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="1847px" preserveAspectRatio="none" style="width:18960px;height:1847px;" version="1.1" viewBox="0 0 18960 1847" width="18960px" zoomAndPan="magnify"><defs><filter height="300%" id="fagms9f8d8o9c" 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="9419.5" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="87" x="9420.5" y="37.6611">Overview</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="9467" y="58.6143"/><!--MD5=[915f6a2b4bff9d90dc7327d570275f1b]

cluster Configuration--><polygon fill="#FFFFFF" filter="url(#fagms9f8d8o9c)" points="12199.3567,1476.8594,12209.3567,1466.8594,12505.3567,1466.8594,12505.3567,1825.8594,12495.3567,1835.8594,12199.3567,1835.8594,12199.3567,1476.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="12495.3567" x2="12504.3567" y1="1476.8594" y2="1467.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="12199.3567" x2="12495.3567" y1="1476.8594" y2="1476.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="12495.3567" x2="12495.3567" y1="1476.8594" y2="1835.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="107" x="12294.8567" y="1492.8545">Configuration</text><!--MD5=[1cb8ced355c85ab51f1ab55883ed8585]

cluster Primitives--><polygon fill="#FFFFFF" filter="url(#fagms9f8d8o9c)" points="6364.3567,892.3594,6374.3567,882.3594,7776.3567,882.3594,7776.3567,1428.3594,7766.3567,1438.3594,6364.3567,1438.3594,6364.3567,892.3594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7766.3567" x2="7775.3567" y1="892.3594" y2="883.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="6364.3567" x2="7766.3567" y1="892.3594" y2="892.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7766.3567" x2="7766.3567" y1="892.3594" y2="1438.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="77" x="7027.8567" y="908.3545">Primitives</text><!--MD5=[ba9da179b6f0b3bb0ea21772c5f4ec75]

cluster OSAL--><polygon fill="#FFFFFF" filter="url(#fagms9f8d8o9c)" points="578.3567,828.8594,588.3567,818.8594,6069.3567,818.8594,6069.3567,1693.3594,6059.3567,1703.3594,578.3567,1703.3594,578.3567,828.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="6059.3567" x2="6068.3567" y1="828.8594" y2="819.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="578.3567" x2="6059.3567" y1="828.8594" y2="828.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="6059.3567" x2="6059.3567" y1="828.8594" y2="1703.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="42" x="3298.8567" y="844.8545">OSAL</text><!--MD5=[3dab47d3fc3e186ff10f67819eb99ff8]

cluster time--><rect fill="#FFFFFF" filter="url(#fagms9f8d8o9c)" height="121" style="stroke: #000000; stroke-width: 1.5;" width="402" x="5659.3567" y="983.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="34" x="5843.3567" y="998.3545">time</text><!--MD5=[48ccbfc44b1b031f9b243763d7ad5184]

cluster mutex--><rect fill="#FFFFFF" filter="url(#fagms9f8d8o9c)" height="134" style="stroke: #000000; stroke-width: 1.5;" width="314" x="4581.3567" y="976.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="49" x="4713.8567" y="991.8545">mutex</text><!--MD5=[2e45f233f6bb64aa81ebe67fb6de8946]

cluster condition variable--><rect fill="#FFFFFF" filter="url(#fagms9f8d8o9c)" height="457.5" style="stroke: #000000; stroke-width: 1.5;" width="726" x="4914.3567" y="957.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="140" x="5207.3567" y="972.3545">condition variable</text><!--MD5=[c7113df1f710ca294cbd01734aa00974]

cluster timer--><rect fill="#FFFFFF" filter="url(#fagms9f8d8o9c)" height="432" style="stroke: #000000; stroke-width: 1.5;" width="754" x="3808.3567" y="970.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="4164.8567" y="985.3545">timer</text><!--MD5=[107bb3f79455a18bd83c75ada1ac7979]

cluster thread--><rect fill="#FFFFFF" filter="url(#fagms9f8d8o9c)" height="596" style="stroke: #000000; stroke-width: 1.5;" width="1039" x="2761.3567" y="850.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="3254.8567" y="865.8545">thread</text><!--MD5=[8d74b40516bd265adb19f202ab81f40d]

cluster events--><rect fill="#FFFFFF" filter="url(#fagms9f8d8o9c)" height="712" style="stroke: #000000; stroke-width: 1.5;" width="1642" x="1100.3567" y="983.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="54" x="1894.3567" y="998.3545">events</text><!--MD5=[b978ecedb6f4da3f32705dc09c84a7d6]

cluster streams--><rect fill="#FFFFFF" filter="url(#fagms9f8d8o9c)" height="109" style="stroke: #000000; stroke-width: 1.5;" width="226" x="866.3567" y="989.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="64" x="947.3567" y="1004.3545">streams</text><!--MD5=[62106fc051f244acf17caf792167c8db]

cluster debug--><rect fill="#FFFFFF" filter="url(#fagms9f8d8o9c)" height="96" style="stroke: #000000; stroke-width: 1.5;" width="262" x="586.3567" y="995.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="50" x="692.3567" y="1010.8545">debug</text><!--MD5=[4e1a3510868d06a507f098bb08f0dae0]

cluster Middleware--><polygon fill="#FFFFFF" filter="url(#fagms9f8d8o9c)" points="7784.3567,88.8594,7794.3567,78.8594,18449.3567,78.8594,18449.3567,1440.8594,18439.3567,1450.8594,7784.3567,1450.8594,7784.3567,88.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="18439.3567" x2="18448.3567" y1="88.8594" y2="79.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7784.3567" x2="18439.3567" y1="88.8594" y2="88.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="18439.3567" x2="18439.3567" y1="88.8594" y2="1450.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="91" x="13067.3567" y="104.8545">Middleware</text><!--MD5=[b9de0669a29c7bc934fd916b09c39491]

cluster node--><rect fill="#FFFFFF" filter="url(#fagms9f8d8o9c)" height="566.5" style="stroke: #000000; stroke-width: 1.5;" width="1674" x="16767.3567" y="525.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="40" x="17584.3567" y="540.3545">node</text><!--MD5=[d74e2ef346f73688f9378f6d3d42598c]

cluster Publish-Subscribe System--><polygon fill="#FFFFFF" filter="url(#fagms9f8d8o9c)" points="11433.3567,484.3594,11443.3567,474.3594,16759.3567,474.3594,16759.3567,1432.8594,16749.3567,1442.8594,11433.3567,1442.8594,11433.3567,484.3594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="16749.3567" x2="16758.3567" y1="484.3594" y2="475.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="11433.3567" x2="16749.3567" y1="484.3594" y2="484.3594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="16749.3567" x2="16749.3567" y1="484.3594" y2="1442.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="205" x="13989.8567" y="500.3545">Publish-Subscribe System</text><!--MD5=[16a3bbbe805f94d6e6ce317c08ab945e]

cluster subscriber--><rect fill="#FFFFFF" filter="url(#fagms9f8d8o9c)" height="622" style="stroke: #000000; stroke-width: 1.5;" width="4062" x="12689.3567" y="506.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="85" x="14677.8567" y="521.3545">subscriber</text><!--MD5=[810d0f07e53ef611b6d803ef30301147]

cluster Remote Procedure Call System--><polygon fill="#FFFFFF" filter="url(#fagms9f8d8o9c)" points="8142.3567,120.8594,8152.3567,110.8594,11425.3567,110.8594,11425.3567,800.8594,11415.3567,810.8594,8142.3567,810.8594,8142.3567,120.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="11415.3567" x2="11424.3567" y1="120.8594" y2="111.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="8142.3567" x2="11415.3567" y1="120.8594" y2="120.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="11415.3567" x2="11415.3567" y1="120.8594" y2="810.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="244" x="9657.8567" y="136.8545">Remote Procedure Call System</text><!--MD5=[ecaf13b018fb9788c80013f5b3634b61]

cluster request--><rect fill="#FFFFFF" filter="url(#fagms9f8d8o9c)" height="632" style="stroke: #000000; stroke-width: 1.5;" width="2645" x="8772.3567" y="142.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="62" x="10063.8567" y="157.8545">request</text><!--MD5=[e443ac33c80100c2d54e1f5fe669f6d7]

class urt_config--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="328.8984" id="urt_config" style="stroke: #A80036; stroke-width: 1.5;" width="290" x="12207.3567" y="1498.8594"/><ellipse cx="12317.1067" cy="1514.8594" fill="#BFBFBF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12320.0755,1520.5 Q12319.4973,1520.7969 12318.8567,1520.9375 Q12318.2161,1521.0938 12317.513,1521.0938 Q12315.013,1521.0938 12313.6848,1519.4531 Q12312.3723,1517.7969 12312.3723,1514.6719 Q12312.3723,1511.5469 12313.6848,1509.8906 Q12315.013,1508.2344 12317.513,1508.2344 Q12318.2161,1508.2344 12318.8567,1508.3906 Q12319.513,1508.5469 12320.0755,1508.8438 L12320.0755,1511.5625 Q12319.4505,1510.9844 12318.8567,1510.7188 Q12318.263,1510.4375 12317.638,1510.4375 Q12316.2942,1510.4375 12315.6067,1511.5156 Q12314.9192,1512.5781 12314.9192,1514.6719 Q12314.9192,1516.7656 12315.6067,1517.8438 Q12316.2942,1518.9063 12317.638,1518.9063 Q12318.263,1518.9063 12318.8567,1518.6406 Q12319.4505,1518.3594 12320.0755,1517.7813 L12320.0755,1520.5 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="62" x="12337.6067" y="1519.0137">urt_config</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12208.3567" x2="12496.3567" y1="1530.8594" y2="1530.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="159" x="12213.3567" y="1561.8745">URT_CFG_DELAY_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="12213.3567" y="1574.6792">URT_CFG_NODESTAGE_WIDTH : int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12208.3567" x2="12330.8567" y1="1545.2617" y2="1545.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="43" x="12330.8567" y="1548.5698">general</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12373.8567" x2="12496.3567" y1="1545.2617" y2="1545.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="12213.3567" y="1604.2886">URT_CFG_PUBSUB_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="222" x="12213.3567" y="1617.0933">URT_CFG_PUBSUB_TOPICID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="204" x="12213.3567" y="1629.8979">URT_CFG_PUBSUB_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="278" x="12213.3567" y="1642.7026">URT_CFG_PUBSUB_QOS_DEADLINECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="252" x="12213.3567" y="1655.5073">URT_CFG_PUBSUB_QOS_RATECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="12213.3567" y="1668.312">URT_CFG_PUBSUB_QOS_JITTERCHECKS : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12208.3567" x2="12301.8567" y1="1587.6758" y2="1587.6758"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="12301.8567" y="1590.9839">publish-subscribe</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12402.8567" x2="12496.3567" y1="1587.6758" y2="1587.6758"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="12213.3567" y="1697.9214">URT_CFG_RPC_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="12213.3567" y="1710.7261">URT_CFG_RPC_SERVICEID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="12213.3567" y="1723.5308">URT_CFG_RPC_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="253" x="12213.3567" y="1736.3354">URT_CFG_RPC_QOS_DEADLINECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="12213.3567" y="1749.1401">URT_CFG_RPC_QOS_JITTERCHECKS : bool</text><line style="stroke: #A80036; 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class urt_usefulness_f--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="60.8047" id="urt_usefulness_f" style="stroke: #A80036; stroke-width: 1.5;" width="334" x="6918.3567" y="1022.8594"/><ellipse cx="7030.1067" cy="1038.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7034.3411,1034.625 L7029.0598,1034.625 L7029.0598,1037.2969 L7033.8567,1037.2969 L7033.8567,1039.4531 L7029.0598,1039.4531 L7029.0598,1044.8594 L7026.6223,1044.8594 L7026.6223,1032.4688 L7034.3411,1032.4688 L7034.3411,1034.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="7050.6067" y="1043.0137">urt_usefulness_f</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6919.3567" x2="7251.3567" y1="1054.8594" y2="1054.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="6919.3567" x2="7251.3567" y1="1062.8594" y2="1062.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="322" x="6924.3567" y="1077.0698">urt_usefulness_f (dt : urt_delay_t, params : void*) : float</text><!--MD5=[3677786d1f00795918091b0110bfa4af]

class urt_osTime_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="385" x="5667.8567" y="1010.3594"/><ellipse cx="5816.6067" cy="1026.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5817.4505,1033.1094 L5814.9973,1033.1094 L5814.9973,1022.8594 L5811.8567,1022.8594 L5811.8567,1020.7188 L5820.5911,1020.7188 L5820.5911,1022.8594 L5817.4505,1022.8594 L5817.4505,1033.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="5837.1067" y="1030.5137">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5668.8567" x2="6051.8567" y1="1042.3594" y2="1042.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5668.8567" x2="6051.8567" y1="1050.3594" y2="1050.3594"/><ellipse cx="5678.8567" cy="1061.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="231" x="5687.8567" y="1064.5698">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="5678.8567" cy="1074.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="5687.8567" y="1077.3745">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="5678.8567" cy="1086.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="359" x="5687.8567" y="1090.1792">urtTimeAddUs (time : urt_osTime_t*, offset : urt_delay_t) : void</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]

class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="4589.3567" y="1003.8594"/><ellipse cx="4690.6067" cy="1019.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4691.4505,1026.6094 L4688.9973,1026.6094 L4688.9973,1016.3594 L4685.8567,1016.3594 L4685.8567,1014.2188 L4694.5911,1014.2188 L4694.5911,1016.3594 L4691.4505,1016.3594 L4691.4505,1026.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="4711.1067" y="1024.0137">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4590.3567" x2="4886.3567" y1="1035.8594" y2="1035.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4590.3567" x2="4886.3567" y1="1043.8594" y2="1043.8594"/><ellipse cx="4600.3567" cy="1054.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="245" x="4609.3567" y="1058.0698">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="4600.3567" cy="1067.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="253" x="4609.3567" y="1070.8745">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="4600.3567" cy="1080.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="4609.3567" y="1083.6792">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="4600.3567" cy="1093.2734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="4609.3567" y="1096.4839">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--MD5=[52fa11869cb40c93fa7702378ddd839e]

class urt_osCondvarWaitStatus_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="86.4141" id="urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="5142.3567" y="1320.8594"/><ellipse cx="5188.6067" cy="1336.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5192.7161,1342.8594 L5184.9973,1342.8594 L5184.9973,1330.4688 L5192.7161,1330.4688 L5192.7161,1332.625 L5187.4505,1332.625 L5187.4505,1335.2969 L5192.2161,1335.2969 L5192.2161,1337.4531 L5187.4505,1337.4531 L5187.4505,1340.7031 L5192.7161,1340.7031 L5192.7161,1342.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="169" x="5209.1067" y="1341.0137">urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5143.3567" x2="5411.3567" y1="1352.8594" y2="1352.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="5148.3567" y="1367.0698">URT_CONDVAR_WAITSTATUS_SIGNAL = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="5148.3567" y="1379.8745">URT_CONDVAR_WAITSTATUS_BROADCAST = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="5148.3567" y="1392.6792">URT_CONDVAR_WAITSTATUS_TIMEOUT = 0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5143.3567" x2="5411.3567" y1="1399.2734" y2="1399.2734"/><!--MD5=[004fc5dee471033e8e4138c1c73f0692]

class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="137.6328" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="4922.3567" y="984.3594"/><ellipse cx="5222.6067" cy="1000.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5223.4505,1007.1094 L5220.9973,1007.1094 L5220.9973,996.8594 L5217.8567,996.8594 L5217.8567,994.7188 L5226.5911,994.7188 L5226.5911,996.8594 L5223.4505,996.8594 L5223.4505,1007.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="5243.1067" y="1004.5137">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4923.3567" x2="5631.3567" y1="1016.3594" y2="1016.3594"/><ellipse cx="4933.3567" cy="1027.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="283" x="4942.3567" y="1030.5698">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4933.3567" cy="1040.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="301" x="4942.3567" y="1043.3745">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4933.3567" cy="1052.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="324" x="4942.3567" y="1056.1792">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="4933.3567" cy="1082.5781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="559" x="4942.3567" y="1085.7886">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*) : urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4923.3567" x2="5148.8567" y1="1069.1758" y2="1069.1758"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="257" x="5148.8567" y="1072.4839">URT_CFG_OSAL_CONDVAR_TIMEOUT == false</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5405.8567" x2="5631.3567" y1="1069.1758" y2="1069.1758"/><ellipse cx="4933.3567" cy="1112.1875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="684" x="4942.3567" y="1115.3979">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4923.3567" x2="5151.3567" y1="1098.7852" y2="1098.7852"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="252" x="5151.3567" y="1102.0933">URT_CFG_OSAL_CONDVAR_TIMEOUT == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="5403.3567" x2="5631.3567" y1="1098.7852" y2="1098.7852"/><!--MD5=[93799a03260ba286abda700174f4f205]

class urt_osTimerCallback_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="4042.3567" y="1333.3594"/><ellipse cx="4113.1067" cy="1349.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4113.9505,1356.1094 L4111.4973,1356.1094 L4111.4973,1345.8594 L4108.3567,1345.8594 L4108.3567,1343.7188 L4117.0911,1343.7188 L4117.0911,1345.8594 L4113.9505,1345.8594 L4113.9505,1356.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="4133.6067" y="1353.5137">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4043.3567" x2="4327.3567" y1="1365.3594" y2="1365.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4043.3567" x2="4327.3567" y1="1373.3594" y2="1373.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="4048.3567" y="1387.5698">urt_osTimerCallback_t (parameter : void*) : void</text><!--MD5=[0b340d7b925b1eab6a1b7e084f68a7c2]

class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="112.0234" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="737" x="3816.8567" y="997.3594"/><ellipse cx="4139.1067" cy="1013.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4139.9505,1020.1094 L4137.4973,1020.1094 L4137.4973,1009.8594 L4134.3567,1009.8594 L4134.3567,1007.7188 L4143.0911,1007.7188 L4143.0911,1009.8594 L4139.9505,1009.8594 L4139.9505,1020.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="4159.6067" y="1017.5137">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3817.8567" x2="4552.8567" y1="1029.3594" y2="1029.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3817.8567" x2="4552.8567" y1="1037.3594" y2="1037.3594"/><ellipse cx="3827.8567" cy="1048.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="3836.8567" y="1051.5698">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="3827.8567" cy="1061.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="660" x="3836.8567" y="1064.3745">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void</text><ellipse cx="3827.8567" cy="1073.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="711" x="3836.8567" y="1077.1792">urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : void</text><ellipse cx="3827.8567" cy="1086.7734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="255" x="3836.8567" y="1089.9839">urtTimerReset (timer : urt_osTimer_t*) : void</text><ellipse cx="3827.8567" cy="1099.5781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3836.8567" y="1102.7886">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--MD5=[86c16d91227b9a9ec3b6b9b0285de4e9]

class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="3317.8567" y="1288.8594"/><ellipse cx="3354.0067" cy="1304.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3354.8505,1311.6094 L3352.3973,1311.6094 L3352.3973,1301.3594 L3349.2567,1301.3594 L3349.2567,1299.2188 L3357.9911,1299.2188 L3357.9911,1301.3594 L3354.8505,1301.3594 L3354.8505,1311.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="3372.7067" y="1309.0137">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3318.8567" x2="3513.8567" y1="1320.8594" y2="1320.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="3323.8567" y="1335.0698">URT_THREAD_PRIO_LOW_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="3323.8567" y="1347.8745">URT_THREAD_PRIO_LOW_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="3323.8567" y="1360.6792">URT_THREAD_PRIO_NORMAL_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="3323.8567" y="1373.4839">URT_THREAD_PRIO_NORMAL_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="3323.8567" y="1386.2886">URT_THREAD_PRIO_HIGH_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="3323.8567" y="1399.0933">URT_THREAD_PRIO_HIGH_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="3323.8567" y="1411.8979">URT_THREAD_PRIO_RT_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="3323.8567" y="1424.7026">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3318.8567" x2="3513.8567" y1="1431.2969" y2="1431.2969"/><!--MD5=[69d8aab9aa387a2f5052ea3da80e80ea]

class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="2769.3567" y="1333.3594"/><ellipse cx="2817.1067" cy="1349.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2817.9505,1356.1094 L2815.4973,1356.1094 L2815.4973,1345.8594 L2812.3567,1345.8594 L2812.3567,1343.7188 L2821.0911,1343.7188 L2821.0911,1345.8594 L2817.9505,1345.8594 L2817.9505,1356.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="2837.6067" y="1353.5137">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2770.3567" x2="3020.3567" y1="1365.3594" y2="1365.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2770.3567" x2="3020.3567" y1="1373.3594" y2="1373.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="2775.3567" y="1387.5698">urt_osThreadFunction_t (arg : void*) : void</text><!--MD5=[ab5f611d45c3fa10609c33f780d8c3e1]

