commit 77bd2c61a9e414f8dcda4d44bcfbfe18cfdb37fc
Author: skenneweg <skenneweg@techfak.uni-bielefeld.de>
Date:   Thu Jul 16 23:57:30 2020 +0200

    Added functions to the documentation

diff --git a/doc/classdiagrams/urtware.svg b/doc/classdiagrams/urtware.svg
index f02be01..9859b56 100644
--- a/doc/classdiagrams/urtware.svg
+++ b/doc/classdiagrams/urtware.svg
@@ -1,67 +1,214 @@
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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 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 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]
-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]
-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]
-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]
-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]
-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]
-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]
-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_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]
-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]
-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]
-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]
-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]
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stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9487" x2="9587" y1="210.0742" y2="210.0742"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8933" x2="9587" y1="246.0859" y2="246.0859"/><ellipse cx="8943" cy="257.0859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="292" x="8952" y="260.2964">urtFrtRequestInit (request : urt_frtrequest_t*) : void</text><ellipse cx="8943" cy="269.8906" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="362" x="8952" y="273.1011">urtFrtRequestAcquire (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="8943" cy="282.6953" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="8952" y="285.9058">urtFrtRequestTryAcquire (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="8943" cy="295.5" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="365" x="8952" y="298.7104">urtFrtRequestRelease (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="8943" cy="308.3047" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="630" x="8952" y="311.5151">urtFrtRequestSubmit (request : urt_frtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t</text><ellipse cx="8943" cy="321.1094" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="366" x="8952" y="324.3198">urtFrtRequestRetrieve (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="8943" cy="333.9141" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="318" x="8952" y="337.1245">urtDrtCalculateValidity (request : urt_frtrequest_t) : bool</text><ellipse cx="8943" cy="363.5234" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; 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-reverse link urt_service_t to urt_hrtrequest_t--><path d="M7579.1573,452.3042 C7609.8197,434.3096 7640.9622,416.5724 7671,400.4531 C7682.4173,394.3262 7694.1086,388.1956 7705.958,382.0975 " fill="none" id="urt_service_t&lt;-urt_hrtrequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="7567.8853,458.943,7575.0852,459.3448,7578.2252,452.8532,7571.0253,452.4515,7567.8853,458.943" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7573.0021" y="447.7842">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="7671.231" y="401.4722">0,1</text><!--MD5=[05f2c35569573d3273c65d3342945557]
-reverse link urt_service_t to urt_service_t--><path d="M7647.2443,563.1615 C7661.5974,570.9463 7670,581.2101 7670,593.9531 C7670,609.9443 7656.7678,622.0314 7635.1491,630.2144 " fill="none" id="urt_service_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="7635.1491,557.6918,7638.9678,563.8088,7646.083,562.6365,7642.2643,556.5195,7635.1491,557.6918" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7643.1749" y="553.6023">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="7643.3343" y="628.0513">0,1</text><!--MD5=[694e7400eb99f74d44ea388aed89d199]
-reverse link urt_core_t to urt_node_t--><path d="M6155,405.791 C6155,430.332 6155,455.1459 6155,478.3469 " fill="none" id="urt_core_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="6155,392.5966,6151,398.5966,6155,404.5966,6159,398.5966,6155,392.5966" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6146.7938" y="412.9685">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6134.3594" y="467.5231">0,1</text><!--MD5=[250695c91040478b50550bc37a8775c7]
-reverse link urt_core_t to urt_topic_t--><path d="M5970.1848,241.6707 C5104.877,254.8244 1486.4238,314.7673 1263,400.4531 C1225.6058,414.7942 1189.9605,437.9286 1158.3764,463.2947 " fill="none" id="urt_core_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="5983.3424,241.471,5977.2823,237.5626,5971.3438,241.6533,5977.4038,245.5617,5983.3424,241.471" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5967.3829" y="238.3086">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="1145.0466" y="452.3818">0,1</text><!--MD5=[8d0a227ec56585cdbc167f8316b34b64]
-reverse link urt_core_t to urt_service_t--><path d="M6339.7014,252.4707 C6520.9369,270.4327 6802.5869,311.0467 7031,400.4531 C7070.5086,415.9177 7110.4566,436.6798 7147.8655,458.8707 " fill="none" id="urt_core_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="6326.5572,251.1903,6332.1411,255.7532,6338.5007,252.3538,6332.9168,247.7909,6326.5572,251.1903" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6334.5121" y="248.4683">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="7116.353" y="447.7077">0,1</text><!--MD5=[1252844a9364531b6e043ba3871ee118]
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+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]
+cluster Publish-Subscribe System--><polygon fill="#FFFFFF" filter="url(#fgmjoycxg2h2i)" points="16,438.9531,26,428.9531,5561,428.9531,5561,1151.4531,5551,1161.4531,16,1161.4531,16,438.9531" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="5551" x2="5560" y1="438.9531" y2="429.9531"/><line style="stroke: #000000; stroke-width: 1.5;" x1="16" x2="5551" y1="438.9531" y2="438.9531"/><line style="stroke: #000000; stroke-width: 1.5;" x1="5551" x2="5551" y1="438.9531" y2="1161.4531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="205" x="2682" y="454.9482">Publish-Subscribe System</text><!--MD5=[16a3bbbe805f94d6e6ce317c08ab945e]
+cluster subscriber--><rect fill="#FFFFFF" filter="url(#fgmjoycxg2h2i)" height="498.5" style="stroke: #000000; stroke-width: 1.5;" width="4062" x="1491" y="460.9531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="85" x="3479.5" y="475.9482">subscriber</text><!--MD5=[810d0f07e53ef611b6d803ef30301147]
+cluster Remote Procedure Call System--><polygon fill="#FFFFFF" filter="url(#fgmjoycxg2h2i)" points="7251,36.9531,7261,26.9531,10535,26.9531,10535,755.4531,10525,765.4531,7251,765.4531,7251,36.9531" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="10525" x2="10534" y1="36.9531" y2="27.9531"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7251" x2="10525" y1="36.9531" y2="36.9531"/><line style="stroke: #000000; stroke-width: 1.5;" x1="10525" x2="10525" y1="36.9531" y2="765.4531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="244" x="8767" y="52.9482">Remote Procedure Call System</text><!--MD5=[ecaf13b018fb9788c80013f5b3634b61]
+cluster request--><rect fill="#FFFFFF" filter="url(#fgmjoycxg2h2i)" height="670.5" style="stroke: #000000; stroke-width: 1.5;" width="2646" x="7881" y="58.9531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="62" x="9173" y="73.9482">request</text><!--MD5=[a7dea26996a1231aa68629b332780450]
+class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#fgmjoycxg2h2i)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="5577" y="853.9531"/><ellipse cx="5722.75" cy="869.9531" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5723.5938,876.7031 L5721.1406,876.7031 L5721.1406,866.4531 L5718,866.4531 L5718,864.3125 L5726.7344,864.3125 L5726.7344,866.4531 L5723.5938,866.4531 L5723.5938,876.7031 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="5743.25" y="874.1074">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5578" x2="6032" y1="885.9531" y2="885.9531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5578" x2="6032" y1="893.9531" y2="893.9531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="5583" y="908.1636">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]
