/

  $structure("urt_srtsubscriber_t") {

      'Callback to calculate usefulness of a message

    + {field} usefulnesscb : urt_usefulness_f*

      'Optional parameters for the usefulness callback function.

    + {field} cbparams : void*

    .. URT_CFG_PUBSUB_PROFILING == true ..

      'Minimum latency ever detected.

    + {field} minLatency : urt_delay_t

      'Maximum latency ever detected.

    + {field} maxLatency : urt_delay_t

    __

      'Initializes a urt_srtsubscriber_t object.

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

      'Tries to subscribe to a topic, sets all parameters and optionally contributes a list of messages to the topic.

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

      'Fetches the next message in the buffer, optionally copies the payload and optionally returns the latency.

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

      'Fetches the latest message, optionally copies the payload and optionally returns the latency.

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

      'Calculates the usefulness of a message after the specified delay.

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

      'Unsubscribes from a topic.

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

  }

  /' FRT subscriber type. '/

  $structure("urt_frtsubscriber_t") {

    .. URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true ..

      'Maximum temporal offset between creation and consumption of messages.

    + {field} deadlineOffset : urt_delay_t

    .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ..

      'Maximum expected jitter.

    + {field} maxJitter : urt_delay_t

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

      'Minimum latency ever detected (to calculate jitter).

    + {field} minLatency : urt_delay_t

      'Maximum latency ever detected (to calculate jitter).

    + {field} maxLatency : urt_delay_t

    __

      'Initializes a urt_frtsubscriber_t object.

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

      'Tries to subscribe to a topic, sets all parameters and optionally contributes a list of messages to the topic.

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

      'Fetches the next message in the buffer, optionally copies the payload and optionally returns the latency.

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

      'Fetches the latest message, optionally copies the payload and optionally returns the latency.

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

      'Checks whether a message is valid after the specified delay.

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

      'Unsubscribes from a topic.

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

  }

  /' HRT subscriber type. '/

  $structure("urt_hrtsubscriber_t") {

      'Pointer to the next HRT subscriber in a list.

    + {field} next : urt_hrtsubscriber_t*

    .. URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true ..

      'Maximum temporal offset between creation and consumption of messages.

    + {field} deadlineOffset : urt_delay_t

      'QoS Timer to detect missed deadlines.

    + {field} qosDeadlineTimer : urt_osTimer_t

    .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ..

      'Maximum expected jitter.

    + {field} maxJitter : urt_delay_t

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

      'Minimum latency ever detected (to calculate jitter).

    + {field} minLatency : urt_delay_t

      'Maximum latency ever detected (to calculate jitter).

    + {field} maxLatency : urt_delay_t

    .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..

      'Expected rate at which data is published.

    + {field} expectedRate : urt_delay_t

    __

      'Initializes a urt_hrtsubscriber_t object.

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

      'Tries to subscribe to a topic, sets all parameters and optionally contributes a list of messages to the topic.

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

      'Fetches the next message in the buffer, optionally copies the payload and optionally returns the latency.

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

      'Fetches the latest message, optionally copies the payload and optionally returns the latency.

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

      'Unsubscribes from a topic.

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

  }

} /'subscriber'/

/' Publisher type. '/

$structure("urt_publisher_t") {

  'Flag, whether the publish() method supports timeout.

  URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT : bool

  __

    'Pointer to the topic for publishing.

  + {field} topic : urt_topic_t*

  .. URT_CFG_PUBSUB_PROFILING == true ..

    'Counter of attempts to publish a message.

  + {field} publishAttempts : uint64_t

    'Counter of failed attempts to publish a message.

  + {field} publishFails : uint64_t

  __

    'Initializes a urt_publisher_t object and contributes an optional list of messages.

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

  .. URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == false ..

    'Publishes a message via the associated topic.

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

  .. URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == true ..

    'Publishes a message via the associated topic with timeout.

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

}

/' Topic type. '/

$structure("urt_topic_t") {

    'Pointer to the next topic in a list.

  + {field} next : urt_topic_t*

    'Identifier of the topic.

  + {field} id : urt_topicid_t

    'Mutex lock for exclusive access.

  + {field} lock : urt_osMutex_t

    'Event source to inform all subscribers when a new message is published.

  + {field} evtSource : urt_osEventSource_t

    'Number of HRT subscribers.

  + {field} numHrtSubscribers : unsigned int

    'Condition variable to inform waiting publishers when a blocked message becomes available.

  + {field} hrtReleased : urt_osCondvar_t

    'Mandatory message, each Topic holds.

  + {field} mandatoryMessage : urt_message_t

    'Pointer to the latest message.

  + {field} latestMessage : urt_message_t*

  .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..

    'List of HRT subscribers, orderd by their expected rate (most critical first).

  + {field} hrtSubscribers : urt_hrtsubscriber_t*

    'Timer to check for missed rates.

  + {field} qosRateTimer : urt_osTimer_t

  .. URT_CFG_PUBSUB_PROFILING == true ..

    'Number of overall published messages on this topic.

  + {field} numMessagesPublished : uint64_t

    'Variable to count how often (non-hrt) subscribers did not fetch a message before it was reused.

  + {field} numMessagesDiscarded : uint64_t

    'Number of overall subscribers.

  + {field} numSubscribers : unsigned int

  __

    'Initializes an urt_topic_t object.

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

}

!endsub

/'### DEPENDENCIES & LAYOUT ##################################################'/

!startsub DEPENDENCIES

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

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

urt_nrtsubscriber_t - -|> urt_basesubscriber_t

urt_srtsubscriber_t - -|> urt_basesubscriber_t

urt_frtsubscriber_t - -|> urt_basesubscriber_t

urt_hrtsubscriber_t - -|> urt_basesubscriber_t

urt_hrtsubscriber_t "1" o- "0,1" urt_hrtsubscriber_t

urt_publisher_t "1" o- "1" urt_topic_t

urt_publisher_t ..> urt_message_t

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

urt_topic_t "1" o- "0,1" urt_hrtsubscriber_t

urt_topic_t "1" *- - "1" urt_message_t

!endsub

/'### OUTRO ##################################################################'/

@enduml

@startuml

title **µRtWare**\nPublish-Subscribe System

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

PlantUML version 1.2020.15(Sun Jun 28 13:39:45 CEST 2020)

Language: de

Country: DE

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

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cluster Publish-Subscribe System--><polygon fill="#FFFFFF" filter="url(#fgmjoycxg2h2i)" points="16,438.9531,26,428.9531,5561,428.9531,5561,1151.4531,5551,1161.4531,16,1161.4531,16,438.9531" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="5551" x2="5560" y1="438.9531" y2="429.9531"/><line style="stroke: #000000; stroke-width: 1.5;" x1="16" x2="5551" y1="438.9531" y2="438.9531"/><line style="stroke: #000000; stroke-width: 1.5;" x1="5551" x2="5551" y1="438.9531" y2="1161.4531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="205" x="2682" y="454.9482">Publish-Subscribe System</text><!--MD5=[16a3bbbe805f94d6e6ce317c08ab945e]

cluster subscriber--><rect fill="#FFFFFF" filter="url(#fgmjoycxg2h2i)" height="498.5" style="stroke: #000000; stroke-width: 1.5;" width="4062" x="1491" y="460.9531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="85" x="3479.5" y="475.9482">subscriber</text><!--MD5=[810d0f07e53ef611b6d803ef30301147]

cluster Remote Procedure Call System--><polygon fill="#FFFFFF" filter="url(#fgmjoycxg2h2i)" points="7251,36.9531,7261,26.9531,10535,26.9531,10535,755.4531,10525,765.4531,7251,765.4531,7251,36.9531" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="10525" x2="10534" y1="36.9531" y2="27.9531"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7251" x2="10525" y1="36.9531" y2="36.9531"/><line style="stroke: #000000; stroke-width: 1.5;" x1="10525" x2="10525" y1="36.9531" y2="765.4531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="244" x="8767" y="52.9482">Remote Procedure Call System</text><!--MD5=[ecaf13b018fb9788c80013f5b3634b61]

cluster request--><rect fill="#FFFFFF" filter="url(#fgmjoycxg2h2i)" height="670.5" style="stroke: #000000; stroke-width: 1.5;" width="2646" x="7881" y="58.9531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="62" x="9173" y="73.9482">request</text><!--MD5=[a7dea26996a1231aa68629b332780450]

class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#fgmjoycxg2h2i)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="5577" y="853.9531"/><ellipse cx="5722.75" cy="869.9531" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5723.5938,876.7031 L5721.1406,876.7031 L5721.1406,866.4531 L5718,866.4531 L5718,864.3125 L5726.7344,864.3125 L5726.7344,866.4531 L5723.5938,866.4531 L5723.5938,876.7031 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="5743.25" y="874.1074">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5578" x2="6032" y1="885.9531" y2="885.9531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5578" x2="6032" y1="893.9531" y2="893.9531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="5583" y="908.1636">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]

