AMiRo-OS

<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="1888px" preserveAspectRatio="none" style="width:19258px;height:1888px;" version="1.1" viewBox="0 0 19258 1888" width="19258px" zoomAndPan="magnify"><defs><filter height="300%" id="f1unn8y6gq5xqo" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="9575.5872" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="87" x="9576.5872" y="37.6611">Overview</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="9623.0872" y="58.6143"/><!--MD5=[915f6a2b4bff9d90dc7327d570275f1b]

cluster Configuration--><polygon fill="#FFFFFF" filter="url(#f1unn8y6gq5xqo)" points="12495.8161,1517.3594,12505.8161,1507.3594,12801.8161,1507.3594,12801.8161,1866.3594,12791.8161,1876.3594,12495.8161,1876.3594,12495.8161,1517.3594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="12791.8161" x2="12800.8161" y1="1517.3594" y2="1508.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="12495.8161" x2="12791.8161" y1="1517.3594" y2="1517.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="12791.8161" x2="12791.8161" y1="1517.3594" y2="1876.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="107" x="12591.3161" y="1533.3545">Configuration</text><!--MD5=[1cb8ced355c85ab51f1ab55883ed8585]

cluster Primitives--><polygon fill="#FFFFFF" filter="url(#f1unn8y6gq5xqo)" points="6411.8161,926.8594,6421.8161,916.8594,7823.8161,916.8594,7823.8161,1468.8594,7813.8161,1478.8594,6411.8161,1478.8594,6411.8161,926.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7813.8161" x2="7822.8161" y1="926.8594" y2="917.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="6411.8161" x2="7813.8161" y1="926.8594" y2="926.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7813.8161" x2="7813.8161" y1="926.8594" y2="1478.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="77" x="7075.3161" y="942.8545">Primitives</text><!--MD5=[ba9da179b6f0b3bb0ea21772c5f4ec75]

cluster OSAL--><polygon fill="#FFFFFF" filter="url(#f1unn8y6gq5xqo)" points="618.8161,857.3594,628.8161,847.3594,6116.8161,847.3594,6116.8161,1733.8594,6106.8161,1743.8594,618.8161,1743.8594,618.8161,857.3594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="6106.8161" x2="6115.8161" y1="857.3594" y2="848.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="618.8161" x2="6106.8161" y1="857.3594" y2="857.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="6106.8161" x2="6106.8161" y1="857.3594" y2="1743.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="42" x="3342.8161" y="873.3545">OSAL</text><!--MD5=[3dab47d3fc3e186ff10f67819eb99ff8]

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

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

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

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

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

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

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

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

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

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

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

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

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

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

class urt_config--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="328.8984" id="urt_config" style="stroke: #A80036; stroke-width: 1.5;" width="290" x="12503.8161" y="1539.3594"/><ellipse cx="12613.5661" cy="1555.3594" fill="#BFBFBF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12616.5349,1561 Q12615.9567,1561.2969 12615.3161,1561.4375 Q12614.6755,1561.5938 12613.9724,1561.5938 Q12611.4724,1561.5938 12610.1442,1559.9531 Q12608.8317,1558.2969 12608.8317,1555.1719 Q12608.8317,1552.0469 12610.1442,1550.3906 Q12611.4724,1548.7344 12613.9724,1548.7344 Q12614.6755,1548.7344 12615.3161,1548.8906 Q12615.9724,1549.0469 12616.5349,1549.3438 L12616.5349,1552.0625 Q12615.9099,1551.4844 12615.3161,1551.2188 Q12614.7224,1550.9375 12614.0974,1550.9375 Q12612.7536,1550.9375 12612.0661,1552.0156 Q12611.3786,1553.0781 12611.3786,1555.1719 Q12611.3786,1557.2656 12612.0661,1558.3438 Q12612.7536,1559.4063 12614.0974,1559.4063 Q12614.7224,1559.4063 12615.3161,1559.1406 Q12615.9099,1558.8594 12616.5349,1558.2813 L12616.5349,1561 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="62" x="12634.0661" y="1559.5137">urt_config</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12504.8161" x2="12792.8161" y1="1571.3594" y2="1571.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="159" x="12509.8161" y="1602.3745">URT_CFG_DELAY_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="12509.8161" y="1615.1792">URT_CFG_NODESTAGE_WIDTH : int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12504.8161" x2="12627.3161" y1="1585.7617" y2="1585.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="43" x="12627.3161" y="1589.0698">general</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12670.3161" x2="12792.8161" y1="1585.7617" y2="1585.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="12509.8161" y="1644.7886">URT_CFG_PUBSUB_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="222" x="12509.8161" y="1657.5933">URT_CFG_PUBSUB_TOPICID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="204" x="12509.8161" y="1670.3979">URT_CFG_PUBSUB_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="278" x="12509.8161" y="1683.2026">URT_CFG_PUBSUB_QOS_DEADLINECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="252" x="12509.8161" y="1696.0073">URT_CFG_PUBSUB_QOS_RATECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="12509.8161" y="1708.812">URT_CFG_PUBSUB_QOS_JITTERCHECKS : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12504.8161" x2="12598.3161" y1="1628.1758" y2="1628.1758"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="12598.3161" y="1631.4839">publish-subscribe</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12699.3161" x2="12792.8161" y1="1628.1758" y2="1628.1758"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="12509.8161" y="1738.4214">URT_CFG_RPC_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="12509.8161" y="1751.2261">URT_CFG_RPC_SERVICEID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="12509.8161" y="1764.0308">URT_CFG_RPC_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="253" x="12509.8161" y="1776.8354">URT_CFG_RPC_QOS_DEADLINECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="12509.8161" y="1789.6401">URT_CFG_RPC_QOS_JITTERCHECKS : bool</text><line style="stroke: #A80036; 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class urt_usefulness_f--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="60.8047" id="urt_usefulness_f" style="stroke: #A80036; stroke-width: 1.5;" width="334" x="6965.8161" y="1057.3594"/><ellipse cx="7077.5661" cy="1073.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7081.8005,1069.125 L7076.5192,1069.125 L7076.5192,1071.7969 L7081.3161,1071.7969 L7081.3161,1073.9531 L7076.5192,1073.9531 L7076.5192,1079.3594 L7074.0817,1079.3594 L7074.0817,1066.9688 L7081.8005,1066.9688 L7081.8005,1069.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="7098.0661" y="1077.5137">urt_usefulness_f</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6966.8161" x2="7298.8161" y1="1089.3594" y2="1089.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6966.8161" x2="7298.8161" y1="1097.3594" y2="1097.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="322" x="6971.8161" y="1111.5698">urt_usefulness_f (dt : urt_delay_t, params : void*) : float</text><!--MD5=[3677786d1f00795918091b0110bfa4af]

class urt_osTime_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="385" x="5715.3161" y="1044.8594"/><ellipse cx="5864.0661" cy="1060.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5864.9099,1067.6094 L5862.4567,1067.6094 L5862.4567,1057.3594 L5859.3161,1057.3594 L5859.3161,1055.2188 L5868.0505,1055.2188 L5868.0505,1057.3594 L5864.9099,1057.3594 L5864.9099,1067.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="5884.5661" y="1065.0137">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5716.3161" x2="6099.3161" y1="1076.8594" y2="1076.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5716.3161" x2="6099.3161" y1="1084.8594" y2="1084.8594"/><ellipse cx="5726.3161" cy="1095.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="231" x="5735.3161" y="1099.0698">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="5726.3161" cy="1108.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="5735.3161" y="1111.8745">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="5726.3161" cy="1121.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="359" x="5735.3161" y="1124.6792">urtTimeAddUs (time : urt_osTime_t*, offset : urt_delay_t) : void</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]

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

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

class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="137.6328" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="4969.8161" y="1018.8594"/><ellipse cx="5270.0661" cy="1034.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5270.9099,1041.6094 L5268.4567,1041.6094 L5268.4567,1031.3594 L5265.3161,1031.3594 L5265.3161,1029.2188 L5274.0505,1029.2188 L5274.0505,1031.3594 L5270.9099,1031.3594 L5270.9099,1041.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="5290.5661" y="1039.0137">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4970.8161" x2="5678.8161" y1="1050.8594" y2="1050.8594"/><ellipse cx="4980.8161" cy="1061.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="283" x="4989.8161" y="1065.0698">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4980.8161" cy="1074.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="301" x="4989.8161" y="1077.8745">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4980.8161" cy="1087.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="324" x="4989.8161" y="1090.6792">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4980.8161" cy="1117.0781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="559" x="4989.8161" y="1120.2886">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*) : urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4970.8161" x2="5196.3161" y1="1103.6758" y2="1103.6758"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="257" x="5196.3161" y="1106.9839">URT_CFG_OSAL_CONDVAR_TIMEOUT == false</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5453.3161" x2="5678.8161" y1="1103.6758" y2="1103.6758"/><ellipse cx="4980.8161" cy="1146.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="684" x="4989.8161" y="1149.8979">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4970.8161" x2="5198.8161" y1="1133.2852" y2="1133.2852"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="252" x="5198.8161" y="1136.5933">URT_CFG_OSAL_CONDVAR_TIMEOUT == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5450.8161" x2="5678.8161" y1="1133.2852" y2="1133.2852"/><!--MD5=[93799a03260ba286abda700174f4f205]

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

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

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

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

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

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

class urt_osThread_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="363.3125" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="778" x="3050.8161" y="906.3594"/><ellipse cx="3388.5661" cy="922.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3389.4099,929.1094 L3386.9567,929.1094 L3386.9567,918.8594 L3383.8161,918.8594 L3383.8161,916.7188 L3392.5505,916.7188 L3392.5505,918.8594 L3389.4099,918.8594 L3389.4099,929.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="3409.0661" y="926.5137">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3051.8161" x2="3827.8161" y1="938.3594" y2="938.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="3056.8161" y="952.5698">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="3056.8161" y="965.3745">URT_THREAD_SSLEP_MAX : unsigned int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="3056.8161" y="978.1792">URT_THREAD_MSLEEP_MAX : unsigned int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="3056.8161" y="990.9839">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="3051.8161" x2="3827.8161" y1="997.5781" y2="997.5781"/><ellipse cx="3061.8161" cy="1008.5781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="248" x="3070.8161" y="1011.7886">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3051.8161" x2="3827.8161" y1="1018.3828" y2="1018.3828"/><ellipse cx="3061.8161" cy="1029.3828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="752" x="3070.8161" y="1032.5933">urtThreadInit (memory : void*, size : size_t, prio : urt_osThreadPrio_t, func : urt_osThreadFunction_t*, arg : void*) : urt_osThread_t*</text><ellipse cx="3061.8161" cy="1042.1875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="3070.8161" y="1045.3979">urtThreadStart (thread : urt_osThread_t*) : void</text><ellipse cx="3061.8161" cy="1054.9922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="3070.8161" y="1058.2026">urtThreadYield (void) : void</text><ellipse cx="3061.8161" cy="1067.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3070.8161" y="1071.0073">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="3061.8161" cy="1080.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="304" x="3070.8161" y="1083.812">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="3061.8161" cy="1093.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="220" x="3070.8161" y="1096.6167">urtThreadSleep (seconds : float) : void</text><ellipse cx="3061.8161" cy="1106.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="273" x="3070.8161" y="1109.4214">urtThreadSSleep (seconds : unsigned int) : void</text><ellipse cx="3061.8161" cy="1119.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="3070.8161" y="1122.2261">urtThreadMSleep (milliseconds : unsigned int) : void</text><ellipse cx="3061.8161" cy="1131.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="3070.8161" y="1135.0308">urtThreadUSleep (microseconds : urt_delay_t) : void</text><ellipse cx="3061.8161" cy="1144.625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3070.8161" y="1147.8354">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="3061.8161" cy="1157.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="3070.8161" y="1160.6401">urtThreadExit (void) : void</text><ellipse cx="3061.8161" cy="1170.2344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="518" x="3070.8161" y="1173.4448">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="3061.8161" cy="1183.0391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="3070.8161" y="1186.2495">urtThreadShouldTerminate (void) : bool</text><ellipse cx="3061.8161" cy="1195.8438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="264" x="3070.8161" y="1199.0542">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="3061.8161" cy="1208.6484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="387" x="3070.8161" y="1211.8589">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="3061.8161" cy="1221.4531" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="237" x="3070.8161" y="1224.6636">urtThreadGetSelf (void) : urt_osThread_t*</text><ellipse cx="3061.8161" cy="1234.2578" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="3070.8161" y="1237.4683">urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="3061.8161" cy="1247.0625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="3070.8161" y="1250.2729">urtThreadGetSibling (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="3061.8161" cy="1259.8672" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="3070.8161" y="1263.0776">urtThreadGetParent (thread : urt_osThread_t*) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]

