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="1255px" preserveAspectRatio="none" style="width:2678px;height:1255px;" version="1.1" viewBox="0 0 2678 1255" width="2678px" zoomAndPan="magnify"><defs><filter height="300%" id="f52skes7don2n" 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="1293.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="183" x="1246.5" y="47.6611">urtPublisherPublish()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="1341" y="68.6143"/><path d="M351,72.8594 L351,264.4531 A0,0 0 0 0 351,264.4531 L736,264.4531 A0,0 0 0 0 736,264.4531 L736,172.6563 L756,168.6563 L736,164.6563 L736,82.8594 L726,72.8594 L351,72.8594 A0,0 0 0 0 351,72.8594 " fill="#FBFB77" filter="url(#f52skes7don2n)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M726,72.8594 L726,82.8594 L736,82.8594 L726,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="351" x2="427.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="431.5" y="89.4263"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="72" x="431.5" y="89.4263">publisher</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="144" x="511.5" y="89.4263">: urt_publisher_t*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="659.5" y="89.4263"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="659.5" x2="736" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="197" x="357" y="105.0591">Pointer to the publisher to use.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="357" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="437" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="469" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="351" x2="479.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="483.5" y="134.8247"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="56" x="483.5" y="134.8247">payload</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="56" x="547.5" y="134.8247">: void*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="607.5" y="134.8247"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="607.5" x2="736" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="226" x="357" y="150.4575">Pointer to the data to be published.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="357" y="165.5903">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="407" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="195" x="443" y="165.5903">for messages without payload.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="351" x2="499.5" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="503.5" y="180.2231"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="8" x="503.5" y="180.2231">n</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="64" x="519.5" y="180.2231">: size_t</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="587.5" y="180.2231"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="587.5" x2="736" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="180" x="357" y="195.856">Size of the payload in bytes.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="351" x2="475.5" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="479.5" y="210.4888"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="8" x="479.5" y="210.4888">t</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="112" x="495.5" y="210.4888">: urt_osTime_t</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="611.5" y="210.4888"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="611.5" x2="736" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="246" x="357" y="226.1216">Timestamp to be set for the message.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="351" x2="455.5" y1="236.7539" y2="236.7539"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="459.5" y="240.7544"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="56" x="459.5" y="240.7544">timeout</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="104" x="523.5" y="240.7544">: urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="631.5" y="240.7544"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="631.5" x2="736" y1="236.7539" y2="236.7539"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="364" x="357" y="256.3872">Timeout delay in case the message cannot be published.</text><ellipse cx="766" cy="168.6563" fill="#000000" filter="url(#f52skes7don2n)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="726" y="284.4531"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="736" y="305.5918">lock topic</text><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="137" x="697.5" y="338.4219"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="707.5" y="359.5605">lock next message</text><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="122" x="705" y="448.1011"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="715" y="469.2397">unlock message</text><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="524" x="504" y="502.0698"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="504" x="514" y="523.2085">wait for topic's condition variable (using topic's mutex) to be signaled or timeout</text><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="106" x="713" y="556.0386"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="86" x="723" y="577.1772">lock message</text><polygon fill="#FEFECE" filter="url(#f52skes7don2n)" points="626,392.3906,906,392.3906,918,404.3906,906,416.3906,626,416.3906,614,404.3906,626,392.3906" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="770" y="426.6011">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="280" x="626" y="408.1987">HRT consumers left for the message or timeout?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="600" y="401.7964">no</text><polygon fill="#FEFECE" filter="url(#f52skes7don2n)" points="713,632.0073,819,632.0073,831,644.0073,819,656.0073,713,656.0073,701,644.0073,713,632.0073" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="106" x="713" y="647.8154">Timeout occurred?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="681" y="641.4131">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="831" y="641.4131">no</text><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="122" x="36.5" y="666.0073"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="46.5" y="687.146">unlock message</text><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="96" x="49.5" y="734.9761"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="76" x="59.5" y="756.1147">unlock topic</text><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="175" x="10" y="803.9448"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="39" x="20" y="825.0835">return</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="63" y="825.0835">URT_STATUS_ERROR</text><rect fill="#000000" filter="url(#f52skes7don2n)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="2471" x="195" y="666.0073"/><rect fill="#000000" filter="url(#f52skes7don2n)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1014" x="207" y="756.812"/><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="251" x="219" y="782.812"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="231" x="229" y="803.9507">iterate topic pointer to this message</text><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="180" x="498" y="782.812"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="160" x="508" y="803.9507">copy payload to message</text><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="187" x="706" y="782.812"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="167" x="716" y="803.9507">set origin time of message</text><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="921" y="782.812"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="266" x="931" y="803.9507">set number of HRT consumers (from topic)</text><rect fill="#000000" filter="url(#f52skes7don2n)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1014" x="207" y="836.7808"/><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="122" x="652" y="877.7808"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="102" x="662" y="898.9194">unlock message</text><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="398" x="1249" y="817.2964"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="378" x="1259" y="838.4351">set QoS rate timer (@topic) wrt. most critical HRT subscriber</text><path d="M1675,805.6323 L1675,830.7651 A0,0 0 0 0 1675,830.7651 L2170,830.7651 A0,0 0 0 0 2170,830.7651 L2170,823.6323 L2190,818.1987 L2170,815.6323 L2170,815.6323 L2160,805.6323 L1675,805.6323 A0,0 0 0 0 1675,805.6323 " fill="#FBFB77" filter="url(#f52skes7don2n)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2160,805.6323 L2160,815.6323 L2170,815.6323 L2160,805.6323 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="474" x="1681" y="822.6992">No lock required since this timer is only accessed when the topic is locked.</text><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="434" x="2190" y="801.2144"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="414" x="2200" y="822.353">set QoS delay timer (@subscriber) wrt. origin time of the message</text><polygon fill="#FEFECE" filter="url(#f52skes7don2n)" points="2277,752.812,2537,752.812,2549,764.812,2537,776.812,2277,776.812,2265,764.812,2277,752.812" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="2411" y="787.0225">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="260" x="2277" y="768.6201">QoS delay timer (@subscriber) is not armed?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="2549" y="762.2178">no</text><polygon fill="#FEFECE" filter="url(#f52skes7don2n)" points="2407,859.5854,2419,871.5854,2407,883.5854,2395,871.5854,2407,859.5854" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="208" x="2303" y="918.5854"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="188" x="2313" y="939.7241">iterate to next HRT subscriber</text><polygon fill="#FEFECE" filter="url(#f52skes7don2n)" points="2346,692.0073,2468,692.0073,2480,704.0073,2468,716.0073,2346,716.0073,2334,704.0073,2346,692.0073" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="2411" y="726.2178">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="122" x="2346" y="707.8154">HRT subscribers left?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="2320" y="701.4131">no</text><rect fill="#000000" filter="url(#f52skes7don2n)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="2471" x="195" y="994.5542"/><path d="M1053,1024.9722 L1053,1050.105 A0,0 0 0 0 1053,1050.105 L1389,1050.105 A0,0 0 0 0 1389,1050.105 L1389,1042.9722 L1409,1037.5386 L1389,1034.9722 L1389,1034.9722 L1379,1024.9722 L1053,1024.9722 A0,0 0 0 0 1053,1024.9722 " fill="#FBFB77" filter="url(#f52skes7don2n)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1379,1024.9722 L1379,1034.9722 L1389,1034.9722 L1379,1024.9722 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="315" x="1059" y="1042.0391">Msut be within topic lock because of HRT counter.</text><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="79" x="1409" y="1020.5542"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="59" x="1419" y="1041.6929">fire event</text><rect fill="#FEFECE" filter="url(#f52skes7don2n)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#f1bh34zu0bgazr)" points="375,178.5234,423,178.5234,435,190.5234,423,202.5234,375,202.5234,363,190.5234,375,178.5234" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="22" x="403" y="212.7339">HRT</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="48" x="375" y="194.3315">RT class</text><path d="M10,238.6519 L10,263.7847 A0,0 0 0 0 10,263.7847 L344,263.7847 A0,0 0 0 0 344,263.7847 L344,256.6519 L364,251.2183 L344,248.6519 L344,248.6519 L334,238.6519 L10,238.6519 A0,0 0 0 0 10,238.6519 " fill="#FBFB77" filter="url(#f1bh34zu0bgazr)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M334,238.6519 L334,248.6519 L344,248.6519 L334,238.6519 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="313" x="16" y="255.7188">Otherwise some QoS timer would have triggered.