class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#fgmjoycxg2h2i)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="6068" y="853.9531"/><ellipse cx="6296.25" cy="869.9531" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6297.0938,876.7031 L6294.6406,876.7031 L6294.6406,866.4531 L6291.5,866.4531 L6291.5,864.3125 L6300.2344,864.3125 L6300.2344,866.4531 L6297.0938,866.4531 L6297.0938,876.7031 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="6316.75" y="874.1074">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6069" x2="6681" y1="885.9531" y2="885.9531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6069" x2="6681" y1="893.9531" y2="893.9531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="6074" y="908.1636">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(#fgmjoycxg2h2i)" height="60.8047" id="urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="518" x="6717" y="853.9531"/><ellipse cx="6881.25" cy="869.9531" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6882.0938,876.7031 L6879.6406,876.7031 L6879.6406,866.4531 L6876.5,866.4531 L6876.5,864.3125 L6885.2344,864.3125 L6885.2344,866.4531 L6882.0938,866.4531 L6882.0938,876.7031 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="181" x="6901.75" y="874.1074">urt_nodeShutdownCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6718" x2="7234" y1="885.9531" y2="885.9531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6718" x2="7234" y1="893.9531" y2="893.9531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="506" x="6723" y="908.1636">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(#fgmjoycxg2h2i)" height="231.2656" id="urt_node_t" style="stroke: #A80036; stroke-width: 1.5;" width="1541" x="5604.5" y="506.9531"/><ellipse cx="6337.25" cy="522.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6336.7344,523.5156 Q6334.875,522.8125 6334.2188,522.0469 Q6333.5781,521.2656 6333.5781,519.9531 Q6333.5781,518.2656 6334.6563,517.2969 Q6335.7344,516.3281 6337.6094,516.3281 Q6338.4688,516.3281 6339.3125,516.5313 Q6340.1719,516.7188 6341.0156,517.1094 L6341.0156,519.5 Q6340.2344,518.9375 6339.4063,518.6563 Q6338.5938,518.3594 6337.7969,518.3594 Q6336.9219,518.3594 6336.4375,518.7188 Q6335.9688,519.0781 6335.9688,519.7344 Q6335.9688,520.25 6336.3125,520.5938 Q6336.6563,520.9219 6337.75,521.3281 L6338.8125,521.7344 Q6340.2969,522.2813 6341,523.1875 Q6341.7188,524.0938 6341.7188,525.4688 Q6341.7188,527.3438 6340.6094,528.2656 Q6339.5,529.1875 6337.25,529.1875 Q6336.3281,529.1875 6335.4063,528.9688 Q6334.4844,528.75 6333.625,528.3281 L6333.625,525.7969 Q6334.5938,526.4844 6335.5156,526.8281 Q6336.4375,527.1719 6337.3281,527.1719 Q6338.2344,527.1719 6338.7344,526.7656 Q6339.2344,526.3438 6339.2344,525.6094 Q6339.2344,525.0469 6338.8906,524.6406 Q6338.5625,524.2188 6337.9375,523.9688 L6336.7344,523.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="67" x="6357.75" y="527.1074">urt_node_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5605.5" x2="7144.5" y1="538.9531" y2="538.9531"/><ellipse cx="5615.5" cy="549.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="102" x="5624.5" y="553.1636">next : urt_node_t*</text><ellipse cx="5615.5" cy="562.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="5624.5" y="565.9683">thread : urt_osThread_t*</text><ellipse cx="5615.5" cy="575.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="5624.5" y="578.7729">setupcallback : urt_nodeSetupCallback_t*</text><ellipse cx="5615.5" cy="588.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="117" x="5624.5" y="591.5776">setupparams : void*</text><ellipse cx="5615.5" cy="601.1719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="221" x="5624.5" y="604.3823">loopcallback : urt_nodeLoopCallback_t*</text><ellipse cx="5615.5" cy="613.9766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="109" x="5624.5" y="617.187">loopparams : void*</text><ellipse cx="5615.5" cy="626.7813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="281" x="5624.5" y="629.9917">shutdowncallback : urt_nodeShutdownCallback_t*</text><ellipse cx="5615.5" cy="639.5859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="140" x="5624.5" y="642.7964">shutdownparams : void*</text><ellipse cx="5615.5" cy="652.3906" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="5624.5" y="655.6011">stage : urt_nodestage_t</text><ellipse cx="5615.5" cy="665.1953" fill="none" 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="5624.5" y="668.4058">listener : urt_osEventListener_t</text><ellipse cx="5615.5" cy="694.8047" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="88" x="5624.5" y="698.0151">loops : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5605.5" x2="6167" y1="681.4023" y2="681.4023"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="416" x="6167" y="684.7104">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="6583" x2="7144.5" y1="681.4023" y2="681.4023"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5605.5" x2="7144.5" y1="704.6094" y2="704.6094"/><rect fill="#F24D5C" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="5612.5" y="712.6094"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="179" x="5624.5" y="718.8198">_main : urt_osThreadFunction_t</text><ellipse cx="5615.5" cy="728.4141" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1515" x="5624.5" y="731.6245">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(#fgmjoycxg2h2i)" height="141.6328" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="406" x="941" y="1011.4531"/><ellipse cx="1093.75" cy="1027.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1093.2344,1028.0156 Q1091.375,1027.3125 1090.7188,1026.5469 Q1090.0781,1025.7656 1090.0781,1024.4531 Q1090.0781,1022.7656 1091.1563,1021.7969 Q1092.2344,1020.8281 1094.1094,1020.8281 Q1094.9688,1020.8281 1095.8125,1021.0313 Q1096.6719,1021.2188 1097.5156,1021.6094 L1097.5156,1024 Q1096.7344,1023.4375 1095.9063,1023.1563 Q1095.0938,1022.8594 1094.2969,1022.8594 Q1093.4219,1022.8594 1092.9375,1023.2188 Q1092.4688,1023.5781 1092.4688,1024.2344 Q1092.4688,1024.75 1092.8125,1025.0938 Q1093.1563,1025.4219 1094.25,1025.8281 L1095.3125,1026.2344 Q1096.7969,1026.7813 1097.5,1027.6875 Q1098.2188,1028.5938 1098.2188,1029.9688 Q1098.2188,1031.8438 1097.1094,1032.7656 Q1096,1033.6875 1093.75,1033.6875 Q1092.8281,1033.6875 1091.9063,1033.4688 Q1090.9844,1033.25 1090.125,1032.8281 L1090.125,1030.2969 Q1091.0938,1030.9844 1092.0156,1031.3281 Q1092.9375,1031.6719 1093.8281,1031.6719 Q1094.7344,1031.6719 1095.2344,1031.2656 Q1095.7344,1030.8438 1095.7344,1030.1094 Q1095.7344,1029.5469 1095.3906,1029.1406 Q1095.0625,1028.7188 1094.4375,1028.4688 L1093.2344,1028.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="1114.25" y="1031.6074">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="942" x2="1346" y1="1043.4531" y2="1043.4531"/><ellipse cx="952" cy="1054.4531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="127" x="961" y="1057.6636">next : urt_message_t*</text><ellipse cx="952" cy="1067.2578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="961" y="1070.4683">payload : void*</text><ellipse cx="952" cy="1080.0625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="961" y="1083.2729">originTime : urt_osTime_t</text><ellipse cx="952" cy="1092.8672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="211" x="961" y="1096.0776">numHrtConsumersLeft : unsigned int</text><ellipse cx="952" cy="1122.4766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="961" y="1125.687">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="942" x2="1035.5" y1="1109.0742" y2="1109.0742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="1035.5" y="1112.3823">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1252.5" x2="1346" y1="1109.0742" y2="1109.0742"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="942" x2="1346" y1="1132.2813" y2="1132.2813"/><ellipse cx="952" cy="1143.2813" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="961" y="1146.4917">urtMessageInit (message : urt_message_t*, payload : void*) : void</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]

class urt_publisher_t--><rect fill="#FEFECE" filter="url(#fgmjoycxg2h2i)" height="196.0469" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="783" x="24.5" y="524.4531"/><ellipse cx="365.25" cy="540.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M364.7344,541.0156 Q362.875,540.3125 362.2188,539.5469 Q361.5781,538.7656 361.5781,537.4531 Q361.5781,535.7656 362.6563,534.7969 Q363.7344,533.8281 365.6094,533.8281 Q366.4688,533.8281 367.3125,534.0313 Q368.1719,534.2188 369.0156,534.6094 L369.0156,537 Q368.2344,536.4375 367.4063,536.1563 Q366.5938,535.8594 365.7969,535.8594 Q364.9219,535.8594 364.4375,536.2188 Q363.9688,536.5781 363.9688,537.2344 Q363.9688,537.75 364.3125,538.0938 Q364.6563,538.4219 365.75,538.8281 L366.8125,539.2344 Q368.2969,539.7813 369,540.6875 Q369.7188,541.5938 369.7188,542.9688 Q369.7188,544.8438 368.6094,545.7656 Q367.5,546.6875 365.25,546.6875 Q364.3281,546.6875 363.4063,546.4688 Q362.4844,546.25 361.625,545.8281 L361.625,543.2969 Q362.5938,543.9844 363.5156,544.3281 Q364.4375,544.6719 365.3281,544.6719 Q366.2344,544.6719 366.7344,544.2656 Q367.2344,543.8438 367.2344,543.1094 Q367.2344,542.5469 366.8906,542.1406 Q366.5625,541.7188 365.9375,541.4688 L364.7344,541.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="385.75" y="544.6074">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="25.5" x2="806.5" y1="556.4531" y2="556.4531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="289" x="30.5" y="570.6636">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT : bool</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="25.5" x2="806.5" y1="577.2578" y2="577.2578"/><ellipse cx="35.5" cy="588.2578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="44.5" y="591.4683">topic : urt_topic_t*</text><ellipse cx="35.5" cy="617.8672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="149" x="44.5" y="621.0776">publishAttempts : uint64_t</text><ellipse cx="35.5" cy="630.6719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="44.5" y="633.8823">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="25.5" x2="307.5" y1="604.4648" y2="604.4648"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="307.5" y="607.7729">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="524.5" x2="806.5" y1="604.4648" y2="604.4648"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="25.5" x2="806.5" y1="640.4766" y2="640.4766"/><ellipse cx="35.5" cy="651.4766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="572" x="44.5" y="654.687">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void</text><ellipse cx="35.5" cy="681.0859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="632" x="44.5" y="684.2964">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="25.5" x2="262.5" y1="667.6836" y2="667.6836"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="307" x="262.5" y="670.9917">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == false</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="569.5" x2="806.5" y1="667.6836" y2="667.6836"/><ellipse cx="35.5" cy="710.6953" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="757" x="44.5" y="713.9058">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="25.5" x2="265" y1="697.293" y2="697.293"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="302" x="265" y="700.6011">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="567" x2="806.5" y1="697.293" y2="697.293"/><!--MD5=[a1b1e66ec52c209a9fa2dab315cd7630]