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

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

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

class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="1738.8161" y="1361.3594"/><ellipse cx="1914.0661" cy="1377.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1914.9099,1384.1094 L1912.4567,1384.1094 L1912.4567,1373.8594 L1909.3161,1373.8594 L1909.3161,1371.7188 L1918.0505,1371.7188 L1918.0505,1373.8594 L1914.9099,1373.8594 L1914.9099,1384.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="1934.5661" y="1381.5137">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1739.8161" x2="2231.8161" y1="1393.3594" y2="1393.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1739.8161" x2="2231.8161" y1="1401.3594" y2="1401.3594"/><ellipse cx="1749.8161" cy="1412.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="341" x="1758.8161" y="1415.5698">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="1749.8161" cy="1425.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="458" x="1758.8161" y="1428.3745">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="1749.8161" cy="1437.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="468" x="1758.8161" y="1441.1792">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]

class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="1156.3161" y="1367.3594"/><ellipse cx="1361.0661" cy="1383.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1361.9099,1390.1094 L1359.4567,1390.1094 L1359.4567,1379.8594 L1356.3161,1379.8594 L1356.3161,1377.7188 L1365.0505,1377.7188 L1365.0505,1379.8594 L1361.9099,1379.8594 L1361.9099,1390.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="1381.5661" y="1387.5137">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1157.3161" x2="1702.3161" y1="1399.3594" y2="1399.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1157.3161" x2="1702.3161" y1="1407.3594" y2="1407.3594"/><ellipse cx="1167.3161" cy="1418.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="325" x="1176.3161" y="1421.5698">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="1167.3161" cy="1431.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="521" x="1176.3161" y="1434.3745">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--MD5=[04a3b5a37031e2a4d723f19d8adf86f5]

class urt_events--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="845" x="1931.3161" y="1044.8594"/><ellipse cx="2316.5661" cy="1060.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2320.8005,1056.625 L2315.5192,1056.625 L2315.5192,1059.2969 L2320.3161,1059.2969 L2320.3161,1061.4531 L2315.5192,1061.4531 L2315.5192,1066.8594 L2313.0817,1066.8594 L2313.0817,1054.4688 L2320.8005,1054.4688 L2320.8005,1056.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="2337.0661" y="1065.0137">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1932.3161" x2="2775.3161" y1="1076.8594" y2="1076.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1932.3161" x2="2775.3161" y1="1084.8594" y2="1084.8594"/><ellipse cx="1942.3161" cy="1095.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="819" x="1951.3161" y="1099.0698">urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : void</text><ellipse cx="1942.3161" cy="1108.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="522" x="1951.3161" y="1111.8745">urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : void</text><ellipse cx="1942.3161" cy="1121.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="618" x="1951.3161" y="1124.6792">urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWait_t, timeout : urt_delay_t) : urt_osEventMask_t</text><!--MD5=[0cf29100c96c506429a28b45d347cc92]

class urt_streams--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="213" x="919.3161" y="1050.8594"/><ellipse cx="984.0661" cy="1066.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M988.3005,1062.625 L983.0192,1062.625 L983.0192,1065.2969 L987.8161,1065.2969 L987.8161,1067.4531 L983.0192,1067.4531 L983.0192,1072.8594 L980.5817,1072.8594 L980.5817,1060.4688 L988.3005,1060.4688 L988.3005,1062.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="1004.5661" y="1071.0137">urt_streams</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="920.3161" x2="1131.3161" y1="1082.8594" y2="1082.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="920.3161" x2="1131.3161" y1="1090.8594" y2="1090.8594"/><ellipse cx="930.3161" cy="1101.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="170" x="939.3161" y="1105.0698">urtPrintf (fmt : char*, ... ) : int</text><ellipse cx="930.3161" cy="1114.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="187" x="939.3161" y="1117.8745">urtErrPrintf (fmt : char*, ... ) : int</text><!--MD5=[f106a25c06a671b3918b1a8f37571a4d]

class urt_debug--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="249" x="635.3161" y="1057.3594"/><ellipse cx="723.5661" cy="1073.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M727.8005,1069.125 L722.5192,1069.125 L722.5192,1071.7969 L727.3161,1071.7969 L727.3161,1073.9531 L722.5192,1073.9531 L722.5192,1079.3594 L720.0817,1079.3594 L720.0817,1066.9688 L727.8005,1066.9688 L727.8005,1069.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="744.0661" y="1077.5137">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="636.3161" x2="883.3161" y1="1089.3594" y2="1089.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="636.3161" x2="883.3161" y1="1097.3594" y2="1097.3594"/><ellipse cx="646.3161" cy="1108.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="223" x="655.3161" y="1111.5698">urtDebugAssert (condition : bool) : void</text><!--MD5=[89d25e87afdd75480e1ec2bd05524873]

class urt_core_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="384.1172" id="urt_core_t" style="stroke: #A80036; stroke-width: 1.5;" width="371" x="7840.3161" y="110.8594"/><ellipse cx="7990.0661" cy="126.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7989.5505,127.4219 Q7987.6911,126.7188 7987.0349,125.9531 Q7986.3942,125.1719 7986.3942,123.8594 Q7986.3942,122.1719 7987.4724,121.2031 Q7988.5505,120.2344 7990.4255,120.2344 Q7991.2849,120.2344 7992.1286,120.4375 Q7992.988,120.625 7993.8317,121.0156 L7993.8317,123.4063 Q7993.0505,122.8438 7992.2224,122.5625 Q7991.4099,122.2656 7990.613,122.2656 Q7989.738,122.2656 7989.2536,122.625 Q7988.7849,122.9844 7988.7849,123.6406 Q7988.7849,124.1563 7989.1286,124.5 Q7989.4724,124.8281 7990.5661,125.2344 L7991.6286,125.6406 Q7993.113,126.1875 7993.8161,127.0938 Q7994.5349,128 7994.5349,129.375 Q7994.5349,131.25 7993.4255,132.1719 Q7992.3161,133.0938 7990.0661,133.0938 Q7989.1442,133.0938 7988.2224,132.875 Q7987.3005,132.6563 7986.4411,132.2344 L7986.4411,129.7031 Q7987.4099,130.3906 7988.3317,130.7344 Q7989.2536,131.0781 7990.1442,131.0781 Q7991.0505,131.0781 7991.5505,130.6719 Q7992.0505,130.25 7992.0505,129.5156 Q7992.0505,128.9531 7991.7067,128.5469 Q7991.3786,128.125 7990.7536,127.875 L7989.5505,127.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="63" x="8010.5661" y="131.0137">urt_core_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7841.3161" x2="8210.3161" y1="142.8594" y2="142.8594"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7848.3161" y="150.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="7860.3161" y="157.0698">_nodes : urt_node_t*</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7848.3161" y="163.6641"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="192" x="7860.3161" y="169.8745">_evtSource : urt_osEventSource_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7848.3161" y="176.4688"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="7860.3161" y="182.6792">_lock : urt_osMutex_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7848.3161" y="189.2734"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="122" x="7860.3161" y="195.4839">_status : urt_status_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7848.3161" y="218.8828"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="117" x="7860.3161" y="225.0933">_topics : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7841.3161" x2="7920.8161" y1="208.4805" y2="208.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7920.8161" y="211.7886">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8130.8161" x2="8210.3161" y1="208.4805" y2="208.4805"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7848.3161" y="248.4922"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="145" x="7860.3161" y="254.7026">_services : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7841.3161" x2="7933.3161" y1="238.0898" y2="238.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="7933.3161" y="241.3979">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8118.3161" x2="8210.3161" y1="238.0898" y2="238.0898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7841.3161" x2="8210.3161" y1="261.2969" y2="261.2969"/><ellipse cx="7851.3161" cy="272.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="130" x="7860.3161" y="275.5073">urtCoreInit (void) : void</text><ellipse cx="7851.3161" cy="285.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="215" x="7860.3161" y="288.312">urtCoreGetStatus (void) : urt_status_t</text><ellipse cx="7851.3161" cy="297.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="276" x="7860.3161" y="301.1167">urtCoreGetEventMask (void) : urt_osEventMask_t</text><ellipse cx="7851.3161" cy="310.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="290" x="7860.3161" y="313.9214">urtCoreGetEvtSource (void) : urt_osEventSource_t*</text><ellipse cx="7851.3161" cy="323.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="177" x="7860.3161" y="326.7261">urtCoreStartNodes (void) : void</text><ellipse cx="7851.3161" cy="336.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="345" x="7860.3161" y="339.5308">urtCoreSynchronizeNodes (node : urt_node_t*) : urt_status_t</text><ellipse cx="7851.3161" cy="349.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="317" x="7860.3161" y="352.3354">urtCoreStopNodes (reason : urt_status_t) : urt_status_t</text><ellipse cx="7851.3161" cy="361.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="304" x="7860.3161" y="365.1401">urtCoreGetEventSource (void) : urt_osEventSource_t*</text><ellipse cx="7851.3161" cy="374.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="228" x="7860.3161" y="377.9448">urtCoreGetMutex (void) : urt_osMutex_t*</text><ellipse cx="7851.3161" cy="387.5391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="212" x="7860.3161" y="390.7495">urtCoreGetNodes (void) : urt_node_t*</text><ellipse cx="7851.3161" cy="400.3438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="7860.3161" y="403.5542">urtCoreAddNode (node : urt_node_t*) : void</text><ellipse cx="7851.3161" cy="429.9531" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="273" x="7860.3161" y="433.1636">urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*</text><ellipse cx="7851.3161" cy="442.7578" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="245" x="7860.3161" y="445.9683">urtCoreAddTopic (topic : urt_topic_t*) : void</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7841.3161" x2="7920.8161" y1="416.5508" y2="416.5508"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7920.8161" y="419.8589">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8130.8161" x2="8210.3161" y1="416.5508" y2="416.5508"/><ellipse cx="7851.3161" cy="472.3672" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="284" x="7860.3161" y="475.5776">urtCoreGetService (service : urt_service_t*) : void</text><ellipse cx="7851.3161" cy="485.1719" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="314" x="7860.3161" y="488.3823">urtCoreAddService (id : urt_serviceid_t) : urt_service_t*</text><line style="stroke: #A80036; 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class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="17720.8161" y="1057.3594"/><ellipse cx="17866.5661" cy="1073.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17867.4099,1080.1094 L17864.9567,1080.1094 L17864.9567,1069.8594 L17861.8161,1069.8594 L17861.8161,1067.7188 L17870.5505,1067.7188 L17870.5505,1069.8594 L17867.4099,1069.8594 L17867.4099,1080.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="17887.0661" y="1077.5137">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="17721.8161" x2="18175.8161" y1="1089.3594" y2="1089.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="17721.8161" x2="18175.8161" y1="1097.3594" y2="1097.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="17726.8161" y="1111.5698">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]

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

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

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

class urt_message_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="141.6328" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="406" x="12701.8161" y="1333.3594"/><ellipse cx="12854.5661" cy="1349.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12854.0505,1349.9219 Q12852.1911,1349.2188 12851.5349,1348.4531 Q12850.8942,1347.6719 12850.8942,1346.3594 Q12850.8942,1344.6719 12851.9724,1343.7031 Q12853.0505,1342.7344 12854.9255,1342.7344 Q12855.7849,1342.7344 12856.6286,1342.9375 Q12857.488,1343.125 12858.3317,1343.5156 L12858.3317,1345.9063 Q12857.5505,1345.3438 12856.7224,1345.0625 Q12855.9099,1344.7656 12855.113,1344.7656 Q12854.238,1344.7656 12853.7536,1345.125 Q12853.2849,1345.4844 12853.2849,1346.1406 Q12853.2849,1346.6563 12853.6286,1347 Q12853.9724,1347.3281 12855.0661,1347.7344 L12856.1286,1348.1406 Q12857.613,1348.6875 12858.3161,1349.5938 Q12859.0349,1350.5 12859.0349,1351.875 Q12859.0349,1353.75 12857.9255,1354.6719 Q12856.8161,1355.5938 12854.5661,1355.5938 Q12853.6442,1355.5938 12852.7224,1355.375 Q12851.8005,1355.1563 12850.9411,1354.7344 L12850.9411,1352.2031 Q12851.9099,1352.8906 12852.8317,1353.2344 Q12853.7536,1353.5781 12854.6442,1353.5781 Q12855.5505,1353.5781 12856.0505,1353.1719 Q12856.5505,1352.75 12856.5505,1352.0156 Q12856.5505,1351.4531 12856.2067,1351.0469 Q12855.8786,1350.625 12855.2536,1350.375 L12854.0505,1349.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="12875.0661" y="1353.5137">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12702.8161" x2="13106.8161" y1="1365.3594" y2="1365.3594"/><ellipse cx="12712.8161" cy="1376.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="127" x="12721.8161" y="1379.5698">next : urt_message_t*</text><ellipse cx="12712.8161" cy="1389.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="12721.8161" y="1392.3745">payload : void*</text><ellipse cx="12712.8161" cy="1401.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="12721.8161" y="1405.1792">originTime : urt_osTime_t</text><ellipse cx="12712.8161" cy="1414.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="211" x="12721.8161" y="1417.9839">numHrtConsumersLeft : unsigned int</text><ellipse cx="12712.8161" cy="1444.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="12721.8161" y="1447.5933">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12702.8161" x2="12796.3161" y1="1430.9805" y2="1430.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12796.3161" y="1434.2886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13013.3161" x2="13106.8161" y1="1430.9805" y2="1430.9805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="12702.8161" x2="13106.8161" y1="1454.1875" y2="1454.1875"/><ellipse cx="12712.8161" cy="1465.1875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="12721.8161" y="1468.3979">urtMessageInit (message : urt_message_t*, payload : void*) : void</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]