+class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#fgmjoycxg2h2i)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="6068" y="853.9531"/><ellipse cx="6296.25" cy="869.9531" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6297.0938,876.7031 L6294.6406,876.7031 L6294.6406,866.4531 L6291.5,866.4531 L6291.5,864.3125 L6300.2344,864.3125 L6300.2344,866.4531 L6297.0938,866.4531 L6297.0938,876.7031 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="6316.75" y="874.1074">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6069" x2="6681" y1="885.9531" y2="885.9531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6069" x2="6681" y1="893.9531" y2="893.9531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="6074" y="908.1636">urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t</text><!--MD5=[843db13320bebc2ca47f25c6a57c2ae5]
+class urt_nodeShutdownCallback_t--><rect fill="#FEFECE" filter="url(#fgmjoycxg2h2i)" height="60.8047" id="urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="518" x="6717" y="853.9531"/><ellipse cx="6881.25" cy="869.9531" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6882.0938,876.7031 L6879.6406,876.7031 L6879.6406,866.4531 L6876.5,866.4531 L6876.5,864.3125 L6885.2344,864.3125 L6885.2344,866.4531 L6882.0938,866.4531 L6882.0938,876.7031 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="181" x="6901.75" y="874.1074">urt_nodeShutdownCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6718" x2="7234" y1="885.9531" y2="885.9531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6718" x2="7234" y1="893.9531" y2="893.9531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="506" x="6723" y="908.1636">urt_nodeShutdownCallback_t (node : urt_node_t*, cause : urt_status_t, arg : void*) : void</text><!--MD5=[d2563153d77472384a15c07b815d639f]
+class urt_node_t--><rect fill="#FEFECE" filter="url(#fgmjoycxg2h2i)" height="231.2656" id="urt_node_t" style="stroke: #A80036; stroke-width: 1.5;" width="1541" x="5604.5" y="506.9531"/><ellipse cx="6337.25" cy="522.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6336.7344,523.5156 Q6334.875,522.8125 6334.2188,522.0469 Q6333.5781,521.2656 6333.5781,519.9531 Q6333.5781,518.2656 6334.6563,517.2969 Q6335.7344,516.3281 6337.6094,516.3281 Q6338.4688,516.3281 6339.3125,516.5313 Q6340.1719,516.7188 6341.0156,517.1094 L6341.0156,519.5 Q6340.2344,518.9375 6339.4063,518.6563 Q6338.5938,518.3594 6337.7969,518.3594 Q6336.9219,518.3594 6336.4375,518.7188 Q6335.9688,519.0781 6335.9688,519.7344 Q6335.9688,520.25 6336.3125,520.5938 Q6336.6563,520.9219 6337.75,521.3281 L6338.8125,521.7344 Q6340.2969,522.2813 6341,523.1875 Q6341.7188,524.0938 6341.7188,525.4688 Q6341.7188,527.3438 6340.6094,528.2656 Q6339.5,529.1875 6337.25,529.1875 Q6336.3281,529.1875 6335.4063,528.9688 Q6334.4844,528.75 6333.625,528.3281 L6333.625,525.7969 Q6334.5938,526.4844 6335.5156,526.8281 Q6336.4375,527.1719 6337.3281,527.1719 Q6338.2344,527.1719 6338.7344,526.7656 Q6339.2344,526.3438 6339.2344,525.6094 Q6339.2344,525.0469 6338.8906,524.6406 Q6338.5625,524.2188 6337.9375,523.9688 L6336.7344,523.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="67" x="6357.75" y="527.1074">urt_node_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5605.5" x2="7144.5" y1="538.9531" y2="538.9531"/><ellipse cx="5615.5" cy="549.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="102" x="5624.5" y="553.1636">next : urt_node_t*</text><ellipse cx="5615.5" cy="562.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="5624.5" y="565.9683">thread : urt_osThread_t*</text><ellipse cx="5615.5" cy="575.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="5624.5" y="578.7729">setupcallback : urt_nodeSetupCallback_t*</text><ellipse cx="5615.5" cy="588.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="117" x="5624.5" y="591.5776">setupparams : void*</text><ellipse cx="5615.5" cy="601.1719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="221" x="5624.5" y="604.3823">loopcallback : urt_nodeLoopCallback_t*</text><ellipse cx="5615.5" cy="613.9766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="109" x="5624.5" y="617.187">loopparams : void*</text><ellipse cx="5615.5" cy="626.7813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="281" x="5624.5" y="629.9917">shutdowncallback : urt_nodeShutdownCallback_t*</text><ellipse cx="5615.5" cy="639.5859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="140" x="5624.5" y="642.7964">shutdownparams : void*</text><ellipse cx="5615.5" cy="652.3906" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="5624.5" y="655.6011">stage : urt_nodestage_t</text><ellipse cx="5615.5" cy="665.1953" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="178" x="5624.5" y="668.4058">listener : urt_osEventListener_t</text><ellipse cx="5615.5" cy="694.8047" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="88" x="5624.5" y="698.0151">loops : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5605.5" x2="6167" y1="681.4023" y2="681.4023"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="416" x="6167" y="684.7104">URT_CFG_PUBSUB_PROFILING == true || URT_CFG_RPC_PROFILING = true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6583" x2="7144.5" y1="681.4023" y2="681.4023"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5605.5" x2="7144.5" y1="704.6094" y2="704.6094"/><rect fill="#F24D5C" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="5612.5" y="712.6094"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="179" x="5624.5" y="718.8198">_main : urt_osThreadFunction_t</text><ellipse cx="5615.5" cy="728.4141" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1515" x="5624.5" y="731.6245">urtNodeInit (node : urt_node_t*, thread : urt_osThread_t*, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*, shutdowncallback : urt_nodeShutdownCallback_t*, shutodwnparams : void*) : void</text><!--MD5=[e602aa6d45f270ad04f88c9ca5352b33]
+class urt_message_t--><rect fill="#FEFECE" filter="url(#fgmjoycxg2h2i)" height="141.6328" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="406" x="941" y="1011.4531"/><ellipse cx="1093.75" cy="1027.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1093.2344,1028.0156 Q1091.375,1027.3125 1090.7188,1026.5469 Q1090.0781,1025.7656 1090.0781,1024.4531 Q1090.0781,1022.7656 1091.1563,1021.7969 Q1092.2344,1020.8281 1094.1094,1020.8281 Q1094.9688,1020.8281 1095.8125,1021.0313 Q1096.6719,1021.2188 1097.5156,1021.6094 L1097.5156,1024 Q1096.7344,1023.4375 1095.9063,1023.1563 Q1095.0938,1022.8594 1094.2969,1022.8594 Q1093.4219,1022.8594 1092.9375,1023.2188 Q1092.4688,1023.5781 1092.4688,1024.2344 Q1092.4688,1024.75 1092.8125,1025.0938 Q1093.1563,1025.4219 1094.25,1025.8281 L1095.3125,1026.2344 Q1096.7969,1026.7813 1097.5,1027.6875 Q1098.2188,1028.5938 1098.2188,1029.9688 Q1098.2188,1031.8438 1097.1094,1032.7656 Q1096,1033.6875 1093.75,1033.6875 Q1092.8281,1033.6875 1091.9063,1033.4688 Q1090.9844,1033.25 1090.125,1032.8281 L1090.125,1030.2969 Q1091.0938,1030.9844 1092.0156,1031.3281 Q1092.9375,1031.6719 1093.8281,1031.6719 Q1094.7344,1031.6719 1095.2344,1031.2656 Q1095.7344,1030.8438 1095.7344,1030.1094 Q1095.7344,1029.5469 1095.3906,1029.1406 Q1095.0625,1028.7188 1094.4375,1028.4688 L1093.2344,1028.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="1114.25" y="1031.6074">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="942" x2="1346" y1="1043.4531" y2="1043.4531"/><ellipse cx="952" cy="1054.4531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="127" x="961" y="1057.6636">next : urt_message_t*</text><ellipse cx="952" cy="1067.2578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="961" y="1070.4683">payload : void*</text><ellipse cx="952" cy="1080.0625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="961" y="1083.2729">originTime : urt_osTime_t</text><ellipse cx="952" cy="1092.8672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="211" x="961" y="1096.0776">numHrtConsumersLeft : unsigned int</text><ellipse cx="952" cy="1122.4766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="961" y="1125.687">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="942" x2="1035.5" y1="1109.0742" y2="1109.0742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="1035.5" y="1112.3823">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1252.5" x2="1346" y1="1109.0742" y2="1109.0742"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="942" x2="1346" y1="1132.2813" y2="1132.2813"/><ellipse cx="952" cy="1143.2813" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="961" y="1146.4917">urtMessageInit (message : urt_message_t*, payload : void*) : void</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]