class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="3550.3567" y="1326.8594"/><ellipse cx="3572.1067" cy="1342.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3576.2161,1348.8594 L3568.4973,1348.8594 L3568.4973,1336.4688 L3576.2161,1336.4688 L3576.2161,1338.625 L3570.9505,1338.625 L3570.9505,1341.2969 L3575.7161,1341.2969 L3575.7161,1343.4531 L3570.9505,1343.4531 L3570.9505,1346.7031 L3576.2161,1346.7031 L3576.2161,1348.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="3587.6067" y="1347.0137">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3551.3567" x2="3791.3567" y1="1358.8594" y2="1358.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="3556.3567" y="1373.0698">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="3556.3567" y="1385.8745">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3551.3567" x2="3791.3567" y1="1392.4688" y2="1392.4688"/><!--MD5=[47d14ad2c233fae1b32b8d0a283e820a]

class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="137.6328" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="3056.3567" y="1294.8594"/><ellipse cx="3101.1067" cy="1310.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3105.2161,1316.8594 L3097.4973,1316.8594 L3097.4973,1304.4688 L3105.2161,1304.4688 L3105.2161,1306.625 L3099.9505,1306.625 L3099.9505,1309.2969 L3104.7161,1309.2969 L3104.7161,1311.4531 L3099.9505,1311.4531 L3099.9505,1314.7031 L3105.2161,1314.7031 L3105.2161,1316.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="3121.6067" y="1315.0137">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3057.3567" x2="3281.3567" y1="1326.8594" y2="1326.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="3062.3567" y="1341.0698">URT_THREAD_STATE_INACTIVE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="3062.3567" y="1353.8745">URT_THREAD_STATE_RUNNING = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="3062.3567" y="1366.6792">URT_THREAD_STATE_READY = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="3062.3567" y="1379.4839">URT_THREAD_STATE_SLEEPING = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="3062.3567" y="1392.2886">URT_THREAD_STATE_SUSPENDED = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="3062.3567" y="1405.0933">URT_THREAD_STATE_WAITING = 5</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="3062.3567" y="1417.8979">URT_THREAD_STATE_TERMINATED = 6</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3057.3567" x2="3281.3567" y1="1424.4922" y2="1424.4922"/><!--MD5=[0a16224ede9ffa9bb2d34e085a076e6d]

class urt_osThread_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="350.5078" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="778" x="3003.3567" y="877.8594"/><ellipse cx="3341.1067" cy="893.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3341.9505,900.6094 L3339.4973,900.6094 L3339.4973,890.3594 L3336.3567,890.3594 L3336.3567,888.2188 L3345.0911,888.2188 L3345.0911,890.3594 L3341.9505,890.3594 L3341.9505,900.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="3361.6067" y="898.0137">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3004.3567" x2="3780.3567" y1="909.8594" y2="909.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="3009.3567" y="924.0698">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="3009.3567" y="936.8745">URT_THREAD_SSLEP_MAX : unsigned int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="3009.3567" y="949.6792">URT_THREAD_MSLEEP_MAX : unsigned int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="3009.3567" y="962.4839">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="3004.3567" x2="3780.3567" y1="969.0781" y2="969.0781"/><ellipse cx="3014.3567" cy="980.0781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="248" x="3023.3567" y="983.2886">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3004.3567" x2="3780.3567" y1="989.8828" y2="989.8828"/><ellipse cx="3014.3567" cy="1000.8828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="752" x="3023.3567" y="1004.0933">urtThreadInit (memory : void*, size : size_t, prio : urt_osThreadPrio_t, func : urt_osThreadFunction_t*, arg : void*) : urt_osThread_t*</text><ellipse cx="3014.3567" cy="1013.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="3023.3567" y="1016.8979">urtThreadStart (thread : urt_osThread_t*) : void</text><ellipse cx="3014.3567" cy="1026.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="3023.3567" y="1029.7026">urtThreadYield (void) : void</text><ellipse cx="3014.3567" cy="1039.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3023.3567" y="1042.5073">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="3014.3567" cy="1052.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="304" x="3023.3567" y="1055.312">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="3014.3567" cy="1064.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="220" x="3023.3567" y="1068.1167">urtThreadSleep (seconds : float) : void</text><ellipse cx="3014.3567" cy="1077.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="273" x="3023.3567" y="1080.9214">urtThreadSSleep (seconds : unsigned int) : void</text><ellipse cx="3014.3567" cy="1090.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="3023.3567" y="1093.7261">urtThreadMSleep (milliseconds : unsigned int) : void</text><ellipse cx="3014.3567" cy="1103.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="3023.3567" y="1106.5308">urtThreadUSleep (microseconds : urt_delay_t) : void</text><ellipse cx="3014.3567" cy="1116.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="3023.3567" y="1119.3354">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="3014.3567" cy="1128.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="3023.3567" y="1132.1401">urtThreadExit (void) : void</text><ellipse cx="3014.3567" cy="1141.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="518" x="3023.3567" y="1144.9448">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="3014.3567" cy="1154.5391" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="264" x="3023.3567" y="1157.7495">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="3014.3567" cy="1167.3438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="387" x="3023.3567" y="1170.5542">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="3014.3567" cy="1180.1484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="237" x="3023.3567" y="1183.3589">urtThreadGetSelf (void) : urt_osThread_t*</text><ellipse cx="3014.3567" cy="1192.9531" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="3023.3567" y="1196.1636">urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="3014.3567" cy="1205.7578" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="3023.3567" y="1208.9683">urtThreadGetSibling (thread : urt_osThread_t*) : urt_osThread_t*</text><ellipse cx="3014.3567" cy="1218.5625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="3023.3567" y="1221.7729">urtThreadGetParent (thread : urt_osThread_t*) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]

class urt_osEventMask_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="60.8047" id="urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.5;" width="280" x="2454.3567" y="1333.3594"/><ellipse cx="2531.6067" cy="1349.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2532.4505,1356.1094 L2529.9973,1356.1094 L2529.9973,1345.8594 L2526.8567,1345.8594 L2526.8567,1343.7188 L2535.5911,1343.7188 L2535.5911,1345.8594 L2532.4505,1345.8594 L2532.4505,1356.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="2552.1067" y="1353.5137">urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2455.3567" x2="2733.3567" y1="1365.3594" y2="1365.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="268" x="2460.3567" y="1379.5698">URT_EVENTMASK_MAXPRIO : urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2455.3567" x2="2733.3567" y1="1386.1641" y2="1386.1641"/><!--MD5=[dc1cc33af288560680c15dec1e56eda0]

class urt_osEventFlags_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="48" id="urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="1863.3567" y="1639.3594"/><ellipse cx="1878.3567" cy="1655.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1879.2005,1662.1094 L1876.7473,1662.1094 L1876.7473,1651.8594 L1873.6067,1651.8594 L1873.6067,1649.7188 L1882.3411,1649.7188 L1882.3411,1651.8594 L1879.2005,1651.8594 L1879.2005,1662.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="1892.3567" y="1659.5137">urt_osEventFlags_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1864.3567" x2="2012.3567" y1="1671.3594" y2="1671.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1864.3567" x2="2012.3567" y1="1679.3594" y2="1679.3594"/><!--MD5=[e2bbbd64e6979bf7b755747a6c0ba948]

class urt_osEventWait_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="86.4141" id="urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.5;" width="162" x="2220.3567" y="1320.8594"/><ellipse cx="2243.4567" cy="1336.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2247.5661,1342.8594 L2239.8473,1342.8594 L2239.8473,1330.4688 L2247.5661,1330.4688 L2247.5661,1332.625 L2242.3004,1332.625 L2242.3004,1335.2969 L2247.0661,1335.2969 L2247.0661,1337.4531 L2242.3004,1337.4531 L2242.3004,1340.7031 L2247.5661,1340.7031 L2247.5661,1342.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="2259.2567" y="1341.0137">urt_osEventWait_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2221.3567" x2="2381.3567" y1="1352.8594" y2="1352.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="2226.3567" y="1367.0698">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="2226.3567" y="1379.8745">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="2226.3567" y="1392.6792">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2221.3567" x2="2381.3567" y1="1399.2734" y2="1399.2734"/><!--MD5=[d054ac2eda12ce4b1fe5a18c9be716c1]

class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="1691.3567" y="1320.8594"/><ellipse cx="1866.6067" cy="1336.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1867.4505,1343.6094 L1864.9973,1343.6094 L1864.9973,1333.3594 L1861.8567,1333.3594 L1861.8567,1331.2188 L1870.5911,1331.2188 L1870.5911,1333.3594 L1867.4505,1333.3594 L1867.4505,1343.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="1887.1067" y="1341.0137">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1692.3567" x2="2184.3567" y1="1352.8594" y2="1352.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1692.3567" x2="2184.3567" y1="1360.8594" y2="1360.8594"/><ellipse cx="1702.3567" cy="1371.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="341" x="1711.3567" y="1375.0698">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="1702.3567" cy="1384.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="458" x="1711.3567" y="1387.8745">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="1702.3567" cy="1397.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="468" x="1711.3567" y="1400.6792">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]

class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="1108.8567" y="1326.8594"/><ellipse cx="1313.6067" cy="1342.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1314.4505,1349.6094 L1311.9973,1349.6094 L1311.9973,1339.3594 L1308.8567,1339.3594 L1308.8567,1337.2188 L1317.5911,1337.2188 L1317.5911,1339.3594 L1314.4505,1339.3594 L1314.4505,1349.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="1334.1067" y="1347.0137">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1109.8567" x2="1654.8567" y1="1358.8594" y2="1358.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1109.8567" x2="1654.8567" y1="1366.8594" y2="1366.8594"/><ellipse cx="1119.8567" cy="1377.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="325" x="1128.8567" y="1381.0698">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="1119.8567" cy="1390.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="521" x="1128.8567" y="1393.8745">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--MD5=[04a3b5a37031e2a4d723f19d8adf86f5]

class urt_events--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="845" x="1883.8567" y="1010.3594"/><ellipse cx="2269.1067" cy="1026.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2273.3411,1022.125 L2268.0598,1022.125 L2268.0598,1024.7969 L2272.8567,1024.7969 L2272.8567,1026.9531 L2268.0598,1026.9531 L2268.0598,1032.3594 L2265.6223,1032.3594 L2265.6223,1019.9688 L2273.3411,1019.9688 L2273.3411,1022.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="2289.6067" y="1030.5137">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1884.8567" x2="2727.8567" y1="1042.3594" y2="1042.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1884.8567" x2="2727.8567" y1="1050.3594" y2="1050.3594"/><ellipse cx="1894.8567" cy="1061.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="819" x="1903.8567" y="1064.5698">urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : void</text><ellipse cx="1894.8567" cy="1074.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="522" x="1903.8567" y="1077.3745">urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : void</text><ellipse cx="1894.8567" cy="1086.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="618" x="1903.8567" y="1090.1792">urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWait_t, timeout : urt_delay_t) : urt_osEventMask_t</text><!--MD5=[0cf29100c96c506429a28b45d347cc92]

class urt_streams--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="209" x="874.8567" y="1016.3594"/><ellipse cx="937.6067" cy="1032.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M941.8411,1028.125 L936.5598,1028.125 L936.5598,1030.7969 L941.3567,1030.7969 L941.3567,1032.9531 L936.5598,1032.9531 L936.5598,1038.3594 L934.1223,1038.3594 L934.1223,1025.9688 L941.8411,1025.9688 L941.8411,1028.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="958.1067" y="1036.5137">urt_streams</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="875.8567" x2="1082.8567" y1="1048.3594" y2="1048.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="875.8567" x2="1082.8567" y1="1056.3594" y2="1056.3594"/><ellipse cx="885.8567" cy="1067.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="166" x="894.8567" y="1070.5698">urtPrintf(fmt : char*, ... ) : int</text><ellipse cx="885.8567" cy="1080.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="894.8567" y="1083.3745">urtErrPrintf(fmt : char*, ... ) : int</text><!--MD5=[f106a25c06a671b3918b1a8f37571a4d]

class urt_debug--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="245" x="594.8567" y="1022.8594"/><ellipse cx="681.1067" cy="1038.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M685.3411,1034.625 L680.0598,1034.625 L680.0598,1037.2969 L684.8567,1037.2969 L684.8567,1039.4531 L680.0598,1039.4531 L680.0598,1044.8594 L677.6223,1044.8594 L677.6223,1032.4688 L685.3411,1032.4688 L685.3411,1034.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="701.6067" y="1043.0137">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="595.8567" x2="838.8567" y1="1054.8594" y2="1054.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="595.8567" x2="838.8567" y1="1062.8594" y2="1062.8594"/><ellipse cx="605.8567" cy="1073.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="219" x="614.8567" y="1077.0698">urtDebugAssert(condition : bool) : void</text><!--MD5=[89d25e87afdd75480e1ec2bd05524873]

class urt_core_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="307.2891" id="urt_core_t" style="stroke: #A80036; stroke-width: 1.5;" width="343" x="7791.8567" y="159.3594"/><ellipse cx="7927.6067" cy="175.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7927.0911,175.9219 Q7925.2317,175.2188 7924.5755,174.4531 Q7923.9348,173.6719 7923.9348,172.3594 Q7923.9348,170.6719 7925.013,169.7031 Q7926.0911,168.7344 7927.9661,168.7344 Q7928.8255,168.7344 7929.6692,168.9375 Q7930.5286,169.125 7931.3723,169.5156 L7931.3723,171.9063 Q7930.5911,171.3438 7929.763,171.0625 Q7928.9505,170.7656 7928.1536,170.7656 Q7927.2786,170.7656 7926.7942,171.125 Q7926.3255,171.4844 7926.3255,172.1406 Q7926.3255,172.6563 7926.6692,173 Q7927.013,173.3281 7928.1067,173.7344 L7929.1692,174.1406 Q7930.6536,174.6875 7931.3567,175.5938 Q7932.0755,176.5 7932.0755,177.875 Q7932.0755,179.75 7930.9661,180.6719 Q7929.8567,181.5938 7927.6067,181.5938 Q7926.6848,181.5938 7925.763,181.375 Q7924.8411,181.1563 7923.9817,180.7344 L7923.9817,178.2031 Q7924.9505,178.8906 7925.8723,179.2344 Q7926.7942,179.5781 7927.6848,179.5781 Q7928.5911,179.5781 7929.0911,179.1719 Q7929.5911,178.75 7929.5911,178.0156 Q7929.5911,177.4531 7929.2473,177.0469 Q7928.9192,176.625 7928.2942,176.375 L7927.0911,175.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="63" x="7948.1067" y="179.5137">urt_core_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7792.8567" x2="8133.8567" y1="191.3594" y2="191.3594"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8567" y="199.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="7811.8567" y="205.5698">_nodes : urt_node_t*</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8567" y="212.1641"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="192" x="7811.8567" y="218.3745">_evtSource : urt_osEventSource_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8567" y="224.9688"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="7811.8567" y="231.1792">_lock : urt_osMutex_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8567" y="237.7734"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="122" x="7811.8567" y="243.9839">_status : urt_status_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8567" y="267.3828"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="117" x="7811.8567" y="273.5933">_topics : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7792.8567" x2="7858.3567" y1="256.9805" y2="256.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7858.3567" y="260.2886">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8068.3567" x2="8133.8567" y1="256.9805" y2="256.9805"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7799.8567" y="296.9922"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="145" x="7811.8567" y="303.2026">_services : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7792.8567" x2="7870.8567" y1="286.5898" y2="286.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="7870.8567" y="289.8979">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8055.8567" x2="8133.8567" y1="286.5898" y2="286.5898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7792.8567" x2="8133.8567" y1="309.7969" y2="309.7969"/><ellipse cx="7802.8567" cy="320.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="130" x="7811.8567" y="324.0073">urtCoreInit (void) : void</text><ellipse cx="7802.8567" cy="333.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="215" x="7811.8567" y="336.812">urtCoreGetStatus (void) : urt_status_t</text><ellipse cx="7802.8567" cy="346.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="177" x="7811.8567" y="349.6167">urtCoreStartNodes (void) : void</text><ellipse cx="7802.8567" cy="359.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="309" x="7811.8567" y="362.4214">urtCoreSynchronize (node : urt_node_t*) : urt_status_t</text><ellipse cx="7802.8567" cy="372.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="317" x="7811.8567" y="375.2261">urtCoreStopNodes (reason : urt_status_t) : urt_status_t</text><ellipse cx="7802.8567" cy="384.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="300" x="7811.8567" y="388.0308">urtCoreGetEventSource(void) : urt_osEventSource_t*</text><ellipse cx="7802.8567" cy="397.625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="7811.8567" y="400.8354">urtCoreGetMutex(void) : urt_osMutex_t*</text><ellipse cx="7802.8567" cy="427.2344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="273" x="7811.8567" y="430.4448">urtCoreGetTopic (id : urt_topicid_t) : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7792.8567" x2="7858.3567" y1="413.832" y2="413.832"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7858.3567" y="417.1401">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8068.3567" x2="8133.8567" y1="413.832" y2="413.832"/><ellipse cx="7802.8567" cy="456.8438" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="313" x="7811.8567" y="460.0542">urtCoreGetService (id : urt_serviceid_t) : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7792.8567" x2="7870.8567" y1="443.4414" y2="443.4414"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="7870.8567" y="446.7495">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8055.8567" x2="8133.8567" y1="443.4414" y2="443.4414"/><!--MD5=[a7dea26996a1231aa68629b332780450]

class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="17424.3567" y="1022.8594"/><ellipse cx="17570.1067" cy="1038.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17570.9505,1045.6094 L17568.4973,1045.6094 L17568.4973,1035.3594 L17565.3567,1035.3594 L17565.3567,1033.2188 L17574.0911,1033.2188 L17574.0911,1035.3594 L17570.9505,1035.3594 L17570.9505,1045.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="17590.6067" y="1043.0137">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="17425.3567" x2="17879.3567" y1="1054.8594" y2="1054.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="17425.3567" x2="17879.3567" y1="1062.8594" y2="1062.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="17430.3567" y="1077.0698">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]

class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="16775.3567" y="1022.8594"/><ellipse cx="17003.6067" cy="1038.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17004.4505,1045.6094 L17001.9973,1045.6094 L17001.9973,1035.3594 L16998.8567,1035.3594 L16998.8567,1033.2188 L17007.5911,1033.2188 L17007.5911,1035.3594 L17004.4505,1035.3594 L17004.4505,1045.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="17024.1067" y="1043.0137">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="16776.3567" x2="17388.3567" y1="1054.8594" y2="1054.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="16776.3567" x2="17388.3567" y1="1062.8594" y2="1062.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="16781.3567" y="1077.0698">urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t</text><!--MD5=[843db13320bebc2ca47f25c6a57c2ae5]

class urt_nodeShutdownCallback_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="60.8047" id="urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="518" x="17915.3567" y="1022.8594"/><ellipse cx="18079.6067" cy="1038.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M18080.4505,1045.6094 L18077.9973,1045.6094 L18077.9973,1035.3594 L18074.8567,1035.3594 L18074.8567,1033.2188 L18083.5911,1033.2188 L18083.5911,1035.3594 L18080.4505,1035.3594 L18080.4505,1045.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="181" x="18100.1067" y="1043.0137">urt_nodeShutdownCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="17916.3567" x2="18432.3567" y1="1054.8594" y2="1054.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="17916.3567" x2="18432.3567" y1="1062.8594" y2="1062.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="506" x="17921.3567" y="1077.0698">urt_nodeShutdownCallback_t (node : urt_node_t*, cause : urt_status_t, arg : void*) : void</text><!--MD5=[d2563153d77472384a15c07b815d639f]

