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doc/activitydiagrams/topic/urtTopicInit.svg
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<?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="1046px" preserveAspectRatio="none" style="width:1079px;height:1046px;" version="1.1" viewBox="0 0 1079 1046" width="1079px" zoomAndPan="magnify"><defs><filter height="300%" id="f3yh9yl8gxttz" 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="494.25" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="117" x="480.25" y="47.6611">urtTopicInit()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="541.75" y="68.6143"/><path d="M223.75,72.8594 L223.75,213.9219 L854.75,213.9219 L854.75,82.8594 L844.75,72.8594 L223.75,72.8594 " fill="#FBFB77" filter="url(#f3yh9yl8gxttz)" 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="854.75" y1="158.5234" y2="158.5234"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="223.75" x2="854.75" y1="160.5234" y2="160.5234"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="223.75" x2="468.25" y1="171.0898" y2="171.0898"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="472.25" y="175.0903"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="45" x="472.25" y="175.0903">return</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="85" x="521.25" y="175.0903">: urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="610.25" x2="854.75" y1="171.0898" y2="171.0898"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="229.75" y="190.7231">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="282.75" y="190.7231">URT_STATUS_OK</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="75" x="390.75" y="190.7231">on success.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="49" x="229.75" y="205.856">Returns</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="208" x="282.75" y="205.856">URT_STATUS_TOPIC_DUPLICATE</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="345" x="494.75" y="205.856">if another topic with the same identifier already exists.</text><ellipse cx="539.25" cy="243.9219" fill="#000000" filter="url(#f3yh9yl8gxttz)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><path d="M120.75,263.9219 L120.75,500.9141 A0,0 0 0 0 120.75,500.9141 L453.75,500.9141 A0,0 0 0 0 453.75,500.9141 L453.75,386.418 L473.75,382.418 L453.75,378.418 L453.75,273.9219 L443.75,263.9219 L120.75,263.9219 A0,0 0 0 0 120.75,263.9219 " fill="#FBFB77" filter="url(#f3yh9yl8gxttz)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M443.75,263.9219 L443.75,273.9219 L453.75,273.9219 L443.75,263.9219 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><ellipse cx="132.25" cy="276.5547" 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="280.9888">next</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="173.75" y="280.9888">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="188.75" y="280.9888">NULL</text><ellipse cx="132.25" cy="291.6875" 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="296.1216">id</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="26" x="155.75" y="296.1216">← id</text><ellipse cx="132.25" cy="306.8203" 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="311.2544">urtMutexInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="30" x="218.75" y="311.2544">lock</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="248.75" y="311.2544">)</text><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" lengthAdjust="spacingAndGlyphs" textLength="123" x="137.75" y="326.3872">urtEventSourceInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="73" x="260.75" y="326.3872">evtSource</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="333.75" y="326.3872">)</text><ellipse cx="132.25" cy="337.0859" fill="#000000" rx="2.5" ry="2.5" style="stroke: #000000; 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stroke-width: 0.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="99" x="137.75" y="371.7856">urtMessageInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="146" x="236.75" y="371.7856">mandatoryMessage</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="382.75" 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="108" x="137.75" y="386.9185">latestMessage</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="153" x="249.75" y="386.9185">← &amp;mandatoryMessage</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="120.75" x2="131.25" y1="397.5508" y2="397.5508"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="304" x="135.25" y="401.5513">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="397.5508" y2="397.5508"/><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="108" x="137.75" y="417.1841">hrtSubscribers</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="11" x="249.75" y="417.1841">←</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="264.75" y="417.1841">NULL</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" lengthAdjust="spacingAndGlyphs" textLength="78" x="137.75" y="432.3169">urtTimerInit(</text><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="102" x="215.75" y="432.3169">qosRateTimer</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="5" x="317.75" y="432.3169">)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="120.75" x2="158.75" y1="442.9492" y2="442.9492"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="249" x="162.75" y="446.9497">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="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="179" x="137.75" y="462.5825">numMessagesPublished</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="320.75" y="462.5825">← 0</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" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="181" x="137.75" y="477.7153">numMessagesDiscarded</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="322.75" y="477.7153">← 0</text><ellipse cx="132.25" cy="488.4141" 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="492.8481">numSubscribers</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="260.75" y="492.8481">← 0</text><rect fill="#FEFECE" filter="url(#f3yh9yl8gxttz)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="131" x="473.75" y="365.4336"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="111" x="483.75" y="386.5723">initialize members</text><path d="M146.75,525.332 L146.75,550.4648 A0,0 0 0 0 146.75,550.4648 L416.75,550.4648 A0,0 0 0 0 416.75,550.4648 L416.75,543.332 L436.75,537.8984 L416.75,535.332 L416.75,535.332 L406.75,525.332 L146.75,525.332 A0,0 0 0 0 146.75,525.332 " fill="#FBFB77" filter="url(#f3yh9yl8gxttz)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M406.75,525.332 L406.75,535.332 L416.75,535.332 L406.75,525.332 " 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="542.3989">latestMessage</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="16" x="245.75" y="542.3989">-&gt;</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="140" x="261.75" y="542.3989">next ← latestMessage</text><rect fill="#FEFECE" filter="url(#f3yh9yl8gxttz)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="205" x="436.75" y="520.9141"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="185" x="446.75" y="542.0527">close circular message buffer</text><rect fill="#FEFECE" filter="url(#f3yh9yl8gxttz)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="77" x="500.75" y="574.8828"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="57" x="510.75" y="596.0215">lock core</text><rect fill="#FEFECE" filter="url(#f3yh9yl8gxttz)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="127" x="475.75" y="628.8516"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="107" x="485.75" y="649.9902">access first topic</text><rect fill="#FEFECE" filter="url(#f3yh9yl8gxttz)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="155" x="461.75" y="740.1401"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="471.75" y="761.2788">proceed to next topic</text><polygon fill="#FEFECE" filter="url(#f3yh9yl8gxttz)" points="478.25,682.8203,600.25,682.8203,612.25,695.625,600.25,708.4297,478.25,708.4297,466.25,695.625,478.25,682.8203" 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="718.6401">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="66" x="478.25" y="693.0308">Topic is not</text><text fill="#000000" font-family="monospace" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="28" x="548.25" y="693.0308">NULL</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="122" x="478.25" y="705.8354">and topic ID is lower?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="452.25" y="693.0308">no</text><polygon fill="#FEFECE" filter="url(#f3yh9yl8gxttz)" points="160,816.1089,286,816.1089,298,828.1089,286,840.1089,160,840.1089,148,828.1089,160,816.1089" style="stroke: #A80036; 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1
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stroke-width: 1.0;"/><!--MD5=[a618885110f4d5e675a4288c5683db04]
2 2
@startuml
3 3

  
4 4
title **µRtWare**\nurtTopicInit()\n
5 5

  
6
/'### PARAMETERS & RETURN ####################################################'/
6 7

  
7 8
note
8 9
  - - **topic** : urt_topic_t* - -
......
10 11
  Must not be ""NULL"".
11 12
  - - **id** : urt_topicid_t - -
12 13
  Unique, numeric identifier of the topic.
14
  - - **mandatoryMessage** : urt_message_t* - -
15
  Starting message of the topic.
16
  Must not be ""NULL"".
17
  ====
18
  - - **return** : urt_status_t - -
19
  Returns ""URT_STATUS_OK"" on success.
20
  Returns ""URT_STATUS_TOPIC_DUPLICATE"" if another topic with the same identifier already exists.
21
endnote
22

  
23
/'### PROCEDURE ##############################################################'/
24

  
25
start
26
:initialize members;
27
note
28
  * **next** ← ""NULL""
29
  * **id** ← id
30
  * urtMutexInit(**lock**)
31
  * urtEventSourceInit(**evtSource**)
32
  * **numHrtSubscriber** ← 0
33
  * urtCondvarInit(**hrtReleased**)
34
  * **mandatoryMessage** ← mandatoryMessage
35
  * **latestMessage** ← &mandatoryMessage
36
  .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..
37
  * **hrtSubscribers** ← ""NULL""
38
  * urtTimerInit(**qosRateTimer**)
39
  .. URT_CFG_PUBSUB_PROFILING == true ..
40
  * **numMessagesPublished** ← 0
41
  * **numMessagesDiscarded** ← 0
42
  * **numSubscribers** ← 0
43
endnote
44
:close circular message buffer;
45
note
46
  latestMessage""->""next ← latestMessage
47
endnote
48
:lock core;
49
:access first topic;
50
while (Topic is not ""NULL""\nand topic ID is lower?) is (yes)
51
  :proceed to next topic;
52
endwhile (no)
53
if (Current topic is ""NULL""?) then (yes)
54
  :append self to core's list of topic;
55
  :unlock core;
56
  stop
57
  note
58
    Returns ""URT_STATUS_OK"".
59
  endnote
60
elseif (Current topic ID is greater?) then (yes)
61
  :insert self in front of current topic;
62
  :unlock core;
63
  stop
64
  note
65
    Returns ""URT_STATUS_OK"".
66
  endnote
67
else (no)
68
  :unlock core;
69
  stop
70
  note
71
    Returns ""URT_STATUS_TOPIC_DUPLICATE"".
72
  endnote
73
endif
74

  
75
/'### OUTRO ##################################################################'/
76

  
77
@enduml
78

  
79
@startuml
80

  
81
title **µRtWare**\nurtTopicInit()\n
82

  
83

  
84
note
85
  - - **topic** : urt_topic_t* - -
86
  The topic to initialize.
87
  Must not be ""NULL"".
88
  - - **id** : urt_topicid_t - -
89
  Unique, numeric identifier of the topic.
90
  - - **mandatoryMessage** : urt_message_t* - -
91
  Starting message of the topic.
92
  Must not be ""NULL"".
13 93
  ====
14 94
  - - **return** : urt_status_t - -
15 95
  Returns ""URT_STATUS_OK"" on success.
......
26 106
  * urtEventSourceInit(**evtSource**)
27 107
  * **numHrtSubscriber** ← 0
28 108
  * urtCondvarInit(**hrtReleased**)
29
  * urtMessageInit(**mandatoryMessage**)
109
  * **mandatoryMessage** ← mandatoryMessage
30 110
  * **latestMessage** ← &mandatoryMessage
31 111
  .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..
32 112
  * **hrtSubscribers** ← ""NULL""
......
70 150

  
71 151
@enduml
72 152

  
73
PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
153
PlantUML version 1.2020.15(Sun Jun 28 13:39:45 CEST 2020)
74 154
(GPL source distribution)
75 155
Java Runtime: OpenJDK Runtime Environment
76 156
JVM: OpenJDK 64-Bit Server VM
77
Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
78
Operating System: Linux
79 157
Default Encoding: UTF-8
80
Language: en
81
Country: US
158
Language: de
159
Country: DE
82 160
--></g></svg>
doc/activitydiagrams/topic/urtTopicInit.uml
33 33
  Must not be ""NULL"".
34 34
  -- **id** : urt_topicid_t --
35 35
  Unique, numeric identifier of the topic.
36
  -- **mandatoryMessage** : urt_message_t* --
37
  Starting message of the topic.
38
  Must not be ""NULL"".
36 39
  ====
37 40
  -- **return** : urt_status_t --
38 41
  Returns ""URT_STATUS_OK"" on success.
......
50 53
  * urtEventSourceInit(**evtSource**)
51 54
  * **numHrtSubscriber** ← 0
52 55
  * urtCondvarInit(**hrtReleased**)
53
  * urtMessageInit(**mandatoryMessage**)
56
  * **mandatoryMessage** ← mandatoryMessage
54 57
  * **latestMessage** ← &mandatoryMessage
55 58
  .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..
56 59
  * **hrtSubscribers** ← ""NULL""
doc/classdiagrams/functions.iuml
20 20
'/
21 21

  
22 22
/' Generate a configuration object. '/
23
!function $configuration($name)
23
!procedure $configuration($name)
24 24
  class $name <<C,BFBFBF>>
25
!endfunction
25
!endprocedure
26 26

  
27 27
/' Generate a enumeration definition. '/
28
!function $enumeration($name)
28
!procedure $enumeration($name)
29 29
  class $name <<E,FF7F3F>>
30
!endfunction
30
!endprocedure
31 31

  
32 32
/' Generate a type definition. '/
33
!function $type($name)
33
!procedure $type($name)
34 34
  class $name <<T,00CFFF>>
35
!endfunction
35
!endprocedure
36 36

  
37 37
/' Generate a structure definition. '/
38
!function $structure($name)
38
!procedure $structure($name)
39 39
  class $name <<S,BFAFFF>>
40
!endfunction
40
!endprocedure
41 41

  
42 42
/' generate a union structure definition '/
43
!function $union($name)
43
!procedure $union($name)
44 44
  class $name <<U,7FCF7F>>
45
!endfunction
45
!endprocedure
46 46

  
47 47
/' Generate a function declaration. '/
48
!function $function($name)
48
!procedure $function($name)
49 49
  class $name <<F,E0E0E0>>
50
!endfunction
50
!endprocedure
51 51

  
52 52
/' Generate a group. '/
53
!function $group($name)
53
!procedure $group($name)
54 54
  package "$name" <<Rectangle>>
55
!endfunction
55
!endprocedure
56 56

  
57
!function $module($name)
57
!procedure $module($name)
58 58
  package "$name" <<Node>>
59
!endfunction
60