+class urt_publisher_t--><rect fill="#FEFECE" filter="url(#fgmjoycxg2h2i)" height="196.0469" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="783" x="24.5" y="524.4531"/><ellipse cx="365.25" cy="540.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M364.7344,541.0156 Q362.875,540.3125 362.2188,539.5469 Q361.5781,538.7656 361.5781,537.4531 Q361.5781,535.7656 362.6563,534.7969 Q363.7344,533.8281 365.6094,533.8281 Q366.4688,533.8281 367.3125,534.0313 Q368.1719,534.2188 369.0156,534.6094 L369.0156,537 Q368.2344,536.4375 367.4063,536.1563 Q366.5938,535.8594 365.7969,535.8594 Q364.9219,535.8594 364.4375,536.2188 Q363.9688,536.5781 363.9688,537.2344 Q363.9688,537.75 364.3125,538.0938 Q364.6563,538.4219 365.75,538.8281 L366.8125,539.2344 Q368.2969,539.7813 369,540.6875 Q369.7188,541.5938 369.7188,542.9688 Q369.7188,544.8438 368.6094,545.7656 Q367.5,546.6875 365.25,546.6875 Q364.3281,546.6875 363.4063,546.4688 Q362.4844,546.25 361.625,545.8281 L361.625,543.2969 Q362.5938,543.9844 363.5156,544.3281 Q364.4375,544.6719 365.3281,544.6719 Q366.2344,544.6719 366.7344,544.2656 Q367.2344,543.8438 367.2344,543.1094 Q367.2344,542.5469 366.8906,542.1406 Q366.5625,541.7188 365.9375,541.4688 L364.7344,541.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="385.75" y="544.6074">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="25.5" x2="806.5" y1="556.4531" y2="556.4531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="289" x="30.5" y="570.6636">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT : bool</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="25.5" x2="806.5" y1="577.2578" y2="577.2578"/><ellipse cx="35.5" cy="588.2578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="44.5" y="591.4683">topic : urt_topic_t*</text><ellipse cx="35.5" cy="617.8672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="149" x="44.5" y="621.0776">publishAttempts : uint64_t</text><ellipse cx="35.5" cy="630.6719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="44.5" y="633.8823">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="25.5" x2="307.5" y1="604.4648" y2="604.4648"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="307.5" y="607.7729">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="524.5" x2="806.5" y1="604.4648" y2="604.4648"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="25.5" x2="806.5" y1="640.4766" y2="640.4766"/><ellipse cx="35.5" cy="651.4766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="572" x="44.5" y="654.687">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void</text><ellipse cx="35.5" cy="681.0859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="632" x="44.5" y="684.2964">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t) : urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="25.5" x2="262.5" y1="667.6836" y2="667.6836"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="307" x="262.5" y="670.9917">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == false</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="569.5" x2="806.5" y1="667.6836" y2="667.6836"/><ellipse cx="35.5" cy="710.6953" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="757" x="44.5" y="713.9058">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="25.5" x2="265" y1="697.293" y2="697.293"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="302" x="265" y="700.6011">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="567" x2="806.5" y1="697.293" y2="697.293"/><!--MD5=[a1b1e66ec52c209a9fa2dab315cd7630]
+class urt_topic_t--><rect fill="#FEFECE" filter="url(#fgmjoycxg2h2i)" height="260.875" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="603" x="842.5" y="491.9531"/><ellipse cx="1106.75" cy="507.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1106.2344,508.5156 Q1104.375,507.8125 1103.7188,507.0469 Q1103.0781,506.2656 1103.0781,504.9531 Q1103.0781,503.2656 1104.1563,502.2969 Q1105.2344,501.3281 1107.1094,501.3281 Q1107.9688,501.3281 1108.8125,501.5313 Q1109.6719,501.7188 1110.5156,502.1094 L1110.5156,504.5 Q1109.7344,503.9375 1108.9063,503.6563 Q1108.0938,503.3594 1107.2969,503.3594 Q1106.4219,503.3594 1105.9375,503.7188 Q1105.4688,504.0781 1105.4688,504.7344 Q1105.4688,505.25 1105.8125,505.5938 Q1106.1563,505.9219 1107.25,506.3281 L1108.3125,506.7344 Q1109.7969,507.2813 1110.5,508.1875 Q1111.2188,509.0938 1111.2188,510.4688 Q1111.2188,512.3438 1110.1094,513.2656 Q1109,514.1875 1106.75,514.1875 Q1105.8281,514.1875 1104.9063,513.9688 Q1103.9844,513.75 1103.125,513.3281 L1103.125,510.7969 Q1104.0938,511.4844 1105.0156,511.8281 Q1105.9375,512.1719 1106.8281,512.1719 Q1107.7344,512.1719 1108.2344,511.7656 Q1108.7344,511.3438 1108.7344,510.6094 Q1108.7344,510.0469 1108.3906,509.6406 Q1108.0625,509.2188 1107.4375,508.9688 L1106.2344,508.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="1127.25" y="512.1074">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="843.5" x2="1444.5" y1="523.9531" y2="523.9531"/><ellipse cx="853.5" cy="534.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="862.5" y="538.1636">next : urt_topic_t*</text><ellipse cx="853.5" cy="547.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="862.5" y="550.9683">id : urt_topicid_t</text><ellipse cx="853.5" cy="560.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="862.5" y="563.7729">lock : urt_osMutex_t</text><ellipse cx="853.5" cy="573.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="862.5" y="576.5776">evtSource : urt_osEventSource_t</text><ellipse cx="853.5" cy="586.1719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="862.5" y="589.3823">numHrtSubscribers : unsigned int</text><ellipse cx="853.5" cy="598.9766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="862.5" y="602.187">hrtReleased : urt_osCondvar_t</text><ellipse cx="853.5" cy="611.7813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="209" x="862.5" y="614.9917">mandatoryMessage : urt_message_t</text><ellipse cx="853.5" cy="624.5859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="862.5" y="627.7964">latestMessage : urt_message_t*</text><ellipse cx="853.5" cy="654.1953" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="212" x="862.5" y="657.4058">hrtSubscribers : urt_hrtsubscriber_t*</text><ellipse cx="853.5" cy="667" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="170" x="862.5" y="670.2104">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="843.5" x2="1011.5" y1="640.793" y2="640.793"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="1011.5" y="644.1011">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1276.5" x2="1444.5" y1="640.793" y2="640.793"/><ellipse cx="853.5" cy="696.6094" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="862.5" y="699.8198">numMessagesPublished : uint64_t</text><ellipse cx="853.5" cy="709.4141" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="862.5" y="712.6245">numMessagesDiscarded : uint64_t</text><ellipse cx="853.5" cy="722.2188" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="862.5" y="725.4292">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="843.5" x2="1035.5" y1="683.207" y2="683.207"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="1035.5" y="686.5151">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1252.5" x2="1444.5" y1="683.207" y2="683.207"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="843.5" x2="1444.5" y1="732.0234" y2="732.0234"/><ellipse cx="853.5" cy="743.0234" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="577" x="862.5" y="746.2339">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t, mandatoryMessage: urt_message_t*) : urt_status_t</text><!--MD5=[50a042e24f957794dab9ba3ea8701c50]
+class urt_basesubscriber_t--><rect fill="#FEFECE" filter="url(#fgmjoycxg2h2i)" height="133.6328" id="urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="225" x="2784.5" y="817.4531"/><ellipse cx="2826.95" cy="833.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2826.4344,834.0156 Q2824.575,833.3125 2823.9188,832.5469 Q2823.2781,831.7656 2823.2781,830.4531 Q2823.2781,828.7656 2824.3563,827.7969 Q2825.4344,826.8281 2827.3094,826.8281 Q2828.1688,826.8281 2829.0125,827.0313 Q2829.8719,827.2188 2830.7156,827.6094 L2830.7156,830 Q2829.9344,829.4375 2829.1063,829.1563 Q2828.2938,828.8594 2827.4969,828.8594 Q2826.6219,828.8594 2826.1375,829.2188 Q2825.6688,829.5781 2825.6688,830.2344 Q2825.6688,830.75 2826.0125,831.0938 Q2826.3563,831.4219 2827.45,831.8281 L2828.5125,832.2344 Q2829.9969,832.7813 2830.7,833.6875 Q2831.4188,834.5938 2831.4188,835.9688 Q2831.4188,837.8438 2830.3094,838.7656 Q2829.2,839.6875 2826.95,839.6875 Q2826.0281,839.6875 2825.1063,839.4688 Q2824.1844,839.25 2823.325,838.8281 L2823.325,836.2969 Q2824.2938,836.9844 2825.2156,837.3281 Q2826.1375,837.6719 2827.0281,837.6719 Q2827.9344,837.6719 2828.4344,837.2656 Q2828.9344,836.8438 2828.9344,836.1094 Q2828.9344,835.5469 2828.5906,835.1406 Q2828.2625,834.7188 2827.6375,834.4688 L2826.4344,834.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="132" x="2847.05" y="837.6074">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2785.5" x2="3008.5" y1="849.4531" y2="849.4531"/><ellipse cx="2795.5" cy="860.4531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="2804.5" y="863.6636">topic : urt_topic_t*</text><ellipse cx="2795.5" cy="873.2578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="2804.5" y="876.4683">evtListener : urt_osEventListener_t</text><ellipse cx="2795.5" cy="886.0625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="175" x="2804.5" y="889.2729">lastMessage : urt_message_t*</text><ellipse cx="2795.5" cy="898.8672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="2804.5" y="902.0776">lastMessageTime : urt_osTime_t</text><ellipse cx="2795.5" cy="928.4766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="2804.5" y="931.687">sumLatencies : uint64_t</text><ellipse cx="2795.5" cy="941.2813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="2804.5" y="944.4917">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2785.5" x2="2788.5" y1="915.0742" y2="915.0742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2788.5" y="918.3823">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3005.5" x2="3008.5" y1="915.0742" y2="915.0742"/><!--MD5=[9ff46073dd541e50679ef35e851c67d6]