class urt_node_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="231.2656" id="urt_node_t" style="stroke: #A80036; stroke-width: 1.5;" width="1541" x="16778.8567" y="552.3594"/><ellipse cx="17511.6067" cy="568.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M17511.0911,568.9219 Q17509.2317,568.2188 17508.5755,567.4531 Q17507.9348,566.6719 17507.9348,565.3594 Q17507.9348,563.6719 17509.013,562.7031 Q17510.0911,561.7344 17511.9661,561.7344 Q17512.8255,561.7344 17513.6692,561.9375 Q17514.5286,562.125 17515.3723,562.5156 L17515.3723,564.9063 Q17514.5911,564.3438 17513.763,564.0625 Q17512.9505,563.7656 17512.1536,563.7656 Q17511.2786,563.7656 17510.7942,564.125 Q17510.3255,564.4844 17510.3255,565.1406 Q17510.3255,565.6563 17510.6692,566 Q17511.013,566.3281 17512.1067,566.7344 L17513.1692,567.1406 Q17514.6536,567.6875 17515.3567,568.5938 Q17516.0755,569.5 17516.0755,570.875 Q17516.0755,572.75 17514.9661,573.6719 Q17513.8567,574.5938 17511.6067,574.5938 Q17510.6848,574.5938 17509.763,574.375 Q17508.8411,574.1563 17507.9817,573.7344 L17507.9817,571.2031 Q17508.9505,571.8906 17509.8723,572.2344 Q17510.7942,572.5781 17511.6848,572.5781 Q17512.5911,572.5781 17513.0911,572.1719 Q17513.5911,571.75 17513.5911,571.0156 Q17513.5911,570.4531 17513.2473,570.0469 Q17512.9192,569.625 17512.2942,569.375 L17511.0911,568.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="67" x="17532.1067" y="572.5137">urt_node_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="16779.8567" x2="18318.8567" y1="584.3594" y2="584.3594"/><ellipse cx="16789.8567" cy="595.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="102" x="16798.8567" y="598.5698">next : urt_node_t*</text><ellipse cx="16789.8567" cy="608.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="16798.8567" y="611.3745">thread : urt_osThread_t*</text><ellipse cx="16789.8567" cy="620.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="16798.8567" y="624.1792">setupcallback : urt_nodeSetupCallback_t*</text><ellipse cx="16789.8567" cy="633.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="117" x="16798.8567" y="636.9839">setupparams : void*</text><ellipse cx="16789.8567" cy="646.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="221" x="16798.8567" y="649.7886">loopcallback : urt_nodeLoopCallback_t*</text><ellipse cx="16789.8567" cy="659.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="109" x="16798.8567" y="662.5933">loopparams : void*</text><ellipse cx="16789.8567" cy="672.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="281" x="16798.8567" y="675.3979">shutdowncallback : urt_nodeShutdownCallback_t*</text><ellipse cx="16789.8567" cy="684.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="140" x="16798.8567" y="688.2026">shutdownparams : void*</text><ellipse cx="16789.8567" cy="697.7969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="16798.8567" y="701.0073">stage : urt_nodestage_t</text><ellipse cx="16789.8567" cy="710.6016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="178" x="16798.8567" y="713.812">listener : urt_osEventListener_t</text><ellipse cx="16789.8567" cy="740.2109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="88" x="16798.8567" y="743.4214">loops : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16779.8567" x2="17341.3567" y1="726.8086" y2="726.8086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="416" x="17341.3567" y="730.1167">URT_CFG_PUBSUB_PROFILING == true || URT_CFG_RPC_PROFILING = true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="17757.3567" x2="18318.8567" y1="726.8086" y2="726.8086"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="16779.8567" x2="18318.8567" y1="750.0156" y2="750.0156"/><rect fill="#F24D5C" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="16786.8567" y="758.0156"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="179" x="16798.8567" y="764.2261">_main : urt_osThreadFunction_t</text><ellipse cx="16789.8567" cy="773.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1515" x="16798.8567" y="777.0308">urtNodeInit (node : urt_node_t*, thread : urt_osThread_t*, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*, shutdowncallback : urt_nodeShutdownCallback_t*, shutodwnparams : void*) : void</text><!--MD5=[e602aa6d45f270ad04f88c9ca5352b33]

class urt_message_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="141.6328" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="406" x="12405.3567" y="1292.8594"/><ellipse cx="12558.1067" cy="1308.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12557.5911,1309.4219 Q12555.7317,1308.7188 12555.0755,1307.9531 Q12554.4348,1307.1719 12554.4348,1305.8594 Q12554.4348,1304.1719 12555.513,1303.2031 Q12556.5911,1302.2344 12558.4661,1302.2344 Q12559.3255,1302.2344 12560.1692,1302.4375 Q12561.0286,1302.625 12561.8723,1303.0156 L12561.8723,1305.4063 Q12561.0911,1304.8438 12560.263,1304.5625 Q12559.4505,1304.2656 12558.6536,1304.2656 Q12557.7786,1304.2656 12557.2942,1304.625 Q12556.8255,1304.9844 12556.8255,1305.6406 Q12556.8255,1306.1563 12557.1692,1306.5 Q12557.513,1306.8281 12558.6067,1307.2344 L12559.6692,1307.6406 Q12561.1536,1308.1875 12561.8567,1309.0938 Q12562.5755,1310 12562.5755,1311.375 Q12562.5755,1313.25 12561.4661,1314.1719 Q12560.3567,1315.0938 12558.1067,1315.0938 Q12557.1848,1315.0938 12556.263,1314.875 Q12555.3411,1314.6563 12554.4817,1314.2344 L12554.4817,1311.7031 Q12555.4505,1312.3906 12556.3723,1312.7344 Q12557.2942,1313.0781 12558.1848,1313.0781 Q12559.0911,1313.0781 12559.5911,1312.6719 Q12560.0911,1312.25 12560.0911,1311.5156 Q12560.0911,1310.9531 12559.7473,1310.5469 Q12559.4192,1310.125 12558.7942,1309.875 L12557.5911,1309.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="12578.6067" y="1313.0137">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12406.3567" x2="12810.3567" y1="1324.8594" y2="1324.8594"/><ellipse cx="12416.3567" cy="1335.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="127" x="12425.3567" y="1339.0698">next : urt_message_t*</text><ellipse cx="12416.3567" cy="1348.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="12425.3567" y="1351.8745">payload : void*</text><ellipse cx="12416.3567" cy="1361.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="12425.3567" y="1364.6792">originTime : urt_osTime_t</text><ellipse cx="12416.3567" cy="1374.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="211" x="12425.3567" y="1377.4839">numHrtConsumersLeft : unsigned int</text><ellipse cx="12416.3567" cy="1403.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="12425.3567" y="1407.0933">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12406.3567" x2="12499.8567" y1="1390.4805" y2="1390.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12499.8567" y="1393.7886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12716.8567" x2="12810.3567" y1="1390.4805" y2="1390.4805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="12406.3567" x2="12810.3567" y1="1413.6875" y2="1413.6875"/><ellipse cx="12416.3567" cy="1424.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="380" x="12425.3567" y="1427.8979">urtMessageInit (message : urt_message_t*, payload : void*) : void</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]

class urt_publisher_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="196.0469" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="783" x="11878.8567" y="569.8594"/><ellipse cx="12219.6067" cy="585.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12219.0911,586.4219 Q12217.2317,585.7188 12216.5755,584.9531 Q12215.9348,584.1719 12215.9348,582.8594 Q12215.9348,581.1719 12217.013,580.2031 Q12218.0911,579.2344 12219.9661,579.2344 Q12220.8255,579.2344 12221.6692,579.4375 Q12222.5286,579.625 12223.3723,580.0156 L12223.3723,582.4063 Q12222.5911,581.8438 12221.763,581.5625 Q12220.9505,581.2656 12220.1536,581.2656 Q12219.2786,581.2656 12218.7942,581.625 Q12218.3255,581.9844 12218.3255,582.6406 Q12218.3255,583.1563 12218.6692,583.5 Q12219.013,583.8281 12220.1067,584.2344 L12221.1692,584.6406 Q12222.6536,585.1875 12223.3567,586.0938 Q12224.0755,587 12224.0755,588.375 Q12224.0755,590.25 12222.9661,591.1719 Q12221.8567,592.0938 12219.6067,592.0938 Q12218.6848,592.0938 12217.763,591.875 Q12216.8411,591.6563 12215.9817,591.2344 L12215.9817,588.7031 Q12216.9505,589.3906 12217.8723,589.7344 Q12218.7942,590.0781 12219.6848,590.0781 Q12220.5911,590.0781 12221.0911,589.6719 Q12221.5911,589.25 12221.5911,588.5156 Q12221.5911,587.9531 12221.2473,587.5469 Q12220.9192,587.125 12220.2942,586.875 L12219.0911,586.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="12240.1067" y="590.0137">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11879.8567" x2="12660.8567" y1="601.8594" y2="601.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="289" x="11884.8567" y="616.0698">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT : bool</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11879.8567" x2="12660.8567" y1="622.6641" y2="622.6641"/><ellipse cx="11889.8567" cy="633.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="11898.8567" y="636.8745">topic : urt_topic_t*</text><ellipse cx="11889.8567" cy="663.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="149" x="11898.8567" y="666.4839">publishAttempts : uint64_t</text><ellipse cx="11889.8567" cy="676.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="11898.8567" y="679.2886">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11879.8567" x2="12161.8567" y1="649.8711" y2="649.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12161.8567" y="653.1792">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12378.8567" x2="12660.8567" y1="649.8711" y2="649.8711"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11879.8567" x2="12660.8567" y1="685.8828" y2="685.8828"/><ellipse cx="11889.8567" cy="696.8828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="572" x="11898.8567" y="700.0933">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : void</text><ellipse cx="11889.8567" cy="726.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="632" x="11898.8567" y="729.7026">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t) : urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11879.8567" x2="12116.8567" y1="713.0898" y2="713.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="307" x="12116.8567" y="716.3979">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == false</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12423.8567" x2="12660.8567" y1="713.0898" y2="713.0898"/><ellipse cx="11889.8567" cy="756.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="757" x="11898.8567" y="759.312">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, bytes : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11879.8567" x2="12119.3567" y1="742.6992" y2="742.6992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="302" x="12119.3567" y="746.0073">URT_PUBSUB_PUBLISHER_PUBLISH_TIMEOUT == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12421.3567" x2="12660.8567" y1="742.6992" y2="742.6992"/><!--MD5=[a1b1e66ec52c209a9fa2dab315cd7630]

class urt_topic_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="260.875" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="11441.3567" y="537.3594"/><ellipse cx="11596.1067" cy="553.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11595.5911,553.9219 Q11593.7317,553.2188 11593.0755,552.4531 Q11592.4348,551.6719 11592.4348,550.3594 Q11592.4348,548.6719 11593.513,547.7031 Q11594.5911,546.7344 11596.4661,546.7344 Q11597.3255,546.7344 11598.1692,546.9375 Q11599.0286,547.125 11599.8723,547.5156 L11599.8723,549.9063 Q11599.0911,549.3438 11598.263,549.0625 Q11597.4505,548.7656 11596.6536,548.7656 Q11595.7786,548.7656 11595.2942,549.125 Q11594.8255,549.4844 11594.8255,550.1406 Q11594.8255,550.6563 11595.1692,551 Q11595.513,551.3281 11596.6067,551.7344 L11597.6692,552.1406 Q11599.1536,552.6875 11599.8567,553.5938 Q11600.5755,554.5 11600.5755,555.875 Q11600.5755,557.75 11599.4661,558.6719 Q11598.3567,559.5938 11596.1067,559.5938 Q11595.1848,559.5938 11594.263,559.375 Q11593.3411,559.1563 11592.4817,558.7344 L11592.4817,556.2031 Q11593.4505,556.8906 11594.3723,557.2344 Q11595.2942,557.5781 11596.1848,557.5781 Q11597.0911,557.5781 11597.5911,557.1719 Q11598.0911,556.75 11598.0911,556.0156 Q11598.0911,555.4531 11597.7473,555.0469 Q11597.4192,554.625 11596.7942,554.375 L11595.5911,553.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="11616.6067" y="557.5137">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11442.3567" x2="11824.3567" y1="569.3594" y2="569.3594"/><ellipse cx="11452.3567" cy="580.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="11461.3567" y="583.5698">next : urt_topic_t*</text><ellipse cx="11452.3567" cy="593.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="11461.3567" y="596.3745">id : urt_topicid_t</text><ellipse cx="11452.3567" cy="605.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="11461.3567" y="609.1792">lock : urt_osMutex_t</text><ellipse cx="11452.3567" cy="618.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="11461.3567" y="621.9839">evtSource : urt_osEventSource_t</text><ellipse cx="11452.3567" cy="631.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="11461.3567" y="634.7886">numHrtSubscribers : unsigned int</text><ellipse cx="11452.3567" cy="644.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="11461.3567" y="647.5933">hrtReleased : urt_osCondvar_t</text><ellipse cx="11452.3567" cy="657.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="209" x="11461.3567" y="660.3979">mandatoryMessage : urt_message_t</text><ellipse cx="11452.3567" cy="669.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="11461.3567" y="673.2026">latestMessage : urt_message_t*</text><ellipse cx="11452.3567" cy="699.6016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="212" x="11461.3567" y="702.812">hrtSubscribers : urt_hrtsubscriber_t*</text><ellipse cx="11452.3567" cy="712.4063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="170" x="11461.3567" y="715.6167">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11442.3567" x2="11500.8567" y1="686.1992" y2="686.1992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="11500.8567" y="689.5073">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11765.8567" x2="11824.3567" y1="686.1992" y2="686.1992"/><ellipse cx="11452.3567" cy="742.0156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="11461.3567" y="745.2261">numMessagesPublished : uint64_t</text><ellipse cx="11452.3567" cy="754.8203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="11461.3567" y="758.0308">numMessagesDiscarded : uint64_t</text><ellipse cx="11452.3567" cy="767.625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="11461.3567" y="770.8354">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11442.3567" x2="11524.8567" y1="728.6133" y2="728.6133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="11524.8567" y="731.9214">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11741.8567" x2="11824.3567" y1="728.6133" y2="728.6133"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11442.3567" x2="11824.3567" y1="777.4297" y2="777.4297"/><ellipse cx="11452.3567" cy="788.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="358" x="11461.3567" y="791.6401">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[50a042e24f957794dab9ba3ea8701c50]

class urt_basesubscriber_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="133.6328" id="urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="225" x="12769.8567" y="986.3594"/><ellipse cx="12812.3067" cy="1002.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M12811.7911,1002.9219 Q12809.9317,1002.2188 12809.2755,1001.4531 Q12808.6348,1000.6719 12808.6348,999.3594 Q12808.6348,997.6719 12809.713,996.7031 Q12810.7911,995.7344 12812.6661,995.7344 Q12813.5255,995.7344 12814.3692,995.9375 Q12815.2286,996.125 12816.0723,996.5156 L12816.0723,998.9063 Q12815.2911,998.3438 12814.463,998.0625 Q12813.6505,997.7656 12812.8536,997.7656 Q12811.9786,997.7656 12811.4942,998.125 Q12811.0255,998.4844 12811.0255,999.1406 Q12811.0255,999.6563 12811.3692,1000 Q12811.713,1000.3281 12812.8067,1000.7344 L12813.8692,1001.1406 Q12815.3536,1001.6875 12816.0567,1002.5938 Q12816.7755,1003.5 12816.7755,1004.875 Q12816.7755,1006.75 12815.6661,1007.6719 Q12814.5567,1008.5938 12812.3067,1008.5938 Q12811.3848,1008.5938 12810.463,1008.375 Q12809.5411,1008.1563 12808.6817,1007.7344 L12808.6817,1005.2031 Q12809.6505,1005.8906 12810.5723,1006.2344 Q12811.4942,1006.5781 12812.3848,1006.5781 Q12813.2911,1006.5781 12813.7911,1006.1719 Q12814.2911,1005.75 12814.2911,1005.0156 Q12814.2911,1004.4531 12813.9473,1004.0469 Q12813.6192,1003.625 12812.9942,1003.375 L12811.7911,1002.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="132" x="12832.4067" y="1006.5137">urt_basesubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12770.8567" x2="12993.8567" y1="1018.3594" y2="1018.3594"/><ellipse cx="12780.8567" cy="1029.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="12789.8567" y="1032.5698">topic : urt_topic_t*</text><ellipse cx="12780.8567" cy="1042.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="12789.8567" y="1045.3745">evtListener : urt_osEventListener_t</text><ellipse cx="12780.8567" cy="1054.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="175" x="12789.8567" y="1058.1792">lastMessage : urt_message_t*</text><ellipse cx="12780.8567" cy="1067.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="12789.8567" y="1070.9839">lastMessageTime : urt_osTime_t</text><ellipse cx="12780.8567" cy="1097.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="12789.8567" y="1100.5933">sumLatencies : uint64_t</text><ellipse cx="12780.8567" cy="1110.1875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="12789.8567" y="1113.3979">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12770.8567" x2="12773.8567" y1="1083.9805" y2="1083.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="12773.8567" y="1087.2886">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12990.8567" x2="12993.8567" y1="1083.9805" y2="1083.9805"/><!--MD5=[9ff46073dd541e50679ef35e851c67d6]

class urt_nrtsubscriber_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="154.4375" id="urt_nrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="821" x="14913.8567" y="590.8594"/><ellipse cx="15260.6067" cy="606.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M15260.0911,607.4219 Q15258.2317,606.7188 15257.5755,605.9531 Q15256.9348,605.1719 15256.9348,603.8594 Q15256.9348,602.1719 15258.013,601.2031 Q15259.0911,600.2344 15260.9661,600.2344 Q15261.8255,600.2344 15262.6692,600.4375 Q15263.5286,600.625 15264.3723,601.0156 L15264.3723,603.4063 Q15263.5911,602.8438 15262.763,602.5625 Q15261.9505,602.2656 15261.1536,602.2656 Q15260.2786,602.2656 15259.7942,602.625 Q15259.3255,602.9844 15259.3255,603.6406 Q15259.3255,604.1563 15259.6692,604.5 Q15260.013,604.8281 15261.1067,605.2344 L15262.1692,605.6406 Q15263.6536,606.1875 15264.3567,607.0938 Q15265.0755,608 15265.0755,609.375 Q15265.0755,611.25 15263.9661,612.1719 Q15262.8567,613.0938 15260.6067,613.0938 Q15259.6848,613.0938 15258.763,612.875 Q15257.8411,612.6563 15256.9817,612.2344 L15256.9817,609.7031 Q15257.9505,610.3906 15258.8723,610.7344 Q15259.7942,611.0781 15260.6848,611.0781 Q15261.5911,611.0781 15262.0911,610.6719 Q15262.5911,610.25 15262.5911,609.5156 Q15262.5911,608.9531 15262.2473,608.5469 Q15261.9192,608.125 15261.2942,607.875 L15260.0911,607.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="15281.1067" y="611.0137">urt_nrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="14914.8567" x2="15733.8567" y1="622.8594" y2="622.8594"/><ellipse cx="14924.8567" cy="650.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="14933.8567" y="653.8745">minLatency : urt_delay_t</text><ellipse cx="14924.8567" cy="663.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="14933.8567" y="666.6792">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="14914.8567" x2="15215.8567" y1="637.2617" y2="637.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="15215.8567" y="640.5698">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15432.8567" x2="15733.8567" y1="637.2617" y2="637.2617"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="14914.8567" x2="15733.8567" y1="673.2734" y2="673.2734"/><ellipse cx="14924.8567" cy="684.2734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="14933.8567" y="687.4839">urtNrtSubscriberInit (subscriber : urt_nrtsubscriber_t*) : void</text><ellipse cx="14924.8567" cy="697.0781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="715" x="14933.8567" y="700.2886">urtNrtSubscriberSubscribe (subscriber : urt_nrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="14924.8567" cy="709.8828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="14933.8567" y="713.0933">urtNrtSubscriberFetchNextMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="14924.8567" cy="722.6875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="14933.8567" y="725.8979">urtNrtSubscriberFetchLatestMessage (subscriber : urt_nrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="14924.8567" cy="735.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="14933.8567" y="738.7026">urtNrtSubscriberUnsubscribe (subscriber : urt_nrtsubscriber_t*) : urt_status_t</text><!--MD5=[5c7929572d87ccc448d875bea5da0fb1]