  
59
!endprocedure
doc/classdiagrams/overview.svg
1
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cluster thread--><rect fill="#FFFFFF" filter="url(#fagjfti7u2xwn)" height="608" style="stroke: #000000; stroke-width: 1.5;" width="1039" x="2776.0878" y="850.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="3269.5878" y="865.8545">thread</text><!--MD5=[8d74b40516bd265adb19f202ab81f40d]
10
cluster events--><rect fill="#FFFFFF" filter="url(#fagjfti7u2xwn)" height="718" style="stroke: #000000; stroke-width: 1.5;" width="1642" x="1115.0878" y="989.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="54" x="1909.0878" y="1004.3545">events</text><!--MD5=[b978ecedb6f4da3f32705dc09c84a7d6]
11
cluster streams--><rect fill="#FFFFFF" filter="url(#fagjfti7u2xwn)" height="109" style="stroke: #000000; stroke-width: 1.5;" width="228" x="879.0878" y="995.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="64" x="961.0878" y="1010.3545">streams</text><!--MD5=[62106fc051f244acf17caf792167c8db]
12
cluster debug--><rect fill="#FFFFFF" filter="url(#fagjfti7u2xwn)" height="96" style="stroke: #000000; stroke-width: 1.5;" width="266" x="594.0878" y="1001.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="50" x="702.0878" y="1016.8545">debug</text><!--MD5=[4e1a3510868d06a507f098bb08f0dae0]
13
cluster Middleware--><polygon fill="#FFFFFF" filter="url(#fagjfti7u2xwn)" points="7799.0878,88.8594,7809.0878,78.8594,18464.0878,78.8594,18464.0878,1452.8594,18454.0878,1462.8594,7799.0878,1462.8594,7799.0878,88.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="18454.0878" x2="18463.0878" y1="88.8594" y2="79.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7799.0878" x2="18454.0878" y1="88.8594" y2="88.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="18454.0878" x2="18454.0878" y1="88.8594" y2="1462.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="91" x="13082.0878" y="104.8545">Middleware</text><!--MD5=[b9de0669a29c7bc934fd916b09c39491]
14
cluster node--><rect fill="#FFFFFF" filter="url(#fagjfti7u2xwn)" height="572.5" style="stroke: #000000; stroke-width: 1.5;" width="1674" x="16782.0878" y="525.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="40" x="17599.0878" y="540.3545">node</text><!--MD5=[d74e2ef346f73688f9378f6d3d42598c]
15
cluster Publish-Subscribe System--><polygon fill="#FFFFFF" filter="url(#fagjfti7u2xwn)" points="11448.0878,484.3594,11458.0878,474.3594,16774.0878,474.3594,16774.0878,1444.8594,16764.0878,1454.8594,11448.0878,1454.8594,11448.0878,484.3594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="16764.0878" x2="16773.0878" y1="484.3594" y2="475.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="11448.0878" x2="16764.0878" y1="484.3594" y2="484.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="16764.0878" x2="16764.0878" y1="484.3594" y2="1454.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="205" x="14004.5878" y="500.3545">Publish-Subscribe System</text><!--MD5=[16a3bbbe805f94d6e6ce317c08ab945e]
16
cluster subscriber--><rect fill="#FFFFFF" filter="url(#fagjfti7u2xwn)" height="628" style="stroke: #000000; stroke-width: 1.5;" width="4062" x="12704.0878" y="506.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="85" x="14692.5878" y="521.3545">subscriber</text><!--MD5=[810d0f07e53ef611b6d803ef30301147]
17
cluster Remote Procedure Call System--><polygon fill="#FFFFFF" filter="url(#fagjfti7u2xwn)" points="8157.0878,120.8594,8167.0878,110.8594,11440.0878,110.8594,11440.0878,800.8594,11430.0878,810.8594,8157.0878,810.8594,8157.0878,120.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="11430.0878" x2="11439.0878" y1="120.8594" y2="111.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="8157.0878" x2="11430.0878" y1="120.8594" y2="120.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="11430.0878" x2="11430.0878" y1="120.8594" y2="810.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="244" x="9672.5878" y="136.8545">Remote Procedure Call System</text><!--MD5=[ecaf13b018fb9788c80013f5b3634b61]
18
cluster request--><rect fill="#FFFFFF" filter="url(#fagjfti7u2xwn)" height="632" style="stroke: #000000; stroke-width: 1.5;" width="2645" x="8787.0878" y="142.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="62" x="10078.5878" y="157.8545">request</text><!--MD5=[e443ac33c80100c2d54e1f5fe669f6d7]
19
class urt_config--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="328.8984" id="urt_config" style="stroke: #A80036; stroke-width: 1.5;" width="290" x="12222.0878" y="1510.8594"/><ellipse cx="12331.8378" cy="1526.8594" fill="#BFBFBF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12334.8066,1532.5 Q12334.2284,1532.7969 12333.5878,1532.9375 Q12332.9472,1533.0938 12332.2441,1533.0938 Q12329.7441,1533.0938 12328.4159,1531.4531 Q12327.1034,1529.7969 12327.1034,1526.6719 Q12327.1034,1523.5469 12328.4159,1521.8906 Q12329.7441,1520.2344 12332.2441,1520.2344 Q12332.9472,1520.2344 12333.5878,1520.3906 Q12334.2441,1520.5469 12334.8066,1520.8438 L12334.8066,1523.5625 Q12334.1816,1522.9844 12333.5878,1522.7188 Q12332.9941,1522.4375 12332.3691,1522.4375 Q12331.0253,1522.4375 12330.3378,1523.5156 Q12329.6503,1524.5781 12329.6503,1526.6719 Q12329.6503,1528.7656 12330.3378,1529.8438 Q12331.0253,1530.9063 12332.3691,1530.9063 Q12332.9941,1530.9063 12333.5878,1530.6406 Q12334.1816,1530.3594 12334.8066,1529.7813 L12334.8066,1532.5 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="62" x="12352.3378" y="1531.0137">urt_config</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12223.0878" x2="12511.0878" y1="1542.8594" y2="1542.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="159" x="12228.0878" y="1573.8745">URT_CFG_DELAY_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="12228.0878" y="1586.6792">URT_CFG_NODESTAGE_WIDTH : int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12223.0878" x2="12345.5878" y1="1557.2617" y2="1557.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="43" x="12345.5878" y="1560.5698">general</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12388.5878" x2="12511.0878" y1="1557.2617" y2="1557.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="12228.0878" y="1616.2886">URT_CFG_PUBSUB_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="222" x="12228.0878" y="1629.0933">URT_CFG_PUBSUB_TOPICID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="204" x="12228.0878" y="1641.8979">URT_CFG_PUBSUB_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="278" x="12228.0878" y="1654.7026">URT_CFG_PUBSUB_QOS_DEADLINECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="252" x="12228.0878" y="1667.5073">URT_CFG_PUBSUB_QOS_RATECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="12228.0878" y="1680.312">URT_CFG_PUBSUB_QOS_JITTERCHECKS : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12223.0878" x2="12316.5878" y1="1599.6758" y2="1599.6758"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="12316.5878" y="1602.9839">publish-subscribe</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12417.5878" x2="12511.0878" y1="1599.6758" y2="1599.6758"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="12228.0878" y="1709.9214">URT_CFG_RPC_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="12228.0878" y="1722.7261">URT_CFG_RPC_SERVICEID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="12228.0878" y="1735.5308">URT_CFG_RPC_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="253" x="12228.0878" y="1748.3354">URT_CFG_RPC_QOS_DEADLINECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="12228.0878" y="1761.1401">URT_CFG_RPC_QOS_JITTERCHECKS : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12223.0878" x2="12300.5878" y1="1693.3086" y2="1693.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="133" x="12300.5878" y="1696.6167">remote procedure calls</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12433.5878" x2="12511.0878" y1="1693.3086" y2="1693.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="12228.0878" y="1790.7495">URT_CFG_DEBUG_ENABLED : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12223.0878" x2="12349.5878" y1="1774.1367" y2="1774.1367"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="35" x="12349.5878" y="1777.4448">debug</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12384.5878" x2="12511.0878" y1="1774.1367" y2="1774.1367"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="12228.0878" y="1820.3589">URT_CFG_OSAL_HEADER : string</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="12228.0878" y="1833.1636">URT_CFG_OSAL_CONDVAR_TIMEOUT : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12223.0878" x2="12352.0878" y1="1803.7461" y2="1803.7461"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="30" x="12352.0878" y="1807.0542">OSAL</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12382.0878" x2="12511.0878" y1="1803.7461" y2="1803.7461"/><!--MD5=[9f69b6f4e23017059189983d6906a1eb]
20
class urt_nodestage_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="158.4375" id="urt_nodestage_t" style="stroke: #A80036; stroke-width: 1.5;" width="216" x="7302.0878" y="980.3594"/><ellipse cx="7354.3378" cy="996.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7355.1816,1003.1094 L7352.7284,1003.1094 L7352.7284,992.8594 L7349.5878,992.8594 L7349.5878,990.7188 L7358.3222,990.7188 L7358.3222,992.8594 L7355.1816,992.8594 L7355.1816,1003.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="103" x="7374.8378" y="1000.5137">urt_nodestage_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7303.0878" x2="7517.0878" y1="1012.3594" y2="1012.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="7308.0878" y="1043.3745">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7303.0878" x2="7309.5878" y1="1026.7617" y2="1026.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="201" x="7309.5878" y="1030.0698">URT_CFG_NODESTAGE_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7510.5878" x2="7517.0878" y1="1026.7617" y2="1026.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="7308.0878" y="1072.9839">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7303.0878" x2="7306.0878" y1="1056.3711" y2="1056.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="7306.0878" y="1059.6792">URT_CFG_NODESTAGE_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7514.0878" x2="7517.0878" y1="1056.3711" y2="1056.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="7308.0878" y="1102.5933">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7303.0878" x2="7306.0878" y1="1085.9805" y2="1085.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="7306.0878" y="1089.2886">URT_CFG_NODESTAGE_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7514.0878" x2="7517.0878" y1="1085.9805" y2="1085.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="7308.0878" y="1132.2026">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7303.0878" x2="7306.0878" y1="1115.5898" y2="1115.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="7306.0878" y="1118.8979">URT_CFG_NODESTAGE_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7514.0878" x2="7517.0878" y1="1115.5898" y2="1115.5898"/><!--MD5=[a55671f9c3a4eb2d749fd774fc81a82b]
21
class urt_topicid_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="158.4375" id="urt_topicid_t" style="stroke: #A80036; stroke-width: 1.5;" width="244" x="6654.0878" y="980.3594"/><ellipse cx="6733.3378" cy="996.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6734.1816,1003.1094 L6731.7284,1003.1094 L6731.7284,992.8594 L6728.5878,992.8594 L6728.5878,990.7188 L6737.3222,990.7188 L6737.3222,992.8594 L6734.1816,992.8594 L6734.1816,1003.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="77" x="6753.8378" y="1000.5137">urt_topicid_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6655.0878" x2="6897.0878" y1="1012.3594" y2="1012.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="6660.0878" y="1043.3745">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6655.0878" x2="6661.5878" y1="1026.7617" y2="1026.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="229" x="6661.5878" y="1030.0698">URT_CFG_PUBSUB_TOPICID_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6890.5878" x2="6897.0878" y1="1026.7617" y2="1026.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6660.0878" y="1072.9839">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6655.0878" x2="6658.0878" y1="1056.3711" y2="1056.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="6658.0878" y="1059.6792">URT_CFG_PUBSUB_TOPICID_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6894.0878" x2="6897.0878" y1="1056.3711" y2="1056.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6660.0878" y="1102.5933">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6655.0878" x2="6658.0878" y1="1085.9805" y2="1085.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="6658.0878" y="1089.2886">URT_CFG_PUBSUB_TOPICID_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6894.0878" x2="6897.0878" y1="1085.9805" y2="1085.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6660.0878" y="1132.2026">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6655.0878" x2="6658.0878" y1="1115.5898" y2="1115.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="6658.0878" y="1118.8979">URT_CFG_PUBSUB_TOPICID_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6894.0878" x2="6897.0878" y1="1115.5898" y2="1115.5898"/><!--MD5=[4d8326c7af3a397210cbde406c7c860c]
22
class urt_serviceid_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="158.4375" id="urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.5;" width="232" x="6387.0878" y="980.3594"/><ellipse cx="6453.8378" cy="996.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6454.6816,1003.1094 L6452.2284,1003.1094 L6452.2284,992.8594 L6449.0878,992.8594 L6449.0878,990.7188 L6457.8222,990.7188 L6457.8222,992.8594 L6454.6816,992.8594 L6454.6816,1003.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="90" x="6474.3378" y="1000.5137">urt_serviceid_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6388.0878" x2="6618.0878" y1="1012.3594" y2="1012.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="6393.0878" y="1043.3745">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6388.0878" x2="6394.5878" y1="1026.7617" y2="1026.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="6394.5878" y="1030.0698">URT_CFG_RPC_SERVICEID_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6611.5878" x2="6618.0878" y1="1026.7617" y2="1026.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6393.0878" y="1072.9839">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6388.0878" x2="6391.0878" y1="1056.3711" y2="1056.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="6391.0878" y="1059.6792">URT_CFG_RPC_SERVICEID_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6615.0878" x2="6618.0878" y1="1056.3711" y2="1056.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6393.0878" y="1102.5933">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6388.0878" x2="6391.0878" y1="1085.9805" y2="1085.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="6391.0878" y="1089.2886">URT_CFG_RPC_SERVICEID_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6615.0878" x2="6618.0878" y1="1085.9805" y2="1085.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6393.0878" y="1132.2026">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6388.0878" x2="6391.0878" y1="1115.5898" y2="1115.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="6391.0878" y="1118.8979">URT_CFG_RPC_SERVICEID_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6615.0878" x2="6618.0878" y1="1115.5898" y2="1115.5898"/><!--MD5=[e750dab3ce4ebe0433cc930181355272]
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class urt_status_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="278.4844" id="urt_status_t" style="stroke: #A80036; stroke-width: 1.5;" width="229" x="7553.5878" y="920.3594"/><ellipse cx="7626.3378" cy="936.3594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7630.4472,942.3594 L7622.7284,942.3594 L7622.7284,929.9688 L7630.4472,929.9688 L7630.4472,932.125 L7625.1816,932.125 L7625.1816,934.7969 L7629.9472,934.7969 L7629.9472,936.9531 L7625.1816,936.9531 L7625.1816,940.2031 L7630.4472,940.2031 L7630.4472,942.3594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="7646.8378" y="940.5137">urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7554.5878" x2="7781.5878" y1="952.3594" y2="952.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="119" x="7559.5878" y="966.5698">URT_STATUS_OK = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="7559.5878" y="979.3745">URT_STATUS_DEADLINEVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="7559.5878" y="992.1792">URT_STATUS_JITTERVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="166" x="7559.5878" y="1004.9839">URT_STATUS_RATEVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="166" x="7559.5878" y="1017.7886">URT_STATUS_SYNC_PENDING</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="7559.5878" y="1030.5933">URT_STATUS_SYNC_ERROR</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="200" x="7559.5878" y="1043.3979">URT_STATUS_NODE_INVALEVTMASK</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="7559.5878" y="1073.0073">URT_STATUS_TOPIC_DUPLICATE</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="7559.5878" y="1085.812">URT_STATUS_PUBLISH_TIMEOUT</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="206" x="7559.5878" y="1098.6167">URT_STATUS_SUBSCRIBE_TOPICSET</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="7559.5878" y="1111.4214">URT_STATUS_FETCH_NOTOPIC</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="7559.5878" y="1124.2261">URT_STATUS_FETCH_NOMESSAGE</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="7559.5878" y="1137.0308">URT_STATUS_UNSUBSCRIBE_NOTOPIC</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7554.5878" x2="7563.0878" y1="1056.3945" y2="1056.3945"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7563.0878" y="1059.7026">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7773.0878" x2="7781.5878" y1="1056.3945" y2="1056.3945"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="7559.5878" y="1166.6401">URT_STATUS_SERVICE_DUPLICATE</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="201" x="7559.5878" y="1179.4448">URT_STATUS_REQUEST_BADOWNER</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="7559.5878" y="1192.2495">URT_STATUS_REQUEST_LOCKED</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7554.5878" x2="7575.5878" y1="1150.0273" y2="1150.0273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="7575.5878" y="1153.3354">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7760.5878" x2="7781.5878" y1="1150.0273" y2="1150.0273"/><!--MD5=[15452fea434e71f16c7de0feaca2b066]
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class urt_delay_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="132.8281" id="urt_delay_t" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="6387.5878" y="1309.3594"/><ellipse cx="6439.8378" cy="1325.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6440.6816,1332.1094 L6438.2284,1332.1094 L6438.2284,1321.8594 L6435.0878,1321.8594 L6435.0878,1319.7188 L6443.8222,1319.7188 L6443.8222,1321.8594 L6440.6816,1321.8594 L6440.6816,1332.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="68" x="6460.3378" y="1329.5137">urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6388.5878" x2="6567.5878" y1="1341.3594" y2="1341.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6393.5878" y="1372.3745">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6388.5878" x2="6391.5878" y1="1355.7617" y2="1355.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="6391.5878" y="1359.0698">URT_CFG_DELAY_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6564.5878" x2="6567.5878" y1="1355.7617" y2="1355.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6393.5878" y="1401.9839">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6388.5878" x2="6391.5878" y1="1385.3711" y2="1385.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="6391.5878" y="1388.6792">URT_CFG_DELAY_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6564.5878" x2="6567.5878" y1="1385.3711" y2="1385.3711"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6388.5878" x2="6567.5878" y1="1408.5781" y2="1408.5781"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="6393.5878" y="1422.7886">URT_DELAY_IMMEDIATE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="6393.5878" y="1435.5933">URT_DELAY_INFINITE = 0xF..F</text><!--MD5=[81e47bc16a7baa7cb65c7bc48dd317d5]
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class urt_usefulness_f--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="60.8047" id="urt_usefulness_f" style="stroke: #A80036; stroke-width: 1.5;" width="334" x="6933.0878" y="1028.8594"/><ellipse cx="7044.8378" cy="1044.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7049.0722,1040.625 L7043.7909,1040.625 L7043.7909,1043.2969 L7048.5878,1043.2969 L7048.5878,1045.4531 L7043.7909,1045.4531 L7043.7909,1050.8594 L7041.3534,1050.8594 L7041.3534,1038.4688 L7049.0722,1038.4688 L7049.0722,1040.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="7065.3378" y="1049.0137">urt_usefulness_f</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6934.0878" x2="7266.0878" y1="1060.8594" y2="1060.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6934.0878" x2="7266.0878" y1="1068.8594" y2="1068.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="322" x="6939.0878" y="1083.0698">urt_usefulness_f (dt : urt_delay_t, params : void*) : float</text><!--MD5=[3677786d1f00795918091b0110bfa4af]
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class urt_osTime_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="385" x="5682.5878" y="1016.3594"/><ellipse cx="5831.3378" cy="1032.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5832.1816,1039.1094 L5829.7284,1039.1094 L5829.7284,1028.8594 L5826.5878,1028.8594 L5826.5878,1026.7188 L5835.3222,1026.7188 L5835.3222,1028.8594 L5832.1816,1028.8594 L5832.1816,1039.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="5851.8378" y="1036.5137">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5683.5878" x2="6066.5878" y1="1048.3594" y2="1048.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5683.5878" x2="6066.5878" y1="1056.3594" y2="1056.3594"/><ellipse cx="5693.5878" cy="1067.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="231" x="5702.5878" y="1070.5698">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="5693.5878" cy="1080.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="5702.5878" y="1083.3745">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="5693.5878" cy="1092.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="359" x="5702.5878" y="1096.1792">urtTimeAddUs (time : urt_osTime_t*, offset : urt_delay_t) : void</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]
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class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="4604.0878" y="1009.8594"/><ellipse cx="4705.3378" cy="1025.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4706.1816,1032.6094 L4703.7284,1032.6094 L4703.7284,1022.3594 L4700.5878,1022.3594 L4700.5878,1020.2188 L4709.3222,1020.2188 L4709.3222,1022.3594 L4706.1816,1022.3594 L4706.1816,1032.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="4725.8378" y="1030.0137">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4605.0878" x2="4901.0878" y1="1041.8594" y2="1041.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4605.0878" x2="4901.0878" y1="1049.8594" y2="1049.8594"/><ellipse cx="4615.0878" cy="1060.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="245" x="4624.0878" y="1064.0698">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="4615.0878" cy="1073.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="253" x="4624.0878" y="1076.8745">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="4615.0878" cy="1086.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="4624.0878" y="1089.6792">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="4615.0878" cy="1099.2734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="4624.0878" y="1102.4839">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--MD5=[52fa11869cb40c93fa7702378ddd839e]
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class urt_osCondvarWaitStatus_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="86.4141" id="urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="5157.0878" y="1332.8594"/><ellipse cx="5203.3378" cy="1348.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5207.4472,1354.8594 L5199.7284,1354.8594 L5199.7284,1342.4688 L5207.4472,1342.4688 L5207.4472,1344.625 L5202.1816,1344.625 L5202.1816,1347.2969 L5206.9472,1347.2969 L5206.9472,1349.4531 L5202.1816,1349.4531 L5202.1816,1352.7031 L5207.4472,1352.7031 L5207.4472,1354.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="169" x="5223.8378" y="1353.0137">urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5158.0878" x2="5426.0878" y1="1364.8594" y2="1364.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="5163.0878" y="1379.0698">URT_CONDVAR_WAITSTATUS_SIGNAL = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="5163.0878" y="1391.8745">URT_CONDVAR_WAITSTATUS_BROADCAST = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="5163.0878" y="1404.6792">URT_CONDVAR_WAITSTATUS_TIMEOUT = 0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5158.0878" x2="5426.0878" y1="1411.2734" y2="1411.2734"/><!--MD5=[004fc5dee471033e8e4138c1c73f0692]
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class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="137.6328" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="4937.0878" y="990.3594"/><ellipse cx="5237.3378" cy="1006.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5238.1816,1013.1094 L5235.7284,1013.1094 L5235.7284,1002.8594 L5232.5878,1002.8594 L5232.5878,1000.7188 L5241.3222,1000.7188 L5241.3222,1002.8594 L5238.1816,1002.8594 L5238.1816,1013.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="5257.8378" y="1010.5137">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4938.0878" x2="5646.0878" y1="1022.3594" y2="1022.3594"/><ellipse cx="4948.0878" cy="1033.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="283" x="4957.0878" y="1036.5698">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4948.0878" cy="1046.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="301" x="4957.0878" y="1049.3745">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4948.0878" cy="1058.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="324" x="4957.0878" y="1062.1792">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4948.0878" cy="1088.5781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="559" x="4957.0878" y="1091.7886">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*) : urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4938.0878" x2="5163.5878" y1="1075.1758" y2="1075.1758"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="257" x="5163.5878" y="1078.4839">URT_CFG_OSAL_CONDVAR_TIMEOUT == false</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5420.5878" x2="5646.0878" y1="1075.1758" y2="1075.1758"/><ellipse cx="4948.0878" cy="1118.1875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="684" x="4957.0878" y="1121.3979">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4938.0878" x2="5166.0878" y1="1104.7852" y2="1104.7852"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="252" x="5166.0878" y="1108.0933">URT_CFG_OSAL_CONDVAR_TIMEOUT == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5418.0878" x2="5646.0878" y1="1104.7852" y2="1104.7852"/><!--MD5=[93799a03260ba286abda700174f4f205]
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class urt_osTimerCallback_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="4057.0878" y="1345.3594"/><ellipse cx="4127.8378" cy="1361.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4128.6815,1368.1094 L4126.2284,1368.1094 L4126.2284,1357.8594 L4123.0878,1357.8594 L4123.0878,1355.7188 L4131.8222,1355.7188 L4131.8222,1357.8594 L4128.6815,1357.8594 L4128.6815,1368.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="4148.3378" y="1365.5137">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4058.0878" x2="4342.0878" y1="1377.3594" y2="1377.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4058.0878" x2="4342.0878" y1="1385.3594" y2="1385.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="4063.0878" y="1399.5698">urt_osTimerCallback_t (parameter : void*) : void</text><!--MD5=[0b340d7b925b1eab6a1b7e084f68a7c2]
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class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="112.0234" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="737" x="3831.5878" y="1003.3594"/><ellipse cx="4153.8378" cy="1019.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4154.6815,1026.1094 L4152.2284,1026.1094 L4152.2284,1015.8594 L4149.0878,1015.8594 L4149.0878,1013.7188 L4157.8222,1013.7188 L4157.8222,1015.8594 L4154.6815,1015.8594 L4154.6815,1026.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="4174.3378" y="1023.5137">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3832.5878" x2="4567.5878" y1="1035.3594" y2="1035.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3832.5878" x2="4567.5878" y1="1043.3594" y2="1043.3594"/><ellipse cx="3842.5878" cy="1054.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="3851.5878" y="1057.5698">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="3842.5878" cy="1067.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="660" x="3851.5878" y="1070.3745">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void</text><ellipse cx="3842.5878" cy="1079.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="711" x="3851.5878" y="1083.1792">urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void</text><ellipse cx="3842.5878" cy="1092.7734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="255" x="3851.5878" y="1095.9839">urtTimerReset (timer : urt_osTimer_t*) : void</text><ellipse cx="3842.5878" cy="1105.5781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3851.5878" y="1108.7886">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--MD5=[86c16d91227b9a9ec3b6b9b0285de4e9]
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class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="3332.5878" y="1300.8594"/><ellipse cx="3368.7378" cy="1316.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3369.5816,1323.6094 L3367.1284,1323.6094 L3367.1284,1313.3594 L3363.9878,1313.3594 L3363.9878,1311.2188 L3372.7222,1311.2188 L3372.7222,1313.3594 L3369.5816,1313.3594 L3369.5816,1323.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="3387.4378" y="1321.0137">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3333.5878" x2="3528.5878" y1="1332.8594" y2="1332.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="3338.5878" y="1347.0698">URT_THREAD_PRIO_LOW_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="3338.5878" y="1359.8745">URT_THREAD_PRIO_LOW_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="3338.5878" y="1372.6792">URT_THREAD_PRIO_NORMAL_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="3338.5878" y="1385.4839">URT_THREAD_PRIO_NORMAL_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="3338.5878" y="1398.2886">URT_THREAD_PRIO_HIGH_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="3338.5878" y="1411.0933">URT_THREAD_PRIO_HIGH_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="3338.5878" y="1423.8979">URT_THREAD_PRIO_RT_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="3338.5878" y="1436.7026">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3333.5878" x2="3528.5878" y1="1443.2969" y2="1443.2969"/><!--MD5=[69d8aab9aa387a2f5052ea3da80e80ea]
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class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="2784.0878" y="1345.3594"/><ellipse cx="2831.8378" cy="1361.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2832.6816,1368.1094 L2830.2284,1368.1094 L2830.2284,1357.8594 L2827.0878,1357.8594 L2827.0878,1355.7188 L2835.8222,1355.7188 L2835.8222,1357.8594 L2832.6816,1357.8594 L2832.6816,1368.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="2852.3378" y="1365.5137">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2785.0878" x2="3035.0878" y1="1377.3594" y2="1377.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2785.0878" x2="3035.0878" y1="1385.3594" y2="1385.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="2790.0878" y="1399.5698">urt_osThreadFunction_t (arg : void*) : void</text><!--MD5=[ab5f611d45c3fa10609c33f780d8c3e1]
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class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="3565.0878" y="1338.8594"/><ellipse cx="3586.8378" cy="1354.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3590.9472,1360.8594 L3583.2284,1360.8594 L3583.2284,1348.4688 L3590.9472,1348.4688 L3590.9472,1350.625 L3585.6816,1350.625 L3585.6816,1353.2969 L3590.4472,1353.2969 L3590.4472,1355.4531 L3585.6816,1355.4531 L3585.6816,1358.7031 L3590.9472,1358.7031 L3590.9472,1360.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="3602.3378" y="1359.0137">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3566.0878" x2="3806.0878" y1="1370.8594" y2="1370.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="3571.0878" y="1385.0698">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="3571.0878" y="1397.8745">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3566.0878" x2="3806.0878" y1="1404.4688" y2="1404.4688"/><!--MD5=[47d14ad2c233fae1b32b8d0a283e820a]
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class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="137.6328" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="3071.0878" y="1306.8594"/><ellipse cx="3115.8378" cy="1322.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3119.9472,1328.8594 L3112.2284,1328.8594 L3112.2284,1316.4688 L3119.9472,1316.4688 L3119.9472,1318.625 L3114.6816,1318.625 L3114.6816,1321.2969 L3119.4472,1321.2969 L3119.4472,1323.4531 L3114.6816,1323.4531 L3114.6816,1326.7031 L3119.9472,1326.7031 L3119.9472,1328.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="3136.3378" y="1327.0137">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3072.0878" x2="3296.0878" y1="1338.8594" y2="1338.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="3077.0878" y="1353.0698">URT_THREAD_STATE_INACTIVE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="3077.0878" y="1365.8745">URT_THREAD_STATE_RUNNING = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="3077.0878" y="1378.6792">URT_THREAD_STATE_READY = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="3077.0878" y="1391.4839">URT_THREAD_STATE_SLEEPING = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="3077.0878" y="1404.2886">URT_THREAD_STATE_SUSPENDED = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="3077.0878" y="1417.0933">URT_THREAD_STATE_WAITING = 5</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="3077.0878" y="1429.8979">URT_THREAD_STATE_TERMINATED = 6</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3072.0878" x2="3296.0878" y1="1436.4922" y2="1436.4922"/><!--MD5=[0a16224ede9ffa9bb2d34e085a076e6d]
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class urt_osThread_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="363.3125" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="778" x="3018.0878" y="877.8594"/><ellipse cx="3355.8378" cy="893.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3356.6816,900.6094 L3354.2284,900.6094 L3354.2284,890.3594 L3351.0878,890.3594 L3351.0878,888.2188 L3359.8222,888.2188 L3359.8222,890.3594 L3356.6816,890.3594 L3356.6816,900.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="3376.3378" y="898.0137">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3019.0878" x2="3795.0878" y1="909.8594" y2="909.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="3024.0878" y="924.0698">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="3024.0878" y="936.8745">URT_THREAD_SSLEP_MAX : unsigned int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="3024.0878" y="949.6792">URT_THREAD_MSLEEP_MAX : unsigned int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="3024.0878" y="962.4839">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="3019.0878" x2="3795.0878" y1="969.0781" y2="969.0781"/><ellipse cx="3029.0878" cy="980.0781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="248" x="3038.0878" y="983.2886">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3019.0878" x2="3795.0878" y1="989.8828" y2="989.8828"/><ellipse cx="3029.0878" cy="1000.8828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="752" x="3038.0878" y="1004.0933">urtThreadInit (memory : void*, size : size_t, prio : urt_osThreadPrio_t, func : urt_osThreadFunction_t*, arg : void*) : urt_osThread_t*</text><ellipse cx="3029.0878" cy="1013.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="3038.0878" y="1016.8979">urtThreadStart (thread : urt_osThread_t*) : void</text><ellipse cx="3029.0878" cy="1026.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="3038.0878" y="1029.7026">urtThreadYield (void) : void</text><ellipse cx="3029.0878" cy="1039.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3038.0878" y="1042.5073">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="3029.0878" cy="1052.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="304" x="3038.0878" y="1055.312">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="3029.0878" cy="1064.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="220" x="3038.0878" y="1068.1167">urtThreadSleep (seconds : float) : void</text><ellipse cx="3029.0878" cy="1077.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="273" x="3038.0878" y="1080.9214">urtThreadSSleep (seconds : unsigned int) : void</text><ellipse cx="3029.0878" cy="1090.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="3038.0878" y="1093.7261">urtThreadMSleep (milliseconds : unsigned int) : void</text><ellipse cx="3029.0878" cy="1103.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="3038.0878" y="1106.5308">urtThreadUSleep (microseconds : urt_delay_t) : void</text><ellipse cx="3029.0878" cy="1116.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3038.0878" y="1119.3354">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="3029.0878" cy="1128.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="3038.0878" y="1132.1401">urtThreadExit (void) : void</text><ellipse cx="3029.0878" cy="1141.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="518" x="3038.0878" y="1144.9448">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="3029.0878" cy="1154.5391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="3038.0878" y="1157.7495">urtThreadShouldTerminate (void) : bool</text><ellipse cx="3029.0878" cy="1167.3438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="264" x="3038.0878" y="1170.5542">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="3029.0878" cy="1180.1484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="387" x="3038.0878" y="1183.3589">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="3029.0878" cy="1192.9531" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="237" x="3038.0878" y="1196.1636">urtThreadGetSelf (void) : urt_osThread_t*</text><ellipse cx="3029.0878" cy="1205.7578" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="3038.0878" y="1208.9683">urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="3029.0878" cy="1218.5625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="3038.0878" y="1221.7729">urtThreadGetSibling (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="3029.0878" cy="1231.3672" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="3038.0878" y="1234.5776">urtThreadGetParent (thread : urt_osThread_t*) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]
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class urt_osEventMask_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="60.8047" id="urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.5;" width="280" x="2469.0878" y="1345.3594"/><ellipse cx="2546.3378" cy="1361.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2547.1816,1368.1094 L2544.7284,1368.1094 L2544.7284,1357.8594 L2541.5878,1357.8594 L2541.5878,1355.7188 L2550.3222,1355.7188 L2550.3222,1357.8594 L2547.1816,1357.8594 L2547.1816,1368.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="2566.8378" y="1365.5137">urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2470.0878" x2="2748.0878" y1="1377.3594" y2="1377.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="268" x="2475.0878" y="1391.5698">URT_EVENTMASK_MAXPRIO : urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2470.0878" x2="2748.0878" y1="1398.1641" y2="1398.1641"/><!--MD5=[dc1cc33af288560680c15dec1e56eda0]
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class urt_osEventFlags_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="48" id="urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="1878.0878" y="1651.3594"/><ellipse cx="1893.0878" cy="1667.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1893.9316,1674.1094 L1891.4784,1674.1094 L1891.4784,1663.8594 L1888.3378,1663.8594 L1888.3378,1661.7188 L1897.0722,1661.7188 L1897.0722,1663.8594 L1893.9316,1663.8594 L1893.9316,1674.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="1907.0878" y="1671.5137">urt_osEventFlags_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1879.0878" x2="2027.0878" y1="1683.3594" y2="1683.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1879.0878" x2="2027.0878" y1="1691.3594" y2="1691.3594"/><!--MD5=[e2bbbd64e6979bf7b755747a6c0ba948]
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class urt_osEventWait_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="86.4141" id="urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.5;" width="162" x="2235.0878" y="1332.8594"/><ellipse cx="2258.1878" cy="1348.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2262.2972,1354.8594 L2254.5784,1354.8594 L2254.5784,1342.4688 L2262.2972,1342.4688 L2262.2972,1344.625 L2257.0315,1344.625 L2257.0315,1347.2969 L2261.7972,1347.2969 L2261.7972,1349.4531 L2257.0315,1349.4531 L2257.0315,1352.7031 L2262.2972,1352.7031 L2262.2972,1354.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="2273.9878" y="1353.0137">urt_osEventWait_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2236.0878" x2="2396.0878" y1="1364.8594" y2="1364.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="2241.0878" y="1379.0698">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="2241.0878" y="1391.8745">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="2241.0878" y="1404.6792">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2236.0878" x2="2396.0878" y1="1411.2734" y2="1411.2734"/><!--MD5=[d054ac2eda12ce4b1fe5a18c9be716c1]
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class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="1706.0878" y="1332.8594"/><ellipse cx="1881.3378" cy="1348.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1882.1816,1355.6094 L1879.7284,1355.6094 L1879.7284,1345.3594 L1876.5878,1345.3594 L1876.5878,1343.2188 L1885.3222,1343.2188 L1885.3222,1345.3594 L1882.1816,1345.3594 L1882.1816,1355.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="1901.8378" y="1353.0137">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1707.0878" x2="2199.0878" y1="1364.8594" y2="1364.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1707.0878" x2="2199.0878" y1="1372.8594" y2="1372.8594"/><ellipse cx="1717.0878" cy="1383.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="341" x="1726.0878" y="1387.0698">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="1717.0878" cy="1396.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="458" x="1726.0878" y="1399.8745">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="1717.0878" cy="1409.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="468" x="1726.0878" y="1412.6792">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]
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class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="1123.5878" y="1338.8594"/><ellipse cx="1328.3378" cy="1354.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1329.1816,1361.6094 L1326.7284,1361.6094 L1326.7284,1351.3594 L1323.5878,1351.3594 L1323.5878,1349.2188 L1332.3222,1349.2188 L1332.3222,1351.3594 L1329.1816,1351.3594 L1329.1816,1361.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="1348.8378" y="1359.0137">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1124.5878" x2="1669.5878" y1="1370.8594" y2="1370.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1124.5878" x2="1669.5878" y1="1378.8594" y2="1378.8594"/><ellipse cx="1134.5878" cy="1389.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="325" x="1143.5878" y="1393.0698">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="1134.5878" cy="1402.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="521" x="1143.5878" y="1405.8745">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--MD5=[04a3b5a37031e2a4d723f19d8adf86f5]
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class urt_events--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="845" x="1898.5878" y="1016.3594"/><ellipse cx="2283.8378" cy="1032.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2288.0722,1028.125 L2282.7909,1028.125 L2282.7909,1030.7969 L2287.5878,1030.7969 L2287.5878,1032.9531 L2282.7909,1032.9531 L2282.7909,1038.3594 L2280.3534,1038.3594 L2280.3534,1025.9688 L2288.0722,1025.9688 L2288.0722,1028.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="2304.3378" y="1036.5137">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1899.5878" x2="2742.5878" y1="1048.3594" y2="1048.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1899.5878" x2="2742.5878" y1="1056.3594" y2="1056.3594"/><ellipse cx="1909.5878" cy="1067.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="819" x="1918.5878" y="1070.5698">urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : void</text><ellipse cx="1909.5878" cy="1080.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="522" x="1918.5878" y="1083.3745">urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : void</text><ellipse cx="1909.5878" cy="1092.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="618" x="1918.5878" y="1096.1792">urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWait_t, timeout : urt_delay_t) : urt_osEventMask_t</text><!--MD5=[0cf29100c96c506429a28b45d347cc92]
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class urt_streams--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="213" x="886.5878" y="1022.3594"/><ellipse cx="951.3378" cy="1038.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M955.5722,1034.125 L950.2909,1034.125 L950.2909,1036.7969 L955.0878,1036.7969 L955.0878,1038.9531 L950.2909,1038.9531 L950.2909,1044.3594 L947.8534,1044.3594 L947.8534,1031.9688 L955.5722,1031.9688 L955.5722,1034.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="971.8378" y="1042.5137">urt_streams</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="887.5878" x2="1098.5878" y1="1054.3594" y2="1054.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="887.5878" x2="1098.5878" y1="1062.3594" y2="1062.3594"/><ellipse cx="897.5878" cy="1073.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="170" x="906.5878" y="1076.5698">urtPrintf (fmt : char*, ... ) : int</text><ellipse cx="897.5878" cy="1086.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="187" x="906.5878" y="1089.3745">urtErrPrintf (fmt : char*, ... ) : int</text><!--MD5=[f106a25c06a671b3918b1a8f37571a4d]
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class urt_debug--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="249" x="602.5878" y="1028.8594"/><ellipse cx="690.8378" cy="1044.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M695.0722,1040.625 L689.7909,1040.625 L689.7909,1043.2969 L694.5878,1043.2969 L694.5878,1045.4531 L689.7909,1045.4531 L689.7909,1050.8594 L687.3534,1050.8594 L687.3534,1038.4688 L695.0722,1038.4688 L695.0722,1040.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="711.3378" y="1049.0137">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="603.5878" x2="850.5878" y1="1060.8594" y2="1060.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="603.5878" x2="850.5878" y1="1068.8594" y2="1068.8594"/><ellipse cx="613.5878" cy="1079.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="223" x="622.5878" y="1083.0698">urtDebugAssert (condition : bool) : void</text><!--MD5=[89d25e87afdd75480e1ec2bd05524873]
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class urt_core_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="307.2891" id="urt_core_t" style="stroke: #A80036; stroke-width: 1.5;" width="343" x="7806.5878" y="159.3594"/><ellipse cx="7942.3378" cy="175.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7941.8222,175.9219 Q7939.9628,175.2188 7939.3066,174.4531 Q7938.6659,173.6719 7938.6659,172.3594 Q7938.6659,170.6719 7939.7441,169.7031 Q7940.8222,168.7344 7942.6972,168.7344 Q7943.5566,168.7344 7944.4003,168.9375 Q7945.2597,169.125 7946.1034,169.5156 L7946.1034,171.9063 Q7945.3222,171.3438 7944.4941,171.0625 Q7943.6816,170.7656 7942.8847,170.7656 Q7942.0097,170.7656 7941.5253,171.125 Q7941.0566,171.4844 7941.0566,172.1406 Q7941.0566,172.6563 7941.4003,173 Q7941.7441,173.3281 7942.8378,173.7344 L7943.9003,174.1406 Q7945.3847,174.6875 7946.0878,175.5938 Q7946.8066,176.5 7946.8066,177.875 Q7946.8066,179.75 7945.6972,180.6719 Q7944.5878,181.5938 7942.3378,181.5938 Q7941.4159,181.5938 7940.4941,181.375 Q7939.5722,181.1563 7938.7128,180.7344 L7938.7128,178.2031 Q7939.6816,178.8906 7940.6034,179.2344 Q7941.5253,179.5781 7942.4159,179.5781 Q7943.3222,179.5781 7943.8222,179.1719 Q7944.3222,178.75 7944.3222,178.0156 Q7944.3222,177.4531 7943.9784,177.0469 Q7943.6503,176.625 7943.0253,176.375 L7941.8222,175.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="63" x="7962.8378" y="179.5137">urt_core_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7807.5878" x2="8148.5878" y1="191.3594" y2="191.3594"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7814.5878" y="199.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="7826.5878" y="205.5698">_nodes : urt_node_t*</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7814.5878" y="212.1641"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="192" x="7826.5878" y="218.3745">_evtSource : urt_osEventSource_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7814.5878" y="224.9688"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="7826.5878" y="231.1792">_lock : urt_osMutex_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7814.5878" y="237.7734"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="122" x="7826.5878" y="243.9839">_status : urt_status_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7814.5878" y="267.3828"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="117" x="7826.5878" y="273.5933">_topics : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7807.5878" x2="7873.0878" y1="256.9805" y2="256.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7873.0878" y="260.2886">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8083.0878" x2="8148.5878" y1="256.9805" y2="256.9805"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7814.5878" y="296.9922"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="145" x="7826.5878" y="303.2026">_services : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7807.5878" x2="7885.5878" y1="286.5898" y2="286.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="7885.5878" y="289.8979">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8070.5878" x2="8148.5878" y1="286.5898" y2="286.5898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7807.5878" x2="8148.5878" y1="309.7969" y2="309.7969"/><ellipse cx="7817.5878" cy="320.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="130" x="7826.5878" y="324.0073">urtCoreInit (void) : void</text><ellipse cx="7817.5878" cy="333.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="215" x="7826.5878" y="336.812">urtCoreGetStatus (void) : urt_status_t</text><ellipse cx="7817.5878" cy="346.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="177" x="7826.5878" y="349.6167">urtCoreStartNodes (void) : void</text><ellipse cx="7817.5878" cy="359.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="309" x="7826.5878" y="362.4214">urtCoreSynchronize (node : urt_node_t*) : urt_status_t</text><ellipse cx="7817.5878" cy="372.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="317" x="7826.5878" y="375.2261">urtCoreStopNodes (reason : urt_status_t) : urt_status_t</text><ellipse cx="7817.5878" cy="384.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="304" x="7826.5878" y="388.0308">urtCoreGetEventSource (void) : urt_osEventSource_t*</text><ellipse cx="7817.5878" cy="397.625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="228" x="7826.5878" y="400.8354">urtCoreGetMutex (void) : urt_osMutex_t*</text><ellipse cx="7817.5878" cy="427.2344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="273" x="7826.5878" y="430.4448">urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7807.5878" x2="7873.0878" y1="413.832" y2="413.832"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7873.0878" y="417.1401">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8083.0878" x2="8148.5878" y1="413.832" y2="413.832"/><ellipse cx="7817.5878" cy="456.8438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="313" x="7826.5878" y="460.0542">urtCoreGetService (id : urt_serviceid_t) : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7807.5878" x2="7885.5878" y1="443.4414" y2="443.4414"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="7885.5878" y="446.7495">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8070.5878" x2="8148.5878" y1="443.4414" y2="443.4414"/><!--MD5=[a7dea26996a1231aa68629b332780450]
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class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="17439.0878" y="1028.8594"/><ellipse cx="17584.8378" cy="1044.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17585.6816,1051.6094 L17583.2284,1051.6094 L17583.2284,1041.3594 L17580.0878,1041.3594 L17580.0878,1039.2188 L17588.8222,1039.2188 L17588.8222,1041.3594 L17585.6816,1041.3594 L17585.6816,1051.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="17605.3378" y="1049.0137">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="17440.0878" x2="17894.0878" y1="1060.8594" y2="1060.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="17440.0878" x2="17894.0878" y1="1068.8594" y2="1068.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="17445.0878" y="1083.0698">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]
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class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="16790.0878" y="1028.8594"/><ellipse cx="17018.3378" cy="1044.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17019.1816,1051.6094 L17016.7284,1051.6094 L17016.7284,1041.3594 L17013.5878,1041.3594 L17013.5878,1039.2188 L17022.3222,1039.2188 L17022.3222,1041.3594 L17019.1816,1041.3594 L17019.1816,1051.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="17038.8378" y="1049.0137">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="16791.0878" x2="17403.0878" y1="1060.8594" y2="1060.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="16791.0878" x2="17403.0878" y1="1068.8594" y2="1068.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="16796.0878" y="1083.0698">urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t</text><!--MD5=[843db13320bebc2ca47f25c6a57c2ae5]
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class urt_nodeShutdownCallback_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="60.8047" id="urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="518" x="17930.0878" y="1028.8594"/><ellipse cx="18094.3378" cy="1044.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M18095.1816,1051.6094 L18092.7284,1051.6094 L18092.7284,1041.3594 L18089.5878,1041.3594 L18089.5878,1039.2188 L18098.3222,1039.2188 L18098.3222,1041.3594 L18095.1816,1041.3594 L18095.1816,1051.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="181" x="18114.8378" y="1049.0137">urt_nodeShutdownCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="17931.0878" x2="18447.0878" y1="1060.8594" y2="1060.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="17931.0878" x2="18447.0878" y1="1068.8594" y2="1068.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="506" x="17936.0878" y="1083.0698">urt_nodeShutdownCallback_t (node : urt_node_t*, cause : urt_status_t, arg : void*) : void</text><!--MD5=[d2563153d77472384a15c07b815d639f]
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class urt_node_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="231.2656" id="urt_node_t" style="stroke: #A80036; stroke-width: 1.5;" width="1541" x="16793.5878" y="552.3594"/><ellipse cx="17526.3378" cy="568.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17525.8222,568.9219 Q17523.9628,568.2188 17523.3066,567.4531 Q17522.6659,566.6719 17522.6659,565.3594 Q17522.6659,563.6719 17523.7441,562.7031 Q17524.8222,561.7344 17526.6972,561.7344 Q17527.5566,561.7344 17528.4003,561.9375 Q17529.2597,562.125 17530.1034,562.5156 L17530.1034,564.9063 Q17529.3222,564.3438 17528.4941,564.0625 Q17527.6816,563.7656 17526.8847,563.7656 Q17526.0097,563.7656 17525.5253,564.125 Q17525.0566,564.4844 17525.0566,565.1406 Q17525.0566,565.6563 17525.4003,566 Q17525.7441,566.3281 17526.8378,566.7344 L17527.9003,567.1406 Q17529.3847,567.6875 17530.0878,568.5938 Q17530.8066,569.5 17530.8066,570.875 Q17530.8066,572.75 17529.6972,573.6719 Q17528.5878,574.5938 17526.3378,574.5938 Q17525.4159,574.5938 17524.4941,574.375 Q17523.5722,574.1563 17522.7128,573.7344 L17522.7128,571.2031 Q17523.6816,571.8906 17524.6034,572.2344 Q17525.5253,572.5781 17526.4159,572.5781 Q17527.3222,572.5781 17527.8222,572.1719 Q17528.3222,571.75 17528.3222,571.0156 Q17528.3222,570.4531 17527.9784,570.0469 Q17527.6503,569.625 17527.0253,569.375 L17525.8222,568.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="67" x="17546.8378" y="572.5137">urt_node_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="16794.5878" x2="18333.5878" y1="584.3594" y2="584.3594"/><ellipse cx="16804.5878" cy="595.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="102" x="16813.5878" y="598.5698">next : urt_node_t*</text><ellipse cx="16804.5878" cy="608.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="16813.5878" y="611.3745">thread : urt_osThread_t*</text><ellipse cx="16804.5878" cy="620.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="16813.5878" y="624.1792">setupcallback : urt_nodeSetupCallback_t*</text><ellipse cx="16804.5878" cy="633.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="117" x="16813.5878" y="636.9839">setupparams : void*</text><ellipse cx="16804.5878" cy="646.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="221" x="16813.5878" y="649.7886">loopcallback : urt_nodeLoopCallback_t*</text><ellipse cx="16804.5878" cy="659.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="109" x="16813.5878" y="662.5933">loopparams : void*</text><ellipse cx="16804.5878" cy="672.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="281" x="16813.5878" y="675.3979">shutdowncallback : urt_nodeShutdownCallback_t*</text><ellipse cx="16804.5878" cy="684.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="140" x="16813.5878" y="688.2026">shutdownparams : void*</text><ellipse cx="16804.5878" cy="697.7969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="16813.5878" y="701.0073">stage : urt_nodestage_t</text><ellipse cx="16804.5878" cy="710.6016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="178" x="16813.5878" y="713.812">listener : urt_osEventListener_t</text><ellipse cx="16804.5878" cy="740.2109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="88" x="16813.5878" y="743.4214">loops : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16794.5878" x2="17356.0878" y1="726.8086" y2="726.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="416" x="17356.0878" y="730.1167">URT_CFG_PUBSUB_PROFILING == true || URT_CFG_RPC_PROFILING = true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="17772.0878" x2="18333.5878" y1="726.8086" y2="726.8086"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="16794.5878" x2="18333.5878" y1="750.0156" y2="750.0156"/><rect fill="#F24D5C" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="16801.5878" y="758.0156"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="179" x="16813.5878" y="764.2261">_main : urt_osThreadFunction_t</text><ellipse cx="16804.5878" cy="773.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1515" x="16813.5878" y="777.0308">urtNodeInit (node : urt_node_t*, thread : urt_osThread_t*, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*, shutdowncallback : urt_nodeShutdownCallback_t*, shutodwnparams : void*) : void</text><!--MD5=[e602aa6d45f270ad04f88c9ca5352b33]
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class urt_message_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="141.6328" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="406" x="12420.0878" y="1304.8594"/><ellipse cx="12572.8378" cy="1320.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12572.3222,1321.4219 Q12570.4628,1320.7188 12569.8066,1319.9531 Q12569.1659,1319.1719 12569.1659,1317.8594 Q12569.1659,1316.1719 12570.2441,1315.2031 Q12571.3222,1314.2344 12573.1972,1314.2344 Q12574.0566,1314.2344 12574.9003,1314.4375 Q12575.7597,1314.625 12576.6034,1315.0156 L12576.6034,1317.4063 Q12575.8222,1316.8438 12574.9941,1316.5625 Q12574.1816,1316.2656 12573.3847,1316.2656 Q12572.5097,1316.2656 12572.0253,1316.625 Q12571.5566,1316.9844 12571.5566,1317.6406 Q12571.5566,1318.1563 12571.9003,1318.5 Q12572.2441,1318.8281 12573.3378,1319.2344 L12574.4003,1319.6406 Q12575.8847,1320.1875 12576.5878,1321.0938 Q12577.3066,1322 12577.3066,1323.375 Q12577.3066,1325.25 12576.1972,1326.1719 Q12575.0878,1327.0938 12572.8378,1327.0938 Q12571.9159,1327.0938 12570.9941,1326.875 Q12570.0722,1326.6563 12569.2128,1326.2344 L12569.2128,1323.7031 Q12570.1816,1324.3906 12571.1034,1324.7344 Q12572.0253,1325.0781 12572.9159,1325.0781 Q12573.8222,1325.0781 12574.3222,1324.6719 Q12574.8222,1324.25 12574.8222,1323.5156 Q12574.8222,1322.9531 12574.4784,1322.5469 Q12574.1503,1322.125 12573.5253,1321.875 L12572.3222,1321.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="12593.3378" y="1325.0137">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12421.0878" x2="12825.0878" y1="1336.8594" y2="1336.8594"/><ellipse cx="12431.0878" cy="1347.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="127" x="12440.0878" y="1351.0698">next : urt_message_t*</text><ellipse cx="12431.0878" cy="1360.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="12440.0878" y="1363.8745">payload : void*</text><ellipse cx="12431.0878" cy="1373.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="12440.0878" y="1376.6792">originTime : urt_osTime_t</text><ellipse cx="12431.0878" cy="1386.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="211" x="12440.0878" y="1389.4839">numHrtConsumersLeft : unsigned int</text><ellipse cx="12431.0878" cy="1415.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="12440.0878" y="1419.0933">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12421.0878" x2="12514.5878" y1="1402.4805" y2="1402.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12514.5878" y="1405.7886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12731.5878" x2="12825.0878" y1="1402.4805" y2="1402.4805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="12421.0878" x2="12825.0878" y1="1425.6875" y2="1425.6875"/><ellipse cx="12431.0878" cy="1436.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="12440.0878" y="1439.8979">urtMessageInit (message : urt_message_t*, payload : void*) : void</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]
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class urt_publisher_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="196.0469" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="783" x="11893.5878" y="569.8594"/><ellipse cx="12234.3378" cy="585.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12233.8222,586.4219 Q12231.9628,585.7188 12231.3066,584.9531 Q12230.6659,584.1719 12230.6659,582.8594 Q12230.6659,581.1719 12231.7441,580.2031 Q12232.8222,579.2344 12234.6972,579.2344 Q12235.5566,579.2344 12236.4003,579.4375 Q12237.2597,579.625 12238.1034,580.0156 L12238.1034,582.4063 Q12237.3222,581.8438 12236.4941,581.5625 Q12235.6816,581.2656 12234.8847,581.2656 Q12234.0097,581.2656 12233.5253,581.625 Q12233.0566,581.9844 12233.0566,582.6406 Q12233.0566,583.1563 12233.4003,583.5 Q12233.7441,583.8281 12234.8378,584.2344 L12235.9003,584.6406 Q12237.3847,585.1875 12238.0878,586.0938 Q12238.8066,587 12238.8066,588.375 Q12238.8066,590.25 12237.6972,591.1719 Q12236.5878,592.0938 12234.3378,592.0938 Q12233.4159,592.0938 12232.4941,591.875 Q12231.5722,591.6563 12230.7128,591.2344 L12230.7128,588.7031 Q12231.6816,589.3906 12232.6034,589.7344 Q12233.5253,590.0781 12234.4159,590.0781 Q12235.3222,590.0781 12235.8222,589.6719 Q12236.3222,589.25 12236.3222,588.5156 Q12236.3222,587.9531 12235.9784,587.5469 Q12235.6503,587.125 12235.0253,586.875 L12233.8222,586.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="12254.8378" y="590.0137">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11894.5878" x2="12675.5878" y1="601.8594" y2="601.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="289" x="11899.5878" y="616.0698">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT : bool</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11894.5878" x2="12675.5878" y1="622.6641" y2="622.6641"/><ellipse cx="11904.5878" cy="633.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="11913.5878" y="636.8745">topic : urt_topic_t*</text><ellipse cx="11904.5878" cy="663.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="149" x="11913.5878" y="666.4839">publishAttempts : uint64_t</text><ellipse cx="11904.5878" cy="676.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="11913.5878" y="679.2886">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11894.5878" x2="12176.5878" y1="649.8711" y2="649.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12176.5878" y="653.1792">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12393.5878" x2="12675.5878" y1="649.8711" y2="649.8711"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11894.5878" x2="12675.5878" y1="685.8828" y2="685.8828"/><ellipse cx="11904.5878" cy="696.8828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="572" x="11913.5878" y="700.0933">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void</text><ellipse cx="11904.5878" cy="726.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="632" x="11913.5878" y="729.7026">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t) : urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11894.5878" x2="12131.5878" y1="713.0898" y2="713.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="307" x="12131.5878" y="716.3979">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == false</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12438.5878" x2="12675.5878" y1="713.0898" y2="713.0898"/><ellipse cx="11904.5878" cy="756.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="757" x="11913.5878" y="759.312">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11894.5878" x2="12134.0878" y1="742.6992" y2="742.6992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="302" x="12134.0878" y="746.0073">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12436.0878" x2="12675.5878" y1="742.6992" y2="742.6992"/><!--MD5=[a1b1e66ec52c209a9fa2dab315cd7630]