+class urt_nrtsubscriber_t--><rect fill="#FEFECE" filter="url(#fgmjoycxg2h2i)" height="154.4375" id="urt_nrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="821" x="1498.5" y="545.4531"/><ellipse cx="1845.25" cy="561.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1844.7344,562.0156 Q1842.875,561.3125 1842.2188,560.5469 Q1841.5781,559.7656 1841.5781,558.4531 Q1841.5781,556.7656 1842.6563,555.7969 Q1843.7344,554.8281 1845.6094,554.8281 Q1846.4688,554.8281 1847.3125,555.0313 Q1848.1719,555.2188 1849.0156,555.6094 L1849.0156,558 Q1848.2344,557.4375 1847.4063,557.1563 Q1846.5938,556.8594 1845.7969,556.8594 Q1844.9219,556.8594 1844.4375,557.2188 Q1843.9688,557.5781 1843.9688,558.2344 Q1843.9688,558.75 1844.3125,559.0938 Q1844.6563,559.4219 1845.75,559.8281 L1846.8125,560.2344 Q1848.2969,560.7813 1849,561.6875 Q1849.7188,562.5938 1849.7188,563.9688 Q1849.7188,565.8438 1848.6094,566.7656 Q1847.5,567.6875 1845.25,567.6875 Q1844.3281,567.6875 1843.4063,567.4688 Q1842.4844,567.25 1841.625,566.8281 L1841.625,564.2969 Q1842.5938,564.9844 1843.5156,565.3281 Q1844.4375,565.6719 1845.3281,565.6719 Q1846.2344,565.6719 1846.7344,565.2656 Q1847.2344,564.8438 1847.2344,564.1094 Q1847.2344,563.5469 1846.8906,563.1406 Q1846.5625,562.7188 1845.9375,562.4688 L1844.7344,562.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="1865.75" y="565.6074">urt_nrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1499.5" x2="2318.5" y1="577.4531" y2="577.4531"/><ellipse cx="1509.5" cy="605.2578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="1518.5" y="608.4683">minLatency : urt_delay_t</text><ellipse cx="1509.5" cy="618.0625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="1518.5" y="621.2729">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1499.5" x2="1800.5" y1="591.8555" y2="591.8555"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="1800.5" y="595.1636">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2017.5" x2="2318.5" y1="591.8555" y2="591.8555"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1499.5" x2="2318.5" y1="627.8672" y2="627.8672"/><ellipse cx="1509.5" cy="638.8672" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="1518.5" y="642.0776">urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : void</text><ellipse cx="1509.5" cy="651.6719" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="715" x="1518.5" y="654.8823">urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="1509.5" cy="664.4766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="1518.5" y="667.687">urtNrtSubscriberFetchNextMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="1509.5" cy="677.2813" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="1518.5" y="680.4917">urtNrtSubscriberFetchLatestMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="1509.5" cy="690.0859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="1518.5" y="693.2964">urtNrtSubscriberUnsubscribe (subscriber : urt_nrtsubscriber_t*) : urt_status_t</text><!--MD5=[5c7929572d87ccc448d875bea5da0fb1]
+class urt_srtsubscriber_t--><rect fill="#FEFECE" filter="url(#fgmjoycxg2h2i)" height="192.8516" id="urt_srtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1044" x="4501" y="525.9531"/><ellipse cx="4959.75" cy="541.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4959.2344,542.5156 Q4957.375,541.8125 4956.7188,541.0469 Q4956.0781,540.2656 4956.0781,538.9531 Q4956.0781,537.2656 4957.1563,536.2969 Q4958.2344,535.3281 4960.1094,535.3281 Q4960.9688,535.3281 4961.8125,535.5313 Q4962.6719,535.7188 4963.5156,536.1094 L4963.5156,538.5 Q4962.7344,537.9375 4961.9063,537.6563 Q4961.0938,537.3594 4960.2969,537.3594 Q4959.4219,537.3594 4958.9375,537.7188 Q4958.4688,538.0781 4958.4688,538.7344 Q4958.4688,539.25 4958.8125,539.5938 Q4959.1563,539.9219 4960.25,540.3281 L4961.3125,540.7344 Q4962.7969,541.2813 4963.5,542.1875 Q4964.2188,543.0938 4964.2188,544.4688 Q4964.2188,546.3438 4963.1094,547.2656 Q4962,548.1875 4959.75,548.1875 Q4958.8281,548.1875 4957.9063,547.9688 Q4956.9844,547.75 4956.125,547.3281 L4956.125,544.7969 Q4957.0938,545.4844 4958.0156,545.8281 Q4958.9375,546.1719 4959.8281,546.1719 Q4960.7344,546.1719 4961.2344,545.7656 Q4961.7344,545.3438 4961.7344,544.6094 Q4961.7344,544.0469 4961.3906,543.6406 Q4961.0625,543.2188 4960.4375,542.9688 L4959.2344,542.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="4980.25" y="546.1074">urt_srtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4502" x2="5544" y1="557.9531" y2="557.9531"/><ellipse cx="4512" cy="568.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="4521" y="572.1636">usefulnesscb : urt_usefulness_f*</text><ellipse cx="4512" cy="581.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="4521" y="584.9683">cbparams : void*</text><ellipse cx="4512" cy="611.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="4521" y="614.5776">minLatency : urt_delay_t</text><ellipse cx="4512" cy="624.1719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="4521" y="627.3823">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4502" x2="4914.5" y1="597.9648" y2="597.9648"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="4914.5" y="601.2729">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5131.5" x2="5544" y1="597.9648" y2="597.9648"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4502" x2="5544" y1="633.9766" y2="633.9766"/><ellipse cx="4512" cy="644.9766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="4521" y="648.187">urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void</text><ellipse cx="4512" cy="657.7813" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1018" x="4521" y="660.9917">urtSrtSubscriberSubscribe (subscriber : urt_srtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_usefulness_f*, cbparams : void*) : urt_status_t</text><ellipse cx="4512" cy="670.5859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="4521" y="673.7964">urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4512" cy="683.3906" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="4521" y="686.6011">urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="4512" cy="696.1953" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="4521" y="699.4058">urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float</text><ellipse cx="4512" cy="709" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="4521" y="712.2104">urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t</text><!--MD5=[17838fb05fe219fd399839979ec8a4a4]