class urt_topic_t--><rect fill="#FEFECE" filter="url(#fgmjoycxg2h2i)" height="260.875" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="603" x="842.5" y="491.9531"/><ellipse cx="1106.75" cy="507.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1106.2344,508.5156 Q1104.375,507.8125 1103.7188,507.0469 Q1103.0781,506.2656 1103.0781,504.9531 Q1103.0781,503.2656 1104.1563,502.2969 Q1105.2344,501.3281 1107.1094,501.3281 Q1107.9688,501.3281 1108.8125,501.5313 Q1109.6719,501.7188 1110.5156,502.1094 L1110.5156,504.5 Q1109.7344,503.9375 1108.9063,503.6563 Q1108.0938,503.3594 1107.2969,503.3594 Q1106.4219,503.3594 1105.9375,503.7188 Q1105.4688,504.0781 1105.4688,504.7344 Q1105.4688,505.25 1105.8125,505.5938 Q1106.1563,505.9219 1107.25,506.3281 L1108.3125,506.7344 Q1109.7969,507.2813 1110.5,508.1875 Q1111.2188,509.0938 1111.2188,510.4688 Q1111.2188,512.3438 1110.1094,513.2656 Q1109,514.1875 1106.75,514.1875 Q1105.8281,514.1875 1104.9063,513.9688 Q1103.9844,513.75 1103.125,513.3281 L1103.125,510.7969 Q1104.0938,511.4844 1105.0156,511.8281 Q1105.9375,512.1719 1106.8281,512.1719 Q1107.7344,512.1719 1108.2344,511.7656 Q1108.7344,511.3438 1108.7344,510.6094 Q1108.7344,510.0469 1108.3906,509.6406 Q1108.0625,509.2188 1107.4375,508.9688 L1106.2344,508.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="1127.25" y="512.1074">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="843.5" x2="1444.5" y1="523.9531" y2="523.9531"/><ellipse cx="853.5" cy="534.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="862.5" y="538.1636">next : urt_topic_t*</text><ellipse cx="853.5" cy="547.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="862.5" y="550.9683">id : urt_topicid_t</text><ellipse cx="853.5" cy="560.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="862.5" y="563.7729">lock : urt_osMutex_t</text><ellipse cx="853.5" cy="573.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="862.5" y="576.5776">evtSource : urt_osEventSource_t</text><ellipse cx="853.5" cy="586.1719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="862.5" y="589.3823">numHrtSubscribers : unsigned int</text><ellipse cx="853.5" cy="598.9766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="862.5" y="602.187">hrtReleased : urt_osCondvar_t</text><ellipse cx="853.5" cy="611.7813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="209" x="862.5" y="614.9917">mandatoryMessage : urt_message_t</text><ellipse cx="853.5" cy="624.5859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="862.5" y="627.7964">latestMessage : urt_message_t*</text><ellipse cx="853.5" cy="654.1953" fill="none" 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="862.5" y="657.4058">hrtSubscribers : urt_hrtsubscriber_t*</text><ellipse cx="853.5" cy="667" fill="none" 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="862.5" y="670.2104">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="843.5" x2="1011.5" y1="640.793" y2="640.793"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="1011.5" y="644.1011">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1276.5" x2="1444.5" y1="640.793" y2="640.793"/><ellipse cx="853.5" cy="696.6094" fill="none" 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="862.5" y="699.8198">numMessagesPublished : uint64_t</text><ellipse cx="853.5" cy="709.4141" fill="none" 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="862.5" y="712.6245">numMessagesDiscarded : uint64_t</text><ellipse cx="853.5" cy="722.2188" fill="none" 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="862.5" y="725.4292">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="843.5" x2="1035.5" y1="683.207" y2="683.207"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="1035.5" y="686.5151">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1252.5" x2="1444.5" y1="683.207" y2="683.207"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="843.5" x2="1444.5" y1="732.0234" y2="732.0234"/><ellipse cx="853.5" cy="743.0234" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="577" x="862.5" y="746.2339">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t, mandatoryMessage: urt_message_t*) : urt_status_t</text><!--MD5=[50a042e24f957794dab9ba3ea8701c50]

class urt_basesubscriber_t--><rect fill="#FEFECE" filter="url(#fgmjoycxg2h2i)" height="133.6328" id="urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="225" x="2784.5" y="817.4531"/><ellipse cx="2826.95" cy="833.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2826.4344,834.0156 Q2824.575,833.3125 2823.9188,832.5469 Q2823.2781,831.7656 2823.2781,830.4531 Q2823.2781,828.7656 2824.3563,827.7969 Q2825.4344,826.8281 2827.3094,826.8281 Q2828.1688,826.8281 2829.0125,827.0313 Q2829.8719,827.2188 2830.7156,827.6094 L2830.7156,830 Q2829.9344,829.4375 2829.1063,829.1563 Q2828.2938,828.8594 2827.4969,828.8594 Q2826.6219,828.8594 2826.1375,829.2188 Q2825.6688,829.5781 2825.6688,830.2344 Q2825.6688,830.75 2826.0125,831.0938 Q2826.3563,831.4219 2827.45,831.8281 L2828.5125,832.2344 Q2829.9969,832.7813 2830.7,833.6875 Q2831.4188,834.5938 2831.4188,835.9688 Q2831.4188,837.8438 2830.3094,838.7656 Q2829.2,839.6875 2826.95,839.6875 Q2826.0281,839.6875 2825.1063,839.4688 Q2824.1844,839.25 2823.325,838.8281 L2823.325,836.2969 Q2824.2938,836.9844 2825.2156,837.3281 Q2826.1375,837.6719 2827.0281,837.6719 Q2827.9344,837.6719 2828.4344,837.2656 Q2828.9344,836.8438 2828.9344,836.1094 Q2828.9344,835.5469 2828.5906,835.1406 Q2828.2625,834.7188 2827.6375,834.4688 L2826.4344,834.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="132" x="2847.05" y="837.6074">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2785.5" x2="3008.5" y1="849.4531" y2="849.4531"/><ellipse cx="2795.5" cy="860.4531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="2804.5" y="863.6636">topic : urt_topic_t*</text><ellipse cx="2795.5" cy="873.2578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="2804.5" y="876.4683">evtListener : urt_osEventListener_t</text><ellipse cx="2795.5" cy="886.0625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="175" x="2804.5" y="889.2729">lastMessage : urt_message_t*</text><ellipse cx="2795.5" cy="898.8672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="2804.5" y="902.0776">lastMessageTime : urt_osTime_t</text><ellipse cx="2795.5" cy="928.4766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="2804.5" y="931.687">sumLatencies : uint64_t</text><ellipse cx="2795.5" cy="941.2813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="2804.5" y="944.4917">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2785.5" x2="2788.5" y1="915.0742" y2="915.0742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2788.5" y="918.3823">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3005.5" x2="3008.5" y1="915.0742" y2="915.0742"/><!--MD5=[9ff46073dd541e50679ef35e851c67d6]

class urt_nrtsubscriber_t--><rect fill="#FEFECE" filter="url(#fgmjoycxg2h2i)" height="154.4375" id="urt_nrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="821" x="1498.5" y="545.4531"/><ellipse cx="1845.25" cy="561.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1844.7344,562.0156 Q1842.875,561.3125 1842.2188,560.5469 Q1841.5781,559.7656 1841.5781,558.4531 Q1841.5781,556.7656 1842.6563,555.7969 Q1843.7344,554.8281 1845.6094,554.8281 Q1846.4688,554.8281 1847.3125,555.0313 Q1848.1719,555.2188 1849.0156,555.6094 L1849.0156,558 Q1848.2344,557.4375 1847.4063,557.1563 Q1846.5938,556.8594 1845.7969,556.8594 Q1844.9219,556.8594 1844.4375,557.2188 Q1843.9688,557.5781 1843.9688,558.2344 Q1843.9688,558.75 1844.3125,559.0938 Q1844.6563,559.4219 1845.75,559.8281 L1846.8125,560.2344 Q1848.2969,560.7813 1849,561.6875 Q1849.7188,562.5938 1849.7188,563.9688 Q1849.7188,565.8438 1848.6094,566.7656 Q1847.5,567.6875 1845.25,567.6875 Q1844.3281,567.6875 1843.4063,567.4688 Q1842.4844,567.25 1841.625,566.8281 L1841.625,564.2969 Q1842.5938,564.9844 1843.5156,565.3281 Q1844.4375,565.6719 1845.3281,565.6719 Q1846.2344,565.6719 1846.7344,565.2656 Q1847.2344,564.8438 1847.2344,564.1094 Q1847.2344,563.5469 1846.8906,563.1406 Q1846.5625,562.7188 1845.9375,562.4688 L1844.7344,562.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="1865.75" y="565.6074">urt_nrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1499.5" x2="2318.5" y1="577.4531" y2="577.4531"/><ellipse cx="1509.5" cy="605.2578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="1518.5" y="608.4683">minLatency : urt_delay_t</text><ellipse cx="1509.5" cy="618.0625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="1518.5" y="621.2729">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1499.5" x2="1800.5" y1="591.8555" y2="591.8555"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="1800.5" y="595.1636">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2017.5" x2="2318.5" y1="591.8555" y2="591.8555"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1499.5" x2="2318.5" y1="627.8672" y2="627.8672"/><ellipse cx="1509.5" cy="638.8672" fill="#84BE84" 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="1518.5" y="642.0776">urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : void</text><ellipse cx="1509.5" cy="651.6719" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="715" x="1518.5" y="654.8823">urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="1509.5" cy="664.4766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="1518.5" y="667.687">urtNrtSubscriberFetchNextMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="1509.5" cy="677.2813" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="1518.5" y="680.4917">urtNrtSubscriberFetchLatestMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="1509.5" cy="690.0859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="1518.5" y="693.2964">urtNrtSubscriberUnsubscribe (subscriber : urt_nrtsubscriber_t*) : urt_status_t</text><!--MD5=[5c7929572d87ccc448d875bea5da0fb1]

class urt_srtsubscriber_t--><rect fill="#FEFECE" filter="url(#fgmjoycxg2h2i)" height="192.8516" id="urt_srtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1044" x="4501" y="525.9531"/><ellipse cx="4959.75" cy="541.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4959.2344,542.5156 Q4957.375,541.8125 4956.7188,541.0469 Q4956.0781,540.2656 4956.0781,538.9531 Q4956.0781,537.2656 4957.1563,536.2969 Q4958.2344,535.3281 4960.1094,535.3281 Q4960.9688,535.3281 4961.8125,535.5313 Q4962.6719,535.7188 4963.5156,536.1094 L4963.5156,538.5 Q4962.7344,537.9375 4961.9063,537.6563 Q4961.0938,537.3594 4960.2969,537.3594 Q4959.4219,537.3594 4958.9375,537.7188 Q4958.4688,538.0781 4958.4688,538.7344 Q4958.4688,539.25 4958.8125,539.5938 Q4959.1563,539.9219 4960.25,540.3281 L4961.3125,540.7344 Q4962.7969,541.2813 4963.5,542.1875 Q4964.2188,543.0938 4964.2188,544.4688 Q4964.2188,546.3438 4963.1094,547.2656 Q4962,548.1875 4959.75,548.1875 Q4958.8281,548.1875 4957.9063,547.9688 Q4956.9844,547.75 4956.125,547.3281 L4956.125,544.7969 Q4957.0938,545.4844 4958.0156,545.8281 Q4958.9375,546.1719 4959.8281,546.1719 Q4960.7344,546.1719 4961.2344,545.7656 Q4961.7344,545.3438 4961.7344,544.6094 Q4961.7344,544.0469 4961.3906,543.6406 Q4961.0625,543.2188 4960.4375,542.9688 L4959.2344,542.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="4980.25" y="546.1074">urt_srtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4502" x2="5544" y1="557.9531" y2="557.9531"/><ellipse cx="4512" cy="568.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="4521" y="572.1636">usefulnesscb : urt_usefulness_f*</text><ellipse cx="4512" cy="581.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="4521" y="584.9683">cbparams : void*</text><ellipse cx="4512" cy="611.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="4521" y="614.5776">minLatency : urt_delay_t</text><ellipse cx="4512" cy="624.1719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="4521" y="627.3823">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4502" x2="4914.5" y1="597.9648" y2="597.9648"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="4914.5" y="601.2729">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5131.5" x2="5544" y1="597.9648" y2="597.9648"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4502" x2="5544" y1="633.9766" y2="633.9766"/><ellipse cx="4512" cy="644.9766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="4521" y="648.187">urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void</text><ellipse cx="4512" cy="657.7813" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1018" x="4521" y="660.9917">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="4512" cy="670.5859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="4521" y="673.7964">urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4512" cy="683.3906" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="4521" y="686.6011">urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4512" cy="696.1953" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="4521" y="699.4058">urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float</text><ellipse cx="4512" cy="709" fill="#84BE84" 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="4521" y="712.2104">urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t</text><!--MD5=[17838fb05fe219fd399839979ec8a4a4]