class urt_publisher_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="196.0469" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="783" x="12175.3161" y="598.3594"/><ellipse cx="12516.0661" cy="614.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12515.5505,614.9219 Q12513.6911,614.2188 12513.0349,613.4531 Q12512.3942,612.6719 12512.3942,611.3594 Q12512.3942,609.6719 12513.4724,608.7031 Q12514.5505,607.7344 12516.4255,607.7344 Q12517.2849,607.7344 12518.1286,607.9375 Q12518.988,608.125 12519.8317,608.5156 L12519.8317,610.9063 Q12519.0505,610.3438 12518.2224,610.0625 Q12517.4099,609.7656 12516.613,609.7656 Q12515.738,609.7656 12515.2536,610.125 Q12514.7849,610.4844 12514.7849,611.1406 Q12514.7849,611.6563 12515.1286,612 Q12515.4724,612.3281 12516.5661,612.7344 L12517.6286,613.1406 Q12519.113,613.6875 12519.8161,614.5938 Q12520.5349,615.5 12520.5349,616.875 Q12520.5349,618.75 12519.4255,619.6719 Q12518.3161,620.5938 12516.0661,620.5938 Q12515.1442,620.5938 12514.2224,620.375 Q12513.3005,620.1563 12512.4411,619.7344 L12512.4411,617.2031 Q12513.4099,617.8906 12514.3317,618.2344 Q12515.2536,618.5781 12516.1442,618.5781 Q12517.0505,618.5781 12517.5505,618.1719 Q12518.0505,617.75 12518.0505,617.0156 Q12518.0505,616.4531 12517.7067,616.0469 Q12517.3786,615.625 12516.7536,615.375 L12515.5505,614.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="12536.5661" y="618.5137">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12176.3161" x2="12957.3161" y1="630.3594" y2="630.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="289" x="12181.3161" y="644.5698">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT : bool</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12176.3161" x2="12957.3161" y1="651.1641" y2="651.1641"/><ellipse cx="12186.3161" cy="662.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="12195.3161" y="665.3745">topic : urt_topic_t*</text><ellipse cx="12186.3161" cy="691.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="149" x="12195.3161" y="694.9839">publishAttempts : uint64_t</text><ellipse cx="12186.3161" cy="704.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="12195.3161" y="707.7886">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12176.3161" x2="12458.3161" y1="678.3711" y2="678.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12458.3161" y="681.6792">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12675.3161" x2="12957.3161" y1="678.3711" y2="678.3711"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="12176.3161" x2="12957.3161" y1="714.3828" y2="714.3828"/><ellipse cx="12186.3161" cy="725.3828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="572" x="12195.3161" y="728.5933">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void</text><ellipse cx="12186.3161" cy="754.9922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="632" x="12195.3161" y="758.2026">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t) : urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12176.3161" x2="12413.3161" y1="741.5898" y2="741.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="307" x="12413.3161" y="744.8979">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == false</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12720.3161" x2="12957.3161" y1="741.5898" y2="741.5898"/><ellipse cx="12186.3161" cy="784.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="757" x="12195.3161" y="787.812">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12176.3161" x2="12415.8161" y1="771.1992" y2="771.1992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="302" x="12415.8161" y="774.5073">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12717.8161" x2="12957.3161" y1="771.1992" y2="771.1992"/><!--MD5=[a1b1e66ec52c209a9fa2dab315cd7630]

class urt_topic_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="260.875" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="603" x="11519.3161" y="565.8594"/><ellipse cx="11783.5661" cy="581.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11783.0505,582.4219 Q11781.1911,581.7188 11780.5349,580.9531 Q11779.8942,580.1719 11779.8942,578.8594 Q11779.8942,577.1719 11780.9724,576.2031 Q11782.0505,575.2344 11783.9255,575.2344 Q11784.7849,575.2344 11785.6286,575.4375 Q11786.488,575.625 11787.3317,576.0156 L11787.3317,578.4063 Q11786.5505,577.8438 11785.7224,577.5625 Q11784.9099,577.2656 11784.113,577.2656 Q11783.238,577.2656 11782.7536,577.625 Q11782.2849,577.9844 11782.2849,578.6406 Q11782.2849,579.1563 11782.6286,579.5 Q11782.9724,579.8281 11784.0661,580.2344 L11785.1286,580.6406 Q11786.613,581.1875 11787.3161,582.0938 Q11788.0349,583 11788.0349,584.375 Q11788.0349,586.25 11786.9255,587.1719 Q11785.8161,588.0938 11783.5661,588.0938 Q11782.6442,588.0938 11781.7224,587.875 Q11780.8005,587.6563 11779.9411,587.2344 L11779.9411,584.7031 Q11780.9099,585.3906 11781.8317,585.7344 Q11782.7536,586.0781 11783.6442,586.0781 Q11784.5505,586.0781 11785.0505,585.6719 Q11785.5505,585.25 11785.5505,584.5156 Q11785.5505,583.9531 11785.2067,583.5469 Q11784.8786,583.125 11784.2536,582.875 L11783.0505,582.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="11804.0661" y="586.0137">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11520.3161" x2="12121.3161" y1="597.8594" y2="597.8594"/><ellipse cx="11530.3161" cy="608.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="11539.3161" y="612.0698">next : urt_topic_t*</text><ellipse cx="11530.3161" cy="621.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="11539.3161" y="624.8745">id : urt_topicid_t</text><ellipse cx="11530.3161" cy="634.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="11539.3161" y="637.6792">lock : urt_osMutex_t</text><ellipse cx="11530.3161" cy="647.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="11539.3161" y="650.4839">evtSource : urt_osEventSource_t</text><ellipse cx="11530.3161" cy="660.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="11539.3161" y="663.2886">numHrtSubscribers : unsigned int</text><ellipse cx="11530.3161" cy="672.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="11539.3161" y="676.0933">hrtReleased : urt_osCondvar_t</text><ellipse cx="11530.3161" cy="685.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="209" x="11539.3161" y="688.8979">mandatoryMessage : urt_message_t</text><ellipse cx="11530.3161" cy="698.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="11539.3161" y="701.7026">latestMessage : urt_message_t*</text><ellipse cx="11530.3161" cy="728.1016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="212" x="11539.3161" y="731.312">hrtSubscribers : urt_hrtsubscriber_t*</text><ellipse cx="11530.3161" cy="740.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="170" x="11539.3161" y="744.1167">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11520.3161" x2="11688.3161" y1="714.6992" y2="714.6992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="11688.3161" y="718.0073">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11953.3161" x2="12121.3161" y1="714.6992" y2="714.6992"/><ellipse cx="11530.3161" cy="770.5156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="11539.3161" y="773.7261">numMessagesPublished : uint64_t</text><ellipse cx="11530.3161" cy="783.3203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="11539.3161" y="786.5308">numMessagesDiscarded : uint64_t</text><ellipse cx="11530.3161" cy="796.125" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="11539.3161" y="799.3354">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11520.3161" x2="11712.3161" y1="757.1133" y2="757.1133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="11712.3161" y="760.4214">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11929.3161" x2="12121.3161" y1="757.1133" y2="757.1133"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11520.3161" x2="12121.3161" y1="805.9297" y2="805.9297"/><ellipse cx="11530.3161" cy="816.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="577" x="11539.3161" y="820.1401">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t, mandatoryMessage: urt_message_t*) : urt_status_t</text><!--MD5=[50a042e24f957794dab9ba3ea8701c50]

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

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

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

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

class urt_hrtsubscriber_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="268.875" id="urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="12993.8161" y="561.8594"/><ellipse cx="13472.0661" cy="577.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M13471.5505,578.4219 Q13469.6911,577.7188 13469.0349,576.9531 Q13468.3942,576.1719 13468.3942,574.8594 Q13468.3942,573.1719 13469.4724,572.2031 Q13470.5505,571.2344 13472.4255,571.2344 Q13473.2849,571.2344 13474.1286,571.4375 Q13474.988,571.625 13475.8317,572.0156 L13475.8317,574.4063 Q13475.0505,573.8438 13474.2224,573.5625 Q13473.4099,573.2656 13472.613,573.2656 Q13471.738,573.2656 13471.2536,573.625 Q13470.7849,573.9844 13470.7849,574.6406 Q13470.7849,575.1563 13471.1286,575.5 Q13471.4724,575.8281 13472.5661,576.2344 L13473.6286,576.6406 Q13475.113,577.1875 13475.8161,578.0938 Q13476.5349,579 13476.5349,580.375 Q13476.5349,582.25 13475.4255,583.1719 Q13474.3161,584.0938 13472.0661,584.0938 Q13471.1442,584.0938 13470.2224,583.875 Q13469.3005,583.6563 13468.4411,583.2344 L13468.4411,580.7031 Q13469.4099,581.3906 13470.3317,581.7344 Q13471.2536,582.0781 13472.1442,582.0781 Q13473.0505,582.0781 13473.5505,581.6719 Q13474.0505,581.25 13474.0505,580.5156 Q13474.0505,579.9531 13473.7067,579.5469 Q13473.3786,579.125 13472.7536,578.875 L13471.5505,578.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="13492.5661" y="582.0137">urt_hrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12994.8161" x2="14076.8161" y1="593.8594" y2="593.8594"/><ellipse cx="13004.8161" cy="604.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="151" x="13013.8161" y="608.0698">next : urt_hrtsubscriber_t*</text><ellipse cx="13004.8161" cy="634.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="13013.8161" y="637.6792">deadlineOffset : urt_delay_t</text><ellipse cx="13004.8161" cy="647.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="13013.8161" y="650.4839">qosDeadlineTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12994.8161" x2="13390.3161" y1="621.0664" y2="621.0664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="13390.3161" y="624.3745">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13681.3161" x2="14076.8161" y1="621.0664" y2="621.0664"/><ellipse cx="13004.8161" cy="676.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="13013.8161" y="680.0933">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12994.8161" x2="13400.3161" y1="663.4805" y2="663.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="13400.3161" y="666.7886">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13671.3161" x2="14076.8161" y1="663.4805" y2="663.4805"/><ellipse cx="13004.8161" cy="706.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="13013.8161" y="709.7026">minLatency : urt_delay_t</text><ellipse cx="13004.8161" cy="719.2969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="13013.8161" y="722.5073">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12994.8161" x2="13283.8161" y1="693.0898" y2="693.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="13283.8161" y="696.3979">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13787.8161" x2="14076.8161" y1="693.0898" y2="693.0898"/><ellipse cx="13004.8161" cy="748.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="13013.8161" y="752.1167">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12994.8161" x2="13403.3161" y1="735.5039" y2="735.5039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="13403.3161" y="738.812">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13668.3161" x2="14076.8161" y1="735.5039" y2="735.5039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="12994.8161" x2="14076.8161" y1="758.7109" y2="758.7109"/><ellipse cx="13004.8161" cy="769.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="13013.8161" y="772.9214">urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : void</text><ellipse cx="13004.8161" cy="782.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1058" x="13013.8161" y="785.7261">urtHrtSubscriberSubscribe (subscriber : urt_hrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, rate : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="13004.8161" cy="795.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="13013.8161" y="798.5308">urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="13004.8161" cy="808.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="13013.8161" y="811.3354">urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="13004.8161" cy="820.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="13013.8161" y="824.1401">urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t</text><!--MD5=[e60e0f8379a14e7a4a292c65add9d735]