+class urt_frtsubscriber_t--><rect fill="#FEFECE" filter="url(#fgmjoycxg2h2i)" height="226.4609" id="urt_frtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="974" x="3492" y="509.4531"/><ellipse cx="3917.25" cy="525.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3916.7344,526.0156 Q3914.875,525.3125 3914.2188,524.5469 Q3913.5781,523.7656 3913.5781,522.4531 Q3913.5781,520.7656 3914.6563,519.7969 Q3915.7344,518.8281 3917.6094,518.8281 Q3918.4688,518.8281 3919.3125,519.0313 Q3920.1719,519.2188 3921.0156,519.6094 L3921.0156,522 Q3920.2344,521.4375 3919.4063,521.1563 Q3918.5938,520.8594 3917.7969,520.8594 Q3916.9219,520.8594 3916.4375,521.2188 Q3915.9688,521.5781 3915.9688,522.2344 Q3915.9688,522.75 3916.3125,523.0938 Q3916.6563,523.4219 3917.75,523.8281 L3918.8125,524.2344 Q3920.2969,524.7813 3921,525.6875 Q3921.7188,526.5938 3921.7188,527.9688 Q3921.7188,529.8438 3920.6094,530.7656 Q3919.5,531.6875 3917.25,531.6875 Q3916.3281,531.6875 3915.4063,531.4688 Q3914.4844,531.25 3913.625,530.8281 L3913.625,528.2969 Q3914.5938,528.9844 3915.5156,529.3281 Q3916.4375,529.6719 3917.3281,529.6719 Q3918.2344,529.6719 3918.7344,529.2656 Q3919.2344,528.8438 3919.2344,528.1094 Q3919.2344,527.5469 3918.8906,527.1406 Q3918.5625,526.7188 3917.9375,526.4688 L3916.7344,526.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="3937.75" y="529.6074">urt_frtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3493" x2="4465" y1="541.4531" y2="541.4531"/><ellipse cx="3503" cy="569.2578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="3512" y="572.4683">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3493" x2="3833.5" y1="555.8555" y2="555.8555"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="3833.5" y="559.1636">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4124.5" x2="4465" y1="555.8555" y2="555.8555"/><ellipse cx="3503" cy="598.8672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="3512" y="602.0776">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3493" x2="3843.5" y1="585.4648" y2="585.4648"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3843.5" y="588.7729">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4114.5" x2="4465" y1="585.4648" y2="585.4648"/><ellipse cx="3503" cy="628.4766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="3512" y="631.687">minLatency : urt_delay_t</text><ellipse cx="3503" cy="641.2813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="3512" y="644.4917">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3493" x2="3725" y1="615.0742" y2="615.0742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="508" x="3725" y="618.3823">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ||  URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4233" x2="4465" y1="615.0742" y2="615.0742"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3493" x2="4465" y1="651.0859" y2="651.0859"/><ellipse cx="3503" cy="662.0859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="342" x="3512" y="665.2964">urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : void</text><ellipse cx="3503" cy="674.8906" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="948" x="3512" y="678.1011">urtFrtSubscriberSubscribe (subscriber : urt_frtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="3503" cy="687.6953" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="780" x="3512" y="690.9058">urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="3503" cy="700.5" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="790" x="3512" y="703.7104">urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="3503" cy="713.3047" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="540" x="3512" y="716.5151">urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool</text><ellipse cx="3503" cy="726.1094" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="441" x="3512" y="729.3198">urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t</text><!--MD5=[104dc879e5721421b987fcc467bc3a1d]
+class urt_hrtsubscriber_t--><rect fill="#FEFECE" filter="url(#fgmjoycxg2h2i)" height="268.875" id="urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="2355" y="487.9531"/><ellipse cx="2833.25" cy="503.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2832.7344,504.5156 Q2830.875,503.8125 2830.2188,503.0469 Q2829.5781,502.2656 2829.5781,500.9531 Q2829.5781,499.2656 2830.6563,498.2969 Q2831.7344,497.3281 2833.6094,497.3281 Q2834.4688,497.3281 2835.3125,497.5313 Q2836.1719,497.7188 2837.0156,498.1094 L2837.0156,500.5 Q2836.2344,499.9375 2835.4063,499.6563 Q2834.5938,499.3594 2833.7969,499.3594 Q2832.9219,499.3594 2832.4375,499.7188 Q2831.9688,500.0781 2831.9688,500.7344 Q2831.9688,501.25 2832.3125,501.5938 Q2832.6563,501.9219 2833.75,502.3281 L2834.8125,502.7344 Q2836.2969,503.2813 2837,504.1875 Q2837.7188,505.0938 2837.7188,506.4688 Q2837.7188,508.3438 2836.6094,509.2656 Q2835.5,510.1875 2833.25,510.1875 Q2832.3281,510.1875 2831.4063,509.9688 Q2830.4844,509.75 2829.625,509.3281 L2829.625,506.7969 Q2830.5938,507.4844 2831.5156,507.8281 Q2832.4375,508.1719 2833.3281,508.1719 Q2834.2344,508.1719 2834.7344,507.7656 Q2835.2344,507.3438 2835.2344,506.6094 Q2835.2344,506.0469 2834.8906,505.6406 Q2834.5625,505.2188 2833.9375,504.9688 L2832.7344,504.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="2853.75" y="508.1074">urt_hrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2356" x2="3438" y1="519.9531" y2="519.9531"/><ellipse cx="2366" cy="530.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="151" x="2375" y="534.1636">next : urt_hrtsubscriber_t*</text><ellipse cx="2366" cy="560.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="2375" y="563.7729">deadlineOffset : urt_delay_t</text><ellipse cx="2366" cy="573.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="2375" y="576.5776">qosDeadlineTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2356" x2="2751.5" y1="547.1602" y2="547.1602"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="2751.5" y="550.4683">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3042.5" x2="3438" y1="547.1602" y2="547.1602"/><ellipse cx="2366" cy="602.9766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="2375" y="606.187">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2356" x2="2761.5" y1="589.5742" y2="589.5742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="2761.5" y="592.8823">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3032.5" x2="3438" y1="589.5742" y2="589.5742"/><ellipse cx="2366" cy="632.5859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="2375" y="635.7964">minLatency : urt_delay_t</text><ellipse cx="2366" cy="645.3906" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="2375" y="648.6011">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2356" x2="2645" y1="619.1836" y2="619.1836"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="2645" y="622.4917">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3149" x2="3438" y1="619.1836" y2="619.1836"/><ellipse cx="2366" cy="675" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="2375" y="678.2104">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2356" x2="2764.5" y1="661.5977" y2="661.5977"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="2764.5" y="664.9058">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3029.5" x2="3438" y1="661.5977" y2="661.5977"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2356" x2="3438" y1="684.8047" y2="684.8047"/><ellipse cx="2366" cy="695.8047" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="2375" y="699.0151">urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : void</text><ellipse cx="2366" cy="708.6094" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1058" x="2375" y="711.8198">urtHrtSubscriberSubscribe (subscriber : urt_hrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, rate : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="2366" cy="721.4141" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="2375" y="724.6245">urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="2366" cy="734.2188" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="2375" y="737.4292">urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="2366" cy="747.0234" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="2375" y="750.2339">urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t</text><!--MD5=[e60e0f8379a14e7a4a292c65add9d735]
+class urt_service_t--><rect fill="#FEFECE" filter="url(#fgmjoycxg2h2i)" height="269.6797" id="urt_service_t" style="stroke: #A80036; stroke-width: 1.5;" width="596" x="7259" y="487.4531"/><ellipse cx="7513.25" cy="503.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7512.7344,504.0156 Q7510.875,503.3125 7510.2188,502.5469 Q7509.5781,501.7656 7509.5781,500.4531 Q7509.5781,498.7656 7510.6563,497.7969 Q7511.7344,496.8281 7513.6094,496.8281 Q7514.4688,496.8281 7515.3125,497.0313 Q7516.1719,497.2188 7517.0156,497.6094 L7517.0156,500 Q7516.2344,499.4375 7515.4063,499.1563 Q7514.5938,498.8594 7513.7969,498.8594 Q7512.9219,498.8594 7512.4375,499.2188 Q7511.9688,499.5781 7511.9688,500.2344 Q7511.9688,500.75 7512.3125,501.0938 Q7512.6563,501.4219 7513.75,501.8281 L7514.8125,502.2344 Q7516.2969,502.7813 7517,503.6875 Q7517.7188,504.5938 7517.7188,505.9688 Q7517.7188,507.8438 7516.6094,508.7656 Q7515.5,509.6875 7513.25,509.6875 Q7512.3281,509.6875 7511.4063,509.4688 Q7510.4844,509.25 7509.625,508.8281 L7509.625,506.2969 Q7510.5938,506.9844 7511.5156,507.3281 Q7512.4375,507.6719 7513.3281,507.6719 Q7514.2344,507.6719 7514.7344,507.2656 Q7515.2344,506.8438 7515.2344,506.1094 Q7515.2344,505.5469 7514.8906,505.1406 Q7514.5625,504.7188 7513.9375,504.4688 L7512.7344,504.