</text><rect fill="#FEFECE" filter="url(#f1bh34zu0bgazr)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="2036px" preserveAspectRatio="none" style="width:1846px;height:2036px;" version="1.1" viewBox="0 0 1846 2036" width="1846px" zoomAndPan="magnify"><defs><filter height="300%" id="f1gna4y7n2gv27" 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="877.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="309" x="767.5" y="47.6611">urtSubscriberFetchLatestMessage()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="925" y="68.6143"/><path d="M582.5,72.8594 L582.5,249.3203 A0,0 0 0 0 582.5,249.3203 L887.5,249.3203 A0,0 0 0 0 887.5,249.3203 L887.5,165.0898 L907.5,161.0898 L887.5,157.0898 L887.5,82.8594 L877.5,72.8594 L582.5,72.8594 A0,0 0 0 0 582.5,72.8594 " fill="#FBFB77" filter="url(#f1gna4y7n2gv27)" style="stroke: #A80036; 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stroke-width: 1.0;" x1="582.5" x2="671" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="675" y="134.8247"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="56" x="675" y="134.8247">payload</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="56" x="739" y="134.8247">: void*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="799" y="134.8247"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="799" x2="887.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="238" x="588.5" y="150.4575">Pointer where to copy the payload to.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="588.5" y="165.5903">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="638.5" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="195" x="674.5" y="165.5903">for messages without payload.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="582.5" x2="675" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="679" y="180.2231"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="40" x="679" y="180.2231">bytes</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="64" x="727" y="180.2231">: size_t</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="795" y="180.2231"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="795" x2="887.5" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="137" x="588.5" y="195.856">Payload size in bytes.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="582.5" x2="643" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="647" y="210.4888"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="56" x="647" y="210.4888">latency</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="112" x="711" y="210.4888">: urt_delay_t*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="827" y="210.4888"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="827" x2="887.5" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="267" x="588.5" y="226.1216">The latency can be returned by reference.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="588.5" y="241.2544">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="638.5" y="241.2544">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="670.5" y="241.2544">.</text><ellipse cx="917.5" cy="161.0898" fill="#000000" filter="url(#f1gna4y7n2gv27)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#f1gna4y7n2gv27)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="877.5" y="269.3203"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="887.5" y="290.459">lock topic</text><polygon fill="#FEFECE" filter="url(#f1gna4y7n2gv27)" points="864,323.2891,971,323.2891,983,335.2891,971,347.2891,864,347.2891,852,335.2891,864,323.2891" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="107" x="864" y="339.0972">Is HRT subscriber?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="832" y="332.6948">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="983" y="332.6948">no</text><rect fill="#FEFECE" filter="url(#f1gna4y7n2gv27)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="137" x="529.875" y="357.2891"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="539.875" y="378.4277">lock next message</text><polygon fill="#FEFECE" filter="url(#f1gna4y7n2gv27)" points="1137.125,357.2891,1336.125,357.2891,1348.125,369.2891,1336.125,381.2891,1137.125,381.2891,1125.125,369.2891,1137.125,357.2891" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="1137.125" y="373.0972">Has a message been read before?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1105.125" y="366.6948">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1348.125" y="366.6948">no</text><rect fill="#FEFECE" filter="url(#f1gna4y7n2gv27)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="166" x="932.375" y="391.2891"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="146" x="942.375" y="412.4277">lock last read message</text><rect fill="#FFFFFF" filter="url(#f1gna4y7n2gv27)" height="319.9136" style="stroke: #000000; stroke-width: 2.0;" width="566" x="706.875" y="491.77"/><path d="M890.875,492.77 L890.875,501.0669 L880.875,511.0669 L706.875,511.0669 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="174" x="709.875" y="505.7651">find oldest valid message</text><path d="M716.875,532.4849 L716.875,557.6177 A0,0 0 0 0 716.875,557.6177 L926.875,557.6177 A0,0 0 0 0 926.875,557.6177 L926.875,550.4849 L946.875,545.0513 L926.875,542.4849 L926.875,542.4849 L916.875,532.4849 L716.875,532.4849 A0,0 0 0 0 716.875,532.4849 " fill="#FBFB77" filter="url(#f1gna4y7n2gv27)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M916.875,532.4849 L916.875,542.4849 L926.875,542.4849 L916.875,532.4849 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="189" x="722.875" y="549.5518">Locked two messages ahead.</text><rect fill="#FEFECE" filter="url(#f1gna4y7n2gv27)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="137" x="946.875" y="528.0669"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="956.875" y="549.2056">lock next message</text><rect fill="#000000" filter="url(#f1gna4y7n2gv27)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="453" x="788.875" y="637.7461"/><rect fill="#FEFECE" filter="url(#f1gna4y7n2gv27)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="172" x="802.875" y="663.7461"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="152" x="812.875" y="684.8848">unlock current message</text><rect fill="#FEFECE" filter="url(#f1gna4y7n2gv27)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="225" x="1002.875" y="663.7461"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="205" x="1012.875" y="684.8848">lock one message further ahead</text><rect fill="#000000" filter="url(#f1gna4y7n2gv27)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="453" x="788.875" y="717.7148"/><polygon fill="#FEFECE" filter="url(#f1gna4y7n2gv27)" points="882.375,582.0356,1148.375,582.0356,1160.375,594.0356,1148.375,606.0356,882.375,606.0356,870.375,594.0356,882.375,582.0356" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1019.375" y="616.2461">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="266" x="882.375" y="597.8438">Timestamp of next is younger than of current?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="856.375" y="591.4414">no</text><path d="M734.875,770.1328 L734.875,795.2656 A0,0 0 0 0 734.875,795.2656 L918.875,795.2656 A0,0 0 0 0 918.875,795.2656 L918.875,788.1328 L938.875,782.6992 L918.875,780.1328 L918.875,780.1328 L908.875,770.1328 L734.875,770.1328 A0,0 0 0 0 734.875,770.1328 " fill="#FBFB77" filter="url(#f1gna4y7n2gv27)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M908.875,770.1328 L908.875,780.1328 L918.875,780.1328 L908.875,770.1328 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="163" x="740.875" y="787.1997">One message still locked.</text><rect fill="#FEFECE" filter="url(#f1gna4y7n2gv27)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="153" x="938.875" y="765.7148"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="133" x="948.875" y="786.8535">unlock next message</text><polygon fill="#FEFECE" filter="url(#f1gna4y7n2gv27)" points="903.375,445.2578,1127.375,445.2578,1139.375,457.2578,1127.375,469.2578,903.375,469.2578,891.375,457.2578,903.375,445.2578" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1019.375" y="479.4683">no</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="903.375" y="461.0659">Message timestamp equals local copy?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1139.375" y="454.6636">yes</text><polygon fill="#FEFECE" filter="url(#f1gna4y7n2gv27)" points="1015.375,831.6836,1027.375,843.6836,1015.375,855.6836,1003.375,843.6836,1015.375,831.6836" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#FEFECE" filter="url(#f1gna4y7n2gv27)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="1314.875" y="391.2891"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="266" x="1324.875" y="412.4277">lock message after topic's latest message</text><polygon fill="#FEFECE" filter="url(#f1gna4y7n2gv27)" points="1236.625,861.6836,1248.625,873.6836,1236.625,885.6836,1224.625,873.6836,1236.625,861.6836" style="stroke: #A80036; stroke-width: 1.5;"/><polygon fill="#FEFECE" filter="url(#f1gna4y7n2gv27)" points="917.5,891.6836,929.5,903.6836,917.5,915.6836,905.5,903.6836,917.5,891.6836" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#FFFFFF" filter="url(#f1gna4y7n2gv27)" height="522.687" style="stroke: #000000; stroke-width: 2.0;" width="990" x="421" y="926.4854"/><path d="M535,927.4854 L535,935.7822 L525,945.7822 L421,945.7822 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="104" x="424" y="940.4805">iterate to latest</text><path d="M575,967.2002 L575,992.333 A0,0 0 0 0 575,992.333 L785,992.333 A0,0 0 0 0 785,992.333 L785,985.2002 L805,979.7666 L785,977.2002 L785,977.2002 L775,967.2002 L575,967.2002 A0,0 0 0 0 575,967.2002 " fill="#FBFB77" filter="url(#f1gna4y7n2gv27)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M775,967.2002 L775,977.2002 L785,977.2002 L775,967.2002 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="189" x="581" y="984.2671">Locked two messages ahead.</text><rect fill="#FEFECE" filter="url(#f1gna4y7n2gv27)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="225" x="805" y="962.7822"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="205" x="815" y="983.9209">lock one message further ahead</text><rect fill="#000000" filter="url(#f1gna4y7n2gv27)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="925" x="455" y="1072.4614"/><rect fill="#000000" filter="url(#f1gna4y7n2gv27)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="612" x="479" y="1146.8638"/><rect fill="#FEFECE" filter="url(#f1gna4y7n2gv27)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="296" x="493" y="1172.8638"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="276" x="503" y="1194.0024">decrement HRT counter of current message</text><rect fill="#FEFECE" filter="url(#f1gna4y7n2gv27)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="260" x="817" y="1172.8638"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="240" x="827" y="1194.0024">update QoS delay timer (@subscriber)</text><rect fill="#000000" filter="url(#f1gna4y7n2gv27)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; 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        :unlock next message;