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class urt_topic_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="260.875" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="11456.0878" y="537.3594"/><ellipse cx="11610.8378" cy="553.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11610.3222,553.9219 Q11608.4628,553.2188 11607.8066,552.4531 Q11607.1659,551.6719 11607.1659,550.3594 Q11607.1659,548.6719 11608.2441,547.7031 Q11609.3222,546.7344 11611.1972,546.7344 Q11612.0566,546.7344 11612.9003,546.9375 Q11613.7597,547.125 11614.6034,547.5156 L11614.6034,549.9063 Q11613.8222,549.3438 11612.9941,549.0625 Q11612.1816,548.7656 11611.3847,548.7656 Q11610.5097,548.7656 11610.0253,549.125 Q11609.5566,549.4844 11609.5566,550.1406 Q11609.5566,550.6563 11609.9003,551 Q11610.2441,551.3281 11611.3378,551.7344 L11612.4003,552.1406 Q11613.8847,552.6875 11614.5878,553.5938 Q11615.3066,554.5 11615.3066,555.875 Q11615.3066,557.75 11614.1972,558.6719 Q11613.0878,559.5938 11610.8378,559.5938 Q11609.9159,559.5938 11608.9941,559.375 Q11608.0722,559.1563 11607.2128,558.7344 L11607.2128,556.2031 Q11608.1816,556.8906 11609.1034,557.2344 Q11610.0253,557.5781 11610.9159,557.5781 Q11611.8222,557.5781 11612.3222,557.1719 Q11612.8222,556.75 11612.8222,556.0156 Q11612.8222,555.4531 11612.4784,555.0469 Q11612.1503,554.625 11611.5253,554.375 L11610.3222,553.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="11631.3378" y="557.5137">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11457.0878" x2="11839.0878" y1="569.3594" y2="569.3594"/><ellipse cx="11467.0878" cy="580.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="11476.0878" y="583.5698">next : urt_topic_t*</text><ellipse cx="11467.0878" cy="593.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="11476.0878" y="596.3745">id : urt_topicid_t</text><ellipse cx="11467.0878" cy="605.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="11476.0878" y="609.1792">lock : urt_osMutex_t</text><ellipse cx="11467.0878" cy="618.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="11476.0878" y="621.9839">evtSource : urt_osEventSource_t</text><ellipse cx="11467.0878" cy="631.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="11476.0878" y="634.7886">numHrtSubscribers : unsigned int</text><ellipse cx="11467.0878" cy="644.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="11476.0878" y="647.5933">hrtReleased : urt_osCondvar_t</text><ellipse cx="11467.0878" cy="657.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="209" x="11476.0878" y="660.3979">mandatoryMessage : urt_message_t</text><ellipse cx="11467.0878" cy="669.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="11476.0878" y="673.2026">latestMessage : urt_message_t*</text><ellipse cx="11467.0878" cy="699.6016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="212" x="11476.0878" y="702.812">hrtSubscribers : urt_hrtsubscriber_t*</text><ellipse cx="11467.0878" cy="712.4063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="170" x="11476.0878" y="715.6167">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11457.0878" x2="11515.5878" y1="686.1992" y2="686.1992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="11515.5878" y="689.5073">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11780.5878" x2="11839.0878" y1="686.1992" y2="686.1992"/><ellipse cx="11467.0878" cy="742.0156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="11476.0878" y="745.2261">numMessagesPublished : uint64_t</text><ellipse cx="11467.0878" cy="754.8203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="11476.0878" y="758.0308">numMessagesDiscarded : uint64_t</text><ellipse cx="11467.0878" cy="767.625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="11476.0878" y="770.8354">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11457.0878" x2="11539.5878" y1="728.6133" y2="728.6133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="11539.5878" y="731.9214">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11756.5878" x2="11839.0878" y1="728.6133" y2="728.6133"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11457.0878" x2="11839.0878" y1="777.4297" y2="777.4297"/><ellipse cx="11467.0878" cy="788.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="358" x="11476.0878" y="791.6401">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[50a042e24f957794dab9ba3ea8701c50]
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class urt_basesubscriber_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="133.6328" id="urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="225" x="12784.5878" y="992.3594"/><ellipse cx="12827.0378" cy="1008.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12826.5222,1008.9219 Q12824.6628,1008.2188 12824.0066,1007.4531 Q12823.3659,1006.6719 12823.3659,1005.3594 Q12823.3659,1003.6719 12824.4441,1002.7031 Q12825.5222,1001.7344 12827.3972,1001.7344 Q12828.2566,1001.7344 12829.1003,1001.9375 Q12829.9597,1002.125 12830.8034,1002.5156 L12830.8034,1004.9063 Q12830.0222,1004.3438 12829.1941,1004.0625 Q12828.3816,1003.7656 12827.5847,1003.7656 Q12826.7097,1003.7656 12826.2253,1004.125 Q12825.7566,1004.4844 12825.7566,1005.1406 Q12825.7566,1005.6563 12826.1003,1006 Q12826.4441,1006.3281 12827.5378,1006.7344 L12828.6003,1007.1406 Q12830.0847,1007.6875 12830.7878,1008.5938 Q12831.5066,1009.5 12831.5066,1010.875 Q12831.5066,1012.75 12830.3972,1013.6719 Q12829.2878,1014.5938 12827.0378,1014.5938 Q12826.1159,1014.5938 12825.1941,1014.375 Q12824.2722,1014.1563 12823.4128,1013.7344 L12823.4128,1011.2031 Q12824.3816,1011.8906 12825.3034,1012.2344 Q12826.2253,1012.5781 12827.1159,1012.5781 Q12828.0222,1012.5781 12828.5222,1012.1719 Q12829.0222,1011.75 12829.0222,1011.0156 Q12829.0222,1010.4531 12828.6784,1010.0469 Q12828.3503,1009.625 12827.7253,1009.375 L12826.5222,1008.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="132" x="12847.1378" y="1012.5137">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12785.5878" x2="13008.5878" y1="1024.3594" y2="1024.3594"/><ellipse cx="12795.5878" cy="1035.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="12804.5878" y="1038.5698">topic : urt_topic_t*</text><ellipse cx="12795.5878" cy="1048.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="12804.5878" y="1051.3745">evtListener : urt_osEventListener_t</text><ellipse cx="12795.5878" cy="1060.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="175" x="12804.5878" y="1064.1792">lastMessage : urt_message_t*</text><ellipse cx="12795.5878" cy="1073.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="12804.5878" y="1076.9839">lastMessageTime : urt_osTime_t</text><ellipse cx="12795.5878" cy="1103.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="12804.5878" y="1106.5933">sumLatencies : uint64_t</text><ellipse cx="12795.5878" cy="1116.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="12804.5878" y="1119.3979">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12785.5878" x2="12788.5878" y1="1089.9805" y2="1089.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12788.5878" y="1093.2886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13005.5878" x2="13008.5878" y1="1089.9805" y2="1089.9805"/><!--MD5=[9ff46073dd541e50679ef35e851c67d6]
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class urt_nrtsubscriber_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="154.4375" id="urt_nrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="821" x="14928.5878" y="590.8594"/><ellipse cx="15275.3378" cy="606.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M15274.8222,607.4219 Q15272.9628,606.7188 15272.3066,605.9531 Q15271.6659,605.1719 15271.6659,603.8594 Q15271.6659,602.1719 15272.7441,601.2031 Q15273.8222,600.2344 15275.6972,600.2344 Q15276.5566,600.2344 15277.4003,600.4375 Q15278.2597,600.625 15279.1034,601.0156 L15279.1034,603.4063 Q15278.3222,602.8438 15277.4941,602.5625 Q15276.6816,602.2656 15275.8847,602.2656 Q15275.0097,602.2656 15274.5253,602.625 Q15274.0566,602.9844 15274.0566,603.6406 Q15274.0566,604.1563 15274.4003,604.5 Q15274.7441,604.8281 15275.8378,605.2344 L15276.9003,605.6406 Q15278.3847,606.1875 15279.0878,607.0938 Q15279.8066,608 15279.8066,609.375 Q15279.8066,611.25 15278.6972,612.1719 Q15277.5878,613.0938 15275.3378,613.0938 Q15274.4159,613.0938 15273.4941,612.875 Q15272.5722,612.6563 15271.7128,612.2344 L15271.7128,609.7031 Q15272.6816,610.3906 15273.6034,610.7344 Q15274.5253,611.0781 15275.4159,611.0781 Q15276.3222,611.0781 15276.8222,610.6719 Q15277.3222,610.25 15277.3222,609.5156 Q15277.3222,608.9531 15276.9784,608.5469 Q15276.6503,608.125 15276.0253,607.875 L15274.8222,607.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="15295.8378" y="611.0137">urt_nrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="14929.5878" x2="15748.5878" y1="622.8594" y2="622.8594"/><ellipse cx="14939.5878" cy="650.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="14948.5878" y="653.8745">minLatency : urt_delay_t</text><ellipse cx="14939.5878" cy="663.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="14948.5878" y="666.6792">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="14929.5878" x2="15230.5878" y1="637.2617" y2="637.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="15230.5878" y="640.5698">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15447.5878" x2="15748.5878" y1="637.2617" y2="637.2617"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="14929.5878" x2="15748.5878" y1="673.2734" y2="673.2734"/><ellipse cx="14939.5878" cy="684.2734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="14948.5878" y="687.4839">urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : void</text><ellipse cx="14939.5878" cy="697.0781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="715" x="14948.5878" y="700.2886">urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="14939.5878" cy="709.8828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="14948.5878" y="713.0933">urtNrtSubscriberFetchNextMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="14939.5878" cy="722.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="14948.5878" y="725.8979">urtNrtSubscriberFetchLatestMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="14939.5878" cy="735.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="14948.5878" y="738.7026">urtNrtSubscriberUnsubscribe (subscriber : urt_nrtsubscriber_t*) : urt_status_t</text><!--MD5=[5c7929572d87ccc448d875bea5da0fb1]
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class urt_srtsubscriber_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="192.8516" id="urt_srtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1044" x="13849.0878" y="571.3594"/><ellipse cx="14307.8378" cy="587.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M14307.3222,587.9219 Q14305.4628,587.2188 14304.8066,586.4531 Q14304.1659,585.6719 14304.1659,584.3594 Q14304.1659,582.6719 14305.2441,581.7031 Q14306.3222,580.7344 14308.1972,580.7344 Q14309.0566,580.7344 14309.9003,580.9375 Q14310.7597,581.125 14311.6034,581.5156 L14311.6034,583.9063 Q14310.8222,583.3438 14309.9941,583.0625 Q14309.1816,582.7656 14308.3847,582.7656 Q14307.5097,582.7656 14307.0253,583.125 Q14306.5566,583.4844 14306.5566,584.1406 Q14306.5566,584.6563 14306.9003,585 Q14307.2441,585.3281 14308.3378,585.7344 L14309.4003,586.1406 Q14310.8847,586.6875 14311.5878,587.5938 Q14312.3066,588.5 14312.3066,589.875 Q14312.3066,591.75 14311.1972,592.6719 Q14310.0878,593.5938 14307.8378,593.5938 Q14306.9159,593.5938 14305.9941,593.375 Q14305.0722,593.1563 14304.2128,592.7344 L14304.2128,590.2031 Q14305.1816,590.8906 14306.1034,591.2344 Q14307.0253,591.5781 14307.9159,591.5781 Q14308.8222,591.5781 14309.3222,591.1719 Q14309.8222,590.75 14309.8222,590.0156 Q14309.8222,589.4531 14309.4784,589.0469 Q14309.1503,588.625 14308.5253,588.375 L14307.3222,587.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="14328.3378" y="591.5137">urt_srtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="13850.0878" x2="14892.0878" y1="603.3594" y2="603.3594"/><ellipse cx="13860.0878" cy="614.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="13869.0878" y="617.5698">usefulnesscb : urt_usefulness_f*</text><ellipse cx="13860.0878" cy="627.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="13869.0878" y="630.3745">cbparams : void*</text><ellipse cx="13860.0878" cy="656.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="13869.0878" y="659.9839">minLatency : urt_delay_t</text><ellipse cx="13860.0878" cy="669.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="13869.0878" y="672.7886">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13850.0878" x2="14262.5878" y1="643.3711" y2="643.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="14262.5878" y="646.6792">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="14479.5878" x2="14892.0878" y1="643.3711" y2="643.3711"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="13850.0878" x2="14892.0878" y1="679.3828" y2="679.3828"/><ellipse cx="13860.0878" cy="690.3828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="13869.0878" y="693.5933">urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void</text><ellipse cx="13860.0878" cy="703.1875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1018" x="13869.0878" y="706.3979">urtSrtSubscriberSubscribe (subscriber : urt_srtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_usefulness_f*, cbparams : void*) : urt_status_t</text><ellipse cx="13860.0878" cy="715.9922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="13869.0878" y="719.2026">urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="13860.0878" cy="728.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="13869.0878" y="732.0073">urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="13860.0878" cy="741.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="13869.0878" y="744.812">urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float</text><ellipse cx="13860.0878" cy="754.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="13869.0878" y="757.6167">urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t</text><!--MD5=[17838fb05fe219fd399839979ec8a4a4]
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class urt_frtsubscriber_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="226.4609" id="urt_frtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="974" x="15784.0878" y="554.8594"/><ellipse cx="16209.3378" cy="570.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M16208.8222,571.4219 Q16206.9628,570.7188 16206.3066,569.9531 Q16205.6659,569.1719 16205.6659,567.8594 Q16205.6659,566.1719 16206.7441,565.2031 Q16207.8222,564.2344 16209.6972,564.2344 Q16210.5566,564.2344 16211.4003,564.4375 Q16212.2597,564.625 16213.1034,565.0156 L16213.1034,567.4063 Q16212.3222,566.8438 16211.4941,566.5625 Q16210.6816,566.2656 16209.8847,566.2656 Q16209.0097,566.2656 16208.5253,566.625 Q16208.0566,566.9844 16208.0566,567.6406 Q16208.0566,568.1563 16208.4003,568.5 Q16208.7441,568.8281 16209.8378,569.2344 L16210.9003,569.6406 Q16212.3847,570.1875 16213.0878,571.0938 Q16213.8066,572 16213.8066,573.375 Q16213.8066,575.25 16212.6972,576.1719 Q16211.5878,577.0938 16209.3378,577.0938 Q16208.4159,577.0938 16207.4941,576.875 Q16206.5722,576.6563 16205.7128,576.2344 L16205.7128,573.7031 Q16206.6816,574.3906 16207.6034,574.7344 Q16208.5253,575.0781 16209.4159,575.0781 Q16210.3222,575.0781 16210.8222,574.6719 Q16211.3222,574.25 16211.3222,573.5156 Q16211.3222,572.9531 16210.9784,572.5469 Q16210.6503,572.125 16210.0253,571.875 L16208.8222,571.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="16229.8378" y="575.0137">urt_frtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="15785.0878" x2="16757.0878" y1="586.8594" y2="586.8594"/><ellipse cx="15795.0878" cy="614.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="15804.0878" y="617.8745">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15785.0878" x2="16125.5878" y1="601.2617" y2="601.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="16125.5878" y="604.5698">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16416.5878" x2="16757.0878" y1="601.2617" y2="601.2617"/><ellipse cx="15795.0878" cy="644.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="15804.0878" y="647.4839">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15785.0878" x2="16135.5878" y1="630.8711" y2="630.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="16135.5878" y="634.1792">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16406.5878" x2="16757.0878" y1="630.8711" y2="630.8711"/><ellipse cx="15795.0878" cy="673.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="15804.0878" y="677.0933">minLatency : urt_delay_t</text><ellipse cx="15795.0878" cy="686.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="15804.0878" y="689.8979">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15785.0878" x2="16017.0878" y1="660.4805" y2="660.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="508" x="16017.0878" y="663.7886">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ||  URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16525.0878" x2="16757.0878" y1="660.4805" y2="660.4805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="15785.0878" x2="16757.0878" y1="696.4922" y2="696.4922"/><ellipse cx="15795.0878" cy="707.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="342" x="15804.0878" y="710.7026">urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : void</text><ellipse cx="15795.0878" cy="720.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="948" x="15804.0878" y="723.5073">urtFrtSubscriberSubscribe (subscriber : urt_frtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="15795.0878" cy="733.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="780" x="15804.0878" y="736.312">urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="15795.0878" cy="745.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="790" x="15804.0878" y="749.1167">urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="15795.0878" cy="758.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="540" x="15804.0878" y="761.9214">urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool</text><ellipse cx="15795.0878" cy="771.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="441" x="15804.0878" y="774.7261">urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t</text><!--MD5=[104dc879e5721421b987fcc467bc3a1d]
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class urt_hrtsubscriber_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="268.875" id="urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="12712.0878" y="533.3594"/><ellipse cx="13190.3378" cy="549.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M13189.8222,549.9219 Q13187.9628,549.2188 13187.3066,548.4531 Q13186.6659,547.6719 13186.6659,546.3594 Q13186.6659,544.6719 13187.7441,543.7031 Q13188.8222,542.7344 13190.6972,542.7344 Q13191.5566,542.7344 13192.4003,542.9375 Q13193.2597,543.125 13194.1034,543.5156 L13194.1034,545.9063 Q13193.3222,545.3438 13192.4941,545.0625 Q13191.6816,544.7656 13190.8847,544.7656 Q13190.0097,544.7656 13189.5253,545.125 Q13189.0566,545.4844 13189.0566,546.1406 Q13189.0566,546.6563 13189.4003,547 Q13189.7441,547.3281 13190.8378,547.7344 L13191.9003,548.1406 Q13193.3847,548.6875 13194.0878,549.5938 Q13194.8066,550.5 13194.8066,551.875 Q13194.8066,553.75 13193.6972,554.6719 Q13192.5878,555.5938 13190.3378,555.5938 Q13189.4159,555.5938 13188.4941,555.375 Q13187.5722,555.1563 13186.7128,554.7344 L13186.7128,552.2031 Q13187.6816,552.8906 13188.6034,553.2344 Q13189.5253,553.5781 13190.4159,553.5781 Q13191.3222,553.5781 13191.8222,553.1719 Q13192.3222,552.75 13192.3222,552.0156 Q13192.3222,551.4531 13191.9784,551.0469 Q13191.6503,550.625 13191.0253,550.375 L13189.8222,549.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="13210.8378" y="553.5137">urt_hrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12713.0878" x2="13795.0878" y1="565.3594" y2="565.3594"/><ellipse cx="12723.0878" cy="576.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="151" x="12732.0878" y="579.5698">next : urt_hrtsubscriber_t*</text><ellipse cx="12723.0878" cy="605.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="12732.0878" y="609.1792">deadlineOffset : urt_delay_t</text><ellipse cx="12723.0878" cy="618.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="12732.0878" y="621.9839">qosDeadlineTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12713.0878" x2="13108.5878" y1="592.5664" y2="592.5664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="13108.5878" y="595.8745">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13399.5878" x2="13795.0878" y1="592.5664" y2="592.5664"/><ellipse cx="12723.0878" cy="648.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="12732.0878" y="651.5933">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12713.0878" x2="13118.5878" y1="634.9805" y2="634.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="13118.5878" y="638.2886">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13389.5878" x2="13795.0878" y1="634.9805" y2="634.9805"/><ellipse cx="12723.0878" cy="677.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="12732.0878" y="681.2026">minLatency : urt_delay_t</text><ellipse cx="12723.0878" cy="690.7969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="12732.0878" y="694.0073">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12713.0878" x2="13002.0878" y1="664.5898" y2="664.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="13002.0878" y="667.8979">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13506.0878" x2="13795.0878" y1="664.5898" y2="664.5898"/><ellipse cx="12723.0878" cy="720.4063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="12732.0878" y="723.6167">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12713.0878" x2="13121.5878" y1="707.0039" y2="707.0039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="13121.5878" y="710.312">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13386.5878" x2="13795.0878" y1="707.0039" y2="707.0039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="12713.0878" x2="13795.0878" y1="730.2109" y2="730.2109"/><ellipse cx="12723.0878" cy="741.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="12732.0878" y="744.4214">urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : void</text><ellipse cx="12723.0878" cy="754.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1058" x="12732.0878" y="757.2261">urtHrtSubscriberSubscribe (subscriber : urt_hrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, rate : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="12723.0878" cy="766.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="12732.0878" y="770.0308">urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="12723.0878" cy="779.625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="12732.0878" y="782.8354">urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="12723.0878" cy="792.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="12732.0878" y="795.6401">urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t</text><!--MD5=[e60e0f8379a14e7a4a292c65add9d735]
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class urt_service_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="269.6797" id="urt_service_t" style="stroke: #A80036; stroke-width: 1.5;" width="596" x="8165.0878" y="532.8594"/><ellipse cx="8419.3378" cy="548.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8418.8222,549.4219 Q8416.9628,548.7188 8416.3066,547.9531 Q8415.6659,547.1719 8415.6659,545.8594 Q8415.6659,544.1719 8416.7441,543.2031 Q8417.8222,542.2344 8419.6972,542.2344 Q8420.5566,542.2344 8421.4003,542.4375 Q8422.2597,542.625 8423.1034,543.0156 L8423.1034,545.4063 Q8422.3222,544.8438 8421.4941,544.5625 Q8420.6816,544.2656 8419.8847,544.2656 Q8419.0097,544.2656 8418.5253,544.625 Q8418.0566,544.9844 8418.0566,545.6406 Q8418.0566,546.1563 8418.4003,546.5 Q8418.7441,546.8281 8419.8378,547.2344 L8420.9003,547.6406 Q8422.3847,548.1875 8423.0878,549.0938 Q8423.8066,550 8423.8066,551.375 Q8423.8066,553.25 8422.6972,554.1719 Q8421.5878,555.0938 8419.3378,555.0938 Q8418.4159,555.0938 8417.4941,554.875 Q8416.5722,554.6563 8415.7128,554.2344 L8415.7128,551.7031 Q8416.6816,552.3906 8417.6034,552.7344 Q8418.5253,553.0781 8419.4159,553.0781 Q8420.3222,553.0781 8420.8222,552.6719 Q8421.3222,552.25 8421.3222,551.5156 Q8421.3222,550.9531 8420.9784,550.5469 Q8420.6503,550.125 8420.0253,549.875 L8418.8222,549.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="8439.8378" y="553.0137">urt_service_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8166.0878" x2="8760.0878" y1="564.8594" y2="564.8594"/><ellipse cx="8176.0878" cy="575.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="115" x="8185.0878" y="579.0698">next : urt_service_t*</text><ellipse cx="8176.0878" cy="588.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="105" x="8185.0878" y="591.8745">id : urt_serviceid_t</text><ellipse cx="8176.0878" cy="601.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="8185.0878" y="604.6792">lock : urt_osMutex_t</text><ellipse cx="8176.0878" cy="614.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="8185.0878" y="617.4839">requestQueue_front : urt_baserequest_t*</text><ellipse cx="8176.0878" cy="627.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="8185.0878" y="630.2886">requestQueue_hrtBack : urt_hrtrequest_t*</text><ellipse cx="8176.0878" cy="639.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="256" x="8185.0878" y="643.0933">requestQueue_fsrtBack : urt_baserequest_t*</text><ellipse cx="8176.0878" cy="652.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="8185.0878" y="655.8979">requestQueue_back : urt_baserequest_t*</text><ellipse cx="8176.0878" cy="665.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="8185.0878" y="668.7026">evtSource : urt_osEventSource_t</text><ellipse cx="8176.0878" cy="678.2969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="8185.0878" y="681.5073">evtListener : urt_osEventListener_t</text><ellipse cx="8176.0878" cy="707.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="8185.0878" y="711.1167">numCalls : uint64_t</text><ellipse cx="8176.0878" cy="720.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="8185.0878" y="723.9214">numOwnershipLost : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8166.0878" x2="8367.0878" y1="694.5039" y2="694.5039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="8367.0878" y="697.812">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8559.0878" x2="8760.0878" y1="694.5039" y2="694.5039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8166.0878" x2="8760.0878" y1="730.5156" y2="730.5156"/><ellipse cx="8176.0878" cy="741.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="412" x="8185.0878" y="744.7261">urtServiceInit (service : urt_service_t*, id : urt_serviceid_t) : urt_status_t</text><ellipse cx="8176.0878" cy="754.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="549" x="8185.0878" y="757.5308">urtServiceDispatch (service : urt_service_t*, payload : void*, bytes : size_t) : urt_baserequest_t*</text><ellipse cx="8176.0878" cy="767.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="552" x="8185.0878" y="770.3354">urtServiceAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="8176.0878" cy="779.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="8185.0878" y="783.1401">urtServiceTryAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="8176.0878" cy="792.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="365" x="8185.0878" y="795.9448">urtServiceRespond (request : urt_baserequest_t*) : urt_status_t</text><!--MD5=[7294e1cfaeb111bef046bc5d07a96458]
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class urt_baserequest_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="197.6563" id="urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="224" x="8814.0878" y="568.8594"/><ellipse cx="8864.3378" cy="584.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8863.8222,585.4219 Q8861.9628,584.7188 8861.3066,583.9531 Q8860.6659,583.1719 8860.6659,581.8594 Q8860.6659,580.1719 8861.7441,579.2031 Q8862.8222,578.2344 8864.6972,578.2344 Q8865.5566,578.2344 8866.4003,578.4375 Q8867.2597,578.625 8868.1034,579.0156 L8868.1034,581.4063 Q8867.3222,580.8438 8866.4941,580.5625 Q8865.6816,580.2656 8864.8847,580.2656 Q8864.0097,580.2656 8863.5253,580.625 Q8863.0566,580.9844 8863.0566,581.6406 Q8863.0566,582.1563 8863.4003,582.5 Q8863.7441,582.8281 8864.8378,583.2344 L8865.9003,583.6406 Q8867.3847,584.1875 8868.0878,585.0938 Q8868.8066,586 8868.8066,587.375 Q8868.8066,589.25 8867.6972,590.1719 Q8866.5878,591.0938 8864.3378,591.0938 Q8863.4159,591.0938 8862.4941,590.875 Q8861.5722,590.6563 8860.7128,590.2344 L8860.7128,587.7031 Q8861.6816,588.3906 8862.6034,588.7344 Q8863.5253,589.0781 8864.4159,589.0781 Q8865.3222,589.0781 8865.8222,588.6719 Q8866.3222,588.25 8866.3222,587.5156 Q8866.3222,586.9531 8865.9784,586.5469 Q8865.6503,586.125 8865.0253,585.875 L8863.8222,585.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="8884.8378" y="589.0137">urt_baserequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8815.0878" x2="9037.0878" y1="600.8594" y2="600.8594"/><ellipse cx="8825.0878" cy="611.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="147" x="8834.0878" y="615.0698">prev : urt_baserequest_t*</text><ellipse cx="8825.0878" cy="624.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="8834.0878" y="627.8745">next : urt_baserequest_t*</text><ellipse cx="8825.0878" cy="637.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="8834.0878" y="640.6792">lock : urt_osMutex_t</text><ellipse cx="8825.0878" cy="650.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="126" x="8834.0878" y="653.4839">owner : urt_service_t*</text><ellipse cx="8825.0878" cy="663.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="8834.0878" y="666.2886">submissionTime : urt_osTime_t</text><ellipse cx="8825.0878" cy="675.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="8834.0878" y="679.0933">payload : void*</text><ellipse cx="8825.0878" cy="688.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="8834.0878" y="691.8979">evtSource : urt_osEventSource_t</text><ellipse cx="8825.0878" cy="701.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="8834.0878" y="704.7026">evtListener : urt_osEventListener_t</text><ellipse cx="8825.0878" cy="731.1016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="8834.0878" y="734.312">sumLatencies : uint64_t</text><ellipse cx="8825.0878" cy="743.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="8834.0878" y="747.1167">numCalls : uint64_t</text><ellipse cx="8825.0878" cy="756.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="108" x="8834.0878" y="759.9214">numFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8815.0878" x2="8830.0878" y1="717.6992" y2="717.6992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="8830.0878" y="721.0073">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9022.0878" x2="9037.0878" y1="717.6992" y2="717.6992"/><!--MD5=[65269c71e9a2a076bc4014c9b128c9e6]
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class urt_nrtrequest_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="167.2422" id="urt_nrtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="531" x="10201.5878" y="229.3594"/><ellipse cx="10411.8378" cy="245.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10411.3222,245.9219 Q10409.4628,245.2188 10408.8066,244.4531 Q10408.1659,243.6719 10408.1659,242.3594 Q10408.1659,240.6719 10409.2441,239.7031 Q10410.3222,238.7344 10412.1972,238.7344 Q10413.0566,238.7344 10413.9003,238.9375 Q10414.7597,239.125 10415.6034,239.5156 L10415.6034,241.9063 Q10414.8222,241.3438 10413.9941,241.0625 Q10413.1816,240.7656 10412.3847,240.7656 Q10411.5097,240.7656 10411.0253,241.125 Q10410.5566,241.4844 10410.5566,242.1406 Q10410.5566,242.6563 10410.9003,243 Q10411.2441,243.3281 10412.3378,243.7344 L10413.4003,244.1406 Q10414.8847,244.6875 10415.5878,245.5938 Q10416.3066,246.5 10416.3066,247.875 Q10416.3066,249.75 10415.1972,250.6719 Q10414.0878,251.5938 10411.8378,251.5938 Q10410.9159,251.5938 10409.9941,251.375 Q10409.0722,251.1563 10408.2128,250.7344 L10408.2128,248.2031 Q10409.1816,248.8906 10410.1034,249.2344 Q10411.0253,249.5781 10411.9159,249.5781 Q10412.8222,249.5781 10413.3222,249.1719 Q10413.8222,248.75 10413.8222,248.0156 Q10413.8222,247.4531 10413.4784,247.0469 Q10413.1503,246.625 10412.5253,246.375 L10411.3222,245.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="10432.3378" y="249.5137">urt_nrtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10202.5878" x2="10731.5878" y1="261.3594" y2="261.3594"/><ellipse cx="10212.5878" cy="289.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="10221.5878" y="292.3745">minLatency : urt_delay_t</text><ellipse cx="10212.5878" cy="301.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="10221.5878" y="305.1792">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10202.5878" x2="10371.0878" y1="275.7617" y2="275.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="10371.0878" y="279.0698">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10563.0878" x2="10731.5878" y1="275.7617" y2="275.7617"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="10202.5878" x2="10731.5878" y1="311.7734" y2="311.7734"/><ellipse cx="10212.5878" cy="322.7734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="10221.5878" y="325.9839">urtNrtRequestInit (request : urt_nrtrequest_t*) : void</text><ellipse cx="10212.5878" cy="335.5781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="367" x="10221.5878" y="338.7886">urtNrtRequestAcquire (request : urt_nrtrequest_t*) : urt_status_t</text><ellipse cx="10212.5878" cy="348.3828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="385" x="10221.5878" y="351.5933">urtNrtRequestTryAcquire (request : urt_nrtrequest_t*) : urt_status_t</text><ellipse cx="10212.5878" cy="361.1875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="10221.5878" y="364.3979">urtNrtRequestRelease (request : urt_nrtrequest_t*) : urt_status_t</text><ellipse cx="10212.5878" cy="373.9922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="505" x="10221.5878" y="377.2026">urtNrtRequestSubmit (request : urt_nrtrequest_t*, service : urt_service_t*) : urt_status_t</text><ellipse cx="10212.5878" cy="386.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="10221.5878" y="390.0073">urtNrtRequestRetrieve (request : urt_nrtrequest_t*) : urt_status_t</text><!--MD5=[e9d515ad43a4cecec056dd09bc14a3c2]
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class urt_srtrequest_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="180.0469" id="urt_srtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="675" x="9491.5878" y="222.8594"/><ellipse cx="9774.3378" cy="238.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9773.8222,239.4219 Q9771.9628,238.7188 9771.3066,237.9531 Q9770.6659,237.1719 9770.6659,235.8594 Q9770.6659,234.1719 9771.7441,233.2031 Q9772.8222,232.2344 9774.6972,232.2344 Q9775.5566,232.2344 9776.4003,232.4375 Q9777.2597,232.625 9778.1034,233.0156 L9778.1034,235.4063 Q9777.3222,234.8438 9776.4941,234.5625 Q9775.6816,234.2656 9774.8847,234.2656 Q9774.0097,234.2656 9773.5253,234.625 Q9773.0566,234.9844 9773.0566,235.6406 Q9773.0566,236.1563 9773.4003,236.5 Q9773.7441,236.8281 9774.8378,237.2344 L9775.9003,237.6406 Q9777.3847,238.1875 9778.0878,239.0938 Q9778.8066,240 9778.8066,241.375 Q9778.8066,243.25 9777.6972,244.1719 Q9776.5878,245.0938 9774.3378,245.0938 Q9773.4159,245.0938 9772.4941,244.875 Q9771.5722,244.6563 9770.7128,244.2344 L9770.7128,241.7031 Q9771.6816,242.3906 9772.6034,242.7344 Q9773.5253,243.0781 9774.4159,243.0781 Q9775.3222,243.0781 9775.8222,242.6719 Q9776.3222,242.25 9776.3222,241.5156 Q9776.3222,240.9531 9775.9784,240.5469 Q9775.6503,240.125 9775.0253,239.875 L9773.8222,239.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="9794.8378" y="243.0137">urt_srtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9492.5878" x2="10165.5878" y1="254.8594" y2="254.8594"/><ellipse cx="9502.5878" cy="282.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="9511.5878" y="285.8745">minLatency : urt_delay_t</text><ellipse cx="9502.5878" cy="295.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="9511.5878" y="298.6792">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9492.5878" x2="9733.0878" y1="269.2617" y2="269.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="9733.0878" y="272.5698">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9925.0878" x2="10165.5878" y1="269.2617" y2="269.2617"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="9492.5878" x2="10165.5878" y1="305.2734" y2="305.2734"/><ellipse cx="9502.5878" cy="316.2734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="9511.5878" y="319.4839">urtSrtRequestInit (request : urt_srtrequest_t*) : void</text><ellipse cx="9502.5878" cy="329.0781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="367" x="9511.5878" y="332.2886">urtSrtRequestAcquire (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9502.5878" cy="341.8828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="385" x="9511.5878" y="345.0933">urtSrtRequestTryAcquire (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9502.5878" cy="354.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="9511.5878" y="357.8979">urtSrtRequestRelease (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9502.5878" cy="367.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="505" x="9511.5878" y="370.7026">urtSrtRequestSubmit (request : urt_srtrequest_t*, service : urt_service_t*) : urt_status_t</text><ellipse cx="9502.5878" cy="380.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="9511.5878" y="383.5073">urtSrtRequestRetrieve (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9502.5878" cy="393.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="649" x="9511.5878" y="396.312">urtSrtCalculateUsefulness (request : urt_srtrequest_t*, usefulnesscb : urt_usefulness_f, cbparams : void*) : float</text><!--MD5=[240977dbca9212fa5365c87da90aa051]
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class urt_frtrequest_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="268.875" id="urt_frtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="656" x="10768.0878" y="178.3594"/><ellipse cx="11042.8378" cy="194.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11042.3222,194.9219 Q11040.4628,194.2188 11039.8066,193.4531 Q11039.1659,192.6719 11039.1659,191.3594 Q11039.1659,189.6719 11040.2441,188.7031 Q11041.3222,187.7344 11043.1972,187.7344 Q11044.0566,187.7344 11044.9003,187.9375 Q11045.7597,188.125 11046.6034,188.5156 L11046.6034,190.9063 Q11045.8222,190.3438 11044.9941,190.0625 Q11044.1816,189.7656 11043.3847,189.7656 Q11042.5097,189.7656 11042.0253,190.125 Q11041.5566,190.4844 11041.5566,191.1406 Q11041.5566,191.6563 11041.9003,192 Q11042.2441,192.3281 11043.3378,192.7344 L11044.4003,193.1406 Q11045.8847,193.6875 11046.5878,194.5938 Q11047.3066,195.5 11047.3066,196.875 Q11047.3066,198.75 11046.1972,199.6719 Q11045.0878,200.5938 11042.8378,200.5938 Q11041.9159,200.5938 11040.9941,200.375 Q11040.0722,200.1563 11039.2128,199.7344 L11039.2128,197.2031 Q11040.1816,197.8906 11041.1034,198.2344 Q11042.0253,198.5781 11042.9159,198.5781 Q11043.8222,198.5781 11044.3222,198.1719 Q11044.8222,197.75 11044.8222,197.0156 Q11044.8222,196.4531 11044.4784,196.0469 Q11044.1503,195.625 11043.5253,195.375 L11042.3222,194.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="98" x="11063.3378" y="198.5137">urt_frtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10769.0878" x2="11423.0878" y1="210.3594" y2="210.3594"/><ellipse cx="10779.0878" cy="238.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="10788.0878" y="241.3745">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10769.0878" x2="10963.0878" y1="224.7617" y2="224.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="266" x="10963.0878" y="228.0698">URT_CFG_RPC_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11229.0878" x2="11423.0878" y1="224.7617" y2="224.7617"/><ellipse cx="10779.0878" cy="267.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="10788.0878" y="270.9839">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10769.0878" x2="10973.0878" y1="254.3711" y2="254.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="10973.0878" y="257.6792">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11219.0878" x2="11423.0878" y1="254.3711" y2="254.3711"/><ellipse cx="10779.0878" cy="297.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="10788.0878" y="300.5933">minLatency : urt_delay_t</text><ellipse cx="10779.0878" cy="310.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="10788.0878" y="313.3979">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10769.0878" x2="10869.0878" y1="283.9805" y2="283.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="454" x="10869.0878" y="287.2886">URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11323.0878" x2="11423.0878" y1="283.9805" y2="283.9805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="10769.0878" x2="11423.0878" y1="319.9922" y2="319.9922"/><ellipse cx="10779.0878" cy="330.9922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="292" x="10788.0878" y="334.2026">urtFrtRequestInit (request : urt_frtrequest_t*) : void</text><ellipse cx="10779.0878" cy="343.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="362" x="10788.0878" y="347.0073">urtFrtRequestAcquire (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="10779.0878" cy="356.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="10788.0878" y="359.812">urtFrtRequestTryAcquire (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="10779.0878" cy="369.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="365" x="10788.0878" y="372.6167">urtFrtRequestRelease (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="10779.0878" cy="382.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="630" x="10788.0878" y="385.4214">urtFrtRequestSubmit (request : urt_frtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t</text><ellipse cx="10779.0878" cy="395.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="366" x="10788.0878" y="398.2261">urtFrtRequestRetrieve (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="10779.0878" cy="407.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="318" x="10788.0878" y="411.0308">urtDrtCalculateValidity (request : urt_frtrequest_t) : bool</text><ellipse cx="10779.0878" cy="437.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="423" x="10788.0878" y="440.6401">urtFrtRequestGetMaxJitter (request : urt_frtrequest_t*) : urt_delay_t* const</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10769.0878" x2="10973.0878" y1="424.0273" y2="424.0273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="10973.0878" y="427.3354">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; 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class urt_hrtrequest_t--><rect fill="#FEFECE" filter="url(#fagjfti7u2xwn)" height="285.6797" id="urt_hrtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="661" x="8795.5878" y="169.8594"/><ellipse cx="9070.8378" cy="185.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9070.3222,186.4219 Q9068.4628,185.7188 9067.8066,184.9531 Q9067.1659,184.1719 9067.1659,182.8594 Q9067.1659,181.1719 9068.2441,180.2031 Q9069.3222,179.2344 9071.1972,179.2344 Q9072.0566,179.2344 9072.9003,179.4375 Q9073.7597,179.625 9074.6034,180.0156 L9074.6034,182.4063 Q9073.8222,181.8438 9072.9941,181.5625 Q9072.1816,181.2656 9071.3847,181.2656 Q9070.5097,181.2656 9070.0253,181.625 Q9069.5566,181.9844 9069.5566,182.6406 Q9069.5566,183.1563 9069.9003,183.5 Q9070.2441,183.8281 9071.3378,184.2344 L9072.4003,184.6406 Q9073.8847,185.1875 9074.5878,186.0938 Q9075.3066,187 9075.3066,188.375 Q9075.3066,190.25 9074.1972,191.1719 Q9073.0878,192.0938 9070.8378,192.0938 Q9069.9159,192.0938 9068.9941,191.875 Q9068.0722,191.6563 9067.2128,191.2344 L9067.2128,188.7031 Q9068.1816,189.3906 9069.1034,189.7344 Q9070.0253,190.0781 9070.9159,190.0781 Q9071.8222,190.0781 9072.3222,189.6719 Q9072.8222,189.25 9072.8222,188.5156 Q9072.8222,187.9531 9072.4784,187.5469 Q9072.1503,187.125 9071.5253,186.875 L9070.3222,186.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="9091.3378" y="190.0137">urt_hrtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8796.5878" x2="9455.5878" y1="201.8594" y2="201.8594"/><ellipse cx="8806.5878" cy="229.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="8815.5878" y="232.8745">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8796.5878" x2="8993.0878" y1="216.2617" y2="216.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="266" x="8993.0878" y="219.5698">URT_CFG_RPC_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9259.0878" x2="9455.5878" y1="216.2617" y2="216.2617"/><ellipse cx="8806.5878" cy="259.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="8815.5878" y="262.4839">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8796.5878" x2="9003.0878" y1="245.8711" y2="245.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="9003.0878" y="249.1792">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9249.0878" x2="9455.5878" y1="245.8711" y2="245.8711"/><ellipse cx="8806.5878" cy="288.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="8815.5878" y="292.0933">qosTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8796.5878" x2="8862.0878" y1="275.4805" y2="275.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="528" x="8862.0878" y="278.7886">URT_CFG_RPC_QOS_DEADLINECHECKS == true || URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9390.0878" x2="9455.5878" y1="275.4805" y2="275.4805"/><ellipse cx="8806.5878" cy="318.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="8815.5878" y="321.7026">minLatency : urt_delay_t</text><ellipse cx="8806.5878" cy="331.2969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="8815.5878" y="334.5073">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8796.5878" x2="8899.0878" y1="305.0898" y2="305.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="454" x="8899.0878" y="308.3979">URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9353.0878" x2="9455.5878" y1="305.0898" y2="305.0898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8796.5878" x2="9455.5878" y1="341.1016" y2="341.1016"/><ellipse cx="8806.5878" cy="352.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="8815.5878" y="355.312">urtHrtRequestInit (request : urt_hrtrequest_t*) : void</text><ellipse cx="8806.5878" cy="364.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="367" x="8815.5878" y="368.1167">urtHrtRequestAcquire (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8806.5878" cy="377.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="385" x="8815.5878" y="380.9214">urtHrtRequestTryAcquire (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8806.5878" cy="390.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="8815.5878" y="393.7261">urtHrtRequestRelease (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8806.5878" cy="403.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="635" x="8815.5878" y="406.5308">urtHrtRequestSubmit (request : urt_hrtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t</text><ellipse cx="8806.5878" cy="416.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="8815.5878" y="419.3354">urtHrtRequestRetrieve (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8806.5878" cy="445.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="428" x="8815.5878" y="448.9448">urtHrtRequestGetMaxJitter (request : urt_hrtrequest_t*) : urt_delay_t* const</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8796.5878" x2="9003.0878" y1="432.332" y2="432.332"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="9003.0878" y="435.6401">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9249.0878" x2="9455.5878" y1="432.332" y2="432.332"/><!--MD5=[e0c5ef58bc626bdfda028ecb031e1681]
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link urt_usefulness_f to urt_delay_t--><path d="M7076.9987,1089.9276 C7045.0724,1130.1488 6983.6801,1200.4556 6916.0878,1240.8594 C6808.0584,1305.4349 6666.319,1341.7492 6573.7643,1360.0737 " fill="none" id="urt_usefulness_f-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6568.8439,1361.0401,6578.4461,1363.2304,6573.7501,1360.0764,6576.9042,1355.3804,6568.8439,1361.0401" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5fff9a13948f7f5b5e6ca18c1c7a9716]
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link urt_nodestage_t to urt_config--><path d="M7445.0697,1138.4885 C7465.9151,1175.9745 7496.1708,1217.5535 7536.0878,1240.8594 C7949.8072,1482.4131 11445.2887,1637.8532 12216.7975,1669.4075 " fill="none" id="urt_nodestage_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12221.8547,1669.6141,12213.0255,1665.2499,12216.8589,1669.4099,12212.6989,1673.2433,12221.8547,1669.6141" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7db439499cb1afd557b9be4c8c52b2ba]
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link urt_topicid_t to urt_config--><path d="M6820.9443,1138.7583 C6844.9214,1174.6831 6877.482,1214.8312 6916.0878,1240.8594 C7219.909,1445.6969 7348.2938,1404.8011 7710.0878,1462.8594 C8608.527,1607.0349 11521.5063,1661.8802 12216.9747,1673.091 " fill="none" id="urt_topicid_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12222.041,1673.1725,12213.1066,1669.028,12217.0416,1673.0919,12212.9777,1677.0269,12222.041,1673.1725" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e851a4e79ca88682282ceaaad2100c63]
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link urt_serviceid_t to urt_config--><path d="M6551.4091,1138.633 C6574.5918,1172.6505 6604.425,1211.2831 6637.0878,1240.8594 C6780.0908,1370.349 6825.1293,1408.0167 7010.0878,1462.8594 C7520.7409,1614.275 11401.0236,1664.8077 12216.8596,1673.8099 " fill="none" id="urt_serviceid_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12221.9094,1673.8655,12212.9541,1669.7665,12216.9097,1673.8103,12212.8658,1677.766,12221.9094,1673.8655" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[844001065b3bef53527c5dd4ba0c22e5]
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link urt_delay_t to urt_config--><path d="M6568.7375,1415.4771 C6614.163,1433.3994 6670.5574,1452.7882 6723.0878,1462.8594 C7275.8232,1568.8306 11376.5114,1655.6379 12216.8716,1672.4237 " fill="none" id="urt_delay_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12222.0719,1672.5275,12213.1536,1668.3485,12217.0729,1672.4276,12212.9938,1676.3469,12222.0719,1672.5275" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7766572fa0c619a5409829048dc0b6d6]
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link urt_osCondvar_t to urt_osCondvarWaitStatus_t--><path d="M5292.0878,1128.4256 C5292.0878,1188.6874 5292.0878,1274.5674 5292.0878,1327.6772 " fill="none" id="urt_osCondvar_t-&gt;urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="5292.0878,1332.7126,5296.0878,1323.7126,5292.0878,1327.7126,5288.0878,1323.7126,5292.0878,1332.7126" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9b2507ea88616aeae65e3c4d63560016]
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link urt_osCondvar_t to urt_osMutex_t--><path d="M4936.9511,1059.3594 C4927.1189,1059.3594 4917.2868,1059.3594 4907.4546,1059.3594 " fill="none" id="urt_osCondvar_t-&gt;urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4902.3129,1059.3594,4911.3129,1063.3594,4907.3129,1059.3594,4911.3129,1055.3594,4902.3129,1059.3594" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[83094e108045c8f9585007cdb3b7cb2e]
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link urt_osTimer_t to urt_osTimerCallback_t--><path d="M4200.0878,1115.5786 C4200.0878,1180.4544 4200.0878,1285.2128 4200.0878,1339.9456 " fill="none" id="urt_osTimer_t-&gt;urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4200.0878,1345.0831,4204.0878,1336.0831,4200.0878,1340.0831,4196.0878,1336.0831,4200.0878,1345.0831" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8d8c3240b5b2b5edf6544088e583ffa5]
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link urt_osThread_t to urt_osThreadPrio_t--><path d="M3420.8749,1241.176 C3422.3139,1260.1533 3423.7179,1278.6682 3425.0015,1295.5957 " fill="none" id="urt_osThread_t-&gt;urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="3425.3959,1300.7969,3428.7038,1291.5201,3425.0177,1295.8112,3420.7267,1292.1252,3425.3959,1300.7969" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d7d1d43fd970fb07a484642bc19fcb13]
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link urt_osThread_t to urt_osThreadFunction_t--><path d="M3121.9417,1240.9464 C3060.7057,1279.9428 3002.5051,1317.0062 2962.6568,1342.3824 " fill="none" id="urt_osThread_t-&gt;urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2958.3747,1345.1093,2968.1147,1343.6489,2962.5921,1342.4235,2963.8175,1336.901,2958.3747,1345.1093" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6564761b32ad7eeb5abb8896c72cfca5]
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link urt_osThread_t to urt_osThreadTerminateSignal_t--><path d="M3567.3622,1241.176 C3598.3716,1276.3533 3627.9801,1309.9414 3649.8725,1334.7764 " fill="none" id="urt_osThread_t-&gt;urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="3653.3189,1338.686,3650.3679,1329.2896,3650.0125,1334.9353,3644.3668,1334.5799,3653.3189,1338.686" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[92ba23225d8de8f8080583fedda5e6f8]
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link urt_osThread_t to urt_osThreadState_t--><path d="M3278.9833,1241.176 C3263.7323,1262.8215 3248.9052,1283.8653 3235.678,1302.6383 " fill="none" id="urt_osThread_t-&gt;urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="3232.7049,1306.8581,3241.1585,1301.8047,3235.5847,1302.7707,3234.6187,1297.1969,3232.7049,1306.8581" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[78b286ab2177e5f7b31e6e832d821818]
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link urt_osThread_t to urt_osTime_t--><path d="M3646.3509,877.7838 C3704.1858,846.7789 3768.0334,822.1431 3832.5878,814.8594 C3857.6096,812.0362 5620.5661,812.0362 5645.5878,814.8594 C5750.1039,826.652 5821.402,943.5707 5854.3142,1011.3633 " fill="none" id="urt_osThread_t-&gt;urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="5856.6175,1016.1574,5856.3255,1006.3128,5854.4522,1011.6505,5849.1145,1009.7773,5856.6175,1016.1574" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[659af6ab57e6a38ebfd5c07c5616787c]
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link urt_osEventListener_t to urt_osEventFlags_t--><path d="M1953.0878,1419.0894 C1953.0878,1480.9523 1953.0878,1593.1002 1953.0878,1646.1054 " fill="none" id="urt_osEventListener_t-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1953.0878,1651.3529,1957.0878,1642.3529,1953.0878,1646.3529,1949.0878,1642.3529,1953.0878,1651.3529" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[eac11679f26c499aa1c571e1f795945d]
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link urt_osEventSource_t to urt_osEventFlags_t--><path d="M1465.822,1412.8844 C1579.5085,1474.1237 1804.0195,1595.0609 1903.5633,1648.682 " fill="none" id="urt_osEventSource_t-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1908.208,1651.184,1902.1815,1643.3942,1903.8061,1648.8127,1898.3875,1650.4373,1908.208,1651.184" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0259cdb10c6c32168d1d17d25519d939]
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link urt_events to urt_osEventSource_t--><path d="M2195.5115,1102.3734 C2014.6343,1164.3297 1683.4942,1277.7559 1509.9685,1337.1941 " fill="none" id="urt_events-&gt;urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1505.1354,1338.8496,1514.946,1339.7173,1509.8656,1337.2293,1512.3536,1332.149,1505.1354,1338.8496" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0ce043e0e9532fc393f3f8836f5de19a]
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link urt_events to urt_osEventListener_t--><path d="M2271.0747,1102.3734 C2202.1912,1161.617 2078.5884,1267.9221 2007.4731,1329.0851 " fill="none" id="urt_events-&gt;urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2003.2865,1332.6858,2012.7182,1329.8497,2007.0773,1329.4254,2007.5016,1323.7845,2003.2865,1332.6858" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[430bebba9cd89d3ba8f63b2078968bca]
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link urt_events to urt_osEventMask_t--><path d="M2360.2285,1102.3734 C2418.0181,1165.8817 2525.0187,1283.471 2577.8749,1341.5577 " fill="none" id="urt_events-&gt;urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2581.277,1345.2965,2578.1783,1335.9478,2577.9119,1341.5984,2572.2613,1341.332,2581.277,1345.2965" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b1b185abc2161e087cab32ae7fdb2c40]
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link urt_events to urt_osEventFlags_t--><path d="M2350.9179,1102.4288 C2400.8641,1180.3858 2489.0119,1347.4886 2415.0878,1462.8594 C2330.6924,1594.5724 2141.7998,1645.7575 2033.4933,1664.7897 " fill="none" id="urt_events-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2028.3975,1665.6719,2037.948,1668.0779,2033.3242,1664.8189,2036.5832,1660.1952,2028.3975,1665.6719" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[706a1974d1b474cbba7e7b0213f243a1]
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link urt_events to urt_osEventWait_t--><path d="M2320.4083,1102.3734 C2319.4799,1161.1449 2317.8197,1266.231 2316.85,1327.6145 " fill="none" id="urt_events-&gt;urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2316.7699,1332.6858,2320.9116,1323.7501,2316.8489,1327.6864,2312.9126,1323.6237,2316.7699,1332.6858" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ea4c3dac10af85084086a365fe38a187]
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link urt_osTime_t to urt_delay_t--><path d="M5917.9796,1102.6378 C5959.9963,1143.0152 6027.4075,1202.6151 6095.0878,1240.8594 C6186.983,1292.7868 6302.3844,1330.1496 6382.3693,1352.2233 " fill="none" id="urt_osTime_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6387.5859,1353.6551,6379.9658,1347.4154,6382.7643,1352.3315,6377.8481,1355.13,6387.5859,1353.6551" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5f656ccbf337bb70e2692ec6599b22aa]
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link urt_osCondvar_t to urt_delay_t--><path d="M5411.8141,1128.4129 C5483.4662,1166.9217 5577.5463,1212.6648 5666.0878,1240.8594 C5917.2372,1320.8338 6227.9799,1355.645 6382.084,1368.8578 " fill="none" id="urt_osCondvar_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6387.4995,1369.3187,6378.8713,1364.5696,6382.5175,1368.8945,6378.1926,1372.5408,6387.4995,1369.3187" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[2da0e339f7ca878d257c4a5336e8cad5]
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link urt_osThread_t to urt_delay_t--><path d="M3796.3281,1236.2877 C3802.598,1237.9028 3808.8539,1239.4293 3815.0878,1240.8594 C4215.5674,1332.7346 5252.9971,1275.3554 5663.0878,1300.8594 C5923.601,1317.061 6229.8874,1348.6287 6382.1181,1365.1679 " fill="none" id="urt_osThread_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6387.4681,1365.7499,6378.9536,1360.7998,6382.4974,1365.209,6378.0882,1368.7528,6387.4681,1365.7499" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8bf77663ad208115c32fd5300d37f092]
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link urt_osTimer_t to urt_delay_t--><path d="M4293.5538,1115.5353 C4369.8789,1158.2848 4482.0771,1214.1684 4588.0878,1240.8594 C4820.1075,1299.2765 5424.4777,1283.2273 5663.0878,1300.8594 C5923.3945,1320.0948 6229.7708,1350.3424 6382.0687,1365.8939 " fill="none" id="urt_osTimer_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6387.4211,1366.4409,6378.8745,1361.5464,6382.447,1365.9324,6378.061,1369.505,6387.4211,1366.4409" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[a4e2abbbace7909006fa5f13364d6021]
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link urt_events to urt_delay_t--><path d="M2401.4588,1102.4991 C2488.829,1146.8528 2633.9622,1213.2219 2768.0878,1240.8594 C3083.2033,1305.7911 5341.8609,1282.7732 5663.0878,1300.8594 C5923.6915,1315.5323 6229.9385,1347.7652 6382.1398,1364.8021 " fill="none" id="urt_events-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6387.4887,1365.4017,6378.9903,1360.424,6382.5198,1364.8447,6378.0991,1368.3742,6387.4887,1365.4017" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[182342162f0b9b45ddce11acc6582c59]
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reverse link urt_node_t to urt_node_t--><path d="M18346.5789,639.1446 C18361.414,647.3691 18369.5878,656.9407 18369.5878,667.8594 C18369.5878,681.4282 18356.9645,692.9167 18334.621,702.3248 " fill="none" id="urt_node_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="18334.621,633.394,18338.2947,639.5992,18345.4355,638.5947,18341.7618,632.3895,18334.621,633.394" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="18343.0925" y="630.0011">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="18343.1581" y="699.6859">0,1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]
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reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M17585.8182,796.2741 C17605.7407,878.723 17633.812,979.3206 17651.818,1028.8355 " fill="none" id="urt_node_t&lt;-urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="17582.7552,783.469,17580.2608,790.2349,17585.5468,795.1397,17588.0413,788.3738,17582.7552,783.469" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="17575.7407" y="803.8028">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="17626.2902" y="1017.6205">0,1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]
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reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M17608.388,788.4511 C17632.6052,872.261 17658.7204,977.743 17666.7225,1028.8355 " fill="none" id="urt_node_t&lt;-urt_nodeSetupCallback_t-1" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="17606.9432,783.469,17605.6084,793.227,17608.3359,788.2711,17613.2918,790.9986,17606.9432,783.469" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b913f036db99e36b937989146817bd94]
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reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M17404.0847,791.9696 C17302.8929,875.1922 17181.2886,978.4554 17126.2589,1028.8355 " fill="none" id="urt_node_t&lt;-urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="17414.4348,783.469,17407.2594,784.186,17405.1615,791.0852,17412.3369,790.3682,17414.4348,783.469" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="17396.1112" y="803.8028">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="17123.7651" y="1017.6205">1</text><!--MD5=[b913f036db99e36b937989146817bd94]
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reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M17434.5641,786.9509 C17336.5346,870.9983 17207.9456,977.4377 17141.1634,1028.8355 " fill="none" id="urt_node_t&lt;-urt_nodeLoopCallback_t-1" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="17438.6227,783.469,17429.1875,786.2933,17434.8279,786.7246,17434.3966,792.365,17438.6227,783.469" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[496dffc41052f1912ec8ad492f24fe61]
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reverse link urt_node_t to urt_nodeShutdownCallback_t--><path d="M17846.1374,789.7491 C17863.31,799.0565 17880.0937,808.7747 17896.0878,818.8594 C17995.5467,881.5703 18095.3925,979.2411 18149.541,1028.5943 " fill="none" id="urt_node_t&lt;-urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="17834.1915,783.3716,17837.6006,789.7259,17844.7774,789.023,17841.3683,782.6687,17834.1915,783.3716" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="17844.0703" y="803.6989">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="18119.322" y="1017.8028">0,1</text><!--MD5=[496dffc41052f1912ec8ad492f24fe61]
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reverse link urt_node_t to urt_nodeShutdownCallback_t--><path d="M17873.6105,785.7476 C17893.4521,796.2608 17912.7868,807.3202 17931.0878,818.8594 C18030.5467,881.5703 18130.3925,979.2411 18171.3322,1028.5943 " fill="none" id="urt_node_t&lt;-urt_nodeShutdownCallback_t-1" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="17869.1001,783.3716,17875.1986,791.1051,17873.5239,785.7019,17878.9271,784.0271,17869.1001,783.3716" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[536025241394544a90bc53fb552f3a08]
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reverse link urt_message_t to urt_message_t--><path d="M12837.7514,1335.5912 C12852.2696,1344.8734 12861.0878,1358.2962 12861.0878,1375.8594 C12861.0878,1397.6856 12847.4694,1413.1174 12826.2171,1422.1548 " fill="none" id="urt_message_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="12826.2171,1329.564,12829.6823,1335.8879,12836.8526,1335.1216,12833.3874,1328.7976,12826.2171,1329.564" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12834.3081" y="1324.5393">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="12833.8764" y="1420.6249">0,1</text><!--MD5=[aa8990705afdbad14c7f998fe04b6f05]
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reverse link urt_basesubscriber_t to urt_message_t--><path d="M12853.7879,1138.0175 C12833.7325,1171.3214 12808.3212,1209.5706 12781.0878,1240.8594 C12761.5456,1263.3117 12738.1899,1285.3133 12715.5081,1304.8228 " fill="none" id="urt_basesubscriber_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="12860.6526,1126.4633,12854.149,1129.5784,12854.5232,1136.7798,12861.0267,1133.6647,12860.6526,1126.4633" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12848.4827" y="1146.2495">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="12704.0077" y="1293.8164">0,1</text><!--MD5=[0585cd4928de92ce6927d9c389eadd29]
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link urt_nrtsubscriber_t to urt_basesubscriber_t--><path d="M15135.9928,744.9449 C15065.6274,769.1711 14985.6832,793.974 14911.0878,810.8594 C14213.0648,968.8639 13354.6534,1032.5836 13029.9356,1052.1604 " fill="none" id="urt_nrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="13030.1674,1059.1589,13009.7868,1053.3595,13029.3356,1045.1836,13030.1674,1059.1589" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6d81edfa5aa102b898ad487ae19b49f9]
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link urt_srtsubscriber_t to urt_basesubscriber_t--><path d="M14007.674,764.3835 C13690.2812,848.6842 13247.2169,966.3638 13029.0923,1024.2985 " fill="none" id="urt_srtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="13030.7762,1031.0939,13009.6494,1029.4626,13027.1823,1017.563,13030.7762,1031.0939" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f626d284cba98e1d5d5fe914b1fa4188]
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link urt_frtsubscriber_t to urt_basesubscriber_t--><path d="M15903.1164,780.9451 C15857.6051,792.356 15811.483,802.7158 15767.0878,810.8594 C14724.2959,1002.1429 13440.5764,1047.0303 13029.9635,1056.8112 " fill="none" id="urt_frtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="13030.0769,1063.8104,13009.9196,1057.2771,13029.7515,1049.8141,13030.0769,1063.8104" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[1ea71f2b33e56ab0ac5545988c1af396]
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link urt_hrtsubscriber_t to urt_basesubscriber_t--><path d="M13131.2287,802.5915 C13078.1983,860.7466 13017.888,926.8853 12971.7591,977.472 " fill="none" id="urt_hrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="12976.8769,982.2485,12958.2285,992.3102,12966.5321,972.8153,12976.8769,982.2485" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ea2ec5c5272e65289dabade75a749f58]
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reverse link urt_hrtsubscriber_t to urt_hrtsubscriber_t--><path d="M13807.9991,634.5775 C13822.7813,643.7604 13831.0878,654.8543 13831.0878,667.8594 C13831.0878,684.021 13818.2596,697.2313 13796.1171,707.4901 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="13796.1171,628.2287,13799.524,634.5842,13806.701,633.8838,13803.2941,627.5283,13796.1171,628.2287" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="13803.7956" y="624.6346">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="13803.88" y="705.0106">0,1</text><!--MD5=[54fcf25ad8c5f1d36e678e42d5bfd4cc]
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reverse link urt_publisher_t to urt_topic_t--><path d="M11880.0511,667.8594 C11866.8033,667.8594 11853.5554,667.8594 11840.3076,667.8594 " fill="none" id="urt_publisher_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="11893.299,667.8594,11887.299,663.8594,11881.299,667.8594,11887.299,671.8594,11893.299,667.8594" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11877.2595" y="664.7748">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11847.9724" y="664.6383">1</text><!--MD5=[5025b4c4053b8e7c7ca8a657f09f21c0]