class urt_service_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="269.6797" id="urt_service_t" style="stroke: #A80036; stroke-width: 1.5;" width="596" x="8227.8161" y="561.3594"/><ellipse cx="8482.0661" cy="577.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8481.5505,577.9219 Q8479.6911,577.2188 8479.0349,576.4531 Q8478.3942,575.6719 8478.3942,574.3594 Q8478.3942,572.6719 8479.4724,571.7031 Q8480.5505,570.7344 8482.4255,570.7344 Q8483.2849,570.7344 8484.1286,570.9375 Q8484.988,571.125 8485.8317,571.5156 L8485.8317,573.9063 Q8485.0505,573.3438 8484.2224,573.0625 Q8483.4099,572.7656 8482.613,572.7656 Q8481.738,572.7656 8481.2536,573.125 Q8480.7849,573.4844 8480.7849,574.1406 Q8480.7849,574.6563 8481.1286,575 Q8481.4724,575.3281 8482.5661,575.7344 L8483.6286,576.1406 Q8485.113,576.6875 8485.8161,577.5938 Q8486.5349,578.5 8486.5349,579.875 Q8486.5349,581.75 8485.4255,582.6719 Q8484.3161,583.5938 8482.0661,583.5938 Q8481.1442,583.5938 8480.2224,583.375 Q8479.3005,583.1563 8478.4411,582.7344 L8478.4411,580.2031 Q8479.4099,580.8906 8480.3317,581.2344 Q8481.2536,581.5781 8482.1442,581.5781 Q8483.0505,581.5781 8483.5505,581.1719 Q8484.0505,580.75 8484.0505,580.0156 Q8484.0505,579.4531 8483.7067,579.0469 Q8483.3786,578.625 8482.7536,578.375 L8481.5505,577.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="8502.5661" y="581.5137">urt_service_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8228.8161" x2="8822.8161" y1="593.3594" y2="593.3594"/><ellipse cx="8238.8161" cy="604.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="115" x="8247.8161" y="607.5698">next : urt_service_t*</text><ellipse cx="8238.8161" cy="617.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="105" x="8247.8161" y="620.3745">id : urt_serviceid_t</text><ellipse cx="8238.8161" cy="629.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="8247.8161" y="633.1792">lock : urt_osMutex_t</text><ellipse cx="8238.8161" cy="642.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="8247.8161" y="645.9839">requestQueue_front : urt_baserequest_t*</text><ellipse cx="8238.8161" cy="655.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="8247.8161" y="658.7886">requestQueue_hrtBack : urt_hrtrequest_t*</text><ellipse cx="8238.8161" cy="668.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="256" x="8247.8161" y="671.5933">requestQueue_fsrtBack : urt_baserequest_t*</text><ellipse cx="8238.8161" cy="681.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="8247.8161" y="684.3979">requestQueue_back : urt_baserequest_t*</text><ellipse cx="8238.8161" cy="693.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="8247.8161" y="697.2026">evtSource : urt_osEventSource_t</text><ellipse cx="8238.8161" cy="706.7969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="8247.8161" y="710.0073">evtListener : urt_osEventListener_t</text><ellipse cx="8238.8161" cy="736.4063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="8247.8161" y="739.6167">numCalls : uint64_t</text><ellipse cx="8238.8161" cy="749.2109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="8247.8161" y="752.4214">numOwnershipLost : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8228.8161" x2="8429.8161" y1="723.0039" y2="723.0039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="8429.8161" y="726.312">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8621.8161" x2="8822.8161" y1="723.0039" y2="723.0039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8228.8161" x2="8822.8161" y1="759.0156" y2="759.0156"/><ellipse cx="8238.8161" cy="770.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="412" x="8247.8161" y="773.2261">urtServiceInit (service : urt_service_t*, id : urt_serviceid_t) : urt_status_t</text><ellipse cx="8238.8161" cy="782.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="549" x="8247.8161" y="786.0308">urtServiceDispatch (service : urt_service_t*, payload : void*, bytes : size_t) : urt_baserequest_t*</text><ellipse cx="8238.8161" cy="795.625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="552" x="8247.8161" y="798.8354">urtServiceAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="8238.8161" cy="808.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="8247.8161" y="811.6401">urtServiceTryAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="8238.8161" cy="821.2344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="365" x="8247.8161" y="824.4448">urtServiceRespond (request : urt_baserequest_t*) : urt_status_t</text><!--MD5=[7294e1cfaeb111bef046bc5d07a96458]

class urt_baserequest_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="197.6563" id="urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="224" x="8876.8161" y="597.3594"/><ellipse cx="8927.0661" cy="613.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8926.5505,613.9219 Q8924.6911,613.2188 8924.0349,612.4531 Q8923.3942,611.6719 8923.3942,610.3594 Q8923.3942,608.6719 8924.4724,607.7031 Q8925.5505,606.7344 8927.4255,606.7344 Q8928.2849,606.7344 8929.1286,606.9375 Q8929.988,607.125 8930.8317,607.5156 L8930.8317,609.9063 Q8930.0505,609.3438 8929.2224,609.0625 Q8928.4099,608.7656 8927.613,608.7656 Q8926.738,608.7656 8926.2536,609.125 Q8925.7849,609.4844 8925.7849,610.1406 Q8925.7849,610.6563 8926.1286,611 Q8926.4724,611.3281 8927.5661,611.7344 L8928.6286,612.1406 Q8930.113,612.6875 8930.8161,613.5938 Q8931.5349,614.5 8931.5349,615.875 Q8931.5349,617.75 8930.4255,618.6719 Q8929.3161,619.5938 8927.0661,619.5938 Q8926.1442,619.5938 8925.2224,619.375 Q8924.3005,619.1563 8923.4411,618.7344 L8923.4411,616.2031 Q8924.4099,616.8906 8925.3317,617.2344 Q8926.2536,617.5781 8927.1442,617.5781 Q8928.0505,617.5781 8928.5505,617.1719 Q8929.0505,616.75 8929.0505,616.0156 Q8929.0505,615.4531 8928.7067,615.0469 Q8928.3786,614.625 8927.7536,614.375 L8926.5505,613.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="8947.5661" y="617.5137">urt_baserequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8877.8161" x2="9099.8161" y1="629.3594" y2="629.3594"/><ellipse cx="8887.8161" cy="640.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="147" x="8896.8161" y="643.5698">prev : urt_baserequest_t*</text><ellipse cx="8887.8161" cy="653.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="8896.8161" y="656.3745">next : urt_baserequest_t*</text><ellipse cx="8887.8161" cy="665.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="8896.8161" y="669.1792">lock : urt_osMutex_t</text><ellipse cx="8887.8161" cy="678.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="126" x="8896.8161" y="681.9839">owner : urt_service_t*</text><ellipse cx="8887.8161" cy="691.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="8896.8161" y="694.7886">submissionTime : urt_osTime_t</text><ellipse cx="8887.8161" cy="704.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="8896.8161" y="707.5933">payload : void*</text><ellipse cx="8887.8161" cy="717.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="8896.8161" y="720.3979">evtSource : urt_osEventSource_t</text><ellipse cx="8887.8161" cy="729.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="8896.8161" y="733.2026">evtListener : urt_osEventListener_t</text><ellipse cx="8887.8161" cy="759.6016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="8896.8161" y="762.812">sumLatencies : uint64_t</text><ellipse cx="8887.8161" cy="772.4063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="8896.8161" y="775.6167">numCalls : uint64_t</text><ellipse cx="8887.8161" cy="785.2109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="108" x="8896.8161" y="788.4214">numFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8877.8161" x2="8892.8161" y1="746.1992" y2="746.1992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="8892.8161" y="749.5073">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; 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stroke-width: 1.5;" x1="9555.3161" x2="10228.3161" y1="244.8594" y2="244.8594"/><ellipse cx="9565.3161" cy="272.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="9574.3161" y="275.8745">minLatency : urt_delay_t</text><ellipse cx="9565.3161" cy="285.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="9574.3161" y="288.6792">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9555.3161" x2="9795.8161" y1="259.2617" y2="259.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="9795.8161" y="262.5698">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9987.8161" x2="10228.3161" y1="259.2617" y2="259.2617"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="9555.3161" x2="10228.3161" y1="295.2734" y2="295.2734"/><ellipse cx="9565.3161" cy="306.2734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="9574.3161" y="309.4839">urtSrtRequestInit (request : urt_srtrequest_t*) : void</text><ellipse cx="9565.3161" cy="319.0781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="367" x="9574.3161" y="322.2886">urtSrtRequestAcquire (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9565.3161" cy="331.8828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="385" x="9574.3161" y="335.0933">urtSrtRequestTryAcquire (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9565.3161" cy="344.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="9574.3161" y="347.8979">urtSrtRequestRelease (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9565.3161" cy="357.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="505" x="9574.3161" y="360.7026">urtSrtRequestSubmit (request : urt_srtrequest_t*, service : urt_service_t*) : urt_status_t</text><ellipse cx="9565.3161" cy="370.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="9574.3161" y="373.5073">urtSrtRequestRetrieve (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9565.3161" cy="383.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="649" x="9574.3161" y="386.312">urtSrtCalculateUsefulness (request : urt_srtrequest_t*, usefulnesscb : urt_usefulness_f, cbparams : void*) : float</text><!--MD5=[240977dbca9212fa5365c87da90aa051]

class urt_frtrequest_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="268.875" id="urt_frtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="656" x="10830.8161" y="168.3594"/><ellipse cx="11105.5661" cy="184.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11105.0505,184.9219 Q11103.1911,184.2188 11102.5349,183.4531 Q11101.8942,182.6719 11101.8942,181.3594 Q11101.8942,179.6719 11102.9724,178.7031 Q11104.0505,177.7344 11105.9255,177.7344 Q11106.7849,177.7344 11107.6286,177.9375 Q11108.488,178.125 11109.3317,178.5156 L11109.3317,180.9063 Q11108.5505,180.3438 11107.7224,180.0625 Q11106.9099,179.7656 11106.113,179.7656 Q11105.238,179.7656 11104.7536,180.125 Q11104.2849,180.4844 11104.2849,181.1406 Q11104.2849,181.6563 11104.6286,182 Q11104.9724,182.3281 11106.0661,182.7344 L11107.1286,183.1406 Q11108.613,183.6875 11109.3161,184.5938 Q11110.0349,185.5 11110.0349,186.875 Q11110.0349,188.75 11108.9255,189.6719 Q11107.8161,190.5938 11105.5661,190.5938 Q11104.6442,190.5938 11103.7224,190.375 Q11102.8005,190.1563 11101.9411,189.7344 L11101.9411,187.2031 Q11102.9099,187.8906 11103.8317,188.2344 Q11104.7536,188.5781 11105.6442,188.5781 Q11106.5505,188.5781 11107.0505,188.1719 Q11107.5505,187.75 11107.5505,187.0156 Q11107.5505,186.4531 11107.2067,186.0469 Q11106.8786,185.625 11106.2536,185.375 L11105.0505,184.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="98" x="11126.0661" y="188.5137">urt_frtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10831.8161" x2="11485.8161" y1="200.3594" y2="200.3594"/><ellipse cx="10841.8161" cy="228.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="10850.8161" y="231.3745">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10831.8161" x2="11025.8161" y1="214.7617" y2="214.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="266" x="11025.8161" y="218.0698">URT_CFG_RPC_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11291.8161" x2="11485.8161" y1="214.7617" y2="214.7617"/><ellipse cx="10841.8161" cy="257.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="10850.8161" y="260.9839">maxJitter : urt_delay_t</text><line style="stroke: #A80036; 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stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10831.8161" x2="10931.8161" y1="273.9805" y2="273.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="454" x="10931.8161" y="277.2886">URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11385.8161" x2="11485.8161" y1="273.9805" y2="273.9805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="10831.8161" x2="11485.8161" y1="309.9922" y2="309.9922"/><ellipse cx="10841.8161" cy="320.9922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="292" x="10850.8161" y="324.2026">urtFrtRequestInit (request : urt_frtrequest_t*) : void</text><ellipse cx="10841.8161" cy="333.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="362" x="10850.8161" y="337.0073">urtFrtRequestAcquire (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="10841.8161" cy="346.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="10850.8161" y="349.812">urtFrtRequestTryAcquire (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="10841.8161" cy="359.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="365" x="10850.8161" y="362.6167">urtFrtRequestRelease (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="10841.8161" cy="372.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="630" x="10850.8161" y="375.4214">urtFrtRequestSubmit (request : urt_frtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t</text><ellipse cx="10841.8161" cy="385.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="366" x="10850.8161" y="388.2261">urtFrtRequestRetrieve (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="10841.8161" cy="397.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="318" x="10850.8161" y="401.0308">urtDrtCalculateValidity (request : urt_frtrequest_t) : bool</text><ellipse cx="10841.8161" cy="427.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="423" x="10850.8161" y="430.6401">urtFrtRequestGetMaxJitter (request : urt_frtrequest_t*) : urt_delay_t* const</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10831.8161" x2="11035.8161" y1="414.0273" y2="414.0273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="11035.8161" y="417.3354">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; 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class urt_hrtrequest_t--><rect fill="#FEFECE" filter="url(#f1unn8y6gq5xqo)" height="285.6797" id="urt_hrtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="661" x="8858.3161" y="159.8594"/><ellipse cx="9133.5661" cy="175.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9133.0505,176.4219 Q9131.1911,175.7188 9130.5349,174.9531 Q9129.8942,174.1719 9129.8942,172.8594 Q9129.8942,171.1719 9130.9724,170.2031 Q9132.0505,169.2344 9133.9255,169.2344 Q9134.7849,169.2344 9135.6286,169.4375 Q9136.488,169.625 9137.3317,170.0156 L9137.3317,172.4063 Q9136.5505,171.8438 9135.7224,171.5625 Q9134.9099,171.2656 9134.113,171.2656 Q9133.238,171.2656 9132.7536,171.625 Q9132.2849,171.9844 9132.2849,172.6406 Q9132.2849,173.1563 9132.6286,173.5 Q9132.9724,173.8281 9134.0661,174.2344 L9135.1286,174.6406 Q9136.613,175.1875 9137.3161,176.0938 Q9138.0349,177 9138.0349,178.375 Q9138.0349,180.25 9136.9255,181.1719 Q9135.8161,182.0938 9133.5661,182.0938 Q9132.6442,182.0938 9131.7224,181.875 Q9130.8005,181.6563 9129.9411,181.2344 L9129.9411,178.7031 Q9130.9099,179.3906 9131.8317,179.7344 Q9132.7536,180.0781 9133.6442,180.0781 Q9134.5505,180.0781 9135.0505,179.6719 Q9135.5505,179.25 9135.5505,178.5156 Q9135.5505,177.9531 9135.2067,177.5469 Q9134.8786,177.125 9134.2536,176.875 L9133.0505,176.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="9154.0661" y="180.0137">urt_hrtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8859.3161" x2="9518.3161" y1="191.8594" y2="191.8594"/><ellipse cx="8869.3161" cy="219.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="8878.3161" y="222.8745">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8859.3161" x2="9055.8161" y1="206.2617" y2="206.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="266" x="9055.8161" y="209.5698">URT_CFG_RPC_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9321.8161" x2="9518.3161" y1="206.2617" y2="206.2617"/><ellipse cx="8869.3161" cy="249.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="8878.3161" y="252.4839">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8859.3161" x2="9065.8161" y1="235.8711" y2="235.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="9065.8161" y="239.1792">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9311.8161" x2="9518.3161" y1="235.8711" y2="235.8711"/><ellipse cx="8869.3161" cy="278.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="8878.3161" y="282.0933">qosTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8859.3161" x2="8924.8161" y1="265.4805" y2="265.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="528" x="8924.8161" y="268.7886">URT_CFG_RPC_QOS_DEADLINECHECKS == true || URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9452.8161" x2="9518.3161" y1="265.4805" y2="265.4805"/><ellipse cx="8869.3161" cy="308.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="8878.3161" y="311.7026">minLatency : urt_delay_t</text><ellipse cx="8869.3161" cy="321.2969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="8878.3161" y="324.5073">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8859.3161" x2="8961.8161" y1="295.0898" y2="295.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="454" x="8961.8161" y="298.3979">URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9415.8161" x2="9518.3161" y1="295.0898" y2="295.0898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8859.3161" x2="9518.3161" y1="331.1016" y2="331.1016"/><ellipse cx="8869.3161" cy="342.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="8878.3161" y="345.312">urtHrtRequestInit (request : urt_hrtrequest_t*) : void</text><ellipse cx="8869.3161" cy="354.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="367" x="8878.3161" y="358.1167">urtHrtRequestAcquire (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8869.3161" cy="367.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="385" x="8878.3161" y="370.9214">urtHrtRequestTryAcquire (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8869.3161" cy="380.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="8878.3161" y="383.7261">urtHrtRequestRelease (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8869.3161" cy="393.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="635" x="8878.3161" y="396.5308">urtHrtRequestSubmit (request : urt_hrtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t</text><ellipse cx="8869.3161" cy="406.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="8878.3161" y="409.3354">urtHrtRequestRetrieve (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8869.3161" cy="435.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="428" x="8878.3161" y="438.9448">urtHrtRequestGetMaxJitter (request : urt_hrtrequest_t*) : urt_delay_t* const</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8859.3161" x2="9065.8161" y1="422.332" y2="422.332"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="9065.8161" y="425.6401">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9311.8161" x2="9518.3161" y1="422.332" y2="422.332"/><!--MD5=[e0c5ef58bc626bdfda028ecb031e1681]