        note: One message still locked.

    :lock message after topic's latest message;

  :lock one message further ahead;

  note: Locked two messages ahead.

    fork

      if (Is HRT subscriber?) then (yes)

        fork

          :decrement HRT counter of current message;

        fork again

          :update QoS delay timer (@subscriber);

        endfork

      else (no)

      endif

      :unlock current message;

    fork again

      :lock one message further ahead;

    endfork

  :unlock next message;

  note: One message still locked.

:unlock message;

  :lock next message;

    :lock last read message;

        :lock next message;

        note: Locked two messages ahead.

          fork

            :unlock current message;

          fork again

            :lock one message further ahead;

          endfork

        :unlock next message;

        note: One message still locked.

    :lock message after topic's latest message;

  :lock one message further ahead;

  note: Locked two messages ahead.

    fork

      if (Is HRT subscriber?) then (yes)

        fork

          :decrement HRT counter of current message;

        fork again

          :update QoS delay timer (@subscriber);

        endfork

      else (no)

      endif

      :unlock current message;

    fork again

      :lock one message further ahead;

    endfork

  :unlock next message;

  note: One message still locked.

:unlock message;

<?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="1502px" preserveAspectRatio="none" style="width:1846px;height:1502px;" version="1.1" viewBox="0 0 1846 1502" width="1846px" zoomAndPan="magnify"><defs><filter height="300%" id="fxzoig5nbtsvt" 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="877.5" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="299" x="772.5" y="47.6611">urtSubscriberFetchNextMessage()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="925" y="68.6143"/><path d="M582.5,72.8594 L582.5,249.3203 A0,0 0 0 0 582.5,249.3203 L887.5,249.3203 A0,0 0 0 0 887.5,249.3203 L887.5,165.0898 L907.5,161.0898 L887.5,157.0898 L887.5,82.8594 L877.5,72.8594 L582.5,72.8594 A0,0 0 0 0 582.5,72.8594 " fill="#FBFB77" filter="url(#fxzoig5nbtsvt)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M877.5,72.8594 L877.5,82.8594 L887.5,82.8594 L877.5,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="582.5" x2="611" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="615" y="89.4263"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="80" x="615" y="89.4263">subscriber</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="152" x="703" y="89.4263">: urt_subscriber_t*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="859" y="89.4263"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="859" x2="887.5" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="284" x="588.5" y="105.0591">The subscriber that shall fetch the message.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="588.5" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="668.5" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="700.5" y="120.1919">.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="582.5" x2="671" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="675" y="134.8247"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="56" x="675" y="134.8247">payload</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="56" x="739" y="134.8247">: void*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="799" y="134.8247"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="799" x2="887.5" y1="130.8242" y2="130.8242"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="238" x="588.5" y="150.4575">Pointer where to copy the payload to.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="588.5" y="165.5903">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="638.5" y="165.5903">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="195" x="674.5" y="165.5903">for messages without payload.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="582.5" x2="675" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="679" y="180.2231"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="40" x="679" y="180.2231">bytes</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="64" x="727" y="180.2231">: size_t</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="795" y="180.2231"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="795" x2="887.5" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="137" x="588.5" y="195.856">Payload size in bytes.</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="582.5" x2="643" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="647" y="210.4888"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="56" x="647" y="210.4888">latency</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="112" x="711" y="210.4888">: urt_delay_t*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="827" y="210.4888"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="827" x2="887.5" y1="206.4883" y2="206.4883"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="267" x="588.5" y="226.1216">The latency can be returned by reference.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="46" x="588.5" y="241.2544">May be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="638.5" y="241.2544">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="670.5" y="241.2544">.</text><ellipse cx="917.5" cy="161.0898" fill="#000000" filter="url(#fxzoig5nbtsvt)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><rect fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="80" x="877.5" y="269.3203"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="60" x="887.5" y="290.459">lock topic</text><polygon fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" points="864,323.2891,971,323.2891,983,335.2891,971,347.2891,864,347.2891,852,335.2891,864,323.2891" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="107" x="864" y="339.0972">Is HRT subscriber?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="832" y="332.6948">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="983" y="332.6948">no</text><rect fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="137" x="529.875" y="357.2891"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="539.875" y="378.4277">lock next message</text><polygon fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" points="1137.125,357.2891,1336.125,357.2891,1348.125,369.2891,1336.125,381.2891,1137.125,381.2891,1125.125,369.2891,1137.125,357.2891" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="1137.125" y="373.0972">Has a message been read before?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1105.125" y="366.6948">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1348.125" y="366.6948">no</text><rect fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="166" x="932.375" y="391.2891"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="146" x="942.375" y="412.4277">lock last read message</text><rect fill="#FFFFFF" filter="url(#fxzoig5nbtsvt)" height="319.9136" style="stroke: #000000; stroke-width: 2.0;" width="566" x="706.875" y="491.77"/><path d="M890.875,492.77 L890.875,501.0669 L880.875,511.0669 L706.875,511.0669 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="174" x="709.875" y="505.7651">find oldest valid message</text><path d="M716.875,532.4849 L716.875,557.6177 A0,0 0 0 0 716.875,557.6177 L926.875,557.6177 A0,0 0 0 0 926.875,557.6177 L926.875,550.4849 L946.875,545.0513 L926.875,542.4849 L926.875,542.4849 L916.875,532.4849 L716.875,532.4849 A0,0 0 0 0 716.875,532.4849 " fill="#FBFB77" filter="url(#fxzoig5nbtsvt)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M916.875,532.4849 L916.875,542.4849 L926.875,542.4849 L916.875,532.4849 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="189" x="722.875" y="549.5518">Locked two messages ahead.</text><rect fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="137" x="946.875" y="528.0669"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="956.875" y="549.2056">lock next message</text><rect fill="#000000" filter="url(#fxzoig5nbtsvt)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="453" x="788.875" y="637.7461"/><rect fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="172" x="802.875" y="663.7461"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="152" x="812.875" y="684.8848">unlock current message</text><rect fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="225" x="1002.875" y="663.7461"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="205" x="1012.875" y="684.8848">lock one message further ahead</text><rect fill="#000000" filter="url(#fxzoig5nbtsvt)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="453" x="788.875" y="717.7148"/><polygon fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" points="853.875,582.0356,1176.875,582.0356,1188.875,594.0356,1176.875,606.0356,853.875,606.0356,841.875,594.0356,853.875,582.0356" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1019.375" y="616.2461">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="323" x="853.875" y="597.8438">Timestamp of next message is younger than of current?