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link urt_publisher_t to urt_message_t--><path d="M12546.2045,765.998 C12565.0356,781.241 12581.8049,798.7557 12595.0878,818.8594 C12692.1223,965.7207 12665.4601,1184.8952 12641.8514,1299.6139 " fill="none" id="urt_publisher_t-&gt;urt_message_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12640.801,1304.6603,12646.5512,1296.6643,12641.82,1299.7652,12638.7191,1295.034,12640.801,1304.6603" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b2afc1defaa6ed5a86f99c07f8466dd]
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reverse link urt_topic_t to urt_topic_t--><path d="M11851.2864,618.8319 C11866.0496,629.8889 11875.0878,646.2313 11875.0878,667.8594 C11875.0878,694.4785 11861.3968,713.0911 11840.1918,723.6972 " fill="none" id="urt_topic_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="11840.1918,612.0216,11843.2126,618.5694,11850.4187,618.2994,11847.3978,611.7515,11840.1918,612.0216" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11847.8521" y="606.6194">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="11848.0865" y="722.6573">0,1</text><!--MD5=[ed3fb6de0913094c41bd74c175d366df]
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reverse link urt_topic_t to urt_hrtsubscriber_t--><path d="M11791.1584,529.0526 C11817.8708,508.3667 11846.6829,489.083 11876.0878,474.3594 C11883.2219,470.7873 11885.6598,471.2539 11893.5878,470.3594 C11937.5864,465.395 12646.5893,465.395 12690.5878,470.3594 C12776.9883,480.108 12867.2623,504.6694 12949.5967,533.2907 " fill="none" id="urt_topic_t&lt;-urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="11780.6352,537.3571,11787.8232,536.7801,11790.0552,529.9231,11782.8672,530.5001,11780.6352,537.3571" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11780.0668" y="526.4532">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="12911.4152" y="522.1517">0,1</text><!--MD5=[0b5167e958c0ed93ffc0c98ce399b54d]
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reverse link urt_topic_t to urt_message_t--><path d="M11838.6972,806.2711 C12044.7555,955.9011 12365.1067,1188.5254 12525.1485,1304.7403 " fill="none" id="urt_topic_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11828.0541,798.5426,11830.5588,805.3047,11837.7641,805.5936,11835.2594,798.8314,11828.0541,798.5426" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11829.6773" y="818.1734">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12506.636" y="1293.7254">1</text><!--MD5=[ed8977051960dfa72b850fe399f41716]
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reverse link urt_baserequest_t to urt_baserequest_t--><path d="M9049.9018,611.5745 C9063.9682,622.1005 9073.0878,640.8621 9073.0878,667.8594 C9073.0878,701.7383 9058.7264,722.6479 9038.2501,730.5883 " fill="none" id="urt_baserequest_t&lt;-urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="9038.2501,605.1305,9041.5648,611.5346,9048.7511,610.9381,9045.4365,604.5339,9038.2501,605.1305" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9046.0548" y="597.4949">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="9046.06" y="731.0352">0,1,2</text><!--MD5=[426f0ba47802c5735a37a0acd494a192]
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reverse link urt_baserequest_t to urt_service_t--><path d="M8800.803,667.8594 C8787.7039,667.8594 8774.6049,667.8594 8761.5058,667.8594 " fill="none" id="urt_baserequest_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8813.902,667.8594,8807.902,663.8594,8801.902,667.8594,8807.902,671.8594,8813.902,667.8594" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8798.0958" y="664.4384">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="8768.7343" y="664.7558">0,1</text><!--MD5=[09de7ef26922535bfe0682cb358ee29c]
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reverse link urt_service_t to urt_baserequest_t--><path d="M8774.6049,667.8594 C8787.7039,667.8594 8800.803,667.8594 8813.902,667.8594 " fill="none" id="urt_service_t&lt;-urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8761.5058,667.8594,8767.5058,671.8594,8773.5058,667.8594,8767.5058,663.8594,8761.5058,667.8594" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8769.5388" y="680.1315">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="8774.0907" y="680.3978">0,2,3</text><!--MD5=[dc2d1805b45628aba9d654613b3d05f9]
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link urt_nrtrequest_t to urt_baserequest_t--><path d="M10334.9458,396.5383 C10288.7511,422.4956 10235.5485,448.853 10184.0878,466.3594 C9788.5354,600.9224 9291.7864,646.6127 9058.5462,661.3201 " fill="none" id="urt_nrtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="9058.886,668.3123,9038.4953,662.5486,9058.0298,654.3385,9058.886,668.3123" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d53ae0f00163daee879678d1d1554717]
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link urt_nrtrequest_t to urt_service_t--><path d="M10344.4131,396.4658 C10296.5529,424.3961 10239.8497,452.0413 10184.0878,466.3594 C10108.4836,485.7725 8854.157,452.9704 8779.0878,474.3594 C8735.2141,486.8601 8691.3986,507.2838 8650.976,530.2816 " fill="none" id="urt_nrtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8646.571,532.8055,8656.3686,531.8016,8650.9093,530.3196,8652.3912,524.8603,8646.571,532.8055" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f9755d42ba41539dee622699d8be3a22]
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link urt_srtrequest_t to urt_baserequest_t--><path d="M9626.2192,402.8907 C9576.6748,424.237 9523.6568,446.5473 9474.0878,466.3594 C9332.8683,522.803 9168.9554,582.2964 9057.4527,621.8784 " fill="none" id="urt_srtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="9059.4862,628.5842,9038.2968,628.6657,9054.8106,615.3881,9059.4862,628.5842" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[90efd84e0f70286880ba110c49a1e8f8]
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link urt_srtrequest_t to urt_service_t--><path d="M9658.4967,402.8678 C9601.4506,428.5097 9536.4783,453.0735 9474.0878,466.3594 C9436.321,474.4018 8816.1926,463.6706 8779.0878,474.3594 C8735.3997,486.9447 8691.7494,507.329 8651.4458,530.2468 " fill="none" id="urt_srtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8647.0537,532.7619,8656.8516,531.7608,8651.3927,530.2773,8652.8762,524.8184,8647.0537,532.7619" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bfc5f4e50344156edda6a5cfcff14fef]
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link urt_frtrequest_t to urt_baserequest_t--><path d="M10810.6212,447.5065 C10790.3771,454.5687 10770.0722,460.962 10750.0878,466.3594 C10429.5297,552.9368 9421.72,632.1156 9058.3487,658.5453 " fill="none" id="urt_frtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="9058.6357,665.5427,9038.1823,660.006,9057.6243,651.5793,9058.6357,665.5427" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[836450d5c472e7b2344319739fa0d5d1]
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link urt_frtrequest_t to urt_service_t--><path d="M10818.9761,447.458 C10796.0396,454.9984 10772.9004,461.4778 10750.0878,466.3594 C10696.5494,477.8158 8831.7549,459.3998 8779.0878,474.3594 C8735.2039,486.8242 8691.3839,507.2319 8650.96,530.2253 " fill="none" id="urt_frtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8646.5549,532.7488,8656.3526,531.7459,8650.8934,530.2634,8652.3759,524.8042,8646.5549,532.7488" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7c5d2ea3f0b69f804ad9b60a9539ac96]
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link urt_hrtrequest_t to urt_baserequest_t--><path d="M9045.4607,455.9726 C9027.6418,487.6011 9008.9696,520.7443 8991.8256,551.1749 " fill="none" id="urt_hrtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="8997.8417,554.7575,8981.9261,568.7465,8985.6443,547.8856,8997.8417,554.7575" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[189d7bd823f9a098ae8eb3eaa3789ee1]
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link urt_hrtrequest_t to urt_service_t--><path d="M8797.0613,456.0038 C8785.1965,462.1019 8773.5052,468.2325 8762.0878,474.3594 C8729.8104,491.6806 8696.2574,510.8699 8663.7803,530.2394 " fill="none" id="urt_hrtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8659.4126,532.8493,8669.1902,531.6665,8663.7047,530.2846,8665.0867,524.7991,8659.4126,532.8493" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bcf13f9307d05af3b11663d6e8155fbe]
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reverse link urt_service_t to urt_hrtrequest_t--><path d="M8705.2452,526.2105 C8735.9076,508.2159 8767.0501,490.4787 8797.0878,474.3594 C8808.5052,468.2325 8820.1965,462.1019 8832.0458,456.0038 " fill="none" id="urt_service_t&lt;-urt_hrtrequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8693.9732,532.8493,8701.1731,533.2509,8704.3131,526.7594,8697.1132,526.3577,8693.9732,532.8493" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8699.09" y="521.6904">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="8797.3188" y="475.3785">0,1</text><!--MD5=[05f2c35569573d3273c65d3342945557]
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reverse link urt_service_t to urt_service_t--><path d="M8772.481,625.6407 C8787.3525,636.2313 8796.0878,650.3042 8796.0878,667.8594 C8796.0878,689.4658 8782.8556,705.7973 8761.2369,716.8537 " fill="none" id="urt_service_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8761.2369,618.8651,8764.3114,625.3879,8771.515,625.0587,8768.4405,618.5358,8761.2369,618.8651" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8769.2627" y="614.4374">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="8769.4221" y="715.0288">0,1</text><!--MD5=[694e7400eb99f74d44ea388aed89d199]
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reverse link urt_core_t to urt_node_t--><path d="M8162.7164,358.5046 C8324.1525,395.9438 8565.5148,445.972 8779.0878,466.3594 C8889.6271,476.9113 16663.8527,460.9998 16774.0878,474.3594 C16905.4202,490.2759 17046.4321,520.4583 17172.4491,552.3333 " fill="none" id="urt_core_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8149.7787,355.4915,8154.715,360.7482,8161.4659,358.2134,8156.5296,352.9567,8149.7787,355.4915" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8157.7397" y="369.8264">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="17125.464" y="541.1299">0,1</text><!--MD5=[250695c91040478b50550bc37a8775c7]
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reverse link urt_core_t to urt_topic_t--><path d="M8162.7266,358.3976 C8324.1692,395.769 8565.5354,445.7578 8779.0878,466.3594 C8815.8756,469.9083 11405.7133,460.7829 11440.0878,474.3594 C11475.6391,488.4007 11508.728,511.6743 11537.5872,537.3035 " fill="none" id="urt_core_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8149.7884,355.39,8154.7269,360.6447,8161.4767,358.1071,8156.5383,352.8524,8149.7884,355.39" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8157.7498" y="354.0407">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="11510.6208" y="526.3965">0,1</text><!--MD5=[8d0a227ec56585cdbc167f8316b34b64]
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reverse link urt_core_t to urt_service_t--><path d="M8160.5763,446.4335 C8199.1293,474.6526 8239.8415,504.4523 8278.4723,532.7284 " fill="none" id="urt_core_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8149.7632,438.5187,8152.2423,445.2903,8159.4464,445.6063,8156.9674,438.8348,8149.7632,438.5187" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8157.7235" y="440.9361">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="8247.8293" y="522.0075">0,1</text><!--MD5=[a42c921bb2ae3ef3cd6ba12c97758939]
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reverse link urt_core_t to urt_osEventSource_t--><path d="M7793.2361,317.6267 C6630.8915,348.4771 372.1221,527.8008 101.0878,818.8594 C-26.7283,956.1187 -24.4759,1101.5367 101.0878,1240.8594 C168.1741,1315.2968 763.2509,1351.3647 1123.2948,1366.5175 " fill="none" id="urt_core_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7806.2606,317.2815,7800.1567,313.4418,7794.2648,317.5994,7800.3687,321.439,7806.2606,317.2815" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7790.8429" y="314.2152">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1107.9159" y="1378.5424">1</text><!--MD5=[b9eb8460041bde16ab6e44c28de7b0fc]
125
reverse link urt_core_t to urt_osMutex_t--><path d="M7793.3549,323.7921 C7207.222,361.4584 5399.797,501.375 4921.0878,818.8594 C4850.204,865.8702 4800.3086,953.892 4774.1831,1009.4126 " fill="none" id="urt_core_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7806.5504,322.9482,7800.3073,319.3393,7794.5749,323.7141,7800.8179,327.323,7806.5504,322.9482" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7790.5964" y="320.1288">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4777.5553" y="998.7543">1</text><!--MD5=[fcff95a1517f1bbe30c2de95da1c3bda]
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reverse link urt_core_t to urt_status_t--><path d="M7793.2699,331.141 C7528.5194,359.2171 7067.5616,415.8675 7018.0878,474.3594 C6921.5056,588.5467 6913.1558,704.2943 7018.0878,810.8594 C7038.2815,831.3673 7511.4336,804.0092 7536.0878,818.8594 C7574.4393,841.96 7602.4235,880.5218 7622.4832,920.0761 " fill="none" id="urt_core_t&lt;-urt_status_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7806.5076,329.7437,7800.1208,326.3956,7794.5739,331.0034,7800.9607,334.3514,7806.5076,329.7437" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7790.5516" y="342.9119">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7611.7704" y="909.1061">1</text><!--MD5=[f6f8ae0abb3c85244c8639cf15039f58]
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link urt_core_t to urt_nodestage_t--><path d="M7806.4261,327.2896 C7524.7882,352.718 6990.0768,409.0433 6934.0878,474.3594 C6836.7546,587.9072 6829.5479,703.9096 6934.0878,810.8594 C6947.722,824.8078 7268.5324,808.546 7285.0878,818.8594 C7340.2384,853.216 7372.2612,920.4798 7390.0605,975.156 " fill="none" id="urt_core_t-&gt;urt_nodestage_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7391.6335,980.0709,7392.6997,970.2799,7390.1093,975.3088,7385.0804,972.7185,7391.6335,980.0709" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e894174e7ccaed139fbaaa0f9b9ae8dc]
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link urt_core_t to urt_topicid_t--><path d="M7806.4378,326.0487 C7507.358,350.6716 6916.0962,407.2609 6850.0878,474.3594 C6719.176,607.4333 6737.2148,847.7393 6758.4307,974.9988 " fill="none" id="urt_core_t-&gt;urt_topicid_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6759.3144,980.225,6761.7578,970.684,6758.4807,975.295,6753.8698,972.0179,6759.3144,980.225" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[972bd788fc5a0ee0badfa994920a3622]
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link urt_core_t to urt_serviceid_t--><path d="M7806.5435,325.5025 C7485.3797,350.5642 6818.1446,409.7359 6735.0878,474.3594 C6576.7851,597.5293 6526.2181,844.8812 6510.2767,974.9708 " fill="none" id="urt_core_t-&gt;urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6509.6336,980.3122,6514.681,971.855,6510.2315,975.348,6506.7384,970.8985,6509.6336,980.3122" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[addb2e74eebae0995b3a6bf162197d46]
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reverse link urt_node_t to urt_osThread_t--><path d="M16981.7922,785.349 C16912.0469,795.8358 16841.6359,804.7741 16774.0878,810.8594 C16729.2728,814.8967 3858.4945,807.0038 3815.0878,818.8594 C3765.7123,832.3453 3716.2249,853.4931 3669.5996,877.7792 " fill="none" id="urt_node_t&lt;-urt_osThread_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="16994.8065,783.3731,16988.274,780.3191,16982.9425,785.1744,16989.4749,788.2284,16994.8065,783.3731" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="16948.2892" y="803.7005">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3672.5056" y="866.8655">1</text><!--MD5=[71f626b81c482d35e653d2b548781872]
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reverse link urt_node_t to urt_nodestage_t--><path d="M16981.5377,785.3705 C16911.8754,795.8439 16841.5535,804.7731 16774.0878,810.8594 C16758.1145,812.3004 7549.8064,810.5513 7536.0878,818.8594 C7478.5322,853.7158 7445.9865,924.4795 7428.455,980.2673 " fill="none" id="urt_node_t&lt;-urt_nodestage_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="16994.5366,783.3972,16988.0042,780.343,16982.6725,785.1982,16989.2049,788.2524,16994.5366,783.3972" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="16956.5386" y="803.7262">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7421.7795" y="969.3374">1</text><!--MD5=[ecbb69d8dc7b8a34ff21337736794c2a]
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reverse link urt_node_t to urt_osEventListener_t--><path d="M16981.7929,785.3573 C16912.0475,795.8427 16841.6363,804.7783 16774.0878,810.8594 C16760.0431,812.1238 539.0567,808.8856 529.0878,818.8594 C462.7933,885.1866 464.5138,1172.856 529.0878,1240.8594 C617.8811,1334.3683 1560.8629,1279.8362 1688.0878,1300.8594 C1732.6676,1308.2259 1780.4451,1320.3738 1822.9849,1332.7691 " fill="none" id="urt_node_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="16994.8073,783.3817,16988.2749,780.3274,16982.9432,785.1826,16989.4756,788.2368,16994.8073,783.3817" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="16861.4022" y="804.0639">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1793.6123" y="1321.7507">1</text><!--MD5=[a052f483eba01ccbd89eefaa281cffa6]
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reverse link urt_node_t to urt_osThreadFunction_t--><path d="M16981.7929,785.3571 C16912.0475,795.8426 16841.6363,804.7783 16774.0878,810.8594 C16760.0924,812.1194 596.0217,808.9206 586.0878,818.8594 C519.7933,885.1867 520.6959,1173.6421 586.0878,1240.8594 C670.5328,1327.6616 2647.8245,1270.6126 2765.0878,1300.8594 C2800.3527,1309.9556 2836.7487,1328.8168 2864.2551,1345.3481 " fill="none" id="urt_node_t&lt;-urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="16994.8073,783.3816,16988.2749,780.3274,16982.9432,785.1826,16989.4756,788.2368,16994.8073,783.3816" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="16932.7861" y="803.7096">0..*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2845.3542" y="1334.1359">1</text><!--MD5=[0cba389305cd35ebcbacaedacb3fbe88]
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link urt_node_t to urt_status_t--><path d="M16994.2614,783.3633 C16920.4533,794.6821 16845.6623,804.3629 16774.0878,810.8594 C16661.2736,821.0991 12809.3308,816.0415 12696.0878,818.8594 C10733.9056,867.6861 8344.5771,1015.9545 7787.9214,1051.5949 " fill="none" id="urt_node_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7782.6601,1051.9319,7791.8974,1055.3482,7787.6499,1051.6122,7791.3859,1047.3646,7782.6601,1051.9319" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b00c0c61b5ae38465e12763fb588229]
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link urt_nodeSetupCallback_t to urt_osEventMask_t--><path d="M17639.0372,1089.9057 C17596.8993,1133.2868 17512.5084,1210.8101 17422.0878,1240.8594 C17035.8015,1369.2334 3165.1193,1211.065 2768.0878,1300.8594 C2731.6358,1309.1036 2693.6778,1326.6201 2663.9943,1342.6526 " fill="none" id="urt_nodeSetupCallback_t-&gt;urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2659.3028,1345.2114,2669.1193,1344.4136,2663.6923,1342.8172,2665.2887,1337.3903,2659.3028,1345.2114" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[aa0b59559007c8ad9b783f6dc5ed8ad9]
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link urt_nodeLoopCallback_t to urt_osEventMask_t--><path d="M17058.1869,1090.0366 C17000.2421,1133.5807 16886.034,1211.305 16774.0878,1240.8594 C16397.9173,1340.1704 3147.5547,1214.9997 2768.0878,1300.8594 C2731.6365,1309.107 2693.6786,1326.6237 2663.9949,1342.6555 " fill="none" id="urt_nodeLoopCallback_t-&gt;urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2659.3034,1345.2141,2669.1199,1344.4165,2663.693,1342.8201,2665.2895,1337.3932,2659.3034,1345.2141" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b3fa89608aace108b23bbfcd22712ec]
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link urt_publisher_t to urt_config--><path d="M12237.6475,766.0058 C12231.2013,783.2568 12225.6016,801.3123 12222.0878,818.8594 C12165.8891,1099.5102 12137.6697,1189.3695 12222.0878,1462.8594 C12226.5851,1477.4292 12232.4617,1491.8923 12239.2698,1506.018 " fill="none" id="urt_publisher_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12241.6137,1510.7952,12241.2403,1500.9534,12239.4112,1506.3064,12234.0582,1504.4773,12241.6137,1510.7952" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[48a81098d0aa451a4923659bb2bbea3c]
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link urt_publisher_t to urt_status_t--><path d="M12045.1998,765.9391 C11990.4924,784.2927 11931.9896,800.8401 11876.0878,810.8594 C11828.3952,819.4074 11488.4997,816.8729 11440.0878,818.8594 C10000.5144,877.9292 8255.5615,1012.5906 7788.0593,1049.7223 " fill="none" id="urt_publisher_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7782.9562,1050.1278,7792.2448,1053.4021,7787.9405,1049.7316,7791.611,1045.4273,7782.9562,1050.1278" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[c16173558393ca1d9128284d70afa235]
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link urt_publisher_t to urt_delay_t--><path d="M12033.84,765.9171 C11982.2884,783.1309 11927.9244,799.2281 11876.0878,810.8594 C10098.6746,1209.6814 9611.9602,1052.7753 7800.0878,1240.8594 C7340.7401,1288.5427 6791.4591,1344.1968 6573.7388,1366.2024 " fill="none" id="urt_publisher_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6568.6577,1366.7159,6578.0144,1369.7905,6573.6323,1366.213,6577.2098,1361.831,6568.6577,1366.7159" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3f75a4ca5db56e37c381a718c71f2950]
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reverse link urt_topic_t to urt_topicid_t--><path d="M11460.5787,803.553 C11453.7905,806.269 11446.952,808.7208 11440.0878,810.8594 C11410.0932,820.2045 6943.3097,803.1756 6916.0878,818.8594 C6856.2256,853.349 6819.5569,924.3498 6798.8489,980.3102 " fill="none" id="urt_topic_t&lt;-urt_topicid_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11472.7375,798.3892,11465.6513,797.0529,11461.6923,803.08,11468.7785,804.4163,11472.7375,798.3892" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11440.6373" y="812.0055">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6792.5784" y="969.3843">1</text><!--MD5=[2ea2859f8de074b5c128ff5997404a58]
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reverse link urt_topic_t to urt_osMutex_t--><path d="M11460.5802,803.5578 C11453.7916,806.2725 11446.9525,808.7227 11440.0878,810.8594 C11418.4752,817.5866 4941.1535,808.384 4921.0878,818.8594 C4844.3338,858.9294 4795.4342,951.8369 4771.2419,1009.737 " fill="none" id="urt_topic_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11472.7397,798.3964,11465.6537,797.0588,11461.6937,803.0853,11468.7797,804.4228,11472.7397,798.3964" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11462.8336" y="818.451">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4774.3573" y="998.765">1</text><!--MD5=[ee40dc1875ed5325eec4e6c8c8102744]
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reverse link urt_topic_t to urt_osEventSource_t--><path d="M11460.5816,803.5623 C11453.7926,806.2757 11446.9531,808.7244 11440.0878,810.8594 C11421.872,816.5243 465.572,805.3654 452.0878,818.8594 C319.5143,951.5295 329.2011,1099.1698 452.0878,1240.8594 C495.9122,1291.3893 860.2674,1331.8756 1123.4622,1354.891 " fill="none" id="urt_topic_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11472.7418,798.403,11465.6561,797.0643,11461.695,803.0901,11468.7808,804.4288,11472.7418,798.403" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11441.1499" y="818.1798">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1107.2202" y="1351.1205">1</text><!--MD5=[fd684a39d2d7f503df403fc4f1515616]
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reverse link urt_topic_t to urt_osCondvar_t--><path d="M11460.5798,803.5564 C11453.7913,806.2715 11446.9524,808.7221 11440.0878,810.8594 C11401.8033,822.7793 5704.5515,807.5308 5666.0878,818.8594 C5552.7889,852.2291 5441.3274,931.6165 5369.9766,990.0966 " fill="none" id="urt_topic_t&lt;-urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11472.7391,798.3943,11465.6531,797.0571,11461.6933,803.0838,11468.7794,804.4209,11472.7391,798.3943" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11454.3705" y="818.4488">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5378.4214" y="979.2731">1</text><!--MD5=[f5e2f818dfb7c47ef0a661b061d2efd0]
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link urt_topic_t to urt_config--><path d="M11726.0912,798.7038 C11824.0359,959.7894 12000.3691,1239.454 12174.0878,1462.8594 C12188.0242,1480.7819 12203.1122,1499.0547 12218.5005,1516.9857 " fill="none" id="urt_topic_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12221.9968,1521.0479,12219.1574,1511.6172,12218.7351,1517.2583,12213.094,1516.836,12221.9968,1521.0479" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[a01366c261f16bb61c03de8616a1256c]
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reverse link urt_topic_t to urt_osTimer_t--><path d="M11460.5804,803.5584 C11453.7917,806.2729 11446.9526,808.7229 11440.0878,810.8594 C11394.6541,824.9998 4633.844,805.7998 4588.0878,818.8594 C4462.5342,854.6947 4337.8867,944.0122 4264.9787,1003.1328 " fill="none" id="urt_topic_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11472.74,798.3972,11465.6541,797.0594,11461.6938,803.0857,11468.7798,804.4235,11472.74,798.3972" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11454.3715" y="818.4518">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="4274.106" y="992.4397">0,1</text><!--MD5=[23aed2412a22c58889d68b772ca9654f]
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link urt_topic_t to urt_status_t--><path d="M11470.6273,798.4032 C11460.5436,803.0985 11450.3343,807.3035 11440.0878,810.8594 C11088.1062,933.0114 8392.5956,1033.9861 7788.1279,1055.2393 " fill="none" id="urt_topic_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7782.8539,1055.4246,7791.9888,1059.1061,7787.8508,1055.249,7791.7079,1051.111,7782.8539,1055.4246" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[40d97a101b79fe2b6aede42ee911a5e3]
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reverse link urt_message_t to urt_osTime_t--><path d="M12406.8649,1373.1824 C11339.6939,1359.7173 6673.3128,1297.7905 6371.0878,1240.8594 C6223.7572,1213.1063 6062.2992,1146.7692 5964.8557,1102.4538 " fill="none" id="urt_message_t&lt;-urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="12420.0197,1373.3483,12414.0706,1369.273,12408.0207,1373.197,12413.9698,1377.2723,12420.0197,1373.3483" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12403.9311" y="1370.0339">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5971.061" y="1122.8771">1</text><!--MD5=[2bb9471b6fda5815e085c87a24a67f11]
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link urt_message_t to urt_config--><path d="M12562.0947,1447.2166 C12546.5016,1465.4593 12529.0608,1485.8636 12511.1947,1506.7656 " fill="none" id="urt_message_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12507.8541,1510.6739,12516.7425,1506.4317,12511.1029,1506.8732,12510.6614,1501.2336,12507.8541,1510.6739" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[570f5794230ed2cf7946261591bb6cd1]
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link urt_message_t to urt_status_t--><path d="M12419.8195,1362.8757 C11586.1791,1309.627 8442.4016,1108.8186 7787.9099,1067.013 " fill="none" id="urt_message_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7782.6769,1066.6788,7791.4036,1071.2443,7787.6667,1066.9975,7791.9136,1063.2606,7782.6769,1066.6788" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0614ecc40a2323571c35dab79c646fe8]
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reverse link urt_basesubscriber_t to urt_osEventListener_t--><path d="M12771.37,1064.9875 C12199.1065,1090.3638 9782.795,1194.8911 7799.0878,1240.8594 C7179.1073,1255.2261 2831.8803,1212.3096 2218.0878,1300.8594 C2172.0652,1307.4989 2122.7665,1319.9173 2079.3225,1332.7658 " fill="none" id="urt_basesubscriber_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="12784.544,1064.4028,12778.3725,1060.6728,12772.5558,1064.9349,12778.7273,1068.6649,12784.544,1064.4028" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12768.7137" y="1061.3214">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2090.8037" y="1321.7469">1</text><!--MD5=[60df476f9c89db6ca6af2af6f6dc5b29]
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reverse link urt_basesubscriber_t to urt_osTime_t--><path d="M12885.9982,979.463 C12871.4103,911.4007 12838.1958,823.2775 12763.5878,814.8594 C12719.5962,809.8958 6432.5795,809.8958 6388.5878,814.8594 C6208.7892,835.1462 6023.2808,951.6711 5932.3656,1016.2608 " fill="none" id="urt_basesubscriber_t&lt;-urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="12888.5927,992.346,12891.3293,985.6743,12886.2234,980.5822,12883.4868,987.2538,12888.5927,992.346" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12879.226" y="981.2903">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5932.8567" y="1005.2411">1</text><!--MD5=[45abaca6e1a4b5e9e9e5f81f99145f21]
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link urt_basesubscriber_t to urt_config--><path d="M12913.4995,1126.7083 C12930.3845,1212.9907 12945.371,1363.2653 12875.0878,1462.8594 C12793.278,1578.7873 12635.5785,1631.7203 12517.4829,1655.7364 " fill="none" id="urt_basesubscriber_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12512.2427,1656.7885,12521.854,1658.9388,12517.1449,1655.8043,12520.2793,1651.0953,12512.2427,1656.7885" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[fb477f5fd8787be5b7605dfea5d27dc3]
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link urt_basesubscriber_t to urt_status_t--><path d="M12784.3982,1059.3594 C11118.8833,1059.3594 9453.3684,1059.3594 7787.8535,1059.3594 " fill="none" id="urt_basesubscriber_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7782.6637,1059.3594,7791.6637,1063.3594,7787.6637,1059.3594,7791.6637,1055.3594,7782.6637,1059.3594" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[c18fda7f16d94dac1a94387e8df76308]
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reverse link urt_nrtsubscriber_t to urt_delay_t--><path d="M15139.06,749.3718 C15068.2809,774.2554 14987.2977,798.3384 14911.0878,810.8594 C14843.2196,822.0099 12501.356,800.4484 12435.0878,818.8594 C12082.8693,916.7147 12080.1847,1139.0527 11729.0878,1240.8594 C11471.2581,1315.6217 7244.1032,1367.0776 6568.7513,1374.8392 " fill="none" id="urt_nrtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="15151.6955,744.8833,15144.7027,743.1224,15140.3877,748.9001,15147.3806,750.6609,15151.6955,744.8833" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="15124.8553" y="765.2555">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6576.4583" y="1387.4138">0,2</text><!--MD5=[cf4e9b81c32b9b138596f59fa1fb3fd6]
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link urt_nrtsubscriber_t to urt_config--><path d="M15151.692,744.8621 C15078.0188,771.2979 14991.8702,797.5664 14911.0878,810.8594 C14881.705,815.6944 12793.8397,805.7801 12767.0878,818.8594 C12522.513,938.4349 12485.4663,1046.2492 12389.0878,1300.8594 C12364.8185,1364.9736 12356.7873,1439.6761 12355.744,1505.4212 " fill="none" id="urt_nrtsubscriber_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12355.6765,1510.541,12359.795,1501.5946,12355.7425,1505.5414,12351.7956,1501.489,12355.6765,1510.541" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[249ee4d4a0d0f021e94ff447977fc36f]
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link urt_nrtsubscriber_t to urt_status_t--><path d="M15151.6961,744.8871 C15078.0235,771.3261 14991.8741,797.5903 14911.0878,810.8594 C14841.273,822.3265 12434.8121,816.9384 12364.0878,818.8594 C10540.4227,868.3932 8322.1331,1014.7179 7787.9146,1051.0986 " fill="none" id="urt_nrtsubscriber_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7782.8632,1051.4428,7792.1144,1054.8215,7787.8516,1051.1028,7791.5704,1046.84,7782.8632,1051.4428" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[1ffa2ec21542e79acf15fa09492f4ab5]
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reverse link urt_srtsubscriber_t to urt_usefulness_f--><path d="M14049.3649,767.6848 C13978.476,785.6038 13903.2876,801.5309 13832.0878,810.8594 C13809.5478,813.8126 7305.476,808.8048 7285.0878,818.8594 C7195.3228,863.128 7136.8969,974.163 7112.7375,1028.473 " fill="none" id="urt_srtsubscriber_t&lt;-urt_usefulness_f" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="14062.0854,764.4366,14055.2823,762.0454,14050.4585,767.4056,14057.2616,769.7967,14062.0854,764.4366" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="14039.6868" y="784.157">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="7093.284" y="1017.6565">0,1</text><!--MD5=[af3bb42c2cc648980c9a8c0bd0e49df3]
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reverse link urt_srtsubscriber_t to urt_delay_t--><path d="M14048.6585,767.628 C13977.9697,785.4916 13903.0414,801.4105 13832.0878,810.8594 C13751.2448,821.6252 12444.6387,806.0899 12364.0878,818.8594 C11754.9301,915.4278 11650.0367,1136.9514 11042.0878,1240.8594 C10586.4474,1318.7355 7172.2409,1366.7727 6569.0174,1374.6955 " fill="none" id="urt_srtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="14061.3436,764.3903,14054.5407,761.9985,14049.7164,767.3581,14056.5193,769.7499,14061.3436,764.3903" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="14029.3226" y="784.4328">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6576.7448" y="1371.1107">0,2</text><!--MD5=[57f9c03e706aa97ce919c51d40a1f0dd]
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link urt_srtsubscriber_t to urt_config--><path d="M14680.6809,764.3809 C14755.3848,783.6138 14835.4851,800.9321 14911.0878,810.8594 C14923.3197,812.4656 18455.3742,810.1261 18464.0878,818.8594 C18530.3241,885.2449 18527.9985,1172.2321 18464.0878,1240.8594 C18254.7398,1465.6575 13435.0617,1639.2996 12517.2823,1670.3874 " fill="none" id="urt_srtsubscriber_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12512.271,1670.5571,12521.4013,1674.2501,12517.2681,1670.3878,12521.1304,1666.2547,12512.271,1670.5571" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ddfd53c980ad9ebb8f86954377552edb]
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link urt_srtsubscriber_t to urt_status_t--><path d="M14061.3454,764.404 C13986.9834,783.5698 13907.3028,800.8527 13832.0878,810.8594 C13747.3335,822.1353 12378.5541,816.4165 12293.0878,818.8594 C10498.9965,870.1407 8317.1161,1014.8533 7787.8692,1051.0652 " fill="none" id="urt_srtsubscriber_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7782.8643,1051.4077,7792.1164,1054.7838,7787.8526,1051.0662,7791.5701,1046.8024,7782.8643,1051.4077" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b350769e483c42ea2704e388ea6a04f2]
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reverse link urt_frtsubscriber_t to urt_delay_t--><path d="M15906.1042,784.0117 C15859.7166,795.038 15812.5687,804.4703 15767.0878,810.8594 C15725.8262,816.6558 12807.0608,807.0997 12767.0878,818.8594 C12433.4325,917.0179 12440.6786,1139.1519 12108.0878,1240.8594 C11832.0157,1325.2833 7271.8741,1368.8494 6568.7935,1375.078 " fill="none" id="urt_frtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="15918.8423,780.9398,15912.0717,778.458,15907.1768,783.7532,15913.9473,786.235,15918.8423,780.9398" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="15885.7938" y="801.4734">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6576.6569" y="1387.6709">0..4</text><!--MD5=[7be759a40cf40f1b9231b6649fee3f4f]
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link urt_frtsubscriber_t to urt_config--><path d="M16622.9795,780.9352 C16673.2363,793.2558 16724.6492,803.8525 16774.0878,810.8594 C16786.0517,812.555 18505.5632,810.2955 18514.0878,818.8594 C18646.4044,951.7857 18630.3866,1093.7143 18514.0878,1240.8594 C18249.2481,1575.9436 18002.1982,1404.5569 17579.0878,1462.8594 C16562.641,1602.9206 13262.0624,1661.5231 12517.3226,1673.1367 " fill="none" id="urt_frtsubscriber_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12512.1701,1673.2169,12521.2314,1677.076,12517.1695,1673.1389,12521.1066,1669.077,12512.1701,1673.2169" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[29df74e07807e6378398cb43d45b3c27]
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link urt_frtsubscriber_t to urt_status_t--><path d="M15919.1869,780.8656 C15868.6114,793.2431 15816.852,803.874 15767.0878,810.8594 C15677.3837,823.4512 12596.6407,816.4989 12506.0878,818.8594 C10623.1752,867.942 8331.7363,1015.2306 7787.8856,1051.314 " fill="none" id="urt_frtsubscriber_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7782.7441,1051.6553,7791.9894,1055.0502,7787.7331,1051.324,7791.4593,1047.0677,7782.7441,1051.6553" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bc1cc9ca99c1274e9c895cd105ca1d4c]
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reverse link urt_hrtsubscriber_t to urt_delay_t--><path d="M12749.7301,804.5455 C12735.7386,806.8584 12721.8383,808.9734 12708.0878,810.8594 C12601.0751,825.5368 12329.6168,808.6277 12222.0878,818.8594 C11139.1337,921.906 10892.7262,1124.8129 9811.0878,1240.8594 C9156.2774,1311.1125 7034.2208,1363.092 6568.8468,1373.8164 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="12762.6034,802.3666,12756.02,799.424,12750.7717,804.3693,12757.3551,807.3118,12762.6034,802.3666" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12727.5066" y="822.2065">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6576.7143" y="1370.1643">0..5</text><!--MD5=[47265b8b91af56102ad98d46909bef01]
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reverse link urt_hrtsubscriber_t to urt_osTimer_t--><path d="M12751.6309,804.5327 C12736.9993,806.8799 12722.4627,809.001 12708.0878,810.8594 C12652.1643,818.0893 4642.3128,803.388 4588.0878,818.8594 C4462.5309,854.6832 4337.8844,944.004 4264.9775,1003.1284 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="12764.5118,802.4128,12757.9418,799.4403,12752.6711,804.3617,12759.2411,807.3341,12764.5118,802.4128" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12737.9569" y="822.2553">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4264.3984" y="992.4347">1</text><!--MD5=[c255c4720016d78ffa1594ef43d10003]
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link urt_hrtsubscriber_t to urt_config--><path d="M12760.7044,802.3983 C12743.0035,805.5273 12725.4253,808.368 12708.0878,810.8594 C12693.0689,813.0176 12446.6563,809.0412 12435.0878,818.8594 C12241.8048,982.9005 12275.1842,1306.6227 12319.4603,1505.7107 " fill="none" id="urt_hrtsubscriber_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12320.5743,1510.6836,12322.5102,1501.0268,12319.4813,1505.8045,12314.7037,1502.7756,12320.5743,1510.6836" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[acfaba0e8df90d54cbfcf78ceb19e2ee]
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link urt_hrtsubscriber_t to urt_status_t--><path d="M12762.61,802.4152 C12744.2678,805.577 12726.0502,808.4149 12708.0878,810.8594 C12646.7579,819.2056 12212.9474,816.7567 12151.0878,818.8594 C10416.5305,877.8201 8307.7018,1016.1694 7788.0406,1051.1909 " fill="none" id="urt_hrtsubscriber_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7782.7499,1051.5476,7791.9986,1054.9329,7787.7386,1051.2111,7791.4604,1046.9511,7782.7499,1051.5476" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8a07eed8d365d510d46940e8916e2aca]
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reverse link urt_baserequest_t to urt_osMutex_t--><path d="M8856.181,776.9138 C8842.6044,790.6241 8827.1966,802.6862 8810.0878,810.8594 C8785.7188,822.501 4945.0235,806.351 4921.0878,818.8594 C4844.3504,858.9613 4795.4454,951.8583 4771.2475,1009.7478 " fill="none" id="urt_baserequest_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8865.2861,767.1863,8858.2656,768.8332,8857.0857,775.9471,8864.1062,774.3002,8865.2861,767.1863" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8852.9322" y="786.4466">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4765.2387" y="998.7773">1</text><!--MD5=[7c9c768598bcd949a3bf11c8b3a21e4b]
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reverse link urt_baserequest_t to urt_osTime_t--><path d="M8856.1722,776.8953 C8842.5967,790.608 8827.1916,802.6758 8810.0878,810.8594 C8779.5304,825.4802 6404.0911,811.2231 6371.0878,818.8594 C6205.5928,857.1517 6031.1422,957.9631 5939.7162,1016.1882 " fill="none" id="urt_baserequest_t&lt;-urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8865.2767,767.1665,8858.2564,768.8142,8857.0772,775.9282,8864.0976,774.2805,8865.2767,767.1665" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8861.4597" y="786.4255">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5941.3789" y="1005.1569">1</text><!--MD5=[abb05cad5cff2c76ceafdc2a055c056c]
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reverse link urt_baserequest_t to urt_osEventSource_t--><path d="M8856.1891,776.9307 C8842.6114,790.6387 8827.2011,802.6958 8810.0878,810.8594 C8796.8252,817.1862 356.4735,808.4639 346.0878,818.8594 C213.5287,951.5439 222.2019,1100.0426 346.0878,1240.8594 C396.8579,1298.5679 829.2646,1338.4641 1123.3811,1359.2101 " fill="none" id="urt_baserequest_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8865.2947,767.2042,8858.2741,768.8506,8857.0937,775.9645,8864.1143,774.318,8865.2947,767.2042" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8852.9414" y="786.4657">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1108.0045" y="1371.0409">1</text><!--MD5=[6e4cdc2fe71f4b9ae682dc44b1d45b47]
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reverse link urt_baserequest_t to urt_osEventListener_t--><path d="M8856.189,776.9305 C8842.6113,790.6386 8827.2011,802.6956 8810.0878,810.8594 C8796.9913,817.107 462.3434,808.5941 452.0878,818.8594 C319.5295,951.5447 322.7212,1105.0605 452.0878,1240.8594 C546.9252,1340.4122 1552.3965,1278.6614 1688.0878,1300.8594 C1732.7973,1308.1735 1780.7128,1320.3475 1823.3365,1332.7819 " fill="none" id="urt_baserequest_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8865.2946,767.204,8858.274,768.8504,8857.0936,775.9643,8864.1142,774.3178,8865.2946,767.204" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8841.5013" y="786.7161">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1803.2949" y="1321.7656">1</text><!--MD5=[8b261aef1d2e0a451326ad6807af1e66]
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reverse link urt_nrtrequest_t to urt_delay_t--><path d="M10333.0582,403.0768 C10287.7194,428.7152 10235.5098,453.2241 10184.0878,466.3594 C10116.6959,483.5741 7748.0425,459.5207 7680.0878,474.3594 C7327.1093,551.4366 7292.6978,732.113 6940.0878,810.8594 C6922.953,814.686 6320.4237,806.3664 6308.0878,818.8594 C6242.1979,885.5886 6267.3124,1156.4104 6308.0878,1240.8594 C6325.1304,1276.1559 6356.3825,1305.0542 6387.4863,1326.9276 " fill="none" id="urt_nrtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="10344.4323,396.5405,10337.2371,396.0619,10334.0279,402.5195,10341.2231,402.9981,10344.4323,396.5405" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10325.152" y="416.7233">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6359.4696" y="1319.5097">0,2</text><!--MD5=[8aa30e666b650ddcf5fdd53ac0c33b2b]
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link urt_nrtrequest_t to urt_config--><path d="M10589.8472,396.4053 C10637.95,424.4215 10694.9938,452.1403 10751.0878,466.3594 C10764.5324,469.7674 18730.2853,464.5471 18740.0878,474.3594 C18817.7128,552.0622 18816.4467,1383.912 18740.0878,1462.8594 C18628.3192,1578.4169 13469.335,1659.2644 12517.2877,1673.2132 " fill="none" id="urt_nrtrequest_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12512.0909,1673.2893,12521.1486,1677.1569,12517.0904,1673.216,12521.0313,1669.1578,12512.0909,1673.2893" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4d5eda3ecbcd41d6d2b940fb4748a5e6]
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link urt_nrtrequest_t to urt_status_t--><path d="M10344.4303,396.5329 C10296.572,424.471 10239.8657,452.1039 10184.0878,466.3594 C10168.4784,470.3488 7877.1489,464.9265 7864.0878,474.3594 C7725.7395,574.2762 7683.6793,776.4182 7671.6421,914.8399 " fill="none" id="urt_nrtrequest_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7671.1925,920.1476,7675.9381,911.5174,7671.6146,915.1654,7667.9666,910.842,7671.1925,920.1476" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[094c3c4918275dedd163d58d6c00e2be]
175
reverse link urt_srtrequest_t to urt_delay_t--><path d="M9646.8396,408.372 C9592.7085,432.0992 9532.2937,454.2102 9474.0878,466.3594 C9442.3957,472.9745 7173.8291,464.2041 7143.0878,474.3594 C6903.5859,553.4784 6925.0146,730.02 6686.0878,810.8594 C6674.2717,814.8573 6245.8295,809.9606 6237.0878,818.8594 C6171.3702,885.7583 6189.6727,1159.9516 6237.0878,1240.8594 C6269.4588,1296.0962 6333.6068,1330.4355 6387.5863,1350.6512 " fill="none" id="urt_srtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9659.0099,402.9644,9651.9026,401.7453,9648.0437,407.837,9655.151,409.0561,9659.0099,402.9644" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9636.5941" y="423.1177">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6359.5776" y="1345.1238">0,1</text><!--MD5=[421371e2a1201d214a6175d8cede910e]
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link urt_srtrequest_t to urt_config--><path d="M9999.1466,403.0566 C10056.2958,428.7956 10121.4637,453.3692 10184.0878,466.3594 C10198.5117,469.3513 18658.6764,463.9382 18669.0878,474.3594 C18746.7151,552.0599 18745.4319,1383.8977 18669.0878,1462.8594 C18558.6586,1577.075 13463.9052,1658.9207 12517.5163,1673.1523 " fill="none" id="urt_srtrequest_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12512.35,1673.2299,12521.4092,1677.0939,12517.3494,1673.1546,12521.2888,1669.0948,12512.35,1673.2299" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[74f0decf3779c06ec30af8770fc7e1ae]
177
link urt_srtrequest_t to urt_status_t--><path d="M9659.007,402.9505 C9601.8564,428.683 9536.6933,453.2795 9474.0878,466.3594 C9459.8058,469.3433 7383.3851,464.0228 7373.0878,474.3594 C7267.5376,580.3123 7269.9607,702.5466 7373.0878,810.8594 C7385.5915,823.9918 7520.7144,809.2438 7536.0878,818.8594 C7572.3691,841.5522 7599.4428,877.9404 7619.303,915.6156 " fill="none" id="urt_srtrequest_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7621.6893,920.2157,7621.0956,910.3847,7619.3869,915.7773,7613.9942,914.0686,7621.6893,920.2157" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4360c48b38d2a92e1c3ebeee4ab98bfc]
178
link urt_srtrequest_t to urt_usefulness_f--><path d="M9659.0082,402.9561 C9601.8577,428.6889 9536.6943,453.2843 9474.0878,466.3594 C9459.2142,469.4657 7298.3358,465.3671 7286.0878,474.3594 C7193.9283,542.022 7125.5947,907.2015 7105.8867,1023.6545 " fill="none" id="urt_srtrequest_t-&gt;urt_usefulness_f" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7105.0401,1028.6814,7110.4793,1020.4707,7105.8705,1023.7508,7102.5904,1019.142,7105.0401,1028.6814" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e590cea536a036f5956f75e03ef95bbf]
179
reverse link urt_frtrequest_t to urt_delay_t--><path d="M10806.3322,451.5302 C10787.5589,457.346 10768.7148,462.3866 10750.0878,466.3594 C10709.9624,474.9173 7835.0698,461.5649 7796.0878,474.3594 C7555.413,553.353 7576.5417,731.1954 7336.0878,810.8594 C7323.3515,815.079 6379.5358,809.3329 6370.0878,818.8594 C6304.0521,885.4443 6339.0468,1152.368 6370.0878,1240.8594 C6378.7313,1265.5001 6393.9733,1288.9845 6410.3305,1309.2527 " fill="none" id="urt_frtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="10818.9834,447.4923,10812.0512,445.506,10807.5516,451.141,10814.4837,453.1273,10818.9834,447.4923" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10795.6105" y="467.3391">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6377.607" y="1298.2308">0..4</text><!--MD5=[b1f137a561f49721d911648e5542119f]
180
link urt_frtrequest_t to urt_config--><path d="M11424.1765,313.5244 C12878.7744,317.2389 18679.9415,340.439 18811.0878,474.3594 C18964.7816,631.3042 18963.8345,1304.9927 18811.0878,1462.8594 C18697.9933,1579.7449 13476.0074,1659.5838 12517.4134,1673.2677 " fill="none" id="urt_frtrequest_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12512.1812,1673.3423,12521.2373,1677.2136,12517.1807,1673.271,12521.1233,1669.2144,12512.1812,1673.3423" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d63fe507f799090eb2c242d7ab41013e]
181
link urt_frtrequest_t to urt_status_t--><path d="M10818.9814,447.483 C10796.0437,455.0177 10772.9028,461.4891 10750.0878,466.3594 C10714.7587,473.9012 8181.728,458.8787 8149.0878,474.3594 C7957.5231,565.2154 7816.448,773.7121 7738.2607,915.6039 " fill="none" id="urt_frtrequest_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7735.7358,920.2024,7743.5736,914.2384,7738.1422,915.8195,7736.5611,910.3882,7735.7358,920.2024" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bea47d1dd6f09b5135df7519b40184db]
182
reverse link urt_hrtrequest_t to urt_delay_t--><path d="M8819.5077,459.5425 C8810.3425,462.0599 8801.1908,464.3446 8792.0878,466.3594 C8702.6947,486.1453 7234.2972,458.7103 7144.0878,474.3594 C6690.0244,553.1282 6432.3749,442.7353 6166.0878,818.8594 C6057.7138,971.9351 6063.1125,1084.1011 6166.0878,1240.8594 C6214.7752,1314.9756 6313.786,1348.5953 6387.278,1363.7238 " fill="none" id="urt_hrtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8832.0109,455.9692,8825.1427,453.7719,8820.4729,459.2667,8827.341,461.4639,8832.0109,455.9692" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8817.0538" y="475.8136">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6355.7279" y="1359.3599">0..4</text><!--MD5=[50bfbddabe3b6f3afe991f5d307785f8]
183
reverse link urt_hrtrequest_t to urt_osTimer_t--><path d="M8819.5091,459.5488 C8810.3435,462.0643 8801.1913,464.347 8792.0878,466.3594 C8742.0455,477.4219 6998.1955,470.5359 6947.0878,474.3594 C5890.4753,553.4076 5583.4336,455.5888 4588.0878,818.8594 C4467.8535,862.7413 4344.9034,946.9716 4270.5155,1003.1777 " fill="none" id="urt_hrtrequest_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8832.0129,455.9778,8825.1451,453.7793,8820.4743,459.2733,8827.3421,461.4717,8832.0129,455.9778" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8780.2331" y="472.9969">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="4257.8801" y="992.49">0,1</text><!--MD5=[2663060494b35c1af191cf8ba65e9057]
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link urt_hrtrequest_t to urt_config--><path d="M9432.1702,455.9078 C9446.1852,459.9017 9460.1972,463.4255 9474.0878,466.3594 C9489.3586,469.5848 18451.3459,465.346 18464.0878,474.3594 C18604.8966,573.9655 18682.1942,1097.6392 18586.0878,1240.8594 C18441.0389,1457.0153 18298.513,1407.8103 18044.0878,1462.8594 C17490.6521,1582.6044 13361.7671,1658.5148 12517.5795,1672.8743 " fill="none" id="urt_hrtrequest_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12512.3557,1672.9631,12521.4224,1676.8095,12517.355,1672.8781,12521.2864,1668.8107,12512.3557,1672.9631" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3d55577c6a64a095d4d92af2794b0aa7]
185
link urt_hrtrequest_t to urt_status_t--><path d="M8832.0099,455.9647 C8818.6715,459.9238 8805.3281,463.427 8792.0878,466.3594 C8781.5039,468.7035 7238.7335,466.6744 7231.0878,474.3594 C7125.6074,580.3818 7126.7317,703.7302 7231.0878,810.8594 C7242.9153,823.0012 7521.6155,810.0355 7536.0878,818.8594 C7572.821,841.2559 7600.0659,877.7895 7619.945,915.6954 " fill="none" id="urt_hrtrequest_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7622.3329,920.324,7621.7614,910.4917,7620.0405,915.8805,7614.6518,914.1596,7622.3329,920.324" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[85137379eadac9ac066ccd1aa3005a20]
186
reverse link urt_service_t to urt_serviceid_t--><path d="M8152.1505,724.9461 C7963.1669,756.8679 7716.5743,793.6122 7496.0878,810.8594 C7472.2984,812.7203 6657.6049,806.6753 6637.0878,818.8594 C6578.4223,853.6981 6543.5171,924.4638 6524.1151,980.2569 " fill="none" id="urt_service_t&lt;-urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8165.0851,722.7537,8158.501,719.8127,8153.2539,724.7593,8159.838,727.7002,8165.0851,722.7537" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8149.0632" y="721.0855">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6517.6848" y="969.3261">1</text><!--MD5=[bfc39859b663e58a9d342532110a4ed9]
187
reverse link urt_service_t to urt_osMutex_t--><path d="M8151.8374,705.0397 C7842.1359,740.102 7353.0583,790.2582 6928.0878,810.8594 C6914.1666,811.5343 4933.4342,812.3922 4921.0878,818.8594 C4844.3891,859.0353 4795.4714,951.908 4771.2606,1009.7729 " fill="none" id="urt_service_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8165.0709,703.5383,8158.6582,700.2402,8153.1474,704.8911,8159.5601,708.1892,8165.0709,703.5383" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8149.0486" y="701.3597">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4770.8785" y="999.1952">1</text><!--MD5=[1bad46d95b358cb94878caad932de3eb]
188
reverse link urt_service_t to urt_osEventSource_t--><path d="M8151.9078,670.6216 C6656.3355,684.2531 276.032,746.6061 205.0878,818.8594 C73.6839,952.688 80.151,1100.9742 205.0878,1240.8594 C265.2202,1308.1865 790.6292,1346.239 1123.5208,1363.7887 " fill="none" id="urt_service_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8164.9643,670.5027,8158.9281,666.5575,8152.9648,670.612,8159.001,674.5572,8164.9643,670.5027" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8148.9391" y="682.845">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1107.2805" y="1360.2823">1</text><!--MD5=[7ece8bae7b00261083263672987da7c8]
189
reverse link urt_service_t to urt_osEventListener_t--><path d="M8151.6099,670.6989 C6667.2503,684.5873 380.0548,747.5846 310.0878,818.8594 C178.6997,952.7035 180.3826,1105.3838 310.0878,1240.8594 C363.0805,1296.2096 1612.4344,1288.6769 1688.0878,1300.8594 C1733.0515,1308.0999 1781.2415,1320.3352 1824.0323,1332.8461 " fill="none" id="urt_service_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8164.8378,670.5753,8158.8007,666.6316,8152.8383,670.6875,8158.8755,674.6312,8164.8378,670.5753" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8148.8093" y="667.5211">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1794.8266" y="1321.84">1</text><!--MD5=[33249c42c81fffc5b10022c232aa2b33]
190
link urt_service_t to urt_config--><path d="M8756.7257,802.8813 C8764.2262,805.6381 8771.6887,808.3033 8779.0878,810.8594 C9929.9978,1208.4495 10255.2887,1181.9277 11440.0878,1462.8594 C11713.6559,1527.726 12033.4294,1600.317 12216.9044,1641.6573 " fill="none" id="urt_service_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12222.0227,1642.8104,12214.122,1636.93,12217.145,1641.7114,12212.3636,1644.7344,12222.0227,1642.8104" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5471b15d17b5493f5e528354308bf7b4]
191
link urt_service_t to urt_status_t--><path d="M8188.9375,802.8655 C8051.9026,870.3487 7893.1581,948.5229 7787.2833,1000.6613 " fill="none" id="urt_service_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7782.5968,1002.9692,7792.438,1002.5814,7787.0824,1000.7602,7788.9036,995.4045,7782.5968,1002.9692" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b20e4c090fab6eb99d32d929022c00f1]
1
<?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="1888px" preserveAspectRatio="none" style="width:19258px;height:1888px;" version="1.1" viewBox="0 0 19258 1888" width="19258px" zoomAndPan="magnify"><defs><filter height="300%" id="f1unn8y6gq5xqo" 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="9575.5872" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="87" x="9576.5872" y="37.6611">Overview</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="9623.0872" y="58.6143"/><!--MD5=[915f6a2b4bff9d90dc7327d570275f1b]
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cluster Configuration--><polygon fill="#FFFFFF" filter="url(#f1unn8y6gq5xqo)" points="12495.8161,1517.3594,12505.8161,1507.3594,12801.8161,1507.3594,12801.8161,1866.3594,12791.8161,1876.3594,12495.8161,1876.3594,12495.8161,1517.3594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="12791.8161" x2="12800.8161" y1="1517.3594" y2="1508.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="12495.8161" x2="12791.8161" y1="1517.3594" y2="1517.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="12791.8161" x2="12791.8161" y1="1517.3594" y2="1876.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="107" x="12591.3161" y="1533.3545">Configuration</text><!--MD5=[1cb8ced355c85ab51f1ab55883ed8585]
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cluster Primitives--><polygon fill="#FFFFFF" filter="url(#f1unn8y6gq5xqo)" points="6411.8161,926.8594,6421.8161,916.8594,7823.8161,916.8594,7823.8161,1468.8594,7813.8161,1478.8594,6411.8161,1478.8594,6411.8161,926.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7813.8161" x2="7822.8161" y1="926.8594" y2="917.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="6411.8161" x2="7813.8161" y1="926.8594" y2="926.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7813.8161" x2="7813.8161" y1="926.8594" y2="1478.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="77" x="7075.3161" y="942.8545">Primitives</text><!--MD5=[ba9da179b6f0b3bb0ea21772c5f4ec75]
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cluster OSAL--><polygon fill="#FFFFFF" filter="url(#f1unn8y6gq5xqo)" points="618.8161,857.3594,628.8161,847.3594,6116.8161,847.3594,6116.8161,1733.8594,6106.8161,1743.8594,618.8161,1743.8594,618.8161,857.3594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="6106.8161" x2="6115.8161" y1="857.3594" y2="848.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="618.8161" x2="6106.8161" y1="857.3594" y2="857.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="6106.8161" x2="6106.8161" y1="857.3594" y2="1743.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="42" x="3342.8161" y="873.3545">OSAL</text><!--MD5=[3dab47d3fc3e186ff10f67819eb99ff8]
5
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]
6
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]
7
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]
8
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]
9
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]
10
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]
11
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]
12
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]
13
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]
14
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]
15
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]
16
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]
17
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]
18
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]
19
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; stroke-width: 1.5;" x1="12504.8161" x2="12792.8161" y1="1571.3594" y2="1571.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="159" x="12509.8161" y="1602.3745">URT_CFG_DELAY_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="12509.8161" y="1615.1792">URT_CFG_NODESTAGE_WIDTH : int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12504.8161" x2="12627.3161" y1="1585.7617" y2="1585.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="43" x="12627.3161" y="1589.0698">general</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12670.3161" x2="12792.8161" y1="1585.7617" y2="1585.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="12509.8161" y="1644.7886">URT_CFG_PUBSUB_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="222" x="12509.8161" y="1657.5933">URT_CFG_PUBSUB_TOPICID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="204" x="12509.8161" y="1670.3979">URT_CFG_PUBSUB_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="278" x="12509.8161" y="1683.2026">URT_CFG_PUBSUB_QOS_DEADLINECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="252" x="12509.8161" y="1696.0073">URT_CFG_PUBSUB_QOS_RATECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="12509.8161" y="1708.812">URT_CFG_PUBSUB_QOS_JITTERCHECKS : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12504.8161" x2="12598.3161" y1="1628.1758" y2="1628.1758"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="12598.3161" y="1631.4839">publish-subscribe</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12699.3161" x2="12792.8161" y1="1628.1758" y2="1628.1758"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="12509.8161" y="1738.4214">URT_CFG_RPC_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="12509.8161" y="1751.2261">URT_CFG_RPC_SERVICEID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="12509.8161" y="1764.0308">URT_CFG_RPC_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="253" x="12509.8161" y="1776.8354">URT_CFG_RPC_QOS_DEADLINECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="12509.8161" y="1789.6401">URT_CFG_RPC_QOS_JITTERCHECKS : bool</text><line style="stroke: #A80036; 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; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12504.8161" x2="12633.8161" y1="1832.2461" y2="1832.2461"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="30" x="12633.8161" y="1835.5542">OSAL</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12663.8161" x2="12792.8161" y1="1832.2461" y2="1832.2461"/><!--MD5=[9f69b6f4e23017059189983d6906a1eb]
20
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21
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23
class urt_status_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="278.4844" id="urt_status_t" style="stroke: #A80036; stroke-width: 1.5;" width="229" x="7586.3161" y="948.8594"/><ellipse cx="7659.0661" cy="964.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7663.1755,970.8594 L7655.4567,970.8594 L7655.4567,958.4688 L7663.1755,958.4688 L7663.1755,960.625 L7657.9099,960.625 L7657.9099,963.2969 L7662.6755,963.2969 L7662.6755,965.4531 L7657.9099,965.4531 L7657.9099,968.7031 L7663.1755,968.7031 L7663.1755,970.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="7679.5661" y="969.0137">urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7587.3161" x2="7814.3161" y1="980.8594" y2="980.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="119" x="7592.3161" y="995.0698">URT_STATUS_OK = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="7592.3161" y="1007.8745">URT_STATUS_DEADLINEVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="7592.3161" y="1020.6792">URT_STATUS_JITTERVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="166" x="7592.3161" y="1033.4839">URT_STATUS_RATEVIOLATION</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="166" x="7592.3161" y="1046.2886">URT_STATUS_SYNC_PENDING</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="7592.3161" y="1059.0933">URT_STATUS_SYNC_ERROR</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="200" x="7592.3161" y="1071.8979">URT_STATUS_NODE_INVALEVTMASK</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="7592.3161" y="1101.5073">URT_STATUS_TOPIC_DUPLICATE</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="7592.3161" y="1114.312">URT_STATUS_PUBLISH_TIMEOUT</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="206" x="7592.3161" y="1127.1167">URT_STATUS_SUBSCRIBE_TOPICSET</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="7592.3161" y="1139.9214">URT_STATUS_FETCH_NOTOPIC</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="7592.3161" y="1152.7261">URT_STATUS_FETCH_NOMESSAGE</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="7592.3161" y="1165.5308">URT_STATUS_UNSUBSCRIBE_NOTOPIC</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7587.3161" x2="7595.8161" y1="1084.8945" y2="1084.8945"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7595.8161" y="1088.2026">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7805.8161" x2="7814.3161" y1="1084.8945" y2="1084.8945"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="7592.3161" y="1195.1401">URT_STATUS_SERVICE_DUPLICATE</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="201" x="7592.3161" y="1207.9448">URT_STATUS_REQUEST_BADOWNER</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="7592.3161" y="1220.7495">URT_STATUS_REQUEST_LOCKED</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7587.3161" x2="7608.3161" y1="1178.5273" y2="1178.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="7608.3161" y="1181.8354">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7793.3161" x2="7814.3161" y1="1178.5273" y2="1178.5273"/><!--MD5=[15452fea434e71f16c7de0feaca2b066]
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25
class urt_usefulness_f--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="60.8047" id="urt_usefulness_f" style="stroke: #A80036; stroke-width: 1.5;" width="334" x="6965.8161" y="1057.3594"/><ellipse cx="7077.5661" cy="1073.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7081.8005,1069.125 L7076.5192,1069.125 L7076.5192,1071.7969 L7081.3161,1071.7969 L7081.3161,1073.9531 L7076.5192,1073.9531 L7076.5192,1079.3594 L7074.0817,1079.3594 L7074.0817,1066.9688 L7081.8005,1066.9688 L7081.8005,1069.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="7098.0661" y="1077.5137">urt_usefulness_f</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6966.8161" x2="7298.8161" y1="1089.3594" y2="1089.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6966.8161" x2="7298.8161" y1="1097.3594" y2="1097.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="322" x="6971.8161" y="1111.5698">urt_usefulness_f (dt : urt_delay_t, params : void*) : float</text><!--MD5=[3677786d1f00795918091b0110bfa4af]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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; stroke-width: 1.5;" x1="7841.3161" x2="8210.3161" y1="142.8594" y2="142.8594"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7848.3161" y="150.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="7860.3161" y="157.0698">_nodes : urt_node_t*</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7848.3161" y="163.6641"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="192" x="7860.3161" y="169.8745">_evtSource : urt_osEventSource_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7848.3161" y="176.4688"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="7860.3161" y="182.6792">_lock : urt_osMutex_t</text><rect fill="none" height="6" style="stroke: #C82930; 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; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7841.3161" x2="7920.8161" y1="416.5508" y2="416.5508"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7920.8161" y="419.8589">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="416.5508" y2="416.5508"/><ellipse cx="7851.3161" cy="472.3672" 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="284" x="7860.3161" y="475.5776">urtCoreGetService (service : urt_service_t*) : void</text><ellipse cx="7851.3161" cy="485.1719" 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="314" x="7860.3161" y="488.3823">urtCoreAddService (id : urt_serviceid_t) : 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="458.9648" y2="458.9648"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="7933.3161" y="462.2729">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="458.9648" y2="458.9648"/><!--MD5=[a7dea26996a1231aa68629b332780450]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
57
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]
58
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]
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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]
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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]
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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]
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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; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11281.8161" x2="11485.8161" y1="414.0273" y2="414.0273"/><!--MD5=[2b0c3d572fefe037473ca776bdd2f803]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
121
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
186
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]
187
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]
188
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]
189
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]
190
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]
191
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]
192 192
@startuml
193 193