class urt_frtsubscriber_t--><rect fill="#FEFECE" filter="url(#fgmjoycxg2h2i)" height="226.4609" id="urt_frtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="974" x="3492" y="509.4531"/><ellipse cx="3917.25" cy="525.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3916.7344,526.0156 Q3914.875,525.3125 3914.2188,524.5469 Q3913.5781,523.7656 3913.5781,522.4531 Q3913.5781,520.7656 3914.6563,519.7969 Q3915.7344,518.8281 3917.6094,518.8281 Q3918.4688,518.8281 3919.3125,519.0313 Q3920.1719,519.2188 3921.0156,519.6094 L3921.0156,522 Q3920.2344,521.4375 3919.4063,521.1563 Q3918.5938,520.8594 3917.7969,520.8594 Q3916.9219,520.8594 3916.4375,521.2188 Q3915.9688,521.5781 3915.9688,522.2344 Q3915.9688,522.75 3916.3125,523.0938 Q3916.6563,523.4219 3917.75,523.8281 L3918.8125,524.2344 Q3920.2969,524.7813 3921,525.6875 Q3921.7188,526.5938 3921.7188,527.9688 Q3921.7188,529.8438 3920.6094,530.7656 Q3919.5,531.6875 3917.25,531.6875 Q3916.3281,531.6875 3915.4063,531.4688 Q3914.4844,531.25 3913.625,530.8281 L3913.625,528.2969 Q3914.5938,528.9844 3915.5156,529.3281 Q3916.4375,529.6719 3917.3281,529.6719 Q3918.2344,529.6719 3918.7344,529.2656 Q3919.2344,528.8438 3919.2344,528.1094 Q3919.2344,527.5469 3918.8906,527.1406 Q3918.5625,526.7188 3917.9375,526.4688 L3916.7344,526.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="3937.75" y="529.6074">urt_frtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3493" x2="4465" y1="541.4531" y2="541.4531"/><ellipse cx="3503" cy="569.2578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="3512" y="572.4683">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3493" x2="3833.5" y1="555.8555" y2="555.8555"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="3833.5" y="559.1636">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4124.5" x2="4465" y1="555.8555" y2="555.8555"/><ellipse cx="3503" cy="598.8672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="3512" y="602.0776">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3493" x2="3843.5" y1="585.4648" y2="585.4648"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3843.5" y="588.7729">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4114.5" x2="4465" y1="585.4648" y2="585.4648"/><ellipse cx="3503" cy="628.4766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="3512" y="631.687">minLatency : urt_delay_t</text><ellipse cx="3503" cy="641.2813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="3512" y="644.4917">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3493" x2="3725" y1="615.0742" y2="615.0742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="508" x="3725" y="618.3823">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="4233" x2="4465" y1="615.0742" y2="615.0742"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3493" x2="4465" y1="651.0859" y2="651.0859"/><ellipse cx="3503" cy="662.0859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="342" x="3512" y="665.2964">urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : void</text><ellipse cx="3503" cy="674.8906" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="948" x="3512" y="678.1011">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="3503" cy="687.6953" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="780" x="3512" y="690.9058">urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="3503" cy="700.5" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="790" x="3512" y="703.7104">urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="3503" cy="713.3047" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="540" x="3512" y="716.5151">urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool</text><ellipse cx="3503" cy="726.1094" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="441" x="3512" y="729.3198">urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t</text><!--MD5=[104dc879e5721421b987fcc467bc3a1d]

class urt_hrtsubscriber_t--><rect fill="#FEFECE" filter="url(#fgmjoycxg2h2i)" height="268.875" id="urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="2355" y="487.9531"/><ellipse cx="2833.25" cy="503.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2832.7344,504.5156 Q2830.875,503.8125 2830.2188,503.0469 Q2829.5781,502.2656 2829.5781,500.9531 Q2829.5781,499.2656 2830.6563,498.2969 Q2831.7344,497.3281 2833.6094,497.3281 Q2834.4688,497.3281 2835.3125,497.5313 Q2836.1719,497.7188 2837.0156,498.1094 L2837.0156,500.5 Q2836.2344,499.9375 2835.4063,499.6563 Q2834.5938,499.3594 2833.7969,499.3594 Q2832.9219,499.3594 2832.4375,499.7188 Q2831.9688,500.0781 2831.9688,500.7344 Q2831.9688,501.25 2832.3125,501.5938 Q2832.6563,501.9219 2833.75,502.3281 L2834.8125,502.7344 Q2836.2969,503.2813 2837,504.1875 Q2837.7188,505.0938 2837.7188,506.4688 Q2837.7188,508.3438 2836.6094,509.2656 Q2835.5,510.1875 2833.25,510.1875 Q2832.3281,510.1875 2831.4063,509.9688 Q2830.4844,509.75 2829.625,509.3281 L2829.625,506.7969 Q2830.5938,507.4844 2831.5156,507.8281 Q2832.4375,508.1719 2833.3281,508.1719 Q2834.2344,508.1719 2834.7344,507.7656 Q2835.2344,507.3438 2835.2344,506.6094 Q2835.2344,506.0469 2834.8906,505.6406 Q2834.5625,505.2188 2833.9375,504.9688 L2832.7344,504.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="2853.75" y="508.1074">urt_hrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2356" x2="3438" y1="519.9531" y2="519.9531"/><ellipse cx="2366" cy="530.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="151" x="2375" y="534.1636">next : urt_hrtsubscriber_t*</text><ellipse cx="2366" cy="560.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="2375" y="563.7729">deadlineOffset : urt_delay_t</text><ellipse cx="2366" cy="573.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="2375" y="576.5776">qosDeadlineTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2356" x2="2751.5" y1="547.1602" y2="547.1602"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="2751.5" y="550.4683">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3042.5" x2="3438" y1="547.1602" y2="547.1602"/><ellipse cx="2366" cy="602.9766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="2375" y="606.187">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2356" x2="2761.5" y1="589.5742" y2="589.5742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="2761.5" y="592.8823">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3032.5" x2="3438" y1="589.5742" y2="589.5742"/><ellipse cx="2366" cy="632.5859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="2375" y="635.7964">minLatency : urt_delay_t</text><ellipse cx="2366" cy="645.3906" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="2375" y="648.6011">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2356" x2="2645" y1="619.1836" y2="619.1836"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="2645" y="622.4917">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="3149" x2="3438" y1="619.1836" y2="619.1836"/><ellipse cx="2366" cy="675" fill="none" 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="2375" y="678.2104">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2356" x2="2764.5" y1="661.5977" y2="661.5977"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="2764.5" y="664.9058">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3029.5" x2="3438" y1="661.5977" y2="661.5977"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2356" x2="3438" y1="684.8047" y2="684.8047"/><ellipse cx="2366" cy="695.8047" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="2375" y="699.0151">urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : void</text><ellipse cx="2366" cy="708.6094" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1058" x="2375" y="711.8198">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="2366" cy="721.4141" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="2375" y="724.6245">urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="2366" cy="734.2188" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="2375" y="737.4292">urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="2366" cy="747.0234" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="2375" y="750.2339">urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t</text><!--MD5=[e60e0f8379a14e7a4a292c65add9d735]

class urt_service_t--><rect fill="#FEFECE" filter="url(#fgmjoycxg2h2i)" height="269.6797" id="urt_service_t" style="stroke: #A80036; stroke-width: 1.5;" width="596" x="7259" y="487.4531"/><ellipse cx="7513.25" cy="503.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7512.7344,504.0156 Q7510.875,503.3125 7510.2188,502.5469 Q7509.5781,501.7656 7509.5781,500.4531 Q7509.5781,498.7656 7510.6563,497.7969 Q7511.7344,496.8281 7513.6094,496.8281 Q7514.4688,496.8281 7515.3125,497.0313 Q7516.1719,497.2188 7517.0156,497.6094 L7517.0156,500 Q7516.2344,499.4375 7515.4063,499.1563 Q7514.5938,498.8594 7513.7969,498.8594 Q7512.9219,498.8594 7512.4375,499.2188 Q7511.9688,499.5781 7511.9688,500.2344 Q7511.9688,500.75 7512.3125,501.0938 Q7512.6563,501.4219 7513.75,501.8281 L7514.8125,502.2344 Q7516.2969,502.7813 7517,503.6875 Q7517.7188,504.5938 7517.7188,505.9688 Q7517.7188,507.8438 7516.6094,508.7656 Q7515.5,509.6875 7513.25,509.6875 Q7512.3281,509.6875 7511.4063,509.4688 Q7510.4844,509.25 7509.625,508.8281 L7509.625,506.2969 Q7510.5938,506.9844 7511.5156,507.3281 Q7512.4375,507.6719 7513.3281,507.6719 Q7514.2344,507.6719 7514.7344,507.2656 Q7515.2344,506.8438 7515.2344,506.1094 Q7515.2344,505.5469 7514.8906,505.1406 Q7514.5625,504.7188 7513.9375,504.4688 L7512.7344,504.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="7533.75" y="507.6074">urt_service_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7260" x2="7854" y1="519.4531" y2="519.4531"/><ellipse cx="7270" cy="530.4531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="115" x="7279" y="533.6636">next : urt_service_t*</text><ellipse cx="7270" cy="543.2578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="105" x="7279" y="546.4683">id : urt_serviceid_t</text><ellipse cx="7270" cy="556.0625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="7279" y="559.2729">lock : urt_osMutex_t</text><ellipse cx="7270" cy="568.8672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="7279" y="572.0776">requestQueue_front : urt_baserequest_t*</text><ellipse cx="7270" cy="581.6719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="7279" y="584.8823">requestQueue_hrtBack : urt_hrtrequest_t*</text><ellipse cx="7270" cy="594.4766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="256" x="7279" y="597.687">requestQueue_fsrtBack : urt_baserequest_t*</text><ellipse cx="7270" cy="607.2813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="7279" y="610.4917">requestQueue_back : urt_baserequest_t*</text><ellipse cx="7270" cy="620.0859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="7279" y="623.2964">evtSource : urt_osEventSource_t</text><ellipse cx="7270" cy="632.8906" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="7279" y="636.1011">evtListener : urt_osEventListener_t</text><ellipse cx="7270" cy="662.5" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="7279" y="665.7104">numCalls : uint64_t</text><ellipse cx="7270" cy="675.3047" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="7279" y="678.5151">numOwnershipLost : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7260" x2="7461" y1="649.0977" y2="649.0977"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="7461" y="652.4058">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7653" x2="7854" y1="649.0977" y2="649.0977"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7260" x2="7854" y1="685.1094" y2="685.1094"/><ellipse cx="7270" cy="696.1094" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="412" x="7279" y="699.3198">urtServiceInit (service : urt_service_t*, id : urt_serviceid_t) : urt_status_t</text><ellipse cx="7270" cy="708.9141" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="549" x="7279" y="712.1245">urtServiceDispatch (service : urt_service_t*, payload : void*, bytes : size_t) : urt_baserequest_t*</text><ellipse cx="7270" cy="721.7188" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="552" x="7279" y="724.9292">urtServiceAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="7270" cy="734.5234" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="7279" y="737.7339">urtServiceTryAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="7270" cy="747.3281" fill="#84BE84" 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="7279" y="750.5386">urtServiceRespond (request : urt_baserequest_t*) : urt_status_t</text><!--MD5=[7294e1cfaeb111bef046bc5d07a96458]