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="7533.75" y="507.6074">urt_service_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7260" x2="7854" y1="519.4531" y2="519.4531"/><ellipse cx="7270" cy="530.4531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="115" x="7279" y="533.6636">next : urt_service_t*</text><ellipse cx="7270" cy="543.2578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="105" x="7279" y="546.4683">id : urt_serviceid_t</text><ellipse cx="7270" cy="556.0625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="7279" y="559.2729">lock : urt_osMutex_t</text><ellipse cx="7270" cy="568.8672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="7279" y="572.0776">requestQueue_front : urt_baserequest_t*</text><ellipse cx="7270" cy="581.6719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="7279" y="584.8823">requestQueue_hrtBack : urt_hrtrequest_t*</text><ellipse cx="7270" cy="594.4766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="256" x="7279" y="597.687">requestQueue_fsrtBack : urt_baserequest_t*</text><ellipse cx="7270" cy="607.2813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="7279" y="610.4917">requestQueue_back : urt_baserequest_t*</text><ellipse cx="7270" cy="620.0859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="7279" y="623.2964">evtSource : urt_osEventSource_t</text><ellipse cx="7270" cy="632.8906" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="7279" y="636.1011">evtListener : urt_osEventListener_t</text><ellipse cx="7270" cy="662.5" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="7279" y="665.7104">numCalls : uint64_t</text><ellipse cx="7270" cy="675.3047" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="7279" y="678.5151">numOwnershipLost : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7260" x2="7461" y1="649.0977" y2="649.0977"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="7461" y="652.4058">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7653" x2="7854" y1="649.0977" y2="649.0977"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7260" x2="7854" y1="685.1094" y2="685.1094"/><ellipse cx="7270" cy="696.1094" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="412" x="7279" y="699.3198">urtServiceInit (service : urt_service_t*, id : urt_serviceid_t) : urt_status_t</text><ellipse cx="7270" cy="708.9141" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="549" x="7279" y="712.1245">urtServiceDispatch (service : urt_service_t*, payload : void*, bytes : size_t) : urt_baserequest_t*</text><ellipse cx="7270" cy="721.7188" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="552" x="7279" y="724.9292">urtServiceAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="7270" cy="734.5234" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="7279" y="737.7339">urtServiceTryAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="7270" cy="747.3281" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="365" x="7279" y="750.5386">urtServiceRespond (request : urt_baserequest_t*) : urt_status_t</text><!--MD5=[7294e1cfaeb111bef046bc5d07a96458]
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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; 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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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+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_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_message_t to urt_message_t--><path d="M1359.5028,1056.0601 C1373.5209,1062.2125 1382,1071.0102 1382,1082.4531 C1382,1096.9551 1368.3815,1107.2084 1347.1293,1113.2131 " fill="none" id="urt_message_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1347.1293,1051.6931,1351.456,1057.462,1358.4452,1055.6869,1354.1185,1049.918,1347.1293,1051.6931" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1355.2203" y="1047.2753">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="1354.7886" y="1111.1249">0,1</text><!--MD5=[aa8990705afdbad14c7f998fe04b6f05]
+reverse link urt_basesubscriber_t to urt_message_t--><path d="M2788.7175,956.6521 C2786.1491,957.6507 2783.5749,958.587 2781,959.4531 C2520.7458,1046.9922 1724.8521,1072.4363 1347.0983,1079.6675 " fill="none" id="urt_basesubscriber_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2800.6772,951.5538,2793.5892,950.2271,2789.6384,956.2596,2796.7264,957.5863,2800.6772,951.5538" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2782.3314" y="971.3397">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="1354.7565" y="1076.3738">0,1</text><!--MD5=[0585cd4928de92ce6927d9c389eadd29]
+link urt_nrtsubscriber_t to urt_basesubscriber_t--><path d="M2111.7135,699.5027 C2182.4365,723.8368 2262.9049,748.7157 2338,765.4531 C2524.8793,807.1053 2588.4942,758.582 2765.1263,812.4702 " fill="none" id="urt_nrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="2767.3836,805.8426,2784.314,818.5847,2763.1328,819.1817,2767.3836,805.8426" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6d81edfa5aa102b898ad487ae19b49f9]
+link urt_srtsubscriber_t to urt_basesubscriber_t--><path d="M4698.0414,718.9988 C4627.9682,736.9065 4553.9284,753.6589 4484,765.4531 C3950.3517,855.4585 3304.2591,877.3977 3030.1996,882.7383 " fill="none" id="urt_srtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="3030.0655,889.742,3009.9385,883.1159,3029.8046,875.7444,3030.0655,889.742" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f626d284cba98e1d5d5fe914b1fa4188]
+link urt_frtsubscriber_t to urt_basesubscriber_t--><path d="M3591.4405,735.5088 C3552.2104,746.0233 3512.881,756.1928 3475,765.4531 C3323.1803,802.5664 3147.0543,837.7045 3029.5003,860.0426 " fill="none" id="urt_frtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="3030.6553,866.9482,3009.7026,863.7889,3028.0523,853.1923,3030.6553,866.9482" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[1ea71f2b33e56ab0ac5545988c1af396]
+link urt_hrtsubscriber_t to urt_basesubscriber_t--><path d="M2897,757.2905 C2897,770.7868 2897,784.2288 2897,797.0427 " fill="none" id="urt_hrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="2904.0001,797.2395,2897,817.2395,2890.0001,797.2394,2904.0001,797.2395" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ea2ec5c5272e65289dabade75a749f58]
+reverse link urt_hrtsubscriber_t to urt_hrtsubscriber_t--><path d="M3451.3399,598.0191 C3465.8539,604.7767 3474,612.9213 3474,622.4531 C3474,634.4145 3461.1717,644.1916 3439.0292,651.7843 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3439.0292,593.1219,3443.1257,599.0564,3450.1793,597.5575,3446.0828,591.623,3439.0292,593.1219" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3446.7077" y="589.6727">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="3446.7921" y="649.16">0,1</text><!--MD5=[54fcf25ad8c5f1d36e678e42d5bfd4cc]
+reverse link urt_publisher_t to urt_topic_t--><path d="M820.9264,622.4531 C828.0202,622.4531 835.1139,622.4531 842.2077,622.4531 " fill="none" id="urt_publisher_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="807.7266,622.4531,813.7266,626.4531,819.7266,622.4531,813.7266,618.4531,807.7266,622.4531" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="815.7648" y="619.3685">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="826.0851" y="619.3242">1</text><!--MD5=[5025b4c4053b8e7c7ca8a657f09f21c0]
+link urt_publisher_t to urt_message_t--><path d="M571.2813,720.5704 C707.7804,806.8198 903.4234,930.4404 1027.057,1008.5605 " fill="none" id="urt_publisher_t-&gt;urt_message_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1031.4244,1011.3202,1025.9527,1003.1312,1027.1975,1008.6494,1021.6793,1009.8942,1031.4244,1011.3202" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b2afc1defaa6ed5a86f99c07f8466dd]
+reverse link urt_topic_t to urt_topic_t--><path d="M1457.6789,591.7551 C1472.0769,599.5284 1480.5,609.7611 1480.5,622.4531 C1480.5,638.3803 1467.2354,650.4347 1445.5445,658.616 " fill="none" id="urt_topic_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1445.5445,586.2902,1449.3727,592.4013,1456.486,591.218,1452.6579,585.1069,1445.5445,586.2902" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1453.6605" y="582.2007">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="1453.8199" y="656.4477">0,1</text><!--MD5=[ed3fb6de0913094c41bd74c175d366df]
+reverse link urt_topic_t to urt_hrtsubscriber_t--><path d="M1327.809,485.3317 C1380.6903,456.0057 1440.4009,431.7341 1500.5,424.9531 C1545.7131,419.8517 2274.2869,419.8517 2319.5,424.9531 C2327.4281,425.8476 2329.3295,426.7582 2337,428.9531 C2398.4375,446.5334 2463.0355,466.9766 2525.6419,487.8578 " fill="none" id="urt_topic_t&lt;-urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1316.2813,491.8639,1323.4735,492.386,1326.7216,485.9478,1319.5294,485.4258,1316.2813,491.8639" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1318.0101" y="480.955">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="2483.5946" y="476.7173">0,1</text><!--MD5=[0b5167e958c0ed93ffc0c98ce399b54d]