  
194 194
title **µRtWare**\nOverview\n
195 195

  
196
!include ./functions.iuml
197

  
198
/'### ENTITIES ###############################################################'/
199

  
200
!startsub ENTITIES
201

  
202
$module("Configuration") {
203
  !includesub config.uml!ENTITIES
204
}
205

  
206
$module("Primitives") {
207
  !includesub primitives.uml!ENTITIES
208
}
209

  
210
$module("OSAL") {
211
  !includesub osal.uml!ENTITIES
212
}
213

  
214
$module("Middleware") {
215
  !includesub urtware.uml!ENTITIES
216
}
217

  
218
!endsub
219

  
220
/'### DEPENDENCIES & LAYOUT ##################################################'/
221

  
222
!startsub DEPENDENCIES
223

  
224
!includesub config.uml!DEPENDENCIES
225

  
226
!includesub primitives.uml!DEPENDENCIES
227
urt_nodestage_t ..> urt_config
228
urt_topicid_t ..> urt_config
229
urt_serviceid_t ..> urt_config
230
urt_delay_t ..> urt_config
231

  
232
!includesub osal.uml!DEPENDENCIES
233
urt_osTime_t ..> urt_delay_t
234
urt_osCondvar_t ..> urt_delay_t
235
urt_osThread_t ..> urt_delay_t
236
urt_osTimer_t ..> urt_delay_t
237
urt_events ..> urt_delay_t
238

  
239
!includesub urtware.uml!DEPENDENCIES
240
urt_core_t "1" *- - "1" urt_osEventSource_t
241
urt_core_t "1" *- - "1" urt_osMutex_t
242
urt_core_t "1" *- - "1" urt_status_t
243
urt_core_t ..> urt_nodestage_t
244
urt_core_t ..> urt_topicid_t
245
urt_core_t ..> urt_serviceid_t
246
urt_node_t "1" o- - "1" urt_osThread_t
247
urt_node_t "1" *- - "1" urt_nodestage_t
248
urt_node_t "1" *- - "1" urt_osEventListener_t
249
urt_node_t "0..*" o- - "1" urt_osThreadFunction_t
250
urt_node_t ..> urt_status_t
251
urt_nodeSetupCallback_t ..> urt_osEventMask_t
252
urt_nodeLoopCallback_t ..> urt_osEventMask_t
253
urt_publisher_t ..> urt_config
254
urt_publisher_t ..> urt_status_t
255
urt_publisher_t ..> urt_delay_t
256
urt_topic_t "1" *- - "1" urt_topicid_t
257
urt_topic_t "1" *- - "1" urt_osMutex_t
258
urt_topic_t "1" *- - "1" urt_osEventSource_t
259
urt_topic_t "1" *- - "1" urt_osCondvar_t
260
urt_topic_t ..> urt_config
261
urt_topic_t "1" *- - "0,1" urt_osTimer_t
262
urt_topic_t ..> urt_status_t
263
urt_message_t "1" *- - "1" urt_osTime_t
264
urt_message_t ..> urt_config
265
urt_message_t ..> urt_status_t
266
urt_basesubscriber_t "1" *- - "1" urt_osEventListener_t
267
urt_basesubscriber_t "1" *- - "1" urt_osTime_t
268
urt_basesubscriber_t ..> urt_config
269
urt_basesubscriber_t ..> urt_status_t
270
urt_nrtsubscriber_t "1" *- - "0,2" urt_delay_t
271
urt_nrtsubscriber_t ..> urt_config
272
urt_nrtsubscriber_t ..> urt_status_t
273
urt_srtsubscriber_t "1" *- - "0,1" urt_usefulness_f
274
urt_srtsubscriber_t "1" *- - "0,2" urt_delay_t
275
urt_srtsubscriber_t ..> urt_config
276
urt_srtsubscriber_t ..> urt_status_t
277
urt_frtsubscriber_t "1" *- - "0..4" urt_delay_t
278
urt_frtsubscriber_t ..> urt_config
279
urt_frtsubscriber_t ..> urt_status_t
280
urt_hrtsubscriber_t "1" *- - "0..5" urt_delay_t
281
urt_hrtsubscriber_t "1" *- - "1" urt_osTimer_t
282
urt_hrtsubscriber_t ..> urt_config
283
urt_hrtsubscriber_t ..> urt_status_t
284
urt_baserequest_t "1" *- - "1" urt_osMutex_t
285
urt_baserequest_t "1" *- - "1" urt_osTime_t
286
urt_baserequest_t "1" *- - "1" urt_osEventSource_t
287
urt_baserequest_t "1" *- - "1" urt_osEventListener_t
288
urt_nrtrequest_t "1" *- - "0,2" urt_delay_t
289
urt_nrtrequest_t ..> urt_config
290
urt_nrtrequest_t ..> urt_status_t
291
urt_srtrequest_t "1" *- - "0,1" urt_delay_t
292
urt_srtrequest_t ..> urt_config
293
urt_srtrequest_t ..> urt_status_t
294
urt_srtrequest_t ..> urt_usefulness_f
295
urt_frtrequest_t "1" *- - "0..4" urt_delay_t
296
urt_frtrequest_t ..> urt_config
297
urt_frtrequest_t ..> urt_status_t
298
urt_hrtrequest_t "1" *- - "0..4" urt_delay_t
299
urt_hrtrequest_t "1" *- - "0,1" urt_osTimer_t
300
urt_hrtrequest_t ..> urt_config
301
urt_hrtrequest_t ..> urt_status_t
302
urt_service_t "1" *- - "1" urt_serviceid_t
303
urt_service_t "1" *- - "1" urt_osMutex_t
304
urt_service_t "1" *- - "1" urt_osEventSource_t
305
urt_service_t "1" *- - "1" urt_osEventListener_t
306
urt_service_t ..> urt_config
307
urt_service_t ..> urt_status_t
308

  
309
!endsub
310

  
311
/'### OUTRO ##################################################################'/
312

  
313
@enduml
314

  
315
@startuml
316

  
317
title **µRtWare**\nOverview\n
196 318

  
197 319

  
198 320

  
......
478 600
  __
479 601
  + {method} urtCoreInit (void) : void
480 602
  + {method} urtCoreGetStatus (void) : urt_status_t
603
  + {method} urtCoreGetEventMask (void) : urt_osEventMask_t
604
  + {method} urtCoreGetEvtSource (void) : urt_osEventSource_t*
481 605
  + {method} urtCoreStartNodes (void) : void
482
  + {method} urtCoreSynchronize (node : urt_node_t*) : urt_status_t
606
  + {method} urtCoreSynchronizeNodes (node : urt_node_t*) : urt_status_t
483 607
  + {method} urtCoreStopNodes (reason : urt_status_t) : urt_status_t
484 608
  + {method} urtCoreGetEventSource (void) : urt_osEventSource_t*
485 609
  + {method} urtCoreGetMutex (void) : urt_osMutex_t*
610
  + {method} urtCoreGetNodes (void) : urt_node_t*
611
  + {method} urtCoreAddNode (node : urt_node_t*) : void
486 612
  .. URT_CFG_PUBSUB_ENABLED == true ..
487 613
  + {method} urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*
614
  + {method} urtCoreAddTopic (topic : urt_topic_t*) : void
488 615
  .. URT_CFG_RPC_ENABLED == true ..
489
  + {method} urtCoreGetService (id : urt_serviceid_t) : urt_service_t*
616
  + {method} urtCoreGetService (service : urt_service_t*) : void
617
  + {method} urtCoreAddService (id : urt_serviceid_t) : urt_service_t*
490 618
}
491 619

  
492 620
  package "node" <<Rectangle>> {
......
642 770
  + {field} numMessagesDiscarded : uint64_t
643 771
  + {field} numSubscribers : unsigned int
644 772
  __
645
  + {method} urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t
773
  + {method} urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t, mandatoryMessage: urt_message_t*) : urt_status_t
646 774
}
647 775