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="827.875" y="591.4414">no</text><path d="M734.875,770.1328 L734.875,795.2656 A0,0 0 0 0 734.875,795.2656 L918.875,795.2656 A0,0 0 0 0 918.875,795.2656 L918.875,788.1328 L938.875,782.6992 L918.875,780.1328 L918.875,780.1328 L908.875,770.1328 L734.875,770.1328 A0,0 0 0 0 734.875,770.1328 " fill="#FBFB77" filter="url(#fxzoig5nbtsvt)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M908.875,770.1328 L908.875,780.1328 L918.875,780.1328 L908.875,770.1328 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="163" x="740.875" y="787.1997">One message still locked.</text><rect fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="153" x="938.875" y="765.7148"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="133" x="948.875" y="786.8535">unlock next message</text><polygon fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" points="903.375,445.2578,1127.375,445.2578,1139.375,457.2578,1127.375,469.2578,903.375,469.2578,891.375,457.2578,903.375,445.2578" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1019.375" y="479.4683">no</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="903.375" y="461.0659">Message timestamp equals local copy?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1139.375" y="454.6636">yes</text><polygon fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" points="1015.375,831.6836,1027.375,843.6836,1015.375,855.6836,1003.375,843.6836,1015.375,831.6836" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="1314.875" y="391.2891"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="266" x="1324.875" y="412.4277">lock message after topic's latest message</text><polygon fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" points="1236.625,861.6836,1248.625,873.6836,1236.625,885.6836,1224.625,873.6836,1236.625,861.6836" style="stroke: #A80036; stroke-width: 1.5;"/><polygon fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" points="917.5,891.6836,929.5,903.6836,917.5,915.6836,905.5,903.6836,917.5,891.6836" style="stroke: #A80036; stroke-width: 1.5;"/><rect fill="#000000" filter="url(#fxzoig5nbtsvt)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1825" x="10" y="935.6836"/><rect fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="352" x="22" y="1118.9727"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="332" x="32" y="1140.1113">set last fetched message pointer to locked message</text><rect fill="#000000" filter="url(#fxzoig5nbtsvt)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="586" x="384" y="1044.5703"/><rect fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="196" x="396" y="1118.9727"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="176" x="406" y="1140.1113">copy timestamp of message</text><rect fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="304" x="630" y="1118.9727"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="284" x="640" y="1140.1113">set latency value (now - message origin time)</text><polygon fill="#FEFECE" filter="url(#fxzoig5nbtsvt)" points="662,1070.5703,902,1070.5703,914,1082.5703,902,1094.5703,662,1094.5703,650,1082.5703,662,1070.5703" style="stroke: #A80036; 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  :lock next message;

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        :lock next message;

        note: Locked two messages ahead.

          fork

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          fork again

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          endfork

        :unlock next message;

        note: One message still locked.

    :lock message after topic's latest message;

:unlock message;

  :lock next message;

    :lock last read message;

        :lock next message;

        note: Locked two messages ahead.

          fork

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          fork again

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          endfork

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        note: One message still locked.

    :lock message after topic's latest message;

:unlock message;

<?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="1079px" preserveAspectRatio="none" style="width:1747px;height:1079px;" version="1.1" viewBox="0 0 1747 1079" width="1747px" zoomAndPan="magnify"><defs><filter height="300%" id="f555gmqt6z79y" 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="828.375" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="158" x="793.875" y="47.6611">urtSubscriberFrt()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="875.875" y="68.6143"/><path d="M10,72.8594 L10,370.3828 A0,0 0 0 0 10,370.3828 L710,370.3828 A0,0 0 0 0 710,370.3828 L710,225.6211 L730,221.6211 L710,217.6211 L710,82.8594 L700,72.8594 L10,72.8594 A0,0 0 0 0 10,72.8594 " fill="#FBFB77" filter="url(#f555gmqt6z79y)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M700,72.8594 L700,82.8594 L710,82.8594 L700,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="236" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="240" y="89.4263"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="80" x="240" y="89.4263">subscriber</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="152" x="328" y="89.4263">: urt_subscriber_t*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="484" y="89.4263"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="484" x2="710" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="298" x="16" y="105.0591">The subscriber which shall subscribe to a topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="16" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="96" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="128" y="120.1919">.</text><line style="stroke: #A80036; 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stroke-width: 1.0;" x1="10" x2="256" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="260" y="180.2231"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="64" x="260" y="180.2231">messages</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="128" x="332" y="180.2231">: urt_message_t*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="464" y="180.2231"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="464" x2="710" y1="176.2227" y2="176.2227"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="303" x="16" y="195.856">List of messages to be contributed to the topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="373" x="16" y="210.9888">Those messages must not be associated to another topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="517" x="16" y="226.1216">Once a message was contributed, it cannot be removed from the topic anymore.</text><line style="stroke: #A80036; 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stroke-width: 1.0;" width="1264" x="472.75" y="584.3203"/><rect fill="#FFFFFF" filter="url(#f555gmqt6z79y)" height="151.2344" style="stroke: #000000; stroke-width: 2.0;" width="638" x="496.75" y="656.8325"/><path d="M653.75,657.8325 L653.75,666.1294 L643.75,676.1294 L496.75,676.1294 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="147" x="499.75" y="670.8276">contribute messages</text><rect fill="#FEFECE" filter="url(#f555gmqt6z79y)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="474" x="578.75" y="693.1294"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="454" x="588.75" y="714.2681">set next pointer of topic's latest message to first message to contribute</text><rect fill="#FEFECE" filter="url(#f555gmqt6z79y)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="618" x="506.75" y="762.0981"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="598" x="516.75" y="783.2368">set next pointer of last message to contribute to the message after the topic's latest message</text><polygon fill="#FEFECE" filter="url(#f555gmqt6z79y)" points="745.75,610.3203,885.75,610.3203,897.75,622.3203,885.75,634.3203,745.75,634.3203,733.75,622.3203,745.75,610.3203" style="stroke: #A80036; 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stroke-width: 1.5;" width="217" x="1507.75" y="719.4653"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="197" x="1517.75" y="740.604">register to topic's event source</text><rect fill="#000000" filter="url(#f555gmqt6z79y)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; stroke-width: 1.0;" width="1264" x="472.75" y="872.0669"/><rect fill="#FEFECE" filter="url(#f555gmqt6z79y)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="96" x="1066.75" y="898.0669"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="76" x="1076.75" y="919.2056">unlock topic</text><rect fill="#FEFECE" filter="url(#f555gmqt6z79y)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="154" x="1037.75" y="952.0356"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="39" x="1047.75" y="973.1743">return</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="91" x="1090.75" y="973.1743">URT_STATUS_OK</text><polygon fill="#FEFECE" filter="url(#f555gmqt6z79y)" points="740,992.0044,752,1004.0044,740,1016.0044,728,1004.0044,740,992.0044" style="stroke: #A80036; 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stroke-width: 1.0;"/><!--MD5=[a74ab46ba53b86df339b4734eb9fd9c0]