link urt_usefulness_f to urt_delay_t--><path d="M7109.727,1118.4276 C7077.8007,1158.6488 7016.4084,1228.9556 6948.8161,1269.3594 C6840.7867,1333.9349 6699.0473,1370.2492 6606.4926,1388.5737 " fill="none" id="urt_usefulness_f-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6601.5722,1389.5401,6611.1744,1391.7304,6606.4784,1388.5764,6609.6325,1383.8804,6601.5722,1389.5401" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5fff9a13948f7f5b5e6ca18c1c7a9716]

link urt_nodestage_t to urt_config--><path d="M7477.7867,1167.0078 C7498.6292,1204.4988 7528.8857,1246.0764 7568.8161,1269.3594 C8005.2095,1523.8151 11702.7011,1669.9615 12498.3636,1698.6292 " fill="none" id="urt_nodestage_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12503.5777,1698.8169,12494.7274,1694.4957,12498.5809,1698.637,12494.4396,1702.4905,12503.5777,1698.8169" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7db439499cb1afd557b9be4c8c52b2ba]

link urt_topicid_t to urt_config--><path d="M6853.6392,1167.308 C6877.6087,1203.2441 6910.1725,1243.3873 6948.8161,1269.3594 C7256.1334,1475.9045 7386.0674,1433.6304 7751.8161,1491.3594 C8700.1248,1641.0384 11780.9856,1691.9464 12498.4991,1701.9172 " fill="none" id="urt_topicid_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12503.7247,1701.9896,12494.7811,1697.865,12498.7252,1701.9201,12494.67,1705.8642,12503.7247,1701.9896" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e851a4e79ca88682282ceaaad2100c63]

link urt_serviceid_t to urt_config--><path d="M6584.121,1167.1511 C6607.3006,1201.1721 6637.136,1239.8023 6669.8161,1269.3594 C6813.1785,1399.0211 6858.4111,1436.6795 7043.8161,1491.3594 C7579.7611,1649.421 11660.2199,1694.8718 12498.5455,1702.5826 " fill="none" id="urt_serviceid_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12503.7333,1702.6302,12494.7704,1698.5478,12498.7335,1702.5843,12494.697,1706.5475,12503.7333,1702.6302" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[844001065b3bef53527c5dd4ba0c22e5]

link urt_delay_t to urt_config--><path d="M6601.4589,1444.0132 C6646.8827,1461.9442 6703.2777,1481.3299 6755.8161,1491.3594 C7334.4728,1601.8238 11636.5601,1685.4352 12498.6656,1701.1805 " fill="none" id="urt_delay_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12503.6874,1701.2722,12494.762,1697.1083,12498.6882,1701.1807,12494.6158,1705.1069,12503.6874,1701.2722" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7766572fa0c619a5409829048dc0b6d6]

link urt_osCondvar_t to urt_osCondvarWaitStatus_t--><path d="M5324.8161,1156.9256 C5324.8161,1217.1874 5324.8161,1303.0674 5324.8161,1356.1772 " fill="none" id="urt_osCondvar_t-&gt;urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="5324.8161,1361.2126,5328.8161,1352.2126,5324.8161,1356.2126,5320.8161,1352.2126,5324.8161,1361.2126" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9b2507ea88616aeae65e3c4d63560016]

link urt_osCondvar_t to urt_osMutex_t--><path d="M4969.6794,1087.8594 C4959.8472,1087.8594 4950.0151,1087.8594 4940.1829,1087.8594 " fill="none" id="urt_osCondvar_t-&gt;urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4935.0412,1087.8594,4944.0412,1091.8594,4940.0412,1087.8594,4944.0412,1083.8594,4935.0412,1087.8594" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[83094e108045c8f9585007cdb3b7cb2e]

link urt_osTimer_t to urt_osTimerCallback_t--><path d="M4232.8161,1144.0786 C4232.8161,1208.9544 4232.8161,1313.7128 4232.8161,1368.4456 " fill="none" id="urt_osTimer_t-&gt;urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4232.8161,1373.5831,4236.8161,1364.5831,4232.8161,1368.5831,4228.8161,1364.5831,4232.8161,1373.5831" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8d8c3240b5b2b5edf6544088e583ffa5]

link urt_osThread_t to urt_osThreadPrio_t--><path d="M3453.6032,1269.676 C3455.0422,1288.6533 3456.4462,1307.1682 3457.7298,1324.0957 " fill="none" id="urt_osThread_t-&gt;urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="3458.1242,1329.2969,3461.4321,1320.0201,3457.746,1324.3112,3453.455,1320.6252,3458.1242,1329.2969" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d7d1d43fd970fb07a484642bc19fcb13]

link urt_osThread_t to urt_osThreadFunction_t--><path d="M3154.67,1269.4464 C3093.434,1308.4428 3035.2334,1345.5062 2995.3851,1370.8824 " fill="none" id="urt_osThread_t-&gt;urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2991.103,1373.6093,3000.843,1372.1489,2995.3204,1370.9235,2996.5458,1365.401,2991.103,1373.6093" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6564761b32ad7eeb5abb8896c72cfca5]

link urt_osThread_t to urt_osThreadTerminateSignal_t--><path d="M3600.0905,1269.676 C3631.0999,1304.8533 3660.7084,1338.4414 3682.6008,1363.2764 " fill="none" id="urt_osThread_t-&gt;urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="3686.0472,1367.186,3683.0962,1357.7896,3682.7408,1363.4353,3677.0951,1363.0799,3686.0472,1367.186" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[92ba23225d8de8f8080583fedda5e6f8]

link urt_osThread_t to urt_osThreadState_t--><path d="M3311.7116,1269.676 C3296.4606,1291.3215 3281.6335,1312.3653 3268.4063,1331.1383 " fill="none" id="urt_osThread_t-&gt;urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="3265.4332,1335.3581,3273.8868,1330.3047,3268.313,1331.2707,3267.347,1325.6969,3265.4332,1335.3581" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[78b286ab2177e5f7b31e6e832d821818]

link urt_osThread_t to urt_osTime_t--><path d="M3679.0792,906.2838 C3736.9141,875.2789 3800.7617,850.6431 3865.3161,843.3594 C3890.3379,840.5362 5653.2944,840.5362 5678.3161,843.3594 C5782.8322,855.152 5854.1303,972.0707 5887.0425,1039.8633 " fill="none" id="urt_osThread_t-&gt;urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="5889.3458,1044.6574,5889.0538,1034.8128,5887.1805,1040.1505,5881.8428,1038.2773,5889.3458,1044.6574" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[659af6ab57e6a38ebfd5c07c5616787c]

link urt_osEventListener_t to urt_osEventFlags_t--><path d="M1985.8161,1447.5894 C1985.8161,1509.4523 1985.8161,1621.6002 1985.8161,1674.6054 " fill="none" id="urt_osEventListener_t-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1985.8161,1679.8529,1989.8161,1670.8529,1985.8161,1674.8529,1981.8161,1670.8529,1985.8161,1679.8529" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[eac11679f26c499aa1c571e1f795945d]

link urt_osEventSource_t to urt_osEventFlags_t--><path d="M1498.5503,1441.3844 C1612.2368,1502.6237 1836.7478,1623.5609 1936.2916,1677.182 " fill="none" id="urt_osEventSource_t-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1940.9363,1679.684,1934.9098,1671.8942,1936.5344,1677.3127,1931.1158,1678.9373,1940.9363,1679.684" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0259cdb10c6c32168d1d17d25519d939]

link urt_events to urt_osEventSource_t--><path d="M2228.2398,1130.8734 C2047.3626,1192.8297 1716.2225,1306.2559 1542.6968,1365.6941 " fill="none" id="urt_events-&gt;urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1537.8637,1367.3496,1547.6743,1368.2173,1542.5939,1365.7293,1545.0819,1360.649,1537.8637,1367.3496" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0ce043e0e9532fc393f3f8836f5de19a]

link urt_events to urt_osEventListener_t--><path d="M2303.803,1130.8734 C2234.9195,1190.117 2111.3167,1296.4221 2040.2014,1357.5851 " fill="none" id="urt_events-&gt;urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2036.0148,1361.1858,2045.4465,1358.3497,2039.8056,1357.9254,2040.2299,1352.2845,2036.0148,1361.1858" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[430bebba9cd89d3ba8f63b2078968bca]

link urt_events to urt_osEventMask_t--><path d="M2392.9568,1130.8734 C2450.7464,1194.3817 2557.747,1311.971 2610.6032,1370.0577 " fill="none" id="urt_events-&gt;urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2614.0053,1373.7965,2610.9066,1364.4478,2610.6402,1370.0984,2604.9896,1369.832,2614.0053,1373.7965" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b1b185abc2161e087cab32ae7fdb2c40]

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

link urt_events to urt_osEventWait_t--><path d="M2353.1366,1130.8734 C2352.2082,1189.6449 2350.548,1294.731 2349.5783,1356.1145 " fill="none" id="urt_events-&gt;urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2349.4982,1361.1858,2353.6399,1352.2501,2349.5772,1356.1864,2345.6409,1352.1237,2349.4982,1361.1858" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ea4c3dac10af85084086a365fe38a187]

link urt_osTime_t to urt_delay_t--><path d="M5950.7079,1131.1378 C5992.7246,1171.5152 6060.1358,1231.1151 6127.8161,1269.3594 C6219.7113,1321.2868 6335.1127,1358.6496 6415.0976,1380.7233 " fill="none" id="urt_osTime_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6420.3142,1382.1551,6412.6941,1375.9154,6415.4926,1380.8315,6410.5764,1383.63,6420.3142,1382.1551" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5f656ccbf337bb70e2692ec6599b22aa]

link urt_osCondvar_t to urt_delay_t--><path d="M5444.5424,1156.9129 C5516.1945,1195.4217 5610.2746,1241.1648 5698.8161,1269.3594 C5949.9655,1349.3338 6260.7082,1384.145 6414.8123,1397.3578 " fill="none" id="urt_osCondvar_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6420.2278,1397.8187,6411.5996,1393.0696,6415.2458,1397.3945,6410.9209,1401.0408,6420.2278,1397.8187" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[2da0e339f7ca878d257c4a5336e8cad5]

link urt_osThread_t to urt_delay_t--><path d="M3829.0564,1264.7877 C3835.3263,1266.4028 3841.5822,1267.9293 3847.8161,1269.3594 C4248.2957,1361.2346 5285.7254,1303.8554 5695.8161,1329.3594 C5956.3293,1345.561 6262.6157,1377.1287 6414.8464,1393.6679 " fill="none" id="urt_osThread_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6420.1964,1394.2499,6411.6819,1389.2998,6415.2257,1393.709,6410.8165,1397.2528,6420.1964,1394.2499" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8bf77663ad208115c32fd5300d37f092]