class urt_baserequest_t--><rect fill="#FEFECE" filter="url(#fgmjoycxg2h2i)" height="197.6563" id="urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="224" x="8739" y="523.4531"/><ellipse cx="8789.25" cy="539.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8788.7344,540.0156 Q8786.875,539.3125 8786.2188,538.5469 Q8785.5781,537.7656 8785.5781,536.4531 Q8785.5781,534.7656 8786.6563,533.7969 Q8787.7344,532.8281 8789.6094,532.8281 Q8790.4688,532.8281 8791.3125,533.0313 Q8792.1719,533.2188 8793.0156,533.6094 L8793.0156,536 Q8792.2344,535.4375 8791.4063,535.1563 Q8790.5938,534.8594 8789.7969,534.8594 Q8788.9219,534.8594 8788.4375,535.2188 Q8787.9688,535.5781 8787.9688,536.2344 Q8787.9688,536.75 8788.3125,537.0938 Q8788.6563,537.4219 8789.75,537.8281 L8790.8125,538.2344 Q8792.2969,538.7813 8793,539.6875 Q8793.7188,540.5938 8793.7188,541.9688 Q8793.7188,543.8438 8792.6094,544.7656 Q8791.5,545.6875 8789.25,545.6875 Q8788.3281,545.6875 8787.4063,545.4688 Q8786.4844,545.25 8785.625,544.8281 L8785.625,542.2969 Q8786.5938,542.9844 8787.5156,543.3281 Q8788.4375,543.6719 8789.3281,543.6719 Q8790.2344,543.6719 8790.7344,543.2656 Q8791.2344,542.8438 8791.2344,542.1094 Q8791.2344,541.5469 8790.8906,541.1406 Q8790.5625,540.7188 8789.9375,540.4688 L8788.7344,540.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="8809.75" y="543.6074">urt_baserequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8740" x2="8962" y1="555.4531" y2="555.4531"/><ellipse cx="8750" cy="566.4531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="147" x="8759" y="569.6636">prev : urt_baserequest_t*</text><ellipse cx="8750" cy="579.2578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="8759" y="582.4683">next : urt_baserequest_t*</text><ellipse cx="8750" cy="592.0625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="8759" y="595.2729">lock : urt_osMutex_t</text><ellipse cx="8750" cy="604.8672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="126" x="8759" y="608.0776">owner : urt_service_t*</text><ellipse cx="8750" cy="617.6719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="8759" y="620.8823">submissionTime : urt_osTime_t</text><ellipse cx="8750" cy="630.4766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="8759" y="633.687">payload : void*</text><ellipse cx="8750" cy="643.2813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="8759" y="646.4917">evtSource : urt_osEventSource_t</text><ellipse cx="8750" cy="656.0859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="8759" y="659.2964">evtListener : urt_osEventListener_t</text><ellipse cx="8750" cy="685.6953" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="8759" y="688.9058">sumLatencies : uint64_t</text><ellipse cx="8750" cy="698.5" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="8759" y="701.7104">numCalls : uint64_t</text><ellipse cx="8750" cy="711.3047" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="108" x="8759" y="714.5151">numFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8740" x2="8755" y1="672.293" y2="672.293"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="8755" y="675.6011">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8947" x2="8962" y1="672.293" y2="672.293"/><!--MD5=[65269c71e9a2a076bc4014c9b128c9e6]

class urt_nrtrequest_t--><rect fill="#FEFECE" filter="url(#fgmjoycxg2h2i)" height="167.2422" id="urt_nrtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="531" x="8585.5" y="145.4531"/><ellipse cx="8795.75" cy="161.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8795.2344,162.0156 Q8793.375,161.3125 8792.7188,160.5469 Q8792.0781,159.7656 8792.0781,158.4531 Q8792.0781,156.7656 8793.1563,155.7969 Q8794.2344,154.8281 8796.1094,154.8281 Q8796.9688,154.8281 8797.8125,155.0313 Q8798.6719,155.2188 8799.5156,155.6094 L8799.5156,158 Q8798.7344,157.4375 8797.9063,157.1563 Q8797.0938,156.8594 8796.2969,156.8594 Q8795.4219,156.8594 8794.9375,157.2188 Q8794.4688,157.5781 8794.4688,158.2344 Q8794.4688,158.75 8794.8125,159.0938 Q8795.1563,159.4219 8796.25,159.8281 L8797.3125,160.2344 Q8798.7969,160.7813 8799.5,161.6875 Q8800.2188,162.5938 8800.2188,163.9688 Q8800.2188,165.8438 8799.1094,166.7656 Q8798,167.6875 8795.75,167.6875 Q8794.8281,167.6875 8793.9063,167.4688 Q8792.9844,167.25 8792.125,166.8281 L8792.125,164.2969 Q8793.0938,164.9844 8794.0156,165.3281 Q8794.9375,165.6719 8795.8281,165.6719 Q8796.7344,165.6719 8797.2344,165.2656 Q8797.7344,164.8438 8797.7344,164.1094 Q8797.7344,163.5469 8797.3906,163.1406 Q8797.0625,162.7188 8796.4375,162.4688 L8795.2344,162.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="8816.25" y="165.6074">urt_nrtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8586.5" x2="9115.5" y1="177.4531" y2="177.4531"/><ellipse cx="8596.5" cy="205.2578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="8605.5" y="208.4683">minLatency : urt_delay_t</text><ellipse cx="8596.5" cy="218.0625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="8605.5" y="221.2729">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8586.5" x2="8755" y1="191.8555" y2="191.8555"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="8755" y="195.1636">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8947" x2="9115.5" y1="191.8555" y2="191.8555"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8586.5" x2="9115.5" y1="227.8672" y2="227.8672"/><ellipse cx="8596.5" cy="238.8672" fill="#84BE84" 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="8605.5" y="242.0776">urtNrtRequestInit (request : urt_nrtrequest_t*) : void</text><ellipse cx="8596.5" cy="251.6719" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="367" x="8605.5" y="254.8823">urtNrtRequestAcquire (request : urt_nrtrequest_t*) : urt_status_t</text><ellipse cx="8596.5" cy="264.4766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="385" x="8605.5" y="267.687">urtNrtRequestTryAcquire (request : urt_nrtrequest_t*) : urt_status_t</text><ellipse cx="8596.5" cy="277.2813" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="8605.5" y="280.4917">urtNrtRequestRelease (request : urt_nrtrequest_t*) : urt_status_t</text><ellipse cx="8596.5" cy="290.0859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="505" x="8605.5" y="293.2964">urtNrtRequestSubmit (request : urt_nrtrequest_t*, service : urt_service_t*) : urt_status_t</text><ellipse cx="8596.5" cy="302.8906" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="8605.5" y="306.1011">urtNrtRequestRetrieve (request : urt_nrtrequest_t*) : urt_status_t</text><!--MD5=[e9d515ad43a4cecec056dd09bc14a3c2]