+reverse link urt_topic_t to urt_message_t--><path d="M1144,766.2196 C1144,847.6756 1144,946.005 1144,1011.1655 " fill="none" id="urt_topic_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1144,753.0402,1140,759.0402,1144,765.0402,1148,759.0402,1144,753.0402" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1135.7688" y="773.0977">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1135.6063" y="1000.5014">1</text><!--MD5=[ed8977051960dfa72b850fe399f41716]
+reverse link urt_baserequest_t to urt_baserequest_t--><path d="M8975.2263,581.0268 C8989.0583,588.8592 8998,602.668 8998,622.4531 C8998,647.5273 8983.6385,663.0028 8963.1623,668.8796 " fill="none" id="urt_baserequest_t&lt;-urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8963.1623,576.0266,8967.1735,582.0191,8974.2478,580.6213,8970.2366,574.6288,8963.1623,576.0266" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8970.967" y="569.4863">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="8970.9722" y="668.3331">0,1,2</text><!--MD5=[426f0ba47802c5735a37a0acd494a192]
+reverse link urt_baserequest_t to urt_service_t--><path d="M8725.3111,622.4531 C8435.2829,622.4531 8145.2547,622.4531 7855.2266,622.4531 " fill="none" id="urt_baserequest_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8738.6838,622.4531,8732.6838,618.4531,8726.6838,622.4531,8732.6838,626.4531,8738.6838,622.4531" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8722.8688" y="619.0321">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="7863.4139" y="619.3268">0,1</text><!--MD5=[09de7ef26922535bfe0682cb358ee29c]
+reverse link urt_service_t to urt_baserequest_t--><path d="M7868.5992,622.4531 C8158.6274,622.4531 8448.6556,622.4531 8738.6838,622.4531 " fill="none" id="urt_service_t&lt;-urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="7855.2266,622.4531,7861.2266,626.4531,7867.2266,622.4531,7861.2266,618.4531,7855.2266,622.4531" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7863.2545" y="634.7253">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="8698.8645" y="634.9916">0,2,3</text><!--MD5=[dc2d1805b45628aba9d654613b3d05f9]
+link urt_nrtrequest_t to urt_baserequest_t--><path d="M8851,312.8861 C8851,368.2482 8851,441.61 8851,503.0211 " fill="none" id="urt_nrtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="8858.0001,503.346,8851,523.346,8844.0001,503.346,8858.0001,503.346" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d53ae0f00163daee879678d1d1554717]
+link urt_nrtrequest_t to urt_service_t--><path d="M8757.9548,312.6347 C8706.0126,353.7458 8637.825,399.0617 8568,420.9531 C8531.1547,432.5047 7910.1048,418.2643 7873,428.9531 C7829.3119,441.5384 7785.6616,461.9227 7745.358,484.8405 " fill="none" id="urt_nrtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7740.9658,487.3556,7750.7636,486.3544,7745.3047,484.8709,7746.7881,479.4121,7740.9658,487.3556" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f9755d42ba41539dee622699d8be3a22]
+link urt_srtrequest_t to urt_baserequest_t--><path d="M10037.3871,319.0497 C9974.4788,355.1974 9898.5726,394.4791 9826,420.9531 C9535.03,527.097 9173.6993,583.3716 8983.0663,607.5854 " fill="none" id="urt_srtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="8983.9136,614.5339,8963.1993,610.071,8982.1756,600.6422,8983.9136,614.5339" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[90efd84e0f70286880ba110c49a1e8f8]
+link urt_srtrequest_t to urt_service_t--><path d="M10051.3428,319.1102 C9986.7567,358.6495 9905.6026,400.6322 9826,420.9531 C9773.4353,434.3718 7925.1858,414.1291 7873,428.9531 C7829.1163,441.4188 7785.2964,461.8268 7744.8725,484.8203 " fill="none" id="urt_srtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7740.4674,487.3438,7750.2651,486.3412,7744.806,484.8585,7746.2886,479.3994,7740.4674,487.3438" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bfc5f4e50344156edda6a5cfcff14fef]
+link urt_frtrequest_t to urt_baserequest_t--><path d="M9264.8536,363.5479 C9170.1946,422.7661 9062.153,490.3566 8980.2019,541.6249 " fill="none" id="urt_frtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="8983.7927,547.6354,8963.1247,552.3083,8976.3676,535.7666,8983.7927,547.6354" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[836450d5c472e7b2344319739fa0d5d1]
+link urt_frtrequest_t to urt_service_t--><path d="M9276.7235,363.5177 C9231.4878,387.1528 9182.5093,408.2315 9134,420.9531 C9066.2346,438.7247 7940.3692,409.7343 7873,428.9531 C7829.1303,441.4681 7785.3167,461.8981 7744.8945,484.8976 " fill="none" id="urt_frtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7740.4896,487.4217,7750.2872,486.4178,7744.8279,484.9359,7746.3098,479.4766,7740.4896,487.4217" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7c5d2ea3f0b69f804ad9b60a9539ac96]
+link urt_hrtrequest_t to urt_baserequest_t--><path d="M8444.7816,372.0645 C8484.5305,391.7418 8526.5061,409.2001 8568,420.9531 C8585.8737,426.0158 8719.0599,419.413 8735,428.9531 C8764.8504,446.8184 8787.951,475.5791 8805.3922,505.5244 " fill="none" id="urt_hrtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="8811.6096,502.3052,8815.0156,523.2193,8799.3108,508.994,8811.6096,502.3052" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[189d7bd823f9a098ae8eb3eaa3789ee1]
+link urt_hrtrequest_t to urt_service_t--><path d="M7952.9635,372.0905 C7920.1719,391.0793 7887.2331,410.394 7856,428.9531 C7825.955,446.8062 7794.4306,465.7964 7763.5703,484.6371 " fill="none" id="urt_hrtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7759.0222,487.4156,7768.7877,486.1371,7763.289,484.809,7764.6171,479.3102,7759.0222,487.4156" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bcf13f9307d05af3b11663d6e8155fbe]
+reverse link urt_service_t to urt_hrtrequest_t--><path d="M7805.1442,480.4655 C7834.0737,463.0008 7863.1715,445.4892 7891,428.9531 C7922.2331,410.394 7955.1719,391.0793 7987.6659,372.0905 " fill="none" id="urt_service_t&lt;-urt_hrtrequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="7793.6359,487.4156,7800.8398,487.7379,7803.908,481.2121,7796.7041,480.8898,7793.6359,487.4156" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7799.0852" y="476.2552">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="7955.9278" y="391.4649">0,1</text><!--MD5=[05f2c35569573d3273c65d3342945557]
+reverse link urt_service_t to urt_service_t--><path d="M7867.2443,591.6615 C7881.5974,599.4463 7890,609.7101 7890,622.4531 C7890,638.4443 7876.7678,650.5314 7855.1491,658.7144 " fill="none" id="urt_service_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="7855.1491,586.1918,7858.9678,592.3088,7866.083,591.1365,7862.2643,585.0195,7855.1491,586.1918" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7863.1749" y="582.1023">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="7863.3343" y="656.5513">0,1</text><!--MD5=[694e7400eb99f74d44ea388aed89d199]
+reverse link urt_core_t to urt_node_t--><path d="M6375,434.1243 C6375,459.0302 6375,483.7558 6375,506.7009 " fill="none" id="urt_core_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="6375,421.0921,6371,427.0921,6375,433.0921,6379,427.0921,6375,421.0921" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6366.8438" y="440.9577">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6354.3594" y="495.8677">0,1</text><!--MD5=[250695c91040478b50550bc37a8775c7]
+reverse link urt_core_t to urt_topic_t--><path d="M6176.3152,231.5223 C5316.4701,243.3923 1938.7273,298.0227 1483,428.9531 C1433.0111,443.3149 1382.5257,466.4576 1336.3347,491.8251 " fill="none" id="urt_core_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="6189.4071,231.3422,6183.3526,227.4252,6177.4082,231.5075,6183.4627,235.4245,6189.4071,231.3422" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6173.4086" y="228.1938">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="1326.8759" y="480.9139">0,1</text><!--MD5=[8d0a227ec56585cdbc167f8316b34b64]
+reverse link urt_core_t to urt_service_t--><path d="M6573.8327,254.669 C6755.3267,282.682 7028.4077,336.3695 7251,428.9531 C7289.3034,444.8848 7328.1956,465.4631 7364.8271,487.2332 " fill="none" id="urt_core_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="6560.9254,252.6962,6566.2522,257.5568,6572.7876,254.5093,6567.4609,249.6487,6560.9254,252.6962" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6568.3444" y="250.3979">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="7333.7708" y="476.5075">0,1</text><!--MD5=[575c198f0faf2a90dc62729c0a2144e0]
 @startuml
 
 title **µRtWare**
 
+!include ./functions.iuml
+
+/'### ENTITIES ###############################################################'/
+
+!startsub ENTITIES
+
+/' µRtWare core structure. '/
+$structure("urt_core_t") {
+    'List of nodes ordered by their (initial) priority.
+  - {field} {static} _nodes : urt_node_t*
+    'Event source for control events.