  
648 776
}
......
926 1054

  
927 1055
@enduml
928 1056

  
929
PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
1057
PlantUML version 1.2020.15(Sun Jun 28 13:39:45 CEST 2020)
930 1058
(GPL source distribution)
931 1059
Java Runtime: OpenJDK Runtime Environment
932 1060
JVM: OpenJDK 64-Bit Server VM
933
Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
934
Operating System: Linux
935 1061
Default Encoding: UTF-8
936
Language: en
937
Country: US
1062
Language: de
1063
Country: DE
938 1064
--></g></svg>
doc/classdiagrams/pubsub.svg
1
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2
cluster subscriber--><rect fill="#FFFFFF" filter="url(#fvsjqt0klpekf)" height="498" style="stroke: #000000; stroke-width: 1.5;" width="4063" x="1253.5" y="94.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="85" x="3242.5" y="109.9014">subscriber</text><!--MD5=[50a042e24f957794dab9ba3ea8701c50]
3
class urt_basesubscriber_t--><rect fill="#FEFECE" filter="url(#fvsjqt0klpekf)" height="133.6328" id="urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="225" x="2680" y="450.9063"/><ellipse cx="2722.45" cy="466.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2721.9344,467.4688 Q2720.075,466.7656 2719.4188,466 Q2718.7781,465.2188 2718.7781,463.9063 Q2718.7781,462.2188 2719.8563,461.25 Q2720.9344,460.2813 2722.8094,460.2813 Q2723.6688,460.2813 2724.5125,460.4844 Q2725.3719,460.6719 2726.2156,461.0625 L2726.2156,463.4531 Q2725.4344,462.8906 2724.6063,462.6094 Q2723.7938,462.3125 2722.9969,462.3125 Q2722.1219,462.3125 2721.6375,462.6719 Q2721.1688,463.0313 2721.1688,463.6875 Q2721.1688,464.2031 2721.5125,464.5469 Q2721.8563,464.875 2722.95,465.2813 L2724.0125,465.6875 Q2725.4969,466.2344 2726.2,467.1406 Q2726.9188,468.0469 2726.9188,469.4219 Q2726.9188,471.2969 2725.8094,472.2188 Q2724.7,473.1406 2722.45,473.1406 Q2721.5281,473.1406 2720.6063,472.9219 Q2719.6844,472.7031 2718.825,472.2813 L2718.825,469.75 Q2719.7938,470.4375 2720.7156,470.7813 Q2721.6375,471.125 2722.5281,471.125 Q2723.4344,471.125 2723.9344,470.7188 Q2724.4344,470.2969 2724.4344,469.5625 Q2724.4344,469 2724.0906,468.5938 Q2723.7625,468.1719 2723.1375,467.9219 L2721.9344,467.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="132" x="2742.55" y="471.0605">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2681" x2="2904" y1="482.9063" y2="482.9063"/><ellipse cx="2691" cy="493.9063" 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="104" x="2700" y="497.1167">topic : urt_topic_t*</text><ellipse cx="2691" cy="506.7109" 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="198" x="2700" y="509.9214">evtListener : urt_osEventListener_t</text><ellipse cx="2691" cy="519.5156" 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="175" x="2700" y="522.7261">lastMessage : urt_message_t*</text><ellipse cx="2691" cy="532.3203" 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="186" x="2700" y="535.5308">lastMessageTime : urt_osTime_t</text><ellipse cx="2691" cy="561.9297" fill="none" 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="2700" y="565.1401">sumLatencies : uint64_t</text><ellipse cx="2691" cy="574.7344" fill="none" 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="2700" y="577.9448">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2681" x2="2684" y1="548.5273" y2="548.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2684" y="551.8354">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2901" x2="2904" y1="548.5273" y2="548.5273"/><!--MD5=[9ff46073dd541e50679ef35e851c67d6]
4
class urt_nrtsubscriber_t--><rect fill="#FEFECE" filter="url(#fvsjqt0klpekf)" height="154.4375" id="urt_nrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="821" x="3350" y="179.4063"/><ellipse cx="3696.75" cy="195.4063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3696.2344,195.9688 Q3694.375,195.2656 3693.7188,194.5 Q3693.0781,193.7188 3693.0781,192.4063 Q3693.0781,190.7188 3694.1563,189.75 Q3695.2344,188.7813 3697.1094,188.7813 Q3697.9688,188.7813 3698.8125,188.9844 Q3699.6719,189.1719 3700.5156,189.5625 L3700.5156,191.9531 Q3699.7344,191.3906 3698.9063,191.1094 Q3698.0938,190.8125 3697.2969,190.8125 Q3696.4219,190.8125 3695.9375,191.1719 Q3695.4688,191.5313 3695.4688,192.1875 Q3695.4688,192.7031 3695.8125,193.0469 Q3696.1563,193.375 3697.25,193.7813 L3698.3125,194.1875 Q3699.7969,194.7344 3700.5,195.6406 Q3701.2188,196.5469 3701.2188,197.9219 Q3701.2188,199.7969 3700.1094,200.7188 Q3699,201.6406 3696.75,201.6406 Q3695.8281,201.6406 3694.9063,201.4219 Q3693.9844,201.2031 3693.125,200.7813 L3693.125,198.25 Q3694.0938,198.9375 3695.0156,199.2813 Q3695.9375,199.625 3696.8281,199.625 Q3697.7344,199.625 3698.2344,199.2188 Q3698.7344,198.7969 3698.7344,198.0625 Q3698.7344,197.5 3698.3906,197.0938 Q3698.0625,196.6719 3697.4375,196.4219 L3696.2344,195.9688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="3717.25" y="199.5605">urt_nrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3351" x2="4170" y1="211.4063" y2="211.4063"/><ellipse cx="3361" cy="239.2109" 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="138" x="3370" y="242.4214">minLatency : urt_delay_t</text><ellipse cx="3361" cy="252.0156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="3370" y="255.2261">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3351" x2="3652" y1="225.8086" y2="225.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="3652" y="229.1167">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3869" x2="4170" y1="225.8086" y2="225.8086"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3351" x2="4170" y1="261.8203" y2="261.8203"/><ellipse cx="3361" cy="272.8203" 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="347" x="3370" y="276.0308">urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : void</text><ellipse cx="3361" cy="285.625" 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="715" x="3370" y="288.8354">urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="3361" cy="298.4297" 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="785" x="3370" y="301.6401">urtNrtSubscriberFetchNextMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="3361" cy="311.2344" 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="795" x="3370" y="314.4448">urtNrtSubscriberFetchLatestMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="3361" cy="324.0391" 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="446" x="3370" y="327.2495">urtNrtSubscriberUnsubscribe (subscriber : urt_nrtsubscriber_t*) : urt_status_t</text><!--MD5=[5c7929572d87ccc448d875bea5da0fb1]
5
class urt_srtsubscriber_t--><rect fill="#FEFECE" filter="url(#fvsjqt0klpekf)" height="192.8516" id="urt_srtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1044" x="2270.5" y="159.9063"/><ellipse cx="2729.25" cy="175.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2728.7344,176.4688 Q2726.875,175.7656 2726.2188,175 Q2725.5781,174.2188 2725.5781,172.9063 Q2725.5781,171.2188 2726.6563,170.25 Q2727.7344,169.2813 2729.6094,169.2813 Q2730.4688,169.2813 2731.3125,169.4844 Q2732.1719,169.6719 2733.0156,170.0625 L2733.0156,172.4531 Q2732.2344,171.8906 2731.4063,171.6094 Q2730.5938,171.3125 2729.7969,171.3125 Q2728.9219,171.3125 2728.4375,171.6719 Q2727.9688,172.0313 2727.9688,172.6875 Q2727.9688,173.2031 2728.3125,173.5469 Q2728.6563,173.875 2729.75,174.2813 L2730.8125,174.6875 Q2732.2969,175.2344 2733,176.1406 Q2733.7188,177.0469 2733.7188,178.4219 Q2733.7188,180.2969 2732.6094,181.2188 Q2731.5,182.1406 2729.25,182.1406 Q2728.3281,182.1406 2727.4063,181.9219 Q2726.4844,181.7031 2725.625,181.2813 L2725.625,178.75 Q2726.5938,179.4375 2727.5156,179.7813 Q2728.4375,180.125 2729.3281,180.125 Q2730.2344,180.125 2730.7344,179.7188 Q2731.2344,179.2969 2731.2344,178.5625 Q2731.2344,178 2730.8906,177.5938 Q2730.5625,177.1719 2729.9375,176.9219 L2728.7344,176.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="2749.75" y="180.0605">urt_srtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2271.5" x2="3313.5" y1="191.9063" y2="191.9063"/><ellipse cx="2281.5" cy="202.9063" 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="189" x="2290.5" y="206.1167">usefulnesscb : urt_usefulness_f*</text><ellipse cx="2281.5" cy="215.7109" 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="98" x="2290.5" y="218.9214">cbparams : void*</text><ellipse cx="2281.5" cy="245.3203" 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="138" x="2290.5" y="248.5308">minLatency : urt_delay_t</text><ellipse cx="2281.5" cy="258.125" 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="141" x="2290.5" y="261.3354">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2271.5" x2="2684" y1="231.918" y2="231.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2684" y="235.2261">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2901" x2="3313.5" y1="231.918" y2="231.918"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2271.5" x2="3313.5" y1="267.9297" y2="267.9297"/><ellipse cx="2281.5" cy="278.9297" 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="347" x="2290.5" y="282.1401">urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void</text><ellipse cx="2281.5" cy="291.7344" 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="1018" x="2290.5" y="294.9448">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="2281.5" cy="304.5391" 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="785" x="2290.5" y="307.7495">urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="2281.5" cy="317.3438" 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="795" x="2290.5" y="320.5542">urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="2281.5" cy="330.1484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="2290.5" y="333.3589">urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float</text><ellipse cx="2281.5" cy="342.9531" 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="446" x="2290.5" y="346.1636">urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t</text><!--MD5=[17838fb05fe219fd399839979ec8a4a4]
6
class urt_frtsubscriber_t--><rect fill="#FEFECE" filter="url(#fvsjqt0klpekf)" height="226.4609" id="urt_frtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="974" x="1261.5" y="143.4063"/><ellipse cx="1686.75" cy="159.4063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1686.2344,159.9688 Q1684.375,159.2656 1683.7188,158.5 Q1683.0781,157.7188 1683.0781,156.4063 Q1683.0781,154.7188 1684.1563,153.75 Q1685.2344,152.7813 1687.1094,152.7813 Q1687.9688,152.7813 1688.8125,152.9844 Q1689.6719,153.1719 1690.5156,153.5625 L1690.5156,155.9531 Q1689.7344,155.3906 1688.9063,155.1094 Q1688.0938,154.8125 1687.2969,154.8125 Q1686.4219,154.8125 1685.9375,155.1719 Q1685.4688,155.5313 1685.4688,156.1875 Q1685.4688,156.7031 1685.8125,157.0469 Q1686.1563,157.375 1687.25,157.7813 L1688.3125,158.1875 Q1689.7969,158.7344 1690.5,159.6406 Q1691.2188,160.5469 1691.2188,161.9219 Q1691.2188,163.7969 1690.1094,164.7188 Q1689,165.6406 1686.75,165.6406 Q1685.8281,165.6406 1684.9063,165.4219 Q1683.9844,165.2031 1683.125,164.7813 L1683.125,162.25 Q1684.0938,162.9375 1685.0156,163.2813 Q1685.9375,163.625 1686.8281,163.625 Q1687.7344,163.625 1688.2344,163.2188 Q1688.7344,162.7969 1688.7344,162.0625 Q1688.7344,161.5 1688.3906,161.0938 Q1688.0625,160.6719 1687.4375,160.4219 L1686.2344,159.9688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="1707.25" y="163.5605">urt_frtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1262.5" x2="2234.5" y1="175.4063" y2="175.4063"/><ellipse cx="1272.5" cy="203.2109" 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="157" x="1281.5" y="206.4214">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1262.5" x2="1603" y1="189.8086" y2="189.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="1603" y="193.1167">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1894" x2="2234.5" y1="189.8086" y2="189.8086"/><ellipse cx="1272.5" cy="232.8203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="1281.5" y="236.0308">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1262.5" x2="1613" y1="219.418" y2="219.418"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="1613" y="222.7261">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1884" x2="2234.5" y1="219.418" y2="219.418"/><ellipse cx="1272.5" cy="262.4297" fill="none" 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="1281.5" y="265.6401">minLatency : urt_delay_t</text><ellipse cx="1272.5" cy="275.2344" fill="none" 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="1281.5" y="278.4448">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1262.5" x2="1494.5" y1="249.0273" y2="249.0273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="508" x="1494.5" y="252.3354">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="2002.5" x2="2234.5" y1="249.0273" y2="249.0273"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1262.5" x2="2234.5" y1="285.0391" y2="285.0391"/><ellipse cx="1272.5" cy="296.0391" 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="342" x="1281.5" y="299.2495">urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : void</text><ellipse cx="1272.5" cy="308.8438" 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="948" x="1281.5" y="312.0542">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="1272.5" cy="321.6484" 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="780" x="1281.5" y="324.8589">urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="1272.5" cy="334.4531" 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="790" x="1281.5" y="337.6636">urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="1272.5" cy="347.2578" 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="540" x="1281.5" y="350.4683">urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool</text><ellipse cx="1272.5" cy="360.0625" 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="441" x="1281.5" y="363.2729">urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t</text><!--MD5=[104dc879e5721421b987fcc467bc3a1d]
7
class urt_hrtsubscriber_t--><rect fill="#FEFECE" filter="url(#fvsjqt0klpekf)" height="268.875" id="urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="4206.5" y="121.9063"/><ellipse cx="4684.75" cy="137.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4684.2344,138.4688 Q4682.375,137.7656 4681.7188,137 Q4681.0781,136.2188 4681.0781,134.9063 Q4681.0781,133.2188 4682.1563,132.25 Q4683.2344,131.2813 4685.1094,131.2813 Q4685.9688,131.2813 4686.8125,131.4844 Q4687.6719,131.6719 4688.5156,132.0625 L4688.5156,134.4531 Q4687.7344,133.8906 4686.9063,133.6094 Q4686.0938,133.3125 4685.2969,133.3125 Q4684.4219,133.3125 4683.9375,133.6719 Q4683.4688,134.0313 4683.4688,134.6875 Q4683.4688,135.2031 4683.8125,135.5469 Q4684.1563,135.875 4685.25,136.2813 L4686.3125,136.6875 Q4687.7969,137.2344 4688.5,138.1406 Q4689.2188,139.0469 4689.2188,140.4219 Q4689.2188,142.2969 4688.1094,143.2188 Q4687,144.1406 4684.75,144.1406 Q4683.8281,144.1406 4682.9063,143.9219 Q4681.9844,143.7031 4681.125,143.2813 L4681.125,140.75 Q4682.0938,141.4375 4683.0156,141.7813 Q4683.9375,142.125 4684.8281,142.125 Q4685.7344,142.125 4686.2344,141.7188 Q4686.7344,141.2969 4686.7344,140.5625 Q4686.7344,140 4686.3906,139.5938 Q4686.0625,139.1719 4685.4375,138.9219 L4684.2344,138.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="4705.25" y="142.0605">urt_hrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4207.5" x2="5289.5" y1="153.9063" y2="153.9063"/><ellipse cx="4217.5" cy="164.9063" 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="151" x="4226.5" y="168.1167">next : urt_hrtsubscriber_t*</text><ellipse cx="4217.5" cy="194.5156" 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="157" x="4226.5" y="197.7261">deadlineOffset : urt_delay_t</text><ellipse cx="4217.5" cy="207.3203" 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="194" x="4226.5" y="210.5308">qosDeadlineTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4207.5" x2="4603" y1="181.1133" y2="181.1133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="4603" y="184.4214">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4894" x2="5289.5" y1="181.1133" y2="181.1133"/><ellipse cx="4217.5" cy="236.9297" fill="none" 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="4226.5" y="240.1401">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4207.5" x2="4613" y1="223.5273" y2="223.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="4613" y="226.8354">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4884" x2="5289.5" y1="223.5273" y2="223.5273"/><ellipse cx="4217.5" cy="266.5391" fill="none" 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="4226.5" y="269.7495">minLatency : urt_delay_t</text><ellipse cx="4217.5" cy="279.3438" fill="none" 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="4226.5" y="282.5542">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4207.5" x2="4496.5" y1="253.1367" y2="253.1367"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="4496.5" y="256.4448">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="5000.5" x2="5289.5" y1="253.1367" y2="253.1367"/><ellipse cx="4217.5" cy="308.9531" 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="150" x="4226.5" y="312.1636">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4207.5" x2="4616" y1="295.5508" y2="295.5508"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="4616" y="298.8589">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4881" x2="5289.5" y1="295.5508" y2="295.5508"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4207.5" x2="5289.5" y1="318.7578" y2="318.7578"/><ellipse cx="4217.5" cy="329.7578" 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="347" x="4226.5" y="332.9683">urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : void</text><ellipse cx="4217.5" cy="342.5625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1058" x="4226.5" y="345.7729">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="4217.5" cy="355.3672" 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="785" x="4226.5" y="358.5776">urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4217.5" cy="368.1719" 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="795" x="4226.5" y="371.3823">urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4217.5" cy="380.9766" 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="446" x="4226.5" y="384.187">urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t</text><!--MD5=[e602aa6d45f270ad04f88c9ca5352b33]
8
class urt_message_t--><rect fill="#FEFECE" filter="url(#fvsjqt0klpekf)" height="141.6328" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="406" x="813.5" y="644.9063"/><ellipse cx="966.25" cy="660.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M965.7344,661.4688 Q963.875,660.7656 963.2188,660 Q962.5781,659.2188 962.5781,657.9063 Q962.5781,656.2188 963.6563,655.25 Q964.7344,654.2813 966.6094,654.2813 Q967.4688,654.2813 968.3125,654.4844 Q969.1719,654.6719 970.0156,655.0625 L970.0156,657.4531 Q969.2344,656.8906 968.4063,656.6094 Q967.5938,656.3125 966.7969,656.3125 Q965.9219,656.3125 965.4375,656.6719 Q964.9688,657.0313 964.9688,657.6875 Q964.9688,658.2031 965.3125,658.5469 Q965.6563,658.875 966.75,659.2813 L967.8125,659.6875 Q969.2969,660.2344 970,661.1406 Q970.7188,662.0469 970.7188,663.4219 Q970.7188,665.2969 969.6094,666.2188 Q968.5,667.1406 966.25,667.1406 Q965.3281,667.1406 964.4063,666.9219 Q963.4844,666.7031 962.625,666.2813 L962.625,663.75 Q963.5938,664.4375 964.5156,664.7813 Q965.4375,665.125 966.3281,665.125 Q967.2344,665.125 967.7344,664.7188 Q968.2344,664.2969 968.2344,663.5625 Q968.2344,663 967.8906,662.5938 Q967.5625,662.1719 966.9375,661.9219 L965.7344,661.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="986.75" y="665.0605">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="814.5" x2="1218.5" y1="676.9063" y2="676.9063"/><ellipse cx="824.5" cy="687.9063" 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="127" x="833.5" y="691.1167">next : urt_message_t*</text><ellipse cx="824.5" cy="700.7109" 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="85" x="833.5" y="703.9214">payload : void*</text><ellipse cx="824.5" cy="713.5156" 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="146" x="833.5" y="716.7261">originTime : urt_osTime_t</text><ellipse cx="824.5" cy="726.3203" 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="211" x="833.5" y="729.5308">numHrtConsumersLeft : unsigned int</text><ellipse cx="824.5" cy="755.9297" fill="none" 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="833.5" y="759.1401">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="814.5" x2="908" y1="742.5273" y2="742.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="908" y="745.8354">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1125" x2="1218.5" y1="742.5273" y2="742.5273"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="814.5" x2="1218.5" y1="765.7344" y2="765.7344"/><ellipse cx="824.5" cy="776.7344" 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="380" x="833.5" y="779.9448">urtMessageInit (message : urt_message_t*, payload : void*) : void</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]
9
class urt_publisher_t--><rect fill="#FEFECE" filter="url(#fvsjqt0klpekf)" height="196.0469" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="783" x="6" y="158.4063"/><ellipse cx="346.75" cy="174.4063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M346.2344,174.9688 Q344.375,174.2656 343.7188,173.5 Q343.0781,172.7188 343.0781,171.4063 Q343.0781,169.7188 344.1563,168.75 Q345.2344,167.7813 347.1094,167.7813 Q347.9688,167.7813 348.8125,167.9844 Q349.6719,168.1719 350.5156,168.5625 L350.5156,170.9531 Q349.7344,170.3906 348.9063,170.1094 Q348.0938,169.8125 347.2969,169.8125 Q346.4219,169.8125 345.9375,170.1719 Q345.4688,170.5313 345.4688,171.1875 Q345.4688,171.7031 345.8125,172.0469 Q346.1563,172.375 347.25,172.7813 L348.3125,173.1875 Q349.7969,173.7344 350.5,174.6406 Q351.2188,175.5469 351.2188,176.9219 Q351.2188,178.7969 350.1094,179.7188 Q349,180.6406 346.75,180.6406 Q345.8281,180.6406 344.9063,180.4219 Q343.9844,180.2031 343.125,179.7813 L343.125,177.25 Q344.0938,177.9375 345.0156,178.2813 Q345.9375,178.625 346.8281,178.625 Q347.7344,178.625 348.2344,178.2188 Q348.7344,177.7969 348.7344,177.0625 Q348.7344,176.5 348.3906,176.0938 Q348.0625,175.6719 347.4375,175.4219 L346.2344,174.9688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="367.25" y="178.5605">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7" x2="788" y1="190.4063" y2="190.4063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="289" x="12" y="204.6167">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT : bool</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7" x2="788" y1="211.2109" y2="211.2109"/><ellipse cx="17" cy="222.2109" 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="104" x="26" y="225.4214">topic : urt_topic_t*</text><ellipse cx="17" cy="251.8203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="149" x="26" y="255.0308">publishAttempts : uint64_t</text><ellipse cx="17" cy="264.625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="26" y="267.8354">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7" x2="289" y1="238.418" y2="238.418"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="289" y="241.7261">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="506" x2="788" y1="238.418" y2="238.418"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7" x2="788" y1="274.4297" y2="274.4297"/><ellipse cx="17" cy="285.4297" 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="572" x="26" y="288.6401">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void</text><ellipse cx="17" cy="315.0391" 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="632" x="26" y="318.2495">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="7" x2="244" y1="301.6367" y2="301.6367"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="307" x="244" y="304.9448">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == false</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="551" x2="788" y1="301.6367" y2="301.6367"/><ellipse cx="17" cy="344.6484" 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="757" x="26" y="347.8589">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="7" x2="246.5" y1="331.2461" y2="331.2461"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="302" x="246.5" y="334.5542">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="548.5" x2="788" y1="331.2461" y2="331.2461"/><!--MD5=[a1b1e66ec52c209a9fa2dab315cd7630]
10
class urt_topic_t--><rect fill="#FEFECE" filter="url(#fvsjqt0klpekf)" height="260.875" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="824.5" y="125.9063"/><ellipse cx="979.25" cy="141.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M978.7344,142.4688 Q976.875,141.7656 976.2188,141 Q975.5781,140.2188 975.5781,138.9063 Q975.5781,137.2188 976.6563,136.25 Q977.7344,135.2813 979.6094,135.2813 Q980.4688,135.2813 981.3125,135.4844 Q982.1719,135.6719 983.0156,136.0625 L983.0156,138.4531 Q982.2344,137.8906 981.4063,137.6094 Q980.5938,137.3125 979.7969,137.3125 Q978.9219,137.3125 978.4375,137.6719 Q977.9688,138.0313 977.9688,138.6875 Q977.9688,139.2031 978.3125,139.5469 Q978.6563,139.875 979.75,140.2813 L980.8125,140.6875 Q982.2969,141.2344 983,142.1406 Q983.7188,143.0469 983.7188,144.4219 Q983.7188,146.2969 982.6094,147.2188 Q981.5,148.1406 979.25,148.1406 Q978.3281,148.1406 977.4063,147.9219 Q976.4844,147.7031 975.625,147.2813 L975.625,144.75 Q976.5938,145.4375 977.5156,145.7813 Q978.4375,146.125 979.3281,146.125 Q980.2344,146.125 980.7344,145.7188 Q981.2344,145.2969 981.2344,144.5625 Q981.2344,144 980.8906,143.5938 Q980.5625,143.1719 979.9375,142.9219 L978.7344,142.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="999.75" y="146.0605">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="825.5" x2="1207.5" y1="157.9063" y2="157.9063"/><ellipse cx="835.5" cy="168.9063" 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="101" x="844.5" y="172.1167">next : urt_topic_t*</text><ellipse cx="835.5" cy="181.7109" 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="91" x="844.5" y="184.9214">id : urt_topicid_t</text><ellipse cx="835.5" cy="194.5156" 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="113" x="844.5" y="197.7261">lock : urt_osMutex_t</text><ellipse cx="835.5" cy="207.3203" 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="186" x="844.5" y="210.5308">evtSource : urt_osEventSource_t</text><ellipse cx="835.5" cy="220.125" 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="193" x="844.5" y="223.3354">numHrtSubscribers : unsigned int</text><ellipse cx="835.5" cy="232.9297" fill="none" 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="844.5" y="236.1401">hrtReleased : urt_osCondvar_t</text><ellipse cx="835.5" cy="245.7344" fill="none" 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="844.5" y="248.9448">mandatoryMessage : urt_message_t</text><ellipse cx="835.5" cy="258.5391" fill="none" 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="844.5" y="261.7495">latestMessage : urt_message_t*</text><ellipse cx="835.5" cy="288.1484" fill="none" 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="844.5" y="291.3589">hrtSubscribers : urt_hrtsubscriber_t*</text><ellipse cx="835.5" cy="300.9531" 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="170" x="844.5" y="304.1636">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="825.5" x2="884" y1="274.7461" y2="274.7461"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="884" y="278.0542">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1149" x2="1207.5" y1="274.7461" y2="274.7461"/><ellipse cx="835.5" cy="330.5625" 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="195" x="844.5" y="333.7729">numMessagesPublished : uint64_t</text><ellipse cx="835.5" cy="343.3672" 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="197" x="844.5" y="346.5776">numMessagesDiscarded : uint64_t</text><ellipse cx="835.5" cy="356.1719" 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="176" x="844.5" y="359.3823">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="825.5" x2="908" y1="317.1602" y2="317.1602"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="908" y="320.4683">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1125" x2="1207.5" y1="317.1602" y2="317.1602"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="825.5" x2="1207.5" y1="365.9766" y2="365.9766"/><ellipse cx="835.5" cy="376.9766" 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="358" x="844.5" y="380.187">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[536025241394544a90bc53fb552f3a08]
11
reverse link urt_message_t to urt_message_t--><path d="M1232.0028,689.5133 C1246.0209,695.6657 1254.5,704.4634 1254.5,715.9063 C1254.5,730.4083 1240.8815,740.6616 1219.6293,746.6663 " fill="none" id="urt_message_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1219.6293,685.1463,1223.956,690.9151,1230.9452,689.14,1226.6185,683.3712,1219.6293,685.1463" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1227.7203" y="680.7284">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="1227.2886" y="744.578">0,1</text><!--MD5=[aa8990705afdbad14c7f998fe04b6f05]
12
reverse link urt_basesubscriber_t to urt_message_t--><path d="M2666.4993,531.9537 C2363.0553,565.7836 1589.5394,652.0201 1219.5884,693.2647 " fill="none" id="urt_basesubscriber_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2679.718,530.4799,2673.3117,527.1695,2667.7919,531.8097,2674.1982,535.1202,2679.718,530.4799" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2663.8717" y="527.9045">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="1227.2463" y="704.7964">0,1</text><!--MD5=[0585cd4928de92ce6927d9c389eadd29]
13
link urt_nrtsubscriber_t to urt_basesubscriber_t--><path d="M3526.2283,333.4389 C3463.5669,353.1064 3395.689,373.5723 3332.5,390.9063 C3194.3193,428.812 3034.3631,465.5535 2924.6129,489.6812 " fill="none" id="urt_nrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="2926.0966,496.5221,2905.0621,493.9626,2923.1016,482.8462,2926.0966,496.5221" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6d81edfa5aa102b898ad487ae19b49f9]
14
link urt_srtsubscriber_t to urt_basesubscriber_t--><path d="M2792.5,353.0363 C2792.5,378.3836 2792.5,405.5704 2792.5,430.41 " fill="none" id="urt_srtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="2799.5001,430.6313,2792.5,450.6312,2785.5001,430.6312,2799.5001,430.6313" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f626d284cba98e1d5d5fe914b1fa4188]
15
link urt_frtsubscriber_t to urt_basesubscriber_t--><path d="M2169.1729,369.427 C2197.6878,376.7857 2225.9994,384.0058 2253.5,390.9063 C2391.7604,425.5991 2550.6746,462.7076 2659.9377,487.7957 " fill="none" id="urt_frtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="2661.8156,481.0446,2679.7455,492.337,2658.687,494.6905,2661.8156,481.0446" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[1ea71f2b33e56ab0ac5545988c1af396]
16
link urt_hrtsubscriber_t to urt_basesubscriber_t--><path d="M4206.3442,387.8991 C4200.3691,388.9284 4194.4195,389.9315 4188.5,390.9063 C3728.3838,466.6802 3174.9618,500.1722 2925.6847,512.2261 " fill="none" id="urt_hrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="2925.7015,519.2331,2905.3912,513.1923,2925.0356,505.249,2925.7015,519.2331" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ea2ec5c5272e65289dabade75a749f58]
17
reverse link urt_hrtsubscriber_t to urt_hrtsubscriber_t--><path d="M5302.8399,232.1588 C5317.3539,238.8647 5325.5,246.9473 5325.5,256.4063 C5325.5,268.2764 5312.6717,277.9788 5290.5292,285.5136 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="5290.5292,227.299,5294.6414,233.2226,5301.691,231.7052,5297.5788,225.7815,5290.5292,227.299" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5298.2077" y="223.8529">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="5298.2921" y="282.8861">0,1</text><!--MD5=[54fcf25ad8c5f1d36e678e42d5bfd4cc]
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reverse link urt_publisher_t to urt_topic_t--><path d="M802.3622,256.4063 C809.6684,256.4063 816.9747,256.4063 824.2809,256.4063 " fill="none" id="urt_publisher_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="789.2109,256.4063,795.2109,260.4063,801.2109,256.4063,795.2109,252.4063,789.2109,256.4063" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="797.2488" y="253.3217">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="808.6161" y="253.1852">1</text><!--MD5=[5025b4c4053b8e7c7ca8a657f09f21c0]
19
link urt_publisher_t to urt_message_t--><path d="M529.5318,354.417 C645.3911,440.4224 811.3639,563.6284 916.516,641.6855 " 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="920.5419,644.6741,915.6996,636.0978,916.5272,641.6938,910.9312,642.5213,920.5419,644.6741" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b2afc1defaa6ed5a86f99c07f8466dd]
20
reverse link urt_topic_t to urt_topic_t--><path d="M1220.5439,220.8703 C1234.8061,228.9814 1243.5,240.8267 1243.5,256.4063 C1243.5,275.9571 1229.809,289.6274 1208.6039,297.4171 " fill="none" id="urt_topic_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1208.6039,215.3954,1212.3907,221.5322,1219.5119,220.3971,1215.7251,214.2603,1208.6039,215.3954" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1216.2642" y="210.5724">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="1216.4986" y="295.798">0,1</text><!--MD5=[ed3fb6de0913094c41bd74c175d366df]
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reverse link urt_topic_t to urt_hrtsubscriber_t--><path d="M1163.0785,118.0086 C1193.9801,96.2116 1227.9195,76.9316 1263,64.9063 C1339.4129,38.7124 4091.2552,52.0293 4171,64.9063 C4247.3838,77.2405 4327.3368,98.1948 4402.5629,121.8264 " fill="none" id="urt_topic_t&lt;-urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1152.278,125.8156,1159.4839,125.5424,1162.0033,118.7857,1154.7973,119.0589,1152.278,125.8156" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1151.8964" y="114.9065">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="4361.9853" y="110.6867">0,1</text><!--MD5=[0b5167e958c0ed93ffc0c98ce399b54d]
22
reverse link urt_topic_t to urt_message_t--><path d="M1016.5,400.3211 C1016.5,481.6692 1016.5,579.7848 1016.5,644.7927 " fill="none" id="urt_topic_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1016.5,387.1584,1012.5,393.1584,1016.5,399.1584,1020.5,393.1584,1016.5,387.1584" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1008.2813" y="406.793">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1008.0875" y="633.7783">1</text><!--MD5=[3963fa39dea3a9aae9fd717b2dc4370c]
1
<?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]
2
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]
3
class urt_basesubscriber_t--><rect fill="#FEFECE" filter="url(#f11mdjur5d2uci)" height="133.6328" id="urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="225" x="2900" y="473.3228"/><ellipse cx="2942.45" cy="489.3228" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2941.9344,489.8853 Q2940.075,489.1821 2939.4188,488.4165 Q2938.7781,487.6353 2938.7781,486.3228 Q2938.7781,484.6353 2939.8563,483.6665 Q2940.9344,482.6978 2942.8094,482.6978 Q2943.6688,482.6978 2944.5125,482.9009 Q2945.3719,483.0884 2946.2156,483.479 L2946.2156,485.8696 Q2945.4344,485.3071 2944.6063,485.0259 Q2943.7938,484.729 2942.9969,484.729 Q2942.1219,484.729 2941.6375,485.0884 Q2941.1688,485.4478 2941.1688,486.104 Q2941.1688,486.6196 2941.5125,486.9634 Q2941.8563,487.2915 2942.95,487.6978 L2944.0125,488.104 Q2945.4969,488.6509 2946.2,489.5571 Q2946.9188,490.4634 2946.9188,491.8384 Q2946.9188,493.7134 2945.8094,494.6353 Q2944.7,495.5571 2942.45,495.5571 Q2941.5281,495.5571 2940.6063,495.3384 Q2939.6844,495.1196 2938.825,494.6978 L2938.825,492.1665 Q2939.7938,492.854 2940.7156,493.1978 Q2941.6375,493.5415 2942.5281,493.5415 Q2943.4344,493.5415 2943.9344,493.1353 Q2944.4344,492.7134 2944.4344,491.979 Q2944.4344,491.4165 2944.0906,491.0103 Q2943.7625,490.5884 2943.1375,490.3384 L2941.9344,489.8853 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="132" x="2962.55" y="493.477">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2901" x2="3124" y1="505.3228" y2="505.3228"/><ellipse cx="2911" cy="516.3228" 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="104" x="2920" y="519.5332">topic : urt_topic_t*</text><ellipse cx="2911" cy="529.1274" 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="198" x="2920" y="532.3379">evtListener : urt_osEventListener_t</text><ellipse cx="2911" cy="541.9321" 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="175" x="2920" y="545.1426">lastMessage : urt_message_t*</text><ellipse cx="2911" cy="554.7368" 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="2920" y="557.9473">lastMessageTime : urt_osTime_t</text><ellipse cx="2911" cy="584.3462" 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="136" x="2920" y="587.5566">sumLatencies : uint64_t</text><ellipse cx="2911" cy="597.1509" 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="190" x="2920" y="600.3613">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2901" x2="2904" y1="570.9438" y2="570.9438"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2904" y="574.2519">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3121" x2="3124" y1="570.9438" y2="570.9438"/><!--MD5=[9ff46073dd541e50679ef35e851c67d6]
4
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]
5
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]
6
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]
7
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]
8
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]
9
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]
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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]
11
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]
12
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]
13
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]
14
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]
15
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]
16
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]
17
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]
18
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]
19
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]
20
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]
21
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22
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]
23 23
@startuml
24 24

  
25 25
title **µRtWare**\nPublish-Subscribe System
26 26

  
27
!include ./functions.iuml
28

  
29
/'### ENTITIES ###############################################################'/
30

  
31
!startsub ENTITIES
32

  
33
/' Message type. '/
34
$structure("urt_message_t") {
35
    'Pointer to the next message in a list.
36
  + {field} next : urt_message_t*
37
    'Pointer to some arbitrary (reusable) payload object.
38
  + {field} payload : void*
39
    'Origin time of the message.
40
  + {field} originTime : urt_osTime_t
41
    'Counter of HRT subscribers that did not consume the message yet.
42
  + {field} numHrtConsumersLeft : unsigned int
43
  .. URT_CFG_PUBSUB_PROFILING == true ..
44
    'Counter of overall subscribers that did not consume the message yet.
45
  + {field} numConsumersLeft : unsigned int
46
  __
47
    'Initializes a urt_message_t object.
48
  + {method} urtMessageInit (message : urt_message_t*, payload : void*) : void
49
}
50

  
51
$group("subscriber") {
52
  /' Base subscriber type. '/
53
  $structure("urt_basesubscriber_t") {
54
      'Pointer to the topic, this subscriber subscribed to.
55
    + {field} topic : urt_topic_t*
56
      'Event listener to notify the node about new messages.
57
    + {field} evtListener : urt_osEventListener_t
58
      'Pointer to the message consumed most recently.
59
    + {field} lastMessage : urt_message_t*
60
      'Copy of the origin time of the message consumed most recently.
61
    + {field} lastMessageTime : urt_osTime_t
62
    .. URT_CFG_PUBSUB_PROFILING == true ..
63
      'Sum of all latencies.
64
    + {field} sumLatencies : uint64_t
65
      'Number of messages received.
66
    + {field} numMessagesReceived : uint64_t
67
  }
68

  
69
  /' NRT subscriber type. '/
70
  $structure("urt_nrtsubscriber_t") {
71
    .. URT_CFG_PUBSUB_PROFILING == true ..
72
      'Minimum latency ever detected.
73
    + {field} minLatency : urt_delay_t
74
      'Maximum latency ever detected.
75
    + {field} maxLatency : urt_delay_t
76
    __
77
      'Initializes a urt_nrtsubscriber_t object.
78
    + {method} urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : void
79
      'Tries to subscribe to a topic and optionally contributes a list of messages to the topic.
80
    + {method} urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t
81
      'Fetches the next message in the buffer, optionally copies the payload and optionally returns the latency.
82
    + {method} urtNrtSubscriberFetchNextMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t
83
      'Fetches the latest message, optionally copies the payload and optionally returns the latency.
84
    + {method} urtNrtSubscriberFetchLatestMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t
85
      'Unsubscribes from a topic.
86
    + {method} urtNrtSubscriberUnsubscribe (subscriber : urt_nrtsubscriber_t*) : urt_status_t
87
  }
88

  
89
  /' SRT subscriber type. '/
90
  $structure("urt_srtsubscriber_t") {
91
      'Callback to calculate usefulness of a message
92
    + {field} usefulnesscb : urt_usefulness_f*
93
      'Optional parameters for the usefulness callback function.
94
    + {field} cbparams : void*
95
    .. URT_CFG_PUBSUB_PROFILING == true ..
96
      'Minimum latency ever detected.
97
    + {field} minLatency : urt_delay_t
98
      'Maximum latency ever detected.
99
    + {field} maxLatency : urt_delay_t
100
    __
101
      'Initializes a urt_srtsubscriber_t object.
102
    + {method} urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void
103
      'Tries to subscribe to a topic, sets all parameters and optionally contributes a list of messages to the topic.
104
    + {method} urtSrtSubscriberSubscribe (subscriber : urt_srtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_usefulness_f*, cbparams : void*) : urt_status_t
105
      'Fetches the next message in the buffer, optionally copies the payload and optionally returns the latency.
106
    + {method} urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t
107
      'Fetches the latest message, optionally copies the payload and optionally returns the latency.
108
    + {method} urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t
109
      'Calculates the usefulness of a message after the specified delay.
110
    + {method} urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float
111
      'Unsubscribes from a topic.
112
    + {method} urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t
113
  }
114

  
115
  /' FRT subscriber type. '/
116
  $structure("urt_frtsubscriber_t") {
117
    .. URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true ..
118
      'Maximum temporal offset between creation and consumption of messages.
119
    + {field} deadlineOffset : urt_delay_t
120
    .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ..
121
      'Maximum expected jitter.
122
    + {field} maxJitter : urt_delay_t
123
    .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ||  URT_CFG_PUBSUB_PROFILING == true ..
124
      'Minimum latency ever detected (to calculate jitter).
125
    + {field} minLatency : urt_delay_t
126
      'Maximum latency ever detected (to calculate jitter).
127
    + {field} maxLatency : urt_delay_t
128
    __
129
      'Initializes a urt_frtsubscriber_t object.
130
    + {method} urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : void
131
      'Tries to subscribe to a topic, sets all parameters and optionally contributes a list of messages to the topic.
132
    + {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
133
      'Fetches the next message in the buffer, optionally copies the payload and optionally returns the latency.
134
    + {method} urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t
135
      'Fetches the latest message, optionally copies the payload and optionally returns the latency.
136
    + {method} urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t
137
      'Checks whether a message is valid after the specified delay.
138
    + {method} urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool
139
      'Unsubscribes from a topic.
140
    + {method} urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t
141
  }
142

  
143
  /' HRT subscriber type. '/
144
  $structure("urt_hrtsubscriber_t") {
145
      'Pointer to the next HRT subscriber in a list.
146
    + {field} next : urt_hrtsubscriber_t*
147
    .. URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true ..
148
      'Maximum temporal offset between creation and consumption of messages.
149
    + {field} deadlineOffset : urt_delay_t
150
      'QoS Timer to detect missed deadlines.
151
    + {field} qosDeadlineTimer : urt_osTimer_t
152
    .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ..
153
      'Maximum expected jitter.
154
    + {field} maxJitter : urt_delay_t
155
    .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true..
156
      'Minimum latency ever detected (to calculate jitter).
157
    + {field} minLatency : urt_delay_t
158
      'Maximum latency ever detected (to calculate jitter).
159
    + {field} maxLatency : urt_delay_t
160
    .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..
161
      'Expected rate at which data is published.
162
    + {field} expectedRate : urt_delay_t
163
    __
164
      'Initializes a urt_hrtsubscriber_t object.
165
    + {method} urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : void
166
      'Tries to subscribe to a topic, sets all parameters and optionally contributes a list of messages to the topic.
167
    + {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
168
      'Fetches the next message in the buffer, optionally copies the payload and optionally returns the latency.
169
    + {method} urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t
170
      'Fetches the latest message, optionally copies the payload and optionally returns the latency.
171
    + {method} urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t
172
      'Unsubscribes from a topic.
173
    + {method} urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t
174
  }
175
} /'subscriber'/
176

  
177
/' Publisher type. '/
178
$structure("urt_publisher_t") {
179
  'Flag, whether the publish() method supports timeout.
180
  URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT : bool
181
  __
182
    'Pointer to the topic for publishing.
183
  + {field} topic : urt_topic_t*
184
  .. URT_CFG_PUBSUB_PROFILING == true ..
185
    'Counter of attempts to publish a message.
186
  + {field} publishAttempts : uint64_t
187
    'Counter of failed attempts to publish a message.
188
  + {field} publishFails : uint64_t
189
  __
190
    'Initializes a urt_publisher_t object and contributes an optional list of messages.
191
  + {method} urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void
192
  .. URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == false ..
193
    'Publishes a message via the associated topic.
194
  + {method} urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t) : urt_status_t
195
  .. URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == true ..
196
    'Publishes a message via the associated topic with timeout.
197
  + {method} urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t
198
}
199

  
200
/' Topic type. '/
201
$structure("urt_topic_t") {
202
    'Pointer to the next topic in a list.
203
  + {field} next : urt_topic_t*
204
    'Identifier of the topic.
205
  + {field} id : urt_topicid_t
206
    'Mutex lock for exclusive access.
207
  + {field} lock : urt_osMutex_t
208
    'Event source to inform all subscribers when a new message is published.
209
  + {field} evtSource : urt_osEventSource_t
210
    'Number of HRT subscribers.
211
  + {field} numHrtSubscribers : unsigned int
212
    'Condition variable to inform waiting publishers when a blocked message becomes available.
213
  + {field} hrtReleased : urt_osCondvar_t
214
    'Mandatory message, each Topic holds.
215
  + {field} mandatoryMessage : urt_message_t
216
    'Pointer to the latest message.
217
  + {field} latestMessage : urt_message_t*
218
  .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..
219
    'List of HRT subscribers, orderd by their expected rate (most critical first).
220
  + {field} hrtSubscribers : urt_hrtsubscriber_t*
221
    'Timer to check for missed rates.
222
  + {field} qosRateTimer : urt_osTimer_t
223
  .. URT_CFG_PUBSUB_PROFILING == true ..
224
    'Number of overall published messages on this topic.
225
  + {field} numMessagesPublished : uint64_t
226
    'Variable to count how often (non-hrt) subscribers did not fetch a message before it was reused.
227
  + {field} numMessagesDiscarded : uint64_t
228
    'Number of overall subscribers.
229
  + {field} numSubscribers : unsigned int
230
  __
231
    'Initializes an urt_topic_t object.
232
  + {method} urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t, mandatoryMessage: urt_message_t*) : urt_status_t
233
}
234

  
235
!endsub
236

  
237
/'### DEPENDENCIES & LAYOUT ##################################################'/
238

  
239
!startsub DEPENDENCIES
240

  
241
urt_message_t "1" o- "0,1" urt_message_t
242

  
243
urt_basesubscriber_t "1" o- - "0,1" urt_message_t
244

  
245
urt_nrtsubscriber_t - -|> urt_basesubscriber_t
246

  
247
urt_srtsubscriber_t - -|> urt_basesubscriber_t
248

  
249
urt_frtsubscriber_t - -|> urt_basesubscriber_t
250

  
251
urt_hrtsubscriber_t - -|> urt_basesubscriber_t
252
urt_hrtsubscriber_t "1" o- "0,1" urt_hrtsubscriber_t
253

  
254
urt_publisher_t "1" o- "1" urt_topic_t
255
urt_publisher_t ..> urt_message_t
256

  
257
urt_topic_t "1" o- "0,1" urt_topic_t
258
urt_topic_t "1" o- "0,1" urt_hrtsubscriber_t
259
urt_topic_t "1" *- - "1" urt_message_t
260

  
261
!endsub
262

  
263
/'### OUTRO ##################################################################'/
264

  
265
@enduml
266

  
267
@startuml
268

  
269
title **µRtWare**\nPublish-Subscribe System
27 270

  
28 271

  
29 272

  
......
155 398
  + {field} numMessagesDiscarded : uint64_t
156 399
  + {field} numSubscribers : unsigned int
157 400
  __
158
  + {method} urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t
401
  + {method} urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t, mandatoryMessage: urt_message_t*) : urt_status_t
159 402
}
160 403

  
161 404

  
......
185 428

  
186 429
@enduml
187 430

  
188
PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
431
PlantUML version 1.2020.15(Sun Jun 28 13:39:45 CEST 2020)
189 432
(GPL source distribution)
190 433
Java Runtime: OpenJDK Runtime Environment
191 434
JVM: OpenJDK 64-Bit Server VM
192
Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
193
Operating System: Linux
194 435
Default Encoding: UTF-8
195
Language: en
196
Country: US
436
Language: de
437
Country: DE
197 438
--></g></svg>
doc/classdiagrams/pubsub.uml
230 230
  + {field} numSubscribers : unsigned int
231 231
  __
232 232
    'Initializes an urt_topic_t object.
233
  + {method} urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t
233
  + {method} urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t, mandatoryMessage: urt_message_t*) : urt_status_t
234 234
}
235 235