class urt_srtrequest_t--><rect fill="#FEFECE" filter="url(#fgmjoycxg2h2i)" height="180.0469" id="urt_srtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="675" x="9843.5" y="138.9531"/><ellipse cx="10126.25" cy="154.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10125.7344,155.5156 Q10123.875,154.8125 10123.2188,154.0469 Q10122.5781,153.2656 10122.5781,151.9531 Q10122.5781,150.2656 10123.6563,149.2969 Q10124.7344,148.3281 10126.6094,148.3281 Q10127.4688,148.3281 10128.3125,148.5313 Q10129.1719,148.7188 10130.0156,149.1094 L10130.0156,151.5 Q10129.2344,150.9375 10128.4063,150.6563 Q10127.5938,150.3594 10126.7969,150.3594 Q10125.9219,150.3594 10125.4375,150.7188 Q10124.9688,151.0781 10124.9688,151.7344 Q10124.9688,152.25 10125.3125,152.5938 Q10125.6563,152.9219 10126.75,153.3281 L10127.8125,153.7344 Q10129.2969,154.2813 10130,155.1875 Q10130.7188,156.0938 10130.7188,157.4688 Q10130.7188,159.3438 10129.6094,160.2656 Q10128.5,161.1875 10126.25,161.1875 Q10125.3281,161.1875 10124.4063,160.9688 Q10123.4844,160.75 10122.625,160.3281 L10122.625,157.7969 Q10123.5938,158.4844 10124.5156,158.8281 Q10125.4375,159.1719 10126.3281,159.1719 Q10127.2344,159.1719 10127.7344,158.7656 Q10128.2344,158.3438 10128.2344,157.6094 Q10128.2344,157.0469 10127.8906,156.6406 Q10127.5625,156.2188 10126.9375,155.9688 L10125.7344,155.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="10146.75" y="159.1074">urt_srtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9844.5" x2="10517.5" y1="170.9531" y2="170.9531"/><ellipse cx="9854.5" cy="198.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="9863.5" y="201.9683">minLatency : urt_delay_t</text><ellipse cx="9854.5" cy="211.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="9863.5" y="214.7729">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9844.5" x2="10085" y1="185.3555" y2="185.3555"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="10085" y="188.6636">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10277" x2="10517.5" y1="185.3555" y2="185.3555"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="9844.5" x2="10517.5" y1="221.3672" y2="221.3672"/><ellipse cx="9854.5" cy="232.3672" 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="297" x="9863.5" y="235.5776">urtSrtRequestInit (request : urt_srtrequest_t*) : void</text><ellipse cx="9854.5" cy="245.1719" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="367" x="9863.5" y="248.3823">urtSrtRequestAcquire (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9854.5" cy="257.9766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="385" x="9863.5" y="261.187">urtSrtRequestTryAcquire (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9854.5" cy="270.7813" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="9863.5" y="273.9917">urtSrtRequestRelease (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9854.5" cy="283.5859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="505" x="9863.5" y="286.7964">urtSrtRequestSubmit (request : urt_srtrequest_t*, service : urt_service_t*) : urt_status_t</text><ellipse cx="9854.5" cy="296.3906" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="9863.5" y="299.6011">urtSrtRequestRetrieve (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9854.5" cy="309.1953" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="649" x="9863.5" y="312.4058">urtSrtCalculateUsefulness (request : urt_srtrequest_t*, usefulnesscb : urt_usefulness_f, cbparams : void*) : float</text><!--MD5=[240977dbca9212fa5365c87da90aa051]

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stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9707" x2="9807" y1="200.0742" y2="200.0742"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="9153" x2="9807" y1="236.0859" y2="236.0859"/><ellipse cx="9163" cy="247.0859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="292" x="9172" y="250.2964">urtFrtRequestInit (request : urt_frtrequest_t*) : void</text><ellipse cx="9163" cy="259.8906" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="362" x="9172" y="263.1011">urtFrtRequestAcquire (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="9163" cy="272.6953" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="9172" y="275.9058">urtFrtRequestTryAcquire (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="9163" cy="285.5" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="365" x="9172" y="288.7104">urtFrtRequestRelease (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="9163" cy="298.3047" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="630" x="9172" y="301.5151">urtFrtRequestSubmit (request : urt_frtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t</text><ellipse cx="9163" cy="311.1094" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="366" x="9172" y="314.3198">urtFrtRequestRetrieve (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="9163" cy="323.9141" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="318" x="9172" y="327.1245">urtDrtCalculateValidity (request : urt_frtrequest_t) : bool</text><ellipse cx="9163" cy="353.5234" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="423" x="9172" y="356.7339">urtFrtRequestGetMaxJitter (request : urt_frtrequest_t*) : urt_delay_t* const</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9153" x2="9357" y1="340.1211" y2="340.1211"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="9357" y="343.4292">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9603" x2="9807" y1="340.1211" y2="340.1211"/><!--MD5=[2b0c3d572fefe037473ca776bdd2f803]

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stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8484" x2="8549.5" y1="191.5742" y2="191.5742"/><ellipse cx="7900.5" cy="234.5859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="7909.5" y="237.7964">minLatency : urt_delay_t</text><ellipse cx="7900.5" cy="247.3906" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="7909.5" y="250.6011">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7890.5" x2="7993" y1="221.1836" y2="221.1836"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="454" x="7993" y="224.4917">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="8447" x2="8549.5" y1="221.1836" y2="221.1836"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7890.5" x2="8549.5" y1="257.1953" y2="257.1953"/><ellipse cx="7900.5" cy="268.1953" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="7909.5" y="271.4058">urtHrtRequestInit (request : urt_hrtrequest_t*) : void</text><ellipse cx="7900.5" cy="281" fill="#84BE84" 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="7909.5" y="284.2104">urtHrtRequestAcquire (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="7900.5" cy="293.8047" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="385" x="7909.5" y="297.0151">urtHrtRequestTryAcquire (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="7900.5" cy="306.6094" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="7909.5" y="309.8198">urtHrtRequestRelease (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="7900.5" cy="319.4141" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="635" x="7909.5" y="322.6245">urtHrtRequestSubmit (request : urt_hrtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t</text><ellipse cx="7900.5" cy="332.2188" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="7909.5" y="335.4292">urtHrtRequestRetrieve (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="7900.5" cy="361.8281" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="428" x="7909.5" y="365.0386">urtHrtRequestGetMaxJitter (request : urt_hrtrequest_t*) : urt_delay_t* const</text><line style="stroke: #A80036; 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stroke-width: 1.0;" width="6" x="6197.5" y="115.3672"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="122" x="6209.5" y="121.5776">_status : urt_status_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="6197.5" y="144.9766"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="117" x="6209.5" y="151.187">_topics : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6190.5" x2="6270" y1="134.5742" y2="134.5742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="6270" y="137.8823">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6480" x2="6559.5" y1="134.5742" y2="134.5742"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="6197.5" y="174.5859"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="145" x="6209.5" y="180.7964">_services : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6190.5" x2="6282.5" y1="164.1836" y2="164.1836"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="6282.5" y="167.4917">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6467.5" x2="6559.5" y1="164.1836" y2="164.1836"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6190.5" x2="6559.5" y1="187.3906" y2="187.3906"/><ellipse cx="6200.5" cy="198.3906" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="130" x="6209.5" y="201.6011">urtCoreInit (void) : void</text><ellipse cx="6200.5" cy="211.1953" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="215" x="6209.5" y="214.4058">urtCoreGetStatus (void) : urt_status_t</text><ellipse cx="6200.5" cy="224" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="276" x="6209.5" y="227.2104">urtCoreGetEventMask (void) : urt_osEventMask_t</text><ellipse cx="6200.5" cy="236.8047" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="290" x="6209.5" y="240.0151">urtCoreGetEvtSource (void) : urt_osEventSource_t*</text><ellipse cx="6200.5" cy="249.6094" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="177" x="6209.5" y="252.8198">urtCoreStartNodes (void) : void</text><ellipse cx="6200.5" cy="262.4141" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="345" x="6209.5" y="265.6245">urtCoreSynchronizeNodes (node : urt_node_t*) : urt_status_t</text><ellipse cx="6200.5" cy="275.2188" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="317" x="6209.5" y="278.4292">urtCoreStopNodes (reason : urt_status_t) : urt_status_t</text><ellipse cx="6200.5" cy="288.0234" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="304" x="6209.5" y="291.2339">urtCoreGetEventSource (void) : urt_osEventSource_t*</text><ellipse cx="6200.5" cy="300.8281" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="228" x="6209.5" y="304.0386">urtCoreGetMutex (void) : urt_osMutex_t*</text><ellipse cx="6200.5" cy="313.6328" fill="#84BE84" 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="6209.5" y="316.8433">urtCoreGetNodes (void) : urt_node_t*</text><ellipse cx="6200.5" cy="326.4375" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="6209.5" y="329.6479">urtCoreAddNode (node : urt_node_t*) : void</text><ellipse cx="6200.5" cy="356.0469" fill="#84BE84" 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="6209.5" y="359.2573">urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*</text><ellipse cx="6200.5" cy="368.8516" fill="#84BE84" 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="6209.5" y="372.062">urtCoreAddTopic (topic : urt_topic_t*) : void</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6190.5" x2="6270" y1="342.6445" y2="342.6445"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="6270" y="345.9526">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6480" x2="6559.5" y1="342.6445" y2="342.6445"/><ellipse cx="6200.5" cy="398.4609" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="284" x="6209.5" y="401.6714">urtCoreGetService (service : urt_service_t*) : void</text><ellipse cx="6200.5" cy="411.2656" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="314" x="6209.5" y="414.4761">urtCoreAddService (id : urt_serviceid_t) : urt_service_t*</text><line style="stroke: #A80036; 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reverse link urt_node_t to urt_node_t--><path d="M7157.9212,601.3785 C7172.4841,607.4256 7180.5,614.4505 7180.5,622.4531 C7180.5,632.4956 7167.8767,640.9983 7145.5332,647.9614 " fill="none" id="urt_node_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="7145.5332,596.9448,7149.8344,602.7327,7156.8314,600.9885,7152.5302,595.2006,7145.5332,596.9448" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7154.0047" y="593.65">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="7154.0703" y="645.2246">0,1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]

reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M6098.6717,743.6213 C6009.6061,784.438 5919.4142,826.5348 5862.8397,853.9419 " fill="none" id="urt_node_t&lt;-urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="6110.6583,738.1328,6103.5377,736.9939,6099.7477,743.1288,6106.8683,744.2676,6110.6583,738.1328" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6084.6291" y="758.4714">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="5853.3046" y="842.7298">0,1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]

reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M6132.1611,740.251 C6041.4884,782.1073 5945.0101,825.7798 5880.4215,853.9419 " fill="none" id="urt_node_t&lt;-urt_nodeSetupCallback_t-1" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6136.7481,738.1328,6126.9003,738.2746,6132.2087,740.2291,6130.2543,745.5376,6136.7481,738.1328" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b913f036db99e36b937989146817bd94]

reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M6362.2514,751.3795 C6362.1989,789.7058 6363.6019,828.2688 6366.4603,853.9419 " fill="none" id="urt_node_t&lt;-urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="6362.3278,738.1328,6358.2933,744.1096,6362.2586,750.1326,6366.2931,744.1558,6362.3278,738.1328" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6353.2076" y="758.4714">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6355.7172" y="842.7298">1</text><!--MD5=[b913f036db99e36b937989146817bd94]

reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M6388.4661,743.6213 C6388.7477,784.438 6387.273,826.5348 6384.0421,853.9419 " fill="none" id="urt_node_t&lt;-urt_nodeLoopCallback_t-1" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6388.4176,738.1328,6384.4975,747.1679,6388.4619,743.1326,6392.4972,747.097,6388.4176,738.1328" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[496dffc41052f1912ec8ad492f24fe61]

reverse link urt_node_t to urt_nodeShutdownCallback_t--><path d="M6639.6574,743.3715 C6733.1922,784.2662 6831.416,826.4789 6897.4708,853.9419 " fill="none" id="urt_node_t&lt;-urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="6627.6846,738.1328,6631.578,744.2026,6638.6782,742.9432,6634.7849,736.8735,6627.6846,738.1328" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6636.3931" y="758.4714">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6858.105" y="842.7298">0,1</text><!--MD5=[496dffc41052f1912ec8ad492f24fe61]