+  - {field} {static} _evtSource : urt_osEventSource_t
+    'Mutex used for synchronization.
+  - {field} {static} _lock : urt_osMutex_t
+    'System execution/health status.
+  - {field} {static} _status : urt_status_t
+  .. URT_CFG_PUBSUB_ENABLED == true ..
+    'List of topics ordered by their identifiers.
+  - {field} {static} _topics : urt_topic_t*
+  .. URT_CFG_RPC_ENABLED == true ..
+    'List of services ordered by their identifiers.
+  - {field} {static} _services : urt_service_t*
+  __
+    'Initializes the urt_core_t object.
+  + {method} urtCoreInit (void) : void
+    'Retrieves the current system status.
+  + {method} urtCoreGetStatus (void) : urt_status_t
+    'Starts all node threads (nodes will block before the loop).
+  + {method} urtCoreGetEventMask (void) : urt_osEventMask_t
+    'Retrieve the core event mask.
+  + {method} urtCoreGetEvtSource (void) : urt_osEventSource_t*
+    'Retrieve the core event source.
+  + {method} urtCoreStartNodes (void) : void
+    'Nodes can use this function to synchronize.
+  + {method} urtCoreSynchronizeNodes (node : urt_node_t*) : urt_status_t
+    'Stops all nodes and propagates a specified reason.
+  + {method} urtCoreStopNodes (reason : urt_status_t) : urt_status_t
+    'Retrieve the core event source.
+  + {method} urtCoreGetEventSource (void) : urt_osEventSource_t*
+    'Retrieve the core mutex lock.
+  + {method} urtCoreGetMutex (void) : urt_osMutex_t*
+  + {method} urtCoreGetNodes (void) : urt_node_t*
+    'Retrieve node of the core.
+  + {method} urtCoreAddNode (node : urt_node_t*) : void
+    'Prepend node to core's list of nodes..
+  .. URT_CFG_PUBSUB_ENABLED == true ..
+    'Retrieves a topic given an identifier.
+  + {method} urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*
+    'Append topic to core's list of topics.
+  + {method} urtCoreAddTopic (topic : urt_topic_t*) : void
+  .. URT_CFG_RPC_ENABLED == true ..
+    'Retrieves a service given an identifier.
+  + {method} urtCoreGetService (service : urt_service_t*) : void
+  + {method} urtCoreAddService (id : urt_serviceid_t) : urt_service_t*
+}
+
+$group("node") {
+  /' Function type to be called during setup phase of node threads. '/
+  $type("urt_nodeSetupCallback_t") {
+      'Takes the node and optional parameters as arguments and returns a event mask for the next iteration.
+    urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t
+  }
+
+  /' Function type to be called during loop phase of node threads. '/
+  $type("urt_nodeLoopCallback_t") {
+      'Takes the node, a mask of occurred events and optional parameters as arguments and returns a event mask for the next iteration.
+    urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t
+  }
+
+  /' Function type to be called during shutdown phase of node threads. '/
+  $type("urt_nodeShutdownCallback_t") {
+      'Takes the node, an error code defining the cause of the shutdown and optional parameters as argumnets.
+    urt_nodeShutdownCallback_t (node : urt_node_t*, cause : urt_status_t, arg : void*) : void
+  }
+
+  /' Node structure. '/
+  $structure("urt_node_t") {
+      'Pointer to the next node in a list.
+    + {field} next : urt_node_t*
+      'Pointer to the node thread.
+    + {field} thread : urt_osThread_t*
+      'Optional callback function to be called during the setup phase.
+    + {field} setupcallback : urt_nodeSetupCallback_t*
+      'Optional parameters for the setup callback function.
+    + {field} setupparams : void*
+      'Callback function to be called in each loop iteration.
+    + {field} loopcallback : urt_nodeLoopCallback_t*
+      'Optional parameters for the loop callback function.
+    + {field} loopparams : void*
+      'Optional callback function to be called during the shutdown phase.
+    + {field} shutdowncallback : urt_nodeShutdownCallback_t*
+      'Optional parameters for the shutdown callback function.
+    + {field} shutdownparams : void*
+      'Execution stage of the node.
+    + {field} stage : urt_nodestage_t
+      'Event listener for middleware-wide control events.
+    + {field} listener : urt_osEventListener_t
+    .. URT_CFG_PUBSUB_PROFILING == true || URT_CFG_RPC_PROFILING = true ..
+      'Counter of executed loops.
+    + {field} loops : uint64_t
+    __
+    'The main() function of the node thread.
+    - {method} {static} _main : urt_osThreadFunction_t
+      'Initializes an urt_node_t object.
+    + {method} urtNodeInit (node : urt_node_t*, thread : urt_osThread_t*, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*, shutdowncallback : urt_nodeShutdownCallback_t*, shutodwnparams : void*) : void
+  }
+} /'node'/
+
+$module("Publish-Subscribe System") {
+  !includesub pubsub.uml!ENTITIES
+}
+
+$module("Remote Procedure Call System") {
+  !includesub rpc.uml!ENTITIES
+}
+
+!endsub
+
+/'### DEPENDENCIES & LAYOUT ##################################################'/
+
+!startsub DEPENDENCIES
+
+urt_node_t "1" o- - "0,1" urt_node_t
+urt_node_t "1" o- - "0,1" urt_nodeSetupCallback_t
+urt_node_t <.. urt_nodeSetupCallback_t
+urt_node_t "1" o- - "1" urt_nodeLoopCallback_t
+urt_node_t <.. urt_nodeLoopCallback_t
+urt_node_t "1" o- - "0,1" urt_nodeShutdownCallback_t
+urt_node_t <.. urt_nodeShutdownCallback_t
+
+!includesub pubsub.uml!DEPENDENCIES
+
+!includesub rpc.uml!DEPENDENCIES
+
+urt_core_t "1" o- - "0,1" urt_node_t
+urt_core_t "1" o- - "0,1" urt_topic_t
+urt_core_t "1" o- - "0,1" urt_service_t
+
+!endsub
+
+/'### OUTRO ##################################################################'/
+
+@enduml
+
+@startuml
+
+title **µRtWare**
 
 
 
@@ -86,15 +233,21 @@ title **µRtWare**
   __
   + {method} urtCoreInit (void) : void
   + {method} urtCoreGetStatus (void) : urt_status_t
+  + {method} urtCoreGetEventMask (void) : urt_osEventMask_t
+  + {method} urtCoreGetEvtSource (void) : urt_osEventSource_t*
   + {method} urtCoreStartNodes (void) : void
-  + {method} urtCoreSynchronize (node : urt_node_t*) : urt_status_t
+  + {method} urtCoreSynchronizeNodes (node : urt_node_t*) : urt_status_t
   + {method} urtCoreStopNodes (reason : urt_status_t) : urt_status_t
   + {method} urtCoreGetEventSource (void) : urt_osEventSource_t*
   + {method} urtCoreGetMutex (void) : urt_osMutex_t*
+  + {method} urtCoreGetNodes (void) : urt_node_t*
+  + {method} urtCoreAddNode (node : urt_node_t*) : void
   .. URT_CFG_PUBSUB_ENABLED == true ..
   + {method} urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*
+  + {method} urtCoreAddTopic (topic : urt_topic_t*) : void
   .. URT_CFG_RPC_ENABLED == true ..
-  + {method} urtCoreGetService (id : urt_serviceid_t) : urt_service_t*
+  + {method} urtCoreGetService (service : urt_service_t*) : void
+  + {method} urtCoreAddService (id : urt_serviceid_t) : urt_service_t*
 }
 
   package "node" <<Rectangle>> {
@@ -250,7 +403,7 @@ title **µRtWare**
   + {field} numMessagesDiscarded : uint64_t
   + {field} numSubscribers : unsigned int
   __
-  + {method} urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t
+  + {method} urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t, mandatoryMessage: urt_message_t*) : urt_status_t
 }
 
 }
@@ -427,13 +580,11 @@ urt_core_t "1" o- - "0,1" urt_service_t
 
 @enduml
 
-PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)
+PlantUML version 1.2020.15(Sun Jun 28 13:39:45 CEST 2020)
 (GPL source distribution)
 Java Runtime: OpenJDK Runtime Environment
 JVM: OpenJDK 64-Bit Server VM
-Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04
-Operating System: Linux
 Default Encoding: UTF-8
-Language: en
-Country: US
+Language: de
+Country: DE
 --></g></svg>
\ No newline at end of file