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

reverse link urt_node_t to urt_nodestage_t--><path d="M17263.2661,813.872 C17193.6038,824.3451 17123.2818,833.2739 17055.8161,839.3594 C17039.4123,840.8391 7582.9046,838.8275 7568.8161,847.3594 C7511.2601,882.2152 7478.7145,952.9789 7461.1831,1008.7669 " fill="none" id="urt_node_t&lt;-urt_nodestage_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="17276.2651,811.8988,17269.7327,808.8446,17264.401,813.6998,17270.9334,816.754,17276.2651,811.8988" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="17238.2671" y="832.2279">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7454.5076" y="997.837">1</text><!--MD5=[ecbb69d8dc7b8a34ff21337736794c2a]

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

reverse link urt_node_t to urt_osThreadFunction_t--><path d="M17263.5212,813.8576 C17193.7759,824.343 17123.3646,833.2785 17055.8161,839.3594 C17041.6054,840.6387 628.9029,837.2678 618.8161,847.3594 C552.5214,913.6864 553.4242,1202.1421 618.8161,1269.3594 C703.2611,1356.1616 2680.5528,1299.1126 2797.8161,1329.3594 C2833.081,1338.4556 2869.477,1357.3168 2896.9834,1373.8481 " fill="none" id="urt_node_t&lt;-urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="17276.5356,811.8821,17270.0032,808.8279,17264.6715,813.6831,17271.2039,816.7373,17276.5356,811.8821" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="17214.5144" y="832.2101">0..*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2878.0825" y="1362.6359">1</text><!--MD5=[0cba389305cd35ebcbacaedacb3fbe88]

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

link urt_nrtrequest_t to urt_config--><path d="M10622.8292,386.5916 C10674.9816,427.8555 10743.5476,473.2978 10813.8161,494.8594 C10827.4392,499.0396 19011.7448,492.7782 19021.8161,502.8594 C19099.4422,580.5611 19098.175,1412.412 19021.8161,1491.3594 C18910.0475,1606.9169 13751.0633,1687.7644 12799.016,1701.7132 " fill="none" id="urt_nrtrequest_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12793.8192,1701.7893,12802.8769,1705.6569,12798.8187,1701.716,12802.7596,1697.6578,12793.8192,1701.7893" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4d5eda3ecbcd41d6d2b940fb4748a5e6]

link urt_nrtrequest_t to urt_status_t--><path d="M10437.1576,386.5183 C10385.1966,427.7611 10316.8709,473.2066 10246.8161,494.8594 C10231.3239,499.6478 7925.0695,493.5166 7911.8161,502.8594 C7771.1101,602.0481 7723.8258,804.6238 7708.1736,943.3177 " fill="none" id="urt_nrtrequest_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7707.5853,948.6359,7712.5505,940.1302,7708.135,943.6662,7704.599,939.2507,7707.5853,948.6359" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[094c3c4918275dedd163d58d6c00e2be]

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

link urt_srtrequest_t to urt_config--><path d="M10021.0321,392.875 C10085.6784,432.5138 10167.0116,474.6219 10246.8161,494.8594 C10261.4636,498.5738 18940.1359,492.1693 18950.8161,502.8594 C19028.4443,580.559 19027.1602,1412.3977 18950.8161,1491.3594 C18840.3869,1605.575 13745.6335,1687.4207 12799.2446,1701.6523 " fill="none" id="urt_srtrequest_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12794.0783,1701.7299,12803.1375,1705.5939,12799.0777,1701.6546,12803.0171,1697.5948,12794.0783,1701.7299" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[74f0decf3779c06ec30af8770fc7e1ae]

link urt_srtrequest_t to urt_status_t--><path d="M9762.1621,393.0285 C9697.5766,432.5705 9616.4222,474.5521 9536.8161,494.8594 C9522.4767,498.5174 7416.2608,492.3755 7405.8161,502.8594 C7300.2631,608.8095 7302.689,731.0466 7405.8161,839.3594 C7418.3198,852.4918 7553.4427,837.7438 7568.8161,847.3594 C7605.0974,870.0522 7632.1711,906.4404 7652.0313,944.1156 " fill="none" id="urt_srtrequest_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7654.4176,948.7157,7653.8239,938.8847,7652.1152,944.2773,7646.7225,942.5686,7654.4176,948.7157" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4360c48b38d2a92e1c3ebeee4ab98bfc]

link urt_srtrequest_t to urt_usefulness_f--><path d="M9762.1634,393.0337 C9697.5783,432.5769 9616.4237,474.5579 9536.8161,494.8594 C9521.891,498.6656 7331.2323,493.7441 7318.8161,502.8594 C7226.655,570.5197 7158.3225,935.7007 7138.6149,1052.1543 " fill="none" id="urt_srtrequest_t-&gt;urt_usefulness_f" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7137.7683,1057.1813,7143.2077,1048.9708,7138.5989,1052.2507,7135.3189,1047.6419,7137.7683,1057.1813" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e590cea536a036f5956f75e03ef95bbf]

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

link urt_frtrequest_t to urt_config--><path d="M11486.8929,304.9346 C12967.1664,315.062 18957.9465,364.5471 19092.8161,502.8594 C19246.1743,660.1321 19245.5628,1333.4927 19092.8161,1491.3594 C18979.7216,1608.2449 13757.7357,1688.0838 12799.1417,1701.7677 " fill="none" id="urt_frtrequest_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12793.9095,1701.8423,12802.9656,1705.7136,12798.909,1701.771,12802.8516,1697.7144,12793.9095,1701.8423" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d63fe507f799090eb2c242d7ab41013e]

link urt_frtrequest_t to urt_status_t--><path d="M10955.5714,437.5456 C10910.3336,461.1725 10861.3462,482.217 10812.8161,494.8594 C10777.8577,503.9663 8244.6836,487.8674 8211.8161,502.8594 C8013.8247,593.1704 7862.3968,802.0776 7777.5017,944.1783 " fill="none" id="urt_frtrequest_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7774.7597,948.7835,7782.801,943.0968,7777.3177,944.4873,7775.9272,939.0041,7774.7597,948.7835" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bea47d1dd6f09b5135df7519b40184db]

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

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

link urt_hrtrequest_t to urt_config--><path d="M9409.8061,446.0053 C9450.588,466.1724 9493.8883,483.7829 9536.8161,494.8594 C9552.297,498.8538 18732.7637,493.6265 18745.8161,502.8594 C18886.6259,602.464 18963.9225,1126.1392 18867.8161,1269.3594 C18722.7672,1485.5153 18580.2413,1436.3103 18325.8161,1491.3594 C17772.3804,1611.1044 13643.4954,1687.0148 12799.3078,1701.3743 " fill="none" id="urt_hrtrequest_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12794.084,1701.4631,12803.1507,1705.3095,12799.0833,1701.3781,12803.0147,1697.3107,12794.084,1701.4631" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3d55577c6a64a095d4d92af2794b0aa7]

link urt_hrtrequest_t to urt_status_t--><path d="M8976.7477,446.0537 C8937.6859,466.1432 8896.146,483.7153 8854.8161,494.8594 C8833.4806,500.6123 7279.4021,487.1949 7263.8161,502.8594 C7158.3306,608.8767 7159.46,732.2302 7263.8161,839.3594 C7275.6436,851.5012 7554.3438,838.5355 7568.8161,847.3594 C7605.5493,869.7559 7632.7942,906.2895 7652.6733,944.1954 " fill="none" id="urt_hrtrequest_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7655.0612,948.824,7654.4897,938.9917,7652.7688,944.3805,7647.3801,942.6596,7655.0612,948.824" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[85137379eadac9ac066ccd1aa3005a20]

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

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

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

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

link urt_service_t to urt_config--><path d="M8819.454,831.3813 C8826.9545,834.1381 8834.417,836.8033 8841.8161,839.3594 C9992.7261,1236.9495 10312.3797,1235.366 11502.8161,1491.3594 C11858.0865,1567.7573 12278.8685,1641.5418 12498.4152,1678.7831 " fill="none" id="urt_service_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12503.5638,1679.656,12495.3591,1674.2077,12498.6342,1678.8201,12494.0218,1682.0951,12503.5638,1679.656" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5471b15d17b5493f5e528354308bf7b4]

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@startuml

title **µRtWare**\nOverview\n

!include ./functions.iuml

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

!startsub ENTITIES

$module("Configuration") {

  !includesub config.uml!ENTITIES

}

$module("Primitives") {

  !includesub primitives.uml!ENTITIES

}

$module("OSAL") {

  !includesub osal.uml!ENTITIES

}

$module("Middleware") {

  !includesub urtware.uml!ENTITIES

}

!endsub

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

!startsub DEPENDENCIES

!includesub config.uml!DEPENDENCIES

!includesub primitives.uml!DEPENDENCIES

urt_nodestage_t ..> urt_config

urt_topicid_t ..> urt_config

urt_serviceid_t ..> urt_config

urt_delay_t ..> urt_config

!includesub osal.uml!DEPENDENCIES

urt_osTime_t ..> urt_delay_t

urt_osCondvar_t ..> urt_delay_t

urt_osThread_t ..> urt_delay_t

urt_osTimer_t ..> urt_delay_t

urt_events ..> urt_delay_t

!includesub urtware.uml!DEPENDENCIES

urt_core_t "1" *- - "1" urt_osEventSource_t

urt_core_t "1" *- - "1" urt_osMutex_t

urt_core_t "1" *- - "1" urt_status_t

urt_core_t ..> urt_nodestage_t

urt_core_t ..> urt_topicid_t

urt_core_t ..> urt_serviceid_t

urt_node_t "1" o- - "1" urt_osThread_t

urt_node_t "1" *- - "1" urt_nodestage_t

urt_node_t "1" *- - "1" urt_osEventListener_t

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

urt_node_t ..> urt_status_t

urt_nodeSetupCallback_t ..> urt_osEventMask_t

urt_nodeLoopCallback_t ..> urt_osEventMask_t

urt_publisher_t ..> urt_config

urt_publisher_t ..> urt_status_t

urt_publisher_t ..> urt_delay_t

urt_topic_t "1" *- - "1" urt_topicid_t

urt_topic_t "1" *- - "1" urt_osMutex_t

urt_topic_t "1" *- - "1" urt_osEventSource_t

urt_topic_t "1" *- - "1" urt_osCondvar_t

urt_topic_t ..> urt_config

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

urt_topic_t ..> urt_status_t

urt_message_t "1" *- - "1" urt_osTime_t

urt_message_t ..> urt_config

urt_message_t ..> urt_status_t

urt_basesubscriber_t "1" *- - "1" urt_osEventListener_t

urt_basesubscriber_t "1" *- - "1" urt_osTime_t

urt_basesubscriber_t ..> urt_config

urt_basesubscriber_t ..> urt_status_t

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

urt_nrtsubscriber_t ..> urt_config

urt_nrtsubscriber_t ..> urt_status_t

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

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

urt_srtsubscriber_t ..> urt_config

urt_srtsubscriber_t ..> urt_status_t

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

urt_frtsubscriber_t ..> urt_config

urt_frtsubscriber_t ..> urt_status_t

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

urt_hrtsubscriber_t "1" *- - "1" urt_osTimer_t

urt_hrtsubscriber_t ..> urt_config

urt_hrtsubscriber_t ..> urt_status_t

urt_baserequest_t "1" *- - "1" urt_osMutex_t

urt_baserequest_t "1" *- - "1" urt_osTime_t

urt_baserequest_t "1" *- - "1" urt_osEventSource_t

urt_baserequest_t "1" *- - "1" urt_osEventListener_t

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

urt_nrtrequest_t ..> urt_config

urt_nrtrequest_t ..> urt_status_t

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

urt_srtrequest_t ..> urt_config

urt_srtrequest_t ..> urt_status_t

urt_srtrequest_t ..> urt_usefulness_f

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

urt_frtrequest_t ..> urt_config

urt_frtrequest_t ..> urt_status_t

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

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

urt_hrtrequest_t ..> urt_config

urt_hrtrequest_t ..> urt_status_t

urt_service_t "1" *- - "1" urt_serviceid_t

urt_service_t "1" *- - "1" urt_osMutex_t

urt_service_t "1" *- - "1" urt_osEventSource_t

urt_service_t "1" *- - "1" urt_osEventListener_t

urt_service_t ..> urt_config

urt_service_t ..> urt_status_t

!endsub

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

@enduml

@startuml

title **µRtWare**\nOverview\n

  package "Configuration" <<Node>> {

  class urt_config <<C,BFBFBF>> {

  .. general ..

  URT_CFG_DELAY_WIDTH : int

  URT_CFG_NODESTAGE_WIDTH : int

  .. publish-subscribe ..

  URT_CFG_PUBSUB_ENABLED : bool

  URT_CFG_PUBSUB_TOPICID_WIDTH : int

  URT_CFG_PUBSUB_PROFILING : bool

  URT_CFG_PUBSUB_QOS_DEADLINECHECKS : bool

  URT_CFG_PUBSUB_QOS_RATECHECKS : bool

  URT_CFG_PUBSUB_QOS_JITTERCHECKS : bool

  .. remote procedure calls ..

  URT_CFG_RPC_ENABLED : bool

  URT_CFG_RPC_SERVICEID_WIDTH : int

  URT_CFG_RPC_PROFILING : bool

  URT_CFG_RPC_QOS_DEADLINECHECKS : bool

  URT_CFG_RPC_QOS_JITTERCHECKS : bool

  .. debug ..

  URT_CFG_DEBUG_ENABLED : bool

  .. OSAL ..