class urt_srtsubscriber_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="192.8516" id="urt_srtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1044" x="13834.3567" y="571.3594"/><ellipse cx="14293.1067" cy="587.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M14292.5911,587.9219 Q14290.7317,587.2188 14290.0755,586.4531 Q14289.4348,585.6719 14289.4348,584.3594 Q14289.4348,582.6719 14290.513,581.7031 Q14291.5911,580.7344 14293.4661,580.7344 Q14294.3255,580.7344 14295.1692,580.9375 Q14296.0286,581.125 14296.8723,581.5156 L14296.8723,583.9063 Q14296.0911,583.3438 14295.263,583.0625 Q14294.4505,582.7656 14293.6536,582.7656 Q14292.7786,582.7656 14292.2942,583.125 Q14291.8255,583.4844 14291.8255,584.1406 Q14291.8255,584.6563 14292.1692,585 Q14292.513,585.3281 14293.6067,585.7344 L14294.6692,586.1406 Q14296.1536,586.6875 14296.8567,587.5938 Q14297.5755,588.5 14297.5755,589.875 Q14297.5755,591.75 14296.4661,592.6719 Q14295.3567,593.5938 14293.1067,593.5938 Q14292.1848,593.5938 14291.263,593.375 Q14290.3411,593.1563 14289.4817,592.7344 L14289.4817,590.2031 Q14290.4505,590.8906 14291.3723,591.2344 Q14292.2942,591.5781 14293.1848,591.5781 Q14294.0911,591.5781 14294.5911,591.1719 Q14295.0911,590.75 14295.0911,590.0156 Q14295.0911,589.4531 14294.7473,589.0469 Q14294.4192,588.625 14293.7942,588.375 L14292.5911,587.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="14313.6067" y="591.5137">urt_srtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="13835.3567" x2="14877.3567" y1="603.3594" y2="603.3594"/><ellipse cx="13845.3567" cy="614.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="13854.3567" y="617.5698">usefulnesscb : urt_usefulness_f*</text><ellipse cx="13845.3567" cy="627.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="13854.3567" y="630.3745">cbparams : void*</text><ellipse cx="13845.3567" cy="656.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="13854.3567" y="659.9839">minLatency : urt_delay_t</text><ellipse cx="13845.3567" cy="669.5781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="13854.3567" y="672.7886">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13835.3567" x2="14247.8567" y1="643.3711" y2="643.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="14247.8567" y="646.6792">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="14464.8567" x2="14877.3567" y1="643.3711" y2="643.3711"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="13835.3567" x2="14877.3567" y1="679.3828" y2="679.3828"/><ellipse cx="13845.3567" cy="690.3828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="13854.3567" y="693.5933">urtSrtSubscriberInit (subscriber : urt_srtsubscriber_t*) : void</text><ellipse cx="13845.3567" cy="703.1875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1018" x="13854.3567" y="706.3979">urtSrtSubscriberSubscribe (subscriber : urt_srtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_usefulness_f*, cbparams : void*) : urt_status_t</text><ellipse cx="13845.3567" cy="715.9922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="13854.3567" y="719.2026">urtSrtSubscriberFetchNextMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="13845.3567" cy="728.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="13854.3567" y="732.0073">urtSrtSubscriberFetchLatestMessage (subscriber : urt_srtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="13845.3567" cy="741.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="13854.3567" y="744.812">urtSrtSubscriberCalculateUsefulness (subscriber : urt_srtsubscriber_t*, latency : urt_delay_t) : float</text><ellipse cx="13845.3567" cy="754.4063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="13854.3567" y="757.6167">urtSrtSubscriberUnsubscribe (subscriber : urt_srtsubscriber_t*) : urt_status_t</text><!--MD5=[17838fb05fe219fd399839979ec8a4a4]

class urt_frtsubscriber_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="226.4609" id="urt_frtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="974" x="15769.3567" y="554.8594"/><ellipse cx="16194.6067" cy="570.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M16194.0911,571.4219 Q16192.2317,570.7188 16191.5755,569.9531 Q16190.9348,569.1719 16190.9348,567.8594 Q16190.9348,566.1719 16192.013,565.2031 Q16193.0911,564.2344 16194.9661,564.2344 Q16195.8255,564.2344 16196.6692,564.4375 Q16197.5286,564.625 16198.3723,565.0156 L16198.3723,567.4063 Q16197.5911,566.8438 16196.763,566.5625 Q16195.9505,566.2656 16195.1536,566.2656 Q16194.2786,566.2656 16193.7942,566.625 Q16193.3255,566.9844 16193.3255,567.6406 Q16193.3255,568.1563 16193.6692,568.5 Q16194.013,568.8281 16195.1067,569.2344 L16196.1692,569.6406 Q16197.6536,570.1875 16198.3567,571.0938 Q16199.0755,572 16199.0755,573.375 Q16199.0755,575.25 16197.9661,576.1719 Q16196.8567,577.0938 16194.6067,577.0938 Q16193.6848,577.0938 16192.763,576.875 Q16191.8411,576.6563 16190.9817,576.2344 L16190.9817,573.7031 Q16191.9505,574.3906 16192.8723,574.7344 Q16193.7942,575.0781 16194.6848,575.0781 Q16195.5911,575.0781 16196.0911,574.6719 Q16196.5911,574.25 16196.5911,573.5156 Q16196.5911,572.9531 16196.2473,572.5469 Q16195.9192,572.125 16195.2942,571.875 L16194.0911,571.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="16215.1067" y="575.0137">urt_frtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="15770.3567" x2="16742.3567" y1="586.8594" y2="586.8594"/><ellipse cx="15780.3567" cy="614.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="15789.3567" y="617.8745">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15770.3567" x2="16110.8567" y1="601.2617" y2="601.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="16110.8567" y="604.5698">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16401.8567" x2="16742.3567" y1="601.2617" y2="601.2617"/><ellipse cx="15780.3567" cy="644.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="15789.3567" y="647.4839">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15770.3567" x2="16120.8567" y1="630.8711" y2="630.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="16120.8567" y="634.1792">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16391.8567" x2="16742.3567" y1="630.8711" y2="630.8711"/><ellipse cx="15780.3567" cy="673.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="15789.3567" y="677.0933">minLatency : urt_delay_t</text><ellipse cx="15780.3567" cy="686.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="15789.3567" y="689.8979">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="15770.3567" x2="16002.3567" y1="660.4805" y2="660.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="508" x="16002.3567" y="663.7886">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true ||  URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="16510.3567" x2="16742.3567" y1="660.4805" y2="660.4805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="15770.3567" x2="16742.3567" y1="696.4922" y2="696.4922"/><ellipse cx="15780.3567" cy="707.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="342" x="15789.3567" y="710.7026">urtFrtSubscriberInit (subscriber : urt_frtsubscriber_t*) : void</text><ellipse cx="15780.3567" cy="720.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="948" x="15789.3567" y="723.5073">urtFrtSubscriberSubscribe (subscriber : urt_frtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="15780.3567" cy="733.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="780" x="15789.3567" y="736.312">urtFrtSubscriberFetchNextMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="15780.3567" cy="745.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="790" x="15789.3567" y="749.1167">urtFrtSubscriberFetchLatestMessage (subscriber : urt_frtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="15780.3567" cy="758.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="540" x="15789.3567" y="761.9214">urtFrtSubscriberCalculateValidity (subscriber : urt_frtsubscriber_t*, latency : urt_delay_t) : bool</text><ellipse cx="15780.3567" cy="771.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="441" x="15789.3567" y="774.7261">urtFrtSubscriberUnsubscribe (subscriber : urt_frtsubscriber_t*) : urt_status_t</text><!--MD5=[104dc879e5721421b987fcc467bc3a1d]

class urt_hrtsubscriber_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="268.875" id="urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1084" x="12697.3567" y="533.3594"/><ellipse cx="13175.6067" cy="549.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M13175.0911,549.9219 Q13173.2317,549.2188 13172.5755,548.4531 Q13171.9348,547.6719 13171.9348,546.3594 Q13171.9348,544.6719 13173.013,543.7031 Q13174.0911,542.7344 13175.9661,542.7344 Q13176.8255,542.7344 13177.6692,542.9375 Q13178.5286,543.125 13179.3723,543.5156 L13179.3723,545.9063 Q13178.5911,545.3438 13177.763,545.0625 Q13176.9505,544.7656 13176.1536,544.7656 Q13175.2786,544.7656 13174.7942,545.125 Q13174.3255,545.4844 13174.3255,546.1406 Q13174.3255,546.6563 13174.6692,547 Q13175.013,547.3281 13176.1067,547.7344 L13177.1692,548.1406 Q13178.6536,548.6875 13179.3567,549.5938 Q13180.0755,550.5 13180.0755,551.875 Q13180.0755,553.75 13178.9661,554.6719 Q13177.8567,555.5938 13175.6067,555.5938 Q13174.6848,555.5938 13173.763,555.375 Q13172.8411,555.1563 13171.9817,554.7344 L13171.9817,552.2031 Q13172.9505,552.8906 13173.8723,553.2344 Q13174.7942,553.5781 13175.6848,553.5781 Q13176.5911,553.5781 13177.0911,553.1719 Q13177.5911,552.75 13177.5911,552.0156 Q13177.5911,551.4531 13177.2473,551.0469 Q13176.9192,550.625 13176.2942,550.375 L13175.0911,549.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="119" x="13196.1067" y="553.5137">urt_hrtsubscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="12698.3567" x2="13780.3567" y1="565.3594" y2="565.3594"/><ellipse cx="12708.3567" cy="576.3594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="151" x="12717.3567" y="579.5698">next : urt_hrtsubscriber_t*</text><ellipse cx="12708.3567" cy="605.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="12717.3567" y="609.1792">deadlineOffset : urt_delay_t</text><ellipse cx="12708.3567" cy="618.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="12717.3567" y="621.9839">qosDeadlineTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12698.3567" x2="13093.8567" y1="592.5664" y2="592.5664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="13093.8567" y="595.8745">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13384.8567" x2="13780.3567" y1="592.5664" y2="592.5664"/><ellipse cx="12708.3567" cy="648.3828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="12717.3567" y="651.5933">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12698.3567" x2="13103.8567" y1="634.9805" y2="634.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="13103.8567" y="638.2886">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13374.8567" x2="13780.3567" y1="634.9805" y2="634.9805"/><ellipse cx="12708.3567" cy="677.9922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="12717.3567" y="681.2026">minLatency : urt_delay_t</text><ellipse cx="12708.3567" cy="690.7969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="12717.3567" y="694.0073">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12698.3567" x2="12987.3567" y1="664.5898" y2="664.5898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="12987.3567" y="667.8979">URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13491.3567" x2="13780.3567" y1="664.5898" y2="664.5898"/><ellipse cx="12708.3567" cy="720.4063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="12717.3567" y="723.6167">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="12698.3567" x2="13106.8567" y1="707.0039" y2="707.0039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="13106.8567" y="710.312">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="13371.8567" x2="13780.3567" y1="707.0039" y2="707.0039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="12698.3567" x2="13780.3567" y1="730.2109" y2="730.2109"/><ellipse cx="12708.3567" cy="741.2109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="347" x="12717.3567" y="744.4214">urtHrtSubscriberInit (subscriber : urt_hrtsubscriber_t*) : void</text><ellipse cx="12708.3567" cy="754.0156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1058" x="12717.3567" y="757.2261">urtHrtSubscriberSubscribe (subscriber : urt_hrtsubscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, rate : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="12708.3567" cy="766.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="785" x="12717.3567" y="770.0308">urtHrtSubscriberFetchNextMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="12708.3567" cy="779.625" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="795" x="12717.3567" y="782.8354">urtHrtSubscriberFetchLatestMessage (subscriber : urt_hrtsubscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="12708.3567" cy="792.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="446" x="12717.3567" y="795.6401">urtHrtSubscriberUnsubscribe (subscriber : urt_hrtsubscriber_t*) : urt_status_t</text><!--MD5=[e60e0f8379a14e7a4a292c65add9d735]

class urt_service_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="269.6797" id="urt_service_t" style="stroke: #A80036; stroke-width: 1.5;" width="596" x="8150.3567" y="532.8594"/><ellipse cx="8404.6067" cy="548.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8404.0911,549.4219 Q8402.2317,548.7188 8401.5755,547.9531 Q8400.9348,547.1719 8400.9348,545.8594 Q8400.9348,544.1719 8402.013,543.2031 Q8403.0911,542.2344 8404.9661,542.2344 Q8405.8255,542.2344 8406.6692,542.4375 Q8407.5286,542.625 8408.3723,543.0156 L8408.3723,545.4063 Q8407.5911,544.8438 8406.763,544.5625 Q8405.9505,544.2656 8405.1536,544.2656 Q8404.2786,544.2656 8403.7942,544.625 Q8403.3255,544.9844 8403.3255,545.6406 Q8403.3255,546.1563 8403.6692,546.5 Q8404.013,546.8281 8405.1067,547.2344 L8406.1692,547.6406 Q8407.6536,548.1875 8408.3567,549.0938 Q8409.0755,550 8409.0755,551.375 Q8409.0755,553.25 8407.9661,554.1719 Q8406.8567,555.0938 8404.6067,555.0938 Q8403.6848,555.0938 8402.763,554.875 Q8401.8411,554.6563 8400.9817,554.2344 L8400.9817,551.7031 Q8401.9505,552.3906 8402.8723,552.7344 Q8403.7942,553.0781 8404.6848,553.0781 Q8405.5911,553.0781 8406.0911,552.6719 Q8406.5911,552.25 8406.5911,551.5156 Q8406.5911,550.9531 8406.2473,550.5469 Q8405.9192,550.125 8405.2942,549.875 L8404.0911,549.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="8425.1067" y="553.0137">urt_service_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8151.3567" x2="8745.3567" y1="564.8594" y2="564.8594"/><ellipse cx="8161.3567" cy="575.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="115" x="8170.3567" y="579.0698">next : urt_service_t*</text><ellipse cx="8161.3567" cy="588.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="105" x="8170.3567" y="591.8745">id : urt_serviceid_t</text><ellipse cx="8161.3567" cy="601.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="8170.3567" y="604.6792">lock : urt_osMutex_t</text><ellipse cx="8161.3567" cy="614.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="236" x="8170.3567" y="617.4839">requestQueue_front : urt_baserequest_t*</text><ellipse cx="8161.3567" cy="627.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="8170.3567" y="630.2886">requestQueue_hrtBack : urt_hrtrequest_t*</text><ellipse cx="8161.3567" cy="639.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="256" x="8170.3567" y="643.0933">requestQueue_fsrtBack : urt_baserequest_t*</text><ellipse cx="8161.3567" cy="652.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="8170.3567" y="655.8979">requestQueue_back : urt_baserequest_t*</text><ellipse cx="8161.3567" cy="665.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="8170.3567" y="668.7026">evtSource : urt_osEventSource_t</text><ellipse cx="8161.3567" cy="678.2969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="8170.3567" y="681.5073">evtListener : urt_osEventListener_t</text><ellipse cx="8161.3567" cy="707.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="8170.3567" y="711.1167">numCalls : uint64_t</text><ellipse cx="8161.3567" cy="720.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="8170.3567" y="723.9214">numOwnershipLost : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8151.3567" x2="8352.3567" y1="694.5039" y2="694.5039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="8352.3567" y="697.812">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8544.3567" x2="8745.3567" y1="694.5039" y2="694.5039"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8151.3567" x2="8745.3567" y1="730.5156" y2="730.5156"/><ellipse cx="8161.3567" cy="741.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="412" x="8170.3567" y="744.7261">urtServiceInit (service : urt_service_t*, id : urt_serviceid_t) : urt_status_t</text><ellipse cx="8161.3567" cy="754.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="549" x="8170.3567" y="757.5308">urtServiceDispatch (service : urt_service_t*, payload : void*, bytes : size_t) : urt_baserequest_t*</text><ellipse cx="8161.3567" cy="767.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="552" x="8170.3567" y="770.3354">urtServiceAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="8161.3567" cy="779.9297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="570" x="8170.3567" y="783.1401">urtServiceTryAcquireRequest (service* urt_serviceid_t*, request : urt_baserequest_t*) : urt_status_t</text><ellipse cx="8161.3567" cy="792.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="365" x="8170.3567" y="795.9448">urtServiceRespond (request : urt_baserequest_t*) : urt_status_t</text><!--MD5=[7294e1cfaeb111bef046bc5d07a96458]

class urt_baserequest_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="197.6563" id="urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="224" x="8799.3567" y="568.8594"/><ellipse cx="8849.6067" cy="584.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8849.0911,585.4219 Q8847.2317,584.7188 8846.5755,583.9531 Q8845.9348,583.1719 8845.9348,581.8594 Q8845.9348,580.1719 8847.013,579.2031 Q8848.0911,578.2344 8849.9661,578.2344 Q8850.8255,578.2344 8851.6692,578.4375 Q8852.5286,578.625 8853.3723,579.0156 L8853.3723,581.4063 Q8852.5911,580.8438 8851.763,580.5625 Q8850.9505,580.2656 8850.1536,580.2656 Q8849.2786,580.2656 8848.7942,580.625 Q8848.3255,580.9844 8848.3255,581.6406 Q8848.3255,582.1563 8848.6692,582.5 Q8849.013,582.8281 8850.1067,583.2344 L8851.1692,583.6406 Q8852.6536,584.1875 8853.3567,585.0938 Q8854.0755,586 8854.0755,587.375 Q8854.0755,589.25 8852.9661,590.1719 Q8851.8567,591.0938 8849.6067,591.0938 Q8848.6848,591.0938 8847.763,590.875 Q8846.8411,590.6563 8845.9817,590.2344 L8845.9817,587.7031 Q8846.9505,588.3906 8847.8723,588.7344 Q8848.7942,589.0781 8849.6848,589.0781 Q8850.5911,589.0781 8851.0911,588.6719 Q8851.5911,588.25 8851.5911,587.5156 Q8851.5911,586.9531 8851.2473,586.5469 Q8850.9192,586.125 8850.2942,585.875 L8849.0911,585.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="115" x="8870.1067" y="589.0137">urt_baserequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8800.3567" x2="9022.3567" y1="600.8594" y2="600.8594"/><ellipse cx="8810.3567" cy="611.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="147" x="8819.3567" y="615.0698">prev : urt_baserequest_t*</text><ellipse cx="8810.3567" cy="624.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="8819.3567" y="627.8745">next : urt_baserequest_t*</text><ellipse cx="8810.3567" cy="637.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="8819.3567" y="640.6792">lock : urt_osMutex_t</text><ellipse cx="8810.3567" cy="650.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="126" x="8819.3567" y="653.4839">owner : urt_service_t*</text><ellipse cx="8810.3567" cy="663.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="8819.3567" y="666.2886">submissionTime : urt_osTime_t</text><ellipse cx="8810.3567" cy="675.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="8819.3567" y="679.0933">payload : void*</text><ellipse cx="8810.3567" cy="688.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="8819.3567" y="691.8979">evtSource : urt_osEventSource_t</text><ellipse cx="8810.3567" cy="701.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="8819.3567" y="704.7026">evtListener : urt_osEventListener_t</text><ellipse cx="8810.3567" cy="731.1016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="8819.3567" y="734.312">sumLatencies : uint64_t</text><ellipse cx="8810.3567" cy="743.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="8819.3567" y="747.1167">numCalls : uint64_t</text><ellipse cx="8810.3567" cy="756.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="108" x="8819.3567" y="759.9214">numFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8800.3567" x2="8815.3567" y1="717.6992" y2="717.6992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="8815.3567" y="721.0073">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; 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class urt_nrtrequest_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="167.2422" id="urt_nrtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="531" x="10186.8567" y="229.3594"/><ellipse cx="10397.1067" cy="245.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10396.5911,245.9219 Q10394.7317,245.2188 10394.0755,244.4531 Q10393.4348,243.6719 10393.4348,242.3594 Q10393.4348,240.6719 10394.513,239.7031 Q10395.5911,238.7344 10397.4661,238.7344 Q10398.3255,238.7344 10399.1692,238.9375 Q10400.0286,239.125 10400.8723,239.5156 L10400.8723,241.9063 Q10400.0911,241.3438 10399.263,241.0625 Q10398.4505,240.7656 10397.6536,240.7656 Q10396.7786,240.7656 10396.2942,241.125 Q10395.8255,241.4844 10395.8255,242.1406 Q10395.8255,242.6563 10396.1692,243 Q10396.513,243.3281 10397.6067,243.7344 L10398.6692,244.1406 Q10400.1536,244.6875 10400.8567,245.5938 Q10401.5755,246.5 10401.5755,247.875 Q10401.5755,249.75 10400.4661,250.6719 Q10399.3567,251.5938 10397.1067,251.5938 Q10396.1848,251.5938 10395.263,251.375 Q10394.3411,251.1563 10393.4817,250.7344 L10393.4817,248.2031 Q10394.4505,248.8906 10395.3723,249.2344 Q10396.2942,249.5781 10397.1848,249.5781 Q10398.0911,249.5781 10398.5911,249.1719 Q10399.0911,248.75 10399.0911,248.0156 Q10399.0911,247.4531 10398.7473,247.0469 Q10398.4192,246.625 10397.7942,246.375 L10396.5911,245.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="10417.6067" y="249.5137">urt_nrtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10187.8567" x2="10716.8567" y1="261.3594" y2="261.3594"/><ellipse cx="10197.8567" cy="289.1641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="10206.8567" y="292.3745">minLatency : urt_delay_t</text><ellipse cx="10197.8567" cy="301.9688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="10206.8567" y="305.1792">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10187.8567" x2="10356.3567" y1="275.7617" y2="275.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="10356.3567" y="279.0698">URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10548.3567" x2="10716.8567" y1="275.7617" y2="275.7617"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="10187.8567" x2="10716.8567" y1="311.7734" y2="311.7734"/><ellipse cx="10197.8567" cy="322.7734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="10206.8567" y="325.9839">urtNrtRequestInit (request : urt_nrtrequest_t*) : void</text><ellipse cx="10197.8567" cy="335.5781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="367" x="10206.8567" y="338.7886">urtNrtRequestAcquire (request : urt_nrtrequest_t*) : urt_status_t</text><ellipse cx="10197.8567" cy="348.3828" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="385" x="10206.8567" y="351.5933">urtNrtRequestTryAcquire (request : urt_nrtrequest_t*) : urt_status_t</text><ellipse cx="10197.8567" cy="361.1875" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="10206.8567" y="364.3979">urtNrtRequestRelease (request : urt_nrtrequest_t*) : urt_status_t</text><ellipse cx="10197.8567" cy="373.9922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="505" x="10206.8567" y="377.2026">urtNrtRequestSubmit (request : urt_nrtrequest_t*, service : urt_service_t*) : urt_status_t</text><ellipse cx="10197.8567" cy="386.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="10206.8567" y="390.0073">urtNrtRequestRetrieve (request : urt_nrtrequest_t*) : urt_status_t</text><!--MD5=[e9d515ad43a4cecec056dd09bc14a3c2]