  
236 236
!endsub
doc/classdiagrams/urtware.svg
1
<?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="1144px" preserveAspectRatio="none" style="width:10337px;height:1144px;" version="1.1" viewBox="0 0 10337 1144" width="10337px" zoomAndPan="magnify"><defs><filter height="300%" id="f8on3nil7jvs5" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="5126" y="16.708">µRtWare</text><!--MD5=[b9de0669a29c7bc934fd916b09c39491]
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cluster node--><rect fill="#FFFFFF" filter="url(#f8on3nil7jvs5)" height="443" style="stroke: #000000; stroke-width: 1.5;" width="1674" x="5349" y="451.4531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="40" x="6166" y="466.4482">node</text><!--MD5=[d74e2ef346f73688f9378f6d3d42598c]
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cluster Publish-Subscribe System--><polygon fill="#FFFFFF" filter="url(#f8on3nil7jvs5)" points="14,410.4531,24,400.4531,5341,400.4531,5341,1122.9531,5331,1132.9531,14,1132.9531,14,410.4531" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="5331" x2="5340" y1="410.4531" y2="401.4531"/><line style="stroke: #000000; stroke-width: 1.5;" x1="14" x2="5331" y1="410.4531" y2="410.4531"/><line style="stroke: #000000; stroke-width: 1.5;" x1="5331" x2="5331" y1="410.4531" y2="1132.9531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="205" x="2571" y="426.4482">Publish-Subscribe System</text><!--MD5=[16a3bbbe805f94d6e6ce317c08ab945e]
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cluster subscriber--><rect fill="#FFFFFF" filter="url(#f8on3nil7jvs5)" height="498.5" style="stroke: #000000; stroke-width: 1.5;" width="4062" x="1271" y="432.4531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="85" x="3259.5" y="447.4482">subscriber</text><!--MD5=[810d0f07e53ef611b6d803ef30301147]
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cluster Remote Procedure Call System--><polygon fill="#FFFFFF" filter="url(#f8on3nil7jvs5)" points="7031,46.9531,7041,36.9531,10315,36.9531,10315,726.9531,10305,736.9531,7031,736.9531,7031,46.9531" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="10305" x2="10314" y1="46.9531" y2="37.9531"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7031" x2="10305" y1="46.9531" y2="46.9531"/><line style="stroke: #000000; stroke-width: 1.5;" x1="10305" x2="10305" y1="46.9531" y2="736.9531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="244" x="8547" y="62.9482">Remote Procedure Call System</text><!--MD5=[ecaf13b018fb9788c80013f5b3634b61]
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cluster request--><rect fill="#FFFFFF" filter="url(#f8on3nil7jvs5)" height="632" style="stroke: #000000; stroke-width: 1.5;" width="2646" x="7661" y="68.9531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="62" x="8953" y="83.9482">request</text><!--MD5=[a7dea26996a1231aa68629b332780450]
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class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#f8on3nil7jvs5)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="5357" y="825.4531"/><ellipse cx="5502.75" cy="841.4531" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5503.5938,848.2031 L5501.1406,848.2031 L5501.1406,837.9531 L5498,837.9531 L5498,835.8125 L5506.7344,835.8125 L5506.7344,837.9531 L5503.5938,837.9531 L5503.5938,848.2031 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="5523.25" y="845.6074">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5358" x2="5812" y1="857.4531" y2="857.4531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5358" x2="5812" y1="865.4531" y2="865.4531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="5363" y="879.6636">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]
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class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#f8on3nil7jvs5)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="5848" y="825.4531"/><ellipse cx="6076.25" cy="841.4531" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6077.0938,848.2031 L6074.6406,848.2031 L6074.6406,837.9531 L6071.5,837.9531 L6071.5,835.8125 L6080.2344,835.8125 L6080.2344,837.9531 L6077.0938,837.9531 L6077.0938,848.2031 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="6096.75" y="845.6074">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5849" x2="6461" y1="857.4531" y2="857.4531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5849" x2="6461" y1="865.4531" y2="865.4531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="5854" y="879.6636">urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t</text><!--MD5=[843db13320bebc2ca47f25c6a57c2ae5]
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class urt_nodeShutdownCallback_t--><rect fill="#FEFECE" filter="url(#f8on3nil7jvs5)" height="60.8047" id="urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="518" x="6497" y="825.4531"/><ellipse cx="6661.25" cy="841.4531" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6662.0938,848.2031 L6659.6406,848.2031 L6659.6406,837.9531 L6656.5,837.9531 L6656.5,835.8125 L6665.2344,835.8125 L6665.2344,837.9531 L6662.0938,837.9531 L6662.0938,848.2031 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="181" x="6681.75" y="845.6074">urt_nodeShutdownCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6498" x2="7014" y1="857.4531" y2="857.4531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6498" x2="7014" y1="865.4531" y2="865.4531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="506" x="6503" y="879.6636">urt_nodeShutdownCallback_t (node : urt_node_t*, cause : urt_status_t, arg : void*) : void</text><!--MD5=[d2563153d77472384a15c07b815d639f]
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class urt_node_t--><rect fill="#FEFECE" filter="url(#f8on3nil7jvs5)" height="231.2656" id="urt_node_t" style="stroke: #A80036; stroke-width: 1.5;" width="1541" x="5384.5" y="478.4531"/><ellipse cx="6117.25" cy="494.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6116.7344,495.0156 Q6114.875,494.3125 6114.2188,493.5469 Q6113.5781,492.7656 6113.5781,491.4531 Q6113.5781,489.7656 6114.6563,488.7969 Q6115.7344,487.8281 6117.6094,487.8281 Q6118.4688,487.8281 6119.3125,488.0313 Q6120.1719,488.2188 6121.0156,488.6094 L6121.0156,491 Q6120.2344,490.4375 6119.4063,490.1563 Q6118.5938,489.8594 6117.7969,489.8594 Q6116.9219,489.8594 6116.4375,490.2188 Q6115.9688,490.5781 6115.9688,491.2344 Q6115.9688,491.75 6116.3125,492.0938 Q6116.6563,492.4219 6117.75,492.8281 L6118.8125,493.2344 Q6120.2969,493.7813 6121,494.6875 Q6121.7188,495.5938 6121.7188,496.9688 Q6121.7188,498.8438 6120.6094,499.7656 Q6119.5,500.6875 6117.25,500.6875 Q6116.3281,500.6875 6115.4063,500.4688 Q6114.4844,500.25 6113.625,499.8281 L6113.625,497.2969 Q6114.5938,497.9844 6115.5156,498.3281 Q6116.4375,498.6719 6117.3281,498.6719 Q6118.2344,498.6719 6118.7344,498.2656 Q6119.2344,497.8438 6119.2344,497.1094 Q6119.2344,496.5469 6118.8906,496.1406 Q6118.5625,495.7188 6117.9375,495.4688 L6116.7344,495.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="67" x="6137.75" y="498.6074">urt_node_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5385.5" x2="6924.5" y1="510.4531" y2="510.4531"/><ellipse cx="5395.5" cy="521.4531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="102" x="5404.5" y="524.6636">next : urt_node_t*</text><ellipse cx="5395.5" cy="534.2578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="5404.5" y="537.4683">thread : urt_osThread_t*</text><ellipse cx="5395.5" cy="547.0625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="5404.5" y="550.2729">setupcallback : urt_nodeSetupCallback_t*</text><ellipse cx="5395.5" cy="559.8672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="117" x="5404.5" y="563.0776">setupparams : void*</text><ellipse cx="5395.5" cy="572.6719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="221" x="5404.5" y="575.8823">loopcallback : urt_nodeLoopCallback_t*</text><ellipse cx="5395.5" cy="585.4766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="109" x="5404.5" y="588.687">loopparams : void*</text><ellipse cx="5395.5" cy="598.2813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="281" x="5404.5" y="601.4917">shutdowncallback : urt_nodeShutdownCallback_t*</text><ellipse cx="5395.5" cy="611.0859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="140" x="5404.5" y="614.2964">shutdownparams : void*</text><ellipse cx="5395.5" cy="623.8906" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="5404.5" y="627.1011">stage : urt_nodestage_t</text><ellipse cx="5395.5" cy="636.6953" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="178" x="5404.5" y="639.9058">listener : urt_osEventListener_t</text><ellipse cx="5395.5" cy="666.3047" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="88" x="5404.5" y="669.5151">loops : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5385.5" x2="5947" y1="652.9023" y2="652.9023"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="416" x="5947" y="656.2104">URT_CFG_PUBSUB_PROFILING == true || URT_CFG_RPC_PROFILING = true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6363" x2="6924.5" y1="652.9023" y2="652.9023"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5385.5" x2="6924.5" y1="676.1094" y2="676.1094"/><rect fill="#F24D5C" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="5392.5" y="684.1094"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="179" x="5404.5" y="690.3198">_main : urt_osThreadFunction_t</text><ellipse cx="5395.5" cy="699.9141" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1515" x="5404.5" y="703.1245">urtNodeInit (node : urt_node_t*, thread : urt_osThread_t*, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*, shutdowncallback : urt_nodeShutdownCallback_t*, shutodwnparams : void*) : void</text><!--MD5=[e602aa6d45f270ad04f88c9ca5352b33]
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class urt_message_t--><rect fill="#FEFECE" filter="url(#f8on3nil7jvs5)" height="141.6328" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="406" x="830" y="982.9531"/><ellipse cx="982.75" cy="998.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M982.2344,999.5156 Q980.375,998.8125 979.7188,998.0469 Q979.0781,997.2656 979.0781,995.9531 Q979.0781,994.2656 980.1563,993.2969 Q981.2344,992.3281 983.1094,992.3281 Q983.9688,992.3281 984.8125,992.5313 Q985.6719,992.7188 986.5156,993.1094 L986.5156,995.5 Q985.7344,994.9375 984.9063,994.6563 Q984.0938,994.3594 983.2969,994.3594 Q982.4219,994.3594 981.9375,994.7188 Q981.4688,995.0781 981.4688,995.7344 Q981.4688,996.25 981.8125,996.5938 Q982.1563,996.9219 983.25,997.3281 L984.3125,997.7344 Q985.7969,998.2813 986.5,999.1875 Q987.2188,1000.0938 987.2188,1001.4688 Q987.2188,1003.3438 986.1094,1004.2656 Q985,1005.1875 982.75,1005.1875 Q981.8281,1005.1875 980.9063,1004.9688 Q979.9844,1004.75 979.125,1004.3281 L979.125,1001.7969 Q980.0938,1002.4844 981.0156,1002.8281 Q981.9375,1003.1719 982.8281,1003.1719 Q983.7344,1003.1719 984.2344,1002.7656 Q984.7344,1002.3438 984.7344,1001.6094 Q984.7344,1001.0469 984.3906,1000.6406 Q984.0625,1000.2188 983.4375,999.9688 L982.2344,999.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="1003.25" y="1003.1074">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="831" x2="1235" y1="1014.9531" y2="1014.9531"/><ellipse cx="841" cy="1025.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="127" x="850" y="1029.1636">next : urt_message_t*</text><ellipse cx="841" cy="1038.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="850" y="1041.9683">payload : void*</text><ellipse cx="841" cy="1051.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="850" y="1054.7729">originTime : urt_osTime_t</text><ellipse cx="841" cy="1064.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="211" x="850" y="1067.5776">numHrtConsumersLeft : unsigned int</text><ellipse cx="841" cy="1093.9766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="850" y="1097.187">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="831" x2="924.5" y1="1080.5742" y2="1080.5742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="924.5" y="1083.8823">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1141.5" x2="1235" y1="1080.5742" y2="1080.5742"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="831" x2="1235" y1="1103.7813" y2="1103.7813"/><ellipse cx="841" cy="1114.7813" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="850" y="1117.9917">urtMessageInit (message : urt_message_t*, payload : void*) : void</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]
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class urt_publisher_t--><rect fill="#FEFECE" filter="url(#f8on3nil7jvs5)" height="196.0469" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="783" x="22.5" y="495.9531"/><ellipse cx="363.25" cy="511.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M362.7344,512.5156 Q360.875,511.8125 360.2188,511.0469 Q359.5781,510.2656 359.5781,508.9531 Q359.5781,507.2656 360.6563,506.2969 Q361.7344,505.3281 363.6094,505.3281 Q364.4688,505.3281 365.3125,505.5313 Q366.1719,505.7188 367.0156,506.1094 L367.0156,508.5 Q366.2344,507.9375 365.4063,507.6563 Q364.5938,507.3594 363.7969,507.3594 Q362.9219,507.3594 362.4375,507.7188 Q361.9688,508.0781 361.9688,508.7344 Q361.9688,509.25 362.3125,509.5938 Q362.6563,509.9219 363.75,510.3281 L364.8125,510.7344 Q366.2969,511.2813 367,512.1875 Q367.7188,513.0938 367.7188,514.4688 Q367.7188,516.3438 366.6094,517.2656 Q365.5,518.1875 363.25,518.1875 Q362.3281,518.1875 361.4063,517.9688 Q360.4844,517.75 359.625,517.3281 L359.625,514.7969 Q360.5938,515.4844 361.5156,515.8281 Q362.4375,516.1719 363.3281,516.1719 Q364.2344,516.1719 364.7344,515.7656 Q365.2344,515.3438 365.2344,514.6094 Q365.2344,514.0469 364.8906,513.6406 Q364.5625,513.2188 363.9375,512.9688 L362.7344,512.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="383.75" y="516.1074">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="23.5" x2="804.5" y1="527.9531" y2="527.9531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="289" x="28.5" y="542.1636">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT : bool</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="23.5" x2="804.5" y1="548.7578" y2="548.7578"/><ellipse cx="33.5" cy="559.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="42.5" y="562.9683">topic : urt_topic_t*</text><ellipse cx="33.5" cy="589.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="149" x="42.5" y="592.5776">publishAttempts : uint64_t</text><ellipse cx="33.5" cy="602.1719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="42.5" y="605.3823">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="23.5" x2="305.5" y1="575.9648" y2="575.9648"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="305.5" y="579.2729">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="522.5" x2="804.5" y1="575.9648" y2="575.9648"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="23.5" x2="804.5" y1="611.9766" y2="611.9766"/><ellipse cx="33.5" cy="622.9766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="572" x="42.5" y="626.187">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void</text><ellipse cx="33.5" cy="652.5859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="632" x="42.5" y="655.7964">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t) : urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="23.5" x2="260.5" y1="639.1836" y2="639.1836"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="307" x="260.5" y="642.4917">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == false</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="567.5" x2="804.5" y1="639.1836" y2="639.1836"/><ellipse cx="33.5" cy="682.1953" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="757" x="42.5" y="685.4058">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="23.5" x2="263" y1="668.793" y2="668.793"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="302" x="263" y="672.1011">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="565" x2="804.5" y1="668.793" y2="668.793"/><!--MD5=[a1b1e66ec52c209a9fa2dab315cd7630]
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class urt_topic_t--><rect fill="#FEFECE" filter="url(#f8on3nil7jvs5)" height="260.875" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="841" y="463.4531"/><ellipse cx="995.75" cy="479.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M995.2344,480.0156 Q993.375,479.3125 992.7188,478.5469 Q992.0781,477.7656 992.0781,476.4531 Q992.0781,474.7656 993.1563,473.7969 Q994.2344,472.8281 996.1094,472.8281 Q996.9688,472.8281 997.8125,473.0313 Q998.6719,473.2188 999.5156,473.6094 L999.5156,476 Q998.7344,475.4375 997.9063,475.1563 Q997.0938,474.8594 996.2969,474.8594 Q995.4219,474.8594 994.9375,475.2188 Q994.4688,475.5781 994.4688,476.2344 Q994.4688,476.75 994.8125,477.0938 Q995.1563,477.4219 996.25,477.8281 L997.3125,478.2344 Q998.7969,478.7813 999.5,479.6875 Q1000.2188,480.5938 1000.2188,481.9688 Q1000.2188,483.8438 999.1094,484.7656 Q998,485.6875 995.75,485.6875 Q994.8281,485.6875 993.9063,485.4688 Q992.9844,485.25 992.125,484.8281 L992.125,482.2969 Q993.0938,482.9844 994.0156,483.3281 Q994.9375,483.6719 995.8281,483.6719 Q996.7344,483.6719 997.2344,483.2656 Q997.7344,482.8438 997.7344,482.1094 Q997.7344,481.5469 997.3906,481.1406 Q997.0625,480.7188 996.4375,480.4688 L995.2344,480.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="1016.25" y="483.6074">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="842" x2="1224" y1="495.4531" y2="495.4531"/><ellipse cx="852" cy="506.4531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="861" y="509.6636">next : urt_topic_t*</text><ellipse cx="852" cy="519.2578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="861" y="522.4683">id : urt_topicid_t</text><ellipse cx="852" cy="532.0625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="861" y="535.2729">lock : urt_osMutex_t</text><ellipse cx="852" cy="544.8672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="861" y="548.0776">evtSource : urt_osEventSource_t</text><ellipse cx="852" cy="557.6719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="861" y="560.8823">numHrtSubscribers : unsigned int</text><ellipse cx="852" cy="570.4766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="861" y="573.687">hrtReleased : urt_osCondvar_t</text><ellipse cx="852" cy="583.2813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="209" x="861" y="586.4917">mandatoryMessage : urt_message_t</text><ellipse cx="852" cy="596.0859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="861" y="599.2964">latestMessage : urt_message_t*</text><ellipse cx="852" cy="625.6953" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="212" x="861" y="628.9058">hrtSubscribers : urt_hrtsubscriber_t*</text><ellipse cx="852" cy="638.5" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="170" x="861" y="641.7104">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="842" x2="900.5" y1="612.293" y2="612.293"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="900.5" y="615.6011">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1165.5" x2="1224" y1="612.293" y2="612.293"/><ellipse cx="852" cy="668.1094" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="861" y="671.3198">numMessagesPublished : uint64_t</text><ellipse cx="852" cy="680.9141" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="861" y="684.1245">numMessagesDiscarded : uint64_t</text><ellipse cx="852" cy="693.7188" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="861" y="696.9292">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="842" x2="924.5" y1="654.707" y2="654.707"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="924.5" y="658.0151">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1141.5" x2="1224" y1="654.707" y2="654.707"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="842" x2="1224" y1="703.5234" y2="703.5234"/><ellipse cx="852" cy="714.5234" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="358" x="861" y="717.7339">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[50a042e24f957794dab9ba3ea8701c50]
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class urt_basesubscriber_t--><rect fill="#FEFECE" filter="url(#f8on3nil7jvs5)" height="133.6328" id="urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="225" x="2564.5" y="788.9531"/><ellipse cx="2606.95" cy="804.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2606.4344,805.5156 Q2604.575,804.8125 2603.9188,804.0469 Q2603.2781,803.2656 2603.2781,801.9531 Q2603.2781,800.2656 2604.3563,799.2969 Q2605.4344,798.3281 2607.3094,798.3281 Q2608.1688,798.3281 2609.0125,798.5313 Q2609.8719,798.7188 2610.7156,799.1094 L2610.7156,801.5 Q2609.9344,800.9375 2609.1063,800.6563 Q2608.2938,800.3594 2607.4969,800.3594 Q2606.6219,800.3594 2606.1375,800.7188 Q2605.6688,801.0781 2605.6688,801.7344 Q2605.6688,802.25 2606.0125,802.5938 Q2606.3563,802.9219 2607.45,803.3281 L2608.5125,803.7344 Q2609.9969,804.2813 2610.7,805.1875 Q2611.4188,806.0938 2611.4188,807.4688 Q2611.4188,809.3438 2610.3094,810.2656 Q2609.2,811.1875 2606.95,811.1875 Q2606.0281,811.1875 2605.1063,810.9688 Q2604.1844,810.75 2603.325,810.3281 L2603.325,807.7969 Q2604.2938,808.4844 2605.2156,808.8281 Q2606.1375,809.1719 2607.0281,809.1719 Q2607.9344,809.1719 2608.4344,808.7656 Q2608.9344,808.3438 2608.9344,807.6094 Q2608.9344,807.0469 2608.5906,806.6406 Q2608.2625,806.2188 2607.6375,805.9688 L2606.4344,805.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="132" x="2627.05" y="809.1074">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2565.5" x2="2788.5" y1="820.9531" y2="820.9531"/><ellipse cx="2575.5" cy="831.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="2584.5" y="835.1636">topic : urt_topic_t*</text><ellipse cx="2575.5" cy="844.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="2584.5" y="847.9683">evtListener : urt_osEventListener_t</text><ellipse cx="2575.5" cy="857.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="175" x="2584.5" y="860.7729">lastMessage : urt_message_t*</text><ellipse cx="2575.5" cy="870.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="2584.5" y="873.5776">lastMessageTime : urt_osTime_t</text><ellipse cx="2575.5" cy="899.9766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="2584.5" y="903.187">sumLatencies : uint64_t</text><ellipse cx="2575.5" cy="912.7813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="2584.5" y="915.9917">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2565.5" x2="2568.5" y1="886.5742" y2="886.5742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2568.5" y="889.8823">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2785.5" x2="2788.5" y1="886.5742" y2="886.5742"/><!--MD5=[9ff46073dd541e50679ef35e851c67d6]
15
class urt_nrtsubscriber_t--><rect fill="#FEFECE" filter="url(#f8on3nil7jvs5)" height="154.4375" id="urt_nrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="821" x="1278.5" y="516.9531"/><ellipse cx="1625.25" cy="532.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1624.7344,533.5156 Q1622.875,532.8125 1622.2188,532.0469 Q1621.5781,531.2656 1621.5781,529.9531 Q1621.5781,528.2656 1622.6563,527.2969 Q1623.7344,526.3281 1625.6094,526.3281 Q1626.4688,526.3281 1627.3125,526.5313 Q1628.1719,526.7188 1629.0156,527.1094 L1629.0156,529.5 Q1628.2344,528.9375 1627.4063,528.6563 Q1626.5938,528.3594 1625.7969,528.3594 Q1624.9219,528.3594 1624.4375,528.7188 Q1623.9688,529.0781 1623.9688,529.7344 Q1623.9688,530.25 1624.3125,530.5938 Q1624.6563,530.9219 1625.75,531.3281 L1626.8125,531.7344 Q1628.2969,532.2813 1629,533.1875 Q1629.7188,534.0938 1629.7188,535.4688 Q1629.7188,537.3438 1628.6094,538.2656 Q1627.5,539.1875 1625.25,539.1875 Q1624.3281,539.1875 1623.4063,538.9688 Q1622.4844,538.75 1621.625,538.3281 L1621.625,535.7969 Q1622.5938,536.4844 1623.5156,536.8281 Q1624.4375,537.1719 1625.3281,537.1719 Q1626.2344,537.1719 1626.7344,536.7656 Q1627.2344,536.3438 1627.2344,535.6094 Q1627.2344,535.0469 1626.8906,534.6406 Q1626.5625,534.2188 1625.9375,533.9688 L1624.7344,533.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="1645.75" y="537.1074">urt_nrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1279.5" x2="2098.5" y1="548.9531" y2="548.9531"/><ellipse cx="1289.5" cy="576.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="1298.5" y="579.9683">minLatency : urt_delay_t</text><ellipse cx="1289.5" cy="589.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="1298.5" y="592.7729">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1279.5" x2="1580.5" y1="563.3555" y2="563.3555"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="1580.5" y="566.6636">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1797.5" x2="2098.5" y1="563.3555" y2="563.3555"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1279.5" x2="2098.5" y1="599.3672" y2="599.3672"/><ellipse cx="1289.5" cy="610.3672" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="1298.5" y="613.5776">urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : void</text><ellipse cx="1289.5" cy="623.1719" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="715" x="1298.5" y="626.3823">urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="1289.5" cy="635.9766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="1298.5" y="639.187">urtNrtSubscriberFetchNextMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="1289.5" cy="648.7813" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="1298.5" y="651.9917">urtNrtSubscriberFetchLatestMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="1289.5" cy="661.5859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="1298.5" y="664.7964">urtNrtSubscriberUnsubscribe (subscriber : urt_nrtsubscriber_t*) : urt_status_t</text><!--MD5=[5c7929572d87ccc448d875bea5da0fb1]
16
class urt_srtsubscriber_t--><rect fill="#FEFECE" filter="url(#f8on3nil7jvs5)" height="192.8516" id="urt_srtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1044" x="4281" y="497.4531"/><ellipse cx="4739.75" cy="513.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4739.2344,514.0156 Q4737.375,513.3125 4736.7188,512.5469 Q4736.0781,511.7656 4736.0781,510.4531 Q4736.0781,508.7656 4737.1563,507.7969 Q4738.2344,506.8281 4740.1094,506.8281 Q4740.9688,506.8281 4741.8125,507.0313 Q4742.6719,507.2188 4743.5156,507.6094 L4743.5156,510 Q4742.7344,509.4375 4741.9063,509.1563 Q4741.0938,508.8594 4740.2969,508.8594 Q4739.4219,508.8594 4738.9375,509.2188 Q4738.4688,509.5781 4738.4688,510.2344 Q4738.4688,510.75 4738.8125,511.0938 Q4739.1563,511.4219 4740.25,511.8281 L4741.3125,512.2344 Q4742.7969,512.7813 4743.5,513.6875 Q4744.2188,514.5938 4744.2188,515.9688 Q4744.2188,517.8438 4743.1094,518.7656 Q4742,519.6875 4739.75,519.6875 Q4738.8281,519.6875 4737.9063,519.4688 Q4736.9844,519.25 4736.125,518.8281 L4736.125,516.2969 Q4737.0938,516.9844 4738.0156,517.3281 Q4738.9375,517.6719 4739.8281,517.6719 Q4740.7344,517.6719 4741.2344,517.2656 Q4741.7344,516.8438 4741.7344,516.1094 Q4741.7344,515.5469 4741.3906,515.1406 Q4741.0625,514.7188 4740.4375,514.4688 L4739.2344,514.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="4760.25" y="517.6074">urt_srtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4282" x2="5324" y1="529.4531" y2="529.4531"/><ellipse cx="4292" cy="540.4531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="4301" y="543.6636">usefulnesscb : urt_usefulness_f*</text><ellipse cx="4292" cy="553.2578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="4301" y="556.4683">cbparams : void*</text><ellipse cx="4292" cy="582.8672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="4301" y="586.0776">minLatency : urt_delay_t</text><ellipse cx="4292" cy="595.6719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="4301" y="598.8823">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4282" x2="4694.5" y1="569.4648" y2="569.4648"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="4694.5" y="572.7729">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4911.5" x2="5324" y1="569.4648" y2="569.4648"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4282" x2="5324" y1="605.4766" y2="605.4766"/><ellipse cx="4292" cy="616.4766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="4301" y="619.687">urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void</text><ellipse cx="4292" cy="629.2813" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1018" x="4301" y="632.4917">urtSrtSubscriberSubscribe (subscriber : urt_srtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_usefulness_f*, cbparams : void*) : urt_status_t</text><ellipse cx="4292" cy="642.0859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="4301" y="645.2964">urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4292" cy="654.8906" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="4301" y="658.1011">urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4292" cy="667.6953" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="4301" y="670.9058">urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float</text><ellipse cx="4292" cy="680.5" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="4301" y="683.7104">urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t</text><!--MD5=[17838fb05fe219fd399839979ec8a4a4]
17
class urt_frtsubscriber_t--><rect fill="#FEFECE" filter="url(#f8on3nil7jvs5)" height="226.4609" id="urt_frtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="974" x="3272" y="480.9531"/><ellipse cx="3697.25" cy="496.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3696.7344,497.5156 Q3694.875,496.8125 3694.2188,496.0469 Q3693.5781,495.2656 3693.5781,493.9531 Q3693.5781,492.2656 3694.6563,491.2969 Q3695.7344,490.3281 3697.6094,490.3281 Q3698.4688,490.3281 3699.3125,490.5313 Q3700.1719,490.7188 3701.0156,491.1094 L3701.0156,493.5 Q3700.2344,492.9375 3699.4063,492.6563 Q3698.5938,492.3594 3697.7969,492.3594 Q3696.9219,492.3594 3696.4375,492.7188 Q3695.9688,493.0781 3695.9688,493.7344 Q3695.9688,494.25 3696.3125,494.5938 Q3696.6563,494.9219 3697.75,495.3281 L3698.8125,495.7344 Q3700.2969,496.2813 3701,497.1875 Q3701.7188,498.0938 3701.7188,499.4688 Q3701.7188,501.3438 3700.6094,502.2656 Q3699.5,503.1875 3697.25,503.1875 Q3696.3281,503.1875 3695.4063,502.9688 Q3694.4844,502.75 3693.625,502.3281 L3693.625,499.7969 Q3694.5938,500.4844 3695.5156,500.8281 Q3696.4375,501.1719 3697.3281,501.1719 Q3698.2344,501.1719 3698.7344,500.7656 Q3699.2344,500.3438 3699.2344,499.6094 Q3699.2344,499.0469 3698.8906,498.6406 Q3698.5625,498.2188 3697.9375,497.9688 L3696.7344,497.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="3717.75" y="501.1074">urt_frtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3273" x2="4245" y1="512.9531" y2="512.9531"/><ellipse cx="3283" cy="540.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="3292" y="543.9683">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3273" x2="3613.5" y1="527.3555" y2="527.3555"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="3613.5" y="530.6636">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3904.5" x2="4245" y1="527.3555" y2="527.3555"/><ellipse cx="3283" cy="570.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="3292" y="573.5776">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3273" x2="3623.5" y1="556.9648" y2="556.9648"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3623.5" y="560.2729">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3894.5" x2="4245" y1="556.9648" y2="556.9648"/><ellipse cx="3283" cy="599.9766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="3292" y="603.187">minLatency : urt_delay_t</text><ellipse cx="3283" cy="612.7813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="3292" y="615.9917">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3273" x2="3505" y1="586.5742" y2="586.5742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="508" x="3505" y="589.8823">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ||  URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4013" x2="4245" y1="586.5742" y2="586.5742"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3273" x2="4245" y1="622.5859" y2="622.5859"/><ellipse cx="3283" cy="633.5859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="342" x="3292" y="636.7964">urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : void</text><ellipse cx="3283" cy="646.3906" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="948" x="3292" y="649.6011">urtFrtSubscriberSubscribe (subscriber : urt_frtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="3283" cy="659.1953" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="780" x="3292" y="662.4058">urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="3283" cy="672" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="790" x="3292" y="675.2104">urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="3283" cy="684.8047" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="540" x="3292" y="688.0151">urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool</text><ellipse cx="3283" cy="697.6094" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="441" x="3292" y="700.8198">urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t</text><!--MD5=[104dc879e5721421b987fcc467bc3a1d]
18
class urt_hrtsubscriber_t--><rect fill="#FEFECE" filter="url(#f8on3nil7jvs5)" height="268.875" id="urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="2135" y="459.4531"/><ellipse cx="2613.25" cy="475.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2612.7344,476.0156 Q2610.875,475.3125 2610.2188,474.5469 Q2609.5781,473.7656 2609.5781,472.4531 Q2609.5781,470.7656 2610.6563,469.7969 Q2611.7344,468.8281 2613.6094,468.8281 Q2614.4688,468.8281 2615.3125,469.0313 Q2616.1719,469.2188 2617.0156,469.6094 L2617.0156,472 Q2616.2344,471.4375 2615.4063,471.1563 Q2614.5938,470.8594 2613.7969,470.8594 Q2612.9219,470.8594 2612.4375,471.2188 Q2611.9688,471.5781 2611.9688,472.2344 Q2611.9688,472.75 2612.3125,473.0938 Q2612.6563,473.4219 2613.75,473.8281 L2614.8125,474.2344 Q2616.2969,474.7813 2617,475.6875 Q2617.7188,476.5938 2617.7188,477.9688 Q2617.7188,479.8438 2616.6094,480.7656 Q2615.5,481.6875 2613.25,481.6875 Q2612.3281,481.6875 2611.4063,481.4688 Q2610.4844,481.25 2609.625,480.8281 L2609.625,478.2969 Q2610.5938,478.9844 2611.5156,479.3281 Q2612.4375,479.6719 2613.3281,479.6719 Q2614.2344,479.6719 2614.7344,479.2656 Q2615.2344,478.8438 2615.2344,478.1094 Q2615.2344,477.5469 2614.8906,477.1406 Q2614.5625,476.7188 2613.9375,476.4688 L2612.7344,476.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="2633.75" y="479.6074">urt_hrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2136" x2="3218" y1="491.4531" y2="491.4531"/><ellipse cx="2146" cy="502.4531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="151" x="2155" y="505.6636">next : urt_hrtsubscriber_t*</text><ellipse cx="2146" cy="532.0625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="2155" y="535.2729">deadlineOffset : urt_delay_t</text><ellipse cx="2146" cy="544.8672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="2155" y="548.0776">qosDeadlineTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2136" x2="2531.5" y1="518.6602" y2="518.6602"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="2531.5" y="521.9683">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2822.5" x2="3218" y1="518.6602" y2="518.6602"/><ellipse cx="2146" cy="574.4766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="2155" y="577.687">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2136" x2="2541.5" y1="561.0742" y2="561.0742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="2541.5" y="564.3823">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2812.5" x2="3218" y1="561.0742" y2="561.0742"/><ellipse cx="2146" cy="604.0859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="2155" y="607.2964">minLatency : urt_delay_t</text><ellipse cx="2146" cy="616.8906" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="2155" y="620.1011">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2136" x2="2425" y1="590.6836" y2="590.6836"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="2425" y="593.9917">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2929" x2="3218" y1="590.6836" y2="590.6836"/><ellipse cx="2146" cy="646.5" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="2155" y="649.7104">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2136" x2="2544.5" y1="633.0977" y2="633.0977"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="2544.5" y="636.4058">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2809.5" x2="3218" y1="633.0977" y2="633.0977"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2136" x2="3218" y1="656.3047" y2="656.3047"/><ellipse cx="2146" cy="667.3047" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="2155" y="670.5151">urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : void</text><ellipse cx="2146" cy="680.1094" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1058" x="2155" y="683.3198">urtHrtSubscriberSubscribe (subscriber : urt_hrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, rate : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="2146" cy="692.9141" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="2155" y="696.1245">urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="2146" cy="705.7188" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="2155" y="708.9292">urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="2146" cy="718.5234" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="2155" y="721.7339">urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t</text><!--MD5=[e60e0f8379a14e7a4a292c65add9d735]
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class urt_service_t--><rect fill="#FEFECE" filter="url(#f8on3nil7jvs5)" height="269.6797" id="urt_service_t" style="stroke: #A80036; stroke-width: 1.5;" width="596" x="7039" y="458.9531"/><ellipse cx="7293.25" cy="474.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7292.7344,475.5156 Q7290.875,474.8125 7290.2188,474.0469 Q7289.5781,473.2656 7289.5781,471.9531 Q7289.5781,470.2656 7290.6563,469.2969 Q7291.7344,468.3281 7293.6094,468.3281 Q7294.4688,468.3281 7295.3125,468.5313 Q7296.1719,468.7188 7297.0156,469.1094 L7297.0156,471.5 Q7296.2344,470.9375 7295.4063,470.6563 Q7294.5938,470.3594 7293.7969,470.3594 Q7292.9219,470.3594 7292.4375,470.7188 Q7291.9688,471.0781 7291.9688,471.7344 Q7291.9688,472.25 7292.3125,472.5938 Q7292.6563,472.9219 7293.75,473.3281 L7294.8125,473.7344 Q7296.2969,474.2813 7297,475.1875 Q7297.7188,476.0938 7297.7188,477.4688 Q7297.7188,479.3438 7296.6094,480.2656 Q7295.5,481.1875 7293.25,481.1875 Q7292.3281,481.1875 7291.4063,480.9688 Q7290.4844,480.75 7289.625,480.3281 L7289.625,477.7969 Q7290.5938,478.4844 7291.5156,478.8281 Q7292.4375,479.1719 7293.3281,479.1719 Q7294.2344,479.1719 7294.7344,478.7656 Q7295.2344,478.3438 7295.2344,477.6094 Q7295.2344,477.0469 7294.8906,476.6406 Q7294.5625,476.2188 7293.9375,475.9688 L7292.7344,475.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="7313.75" y="479.1074">urt_service_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7040" x2="7634" y1="490.9531" y2="490.9531"/><ellipse cx="7050" cy="501.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="115" x="7059" y="505.1636">next : urt_service_t*</text><ellipse cx="7050" cy="514.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="105" x="7059" y="517.9683">id : urt_serviceid_t</text><ellipse cx="7050" cy="527.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="7059" y="530.7729">lock : urt_osMutex_t</text><ellipse cx="7050" cy="540.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="7059" y="543.5776">requestQueue_front : urt_baserequest_t*</text><ellipse cx="7050" cy="553.1719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="7059" y="556.3823">requestQueue_hrtBack : urt_hrtrequest_t*</text><ellipse cx="7050" cy="565.9766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="256" x="7059" y="569.187">requestQueue_fsrtBack : urt_baserequest_t*</text><ellipse cx="7050" cy="578.7813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="7059" y="581.9917">requestQueue_back : urt_baserequest_t*</text><ellipse cx="7050" cy="591.5859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="7059" y="594.7964">evtSource : urt_osEventSource_t</text><ellipse cx="7050" cy="604.3906" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="7059" y="607.6011">evtListener : urt_osEventListener_t</text><ellipse cx="7050" cy="634" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="7059" y="637.2104">numCalls : uint64_t</text><ellipse cx="7050" cy="646.8047" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="7059" y="650.0151">numOwnershipLost : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7040" x2="7241" y1="620.5977" y2="620.5977"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="7241" y="623.9058">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7433" x2="7634" y1="620.5977" y2="620.5977"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7040" x2="7634" y1="656.6094" y2="656.6094"/><ellipse cx="7050" cy="667.6094" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="412" x="7059" y="670.8198">urtServiceInit (service : urt_service_t*, id : urt_serviceid_t) : urt_status_t</text><ellipse cx="7050" cy="680.4141" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="549" x="7059" y="683.6245">urtServiceDispatch (service : urt_service_t*, payload : void*, bytes : size_t) : urt_baserequest_t*</text><ellipse cx="7050" cy="693.2188" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="552" x="7059" y="696.4292">urtServiceAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="7050" cy="706.0234" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="7059" y="709.2339">urtServiceTryAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="7050" cy="718.8281" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="365" x="7059" y="722.0386">urtServiceRespond (request : urt_baserequest_t*) : urt_status_t</text><!--MD5=[7294e1cfaeb111bef046bc5d07a96458]
20
class urt_baserequest_t--><rect fill="#FEFECE" filter="url(#f8on3nil7jvs5)" height="197.6563" id="urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="224" x="8519" y="494.9531"/><ellipse cx="8569.25" cy="510.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8568.7344,511.5156 Q8566.875,510.8125 8566.2188,510.0469 Q8565.5781,509.2656 8565.5781,507.9531 Q8565.5781,506.2656 8566.6563,505.2969 Q8567.7344,504.3281 8569.6094,504.3281 Q8570.4688,504.3281 8571.3125,504.5313 Q8572.1719,504.7188 8573.0156,505.1094 L8573.0156,507.5 Q8572.2344,506.9375 8571.4063,506.6563 Q8570.5938,506.3594 8569.7969,506.3594 Q8568.9219,506.3594 8568.4375,506.7188 Q8567.9688,507.0781 8567.9688,507.7344 Q8567.9688,508.25 8568.3125,508.5938 Q8568.6563,508.9219 8569.75,509.3281 L8570.8125,509.7344 Q8572.2969,510.2813 8573,511.1875 Q8573.7188,512.0938 8573.7188,513.4688 Q8573.7188,515.3438 8572.6094,516.2656 Q8571.5,517.1875 8569.25,517.1875 Q8568.3281,517.1875 8567.4063,516.9688 Q8566.4844,516.75 8565.625,516.3281 L8565.625,513.7969 Q8566.5938,514.4844 8567.5156,514.8281 Q8568.4375,515.1719 8569.3281,515.1719 Q8570.2344,515.1719 8570.7344,514.7656 Q8571.2344,514.3438 8571.2344,513.6094 Q8571.2344,513.0469 8570.8906,512.6406 Q8570.5625,512.2188 8569.9375,511.9688 L8568.7344,511.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="8589.75" y="515.1074">urt_baserequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8520" x2="8742" y1="526.9531" y2="526.9531"/><ellipse cx="8530" cy="537.9531" 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="147" x="8539" y="541.1636">prev : urt_baserequest_t*</text><ellipse cx="8530" cy="550.7578" 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="146" x="8539" y="553.9683">next : urt_baserequest_t*</text><ellipse cx="8530" cy="563.5625" 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="8539" y="566.7729">lock : urt_osMutex_t</text><ellipse cx="8530" cy="576.3672" 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="126" x="8539" y="579.5776">owner : urt_service_t*</text><ellipse cx="8530" cy="589.1719" 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="180" x="8539" y="592.3823">submissionTime : urt_osTime_t</text><ellipse cx="8530" cy="601.9766" 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="85" x="8539" y="605.187">payload : void*</text><ellipse cx="8530" cy="614.7813" 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="186" x="8539" y="617.9917">evtSource : urt_osEventSource_t</text><ellipse cx="8530" cy="627.5859" 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="198" x="8539" y="630.7964">evtListener : urt_osEventListener_t</text><ellipse cx="8530" cy="657.1953" 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="136" x="8539" y="660.4058">sumLatencies : uint64_t</text><ellipse cx="8530" cy="670" fill="none" 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="8539" y="673.2104">numCalls : uint64_t</text><ellipse cx="8530" cy="682.8047" 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="108" x="8539" y="686.0151">numFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8520" x2="8535" y1="643.793" y2="643.793"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="8535" y="647.1011">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8727" x2="8742" y1="643.793" y2="643.793"/><!--MD5=[65269c71e9a2a076bc4014c9b128c9e6]
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class urt_nrtrequest_t--><rect fill="#FEFECE" filter="url(#f8on3nil7jvs5)" height="167.2422" id="urt_nrtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="531" x="8365.5" y="155.4531"/><ellipse cx="8575.75" cy="171.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8575.2344,172.0156 Q8573.375,171.3125 8572.7188,170.5469 Q8572.0781,169.7656 8572.0781,168.4531 Q8572.0781,166.7656 8573.1563,165.7969 Q8574.2344,164.8281 8576.1094,164.8281 Q8576.9688,164.8281 8577.8125,165.0313 Q8578.6719,165.2188 8579.5156,165.6094 L8579.5156,168 Q8578.7344,167.4375 8577.9063,167.1563 Q8577.0938,166.8594 8576.2969,166.8594 Q8575.4219,166.8594 8574.9375,167.2188 Q8574.4688,167.5781 8574.4688,168.2344 Q8574.4688,168.75 8574.8125,169.0938 Q8575.1563,169.4219 8576.25,169.8281 L8577.3125,170.2344 Q8578.7969,170.7813 8579.5,171.6875 Q8580.2188,172.5938 8580.2188,173.9688 Q8580.2188,175.8438 8579.1094,176.7656 Q8578,177.6875 8575.75,177.6875 Q8574.8281,177.6875 8573.9063,177.4688 Q8572.9844,177.25 8572.125,176.8281 L8572.125,174.2969 Q8573.0938,174.9844 8574.0156,175.3281 Q8574.9375,175.6719 8575.8281,175.6719 Q8576.7344,175.6719 8577.2344,175.2656 Q8577.7344,174.8438 8577.7344,174.1094 Q8577.7344,173.5469 8577.3906,173.1406 Q8577.0625,172.7188 8576.4375,172.4688 L8575.2344,172.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="8596.25" y="175.6074">urt_nrtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8366.5" x2="8895.5" y1="187.4531" y2="187.4531"/><ellipse cx="8376.5" cy="215.2578" 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="8385.5" y="218.4683">minLatency : urt_delay_t</text><ellipse cx="8376.5" cy="228.0625" 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="8385.5" y="231.2729">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8366.5" x2="8535" y1="201.8555" y2="201.8555"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="8535" y="205.1636">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8727" x2="8895.5" y1="201.8555" y2="201.8555"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8366.5" x2="8895.5" y1="237.8672" y2="237.8672"/><ellipse cx="8376.5" cy="248.8672" 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="8385.5" y="252.0776">urtNrtRequestInit (request : urt_nrtrequest_t*) : void</text><ellipse cx="8376.5" cy="261.6719" 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="8385.5" y="264.8823">urtNrtRequestAcquire (request : urt_nrtrequest_t*) : urt_status_t</text><ellipse cx="8376.5" cy="274.4766" 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="8385.5" y="277.687">urtNrtRequestTryAcquire (request : urt_nrtrequest_t*) : urt_status_t</text><ellipse cx="8376.5" cy="287.2813" 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="8385.5" y="290.4917">urtNrtRequestRelease (request : urt_nrtrequest_t*) : urt_status_t</text><ellipse cx="8376.5" cy="300.0859" 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="8385.5" y="303.2964">urtNrtRequestSubmit (request : urt_nrtrequest_t*, service : urt_service_t*) : urt_status_t</text><ellipse cx="8376.5" cy="312.8906" 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="8385.5" y="316.1011">urtNrtRequestRetrieve (request : urt_nrtrequest_t*) : urt_status_t</text><!--MD5=[e9d515ad43a4cecec056dd09bc14a3c2]
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class urt_srtrequest_t--><rect fill="#FEFECE" filter="url(#f8on3nil7jvs5)" height="180.0469" id="urt_srtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="675" x="9623.5" y="148.9531"/><ellipse cx="9906.25" cy="164.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9905.7344,165.5156 Q9903.875,164.8125 9903.2188,164.0469 Q9902.5781,163.2656 9902.5781,161.9531 Q9902.5781,160.2656 9903.6563,159.2969 Q9904.7344,158.3281 9906.6094,158.3281 Q9907.4688,158.3281 9908.3125,158.5313 Q9909.1719,158.7188 9910.0156,159.1094 L9910.0156,161.5 Q9909.2344,160.9375 9908.4063,160.6563 Q9907.5938,160.3594 9906.7969,160.3594 Q9905.9219,160.3594 9905.4375,160.7188 Q9904.9688,161.0781 9904.9688,161.7344 Q9904.9688,162.25 9905.3125,162.5938 Q9905.6563,162.9219 9906.75,163.3281 L9907.8125,163.7344 Q9909.2969,164.2813 9910,165.1875 Q9910.7188,166.0938 9910.7188,167.4688 Q9910.7188,169.3438 9909.6094,170.2656 Q9908.5,171.1875 9906.25,171.1875 Q9905.3281,171.1875 9904.4063,170.9688 Q9903.4844,170.75 9902.625,170.3281 L9902.625,167.7969 Q9903.5938,168.4844 9904.5156,168.8281 Q9905.4375,169.1719 9906.3281,169.1719 Q9907.2344,169.1719 9907.7344,168.7656 Q9908.2344,168.3438 9908.2344,167.6094 Q9908.2344,167.0469 9907.8906,166.6406 Q9907.5625,166.2188 9906.9375,165.9688 L9905.7344,165.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="9926.75" y="169.1074">urt_srtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9624.5" x2="10297.5" y1="180.9531" y2="180.9531"/><ellipse cx="9634.5" cy="208.7578" 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="9643.5" y="211.9683">minLatency : urt_delay_t</text><ellipse cx="9634.5" cy="221.5625" 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="9643.5" y="224.7729">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9624.5" x2="9865" y1="195.3555" y2="195.3555"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="9865" y="198.6636">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10057" x2="10297.5" y1="195.3555" y2="195.3555"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="9624.5" x2="10297.5" y1="231.3672" y2="231.3672"/><ellipse cx="9634.5" cy="242.3672" 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="9643.5" y="245.5776">urtSrtRequestInit (request : urt_srtrequest_t*) : void</text><ellipse cx="9634.5" cy="255.1719" 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="9643.5" y="258.3823">urtSrtRequestAcquire (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9634.5" cy="267.9766" 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="9643.5" y="271.187">urtSrtRequestTryAcquire (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9634.5" cy="280.7813" 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="9643.5" y="283.9917">urtSrtRequestRelease (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9634.5" cy="293.5859" 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="9643.5" y="296.7964">urtSrtRequestSubmit (request : urt_srtrequest_t*, service : urt_service_t*) : urt_status_t</text><ellipse cx="9634.5" cy="306.3906" 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="9643.5" y="309.6011">urtSrtRequestRetrieve (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9634.5" cy="319.1953" 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="9643.5" y="322.4058">urtSrtCalculateUsefulness (request : urt_srtrequest_t*, usefulnesscb : urt_usefulness_f, cbparams : void*) : float</text><!--MD5=[240977dbca9212fa5365c87da90aa051]
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class urt_frtrequest_t--><rect fill="#FEFECE" filter="url(#f8on3nil7jvs5)" height="268.875" id="urt_frtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="656" x="8932" y="104.4531"/><ellipse cx="9206.75" cy="120.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9206.2344,121.0156 Q9204.375,120.3125 9203.7188,119.5469 Q9203.0781,118.7656 9203.0781,117.4531 Q9203.0781,115.7656 9204.1563,114.7969 Q9205.2344,113.8281 9207.1094,113.8281 Q9207.9688,113.8281 9208.8125,114.0313 Q9209.6719,114.2188 9210.5156,114.6094 L9210.5156,117 Q9209.7344,116.4375 9208.9063,116.1563 Q9208.0938,115.8594 9207.2969,115.8594 Q9206.4219,115.8594 9205.9375,116.2188 Q9205.4688,116.5781 9205.4688,117.2344 Q9205.4688,117.75 9205.8125,118.0938 Q9206.1563,118.4219 9207.25,118.8281 L9208.3125,119.2344 Q9209.7969,119.7813 9210.5,120.6875 Q9211.2188,121.5938 9211.2188,122.9688 Q9211.2188,124.8438 9210.1094,125.7656 Q9209,126.6875 9206.75,126.6875 Q9205.8281,126.6875 9204.9063,126.4688 Q9203.9844,126.25 9203.125,125.8281 L9203.125,123.2969 Q9204.0938,123.9844 9205.0156,124.3281 Q9205.9375,124.6719 9206.8281,124.6719 Q9207.7344,124.6719 9208.2344,124.2656 Q9208.7344,123.8438 9208.7344,123.1094 Q9208.7344,122.5469 9208.3906,122.1406 Q9208.0625,121.7188 9207.4375,121.4688 L9206.2344,121.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="98" x="9227.25" y="124.6074">urt_frtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8933" x2="9587" y1="136.4531" y2="136.4531"/><ellipse cx="8943" cy="164.2578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="8952" y="167.4683">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8933" x2="9127" y1="150.8555" y2="150.8555"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="266" x="9127" y="154.1636">URT_CFG_RPC_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9393" x2="9587" y1="150.8555" y2="150.8555"/><ellipse cx="8943" cy="193.8672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="8952" y="197.0776">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8933" x2="9137" y1="180.4648" y2="180.4648"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="9137" y="183.7729">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9383" x2="9587" y1="180.4648" y2="180.4648"/><ellipse cx="8943" cy="223.4766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="8952" y="226.687">minLatency : urt_delay_t</text><ellipse cx="8943" cy="236.2813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="8952" y="239.4917">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8933" x2="9033" y1="210.0742" y2="210.0742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="454" x="9033" y="213.3823">URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9487" x2="9587" y1="210.0742" y2="210.0742"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8933" x2="9587" y1="246.0859" y2="246.0859"/><ellipse cx="8943" cy="257.0859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="292" x="8952" y="260.2964">urtFrtRequestInit (request : urt_frtrequest_t*) : void</text><ellipse cx="8943" cy="269.8906" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="362" x="8952" y="273.1011">urtFrtRequestAcquire (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="8943" cy="282.6953" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="8952" y="285.9058">urtFrtRequestTryAcquire (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="8943" cy="295.5" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="365" x="8952" y="298.7104">urtFrtRequestRelease (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="8943" cy="308.3047" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="630" x="8952" y="311.5151">urtFrtRequestSubmit (request : urt_frtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t</text><ellipse cx="8943" cy="321.1094" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="366" x="8952" y="324.3198">urtFrtRequestRetrieve (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="8943" cy="333.9141" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="318" x="8952" y="337.1245">urtDrtCalculateValidity (request : urt_frtrequest_t) : bool</text><ellipse cx="8943" cy="363.5234" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="423" x="8952" y="366.7339">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="8933" x2="9137" y1="350.1211" y2="350.1211"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="9137" y="353.4292">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9383" x2="9587" y1="350.1211" y2="350.1211"/><!--MD5=[2b0c3d572fefe037473ca776bdd2f803]
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class urt_hrtrequest_t--><rect fill="#FEFECE" filter="url(#f8on3nil7jvs5)" height="285.6797" id="urt_hrtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="661" x="7669.5" y="95.9531"/><ellipse cx="7944.75" cy="111.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7944.2344,112.5156 Q7942.375,111.8125 7941.7188,111.0469 Q7941.0781,110.2656 7941.0781,108.9531 Q7941.0781,107.2656 7942.1563,106.2969 Q7943.2344,105.3281 7945.1094,105.3281 Q7945.9688,105.3281 7946.8125,105.5313 Q7947.6719,105.7188 7948.5156,106.1094 L7948.5156,108.5 Q7947.7344,107.9375 7946.9063,107.6563 Q7946.0938,107.3594 7945.2969,107.3594 Q7944.4219,107.3594 7943.9375,107.7188 Q7943.4688,108.0781 7943.4688,108.7344 Q7943.4688,109.25 7943.8125,109.5938 Q7944.1563,109.9219 7945.25,110.3281 L7946.3125,110.7344 Q7947.7969,111.2813 7948.5,112.1875 Q7949.2188,113.0938 7949.2188,114.4688 Q7949.2188,116.3438 7948.1094,117.2656 Q7947,118.1875 7944.75,118.1875 Q7943.8281,118.1875 7942.9063,117.9688 Q7941.9844,117.75 7941.125,117.3281 L7941.125,114.7969 Q7942.0938,115.4844 7943.0156,115.8281 Q7943.9375,116.1719 7944.8281,116.1719 Q7945.7344,116.1719 7946.2344,115.7656 Q7946.7344,115.3438 7946.7344,114.6094 Q7946.7344,114.0469 7946.3906,113.6406 Q7946.0625,113.2188 7945.4375,112.9688 L7944.2344,112.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="7965.25" y="116.1074">urt_hrtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7670.5" x2="8329.5" y1="127.9531" y2="127.9531"/><ellipse cx="7680.5" cy="155.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="7689.5" y="158.9683">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7670.5" x2="7867" y1="142.3555" y2="142.3555"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="266" x="7867" y="145.6636">URT_CFG_RPC_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8133" x2="8329.5" y1="142.3555" y2="142.3555"/><ellipse cx="7680.5" cy="185.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="7689.5" y="188.5776">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7670.5" x2="7877" y1="171.9648" y2="171.9648"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="7877" y="175.2729">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8123" x2="8329.5" y1="171.9648" y2="171.9648"/><ellipse cx="7680.5" cy="214.9766" 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="145" x="7689.5" y="218.187">qosTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7670.5" x2="7736" y1="201.5742" y2="201.5742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="528" x="7736" y="204.8823">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="8264" x2="8329.5" y1="201.5742" y2="201.5742"/><ellipse cx="7680.5" cy="244.5859" 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="7689.5" y="247.7964">minLatency : urt_delay_t</text><ellipse cx="7680.5" cy="257.3906" 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="7689.5" y="260.6011">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7670.5" x2="7773" y1="231.1836" y2="231.1836"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="454" x="7773" y="234.4917">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="8227" x2="8329.5" y1="231.1836" y2="231.1836"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7670.5" x2="8329.5" y1="267.1953" y2="267.1953"/><ellipse cx="7680.5" cy="278.1953" 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="7689.5" y="281.4058">urtHrtRequestInit (request : urt_hrtrequest_t*) : void</text><ellipse cx="7680.5" cy="291" fill="#84BE84" 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="7689.5" y="294.2104">urtHrtRequestAcquire (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="7680.5" cy="303.8047" 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="7689.5" y="307.0151">urtHrtRequestTryAcquire (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="7680.5" cy="316.6094" 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="7689.5" y="319.8198">urtHrtRequestRelease (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="7680.5" cy="329.4141" 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="7689.5" y="332.6245">urtHrtRequestSubmit (request : urt_hrtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t</text><ellipse cx="7680.5" cy="342.2188" 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="7689.5" y="345.4292">urtHrtRequestRetrieve (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="7680.5" cy="371.8281" 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="7689.5" y="375.0386">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="7670.5" x2="7877" y1="358.4258" y2="358.4258"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="7877" y="361.7339">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8123" x2="8329.5" y1="358.4258" y2="358.4258"/><!--MD5=[89d25e87afdd75480e1ec2bd05524873]
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class urt_core_t--><rect fill="#FEFECE" filter="url(#f8on3nil7jvs5)" height="307.2891" id="urt_core_t" style="stroke: #A80036; stroke-width: 1.5;" width="343" x="5983.5" y="85.4531"/><ellipse cx="6119.25" cy="101.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6118.7344,102.0156 Q6116.875,101.3125 6116.2188,100.5469 Q6115.5781,99.7656 6115.5781,98.4531 Q6115.5781,96.7656 6116.6563,95.7969 Q6117.7344,94.8281 6119.6094,94.8281 Q6120.4688,94.8281 6121.3125,95.0313 Q6122.1719,95.2188 6123.0156,95.6094 L6123.0156,98 Q6122.2344,97.4375 6121.4063,97.1563 Q6120.5938,96.8594 6119.7969,96.8594 Q6118.9219,96.8594 6118.4375,97.2188 Q6117.9688,97.5781 6117.9688,98.2344 Q6117.9688,98.75 6118.3125,99.0938 Q6118.6563,99.4219 6119.75,99.8281 L6120.8125,100.2344 Q6122.2969,100.7813 6123,101.6875 Q6123.7188,102.5938 6123.7188,103.9688 Q6123.7188,105.8438 6122.6094,106.7656 Q6121.5,107.6875 6119.25,107.6875 Q6118.3281,107.6875 6117.4063,107.4688 Q6116.4844,107.25 6115.625,106.8281 L6115.625,104.2969 Q6116.5938,104.9844 6117.5156,105.3281 Q6118.4375,105.6719 6119.3281,105.6719 Q6120.2344,105.6719 6120.7344,105.2656 Q6121.2344,104.8438 6121.2344,104.1094 Q6121.2344,103.5469 6120.8906,103.1406 Q6120.5625,102.7188 6119.9375,102.4688 L6118.7344,102.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="63" x="6139.75" y="105.6074">urt_core_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5984.5" x2="6325.5" y1="117.4531" y2="117.4531"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="5991.5" y="125.4531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="6003.5" y="131.6636">_nodes : urt_node_t*</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="5991.5" y="138.2578"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="192" x="6003.5" y="144.4683">_evtSource : urt_osEventSource_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="5991.5" y="151.0625"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="6003.5" y="157.2729">_lock : urt_osMutex_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="5991.5" y="163.8672"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="122" x="6003.5" y="170.0776">_status : urt_status_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="5991.5" y="193.4766"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="117" x="6003.5" y="199.687">_topics : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5984.5" x2="6050" y1="183.0742" y2="183.0742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="6050" y="186.3823">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6260" x2="6325.5" y1="183.0742" y2="183.0742"/><rect fill="none" height="6" style="stroke: #C82930; 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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="304" x="6003.5" y="314.1245">urtCoreGetEventSource (void) : urt_osEventSource_t*</text><ellipse cx="5994.5" cy="323.7188" 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="228" x="6003.5" y="326.9292">urtCoreGetMutex (void) : urt_osMutex_t*</text><ellipse cx="5994.5" cy="353.3281" 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="273" x="6003.5" y="356.5386">urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5984.5" x2="6050" y1="339.9258" y2="339.9258"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="6050" y="343.2339">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; 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reverse link urt_node_t to urt_node_t--><path d="M6937.9212,572.8785 C6952.4841,578.9256 6960.5,585.9505 6960.5,593.9531 C6960.5,603.9956 6947.8767,612.4983 6925.5332,619.4614 " fill="none" id="urt_node_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="6925.5332,568.4448,6929.8344,574.2327,6936.8314,572.4885,6932.5302,566.7006,6925.5332,568.4448" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6934.0047" y="565.15">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6934.0703" y="616.7246">0,1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]
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reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M5878.6717,715.1213 C5789.6061,755.938 5699.4142,798.0348 5642.8397,825.4419 " fill="none" id="urt_node_t&lt;-urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="5890.6583,709.6328,5883.5377,708.4939,5879.7477,714.6288,5886.8683,715.7676,5890.6583,709.6328" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5864.6291" y="729.9714">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="5633.3046" y="814.2298">0,1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]
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reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M5912.1611,711.751 C5821.4884,753.6073 5725.0101,797.2798 5660.4215,825.4419 " 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="5916.7481,709.6328,5906.9003,709.7746,5912.2087,711.7291,5910.2543,717.0376,5916.7481,709.6328" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b913f036db99e36b937989146817bd94]
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reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M6142.2514,722.8795 C6142.1989,761.2058 6143.6019,799.7688 6146.4603,825.4419 " fill="none" id="urt_node_t&lt;-urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="6142.3278,709.6328,6138.2933,715.6096,6142.2586,721.6326,6146.2931,715.6558,6142.3278,709.6328" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6133.2076" y="729.9714">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6135.7172" y="814.2298">1</text><!--MD5=[b913f036db99e36b937989146817bd94]
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reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M6168.4661,715.1213 C6168.7477,755.938 6167.273,798.0348 6164.0421,825.4419 " 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="6168.4176,709.6328,6164.4975,718.6679,6168.4619,714.6326,6172.4972,718.597,6168.4176,709.6328" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[496dffc41052f1912ec8ad492f24fe61]
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reverse link urt_node_t to urt_nodeShutdownCallback_t--><path d="M6419.6574,714.8715 C6513.1922,755.7662 6611.416,797.9789 6677.4708,825.4419 " fill="none" id="urt_node_t&lt;-urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="6407.6846,709.6328,6411.578,715.7026,6418.6782,714.4432,6414.7849,708.3735,6407.6846,709.6328" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6416.3931" y="729.9714">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6638.105" y="814.2298">0,1</text><!--MD5=[496dffc41052f1912ec8ad492f24fe61]
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reverse link urt_node_t to urt_nodeShutdownCallback_t--><path d="M6438.3674,711.6263 C6534.8611,753.5205 6633.7108,797.2518 6695.0525,825.4419 " 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="6433.7744,709.6328,6440.4376,716.8855,6438.361,711.6236,6443.6229,709.547,6433.7744,709.6328" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[536025241394544a90bc53fb552f3a08]
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reverse link urt_message_t to urt_message_t--><path d="M1248.5028,1027.5601 C1262.5209,1033.7125 1271,1042.5102 1271,1053.9531 C1271,1068.4551 1257.3815,1078.7084 1236.1293,1084.7131 " fill="none" id="urt_message_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1236.1293,1023.1931,1240.456,1028.962,1247.4452,1027.1869,1243.1185,1021.418,1236.1293,1023.1931" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1244.2203" y="1018.7753">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="1243.7886" y="1082.6249">0,1</text><!--MD5=[aa8990705afdbad14c7f998fe04b6f05]
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reverse link urt_basesubscriber_t to urt_message_t--><path d="M2568.7112,928.1333 C2566.1446,929.1376 2563.5726,930.0801 2561,930.9531 C2321.2643,1012.3021 1593.9511,1040.6718 1236.1648,1049.8784 " fill="none" id="urt_basesubscriber_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2580.6632,923.0124,2573.5728,921.6986,2569.633,927.7383,2576.7234,929.0521,2580.6632,923.0124" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2562.316" y="942.794">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="1243.8254" y="1046.5383">0,1</text><!--MD5=[0585cd4928de92ce6927d9c389eadd29]
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link urt_nrtsubscriber_t to urt_basesubscriber_t--><path d="M1891.7135,671.0027 C1962.4365,695.3368 2042.9049,720.2157 2118,736.9531 C2304.8793,778.6053 2368.4942,730.082 2545.1263,783.9702 " fill="none" id="urt_nrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="2547.3836,777.3426,2564.314,790.0847,2543.1328,790.6817,2547.3836,777.3426" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6d81edfa5aa102b898ad487ae19b49f9]
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link urt_srtsubscriber_t to urt_basesubscriber_t--><path d="M4478.0414,690.4988 C4407.9682,708.4065 4333.9284,725.1589 4264,736.9531 C3730.3517,826.9585 3084.2591,848.8977 2810.1996,854.2383 " fill="none" id="urt_srtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="2810.0655,861.242,2789.9385,854.6159,2809.8046,847.2444,2810.0655,861.242" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f626d284cba98e1d5d5fe914b1fa4188]
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link urt_frtsubscriber_t to urt_basesubscriber_t--><path d="M3371.4405,707.0088 C3332.2104,717.5233 3292.881,727.6928 3255,736.9531 C3103.1803,774.0664 2927.0543,809.2045 2809.5003,831.5426 " fill="none" id="urt_frtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="2810.6553,838.4482,2789.7026,835.2889,2808.0523,824.6923,2810.6553,838.4482" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[1ea71f2b33e56ab0ac5545988c1af396]
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link urt_hrtsubscriber_t to urt_basesubscriber_t--><path d="M2677,728.7905 C2677,742.2868 2677,755.7288 2677,768.5427 " fill="none" id="urt_hrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="2684.0001,768.7395,2677,788.7395,2670.0001,768.7394,2684.0001,768.7395" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ea2ec5c5272e65289dabade75a749f58]
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reverse link urt_hrtsubscriber_t to urt_hrtsubscriber_t--><path d="M3231.3399,569.5191 C3245.8539,576.2767 3254,584.4213 3254,593.9531 C3254,605.9145 3241.1717,615.6916 3219.0292,623.2843 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3219.0292,564.6219,3223.1257,570.5564,3230.1793,569.0575,3226.0828,563.123,3219.0292,564.6219" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3226.7077" y="561.1727">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="3226.7921" y="620.66">0,1</text><!--MD5=[54fcf25ad8c5f1d36e678e42d5bfd4cc]
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reverse link urt_publisher_t to urt_topic_t--><path d="M818.8622,593.9531 C826.1684,593.9531 833.4747,593.9531 840.7809,593.9531 " fill="none" id="urt_publisher_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="805.7109,593.9531,811.7109,597.9531,817.7109,593.9531,811.7109,589.9531,805.7109,593.9531" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="813.7488" y="590.8685">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="825.1161" y="590.7321">1</text><!--MD5=[5025b4c4053b8e7c7ca8a657f09f21c0]
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link urt_publisher_t to urt_message_t--><path d="M546.0318,692.0704 C661.8911,778.1695 827.8639,901.5095 933.016,979.6516 " 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="937.0419,982.6433,932.2041,974.0646,933.0287,979.661,927.4323,980.4856,937.0419,982.6433" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b2afc1defaa6ed5a86f99c07f8466dd]
42
reverse link urt_topic_t to urt_topic_t--><path d="M1237.0439,558.1437 C1251.3061,566.3173 1260,578.2537 1260,593.9531 C1260,613.6543 1246.309,627.4297 1225.1039,635.2794 " fill="none" id="urt_topic_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1225.1039,552.6268,1228.8728,558.7746,1235.9972,557.6602,1232.2284,551.5124,1225.1039,552.6268" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1232.7642" y="547.7915">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="1232.9986" y="633.6727">0,1</text><!--MD5=[ed3fb6de0913094c41bd74c175d366df]
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reverse link urt_topic_t to urt_hrtsubscriber_t--><path d="M1177.7361,454.9498 C1204.5888,434.3434 1233.5161,415.1369 1263,400.4531 C1270.1417,396.8963 1272.5719,397.3476 1280.5,396.4531 C1325.7131,391.3517 2054.2869,391.3517 2099.5,396.4531 C2187.5516,406.388 2279.7005,430.9069 2363.8741,459.4215 " fill="none" id="urt_topic_t&lt;-urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1167.1558,463.2225,1174.3463,462.6778,1176.6091,455.831,1169.4186,456.3756,1167.1558,463.2225" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1166.6804" y="452.3054">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="2325.1934" y="448.2847">0,1</text><!--MD5=[0b5167e958c0ed93ffc0c98ce399b54d]
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reverse link urt_topic_t to urt_message_t--><path d="M1033,737.7196 C1033,819.1756 1033,917.505 1033,982.6655 " fill="none" id="urt_topic_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1033,724.5402,1029,730.5402,1033,736.5402,1037,730.5402,1033,724.5402" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1024.7688" y="744.5977">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1024.6063" y="972.0014">1</text><!--MD5=[ed8977051960dfa72b850fe399f41716]
45
reverse link urt_baserequest_t to urt_baserequest_t--><path d="M8755.2263,552.5268 C8769.0583,560.3592 8778,574.168 8778,593.9531 C8778,619.0273 8763.6385,634.5028 8743.1623,640.3796 " fill="none" id="urt_baserequest_t&lt;-urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8743.1623,547.5266,8747.1735,553.5191,8754.2478,552.1213,8750.2366,546.1288,8743.1623,547.5266" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8750.967" y="540.9863">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="8750.9722" y="639.8331">0,1,2</text><!--MD5=[426f0ba47802c5735a37a0acd494a192]
46
reverse link urt_baserequest_t to urt_service_t--><path d="M8505.3111,593.9531 C8215.2829,593.9531 7925.2547,593.9531 7635.2266,593.9531 " fill="none" id="urt_baserequest_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8518.6838,593.9531,8512.6838,589.9531,8506.6838,593.9531,8512.6838,597.9531,8518.6838,593.9531" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8502.8688" y="590.5321">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="7643.4139" y="590.8268">0,1</text><!--MD5=[09de7ef26922535bfe0682cb358ee29c]
47
reverse link urt_service_t to urt_baserequest_t--><path d="M7648.5992,593.9531 C7938.6274,593.9531 8228.6556,593.9531 8518.6838,593.9531 " fill="none" id="urt_service_t&lt;-urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="7635.2266,593.9531,7641.2266,597.9531,7647.2266,593.9531,7641.2266,589.9531,7635.2266,593.9531" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7643.2545" y="606.2253">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="8478.8645" y="606.4916">0,2,3</text><!--MD5=[dc2d1805b45628aba9d654613b3d05f9]
48
link urt_nrtrequest_t to urt_baserequest_t--><path d="M8631,322.6336 C8631,367.945 8631,424.7031 8631,474.5785 " fill="none" id="urt_nrtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="8638.0001,474.7538,8631,494.7538,8624.0001,474.7538,8638.0001,474.7538" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d53ae0f00163daee879678d1d1554717]
49
link urt_nrtrequest_t to urt_service_t--><path d="M8507.9317,322.589 C8460.1398,350.4303 8403.5847,378.008 8348,392.4531 C8273.2554,411.8774 7727.2096,379.0754 7653,400.4531 C7609.3119,413.0384 7565.6616,433.4227 7525.358,456.3405 " 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="7520.9658,458.8556,7530.7636,457.8544,7525.3047,456.3709,7526.7881,450.9121,7520.9658,458.8556" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f9755d42ba41539dee622699d8be3a22]
50
link urt_srtrequest_t to urt_baserequest_t--><path d="M9772.1188,329.1123 C9719.1956,352.0293 9661.0644,375.0596 9606,392.4531 C9311.4039,485.5088 8952.8914,546.8487 8763.322,575.3981 " fill="none" id="urt_srtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="8764.0981,582.3597,8743.284,578.3883,8762.0318,568.5131,8764.0981,582.3597" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[90efd84e0f70286880ba110c49a1e8f8]
51
link urt_srtrequest_t to urt_service_t--><path d="M9790.917,329.0335 C9733.7662,354.7653 9668.6036,379.3642 9606,392.4531 C9552.8977,403.5555 7705.1858,385.6291 7653,400.4531 C7609.1163,412.9188 7565.2964,433.3268 7524.8725,456.3203 " 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="7520.4674,458.8438,7530.2651,457.8412,7524.806,456.3585,7526.2886,450.8994,7520.4674,458.8438" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bfc5f4e50344156edda6a5cfcff14fef]
52
link urt_frtrequest_t to urt_baserequest_t--><path d="M9021.3052,373.6696 C8932.8256,423.6064 8835.8339,478.3473 8760.6723,520.7676 " fill="none" id="urt_frtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="8763.89,526.9895,8743.032,530.7236,8757.0088,514.7973,8763.89,526.9895" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[836450d5c472e7b2344319739fa0d5d1]
53
link urt_frtrequest_t to urt_service_t--><path d="M8982.8758,373.4937 C8959.9421,381.0472 8936.807,387.5455 8914,392.4531 C8845.5107,407.1907 7720.3692,381.2343 7653,400.4531 C7609.1303,412.9681 7565.3167,433.3981 7524.8945,456.3976 " fill="none" id="urt_frtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7520.4896,458.9217,7530.2872,457.9178,7524.8279,456.4359,7526.3098,450.9766,7520.4896,458.9217" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7c5d2ea3f0b69f804ad9b60a9539ac96]
54
link urt_hrtrequest_t to urt_baserequest_t--><path d="M8309.1881,382.0587 C8322.1767,385.9261 8335.1461,389.4211 8348,392.4531 C8366.0807,396.7179 8499.0599,390.913 8515,400.4531 C8544.8504,418.3184 8567.951,447.0791 8585.3922,477.0244 " fill="none" id="urt_hrtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="8591.6096,473.8052,8595.0156,494.7193,8579.3108,480.494,8591.6096,473.8052" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[189d7bd823f9a098ae8eb3eaa3789ee1]
55
link urt_hrtrequest_t to urt_service_t--><path d="M7670.9735,382.0975 C7659.1086,388.1956 7647.4173,394.3262 7636,400.4531 C7603.7225,417.7743 7570.1695,436.9636 7537.6925,456.3331 " fill="none" id="urt_hrtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7533.3248,458.943,7543.1024,457.76,7537.6169,456.3782,7538.9987,450.8927,7533.3248,458.943" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bcf13f9307d05af3b11663d6e8155fbe]
56
reverse link urt_service_t to urt_hrtrequest_t--><path d="M7579.1573,452.3042 C7609.8197,434.3096 7640.9622,416.5724 7671,400.4531 C7682.4173,394.3262 7694.1086,388.1956 7705.958,382.0975 " fill="none" id="urt_service_t&lt;-urt_hrtrequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="7567.8853,458.943,7575.0852,459.3448,7578.2252,452.8532,7571.0253,452.4515,7567.8853,458.943" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7573.0021" y="447.7842">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="7671.231" y="401.4722">0,1</text><!--MD5=[05f2c35569573d3273c65d3342945557]
57
reverse link urt_service_t to urt_service_t--><path d="M7647.2443,563.1615 C7661.5974,570.9463 7670,581.2101 7670,593.9531 C7670,609.9443 7656.7678,622.0314 7635.1491,630.2144 " fill="none" id="urt_service_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="7635.1491,557.6918,7638.9678,563.8088,7646.083,562.6365,7642.2643,556.5195,7635.1491,557.6918" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7643.1749" y="553.6023">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="7643.3343" y="628.0513">0,1</text><!--MD5=[694e7400eb99f74d44ea388aed89d199]
58
reverse link urt_core_t to urt_node_t--><path d="M6155,405.791 C6155,430.332 6155,455.1459 6155,478.3469 " fill="none" id="urt_core_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="6155,392.5966,6151,398.5966,6155,404.5966,6159,398.5966,6155,392.5966" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6146.7938" y="412.9685">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6134.3594" y="467.5231">0,1</text><!--MD5=[250695c91040478b50550bc37a8775c7]
59
reverse link urt_core_t to urt_topic_t--><path d="M5970.1848,241.6707 C5104.877,254.8244 1486.4238,314.7673 1263,400.4531 C1225.6058,414.7942 1189.9605,437.9286 1158.3764,463.2947 " fill="none" id="urt_core_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="5983.3424,241.471,5977.2823,237.5626,5971.3438,241.6533,5977.4038,245.5617,5983.3424,241.471" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5967.3829" y="238.3086">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="1145.0466" y="452.3818">0,1</text><!--MD5=[8d0a227ec56585cdbc167f8316b34b64]
60
reverse link urt_core_t to urt_service_t--><path d="M6339.7014,252.4707 C6520.9369,270.4327 6802.5869,311.0467 7031,400.4531 C7070.5086,415.9177 7110.4566,436.6798 7147.8655,458.8707 " fill="none" id="urt_core_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="6326.5572,251.1903,6332.1411,255.7532,6338.5007,252.3538,6332.9168,247.7909,6326.5572,251.1903" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6334.5121" y="248.4683">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="7116.353" y="447.7077">0,1</text><!--MD5=[1252844a9364531b6e043ba3871ee118]
1
<?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="1173px" preserveAspectRatio="none" style="width:10557px;height:1173px;" version="1.1" viewBox="0 0 10557 1173" width="10557px" zoomAndPan="magnify"><defs><filter height="300%" id="fgmjoycxg2h2i" 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="5225" y="16.708">µRtWare</text><!--MD5=[b9de0669a29c7bc934fd916b09c39491]
2
cluster node--><rect fill="#FFFFFF" filter="url(#fgmjoycxg2h2i)" height="443" style="stroke: #000000; stroke-width: 1.5;" width="1674" x="5569" y="479.9531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="40" x="6386" y="494.9482">node</text><!--MD5=[d74e2ef346f73688f9378f6d3d42598c]
3
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]
4
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]
5
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]
6
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]
7
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]
8
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]
9
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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
17
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]
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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]
19
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]
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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]
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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]
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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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class urt_frtrequest_t--><rect fill="#FEFECE" filter="url(#fgmjoycxg2h2i)" height="268.875" id="urt_frtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="656" x="9152" y="94.4531"/><ellipse cx="9426.75" cy="110.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9426.2344,111.0156 Q9424.375,110.3125 9423.7188,109.5469 Q9423.0781,108.7656 9423.0781,107.4531 Q9423.0781,105.7656 9424.1563,104.7969 Q9425.2344,103.8281 9427.1094,103.8281 Q9427.9688,103.8281 9428.8125,104.0313 Q9429.6719,104.2188 9430.5156,104.6094 L9430.5156,107 Q9429.7344,106.4375 9428.9063,106.1563 Q9428.0938,105.8594 9427.2969,105.8594 Q9426.4219,105.8594 9425.9375,106.2188 Q9425.4688,106.5781 9425.4688,107.2344 Q9425.4688,107.75 9425.8125,108.0938 Q9426.1563,108.4219 9427.25,108.8281 L9428.3125,109.2344 Q9429.7969,109.7813 9430.5,110.6875 Q9431.2188,111.5938 9431.2188,112.9688 Q9431.2188,114.8438 9430.1094,115.7656 Q9429,116.6875 9426.75,116.6875 Q9425.8281,116.6875 9424.9063,116.4688 Q9423.9844,116.25 9423.125,115.8281 L9423.125,113.2969 Q9424.0938,113.9844 9425.0156,114.3281 Q9425.9375,114.6719 9426.8281,114.6719 Q9427.7344,114.6719 9428.2344,114.2656 Q9428.7344,113.8438 9428.7344,113.1094 Q9428.7344,112.5469 9428.3906,112.1406 Q9428.0625,111.7188 9427.4375,111.4688 L9426.2344,111.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="98" x="9447.25" y="114.6074">urt_frtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9153" x2="9807" y1="126.4531" y2="126.4531"/><ellipse cx="9163" cy="154.2578" 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="9172" y="157.4683">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9153" x2="9347" y1="140.8555" y2="140.8555"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="266" x="9347" y="144.1636">URT_CFG_RPC_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9613" x2="9807" y1="140.8555" y2="140.8555"/><ellipse cx="9163" cy="183.8672" 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="9172" y="187.0776">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9153" x2="9357" y1="170.4648" y2="170.4648"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="9357" y="173.7729">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="170.4648" y2="170.4648"/><ellipse cx="9163" cy="213.4766" 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="9172" y="216.687">minLatency : urt_delay_t</text><ellipse cx="9163" cy="226.2813" 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="9172" y="229.4917">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9153" x2="9253" y1="200.0742" y2="200.0742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="454" x="9253" y="203.3823">URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="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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class urt_hrtrequest_t--><rect fill="#FEFECE" filter="url(#fgmjoycxg2h2i)" height="285.6797" id="urt_hrtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="661" x="7889.5" y="85.9531"/><ellipse cx="8164.75" cy="101.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8164.2344,102.5156 Q8162.375,101.8125 8161.7188,101.0469 Q8161.0781,100.2656 8161.0781,98.9531 Q8161.0781,97.2656 8162.1563,96.2969 Q8163.2344,95.3281 8165.1094,95.3281 Q8165.9688,95.3281 8166.8125,95.5313 Q8167.6719,95.7188 8168.5156,96.1094 L8168.5156,98.5 Q8167.7344,97.9375 8166.9063,97.6563 Q8166.0938,97.3594 8165.2969,97.3594 Q8164.4219,97.3594 8163.9375,97.7188 Q8163.4688,98.0781 8163.4688,98.7344 Q8163.4688,99.25 8163.8125,99.5938 Q8164.1563,99.9219 8165.25,100.3281 L8166.3125,100.7344 Q8167.7969,101.2813 8168.5,102.1875 Q8169.2188,103.0938 8169.2188,104.4688 Q8169.2188,106.3438 8168.1094,107.2656 Q8167,108.1875 8164.75,108.1875 Q8163.8281,108.1875 8162.9063,107.9688 Q8161.9844,107.75 8161.125,107.3281 L8161.125,104.7969 Q8162.0938,105.4844 8163.0156,105.8281 Q8163.9375,106.1719 8164.8281,106.1719 Q8165.7344,106.1719 8166.2344,105.7656 Q8166.7344,105.3438 8166.7344,104.6094 Q8166.7344,104.0469 8166.3906,103.6406 Q8166.0625,103.2188 8165.4375,102.9688 L8164.2344,102.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="8185.25" y="106.1074">urt_hrtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7890.5" x2="8549.5" y1="117.9531" y2="117.9531"/><ellipse cx="7900.5" cy="145.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="7909.5" y="148.9683">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7890.5" x2="8087" y1="132.3555" y2="132.3555"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="266" x="8087" y="135.6636">URT_CFG_RPC_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8353" x2="8549.5" y1="132.3555" y2="132.3555"/><ellipse cx="7900.5" cy="175.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="7909.5" y="178.5776">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7890.5" x2="8097" y1="161.9648" y2="161.9648"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="8097" y="165.2729">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8343" x2="8549.5" y1="161.9648" y2="161.9648"/><ellipse cx="7900.5" cy="204.9766" 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="145" x="7909.5" y="208.187">qosTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7890.5" x2="7956" y1="191.5742" y2="191.5742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="528" x="7956" y="194.8823">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="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; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7890.5" x2="8097" y1="348.4258" y2="348.4258"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="8097" y="351.7339">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8343" x2="8549.5" y1="348.4258" y2="348.4258"/><!--MD5=[89d25e87afdd75480e1ec2bd05524873]
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class urt_core_t--><rect fill="#FEFECE" filter="url(#fgmjoycxg2h2i)" height="384.1172" id="urt_core_t" style="stroke: #A80036; stroke-width: 1.5;" width="371" x="6189.5" y="36.9531"/><ellipse cx="6339.25" cy="52.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6338.7344,53.5156 Q6336.875,52.8125 6336.2188,52.0469 Q6335.5781,51.2656 6335.5781,49.9531 Q6335.5781,48.2656 6336.6563,47.2969 Q6337.7344,46.3281 6339.6094,46.3281 Q6340.4688,46.3281 6341.3125,46.5313 Q6342.1719,46.7188 6343.0156,47.1094 L6343.0156,49.5 Q6342.2344,48.9375 6341.4063,48.6563 Q6340.5938,48.3594 6339.7969,48.3594 Q6338.9219,48.3594 6338.4375,48.7188 Q6337.9688,49.0781 6337.9688,49.7344 Q6337.9688,50.25 6338.3125,50.5938 Q6338.6563,50.9219 6339.75,51.3281 L6340.8125,51.7344 Q6342.2969,52.2813 6343,53.1875 Q6343.7188,54.0938 6343.7188,55.4688 Q6343.7188,57.3438 6342.6094,58.2656 Q6341.5,59.1875 6339.25,59.1875 Q6338.3281,59.1875 6337.4063,58.9688 Q6336.4844,58.75 6335.625,58.3281 L6335.625,55.7969 Q6336.5938,56.4844 6337.5156,56.8281 Q6338.4375,57.1719 6339.3281,57.1719 Q6340.2344,57.1719 6340.7344,56.7656 Q6341.2344,56.3438 6341.2344,55.6094 Q6341.2344,55.0469 6340.8906,54.6406 Q6340.5625,54.2188 6339.9375,53.9688 L6338.7344,53.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="63" x="6359.75" y="57.1074">urt_core_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6190.5" x2="6559.5" y1="68.9531" y2="68.9531"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="6197.5" y="76.9531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="6209.5" y="83.1636">_nodes : urt_node_t*</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="6197.5" y="89.7578"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="192" x="6209.5" y="95.9683">_evtSource : urt_osEventSource_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="6197.5" y="102.5625"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="6209.5" y="108.7729">_lock : urt_osMutex_t</text><rect fill="none" height="6" style="stroke: #C82930; 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; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6190.5" x2="6282.5" y1="385.0586" y2="385.0586"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="6282.5" y="388.3667">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="385.0586" y2="385.0586"/><!--MD5=[182342162f0b9b45ddce11acc6582c59]
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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]
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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]
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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]
29
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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
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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]
45
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]
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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]
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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]
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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]
49
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]
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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]
51
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]
52
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]
53
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]
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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]
55
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]
56
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]
57
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]
58
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]
59
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]
60
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]
61 61
@startuml
62 62