  URT_CFG_OSAL_HEADER : string

  URT_CFG_OSAL_CONDVAR_TIMEOUT : bool

}

}

  package "Primitives" <<Node>> {

  class urt_nodestage_t <<T,00CFFF>> {

  .. URT_CFG_NODESTAGE_WIDTH == 8 ..

  uin8_t

  .. URT_CFG_NODESTAGE_WIDTH == 16 ..

  uint16_t

  .. URT_CFG_NODESTAGE_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_NODESTAGE_WIDTH == 64 ..

  uint64_t

}

  class urt_topicid_t <<T,00CFFF>> {

  .. URT_CFG_PUBSUB_TOPICID_WIDTH == 8 ..

  uin8_t

  .. URT_CFG_PUBSUB_TOPICID_WIDTH == 16 ..

  uint16_t

  .. URT_CFG_PUBSUB_TOPICID_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_PUBSUB_TOPICID_WIDTH == 64 ..

  uint64_t

}

  class urt_serviceid_t <<T,00CFFF>> {

  .. URT_CFG_RPC_SERVICEID_WIDTH == 8 ..

  uin8_t

  .. URT_CFG_RPC_SERVICEID_WIDTH == 16 ..

  uint16_t

  .. URT_CFG_RPC_SERVICEID_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_RPC_SERVICEID_WIDTH == 64 ..

  uint64_t

}

  class urt_status_t <<E,FF7F3F>> {

  URT_STATUS_OK = 0

  URT_STATUS_DEADLINEVIOLATION

  URT_STATUS_JITTERVIOLATION

  URT_STATUS_RATEVIOLATION

  URT_STATUS_SYNC_PENDING

  URT_STATUS_SYNC_ERROR

  URT_STATUS_NODE_INVALEVTMASK

  .. URT_CFG_PUBSUB_ENABLED == true ..

  URT_STATUS_TOPIC_DUPLICATE

  URT_STATUS_PUBLISH_TIMEOUT

  URT_STATUS_SUBSCRIBE_TOPICSET

  URT_STATUS_FETCH_NOTOPIC

  URT_STATUS_FETCH_NOMESSAGE

  URT_STATUS_UNSUBSCRIBE_NOTOPIC

  .. URT_CFG_RPC_ENABLED == true ..

  URT_STATUS_SERVICE_DUPLICATE

  URT_STATUS_REQUEST_BADOWNER

  URT_STATUS_REQUEST_LOCKED

}

  class urt_delay_t <<T,00CFFF>> {

  .. URT_CFG_DELAY_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_DELAY_WIDTH == 64 ..

  uint64_t

  __

  URT_DELAY_IMMEDIATE = 0

  URT_DELAY_INFINITE = 0xF..F

}

  class urt_usefulness_f <<F,E0E0E0>> {

  urt_usefulness_f (dt : urt_delay_t, params : void*) : float

}

}

  package "OSAL" <<Node>> {

  package "time" <<Rectangle>> {

    class urt_osTime_t <<T,00CFFF>> {

    + {method} urtTime2Us (t : urt_osTime_t*) : uint64_t

    + {method} urtTimeNow (void) : urt_osTime_t

    + {method} urtTimeAddUs (time : urt_osTime_t*, offset : urt_delay_t) : void

  }

}

  package "mutex" <<Rectangle>> {

    class urt_osMutex_t <<T,00CFFF>> {

    + {method} urtMutexInit (mutex : urt_osMutex_t*) : void

    + {method} urtMutexLock (mutex : urt_osMutex_t*) : void

    + {method} urtMutexTryLock (mutex : urt_osMutex_t*) : bool

    + {method} urtMutexUnlock (mutex : urt_osMutex_t*) : void

  }

}

  package "condition variable" <<Rectangle>> {

    class urt_osCondvarWaitStatus_t <<E,FF7F3F>> {

    URT_CONDVAR_WAITSTATUS_SIGNAL = 1

    URT_CONDVAR_WAITSTATUS_BROADCAST = 2

    URT_CONDVAR_WAITSTATUS_TIMEOUT = 0

  }

    class urt_osCondvar_t <<T,00CFFF>> {

    + {method} urtCondvarInit (condvar : urt_osCondvar_t*) : void

    + {method} urtCondvarSignal (condvar : urt_osCondvar_t*) : void

    + {method} urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void

    .. URT_CFG_OSAL_CONDVAR_TIMEOUT == false ..

    + {method} urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*) : urt_osCondvarWaitStatus_t

    .. URT_CFG_OSAL_CONDVAR_TIMEOUT == true ..

    + {method} urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_osCondvarWaitStatus_t

  }

}

  package "timer" <<Rectangle>> {

    class urt_osTimerCallback_t <<T,00CFFF>> {

    urt_osTimerCallback_t (parameter : void*) : void

  }

    class urt_osTimer_t <<T,00CFFF>> {

    + {method} urtTimerInit (timer : urt_osTimer_t*) : void

    + {method} urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void

    + {method} urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void

    + {method} urtTimerReset (timer : urt_osTimer_t*) : void

    + {method} urtTimerIsArmed (timer : urt_osTimer_t*) : bool

  }

} 

  package "thread" <<Rectangle>> {

    class urt_osThreadPrio_t <<T,00CFFF>> {

    URT_THREAD_PRIO_LOW_MIN

    URT_THREAD_PRIO_LOW_MAX

    URT_THREAD_PRIO_NORMAL_MIN

    URT_THREAD_PRIO_NORMAL_MAX

    URT_THREAD_PRIO_HIGH_MIN

    URT_THREAD_PRIO_HIGH_MAX

    URT_THREAD_PRIO_RT_MIN

    URT_THREAD_PRIO_RT_MAX

  }

    class urt_osThreadFunction_t <<T,00CFFF>> {

    urt_osThreadFunction_t (arg : void*) : void

  }

    class urt_osThreadTerminateSignal_t <<E,FF7F3F>> {

    URT_THREAD_TERMINATE_REQUEST = 15

    URT_THREAD_TERMINATE_KILL = 9

  }

    class urt_osThreadState_t <<E,FF7F3F>> {

    URT_THREAD_STATE_INACTIVE = 0

    URT_THREAD_STATE_RUNNING = 1

    URT_THREAD_STATE_READY = 2

    URT_THREAD_STATE_SLEEPING = 3

    URT_THREAD_STATE_SUSPENDED = 4

    URT_THREAD_STATE_WAITING = 5

    URT_THREAD_STATE_TERMINATED = 6

  }

    class urt_osThread_t <<T,00CFFF>> {

    URT_THREAD_SLEEP_MAX : float

    URT_THREAD_SSLEP_MAX : unsigned int

    URT_THREAD_MSLEEP_MAX : unsigned int

    URT_THREAD_USLEEP_MAX : urt_delay_t

    - -

    + {method} URT_THREAD_MEMORY (varname, stacksize)

    ..

    + {method} urtThreadInit (memory : void*, size : size_t, prio : urt_osThreadPrio_t, func : urt_osThreadFunction_t*, arg : void*) : urt_osThread_t*

    + {method} urtThreadStart (thread : urt_osThread_t*) : void

    + {method} urtThreadYield (void) : void

    + {method} urtThreadGetPriority (void) : urt_osThreadPrio_t

    + {method} urtThreadSetPriority (prio : urt_osThreadPrio_t) : void

    + {method} urtThreadSleep (seconds : float) : void

    + {method} urtThreadSSleep (seconds : unsigned int) : void

    + {method} urtThreadMSleep (milliseconds : unsigned int) : void

    + {method} urtThreadUSleep (microseconds : urt_delay_t) : void

    + {method} urtThreadSleepUntil (time : urt_osTime_t) : void

    + {method} urtThreadExit (void) : void

    + {method} urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void

    + {method} urtThreadShouldTerminate (void) : bool

    + {method} urtThreadJoin (thread : urt_osThread_t*) : void

    + {method} urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t

    + {method} urtThreadGetSelf (void) : urt_osThread_t*

    + urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*

    + urtThreadGetSibling (thread : urt_osThread_t*) : urt_osThread_t*

    + urtThreadGetParent (thread : urt_osThread_t*) : urt_osThread_t*

  }

} 

  package "events" <<Rectangle>> {

    class urt_osEventMask_t <<T,00CFFF>> {

    URT_EVENTMASK_MAXPRIO : urt_osEventMask_t

  }

    class urt_osEventFlags_t <<T,00CFFF>> {

  }

    class urt_osEventWait_t <<E,FF7F3F>> {

    URT_EVENT_WAIT_ONE = 0

    URT_EVENT_WAIT_ANY = 1

    URT_EVENT_WAIT_ALL = 2

  }

    class urt_osEventListener_t <<T,00CFFF>> {

    + {method} urtEventListenerInit (listener : urt_osEventListener_t*) : void

    + {method} urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t

    + {method} urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t

  }

    class urt_osEventSource_t <<T,00CFFF>> {

    + {method} urtEventSourceInit (source : urt_osEventSource_t*) : void

    + {method} urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void

  }

    class urt_events <<F,E0E0E0>> {

    + {method} urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : void

    + {method} urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : void

    + {method} urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWait_t, timeout : urt_delay_t) : urt_osEventMask_t

  }

} 

  package "streams" <<Rectangle>> {

    class urt_streams <<F,E0E0E0>> {

    + {method} urtPrintf (fmt : char*, ... ) : int

    + {method} urtErrPrintf (fmt : char*, ... ) : int

  }

}

  package "debug" <<Rectangle>> {

    class urt_debug <<F,E0E0E0>> {

    + {method} urtDebugAssert (condition : bool) : void

  }

}

}

  package "Middleware" <<Node>> {

  class urt_core_t <<S,BFAFFF>> {

  - {field} {static} _nodes : urt_node_t*

  - {field} {static} _evtSource : urt_osEventSource_t

  - {field} {static} _lock : urt_osMutex_t

  - {field} {static} _status : urt_status_t

  .. URT_CFG_PUBSUB_ENABLED == true ..

  - {field} {static} _topics : urt_topic_t*

  .. URT_CFG_RPC_ENABLED == true ..

  - {field} {static} _services : urt_service_t*

  __

  + {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} 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 (service : urt_service_t*) : void

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

}

  package "node" <<Rectangle>> {

    class urt_nodeSetupCallback_t <<T,00CFFF>> {

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

  }

    class urt_nodeLoopCallback_t <<T,00CFFF>> {

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

  }

    class urt_nodeShutdownCallback_t <<T,00CFFF>> {

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

  }

    class urt_node_t <<S,BFAFFF>> {

    + {field} next : urt_node_t*

    + {field} thread : urt_osThread_t*

    + {field} setupcallback : urt_nodeSetupCallback_t*

    + {field} setupparams : void*

    + {field} loopcallback : urt_nodeLoopCallback_t*

    + {field} loopparams : void*

    + {field} shutdowncallback : urt_nodeShutdownCallback_t*

    + {field} shutdownparams : void*

    + {field} stage : urt_nodestage_t

    + {field} listener : urt_osEventListener_t

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

    + {field} loops : uint64_t

    __

    - {method} {static} _main : urt_osThreadFunction_t

    + {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

  }

} 

  package "Publish-Subscribe System" <<Node>> {

  class urt_message_t <<S,BFAFFF>> {

  + {field} next : urt_message_t*

  + {field} payload : void*

  + {field} originTime : urt_osTime_t

  + {field} numHrtConsumersLeft : unsigned int

  .. URT_CFG_PUBSUB_PROFILING == true ..

  + {field} numConsumersLeft : unsigned int

  __

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

}

  package "subscriber" <<Rectangle>> {

    class urt_basesubscriber_t <<S,BFAFFF>> {

    + {field} topic : urt_topic_t*

    + {field} evtListener : urt_osEventListener_t

    + {field} lastMessage : urt_message_t*

    + {field} lastMessageTime : urt_osTime_t

    .. URT_CFG_PUBSUB_PROFILING == true ..

    + {field} sumLatencies : uint64_t

    + {field} numMessagesReceived : uint64_t

  }

    class urt_nrtsubscriber_t <<S,BFAFFF>> {

    .. URT_CFG_PUBSUB_PROFILING == true ..

    + {field} minLatency : urt_delay_t

    + {field} maxLatency : urt_delay_t

    __

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

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

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

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

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

  }

    class urt_srtsubscriber_t <<S,BFAFFF>> {

    + {field} usefulnesscb : urt_usefulness_f*

    + {field} cbparams : void*

    .. URT_CFG_PUBSUB_PROFILING == true ..

    + {field} minLatency : urt_delay_t

    + {field} maxLatency : urt_delay_t

    __

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

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

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

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

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

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

  }

    class urt_frtsubscriber_t <<S,BFAFFF>> {

    .. URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true ..

    + {field} deadlineOffset : urt_delay_t

    .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ..

    + {field} maxJitter : urt_delay_t

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

    + {field} minLatency : urt_delay_t

    + {field} maxLatency : urt_delay_t

    __

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

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

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

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

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

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

  }

    class urt_hrtsubscriber_t <<S,BFAFFF>> {

    + {field} next : urt_hrtsubscriber_t*

    .. URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true ..

    + {field} deadlineOffset : urt_delay_t

    + {field} qosDeadlineTimer : urt_osTimer_t

    .. URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ..

    + {field} maxJitter : urt_delay_t

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

    + {field} minLatency : urt_delay_t

    + {field} maxLatency : urt_delay_t

    .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..