  :lock topic;

    if (Messages to contribute?) then (yes)

      partition "contribute messages" {

        :set next pointer of topic's latest message to first message to contribute;

        :set next pointer of last message to contribute to the message after the topic's latest message;

      }

    else (no)

    endif

  fork again

    :set message pointer to topic's latest message;

  :unlock topic;

  :lock topic;

    if (Messages to contribute?) then (yes)

      partition "contribute messages" {

        :set next pointer of topic's latest message to first message to contribute;

        :set next pointer of last message to contribute to the message after the topic's latest message;

      }

    else (no)

    endif

  fork again

    :set message pointer to topic's latest message;

  :unlock topic;

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stroke-width: 1.5;" x1="203.25" x2="566" y1="867.8091" y2="867.8091"/><polygon fill="#A80036" points="556,863.8091,566,867.8091,556,871.8091,560,867.8091" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="952.75" x2="952.75" y1="849.8091" y2="867.8091"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="952.75" x2="590" y1="867.8091" y2="867.8091"/><polygon fill="#A80036" points="600,863.8091,590,867.8091,600,871.8091,596,867.8091" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="578" x2="578" y1="163.5234" y2="254.1875"/><polygon fill="#A80036" points="574,244.1875,578,254.1875,582,244.1875,578,248.1875" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="578" x2="578" y1="879.8091" y2="899.8091"/><polygon fill="#A80036" points="574,889.8091,578,899.8091,582,889.8091,578,893.8091" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4c127db864837fecd46f7ee5e709da0d]

  :lock topic;

    if (Messages to contribute?) then (yes)

      partition "contribute messages" {

        :set next pointer of topic's latest message to first message to contribute;

        :set next pointer of last message to contribute to the message after the topic's latest message;

      }

    else (no)

    endif

  fork again

    :set message pointer to topic's latest message;

  :unlock topic;

  :lock topic;

    if (Messages to contribute?) then (yes)

      partition "contribute messages" {

        :set next pointer of topic's latest message to first message to contribute;

        :set next pointer of last message to contribute to the message after the topic's latest message;

      }

    else (no)

    endif

  fork again

    :set message pointer to topic's latest message;

  :unlock topic;

<?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="1033px" preserveAspectRatio="none" style="width:1585px;height:1033px;" version="1.1" viewBox="0 0 1585 1033" width="1585px" zoomAndPan="magnify"><defs><filter height="300%" id="fpn8q0zv481k2" 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="747.375" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="159" x="712.375" y="47.6611">urtSubscriberSrt()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="794.875" y="68.6143"/><path d="M10,72.8594 L10,324.9844 A0,0 0 0 0 10,324.9844 L548,324.9844 A0,0 0 0 0 548,324.9844 L548,202.9219 L568,198.9219 L548,194.9219 L548,82.8594 L538,72.8594 L10,72.8594 A0,0 0 0 0 10,72.8594 " fill="#FBFB77" filter="url(#fpn8q0zv481k2)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M538,72.8594 L538,82.8594 L548,82.8594 L538,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="10" x2="155" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="159" y="89.4263"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="80" x="159" y="89.4263">subscriber</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="152" x="247" y="89.4263">: urt_subscriber_t*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="403" y="89.4263"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="403" x2="548" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="298" x="16" y="105.0591">The subscriber which shall subscribe to a topic.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="16" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="96" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="128" y="120.1919">.</text><line style="stroke: #A80036; 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stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#fpn8q0zv481k2)" points="520.5,344.9844,635.5,344.9844,647.5,356.9844,635.5,368.9844,520.5,368.9844,508.5,356.9844,520.5,344.9844" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="115" x="520.5" y="360.7925">Is topic already set?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="488.5" y="354.3901">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="647.5" y="354.3901">no</text><rect fill="#FEFECE" filter="url(#fpn8q0zv481k2)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="175" x="115.75" y="378.9844"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="39" x="125.75" y="400.123">return</text><text fill="#000000" font-family="monospace" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="168.75" y="400.123">URT_STATUS_ERROR</text><rect fill="#000000" filter="url(#fpn8q0zv481k2)" height="6" rx="2.5" ry="2.5" style="stroke: #000000; 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stroke-width: 1.0;" width="1264" x="310.75" y="538.9219"/><rect fill="#FFFFFF" filter="url(#fpn8q0zv481k2)" height="151.2344" style="stroke: #000000; stroke-width: 2.0;" width="638" x="334.75" y="611.4341"/><path d="M491.75,612.4341 L491.75,620.731 L481.75,630.731 L334.75,630.731 " fill="none" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="147" x="337.75" y="625.4292">contribute messages</text><rect fill="#FEFECE" filter="url(#fpn8q0zv481k2)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="474" x="416.75" y="647.731"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="454" x="426.75" y="668.8696">set next pointer of topic's latest message to first message to contribute</text><rect fill="#FEFECE" filter="url(#fpn8q0zv481k2)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; stroke-width: 1.5;" width="618" x="344.75" y="716.6997"/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="598" x="354.75" y="737.8384">set next pointer of last message to contribute to the message after the topic's latest message</text><polygon fill="#FEFECE" filter="url(#fpn8q0zv481k2)" points="583.75,564.9219,723.75,564.9219,735.75,576.9219,723.75,588.9219,583.75,588.9219,571.75,576.9219,583.75,564.9219" style="stroke: #A80036; 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  :lock topic;

    if (Messages to contribute?) then (yes)

      partition "contribute messages" {

        :set next pointer of topic's latest message to first message to contribute;

        :set next pointer of last message to contribute to the message after the topic's latest message;