reverse link urt_node_t to urt_nodeShutdownCallback_t--><path d="M6658.3674,740.1263 C6754.8611,782.0205 6853.7108,825.7518 6915.0525,853.9419 " fill="none" id="urt_node_t&lt;-urt_nodeShutdownCallback_t-1" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6653.7744,738.1328,6660.4376,745.3855,6658.361,740.1236,6663.6229,738.047,6653.7744,738.1328" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[536025241394544a90bc53fb552f3a08]

reverse link urt_message_t to urt_message_t--><path d="M1359.5028,1056.0601 C1373.5209,1062.2125 1382,1071.0102 1382,1082.4531 C1382,1096.9551 1368.3815,1107.2084 1347.1293,1113.2131 " fill="none" id="urt_message_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1347.1293,1051.6931,1351.456,1057.462,1358.4452,1055.6869,1354.1185,1049.918,1347.1293,1051.6931" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1355.2203" y="1047.2753">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="1354.7886" y="1111.1249">0,1</text><!--MD5=[aa8990705afdbad14c7f998fe04b6f05]

reverse link urt_basesubscriber_t to urt_message_t--><path d="M2788.7175,956.6521 C2786.1491,957.6507 2783.5749,958.587 2781,959.4531 C2520.7458,1046.9922 1724.8521,1072.4363 1347.0983,1079.6675 " fill="none" id="urt_basesubscriber_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2800.6772,951.5538,2793.5892,950.2271,2789.6384,956.2596,2796.7264,957.5863,2800.6772,951.5538" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2782.3314" y="971.3397">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="1354.7565" y="1076.3738">0,1</text><!--MD5=[0585cd4928de92ce6927d9c389eadd29]

link urt_nrtsubscriber_t to urt_basesubscriber_t--><path d="M2111.7135,699.5027 C2182.4365,723.8368 2262.9049,748.7157 2338,765.4531 C2524.8793,807.1053 2588.4942,758.582 2765.1263,812.4702 " fill="none" id="urt_nrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="2767.3836,805.8426,2784.314,818.5847,2763.1328,819.1817,2767.3836,805.8426" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6d81edfa5aa102b898ad487ae19b49f9]

link urt_srtsubscriber_t to urt_basesubscriber_t--><path d="M4698.0414,718.9988 C4627.9682,736.9065 4553.9284,753.6589 4484,765.4531 C3950.3517,855.4585 3304.2591,877.3977 3030.1996,882.7383 " fill="none" id="urt_srtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="3030.0655,889.742,3009.9385,883.1159,3029.8046,875.7444,3030.0655,889.742" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f626d284cba98e1d5d5fe914b1fa4188]

link urt_frtsubscriber_t to urt_basesubscriber_t--><path d="M3591.4405,735.5088 C3552.2104,746.0233 3512.881,756.1928 3475,765.4531 C3323.1803,802.5664 3147.0543,837.7045 3029.5003,860.0426 " fill="none" id="urt_frtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="3030.6553,866.9482,3009.7026,863.7889,3028.0523,853.1923,3030.6553,866.9482" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[1ea71f2b33e56ab0ac5545988c1af396]

link urt_hrtsubscriber_t to urt_basesubscriber_t--><path d="M2897,757.2905 C2897,770.7868 2897,784.2288 2897,797.0427 " fill="none" id="urt_hrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="2904.0001,797.2395,2897,817.2395,2890.0001,797.2394,2904.0001,797.2395" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ea2ec5c5272e65289dabade75a749f58]

reverse link urt_hrtsubscriber_t to urt_hrtsubscriber_t--><path d="M3451.3399,598.0191 C3465.8539,604.7767 3474,612.9213 3474,622.4531 C3474,634.4145 3461.1717,644.1916 3439.0292,651.7843 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3439.0292,593.1219,3443.1257,599.0564,3450.1793,597.5575,3446.0828,591.623,3439.0292,593.1219" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3446.7077" y="589.6727">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="3446.7921" y="649.16">0,1</text><!--MD5=[54fcf25ad8c5f1d36e678e42d5bfd4cc]

reverse link urt_publisher_t to urt_topic_t--><path d="M820.9264,622.4531 C828.0202,622.4531 835.1139,622.4531 842.2077,622.4531 " fill="none" id="urt_publisher_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="807.7266,622.4531,813.7266,626.4531,819.7266,622.4531,813.7266,618.4531,807.7266,622.4531" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="815.7648" y="619.3685">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="826.0851" y="619.3242">1</text><!--MD5=[5025b4c4053b8e7c7ca8a657f09f21c0]

link urt_publisher_t to urt_message_t--><path d="M571.2813,720.5704 C707.7804,806.8198 903.4234,930.4404 1027.057,1008.5605 " fill="none" id="urt_publisher_t-&gt;urt_message_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1031.4244,1011.3202,1025.9527,1003.1312,1027.1975,1008.6494,1021.6793,1009.8942,1031.4244,1011.3202" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b2afc1defaa6ed5a86f99c07f8466dd]

reverse link urt_topic_t to urt_topic_t--><path d="M1457.6789,591.7551 C1472.0769,599.5284 1480.5,609.7611 1480.5,622.4531 C1480.5,638.3803 1467.2354,650.4347 1445.5445,658.616 " fill="none" id="urt_topic_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1445.5445,586.2902,1449.3727,592.4013,1456.486,591.218,1452.6579,585.1069,1445.5445,586.2902" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1453.6605" y="582.2007">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="1453.8199" y="656.4477">0,1</text><!--MD5=[ed3fb6de0913094c41bd74c175d366df]

reverse link urt_topic_t to urt_hrtsubscriber_t--><path d="M1327.809,485.3317 C1380.6903,456.0057 1440.4009,431.7341 1500.5,424.9531 C1545.7131,419.8517 2274.2869,419.8517 2319.5,424.9531 C2327.4281,425.8476 2329.3295,426.7582 2337,428.9531 C2398.4375,446.5334 2463.0355,466.9766 2525.6419,487.8578 " fill="none" id="urt_topic_t&lt;-urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1316.2813,491.8639,1323.4735,492.386,1326.7216,485.9478,1319.5294,485.4258,1316.2813,491.8639" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1318.0101" y="480.955">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="2483.5946" y="476.7173">0,1</text><!--MD5=[0b5167e958c0ed93ffc0c98ce399b54d]

reverse link urt_topic_t to urt_message_t--><path d="M1144,766.2196 C1144,847.6756 1144,946.005 1144,1011.1655 " fill="none" id="urt_topic_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1144,753.0402,1140,759.0402,1144,765.0402,1148,759.0402,1144,753.0402" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1135.7688" y="773.0977">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1135.6063" y="1000.5014">1</text><!--MD5=[ed8977051960dfa72b850fe399f41716]

reverse link urt_baserequest_t to urt_baserequest_t--><path d="M8975.2263,581.0268 C8989.0583,588.8592 8998,602.668 8998,622.4531 C8998,647.5273 8983.6385,663.0028 8963.1623,668.8796 " fill="none" id="urt_baserequest_t&lt;-urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8963.1623,576.0266,8967.1735,582.0191,8974.2478,580.6213,8970.2366,574.6288,8963.1623,576.0266" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8970.967" y="569.4863">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="8970.9722" y="668.3331">0,1,2</text><!--MD5=[426f0ba47802c5735a37a0acd494a192]

reverse link urt_baserequest_t to urt_service_t--><path d="M8725.3111,622.4531 C8435.2829,622.4531 8145.2547,622.4531 7855.2266,622.4531 " fill="none" id="urt_baserequest_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8738.6838,622.4531,8732.6838,618.4531,8726.6838,622.4531,8732.6838,626.4531,8738.6838,622.4531" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8722.8688" y="619.0321">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="7863.4139" y="619.3268">0,1</text><!--MD5=[09de7ef26922535bfe0682cb358ee29c]

reverse link urt_service_t to urt_baserequest_t--><path d="M7868.5992,622.4531 C8158.6274,622.4531 8448.6556,622.4531 8738.6838,622.4531 " fill="none" id="urt_service_t&lt;-urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="7855.2266,622.4531,7861.2266,626.4531,7867.2266,622.4531,7861.2266,618.4531,7855.2266,622.4531" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7863.2545" y="634.7253">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="8698.8645" y="634.9916">0,2,3</text><!--MD5=[dc2d1805b45628aba9d654613b3d05f9]

link urt_nrtrequest_t to urt_baserequest_t--><path d="M8851,312.8861 C8851,368.2482 8851,441.61 8851,503.0211 " fill="none" id="urt_nrtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="8858.0001,503.346,8851,523.346,8844.0001,503.346,8858.0001,503.346" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d53ae0f00163daee879678d1d1554717]

link urt_nrtrequest_t to urt_service_t--><path d="M8757.9548,312.6347 C8706.0126,353.7458 8637.825,399.0617 8568,420.9531 C8531.1547,432.5047 7910.1048,418.2643 7873,428.9531 C7829.3119,441.5384 7785.6616,461.9227 7745.358,484.8405 " fill="none" id="urt_nrtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7740.9658,487.3556,7750.7636,486.3544,7745.3047,484.8709,7746.7881,479.4121,7740.9658,487.3556" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f9755d42ba41539dee622699d8be3a22]

link urt_srtrequest_t to urt_baserequest_t--><path d="M10037.3871,319.0497 C9974.4788,355.1974 9898.5726,394.4791 9826,420.9531 C9535.03,527.097 9173.6993,583.3716 8983.0663,607.5854 " fill="none" id="urt_srtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="8983.9136,614.5339,8963.1993,610.071,8982.1756,600.6422,8983.9136,614.5339" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[90efd84e0f70286880ba110c49a1e8f8]

link urt_srtrequest_t to urt_service_t--><path d="M10051.3428,319.1102 C9986.7567,358.6495 9905.6026,400.6322 9826,420.9531 C9773.4353,434.3718 7925.1858,414.1291 7873,428.9531 C7829.1163,441.4188 7785.2964,461.8268 7744.8725,484.8203 " fill="none" id="urt_srtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7740.4674,487.3438,7750.2651,486.3412,7744.806,484.8585,7746.2886,479.3994,7740.4674,487.3438" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bfc5f4e50344156edda6a5cfcff14fef]

link urt_frtrequest_t to urt_baserequest_t--><path d="M9264.8536,363.5479 C9170.1946,422.7661 9062.153,490.3566 8980.2019,541.6249 " fill="none" id="urt_frtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="8983.7927,547.6354,8963.1247,552.3083,8976.3676,535.7666,8983.7927,547.6354" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[836450d5c472e7b2344319739fa0d5d1]