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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="9496.8567" y="357.8979">urtSrtRequestRelease (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9487.8567" cy="367.4922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="505" x="9496.8567" y="370.7026">urtSrtRequestSubmit (request : urt_srtrequest_t*, service : urt_service_t*) : urt_status_t</text><ellipse cx="9487.8567" cy="380.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="9496.8567" y="383.5073">urtSrtRequestRetrieve (request : urt_srtrequest_t*) : urt_status_t</text><ellipse cx="9487.8567" cy="393.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="649" x="9496.8567" y="396.312">urtSrtCalculateUsefulness (request : urt_srtrequest_t*, usefulnesscb : urt_usefulness_f, cbparams : void*) : float</text><!--MD5=[240977dbca9212fa5365c87da90aa051]

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stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10754.3567" x2="10854.3567" y1="283.9805" y2="283.9805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="454" x="10854.3567" y="287.2886">URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11308.3567" x2="11408.3567" y1="283.9805" y2="283.9805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="10754.3567" x2="11408.3567" y1="319.9922" y2="319.9922"/><ellipse cx="10764.3567" cy="330.9922" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="292" x="10773.3567" y="334.2026">urtFrtRequestInit (request : urt_frtrequest_t*) : void</text><ellipse cx="10764.3567" cy="343.7969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="362" x="10773.3567" y="347.0073">urtFrtRequestAcquire (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="10764.3567" cy="356.6016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; 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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="366" x="10773.3567" y="398.2261">urtFrtRequestRetrieve (request : urt_frtrequest_t*) : urt_status_t</text><ellipse cx="10764.3567" cy="407.8203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="318" x="10773.3567" y="411.0308">urtDrtCalculateValidity (request : urt_frtrequest_t) : bool</text><ellipse cx="10764.3567" cy="437.4297" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="419" x="10773.3567" y="440.6401">urtFrtRequestGetMaxJitter(request : urt_frtrequest_t*) : urt_delay_t* const</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="10754.3567" x2="10958.3567" y1="424.0273" y2="424.0273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="10958.3567" y="427.3354">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; 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class urt_hrtrequest_t--><rect fill="#FEFECE" filter="url(#fagms9f8d8o9c)" height="285.6797" id="urt_hrtrequest_t" style="stroke: #A80036; stroke-width: 1.5;" width="661" x="8780.8567" y="169.8594"/><ellipse cx="9056.1067" cy="185.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9055.5911,186.4219 Q9053.7317,185.7188 9053.0755,184.9531 Q9052.4348,184.1719 9052.4348,182.8594 Q9052.4348,181.1719 9053.513,180.2031 Q9054.5911,179.2344 9056.4661,179.2344 Q9057.3255,179.2344 9058.1692,179.4375 Q9059.0286,179.625 9059.8723,180.0156 L9059.8723,182.4063 Q9059.0911,181.8438 9058.263,181.5625 Q9057.4505,181.2656 9056.6536,181.2656 Q9055.7786,181.2656 9055.2942,181.625 Q9054.8255,181.9844 9054.8255,182.6406 Q9054.8255,183.1563 9055.1692,183.5 Q9055.513,183.8281 9056.6067,184.2344 L9057.6692,184.6406 Q9059.1536,185.1875 9059.8567,186.0938 Q9060.5755,187 9060.5755,188.375 Q9060.5755,190.25 9059.4661,191.1719 Q9058.3567,192.0938 9056.1067,192.0938 Q9055.1848,192.0938 9054.263,191.875 Q9053.3411,191.6563 9052.4817,191.2344 L9052.4817,188.7031 Q9053.4505,189.3906 9054.3723,189.7344 Q9055.2942,190.0781 9056.1848,190.0781 Q9057.0911,190.0781 9057.5911,189.6719 Q9058.0911,189.25 9058.0911,188.5156 Q9058.0911,187.9531 9057.7473,187.5469 Q9057.4192,187.125 9056.7942,186.875 L9055.5911,186.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="9076.6067" y="190.0137">urt_hrtrequest_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8781.8567" x2="9440.8567" y1="201.8594" y2="201.8594"/><ellipse cx="8791.8567" cy="229.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="8800.8567" y="232.8745">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8781.8567" x2="8978.3567" y1="216.2617" y2="216.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="266" x="8978.3567" y="219.5698">URT_CFG_RPC_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9244.3567" x2="9440.8567" y1="216.2617" y2="216.2617"/><ellipse cx="8791.8567" cy="259.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="8800.8567" y="262.4839">maxJitter : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8781.8567" x2="8988.3567" y1="245.8711" y2="245.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="8988.3567" y="249.1792">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9234.3567" x2="9440.8567" y1="245.8711" y2="245.8711"/><ellipse cx="8791.8567" cy="288.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="8800.8567" y="292.0933">qosTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8781.8567" x2="8847.3567" y1="275.4805" y2="275.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="528" x="8847.3567" y="278.7886">URT_CFG_RPC_QOS_DEADLINECHECKS == true || URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9375.3567" x2="9440.8567" y1="275.4805" y2="275.4805"/><ellipse cx="8791.8567" cy="318.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="8800.8567" y="321.7026">minLatency : urt_delay_t</text><ellipse cx="8791.8567" cy="331.2969" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="8800.8567" y="334.5073">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8781.8567" x2="8884.3567" y1="305.0898" y2="305.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="454" x="8884.3567" y="308.3979">URT_CFG_RPC_QOS_JITTERCHECKS == true || URT_CFG_RPC_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9338.3567" x2="9440.8567" y1="305.0898" y2="305.0898"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8781.8567" x2="9440.8567" y1="341.1016" y2="341.1016"/><ellipse cx="8791.8567" cy="352.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="297" x="8800.8567" y="355.312">urtHrtRequestInit (request : urt_hrtrequest_t*) : void</text><ellipse cx="8791.8567" cy="364.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="367" x="8800.8567" y="368.1167">urtHrtRequestAcquire (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8791.8567" cy="377.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="385" x="8800.8567" y="380.9214">urtHrtRequestTryAcquire (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8791.8567" cy="390.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="370" x="8800.8567" y="393.7261">urtHrtRequestRelease (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8791.8567" cy="403.3203" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="635" x="8800.8567" y="406.5308">urtHrtRequestSubmit (request : urt_hrtrequest_t*, service : urt_service_t*, deadline : urt_delay_t) : urt_status_t</text><ellipse cx="8791.8567" cy="416.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="371" x="8800.8567" y="419.3354">urtHrtRequestRetrieve (request : urt_hrtrequest_t*) : urt_status_t</text><ellipse cx="8791.8567" cy="445.7344" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="424" x="8800.8567" y="448.9448">urtHrtRequestGetMaxJitter(request : urt_hrtrequest_t*) : urt_delay_t* const</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8781.8567" x2="8988.3567" y1="432.332" y2="432.332"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="246" x="8988.3567" y="435.6401">URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9234.3567" x2="9440.8567" y1="432.332" y2="432.332"/><!--MD5=[e0c5ef58bc626bdfda028ecb031e1681]

link urt_usefulness_f to urt_delay_t--><path d="M7061.2103,1083.8832 C7028.808,1122.8908 6967.6168,1190.0036 6901.3567,1228.8594 C6792.7887,1292.5252 6651.1762,1329.0539 6558.7972,1347.6751 " 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="6553.8863,1348.6575,6563.4961,1350.8142,6558.7891,1347.6766,6561.9267,1342.9697,6553.8863,1348.6575" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5fff9a13948f7f5b5e6ca18c1c7a9716]

link urt_nodestage_t to urt_config--><path d="M7432.5177,1132.6352 C7453.4417,1168.1699 7483.1221,1206.9399 7521.3567,1228.8594 C7936.976,1467.1293 11430.9797,1625.1237 12202.1368,1657.2859 " 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="12207.1916,1657.4966,12198.366,1653.1251,12202.1959,1657.2883,12198.0328,1661.1182,12207.1916,1657.4966" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7db439499cb1afd557b9be4c8c52b2ba]

link urt_topicid_t to urt_config--><path d="M6808.6036,1132.8 C6832.5,1166.8365 6864.314,1204.3224 6901.3567,1228.8594 C7206.8396,1431.2103 7333.5627,1392.8011 7695.3567,1450.8594 C8593.7959,1595.0349 11506.7752,1649.8802 12202.2436,1661.091 " fill="none" id="urt_topicid_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12207.3099,1661.1725,12198.3755,1657.028,12202.3105,1661.0919,12198.2466,1665.0269,12207.3099,1661.1725" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e851a4e79ca88682282ceaaad2100c63]

link urt_serviceid_t to urt_config--><path d="M6538.9886,1132.5672 C6561.9686,1164.7914 6591.0147,1200.9361 6622.3567,1228.8594 C6766.4,1357.1907 6810.3982,1396.0167 6995.3567,1450.8594 C7506.0098,1602.275 11386.2925,1652.8077 12202.1285,1661.8099 " fill="none" id="urt_serviceid_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12207.1783,1661.8655,12198.223,1657.7665,12202.1786,1661.8103,12198.1347,1665.766,12207.1783,1661.8655" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[844001065b3bef53527c5dd4ba0c22e5]

link urt_delay_t to urt_config--><path d="M6554.0064,1403.4771 C6599.4319,1421.3994 6655.8262,1440.7882 6708.3567,1450.8594 C7261.0921,1556.8306 11361.7803,1643.6379 12202.1405,1660.4237 " fill="none" id="urt_delay_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12207.3407,1660.5275,12198.4224,1656.3485,12202.3417,1660.4276,12198.2626,1664.3469,12207.3407,1660.5275" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7766572fa0c619a5409829048dc0b6d6]

link urt_osCondvar_t to urt_osCondvarWaitStatus_t--><path d="M5277.3567,1122.6552 C5277.3567,1181.234 5277.3567,1263.6532 5277.3567,1315.3878 " 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="5277.3567,1320.6072,5281.3567,1311.6072,5277.3567,1315.6072,5273.3567,1311.6072,5277.3567,1320.6072" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9b2507ea88616aeae65e3c4d63560016]

link urt_osCondvar_t to urt_osMutex_t--><path d="M4922.22,1053.3594 C4912.3878,1053.3594 4902.5556,1053.3594 4892.7234,1053.3594 " fill="none" id="urt_osCondvar_t-&gt;urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="4887.5818,1053.3594,4896.5818,1057.3594,4892.5818,1053.3594,4896.5818,1049.3594,4887.5818,1053.3594" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[83094e108045c8f9585007cdb3b7cb2e]

link urt_osTimer_t to urt_osTimerCallback_t--><path d="M4185.3567,1109.5886 C4185.3567,1173.076 4185.3567,1274.4801 4185.3567,1328.0326 " 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="4185.3567,1333.0628,4189.3567,1324.0628,4185.3567,1328.0628,4181.3567,1324.0628,4185.3567,1333.0628" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8d8c3240b5b2b5edf6544088e583ffa5]

link urt_osThread_t to urt_osThreadPrio_t--><path d="M3405.9347,1229.0242 C3407.3957,1247.926 3408.8249,1266.4169 3410.1338,1283.3499 " 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="3410.536,1288.5536,3413.8303,1279.272,3410.1506,1283.5685,3405.8541,1279.8887,3410.536,1288.5536" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d7d1d43fd970fb07a484642bc19fcb13]

link urt_osThread_t to urt_osThreadFunction_t--><path d="M3111.1799,1229.0242 C3048.8767,1267.948 2989.3623,1305.1296 2948.6705,1330.5517 " 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="2944.2982,1333.2833,2954.0504,1331.9069,2948.5386,1330.634,2949.8115,1325.1222,2944.2982,1333.2833" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6564761b32ad7eeb5abb8896c72cfca5]

link urt_osThread_t to urt_osThreadTerminateSignal_t--><path d="M3550.2005,1229.0242 C3581.8002,1264.1917 3612.122,1297.9369 3634.5275,1322.8721 " 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="3638.0545,1326.7972,3635.0145,1317.4292,3634.7126,1323.078,3629.0638,1322.7762,3638.0545,1326.7972" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[92ba23225d8de8f8080583fedda5e6f8]

link urt_osThread_t to urt_osThreadState_t--><path d="M3266.1949,1229.0242 C3250.7111,1250.5835 3235.6111,1271.6083 3222.1176,1290.3964 " 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="3219.0841,1294.6202,3227.5832,1289.6437,3222.0009,1290.5591,3221.0855,1284.9768,3219.0841,1294.6202" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[78b286ab2177e5f7b31e6e832d821818]

link urt_osThread_t to urt_osTime_t--><path d="M3629.6412,877.7821 C3688.1225,846.8992 3752.7452,822.206 3817.8567,814.8594 C3842.8785,812.0362 5605.8349,812.0362 5630.8567,814.8594 C5733.4596,826.4362 5805.0954,939.2631 5838.6866,1005.5008 " 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="5841.0393,1010.1874,5840.5762,1000.3494,5838.796,1005.7188,5833.4266,1003.9386,5841.0393,1010.1874" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[659af6ab57e6a38ebfd5c07c5616787c]

link urt_osEventListener_t to urt_osEventFlags_t--><path d="M1938.3567,1407.0894 C1938.3567,1468.9523 1938.3567,1581.1002 1938.3567,1634.1054 " fill="none" id="urt_osEventListener_t-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1938.3567,1639.3529,1942.3567,1630.3529,1938.3567,1634.3529,1934.3567,1630.3529,1938.3567,1639.3529" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[eac11679f26c499aa1c571e1f795945d]

link urt_osEventSource_t to urt_osEventFlags_t--><path d="M1451.0909,1400.8844 C1564.7774,1462.1237 1789.2883,1583.0609 1888.8321,1636.682 " fill="none" id="urt_osEventSource_t-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="1893.4769,1639.184,1887.4504,1631.3942,1889.075,1636.8127,1883.6564,1638.4373,1893.4769,1639.184" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0259cdb10c6c32168d1d17d25519d939]

link urt_events to urt_osEventSource_t--><path d="M2178.3639,1096.37 C1997.7199,1157.0734 1670.7187,1266.9586 1497.3943,1325.2023 " 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="1492.5658,1326.8248,1502.3712,1327.7493,1497.3053,1325.2319,1499.8226,1320.1661,1492.5658,1326.8248" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0ce043e0e9532fc393f3f8836f5de19a]

link urt_events to urt_osEventListener_t--><path d="M2255.1879,1096.5331 C2186.3505,1154.6147 2064.4019,1257.5088 1993.5586,1317.2828 " 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="1989.3866,1320.803,1998.8447,1318.0562,1993.208,1317.5786,1993.6856,1311.9419,1989.3866,1320.803" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[430bebba9cd89d3ba8f63b2078968bca]

link urt_events to urt_osEventMask_t--><path d="M2346.4019,1096.5331 C2404.0599,1158.6956 2509.3292,1272.1891 2562.2212,1329.2132 " 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="2565.9375,1333.2199,2562.7497,1323.9012,2562.5372,1329.5541,2556.8844,1329.3416,2565.9375,1333.2199" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b1b185abc2161e087cab32ae7fdb2c40]

link urt_events to urt_osEventFlags_t--><path d="M2336.3735,1096.3772 C2386.0586,1173.4042 2473.0473,1337.4138 2400.3567,1450.8594 C2315.9613,1582.5724 2127.0687,1633.7575 2018.7621,1652.7897 " fill="none" id="urt_events-&gt;urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2013.6663,1653.6719,2023.2168,1656.0779,2018.593,1652.8189,2021.852,1648.1952,2013.6663,1653.6719" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[706a1974d1b474cbba7e7b0213f243a1]

link urt_events to urt_osEventWait_t--><path d="M2305.6615,1096.5331 C2304.7355,1154.0362 2303.1022,1255.4636 2302.1357,1315.484 " 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="2302.0501,1320.803,2306.1946,1311.8686,2302.1307,1315.8036,2298.1956,1311.7397,2302.0501,1320.803" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ea4c3dac10af85084086a365fe38a187]

link urt_osTime_t to urt_delay_t--><path d="M5905.1381,1096.6128 C5947.4415,1135.5534 6014.1201,1192.1462 6080.3567,1228.8594 C6172.5249,1279.9458 6287.6284,1317.3981 6367.4657,1339.7221 " 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="6372.6728,1341.1707,6365.0742,1334.9048,6367.8557,1339.8305,6362.93,1342.612,6372.6728,1341.1707" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5f656ccbf337bb70e2692ec6599b22aa]

link urt_osCondvar_t to urt_delay_t--><path d="M5401.9842,1122.3882 C5473.1185,1159.0674 5565.0677,1202.0017 5651.3567,1228.8594 C5902.8547,1307.1389 6213.1219,1342.6791 6367.1646,1356.4451 " 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="6372.5781,1356.9256,6363.9671,1352.1454,6367.5977,1356.4834,6363.2596,1360.1141,6372.5781,1356.9256" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[2da0e339f7ca878d257c4a5336e8cad5]

link urt_osThread_t to urt_delay_t--><path d="M3781.383,1224.3641 C3787.7263,1225.9533 3794.0536,1227.4543 3800.3567,1228.8594 C4201.3956,1318.2612 5238.266,1263.3554 5648.3567,1288.8594 C5908.8698,1305.061 6215.1562,1336.6287 6367.387,1353.1679 " fill="none" id="urt_osThread_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6372.737,1353.7499,6364.2225,1348.7998,6367.7663,1353.209,6363.3571,1356.7528,6372.737,1353.7499" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8bf77663ad208115c32fd5300d37f092]

link urt_osTimer_t to urt_delay_t--><path d="M4282.6054,1109.5556 C4358.969,1150.6167 4469.415,1203.3935 4573.3567,1228.8594 C4805.7444,1285.7947 5409.7466,1271.2273 5648.3567,1288.8594 C5908.6634,1308.0948 6215.0396,1338.3424 6367.3376,1353.8939 " fill="none" id="urt_osTimer_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6372.69,1354.4409,6364.1434,1349.5464,6367.7159,1353.9324,6363.3299,1357.505,6372.69,1354.4409" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[a4e2abbbace7909006fa5f13364d6021]

link urt_events to urt_delay_t--><path d="M2389.7386,1096.4521 C2477.5397,1139.3206 2621.1234,1202.4088 2753.3567,1228.8594 C3068.8428,1291.966 5327.1297,1270.7732 5648.3567,1288.8594 C5908.9604,1303.5323 6215.2074,1335.7652 6367.4086,1352.8021 " fill="none" id="urt_events-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6372.7576,1353.4017,6364.2592,1348.424,6367.7887,1352.8447,6363.368,1356.3742,6372.7576,1353.4017" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[182342162f0b9b45ddce11acc6582c59]

reverse link urt_node_t to urt_node_t--><path d="M18331.8478,639.1446 C18346.6829,647.3691 18354.8567,656.9407 18354.8567,667.8594 C18354.8567,681.4282 18342.2334,692.9167 18319.8899,702.3248 " fill="none" id="urt_node_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="18319.8899,633.394,18323.5636,639.5992,18330.7044,638.5947,18327.0307,632.3895,18319.8899,633.394" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="18328.3614" y="630.0011">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="18328.427" y="699.6859">0,1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]

reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M17571.5746,796.29 C17591.3947,876.8113 17619.0298,974.2474 17636.8958,1022.7851 " fill="none" id="urt_node_t&lt;-urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="17568.4634,783.5221,17565.9977,790.2985,17571.3045,795.1809,17573.7702,788.4045,17568.4634,783.5221" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="17561.4784" y="803.8595">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="17611.3262" y="1011.5591">0,1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]

reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M17594.182,788.3946 C17618.1675,870.3428 17643.8693,972.6495 17651.9086,1022.7851 " 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="17592.7508,783.5221,17591.4497,793.2846,17594.1601,788.3194,17599.1253,791.0298,17592.7508,783.5221" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b913f036db99e36b937989146817bd94]

reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M17387.1723,791.8344 C17286.7723,873.1858 17167.0029,973.3486 17112.1029,1022.7851 " fill="none" id="urt_node_t&lt;-urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="17397.4446,783.5221,17390.2642,784.1869,17388.1162,791.0707,17395.2966,790.4058,17397.4446,783.5221" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="17378.9693" y="803.8595">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="17109.7349" y="1011.5591">1</text><!--MD5=[b913f036db99e36b937989146817bd94]

reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M17417.698,786.9276 C17320.2786,869.1181 17193.6019,972.3499 17127.1157,1022.7851 " 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="17421.732,783.5221,17412.2747,786.2714,17417.9114,786.7475,17417.4353,792.3843,17421.732,783.5221" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[496dffc41052f1912ec8ad492f24fe61]

reverse link urt_node_t to urt_nodeShutdownCallback_t--><path d="M17830.3916,789.5208 C17847.9025,798.911 17865.0305,808.7073 17881.3567,818.8594 C17979.6039,879.9521 18079.2028,974.3671 18133.7679,1022.643 " fill="none" id="urt_node_t&lt;-urt_nodeShutdownCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="17818.8336,783.4091,17822.2679,789.7499,17829.4418,789.0186,17826.0075,782.6778,17818.8336,783.4091" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="17828.6703" y="803.7389">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="18103.334" y="1011.8616">0,1</text><!--MD5=[496dffc41052f1912ec8ad492f24fe61]

reverse link urt_node_t to urt_nodeShutdownCallback_t--><path d="M17858.2927,785.7865 C17878.3208,796.3049 17897.8537,807.3537 17916.3567,818.8594 C18014.6039,879.9521 18114.2028,974.3671 18155.7721,1022.643 " 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="17853.7403,783.4091,17859.8663,791.1209,17858.1723,785.7237,17863.5696,784.0297,17853.7403,783.4091" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[536025241394544a90bc53fb552f3a08]

reverse link urt_message_t to urt_message_t--><path d="M12823.0203,1323.5912 C12837.5385,1332.8734 12846.3567,1346.2962 12846.3567,1363.8594 C12846.3567,1385.6856 12832.7383,1401.1174 12811.486,1410.1548 " fill="none" id="urt_message_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="12811.486,1317.564,12814.9512,1323.8879,12822.1215,1323.1216,12818.6563,1316.7976,12811.486,1317.564" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12819.577" y="1312.5393">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="12819.1453" y="1408.6249">0,1</text><!--MD5=[aa8990705afdbad14c7f998fe04b6f05]

reverse link urt_basesubscriber_t to urt_message_t--><path d="M12836.9388,1132.0814 C12817.1013,1163.6087 12792.4245,1199.3702 12766.3567,1228.8594 C12746.6427,1251.161 12723.2258,1273.1089 12700.5401,1292.6151 " fill="none" id="urt_basesubscriber_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="12844.0221,1120.6771,12837.4584,1123.6635,12837.6906,1130.8708,12844.2543,1127.8844,12844.0221,1120.6771" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12831.8548" y="1140.1334">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="12689.0153" y="1281.5872">0,1</text><!--MD5=[0585cd4928de92ce6927d9c389eadd29]

link urt_nrtsubscriber_t to urt_basesubscriber_t--><path d="M15121.8304,744.8844 C15051.3364,769.1796 14971.1679,794.0405 14896.3567,810.8594 C14198.3523,967.7831 13339.93,1028.3591 13015.2069,1046.6839 " fill="none" id="urt_nrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="13015.4158,1053.683,12995.0577,1047.8051,13014.6379,1039.7046,13015.4158,1053.683" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6d81edfa5aa102b898ad487ae19b49f9]

link urt_srtsubscriber_t to urt_basesubscriber_t--><path d="M13993.6512,764.3831 C13934.7362,779.9765 13874.3632,795.9049 13817.3567,810.8594 C13531.2913,885.903 13195.6368,972.6366 13014.4753,1019.3402 " fill="none" id="urt_srtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="13016.1447,1026.1386,12995.0305,1024.3523,13012.6502,1012.5817,13016.1447,1026.1386" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f626d284cba98e1d5d5fe914b1fa4188]

link urt_frtsubscriber_t to urt_basesubscriber_t--><path d="M15889.0895,780.8626 C15843.3523,792.3261 15796.984,802.7211 15752.3567,810.8594 C14709.552,1001.0269 13425.8409,1042.5325 13015.2312,1051.1834 " fill="none" id="urt_frtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="13015.3267,1058.1828,12995.1875,1051.594,13015.0399,1044.1857,13015.3267,1058.1828" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[1ea71f2b33e56ab0ac5545988c1af396]

link urt_hrtsubscriber_t to urt_basesubscriber_t--><path d="M13114.7461,802.4179 C13062.6103,858.7159 13003.7063,922.3222 12958.2472,971.4105 " fill="none" id="urt_hrtsubscriber_t-&gt;urt_basesubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="12963.3185,976.2366,12944.5932,986.1545,12953.0466,966.724,12963.3185,976.2366" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ea2ec5c5272e65289dabade75a749f58]

reverse link urt_hrtsubscriber_t to urt_hrtsubscriber_t--><path d="M13793.268,634.5775 C13808.0501,643.7604 13816.3567,654.8543 13816.3567,667.8594 C13816.3567,684.021 13803.5285,697.2313 13781.3859,707.4901 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="13781.3859,628.2287,13784.7928,634.5842,13791.9698,633.8838,13788.5629,627.5283,13781.3859,628.2287" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="13789.0644" y="624.6346">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="13789.1488" y="705.0106">0,1</text><!--MD5=[54fcf25ad8c5f1d36e678e42d5bfd4cc]

reverse link urt_publisher_t to urt_topic_t--><path d="M11865.32,667.8594 C11852.0722,667.8594 11838.8243,667.8594 11825.5765,667.8594 " fill="none" id="urt_publisher_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="11878.5679,667.8594,11872.5679,663.8594,11866.5679,667.8594,11872.5679,671.8594,11878.5679,667.8594" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11862.5284" y="664.7748">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11833.2413" y="664.6383">1</text><!--MD5=[5025b4c4053b8e7c7ca8a657f09f21c0]

link urt_publisher_t to urt_message_t--><path d="M12531.4498,766.0136 C12550.2858,781.2533 12567.0627,798.7631 12580.3567,818.8594 C12674.9991,961.9284 12649.7741,1175.2412 12626.8948,1287.8712 " 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="12625.8764,1292.8271,12631.6063,1284.8166,12626.883,1287.9294,12623.7701,1283.2061,12625.8764,1292.8271" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b2afc1defaa6ed5a86f99c07f8466dd]

reverse link urt_topic_t to urt_topic_t--><path d="M11836.5553,618.8319 C11851.3185,629.8889 11860.3567,646.2313 11860.3567,667.8594 C11860.3567,694.4785 11846.6657,713.0911 11825.4606,723.6972 " fill="none" id="urt_topic_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="11825.4606,612.0216,11828.4814,618.5694,11835.6875,618.2994,11832.6666,611.7515,11825.4606,612.0216" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11833.1209" y="606.6194">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="11833.3553" y="722.6573">0,1</text><!--MD5=[ed3fb6de0913094c41bd74c175d366df]

reverse link urt_topic_t to urt_hrtsubscriber_t--><path d="M11776.4272,529.0526 C11803.1396,508.3667 11831.9517,489.083 11861.3567,474.3594 C11868.4908,470.7873 11870.9287,471.2539 11878.8567,470.3594 C11922.8553,465.395 12631.8581,465.395 12675.8567,470.3594 C12762.2572,480.108 12852.5311,504.6694 12934.8656,533.2907 " fill="none" id="urt_topic_t&lt;-urt_hrtsubscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="11765.9041,537.3571,11773.0921,536.7801,11775.3241,529.9231,11768.1361,530.5001,11765.9041,537.3571" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11765.3357" y="526.4532">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="12896.6841" y="522.1517">0,1</text><!--MD5=[0b5167e958c0ed93ffc0c98ce399b54d]

reverse link urt_topic_t to urt_message_t--><path d="M11826.7877,805.9393 C12032.2171,952.5844 12348.8802,1178.6331 12508.74,1292.7484 " fill="none" id="urt_topic_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11816.1746,798.3632,11818.734,805.1048,11825.9414,805.3352,11823.382,798.5936,11816.1746,798.3632" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11818.5125" y="818.4159">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12490.0545" y="1281.7343">1</text><!--MD5=[ed8977051960dfa72b850fe399f41716]

reverse link urt_baserequest_t to urt_baserequest_t--><path d="M9035.1707,611.5745 C9049.2371,622.1005 9058.3567,640.8621 9058.3567,667.8594 C9058.3567,701.7383 9043.9953,722.6479 9023.519,730.5883 " fill="none" id="urt_baserequest_t&lt;-urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="9023.519,605.1305,9026.8337,611.5346,9034.02,610.9381,9030.7054,604.5339,9023.519,605.1305" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9031.3237" y="597.4949">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="9031.3289" y="731.0352">0,1,2</text><!--MD5=[426f0ba47802c5735a37a0acd494a192]

reverse link urt_baserequest_t to urt_service_t--><path d="M8786.0719,667.8594 C8772.9728,667.8594 8759.8738,667.8594 8746.7747,667.8594 " fill="none" id="urt_baserequest_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8799.1709,667.8594,8793.1709,663.8594,8787.1709,667.8594,8793.1709,671.8594,8799.1709,667.8594" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8783.3647" y="664.4384">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="8754.0032" y="664.7558">0,1</text><!--MD5=[09de7ef26922535bfe0682cb358ee29c]

reverse link urt_service_t to urt_baserequest_t--><path d="M8759.8738,667.8594 C8772.9728,667.8594 8786.0719,667.8594 8799.1709,667.8594 " fill="none" id="urt_service_t&lt;-urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8746.7747,667.8594,8752.7747,671.8594,8758.7747,667.8594,8752.7747,663.8594,8746.7747,667.8594" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8754.8077" y="680.1315">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="8759.3596" y="680.3978">0,2,3</text><!--MD5=[dc2d1805b45628aba9d654613b3d05f9]

link urt_nrtrequest_t to urt_baserequest_t--><path d="M10320.2147,396.5383 C10274.02,422.4956 10220.8173,448.853 10169.3567,466.3594 C9773.8043,600.9224 9277.0553,646.6127 9043.815,661.3201 " fill="none" id="urt_nrtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="9044.1549,668.3123,9023.7642,662.5486,9043.2987,654.3385,9044.1549,668.3123" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d53ae0f00163daee879678d1d1554717]

link urt_nrtrequest_t to urt_service_t--><path d="M10329.682,396.4658 C10281.8218,424.3961 10225.1186,452.0413 10169.3567,466.3594 C10093.7525,485.7725 8839.4259,452.9704 8764.3567,474.3594 C8720.483,486.8601 8676.6675,507.2838 8636.2449,530.2816 " fill="none" id="urt_nrtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8631.8399,532.8055,8641.6375,531.8016,8636.1782,530.3196,8637.6601,524.8603,8631.8399,532.8055" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f9755d42ba41539dee622699d8be3a22]

link urt_srtrequest_t to urt_baserequest_t--><path d="M9611.4881,402.8907 C9561.9437,424.237 9508.9257,446.5473 9459.3567,466.3594 C9318.1371,522.803 9154.2243,582.2964 9042.7216,621.8784 " fill="none" id="urt_srtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="9044.7551,628.5842,9023.5656,628.6657,9040.0795,615.3881,9044.7551,628.5842" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[90efd84e0f70286880ba110c49a1e8f8]

link urt_srtrequest_t to urt_service_t--><path d="M9643.7656,402.8678 C9586.7195,428.5097 9521.7472,453.0735 9459.3567,466.3594 C9421.5899,474.4018 8801.4615,463.6706 8764.3567,474.3594 C8720.6686,486.9447 8677.0183,507.329 8636.7147,530.2468 " fill="none" id="urt_srtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8632.3226,532.7619,8642.1204,531.7606,8636.6615,530.2772,8638.1449,524.8183,8632.3226,532.7619" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bfc5f4e50344156edda6a5cfcff14fef]

link urt_frtrequest_t to urt_baserequest_t--><path d="M10795.8901,447.5065 C10775.646,454.5687 10755.3411,460.962 10735.3567,466.3594 C10414.7985,552.9368 9406.9889,632.1156 9043.6176,658.5453 " fill="none" id="urt_frtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="9043.9046,665.5427,9023.4511,660.006,9042.8932,651.5793,9043.9046,665.5427" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[836450d5c472e7b2344319739fa0d5d1]

link urt_frtrequest_t to urt_service_t--><path d="M10804.245,447.458 C10781.3085,454.9984 10758.1693,461.4778 10735.3567,466.3594 C10681.8183,477.8158 8817.0238,459.3998 8764.3567,474.3594 C8720.4728,486.8242 8676.6528,507.2319 8636.2289,530.2253 " fill="none" id="urt_frtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8631.8238,532.7488,8641.6215,531.7459,8636.1623,530.2634,8637.6448,524.8042,8631.8238,532.7488" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7c5d2ea3f0b69f804ad9b60a9539ac96]

link urt_hrtrequest_t to urt_baserequest_t--><path d="M9030.7296,455.9726 C9012.9107,487.6011 8994.2385,520.7443 8977.0945,551.1749 " fill="none" id="urt_hrtrequest_t-&gt;urt_baserequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="8983.1106,554.7575,8967.195,568.7465,8970.9132,547.8856,8983.1106,554.7575" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[189d7bd823f9a098ae8eb3eaa3789ee1]

link urt_hrtrequest_t to urt_service_t--><path d="M8782.3302,456.0038 C8770.4654,462.1019 8758.7741,468.2325 8747.3567,474.3594 C8715.0793,491.6806 8681.5263,510.8699 8649.0492,530.2394 " fill="none" id="urt_hrtrequest_t-&gt;urt_service_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="8644.6815,532.8493,8654.4591,531.6665,8648.9736,530.2846,8650.3556,524.7991,8644.6815,532.8493" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bcf13f9307d05af3b11663d6e8155fbe]

reverse link urt_service_t to urt_hrtrequest_t--><path d="M8690.5141,526.2105 C8721.1764,508.2159 8752.3189,490.4787 8782.3567,474.3594 C8793.7741,468.2325 8805.4654,462.1019 8817.3147,456.0038 " fill="none" id="urt_service_t&lt;-urt_hrtrequest_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8679.242,532.8493,8686.4419,533.251,8689.5819,526.7595,8682.382,526.3577,8679.242,532.8493" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8684.3588" y="521.6904">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="8782.5877" y="475.3785">0,1</text><!--MD5=[05f2c35569573d3273c65d3342945557]

reverse link urt_service_t to urt_service_t--><path d="M8757.7499,625.6407 C8772.6214,636.2313 8781.3567,650.3042 8781.3567,667.8594 C8781.3567,689.4658 8768.1245,705.7973 8746.5058,716.8537 " fill="none" id="urt_service_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8746.5058,618.8651,8749.5803,625.3879,8756.7839,625.0587,8753.7094,618.5358,8746.5058,618.8651" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8754.5316" y="614.4374">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="8754.691" y="715.0288">0,1</text><!--MD5=[694e7400eb99f74d44ea388aed89d199]

reverse link urt_core_t to urt_node_t--><path d="M8147.9853,358.5046 C8309.4213,395.9438 8550.7837,445.972 8764.3567,466.3594 C8874.896,476.9113 16649.1216,460.9998 16759.3567,474.3594 C16890.6891,490.2759 17031.7009,520.4583 17157.7179,552.3333 " fill="none" id="urt_core_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8135.0476,355.4915,8139.9839,360.7482,8146.7348,358.2135,8141.7985,352.9568,8135.0476,355.4915" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8143.0086" y="369.8264">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="17110.7328" y="541.1299">0,1</text><!--MD5=[250695c91040478b50550bc37a8775c7]

reverse link urt_core_t to urt_topic_t--><path d="M8147.9955,358.3976 C8309.4381,395.769 8550.8042,445.7578 8764.3567,466.3594 C8801.1444,469.9083 11390.9822,460.7829 11425.3567,474.3594 C11460.908,488.4007 11493.9969,511.6743 11522.8561,537.3035 " fill="none" id="urt_core_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8135.0573,355.39,8139.9958,360.6446,8146.7457,358.107,8141.8072,352.8524,8135.0573,355.39" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8143.0187" y="354.0407">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="11495.8897" y="526.3965">0,1</text><!--MD5=[8d0a227ec56585cdbc167f8316b34b64]

reverse link urt_core_t to urt_service_t--><path d="M8145.8452,446.4335 C8184.3981,474.6526 8225.1104,504.4523 8263.7412,532.7284 " fill="none" id="urt_core_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8135.0321,438.5187,8137.5111,445.2903,8144.7153,445.6064,8142.2363,438.8348,8135.0321,438.5187" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8142.9924" y="440.9361">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="8233.0982" y="522.0075">0,1</text><!--MD5=[a42c921bb2ae3ef3cd6ba12c97758939]

reverse link urt_core_t to urt_osEventSource_t--><path d="M7778.786,317.6375 C6618.2083,348.5549 368.954,528.2185 98.3567,818.8594 C-25.813,952.2266 -23.5713,1093.4397 98.3567,1228.8594 C164.6524,1302.4908 751.8776,1338.8107 1108.8226,1354.2349 " fill="none" id="urt_core_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7791.7906,317.2916,7785.6863,313.4525,7779.7948,317.6107,7785.8991,321.4497,7791.7906,317.2916" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7775.8353" y="314.2159">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1093.2402" y="1350.3269">1</text><!--MD5=[b9eb8460041bde16ab6e44c28de7b0fc]

reverse link urt_core_t to urt_osMutex_t--><path d="M7778.27,324.0636 C7192.0726,362.4981 5386.8285,504.3534 4906.3567,818.8594 C4836.7985,864.3907 4786.8094,949.4741 4760.258,1003.6708 " fill="none" id="urt_core_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7791.4674,323.2023,7785.2196,319.6016,7779.4929,323.9839,7785.7407,327.5846,7791.4674,323.2023" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7776.0471" y="320.3858">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4763.9004" y="992.6895">1</text><!--MD5=[fcff95a1517f1bbe30c2de95da1c3bda]

reverse link urt_core_t to urt_status_t--><path d="M7778.5388,331.141 C7513.7883,359.2171 7052.8305,415.8675 7003.3567,474.3594 C6906.7745,588.5467 6898.4247,704.2943 7003.3567,810.8594 C7023.5504,831.3673 7496.6232,804.1417 7521.3567,818.8594 C7557.992,840.6593 7585.2813,876.7122 7605.2328,914.0876 " fill="none" id="urt_core_t&lt;-urt_status_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7791.7765,329.7437,7785.3897,326.3956,7779.8428,331.0034,7786.2296,334.3514,7791.7765,329.7437" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7775.8205" y="342.9119">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7594.3823" y="903.1183">1</text><!--MD5=[f6f8ae0abb3c85244c8639cf15039f58]

link urt_core_t to urt_nodestage_t--><path d="M7791.695,327.2896 C7510.0571,352.718 6975.3457,409.0433 6919.3567,474.3594 C6822.0235,587.9072 6814.8168,703.9096 6919.3567,810.8594 C6932.9909,824.8078 7253.7478,808.6324 7270.3567,818.8594 C7324.0296,851.9088 7356.0165,916.4747 7374.177,969.503 " 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="7375.7838,974.2717,7376.7006,964.4656,7374.1872,969.5334,7369.1194,967.0201,7375.7838,974.2717" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e894174e7ccaed139fbaaa0f9b9ae8dc]

link urt_core_t to urt_topicid_t--><path d="M7791.7153,326.0571 C7492.649,350.6935 6901.4084,407.3035 6835.3567,474.3594 C6705.9444,605.7394 6723.1248,842.9095 6743.8801,969.0807 " 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="6744.7449,974.2628,6747.209,964.7271,6743.9219,969.331,6739.3181,966.0439,6744.7449,974.2628" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[972bd788fc5a0ee0badfa994920a3622]

link urt_core_t to urt_serviceid_t--><path d="M7791.6679,325.5728 C7470.6925,350.7277 6804.4798,410.0126 6721.3567,474.3594 C6564.3785,595.8786 6512.7508,840.0143 6496.0828,969.0223 " 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="6495.4097,974.32,6500.5126,965.8962,6496.0401,969.3599,6492.5764,964.8875,6495.4097,974.32" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[addb2e74eebae0995b3a6bf162197d46]