      }

    else (no)

    endif

  fork again

    :set message pointer to topic's latest message;

  :unlock topic;

  :lock topic;

    if (Messages to contribute?) then (yes)

      partition "contribute messages" {

        :set next pointer of topic's latest message to first message to contribute;

        :set next pointer of last message to contribute to the message after the topic's latest message;

      }

    else (no)

    endif

  fork again

    :set message pointer to topic's latest message;

  :unlock topic;

<?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="1015px" preserveAspectRatio="none" style="width:1657px;height:1015px;" version="1.1" viewBox="0 0 1657 1015" width="1657px" zoomAndPan="magnify"><defs><filter height="300%" id="f12r66ntz96gh2" 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="783" y="26.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="240" x="707.5" y="47.6611">urtSubscriberUnsubscribe()</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="830.5" y="68.6143"/><path d="M1002.75,72.8594 L1002.75,128.2578 A0,0 0 0 0 1002.75,128.2578 L1271.75,128.2578 A0,0 0 0 0 1271.75,128.2578 L1271.75,104.5586 L1291.75,100.5586 L1271.75,96.5586 L1271.75,82.8594 L1261.75,72.8594 L1002.75,72.8594 A0,0 0 0 0 1002.75,72.8594 " fill="#FBFB77" filter="url(#f12r66ntz96gh2)" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1261.75,72.8594 L1261.75,82.8594 L1271.75,82.8594 L1261.75,72.8594 " fill="#FBFB77" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1002.75" x2="1013.25" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1017.25" y="89.4263"/><text fill="#000000" font-family="monospace" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="80" x="1017.25" y="89.4263">subscriber</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="152" x="1105.25" y="89.4263">: urt_subscriber_t*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="0" x="1261.25" y="89.4263"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1261.25" x2="1271.75" y1="85.4258" y2="85.4258"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="223" x="1008.75" y="105.0591">The subscriber to be unsubscribed.</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="76" x="1008.75" y="120.1919">Must not be</text><text fill="#000000" font-family="monospace" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="32" x="1088.75" y="120.1919">NULL</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="4" x="1120.75" y="120.1919">.</text><ellipse cx="1301.75" cy="100.5586" fill="#000000" filter="url(#f12r66ntz96gh2)" rx="10" ry="10" style="stroke: none; stroke-width: 1.0;"/><polygon fill="#FEFECE" filter="url(#f12r66ntz96gh2)" points="1239.25,148.2578,1364.25,148.2578,1376.25,160.2578,1364.25,172.2578,1239.25,172.2578,1227.25,160.2578,1239.25,148.2578" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="125" x="1239.25" y="164.0659">Associated to a topic?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="1207.25" y="157.6636">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1376.25" y="157.6636">no</text><polygon fill="#FEFECE" filter="url(#f12r66ntz96gh2)" points="971.5,182.2578,1078.5,182.2578,1090.5,194.2578,1078.5,206.2578,971.5,206.2578,959.5,194.2578,971.5,182.2578" style="stroke: #A80036; stroke-width: 1.5;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="107" x="971.5" y="198.0659">Is HRT subscriber?</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="20" x="939.5" y="191.6636">yes</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="14" x="1090.5" y="191.6636">no</text><rect fill="#FEFECE" filter="url(#f12r66ntz96gh2)" height="33.9688" rx="12.5" ry="12.5" style="stroke: #A80036; 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stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1301.75" x2="1301.75" y1="110.5586" y2="148.2578"/><polygon fill="#A80036" points="1297.75,138.2578,1301.75,148.2578,1305.75,138.2578,1301.75,142.2578" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1301.75" x2="1301.75" y1="952.7183" y2="972.7183"/><polygon fill="#A80036" points="1297.75,962.7183,1301.75,972.7183,1305.75,962.7183,1301.75,966.7183" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f3184f55c2d9e028d2406ee3e5d26285]

        :lock message;

        :unlock message;

        :lock message;

        :unlock message;

<?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="2204px" preserveAspectRatio="none" style="width:12217px;height:2204px;" version="1.1" viewBox="0 0 12217 2204" width="12217px" zoomAndPan="magnify"><defs><filter height="300%" id="f114bu1hjv8qr" 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="6047" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="87" x="6048" y="37.6611">Overview</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="6094.5" y="58.6143"/><!--MD5=[915f6a2b4bff9d90dc7327d570275f1b]

cluster Configuration--><polygon fill="#FFFFFF" filter="url(#f114bu1hjv8qr)" points="6808.7624,1779.8594,6818.7624,1769.8594,7114.7624,1769.8594,7114.7624,2029.8594,7104.7624,2039.8594,6808.7624,2039.8594,6808.7624,1779.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7104.7624" x2="7113.7624" y1="1779.8594" y2="1770.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="6808.7624" x2="7104.7624" y1="1779.8594" y2="1779.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7104.7624" x2="7104.7624" y1="1779.8594" y2="2039.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="107" x="6904.2624" y="1795.8545">Configuration</text><!--MD5=[1cb8ced355c85ab51f1ab55883ed8585]

cluster Primitives--><polygon fill="#FFFFFF" filter="url(#f114bu1hjv8qr)" points="5877.7624,1561.8594,5887.7624,1551.8594,7286.7624,1551.8594,7286.7624,1739.8594,7276.7624,1749.8594,5877.7624,1749.8594,5877.7624,1561.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7276.7624" x2="7285.7624" y1="1561.8594" y2="1552.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="5877.7624" x2="7276.7624" y1="1561.8594" y2="1561.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7276.7624" x2="7276.7624" y1="1561.8594" y2="1749.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="77" x="6539.7624" y="1577.8545">Primitives</text><!--MD5=[ba9da179b6f0b3bb0ea21772c5f4ec75]

cluster OSAL--><polygon fill="#FFFFFF" filter="url(#f114bu1hjv8qr)" points="452.7624,1136.8594,462.7624,1126.8594,5731.7624,1126.8594,5731.7624,1946.8594,5721.7624,1956.8594,452.7624,1956.8594,452.7624,1136.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="5721.7624" x2="5730.7624" y1="1136.8594" y2="1127.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="452.7624" x2="5721.7624" y1="1136.8594" y2="1136.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="5721.7624" x2="5721.7624" y1="1136.8594" y2="1956.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="42" x="3067.2624" y="1152.8545">OSAL</text><!--MD5=[2e45f233f6bb64aa81ebe67fb6de8946]

cluster condition variable--><rect fill="#FFFFFF" filter="url(#f114bu1hjv8qr)" height="435.5" style="stroke: #000000; stroke-width: 1.5;" width="726" x="4997.7624" y="1278.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="140" x="5290.7624" y="1293.3545">condition variable</text><!--MD5=[c7113df1f710ca294cbd01734aa00974]

cluster timer--><rect fill="#FFFFFF" filter="url(#f114bu1hjv8qr)" height="429.5" style="stroke: #000000; stroke-width: 1.5;" width="798" x="4180.7624" y="1271.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="4559.2624" y="1286.8545">timer</text><!--MD5=[107bb3f79455a18bd83c75ada1ac7979]

cluster thread--><rect fill="#FFFFFF" filter="url(#f114bu1hjv8qr)" height="587" style="stroke: #000000; stroke-width: 1.5;" width="1039" x="3133.7624" y="1158.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="3627.2624" y="1173.8545">thread</text><!--MD5=[8d74b40516bd265adb19f202ab81f40d]