  
63 63
title **µRtWare**
64 64

  
65
!include ./functions.iuml
66

  
67
/'### ENTITIES ###############################################################'/
68

  
69
!startsub ENTITIES
70

  
71
/' µRtWare core structure. '/
72
$structure("urt_core_t") {
73
    'List of nodes ordered by their (initial) priority.
74
  - {field} {static} _nodes : urt_node_t*
75
    'Event source for control events.
76
  - {field} {static} _evtSource : urt_osEventSource_t
77
    'Mutex used for synchronization.
78
  - {field} {static} _lock : urt_osMutex_t
79
    'System execution/health status.
80
  - {field} {static} _status : urt_status_t
81
  .. URT_CFG_PUBSUB_ENABLED == true ..
82
    'List of topics ordered by their identifiers.
83
  - {field} {static} _topics : urt_topic_t*
84
  .. URT_CFG_RPC_ENABLED == true ..
85
    'List of services ordered by their identifiers.
86
  - {field} {static} _services : urt_service_t*
87
  __
88
    'Initializes the urt_core_t object.
89
  + {method} urtCoreInit (void) : void
90
    'Retrieves the current system status.
91
  + {method} urtCoreGetStatus (void) : urt_status_t
92
    'Starts all node threads (nodes will block before the loop).
93
  + {method} urtCoreGetEventMask (void) : urt_osEventMask_t
94
    'Retrieve the core event mask.
95
  + {method} urtCoreGetEvtSource (void) : urt_osEventSource_t*
96
    'Retrieve the core event source.
97
  + {method} urtCoreStartNodes (void) : void
98
    'Nodes can use this function to synchronize.
99
  + {method} urtCoreSynchronizeNodes (node : urt_node_t*) : urt_status_t
100
    'Stops all nodes and propagates a specified reason.
101
  + {method} urtCoreStopNodes (reason : urt_status_t) : urt_status_t
102
    'Retrieve the core event source.
103
  + {method} urtCoreGetEventSource (void) : urt_osEventSource_t*
104
    'Retrieve the core mutex lock.
105
  + {method} urtCoreGetMutex (void) : urt_osMutex_t*
106
  + {method} urtCoreGetNodes (void) : urt_node_t*
107
    'Retrieve node of the core.
108
  + {method} urtCoreAddNode (node : urt_node_t*) : void
109
    'Prepend node to core's list of nodes..
110
  .. URT_CFG_PUBSUB_ENABLED == true ..
111
    'Retrieves a topic given an identifier.
112
  + {method} urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*
113
    'Append topic to core's list of topics.
114
  + {method} urtCoreAddTopic (topic : urt_topic_t*) : void
115
  .. URT_CFG_RPC_ENABLED == true ..
116
    'Retrieves a service given an identifier.
117
  + {method} urtCoreGetService (service : urt_service_t*) : void
118
  + {method} urtCoreAddService (id : urt_serviceid_t) : urt_service_t*
119
}
120

  
121
$group("node") {
122
  /' Function type to be called during setup phase of node threads. '/
123
  $type("urt_nodeSetupCallback_t") {
124
      'Takes the node and optional parameters as arguments and returns a event mask for the next iteration.
125
    urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t
126
  }
127

  
128
  /' Function type to be called during loop phase of node threads. '/
129
  $type("urt_nodeLoopCallback_t") {
130
      'Takes the node, a mask of occurred events and optional parameters as arguments and returns a event mask for the next iteration.
131
    urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t
132
  }
133

  
134
  /' Function type to be called during shutdown phase of node threads. '/
135
  $type("urt_nodeShutdownCallback_t") {
136
      'Takes the node, an error code defining the cause of the shutdown and optional parameters as argumnets.
137
    urt_nodeShutdownCallback_t (node : urt_node_t*, cause : urt_status_t, arg : void*) : void
138
  }
139

  
140
  /' Node structure. '/
141
  $structure("urt_node_t") {
142
      'Pointer to the next node in a list.
143
    + {field} next : urt_node_t*
144
      'Pointer to the node thread.
145
    + {field} thread : urt_osThread_t*
146
      'Optional callback function to be called during the setup phase.
147
    + {field} setupcallback : urt_nodeSetupCallback_t*
148
      'Optional parameters for the setup callback function.
149
    + {field} setupparams : void*
150
      'Callback function to be called in each loop iteration.
151
    + {field} loopcallback : urt_nodeLoopCallback_t*
152
      'Optional parameters for the loop callback function.
153
    + {field} loopparams : void*
154
      'Optional callback function to be called during the shutdown phase.
155
    + {field} shutdowncallback : urt_nodeShutdownCallback_t*
156
      'Optional parameters for the shutdown callback function.
157
    + {field} shutdownparams : void*
158
      'Execution stage of the node.
159
    + {field} stage : urt_nodestage_t
160
      'Event listener for middleware-wide control events.
161
    + {field} listener : urt_osEventListener_t
162
    .. URT_CFG_PUBSUB_PROFILING == true || URT_CFG_RPC_PROFILING = true ..
163
      'Counter of executed loops.
164
    + {field} loops : uint64_t
165
    __
166
    'The main() function of the node thread.
167
    - {method} {static} _main : urt_osThreadFunction_t
168
      'Initializes an urt_node_t object.
169
    + {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
170
  }
171
} /'node'/
172

  
173
$module("Publish-Subscribe System") {
174
  !includesub pubsub.uml!ENTITIES
175
}
176

  
177
$module("Remote Procedure Call System") {
178
  !includesub rpc.uml!ENTITIES
179
}
180

  
181
!endsub
182

  
183
/'### DEPENDENCIES & LAYOUT ##################################################'/
184

  
185
!startsub DEPENDENCIES
186

  
187
urt_node_t "1" o- - "0,1" urt_node_t
188
urt_node_t "1" o- - "0,1" urt_nodeSetupCallback_t
189
urt_node_t <.. urt_nodeSetupCallback_t
190
urt_node_t "1" o- - "1" urt_nodeLoopCallback_t
191
urt_node_t <.. urt_nodeLoopCallback_t
192
urt_node_t "1" o- - "0,1" urt_nodeShutdownCallback_t
193
urt_node_t <.. urt_nodeShutdownCallback_t
194

  
195
!includesub pubsub.uml!DEPENDENCIES
196

  
197
!includesub rpc.uml!DEPENDENCIES
198

  
199
urt_core_t "1" o- - "0,1" urt_node_t
200
urt_core_t "1" o- - "0,1" urt_topic_t
201
urt_core_t "1" o- - "0,1" urt_service_t
202

  
203
!endsub
204

  
205
/'### OUTRO ##################################################################'/
206

  
207
@enduml
208

  
209
@startuml
210

  
211
title **µRtWare**
65 212

  
66 213

  
67 214

  
......
86 233
  __
87 234
  + {method} urtCoreInit (void) : void
88 235
  + {method} urtCoreGetStatus (void) : urt_status_t
236
  + {method} urtCoreGetEventMask (void) : urt_osEventMask_t
237
  + {method} urtCoreGetEvtSource (void) : urt_osEventSource_t*
89 238
  + {method} urtCoreStartNodes (void) : void
90
  + {method} urtCoreSynchronize (node : urt_node_t*) : urt_status_t
239
  + {method} urtCoreSynchronizeNodes (node : urt_node_t*) : urt_status_t
91 240
  + {method} urtCoreStopNodes (reason : urt_status_t) : urt_status_t
92 241
  + {method} urtCoreGetEventSource (void) : urt_osEventSource_t*
93 242
  + {method} urtCoreGetMutex (void) : urt_osMutex_t*
243
  + {method} urtCoreGetNodes (void) : urt_node_t*
244
  + {method} urtCoreAddNode (node : urt_node_t*) : void
94 245
  .. URT_CFG_PUBSUB_ENABLED == true ..
95 246
  + {method} urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*
247
  + {method} urtCoreAddTopic (topic : urt_topic_t*) : void
96 248
  .. URT_CFG_RPC_ENABLED == true ..
97
  + {method} urtCoreGetService (id : urt_serviceid_t) : urt_service_t*
249
  + {method} urtCoreGetService (service : urt_service_t*) : void
250
  + {method} urtCoreAddService (id : urt_serviceid_t) : urt_service_t*
98 251
}
99 252

  
100 253
  package "node" <<Rectangle>> {
......
250 403
  + {field} numMessagesDiscarded : uint64_t
251 404
  + {field} numSubscribers : unsigned int
252 405
  __
253
  + {method} urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t
406
  + {method} urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t, mandatoryMessage: urt_message_t*) : urt_status_t
254 407
}
255 408

  
256 409
}
......
427 580

  
428 581
@enduml
429 582

  
430
PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
583
PlantUML version 1.2020.15(Sun Jun 28 13:39:45 CEST 2020)
431 584
(GPL source distribution)
432 585
Java Runtime: OpenJDK Runtime Environment
433 586
JVM: OpenJDK 64-Bit Server VM
434
Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
435
Operating System: Linux
436 587
Default Encoding: UTF-8
437
Language: en
438
Country: US
588
Language: de
589
Country: DE
439 590
--></g></svg>
doc/classdiagrams/urtware.uml
53 53
    'Retrieves the current system status.
54 54
  + {method} urtCoreGetStatus (void) : urt_status_t
55 55
    'Starts all node threads (nodes will block before the loop).
56
  + {method} urtCoreGetEventMask (void) : urt_osEventMask_t
57
    'Retrieve the core event mask.
58
  + {method} urtCoreGetEvtSource (void) : urt_osEventSource_t*
59
    'Retrieve the core event source.
56 60
  + {method} urtCoreStartNodes (void) : void
57 61
    'Nodes can use this function to synchronize.
58
  + {method} urtCoreSynchronize (node : urt_node_t*) : urt_status_t
62
  + {method} urtCoreSynchronizeNodes (node : urt_node_t*) : urt_status_t
59 63
    'Stops all nodes and propagates a specified reason.
60 64
  + {method} urtCoreStopNodes (reason : urt_status_t) : urt_status_t
61 65
    'Retrieve the core event source.
62 66
  + {method} urtCoreGetEventSource (void) : urt_osEventSource_t*
63 67
    'Retrieve the core mutex lock.
64 68
  + {method} urtCoreGetMutex (void) : urt_osMutex_t*
69
  + {method} urtCoreGetNodes (void) : urt_node_t*
70
    'Retrieve node of the core.
71
  + {method} urtCoreAddNode (node : urt_node_t*) : void
72
    'Prepend node to core's list of nodes..
65 73
  .. URT_CFG_PUBSUB_ENABLED == true ..
66 74
    'Retrieves a topic given an identifier.
67 75
  + {method} urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*
76
    'Append topic to core's list of topics.
77
  + {method} urtCoreAddTopic (topic : urt_topic_t*) : void
68 78
  .. URT_CFG_RPC_ENABLED == true ..
69 79
    'Retrieves a service given an identifier.
70
  + {method} urtCoreGetService (id : urt_serviceid_t) : urt_service_t*
80
  + {method} urtCoreGetService (service : urt_service_t*) : void
81
  + {method} urtCoreAddService (id : urt_serviceid_t) : urt_service_t*
71 82
}
72 83

  
73 84
$group("node") {
......
157 168
/'### OUTRO ##################################################################'/
158 169

  
159 170
@enduml
160

  

Also available in: Unified diff