link urt_frtrequest_t to urt_service_t--><path d="M9276.7235,363.5177 C9231.4878,387.1528 9182.5093,408.2315 9134,420.9531 C9066.2346,438.7247 7940.3692,409.7343 7873,428.9531 C7829.1303,441.4681 7785.3167,461.8981 7744.8945,484.8976 " fill="none" id="urt_frtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7740.4896,487.4217,7750.2872,486.4178,7744.8279,484.9359,7746.3098,479.4766,7740.4896,487.4217" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7c5d2ea3f0b69f804ad9b60a9539ac96]

link urt_hrtrequest_t to urt_baserequest_t--><path d="M8444.7816,372.0645 C8484.5305,391.7418 8526.5061,409.2001 8568,420.9531 C8585.8737,426.0158 8719.0599,419.413 8735,428.9531 C8764.8504,446.8184 8787.951,475.5791 8805.3922,505.5244 " fill="none" id="urt_hrtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="8811.6096,502.3052,8815.0156,523.2193,8799.3108,508.994,8811.6096,502.3052" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[189d7bd823f9a098ae8eb3eaa3789ee1]

link urt_hrtrequest_t to urt_service_t--><path d="M7952.9635,372.0905 C7920.1719,391.0793 7887.2331,410.394 7856,428.9531 C7825.955,446.8062 7794.4306,465.7964 7763.5703,484.6371 " fill="none" id="urt_hrtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7759.0222,487.4156,7768.7877,486.1371,7763.289,484.809,7764.6171,479.3102,7759.0222,487.4156" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bcf13f9307d05af3b11663d6e8155fbe]

reverse link urt_service_t to urt_hrtrequest_t--><path d="M7805.1442,480.4655 C7834.0737,463.0008 7863.1715,445.4892 7891,428.9531 C7922.2331,410.394 7955.1719,391.0793 7987.6659,372.0905 " fill="none" id="urt_service_t&lt;-urt_hrtrequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="7793.6359,487.4156,7800.8398,487.7379,7803.908,481.2121,7796.7041,480.8898,7793.6359,487.4156" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7799.0852" y="476.2552">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="7955.9278" y="391.4649">0,1</text><!--MD5=[05f2c35569573d3273c65d3342945557]

reverse link urt_service_t to urt_service_t--><path d="M7867.2443,591.6615 C7881.5974,599.4463 7890,609.7101 7890,622.4531 C7890,638.4443 7876.7678,650.5314 7855.1491,658.7144 " fill="none" id="urt_service_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="7855.1491,586.1918,7858.9678,592.3088,7866.083,591.1365,7862.2643,585.0195,7855.1491,586.1918" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7863.1749" y="582.1023">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="7863.3343" y="656.5513">0,1</text><!--MD5=[694e7400eb99f74d44ea388aed89d199]

reverse link urt_core_t to urt_node_t--><path d="M6375,434.1243 C6375,459.0302 6375,483.7558 6375,506.7009 " fill="none" id="urt_core_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="6375,421.0921,6371,427.0921,6375,433.0921,6379,427.0921,6375,421.0921" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6366.8438" y="440.9577">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6354.3594" y="495.8677">0,1</text><!--MD5=[250695c91040478b50550bc37a8775c7]

reverse link urt_core_t to urt_topic_t--><path d="M6176.3152,231.5223 C5316.4701,243.3923 1938.7273,298.0227 1483,428.9531 C1433.0111,443.3149 1382.5257,466.4576 1336.3347,491.8251 " fill="none" id="urt_core_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="6189.4071,231.3422,6183.3526,227.4252,6177.4082,231.5075,6183.4627,235.4245,6189.4071,231.3422" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6173.4086" y="228.1938">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="1326.8759" y="480.9139">0,1</text><!--MD5=[8d0a227ec56585cdbc167f8316b34b64]

reverse link urt_core_t to urt_service_t--><path d="M6573.8327,254.669 C6755.3267,282.682 7028.4077,336.3695 7251,428.9531 C7289.3034,444.8848 7328.1956,465.4631 7364.8271,487.2332 " fill="none" id="urt_core_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="6560.9254,252.6962,6566.2522,257.5568,6572.7876,254.5093,6567.4609,249.6487,6560.9254,252.6962" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6568.3444" y="250.3979">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="7333.7708" y="476.5075">0,1</text><!--MD5=[575c198f0faf2a90dc62729c0a2144e0]

!include ./functions.iuml

/'### ENTITIES ###############################################################'/

!startsub ENTITIES

/' µRtWare core structure. '/

$structure("urt_core_t") {

    'List of nodes ordered by their (initial) priority.

  - {field} {static} _nodes : urt_node_t*

    'Event source for control events.

  - {field} {static} _evtSource : urt_osEventSource_t

    'Mutex used for synchronization.

  - {field} {static} _lock : urt_osMutex_t

    'System execution/health status.

  - {field} {static} _status : urt_status_t

  .. URT_CFG_PUBSUB_ENABLED == true ..

    'List of topics ordered by their identifiers.

  - {field} {static} _topics : urt_topic_t*

  .. URT_CFG_RPC_ENABLED == true ..

    'List of services ordered by their identifiers.

  - {field} {static} _services : urt_service_t*

  __

    'Initializes the urt_core_t object.

  + {method} urtCoreInit (void) : void

    'Retrieves the current system status.

  + {method} urtCoreGetStatus (void) : urt_status_t

    'Starts all node threads (nodes will block before the loop).

  + {method} urtCoreGetEventMask (void) : urt_osEventMask_t

    'Retrieve the core event mask.

  + {method} urtCoreGetEvtSource (void) : urt_osEventSource_t*

    'Retrieve the core event source.

  + {method} urtCoreStartNodes (void) : void

    'Nodes can use this function to synchronize.

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

    'Stops all nodes and propagates a specified reason.

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

    'Retrieve the core event source.

  + {method} urtCoreGetEventSource (void) : urt_osEventSource_t*

    'Retrieve the core mutex lock.

  + {method} urtCoreGetMutex (void) : urt_osMutex_t*

  + {method} urtCoreGetNodes (void) : urt_node_t*

    'Retrieve node of the core.

  + {method} urtCoreAddNode (node : urt_node_t*) : void

    'Prepend node to core's list of nodes..

  .. URT_CFG_PUBSUB_ENABLED == true ..

    'Retrieves a topic given an identifier.

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

    'Append topic to core's list of topics.

  + {method} urtCoreAddTopic (topic : urt_topic_t*) : void

  .. URT_CFG_RPC_ENABLED == true ..

    'Retrieves a service given an identifier.

  + {method} urtCoreGetService (service : urt_service_t*) : void

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

}

$group("node") {

  /' Function type to be called during setup phase of node threads. '/

  $type("urt_nodeSetupCallback_t") {

      'Takes the node and optional parameters as arguments and returns a event mask for the next iteration.

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

  }

  /' Function type to be called during loop phase of node threads. '/

  $type("urt_nodeLoopCallback_t") {

      'Takes the node, a mask of occurred events and optional parameters as arguments and returns a event mask for the next iteration.

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

  }

  /' Function type to be called during shutdown phase of node threads. '/

  $type("urt_nodeShutdownCallback_t") {

      'Takes the node, an error code defining the cause of the shutdown and optional parameters as argumnets.

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

  }

  /' Node structure. '/

  $structure("urt_node_t") {

      'Pointer to the next node in a list.

    + {field} next : urt_node_t*

      'Pointer to the node thread.

    + {field} thread : urt_osThread_t*

      'Optional callback function to be called during the setup phase.

    + {field} setupcallback : urt_nodeSetupCallback_t*

      'Optional parameters for the setup callback function.

    + {field} setupparams : void*

      'Callback function to be called in each loop iteration.

    + {field} loopcallback : urt_nodeLoopCallback_t*

      'Optional parameters for the loop callback function.

    + {field} loopparams : void*

      'Optional callback function to be called during the shutdown phase.

    + {field} shutdowncallback : urt_nodeShutdownCallback_t*

      'Optional parameters for the shutdown callback function.

    + {field} shutdownparams : void*

      'Execution stage of the node.

    + {field} stage : urt_nodestage_t

      'Event listener for middleware-wide control events.

    + {field} listener : urt_osEventListener_t

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

      'Counter of executed loops.

    + {field} loops : uint64_t

    __

    'The main() function of the node thread.

    - {method} {static} _main : urt_osThreadFunction_t

      'Initializes an urt_node_t object.

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

  }

} /'node'/

$module("Publish-Subscribe System") {

  !includesub pubsub.uml!ENTITIES

}

$module("Remote Procedure Call System") {

  !includesub rpc.uml!ENTITIES

}

!endsub

/'### DEPENDENCIES & LAYOUT ##################################################'/

!startsub DEPENDENCIES

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

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

urt_node_t <.. urt_nodeSetupCallback_t

urt_node_t "1" o- - "1" urt_nodeLoopCallback_t

urt_node_t <.. urt_nodeLoopCallback_t

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

urt_node_t <.. urt_nodeShutdownCallback_t

!includesub pubsub.uml!DEPENDENCIES

!includesub rpc.uml!DEPENDENCIES

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

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

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

!endsub

/'### OUTRO ##################################################################'/

@enduml

@startuml

title **µRtWare**

  + {method} urtCoreGetEventMask (void) : urt_osEventMask_t

  + {method} urtCoreGetEvtSource (void) : urt_osEventSource_t*

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

  + {method} urtCoreGetNodes (void) : urt_node_t*

  + {method} urtCoreAddNode (node : urt_node_t*) : void

  + {method} urtCoreAddTopic (topic : urt_topic_t*) : void

  + {method} urtCoreGetService (service : urt_service_t*) : void

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

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

PlantUML version 1.2020.15(Sun Jun 28 13:39:45 CEST 2020)

Language: de

Country: DE

  + {method} urtCoreGetEventMask (void) : urt_osEventMask_t

    'Retrieve the core event mask.

  + {method} urtCoreGetEvtSource (void) : urt_osEventSource_t*

    'Retrieve the core event source.

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

  + {method} urtCoreGetNodes (void) : urt_node_t*

    'Retrieve node of the core.

  + {method} urtCoreAddNode (node : urt_node_t*) : void

    'Prepend node to core's list of nodes..

    'Append topic to core's list of topics.

  + {method} urtCoreAddTopic (topic : urt_topic_t*) : void

  + {method} urtCoreGetService (service : urt_service_t*) : void

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