cluster events--><rect fill="#FFFFFF" filter="url(#f114bu1hjv8qr)" height="664" style="stroke: #000000; stroke-width: 1.5;" width="1642" x="1472.7624" y="1284.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="54" x="2266.7624" y="1299.8545">events</text><!--MD5=[4e1a3510868d06a507f098bb08f0dae0]

cluster Middleware--><polygon fill="#FFFFFF" filter="url(#f114bu1hjv8qr)" points="7348.7624,88.8594,7358.7624,78.8594,12024.7624,78.8594,12024.7624,1723.3594,12014.7624,1733.3594,7348.7624,1733.3594,7348.7624,88.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="12014.7624" x2="12023.7624" y1="88.8594" y2="79.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7348.7624" x2="12014.7624" y1="88.8594" y2="88.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="12014.7624" x2="12014.7624" y1="88.8594" y2="1733.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="91" x="9637.2624" y="104.8545">Middleware</text><!--MD5=[b9de0669a29c7bc934fd916b09c39491]

cluster node--><rect fill="#FFFFFF" filter="url(#f114bu1hjv8qr)" height="446.5" style="stroke: #000000; stroke-width: 1.5;" width="1138" x="10223.7624" y="474.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="40" x="10772.7624" y="489.8545">node</text><!--MD5=[d74e2ef346f73688f9378f6d3d42598c]

cluster Publish-Subscribe System--><polygon fill="#FFFFFF" filter="url(#f114bu1hjv8qr)" points="7356.7624,384.8594,7366.7624,374.8594,10215.7624,374.8594,10215.7624,1715.3594,10205.7624,1725.3594,7356.7624,1725.3594,7356.7624,384.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="10205.7624" x2="10214.7624" y1="384.8594" y2="375.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7356.7624" x2="10205.7624" y1="384.8594" y2="384.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="10205.7624" x2="10205.7624" y1="384.8594" y2="1725.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="205" x="8679.7624" y="400.8545">Publish-Subscribe System</text><!--MD5=[16a3bbbe805f94d6e6ce317c08ab945e]

cluster subscriber--><rect fill="#FFFFFF" filter="url(#f114bu1hjv8qr)" height="1310.5" style="stroke: #000000; stroke-width: 1.5;" width="1638" x="8569.7624" y="406.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="85" x="9346.2624" y="421.8545">subscriber</text><!--MD5=[94ad99421f5a0f525bc1c13a3777c25e]

cluster real-time constraint data--><rect fill="#FFFFFF" filter="url(#f114bu1hjv8qr)" height="890.5" style="stroke: #000000; stroke-width: 1.5;" width="1622" x="8577.7624" y="818.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="194" x="9291.7624" y="833.8545">real-time constraint data</text><!--MD5=[57c3116dbac3d3a2ea35fece1cdc00f4]

cluster SRT data--><rect fill="#FFFFFF" filter="url(#f114bu1hjv8qr)" height="410.5" style="stroke: #000000; stroke-width: 1.5;" width="390" x="9801.7624" y="1290.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="69" x="9962.2624" y="1305.8545">SRT data</text><!--MD5=[810d0f07e53ef611b6d803ef30301147]

cluster Remote Procedure Call System--><polygon fill="#FFFFFF" filter="url(#f114bu1hjv8qr)" points="11380.7624,456.8594,11390.7624,446.8594,12016.7624,446.8594,12016.7624,911.3594,12006.7624,921.3594,11380.7624,921.3594,11380.7624,456.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="12006.7624" x2="12015.7624" y1="456.8594" y2="447.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="11380.7624" x2="12006.7624" y1="456.8594" y2="456.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="12006.7624" x2="12006.7624" y1="456.8594" y2="921.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="244" x="11572.7624" y="472.8545">Remote Procedure Call System</text><!--MD5=[e443ac33c80100c2d54e1f5fe669f6d7]

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class urt_status_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="73.6094" id="urt_status_t" style="stroke: #A80036; stroke-width: 1.5;" width="180" x="7098.7624" y="1625.8594"/><ellipse cx="7147.0124" cy="1641.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7147.8562,1648.6094 L7145.403,1648.6094 L7145.403,1638.3594 L7142.2624,1638.3594 L7142.2624,1636.2188 L7150.9968,1636.2188 L7150.9968,1638.3594 L7147.8562,1638.3594 L7147.8562,1648.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="7167.5124" y="1646.0137">urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7099.7624" x2="7277.7624" y1="1657.8594" y2="1657.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="147" x="7104.7624" y="1672.0698">URT_STATUS_OK = 0x0..0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="168" x="7104.7624" y="1684.8745">URT_STATUS_ERROR = 0x8..0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7099.7624" x2="7277.7624" y1="1691.4688" y2="1691.4688"/><!--MD5=[15452fea434e71f16c7de0feaca2b066]

class urt_delay_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="99.2188" id="urt_delay_t" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="6392.2624" y="1613.3594"/><ellipse cx="6444.5124" cy="1629.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6445.3562,1636.1094 L6442.903,1636.1094 L6442.903,1625.8594 L6439.7624,1625.8594 L6439.7624,1623.7188 L6448.4968,1623.7188 L6448.4968,1625.8594 L6445.3562,1625.8594 L6445.3562,1636.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="68" x="6465.0124" y="1633.5137">urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6393.2624" x2="6572.2624" y1="1645.3594" y2="1645.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6398.2624" y="1676.3745">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6393.2624" x2="6396.2624" y1="1659.7617" y2="1659.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="6396.2624" y="1663.0698">URT_CFG_DELAY_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6569.2624" x2="6572.2624" y1="1659.7617" y2="1659.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6398.2624" y="1705.9839">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6393.2624" x2="6396.2624" y1="1689.3711" y2="1689.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="6396.2624" y="1692.6792">URT_CFG_DELAY_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6569.2624" x2="6572.2624" y1="1689.3711" y2="1689.3711"/><!--MD5=[f106a25c06a671b3918b1a8f37571a4d]

class urt_debug--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="245" x="5886.2624" y="1632.3594"/><ellipse cx="5972.5124" cy="1648.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5976.7468,1644.125 L5971.4655,1644.125 L5971.4655,1646.7969 L5976.2624,1646.7969 L5976.2624,1648.9531 L5971.4655,1648.9531 L5971.4655,1654.3594 L5969.028,1654.3594 L5969.028,1641.9688 L5976.7468,1641.9688 L5976.7468,1644.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="5993.0124" y="1652.5137">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5887.2624" x2="6130.2624" y1="1664.3594" y2="1664.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5887.2624" x2="6130.2624" y1="1672.3594" y2="1672.3594"/><ellipse cx="5897.2624" cy="1683.3594" 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="219" x="5906.2624" y="1686.5698">urtDebugAssert(condition : bool) : void</text><!--MD5=[3677786d1f00795918091b0110bfa4af]

class urt_osTime_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="425" x="1039.2624" y="1311.8594"/><ellipse cx="1208.0124" cy="1327.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1208.8562,1334.6094 L1206.403,1334.6094 L1206.403,1324.3594 L1203.2624,1324.3594 L1203.2624,1322.2188 L1211.9968,1322.2188 L1211.9968,1324.3594 L1208.8562,1324.3594 L1208.8562,1334.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="1228.5124" y="1332.0137">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1040.2624" x2="1463.2624" y1="1343.8594" y2="1343.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1040.2624" x2="1463.2624" y1="1351.8594" y2="1351.8594"/><ellipse cx="1050.2624" cy="1362.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="231" x="1059.2624" y="1366.0698">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="1050.2624" cy="1375.6641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="1059.2624" y="1378.8745">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="1050.2624" cy="1388.4688" 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="399" x="1059.2624" y="1391.6792">urtTimeAddUs (time : urt_osTime_t*, offset : uint32_t) : urt_osTime_t*</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]