reverse link urt_node_t to urt_osThread_t--><path d="M16967.061,785.349 C16897.3158,795.8358 16826.9048,804.7741 16759.3567,810.8594 C16714.5417,814.8967 3843.8278,807.2424 3800.3567,818.8594 C3750.1377,832.2797 3699.679,853.5142 3652.2018,877.8497 " fill="none" id="urt_node_t&lt;-urt_osThread_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="16980.0754,783.3731,16973.5429,780.3191,16968.2114,785.1744,16974.7438,788.2284,16980.0754,783.3731" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="16933.5581" y="803.7005">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3655.7948" y="866.6381">1</text><!--MD5=[71f626b81c482d35e653d2b548781872]

reverse link urt_node_t to urt_nodestage_t--><path d="M16966.8065,785.3705 C16897.1443,795.8439 16826.8224,804.7731 16759.3567,810.8594 C16743.3834,812.3004 7535.1186,810.6231 7521.3567,818.8594 C7465.4406,852.3244 7432.8963,920.0635 7414.9409,974.1698 " fill="none" id="urt_node_t&lt;-urt_nodestage_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="16979.8055,783.3972,16973.2731,780.343,16967.9414,785.1982,16974.4738,788.2524,16979.8055,783.3972" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="16941.8075" y="803.7262">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7408.3776" y="963.2309">1</text><!--MD5=[ecbb69d8dc7b8a34ff21337736794c2a]

reverse link urt_node_t to urt_osEventListener_t--><path d="M16967.0618,785.3572 C16897.3164,795.8427 16826.9052,804.7783 16759.3567,810.8594 C16745.3197,812.1231 533.3201,808.8912 523.3567,818.8594 C394.5379,947.7417 397.9078,1096.6947 523.3567,1228.8594 C611.4436,1321.6619 1547.1213,1267.9735 1673.3567,1288.8594 C1717.935,1296.2349 1765.7121,1308.3851 1808.252,1320.7799 " fill="none" id="urt_node_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="16980.0762,783.3817,16973.5438,780.3275,16968.2121,785.1827,16974.7445,788.2369,16980.0762,783.3817" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="16846.6711" y="804.0639">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1778.8791" y="1309.7632">1</text><!--MD5=[a052f483eba01ccbd89eefaa281cffa6]

reverse link urt_node_t to urt_osThreadFunction_t--><path d="M16967.0618,785.3571 C16897.3164,795.8426 16826.9052,804.7783 16759.3567,810.8594 C16745.3673,812.1188 588.2863,808.9249 578.3567,818.8594 C513.9474,883.3006 514.8272,1163.5507 578.3567,1228.8594 C662.5267,1315.3867 2633.4712,1258.7045 2750.3567,1288.8594 C2785.6212,1297.9572 2822.0172,1316.8184 2849.5237,1333.3492 " fill="none" id="urt_node_t&lt;-urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="16980.0762,783.3816,16973.5438,780.3274,16968.2121,785.1826,16974.7445,788.2368,16980.0762,783.3816" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="16918.055" y="803.7096">0..*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2830.6227" y="1322.1372">1</text><!--MD5=[0cba389305cd35ebcbacaedacb3fbe88]

link urt_node_t to urt_status_t--><path d="M16979.5303,783.3633 C16905.7221,794.6821 16830.9311,804.3629 16759.3567,810.8594 C16646.5425,821.0991 12794.6013,816.1089 12681.3567,818.8594 C10719.2562,866.5152 8329.866,1011.0489 7773.1939,1045.7907 " 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="7767.9325,1046.1192,7777.1644,1049.5503,7772.9228,1045.8075,7776.6656,1041.5659,7767.9325,1046.1192" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b00c0c61b5ae38465e12763fb588229]

link urt_nodeSetupCallback_t to urt_osEventMask_t--><path d="M17623.0222,1083.9707 C17580.2731,1126.1315 17496.2175,1200.1156 17407.3567,1228.8594 C17020.0559,1354.1394 3150.3882,1199.065 2753.3567,1288.8594 C2716.9046,1297.1036 2678.9467,1314.6201 2649.2632,1330.6526 " fill="none" id="urt_nodeSetupCallback_t-&gt;urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2644.5717,1333.2114,2654.3882,1332.4136,2648.9612,1330.8172,2650.5576,1325.3903,2644.5717,1333.2114" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[aa0b59559007c8ad9b783f6dc5ed8ad9]

link urt_nodeLoopCallback_t to urt_osEventMask_t--><path d="M17041.8125,1084.0943 C16983.2048,1126.4037 16869.7045,1200.5653 16759.3567,1228.8594 C16382.4891,1325.4915 3132.8236,1202.9997 2753.3567,1288.8594 C2716.9054,1297.107 2678.9475,1314.6237 2649.2638,1330.6555 " fill="none" id="urt_nodeLoopCallback_t-&gt;urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2644.5723,1333.2141,2654.3888,1332.4165,2648.9619,1330.8201,2650.5584,1325.3932,2644.5723,1333.2141" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b3fa89608aace108b23bbfcd22712ec]

link urt_publisher_t to urt_config--><path d="M12222.9164,766.0058 C12216.4702,783.2568 12210.8704,801.3123 12207.3567,818.8594 C12152.2051,1094.2807 12124.5116,1182.4656 12207.3567,1450.8594 C12211.854,1465.4292 12217.7306,1479.8923 12224.5387,1494.018 " fill="none" id="urt_publisher_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12226.8826,1498.7952,12226.5092,1488.9534,12224.6801,1494.3064,12219.3271,1492.4773,12226.8826,1498.7952" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[48a81098d0aa451a4923659bb2bbea3c]

link urt_publisher_t to urt_status_t--><path d="M12030.4687,765.9391 C11975.7613,784.2927 11917.2585,800.8401 11861.3567,810.8594 C11813.6641,819.4074 11473.7701,816.9113 11425.3567,818.8594 C9985.8805,876.783 8240.8581,1007.8506 7773.3341,1043.9826 " 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="7768.2307,1044.3772,7777.5124,1047.6712,7773.2158,1043.9916,7776.8954,1039.6951,7768.2307,1044.3772" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[c16173558393ca1d9128284d70afa235]

link urt_publisher_t to urt_delay_t--><path d="M12019.4092,765.9445 C11967.7742,783.1834 11913.302,799.2832 11861.3567,810.8594 C10083.9031,1206.9725 9596.9521,1043.4702 7785.3567,1228.8594 C7325.9401,1275.8737 6776.6979,1331.9051 6558.9978,1354.1069 " 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="6553.9172,1354.6251,6563.2767,1357.6911,6558.8914,1354.1177,6562.4648,1349.7324,6553.9172,1354.6251" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3f75a4ca5db56e37c381a718c71f2950]

reverse link urt_topic_t to urt_topicid_t--><path d="M11445.8476,803.553 C11439.0594,806.269 11432.2208,808.7208 11425.3567,810.8594 C11395.3621,820.2045 6928.6648,803.3262 6901.3567,818.8594 C6843.1414,851.973 6806.5465,919.9356 6785.4364,974.2098 " fill="none" id="urt_topic_t&lt;-urt_topicid_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11458.0064,798.3892,11450.9202,797.0529,11446.9613,803.0801,11454.0475,804.4164,11458.0064,798.3892" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11425.9062" y="812.0055">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6779.2875" y="963.2746">1</text><!--MD5=[2ea2859f8de074b5c128ff5997404a58]

reverse link urt_topic_t to urt_osMutex_t--><path d="M11445.8491,803.5578 C11439.0605,806.2725 11432.2214,808.7227 11425.3567,810.8594 C11403.7441,817.5866 4926.4844,808.5037 4906.3567,818.8594 C4831.2075,857.5238 4782.133,947.1091 4757.411,1003.6828 " fill="none" id="urt_topic_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11458.0086,798.3964,11450.9226,797.0588,11446.9626,803.0852,11454.0485,804.4228,11458.0086,798.3964" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11448.1025" y="818.451">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4760.653" y="992.7032">1</text><!--MD5=[ee40dc1875ed5325eec4e6c8c8102744]

reverse link urt_topic_t to urt_osEventSource_t--><path d="M11445.8505,803.5623 C11439.0615,806.2757 11432.2219,808.7244 11425.3567,810.8594 C11407.1525,816.5207 457.8323,805.374 444.3567,818.8594 C315.5531,947.7569 325.0363,1091.1366 444.3567,1228.8594 C487.719,1278.9093 847.5403,1319.4014 1108.6237,1342.5618 " fill="none" id="urt_topic_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11458.0107,798.403,11450.925,797.0643,11446.9639,803.0901,11454.0497,804.4288,11458.0107,798.403" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11426.4188" y="818.1798">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1093.2464" y="1338.8707">1</text><!--MD5=[fd684a39d2d7f503df403fc4f1515616]

reverse link urt_topic_t to urt_osCondvar_t--><path d="M11445.8487,803.5564 C11439.0602,806.2715 11432.2212,808.7221 11425.3567,810.8594 C11387.0722,822.7793 5689.8845,807.7508 5651.3567,818.8594 C5539.7944,851.0258 5429.2929,927.2476 5357.6684,984.1158 " fill="none" id="urt_topic_t&lt;-urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11458.008,798.3943,11450.922,797.0571,11446.9622,803.0838,11454.0483,804.4209,11458.008,798.3943" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11439.6394" y="818.4488">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5357.538" y="973.2943">1</text><!--MD5=[f5e2f818dfb7c47ef0a661b061d2efd0]

link urt_topic_t to urt_config--><path d="M11712.4975,798.4226 C11810.6767,957.2949 11986.2298,1231.4798 12158.3567,1450.8594 C12172.5473,1468.9456 12187.905,1487.3962 12203.5518,1505.4958 " 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="12207.1065,1509.5961,12204.2334,1500.1756,12203.8313,1505.8181,12198.1887,1505.416,12207.1065,1509.5961" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[a01366c261f16bb61c03de8616a1256c]

reverse link urt_topic_t to urt_osTimer_t--><path d="M11445.8493,803.5584 C11439.0606,806.2729 11432.2215,808.7229 11425.3567,810.8594 C11379.923,824.9998 4619.1856,806.0573 4573.3567,818.8594 C4449.414,853.4822 4325.5228,939.5327 4252.1738,997.1974 " fill="none" id="urt_topic_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11458.0089,798.3972,11450.923,797.0595,11446.9628,803.0858,11454.0487,804.4235,11458.0089,798.3972" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11439.6404" y="818.4518">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="4262.016" y="986.1146">0,1</text><!--MD5=[23aed2412a22c58889d68b772ca9654f]

link urt_topic_t to urt_status_t--><path d="M11455.9031,798.4231 C11445.8176,803.1132 11435.606,807.3116 11425.3567,810.8594 C11073.3148,932.7201 8377.8508,1029.1992 7773.3945,1049.4405 " 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="7768.1206,1049.617,7777.2494,1053.3136,7773.1178,1049.4497,7776.9817,1045.3181,7768.1206,1049.617" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[40d97a101b79fe2b6aede42ee911a5e3]

reverse link urt_message_t to urt_osTime_t--><path d="M12392.1457,1361.1184 C11325.0318,1347.3456 6658.8822,1284.1713 6356.3567,1228.8594 C6211.0193,1202.2868 6051.3292,1139.2307 5953.4447,1096.4025 " fill="none" id="urt_message_t&lt;-urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="12405.2998,1361.2881,12399.3519,1357.211,12393.3008,1361.1333,12399.2487,1365.2103,12405.2998,1361.2881" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12389.2116" y="1357.9713">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5960.1999" y="1116.8173">1</text><!--MD5=[2bb9471b6fda5815e085c87a24a67f11]

link urt_message_t to urt_config--><path d="M12547.3636,1435.2166 C12531.7705,1453.4593 12514.3297,1473.8636 12496.4636,1494.7656 " fill="none" id="urt_message_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12493.123,1498.6739,12502.0114,1494.4317,12496.3718,1494.8732,12495.9303,1489.2336,12493.123,1498.6739" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[570f5794230ed2cf7946261591bb6cd1]

link urt_message_t to urt_status_t--><path d="M12405.0884,1351.1218 C11571.448,1298.8826 8427.6705,1101.881 7773.1788,1060.8679 " 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="7767.9458,1060.54,7776.6779,1065.0953,7772.936,1060.8528,7777.1784,1057.1109,7767.9458,1060.54" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0614ecc40a2323571c35dab79c646fe8]

reverse link urt_basesubscriber_t to urt_osEventListener_t--><path d="M12756.6364,1058.785 C12184.3617,1083.251 9768.009,1184.0589 7784.3567,1228.8594 C7164.3679,1242.8618 2817.1492,1200.3096 2203.3567,1288.8594 C2157.3341,1295.4989 2108.0354,1307.9173 2064.5914,1320.7658 " fill="none" id="urt_basesubscriber_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="12769.8105,1058.2213,12763.645,1054.4815,12757.8215,1058.7344,12763.987,1062.4742,12769.8105,1058.2213" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12753.9801" y="1055.1277">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2076.0726" y="1309.7469">1</text><!--MD5=[60df476f9c89db6ca6af2af6f6dc5b29]

reverse link urt_basesubscriber_t to urt_osTime_t--><path d="M12870.1041,973.221 C12854.8207,907.1644 12821.243,823.0268 12748.8567,814.8594 C12704.865,809.8958 6417.8484,809.8958 6373.8567,814.8594 C6196.0863,834.9174 6011.5438,947.001 5919.7091,1010.1233 " fill="none" id="urt_basesubscriber_t&lt;-urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="12872.9229,986.1634,12875.5544,979.4496,12870.3692,974.4383,12867.7377,981.1521,12872.9229,986.1634" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12863.4536" y="975.0877">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5920.1849" y="999.3997">1</text><!--MD5=[45abaca6e1a4b5e9e9e5f81f99145f21]

link urt_basesubscriber_t to urt_config--><path d="M12898.601,1120.4497 C12915.0932,1205.5733 12929.4388,1353.0525 12860.3567,1450.8594 C12778.4993,1566.7537 12620.8074,1619.6921 12502.7266,1643.7186 " 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="12497.487,1644.7711,12507.0986,1646.92,12502.389,1643.7862,12505.5228,1639.0767,12497.487,1644.7711" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[fb477f5fd8787be5b7605dfea5d27dc3]

link urt_basesubscriber_t to urt_status_t--><path d="M12769.6671,1053.3594 C11104.1522,1053.3594 9438.6373,1053.3594 7773.1224,1053.3594 " fill="none" id="urt_basesubscriber_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7767.9326,1053.3594,7776.9326,1057.3594,7772.9326,1053.3594,7776.9326,1049.3594,7767.9326,1053.3594" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[c18fda7f16d94dac1a94387e8df76308]

reverse link urt_nrtsubscriber_t to urt_delay_t--><path d="M15124.3289,749.3718 C15053.5498,774.2554 14972.5666,798.3384 14896.3567,810.8594 C14828.4885,822.0099 12486.7397,800.8668 12420.3567,818.8594 C12070.1411,913.7826 12063.4837,1130.0071 11714.3567,1228.8594 C11456.0605,1301.9937 7229.2974,1354.8169 6554.0112,1362.8079 " fill="none" id="urt_nrtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="15136.9644,744.8833,15129.9716,743.1225,15125.6567,748.9002,15132.6495,750.661,15136.9644,744.8833" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="15110.1242" y="765.2555">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6561.7176" y="1375.3801">0,2</text><!--MD5=[cf4e9b81c32b9b138596f59fa1fb3fd6]

link urt_nrtsubscriber_t to urt_config--><path d="M15136.9609,744.8621 C15063.2877,771.2979 14977.139,797.5664 14896.3567,810.8594 C14866.9739,815.6944 12779.1884,805.9446 12752.3567,818.8594 C12510.8157,935.1199 12470.7939,1038.7426 12374.3567,1288.8594 C12349.6371,1352.9714 12341.5557,1427.845 12340.5972,1493.7215 " 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="12340.5366,1498.8515,12344.6428,1489.8994,12340.5957,1493.8518,12336.6433,1489.8048,12340.5366,1498.8515" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[249ee4d4a0d0f021e94ff447977fc36f]

link urt_nrtsubscriber_t to urt_status_t--><path d="M15136.965,744.8871 C15063.2924,771.3261 14977.143,797.5903 14896.3567,810.8594 C14826.5418,822.3265 12420.0822,816.9835 12349.3567,818.8594 C10525.778,867.228 8307.4239,1009.8496 7773.1877,1045.3082 " 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="7768.1361,1045.6436,7777.3814,1049.0382,7773.1251,1045.3121,7776.8512,1041.0558,7768.1361,1045.6436" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[1ffa2ec21542e79acf15fa09492f4ab5]

reverse link urt_srtsubscriber_t to urt_usefulness_f--><path d="M14034.6338,767.6848 C13963.7449,785.6038 13888.5565,801.5309 13817.3567,810.8594 C13794.8167,813.8126 7290.8061,808.9298 7270.3567,818.8594 C7181.96,861.7822 7123.0617,969.6527 7098.427,1022.7984 " fill="none" id="urt_srtsubscriber_t&lt;-urt_usefulness_f" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="14047.3543,764.4366,14040.5512,762.0454,14035.7274,767.4056,14042.5305,769.7967,14047.3543,764.4366" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="14024.9557" y="784.157">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="7079.0986" y="1011.5753">0,1</text><!--MD5=[af3bb42c2cc648980c9a8c0bd0e49df3]

reverse link urt_srtsubscriber_t to urt_delay_t--><path d="M14033.9274,767.628 C13963.2386,785.4916 13888.3103,801.4105 13817.3567,810.8594 C13736.5137,821.6252 12429.9597,806.4226 12349.3567,818.8594 C11741.3875,912.6672 11634.1504,1127.7261 11027.3567,1228.8594 C10571.3986,1304.8532 7157.4534,1354.4381 6554.2788,1362.6509 " fill="none" id="urt_srtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="14046.6125,764.3903,14039.8096,761.9985,14034.9853,767.3581,14041.7882,769.7499,14046.6125,764.3903" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="14014.5915" y="784.4328">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6562.0056" y="1359.0627">0,2</text><!--MD5=[57f9c03e706aa97ce919c51d40a1f0dd]

link urt_srtsubscriber_t to urt_config--><path d="M14665.9498,764.3809 C14740.6536,783.6138 14820.754,800.9321 14896.3567,810.8594 C14908.5886,812.4656 18440.6431,810.1261 18449.3567,818.8594 C18513.7094,883.3572 18511.45,1162.1836 18449.3567,1228.8594 C18240.0087,1453.6575 13420.3306,1627.2996 12502.5512,1658.3874 " fill="none" id="urt_srtsubscriber_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12497.5399,1658.5571,12506.6702,1662.2501,12502.537,1658.3878,12506.3993,1654.2547,12497.5399,1658.5571" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ddfd53c980ad9ebb8f86954377552edb]

link urt_srtsubscriber_t to urt_status_t--><path d="M14046.6143,764.404 C13972.2523,783.5698 13892.5717,800.8527 13817.3567,810.8594 C13732.6024,822.1353 12363.8245,816.4718 12278.3567,818.8594 C10484.3518,868.9767 8302.4071,1009.9932 7773.1423,1045.2778 " 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="7768.1372,1045.6116,7777.3834,1049.0038,7773.1261,1045.2789,7776.8511,1041.0216,7768.1372,1045.6116" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b350769e483c42ea2704e388ea6a04f2]

reverse link urt_frtsubscriber_t to urt_delay_t--><path d="M15891.3731,784.0117 C15844.9854,795.038 15797.8376,804.4703 15752.3567,810.8594 C15711.0951,816.6558 12792.4054,807.3602 12752.3567,818.8594 C12420.8057,914.0579 12423.8748,1130.1341 12093.3567,1228.8594 C11816.7408,1311.4842 7257.0589,1356.5713 6554.0527,1363.0458 " fill="none" id="urt_frtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="15904.1111,780.9398,15897.3405,778.458,15892.4456,783.7532,15899.2161,786.235,15904.1111,780.9398" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="15871.0626" y="801.4734">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6561.9154" y="1375.6363">0..4</text><!--MD5=[7be759a40cf40f1b9231b6649fee3f4f]

link urt_frtsubscriber_t to urt_config--><path d="M16608.2484,780.9351 C16658.5052,793.2557 16709.9181,803.8524 16759.3567,810.8594 C16771.3137,812.5541 18489.837,810.3004 18498.3567,818.8594 C18626.9106,948.006 18611.3312,1085.8849 18498.3567,1228.8594 C18233.8254,1563.6362 17987.0317,1392.5651 17564.3567,1450.8594 C16547.9267,1591.0429 13247.3352,1649.5512 12502.5921,1661.1415 " 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="12497.4396,1661.2216,12506.5007,1665.0812,12502.439,1661.1439,12506.3763,1657.0822,12497.4396,1661.2216" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[29df74e07807e6378398cb43d45b3c27]