    + {field} expectedRate : urt_delay_t

    __

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

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

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

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

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

  }

} 

  class urt_publisher_t <<S,BFAFFF>> {

  URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT : bool

  __

  + {field} topic : urt_topic_t*

  .. URT_CFG_PUBSUB_PROFILING == true ..

  + {field} publishAttempts : uint64_t

  + {field} publishFails : uint64_t

  __

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

  .. URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == false ..

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

  .. URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == true ..

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

}

  class urt_topic_t <<S,BFAFFF>> {

  + {field} next : urt_topic_t*

  + {field} id : urt_topicid_t

  + {field} lock : urt_osMutex_t

  + {field} evtSource : urt_osEventSource_t

  + {field} numHrtSubscribers : unsigned int

  + {field} hrtReleased : urt_osCondvar_t

  + {field} mandatoryMessage : urt_message_t

  + {field} latestMessage : urt_message_t*

  .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..

  + {field} hrtSubscribers : urt_hrtsubscriber_t*

  + {field} qosRateTimer : urt_osTimer_t

  .. URT_CFG_PUBSUB_PROFILING == true ..

  + {field} numMessagesPublished : uint64_t

  + {field} numMessagesDiscarded : uint64_t

  + {field} numSubscribers : unsigned int

  __

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

}

}

  package "Remote Procedure Call System" <<Node>> {

  package "request" <<Rectangle>> {

    class urt_baserequest_t <<S,BFAFFF>> {

    + {field} prev : urt_baserequest_t*

    + {field} next : urt_baserequest_t*

    + {field} lock : urt_osMutex_t

    + {field} owner : urt_service_t*

    + {field} submissionTime : urt_osTime_t

    + {field} payload : void*

    + {field} evtSource : urt_osEventSource_t

    + {field} evtListener : urt_osEventListener_t

    .. URT_CFG_RPC_PROFILING == true ..

    + {field} sumLatencies : uint64_t

    + {field} numCalls : uint64_t

    + {field} numFails : uint64_t

  }

    class urt_nrtrequest_t <<S,BFAFFF>> {

    .. URT_CFG_RPC_PROFILING == true ..

    + {field} minLatency : urt_delay_t

    + {field} maxLatency : urt_delay_t

    __

    + {method} urtNrtRequestInit (request : urt_nrtrequest_t*) : void

    + {method} urtNrtRequestAcquire (request : urt_nrtrequest_t*) : urt_status_t

    + {method} urtNrtRequestTryAcquire (request : urt_nrtrequest_t*) : urt_status_t

    + {method} urtNrtRequestRelease (request : urt_nrtrequest_t*) : urt_status_t

    + {method} urtNrtRequestSubmit (request : urt_nrtrequest_t*, service : urt_service_t*) : urt_status_t

    + {method} urtNrtRequestRetrieve (request : urt_nrtrequest_t*) : urt_status_t

  }

    class urt_srtrequest_t <<S,BFAFFF>> {

    .. URT_CFG_RPC_PROFILING == true ..

    + {field} minLatency : urt_delay_t

    + {field} maxLatency : urt_delay_t

    __

    + {method} urtSrtRequestInit (request : urt_srtrequest_t*) : void

    + {method} urtSrtRequestAcquire (request : urt_srtrequest_t*) : urt_status_t

    + {method} urtSrtRequestTryAcquire (request : urt_srtrequest_t*) : urt_status_t

    + {method} urtSrtRequestRelease (request : urt_srtrequest_t*) : urt_status_t

    + {method} urtSrtRequestSubmit (request : urt_srtrequest_t*, service : urt_service_t*) : urt_status_t

    + {method} urtSrtRequestRetrieve (request : urt_srtrequest_t*) : urt_status_t

    + {method} urtSrtCalculateUsefulness (request : urt_srtrequest_t*, usefulnesscb : urt_usefulness_f, cbparams : void*) : float

  }

    class urt_frtrequest_t <<S,BFAFFF>> {

    .. URT_CFG_RPC_QOS_DEADLINECHECKS == true ..

    + {field} deadlineOffset : urt_delay_t

    .. URT_CFG_RPC_QOS_JITTERCHECKS == true ..

    + {field} maxJitter : urt_delay_t

    .. URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true ..

    + {field} minLatency : urt_delay_t

    + {field} maxLatency : urt_delay_t

    __

    + {method} urtFrtRequestInit (request : urt_frtrequest_t*) : void

    + {method} urtFrtRequestAcquire (request : urt_frtrequest_t*) : urt_status_t

    + {method} urtFrtRequestTryAcquire (request : urt_frtrequest_t*) : urt_status_t

    + {method} urtFrtRequestRelease (request : urt_frtrequest_t*) : urt_status_t

    + {method} urtFrtRequestSubmit (request : urt_frtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t

    + {method} urtFrtRequestRetrieve (request : urt_frtrequest_t*) : urt_status_t

    + {method} urtDrtCalculateValidity (request : urt_frtrequest_t) : bool

    .. URT_CFG_RPC_QOS_JITTERCHECKS == true ..

    + {method} urtFrtRequestGetMaxJitter (request : urt_frtrequest_t*) : urt_delay_t* const

  }

    class urt_hrtrequest_t <<S,BFAFFF>> {

    .. URT_CFG_RPC_QOS_DEADLINECHECKS == true ..

    + {field} deadlineOffset : urt_delay_t

    .. URT_CFG_RPC_QOS_JITTERCHECKS == true ..

    + {field} maxJitter : urt_delay_t

    .. URT_CFG_RPC_QOS_DEADLINECHECKS == true || URT_CFG_RPC_QOS_JITTERCHECKS == true ..

    + {field} qosTimer : urt_osTimer_t

    .. URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true ..

    + {field} minLatency : urt_delay_t

    + {field} maxLatency : urt_delay_t

    __

    + {method} urtHrtRequestInit (request : urt_hrtrequest_t*) : void

    + {method} urtHrtRequestAcquire (request : urt_hrtrequest_t*) : urt_status_t

    + {method} urtHrtRequestTryAcquire (request : urt_hrtrequest_t*) : urt_status_t

    + {method} urtHrtRequestRelease (request : urt_hrtrequest_t*) : urt_status_t

    + {method} urtHrtRequestSubmit (request : urt_hrtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t

    + {method} urtHrtRequestRetrieve (request : urt_hrtrequest_t*) : urt_status_t

    .. URT_CFG_RPC_QOS_JITTERCHECKS == true ..

    + {method} urtHrtRequestGetMaxJitter (request : urt_hrtrequest_t*) : urt_delay_t* const

  }

}

  class urt_service_t <<S,BFAFFF>> {

  + {field} next : urt_service_t*

  + {field} id : urt_serviceid_t

  + {field} lock : urt_osMutex_t

  + {field} requestQueue_front : urt_baserequest_t*

  + {field} requestQueue_hrtBack : urt_hrtrequest_t*

  + {field} requestQueue_fsrtBack : urt_baserequest_t*

  + {field} requestQueue_back : urt_baserequest_t*

  + {field} evtSource : urt_osEventSource_t

  + {field} evtListener : urt_osEventListener_t

  .. URT_CFG_RPC_PROFILING == true ..

  + {field} numCalls : uint64_t

  + {field} numOwnershipLost : uint64_t

  __

  + {method} urtServiceInit (service : urt_service_t*, id : urt_serviceid_t) : urt_status_t

  + {method} urtServiceDispatch (service : urt_service_t*, payload : void*, bytes : size_t) : urt_baserequest_t*

  + {method} urtServiceAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t

  + {method} urtServiceTryAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t

  + {method} urtServiceRespond (request : urt_baserequest_t*) : urt_status_t

}

}

}

urt_usefulness_f ..> urt_delay_t

urt_nodestage_t ..> urt_config

urt_topicid_t ..> urt_config

urt_serviceid_t ..> urt_config

urt_delay_t ..> urt_config

urt_osCondvar_t ..> urt_osCondvarWaitStatus_t

urt_osCondvar_t .> urt_osMutex_t

urt_osTimer_t ..> urt_osTimerCallback_t

urt_osThread_t ..> urt_osThreadPrio_t

urt_osThread_t ..> urt_osThreadFunction_t

urt_osThread_t ..> urt_osThreadTerminateSignal_t

urt_osThread_t ..> urt_osThreadState_t

urt_osThread_t .> urt_osTime_t

urt_osEventListener_t ..> urt_osEventFlags_t

urt_osEventSource_t ..> urt_osEventFlags_t

urt_events ..> urt_osEventSource_t

urt_events ..> urt_osEventListener_t

urt_events ..> urt_osEventMask_t

urt_events ..> urt_osEventFlags_t

urt_events ..> urt_osEventWait_t

urt_osTime_t ..> urt_delay_t

urt_osCondvar_t ..> urt_delay_t

urt_osThread_t ..> urt_delay_t

urt_osTimer_t ..> urt_delay_t

urt_events ..> urt_delay_t

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

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

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

urt_nrtsubscriber_t - -|> urt_basesubscriber_t

urt_srtsubscriber_t - -|> urt_basesubscriber_t

urt_frtsubscriber_t - -|> urt_basesubscriber_t

urt_hrtsubscriber_t - -|> urt_basesubscriber_t

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

urt_publisher_t "1" o- "1" urt_topic_t

urt_publisher_t ..> urt_message_t

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

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

urt_topic_t "1" *- - "1" urt_message_t

urt_baserequest_t "1" o- "0,1,2" urt_baserequest_t

urt_baserequest_t "1" o- "0,1" urt_service_t

urt_nrtrequest_t - -|> urt_baserequest_t

urt_nrtrequest_t ..> urt_service_t

urt_srtrequest_t - -|> urt_baserequest_t

urt_srtrequest_t ..> urt_service_t

urt_frtrequest_t - -|> urt_baserequest_t

urt_frtrequest_t ..> urt_service_t

urt_hrtrequest_t - -|> urt_baserequest_t

urt_hrtrequest_t ..> urt_service_t

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

urt_service_t "1" o- "0,2,3" urt_baserequest_t

urt_service_t "1" o- "0,1" urt_hrtrequest_t

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

urt_core_t "1" *- - "1" urt_osEventSource_t

urt_core_t "1" *- - "1" urt_osMutex_t

urt_core_t "1" *- - "1" urt_status_t

urt_core_t ..> urt_nodestage_t

urt_core_t ..> urt_topicid_t

urt_core_t ..> urt_serviceid_t

urt_node_t "1" o- - "1" urt_osThread_t

urt_node_t "1" *- - "1" urt_nodestage_t

urt_node_t "1" *- - "1" urt_osEventListener_t

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

urt_node_t ..> urt_status_t

urt_nodeSetupCallback_t ..> urt_osEventMask_t

urt_nodeLoopCallback_t ..> urt_osEventMask_t

urt_publisher_t ..> urt_config

urt_publisher_t ..> urt_status_t

urt_publisher_t ..> urt_delay_t

urt_topic_t "1" *- - "1" urt_topicid_t

urt_topic_t "1" *- - "1" urt_osMutex_t

urt_topic_t "1" *- - "1" urt_osEventSource_t

urt_topic_t "1" *- - "1" urt_osCondvar_t

urt_topic_t ..> urt_config

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

urt_topic_t ..> urt_status_t

urt_message_t "1" *- - "1" urt_osTime_t

urt_message_t ..> urt_config

urt_message_t ..> urt_status_t

urt_basesubscriber_t "1" *- - "1" urt_osEventListener_t

urt_basesubscriber_t "1" *- - "1" urt_osTime_t

urt_basesubscriber_t ..> urt_config

urt_basesubscriber_t ..> urt_status_t

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

urt_nrtsubscriber_t ..> urt_config

urt_nrtsubscriber_t ..> urt_status_t

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

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

urt_srtsubscriber_t ..> urt_config

urt_srtsubscriber_t ..> urt_status_t

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

urt_frtsubscriber_t ..> urt_config

urt_frtsubscriber_t ..> urt_status_t

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

urt_hrtsubscriber_t "1" *- - "1" urt_osTimer_t

urt_hrtsubscriber_t ..> urt_config

urt_hrtsubscriber_t ..> urt_status_t

urt_baserequest_t "1" *- - "1" urt_osMutex_t

urt_baserequest_t "1" *- - "1" urt_osTime_t

urt_baserequest_t "1" *- - "1" urt_osEventSource_t

urt_baserequest_t "1" *- - "1" urt_osEventListener_t

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

urt_nrtrequest_t ..> urt_config

urt_nrtrequest_t ..> urt_status_t

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

urt_srtrequest_t ..> urt_config

urt_srtrequest_t ..> urt_status_t

urt_srtrequest_t ..> urt_usefulness_f

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

urt_frtrequest_t ..> urt_config

urt_frtrequest_t ..> urt_status_t

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

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

urt_hrtrequest_t ..> urt_config

urt_hrtrequest_t ..> urt_status_t

urt_service_t "1" *- - "1" urt_serviceid_t

urt_service_t "1" *- - "1" urt_osMutex_t

urt_service_t "1" *- - "1" urt_osEventSource_t

urt_service_t "1" *- - "1" urt_osEventListener_t

urt_service_t ..> urt_config

urt_service_t ..> urt_status_t

@enduml

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

Default Encoding: UTF-8

Language: de

Country: DE

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