link urt_frtsubscriber_t to urt_status_t--><path d="M15904.4558,780.8656 C15853.8803,793.2431 15802.1208,803.874 15752.3567,810.8594 C15662.6526,823.4512 12581.911,816.5549 12491.3567,818.8594 C10608.5285,866.7743 8317.0263,1010.3457 7773.1584,1045.5174 " 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="7768.0167,1045.8501,7777.2562,1049.2606,7773.0063,1045.5272,7776.7396,1041.2773,7768.0167,1045.8501" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bc1cc9ca99c1274e9c895cd105ca1d4c]

reverse link urt_hrtsubscriber_t to urt_delay_t--><path d="M12734.999,804.5455 C12721.0075,806.8584 12707.1072,808.9734 12693.3567,810.8594 C12586.344,825.5368 12314.9101,808.8876 12207.3567,818.8594 C11125.0596,919.2049 10877.3705,1115.5217 9796.3567,1228.8594 C9141.3784,1297.5299 7019.4522,1350.7389 6554.1094,1361.7573 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="12747.8723,802.3666,12741.2889,799.424,12736.0406,804.3693,12742.624,807.3118,12747.8723,802.3666" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12712.7755" y="822.2065">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6561.9764" y="1358.1007">0..5</text><!--MD5=[47265b8b91af56102ad98d46909bef01]

reverse link urt_hrtsubscriber_t to urt_osTimer_t--><path d="M12736.8998,804.5327 C12722.2682,806.8799 12707.7316,809.001 12693.3567,810.8594 C12637.4332,818.0893 4627.6678,803.6932 4573.3567,818.8594 C4449.4108,853.4709 4325.5205,939.5246 4252.1726,997.193 " fill="none" id="urt_hrtsubscriber_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="12749.7807,802.4128,12743.2107,799.4403,12737.94,804.3617,12744.51,807.3341,12749.7807,802.4128" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="12723.2258" y="822.2553">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4252.2209" y="986.1096">1</text><!--MD5=[c255c4720016d78ffa1594ef43d10003]

link urt_hrtsubscriber_t to urt_config--><path d="M12745.9733,802.3983 C12728.2724,805.5273 12710.6941,808.368 12693.3567,810.8594 C12678.3378,813.0176 12431.9486,809.0689 12420.3567,818.8594 C12230.0741,979.5713 12261.7669,1297.1643 12305.0345,1493.7833 " 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="12306.1233,1498.695,12308.0807,1489.0426,12305.0412,1493.8135,12300.2703,1490.774,12306.1233,1498.695" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[acfaba0e8df90d54cbfcf78ceb19e2ee]

link urt_hrtsubscriber_t to urt_status_t--><path d="M12747.8789,802.4152 C12729.5367,805.577 12711.3191,808.4149 12693.3567,810.8594 C12632.0268,819.2056 12198.2177,816.798 12136.3567,818.8594 C10401.883,876.6585 8292.9925,1011.3274 7773.3137,1045.4105 " 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="7768.0229,1045.7576,7777.2655,1049.1596,7773.0122,1045.4301,7776.7416,1041.1768,7768.0229,1045.7576" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8a07eed8d365d510d46940e8916e2aca]

reverse link urt_baserequest_t to urt_osMutex_t--><path d="M8841.4499,776.9138 C8827.8733,790.6241 8812.4655,802.6862 8795.3567,810.8594 C8770.9876,822.501 4930.3665,806.4937 4906.3567,818.8594 C4831.2236,857.555 4782.1439,947.1303 4757.4166,1003.6937 " fill="none" id="urt_baserequest_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8850.555,767.1863,8843.5345,768.8332,8842.3546,775.9471,8849.3751,774.3002,8850.555,767.1863" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8838.2011" y="786.4466">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4751.5344" y="992.7156">1</text><!--MD5=[7c9c768598bcd949a3bf11c8b3a21e4b]

reverse link urt_baserequest_t to urt_osTime_t--><path d="M8841.4411,776.8953 C8827.8656,790.608 8812.4605,802.6758 8795.3567,810.8594 C8764.7992,825.4802 6389.3972,811.3856 6356.3567,818.8594 C6192.3831,855.9506 6018.7423,953.3651 5926.7086,1010.2915 " fill="none" id="urt_baserequest_t&lt;-urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8850.5455,767.1665,8843.5252,768.8143,8842.3461,775.9283,8849.3664,774.2805,8850.5455,767.1665" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8846.7285" y="786.4255">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5937.9209" y="999.2767">1</text><!--MD5=[abb05cad5cff2c76ceafdc2a055c056c]

reverse link urt_baserequest_t to urt_osEventSource_t--><path d="M8841.458,776.9306 C8827.8803,790.6387 8812.47,802.6957 8795.3567,810.8594 C8782.1097,817.1787 351.7301,808.4762 341.3567,818.8594 C212.5671,947.7709 221.0767,1091.9739 341.3567,1228.8594 C391.4665,1285.8871 817.3582,1325.8704 1108.6261,1346.8376 " fill="none" id="urt_baserequest_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8850.5635,767.2042,8843.5429,768.8506,8842.3624,775.9644,8849.383,774.318,8850.5635,767.2042" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8836.7202" y="786.7163">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1093.2489" y="1358.6585">1</text><!--MD5=[6e4cdc2fe71f4b9ae682dc44b1d45b47]

reverse link urt_baserequest_t to urt_osEventListener_t--><path d="M8841.4579,776.9305 C8827.8802,790.6386 8812.47,802.6956 8795.3567,810.8594 C8782.2711,817.1018 454.6036,808.6027 444.3567,818.8594 C315.5679,947.7717 318.6869,1096.9047 444.3567,1228.8594 C538.6446,1327.8627 1538.4351,1266.7682 1673.3567,1288.8594 C1718.0652,1296.1797 1765.9804,1308.3552 1808.6041,1320.7893 " fill="none" id="urt_baserequest_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8850.5634,767.204,8843.5428,768.8504,8842.3624,775.9643,8849.383,774.3178,8850.5634,767.204" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8826.77" y="786.7161">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1788.5623" y="1309.7741">1</text><!--MD5=[8b261aef1d2e0a451326ad6807af1e66]

reverse link urt_nrtrequest_t to urt_delay_t--><path d="M10318.3271,403.0769 C10272.9883,428.7152 10220.7787,453.2242 10169.3567,466.3594 C10101.9109,483.5878 7731.3619,459.4916 7663.3567,474.3594 C7310.7929,551.4397 7276.551,732.1079 6924.3567,810.8594 C6907.25,814.6845 6305.6729,806.3861 6293.3567,818.8594 C6165.3255,948.5241 6214.1249,1064.7642 6293.3567,1228.8594 C6310.3993,1264.1559 6341.6514,1293.0542 6372.7551,1314.9276 " fill="none" id="urt_nrtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="10329.7012,396.5406,10322.506,396.062,10319.2968,402.5196,10326.492,402.9982,10329.7012,396.5406" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10310.4209" y="416.7234">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6344.7384" y="1307.5097">0,2</text><!--MD5=[8aa30e666b650ddcf5fdd53ac0c33b2b]

link urt_nrtrequest_t to urt_config--><path d="M10575.1161,396.4053 C10623.2189,424.4215 10680.2627,452.1403 10736.3567,466.3594 C10749.8013,469.7674 18715.5542,464.5471 18725.3567,474.3594 C18802.0394,551.1189 18800.7886,1372.8704 18725.3567,1450.8594 C18613.5881,1566.4169 13454.6039,1647.2644 12502.5566,1661.2132 " fill="none" id="urt_nrtrequest_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12497.3598,1661.2893,12506.4175,1665.1569,12502.3593,1661.216,12506.3002,1657.1578,12497.3598,1661.2893" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4d5eda3ecbcd41d6d2b940fb4748a5e6]

link urt_nrtrequest_t to urt_status_t--><path d="M10329.6992,396.5329 C10281.8409,424.471 10225.1346,452.1039 10169.3567,466.3594 C10153.7473,470.3488 7862.4325,464.9469 7849.3567,474.3594 C7712.5545,572.8354 7670.058,771.9981 7657.5066,908.9995 " 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="7657.0372,914.2532,7661.8226,905.645,7657.4823,909.273,7653.8543,904.9328,7657.0372,914.2532" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[094c3c4918275dedd163d58d6c00e2be]

reverse link urt_srtrequest_t to urt_delay_t--><path d="M9632.1085,408.3722 C9577.9774,432.0994 9517.5626,454.2103 9459.3567,466.3594 C9427.6238,472.9829 7156.1215,464.1427 7125.3567,474.3594 C6886.9972,553.5167 6909.1406,729.9894 6671.3567,810.8594 C6659.5469,814.8759 6231.0984,809.9606 6222.3567,818.8594 C6094.659,948.8526 6130.223,1071.6451 6222.3567,1228.8594 C6254.7277,1284.0962 6318.8757,1318.4355 6372.8552,1338.6512 " fill="none" id="urt_srtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9644.2789,402.9645,9637.1716,401.7454,9633.3127,407.8371,9640.42,409.0562,9644.2789,402.9645" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9621.8631" y="423.1179">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="6344.8465" y="1333.1238">0,1</text><!--MD5=[421371e2a1201d214a6175d8cede910e]

link urt_srtrequest_t to urt_config--><path d="M9984.4155,403.0566 C10041.5647,428.7956 10106.7326,453.3692 10169.3567,466.3594 C10183.7806,469.3513 18643.9453,463.9382 18654.3567,474.3594 C18731.0416,551.1166 18729.774,1372.8563 18654.3567,1450.8594 C18543.9275,1565.075 13449.1741,1646.9207 12502.7852,1661.1523 " fill="none" id="urt_srtrequest_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12497.6189,1661.2299,12506.6781,1665.0939,12502.6183,1661.1546,12506.5577,1657.0948,12497.6189,1661.2299" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[74f0decf3779c06ec30af8770fc7e1ae]

link urt_srtrequest_t to urt_status_t--><path d="M9644.2759,402.9505 C9587.1253,428.683 9521.9622,453.2795 9459.3567,466.3594 C9445.0747,469.3433 7368.654,464.0228 7358.3567,474.3594 C7252.8065,580.3123 7255.2296,702.5466 7358.3567,810.8594 C7370.8604,823.9918 7505.9319,809.3264 7521.3567,818.8594 C7555.8722,840.191 7582.1611,874.0391 7601.8327,909.4557 " 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="7604.4425,914.2346,7603.6396,904.4185,7602.0461,909.8463,7596.6183,908.2528,7604.4425,914.2346" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4360c48b38d2a92e1c3ebeee4ab98bfc]

link urt_srtrequest_t to urt_usefulness_f--><path d="M9644.2771,402.9561 C9587.1266,428.6889 9521.9632,453.2843 9459.3567,466.3594 C9444.4831,469.4657 7283.6181,465.3854 7271.3567,474.3594 C7180.0601,541.1787 7111.2671,901.9089 7091.2839,1017.617 " 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="7090.4251,1022.6132,7095.8921,1014.421,7091.2722,1017.6855,7088.0078,1013.0656,7090.4251,1022.6132" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e590cea536a036f5956f75e03ef95bbf]

reverse link urt_frtrequest_t to urt_delay_t--><path d="M10791.6011,451.5302 C10772.8278,457.346 10753.9837,462.3866 10735.3567,466.3594 C10695.2449,474.9145 7821.3452,461.6295 7782.3567,474.3594 C7540.5358,553.315 7560.9561,731.2282 7319.3567,810.8594 C7306.6403,815.0507 6364.7851,809.3525 6355.3567,818.8594 C6227.0419,948.2435 6295.0399,1056.9094 6355.3567,1228.8594 C6364.0002,1253.5001 6379.2422,1276.9845 6395.5994,1297.2527 " fill="none" id="urt_frtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="10804.2523,447.4923,10797.3201,445.506,10792.8205,451.141,10799.7526,453.1273,10804.2523,447.4923" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10780.8794" y="467.3391">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6362.8759" y="1286.2308">0..4</text><!--MD5=[b1f137a561f49721d911648e5542119f]

link urt_frtrequest_t to urt_config--><path d="M11409.4454,313.5244 C12864.0433,317.2389 18665.2104,340.439 18796.3567,474.3594 C18948.1847,629.3989 18947.2491,1294.9091 18796.3567,1450.8594 C18683.2621,1567.7449 13461.2763,1647.5838 12502.6823,1661.2677 " fill="none" id="urt_frtrequest_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="12497.45,1661.3423,12506.5062,1665.2133,12502.4495,1661.2708,12506.3919,1657.2141,12497.45,1661.3423" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d63fe507f799090eb2c242d7ab41013e]

link urt_frtrequest_t to urt_status_t--><path d="M10804.2503,447.483 C10781.3126,455.0177 10758.1717,461.4891 10735.3567,466.3594 C10700.0276,473.9012 8167.0359,458.9614 8134.3567,474.3594 C7944.3186,563.9028 7803.2815,769.2989 7724.6408,909.7405 " 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="7722.101,914.2924,7729.9793,908.382,7724.5372,909.9261,7722.9932,904.484,7722.101,914.2924" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[bea47d1dd6f09b5135df7519b40184db]

reverse link urt_hrtrequest_t to urt_delay_t--><path d="M8804.7766,459.5425 C8795.6113,462.0599 8786.4596,464.3446 8777.3567,466.3594 C8687.9636,486.1453 7219.5661,458.7103 7129.3567,474.3594 C6675.2933,553.1282 6417.6438,442.7353 6151.3567,818.8594 C6046.0644,967.5822 6051.3096,1076.5587 6151.3567,1228.8594 C6200.0441,1302.9756 6299.0549,1336.5953 6372.5468,1351.7238 " fill="none" id="urt_hrtrequest_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8817.2798,455.9692,8810.4116,453.772,8805.7418,459.2668,8812.61,461.464,8817.2798,455.9692" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8802.3227" y="475.8136">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6340.9967" y="1347.3599">0..4</text><!--MD5=[50bfbddabe3b6f3afe991f5d307785f8]

reverse link urt_hrtrequest_t to urt_osTimer_t--><path d="M8804.778,459.5488 C8795.6123,462.0643 8786.4602,464.347 8777.3567,466.3594 C8727.3144,477.4219 6983.4644,470.5359 6932.3567,474.3594 C5875.7441,553.4076 5570.73,461.1929 4573.3567,818.8594 C4454.6302,861.4357 4332.5072,942.5965 4257.7626,997.3525 " fill="none" id="urt_hrtrequest_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8817.2817,455.9778,8810.4139,453.7793,8805.7431,459.2733,8812.6109,461.4717,8817.2817,455.9778" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8765.5019" y="472.9969">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="20" x="4245.7584" y="986.2896">0,1</text><!--MD5=[2663060494b35c1af191cf8ba65e9057]

link urt_hrtrequest_t to urt_config--><path d="M9417.439,455.9078 C9431.4541,459.9017 9445.4661,463.4255 9459.3567,466.3594 C9474.6275,469.5848 18436.6381,465.3131 18449.3567,474.3594 C18587.7046,572.7621 18663.911,1087.8533 18569.3567,1228.8594 C18424.6069,1444.7207 18282.362,1395.8141 18028.3567,1450.8594 C17475.0575,1570.7645 13346.8688,1646.5478 12502.8231,1660.8794 " 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="12497.6002,1660.968,12506.6669,1664.8144,12502.5995,1660.883,12506.5309,1656.8156,12497.6002,1660.968" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3d55577c6a64a095d4d92af2794b0aa7]

link urt_hrtrequest_t to urt_status_t--><path d="M8817.2788,455.9647 C8803.9404,459.9238 8790.5969,463.427 8777.3567,466.3594 C8766.7728,468.7035 7224.0024,466.6744 7216.3567,474.3594 C7110.8763,580.3818 7112.0006,703.7302 7216.3567,810.8594 C7228.1842,823.0012 7506.8372,810.1132 7521.3567,818.8594 C7556.3048,839.9112 7582.77,873.8889 7602.473,909.5237 " 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="7605.0861,914.3326,7604.3034,904.5149,7602.6987,909.9394,7597.2742,908.3347,7605.0861,914.3326" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[85137379eadac9ac066ccd1aa3005a20]

reverse link urt_service_t to urt_serviceid_t--><path d="M8137.4194,724.9461 C7948.4358,756.8679 7701.8431,793.6122 7481.3567,810.8594 C7457.5673,812.7203 6642.9393,806.7864 6622.3567,818.8594 C6565.3286,852.3101 6530.4703,920.0506 6510.6604,974.1611 " fill="none" id="urt_service_t&lt;-urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8150.354,722.7537,8143.7699,719.8127,8138.5228,724.7591,8145.1069,727.7001,8150.354,722.7537" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8134.3321" y="721.0855">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6504.3478" y="963.2214">1</text><!--MD5=[bfc39859b663e58a9d342532110a4ed9]

reverse link urt_service_t to urt_osMutex_t--><path d="M8137.1063,705.0397 C7827.4048,740.102 7338.3272,790.2582 6913.3567,810.8594 C6899.4355,811.5343 4918.7414,812.4659 4906.3567,818.8594 C4831.261,857.6274 4782.1694,947.1797 4757.4296,1003.7189 " fill="none" id="urt_service_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8150.3398,703.5383,8143.9271,700.2402,8138.4163,704.8911,8144.829,708.1892,8150.3398,703.5383" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8134.3175" y="701.3597">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4757.5313" y="993.1122">1</text><!--MD5=[1bad46d95b358cb94878caad932de3eb]

reverse link urt_service_t to urt_osEventSource_t--><path d="M8137.2067,670.6276 C6642.6946,684.28 270.218,746.6891 199.3567,818.8594 C71.6907,948.8837 78.0304,1092.9003 199.3567,1228.8594 C258.8834,1295.5654 778.2088,1333.7659 1108.7016,1351.5246 " fill="none" id="urt_service_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8150.2541,670.5085,8144.2178,666.5635,8138.2546,670.6182,8144.2909,674.5632,8150.2541,670.5085" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8134.2295" y="682.851">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1092.4587" y="1363.4557">1</text><!--MD5=[7ece8bae7b00261083263672987da7c8]

reverse link urt_service_t to urt_osEventListener_t--><path d="M8136.8391,670.7043 C6653.1941,684.6104 372.2583,747.6501 302.3567,818.8594 C174.7058,948.8985 176.3544,1097.2222 302.3567,1228.8594 C355.0746,1283.9348 1598.0882,1276.7303 1673.3567,1288.8594 C1718.3195,1296.1049 1766.5093,1308.3415 1809.3003,1320.852 " fill="none" id="urt_service_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8150.0607,670.5805,8144.0235,666.6369,8138.0612,670.693,8144.0985,674.6365,8150.0607,670.5805" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8134.031" y="667.5264">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1780.0944" y="1309.8468">1</text><!--MD5=[33249c42c81fffc5b10022c232aa2b33]

link urt_service_t to urt_config--><path d="M8741.9799,802.9239 C8749.4847,805.668 8756.9522,808.3191 8764.3567,810.8594 C9914.9206,1205.5896 10241.187,1172.7388 11425.3567,1450.8594 C11699.0622,1515.1434 12018.7903,1587.9268 12202.2195,1629.4613 " 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="12207.3365,1630.6198,12199.442,1624.7311,12202.4599,1629.5156,12197.6754,1632.5336,12207.3365,1630.6198" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5471b15d17b5493f5e528354308bf7b4]

link urt_service_t to urt_status_t--><path d="M8169.7459,802.9593 C8033.7989,868.8808 7877.4184,944.7106 7772.691,995.4936 " fill="none" id="urt_service_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7768.0547,997.7417,7777.8981,997.4138,7772.5536,995.56,7774.4074,990.2155,7768.0547,997.7417" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b2f59d034e476980071d9eb9dfdeb03d]

@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} 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} urtCoreStartNodes (void) : void

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

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

  + {method} urtCoreGetEventSource(void) : urt_osEventSource_t*

  + {method} urtCoreGetMutex(void) : urt_osMutex_t*

  .. URT_CFG_PUBSUB_ENABLED == true ..

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

  .. URT_CFG_RPC_ENABLED == true ..

  + {method} urtCoreGetService (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) : 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 1.2020.00(Sat Jan 11 13:30:53 CET 2020)

(GPL source distribution)

Java Runtime: OpenJDK Runtime Environment

JVM: OpenJDK 64-Bit Server VM

Java Version: 11.0.7+10-post-Ubuntu-2ubuntu218.04

Operating System: Linux

Default Encoding: UTF-8

Language: en

Country: US

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