class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="705.7624" y="1305.3594"/><ellipse cx="807.0124" cy="1321.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M807.8562,1328.1094 L805.403,1328.1094 L805.403,1317.8594 L802.2624,1317.8594 L802.2624,1315.7188 L810.9968,1315.7188 L810.9968,1317.8594 L807.8562,1317.8594 L807.8562,1328.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="827.5124" y="1325.5137">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="706.7624" x2="1002.7624" y1="1337.3594" y2="1337.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="706.7624" x2="1002.7624" y1="1345.3594" y2="1345.3594"/><ellipse cx="716.7624" cy="1356.3594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="245" x="725.7624" y="1359.5698">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="716.7624" cy="1369.1641" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="253" x="725.7624" y="1372.3745">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="716.7624" cy="1381.9688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="272" x="725.7624" y="1385.1792">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="716.7624" cy="1394.7734" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="725.7624" y="1397.9839">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--MD5=[0cf29100c96c506429a28b45d347cc92]

class urt_streams--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="209" x="461.2624" y="1317.8594"/><ellipse cx="524.0124" cy="1333.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M528.2468,1329.625 L522.9655,1329.625 L522.9655,1332.2969 L527.7624,1332.2969 L527.7624,1334.4531 L522.9655,1334.4531 L522.9655,1339.8594 L520.528,1339.8594 L520.528,1327.4688 L528.2468,1327.4688 L528.2468,1329.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="544.5124" y="1338.0137">urt_streams</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="462.2624" x2="669.2624" y1="1349.8594" y2="1349.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="462.2624" x2="669.2624" y1="1357.8594" y2="1357.8594"/><ellipse cx="472.2624" cy="1368.8594" 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="166" x="481.2624" y="1372.0698">urtPrintf(fmt : char*, ... ) : int</text><ellipse cx="472.2624" cy="1381.6641" 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="183" x="481.2624" y="1384.8745">urtErrPrintf(fmt : char*, ... ) : int</text><!--MD5=[52fa11869cb40c93fa7702378ddd839e]

class urt_osCondvarWaitStatus_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="86.4141" id="urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="5225.7624" y="1619.8594"/><ellipse cx="5272.0124" cy="1635.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5276.1218,1641.8594 L5268.403,1641.8594 L5268.403,1629.4688 L5276.1218,1629.4688 L5276.1218,1631.625 L5270.8562,1631.625 L5270.8562,1634.2969 L5275.6218,1634.2969 L5275.6218,1636.4531 L5270.8562,1636.4531 L5270.8562,1639.7031 L5276.1218,1639.7031 L5276.1218,1641.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="169" x="5292.5124" y="1640.0137">urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5226.7624" x2="5494.7624" y1="1651.8594" y2="1651.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="5231.7624" y="1666.0698">URT_CONDVAR_WAITSTATUS_SIGNAL = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="5231.7624" y="1678.8745">URT_CONDVAR_WAITSTATUS_BROADCAST = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="5231.7624" y="1691.6792">URT_CONDVAR_WAITSTATUS_TIMEOUT = 0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5226.7624" x2="5494.7624" y1="1698.2734" y2="1698.2734"/><!--MD5=[004fc5dee471033e8e4138c1c73f0692]

class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="99.2188" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="5005.7624" y="1305.3594"/><ellipse cx="5306.0124" cy="1321.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5306.8562,1328.1094 L5304.403,1328.1094 L5304.403,1317.8594 L5301.2624,1317.8594 L5301.2624,1315.7188 L5309.9968,1315.7188 L5309.9968,1317.8594 L5306.8562,1317.8594 L5306.8562,1328.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="5326.5124" y="1325.5137">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5006.7624" x2="5714.7624" y1="1337.3594" y2="1337.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5006.7624" x2="5714.7624" y1="1345.3594" y2="1345.3594"/><ellipse cx="5016.7624" cy="1356.3594" 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="5025.7624" y="1359.5698">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="5016.7624" cy="1369.1641" 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="5025.7624" y="1372.3745">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="5016.7624" cy="1381.9688" 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="5025.7624" y="1385.1792">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="5016.7624" cy="1394.7734" 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="684" x="5025.7624" y="1397.9839">urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_osCondvarWaitStatus_t</text><!--MD5=[93799a03260ba286abda700174f4f205]

class urt_osTimerCallback_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="4436.7624" y="1632.3594"/><ellipse cx="4507.5124" cy="1648.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4508.3562,1655.1094 L4505.903,1655.1094 L4505.903,1644.8594 L4502.7624,1644.8594 L4502.7624,1642.7188 L4511.4968,1642.7188 L4511.4968,1644.8594 L4508.3562,1644.8594 L4508.3562,1655.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="4528.0124" y="1652.5137">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4437.7624" x2="4721.7624" y1="1664.3594" y2="1664.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4437.7624" x2="4721.7624" y1="1672.3594" y2="1672.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="4442.7624" y="1686.5698">urt_osTimerCallback_t (parameter : void*) : void</text><!--MD5=[0b340d7b925b1eab6a1b7e084f68a7c2]

class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="112.0234" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="782" x="4188.7624" y="1298.8594"/><ellipse cx="4533.5124" cy="1314.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4534.3562,1321.6094 L4531.903,1321.6094 L4531.903,1311.3594 L4528.7624,1311.3594 L4528.7624,1309.2188 L4537.4968,1309.2188 L4537.4968,1311.3594 L4534.3562,1311.3594 L4534.3562,1321.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="4554.0124" y="1319.0137">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4189.7624" x2="4969.7624" y1="1330.8594" y2="1330.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4189.7624" x2="4969.7624" y1="1338.8594" y2="1338.8594"/><ellipse cx="4199.7624" cy="1349.8594" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="4208.7624" y="1353.0698">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="4199.7624" cy="1362.6641" 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="705" x="4208.7624" y="1365.8745">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="4199.7624" cy="1375.4688" 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="756" x="4208.7624" y="1378.6792">urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="4199.7624" cy="1388.2734" 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="300" x="4208.7624" y="1391.4839">urtTimerReset (timer : urt_osTimer_t*) : urt_status_t</text><ellipse cx="4199.7624" cy="1401.0781" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="271" x="4208.7624" y="1404.2886">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--MD5=[86c16d91227b9a9ec3b6b9b0285de4e9]

class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="3690.2624" y="1587.8594"/><ellipse cx="3726.4124" cy="1603.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3727.2562,1610.6094 L3724.803,1610.6094 L3724.803,1600.3594 L3721.6624,1600.3594 L3721.6624,1598.2188 L3730.3968,1598.2188 L3730.3968,1600.3594 L3727.2562,1600.3594 L3727.2562,1610.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="3745.1124" y="1608.0137">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3691.2624" x2="3886.2624" y1="1619.8594" y2="1619.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="3696.2624" y="1634.0698">URT_THREAD_PRIO_LOW_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="3696.2624" y="1646.8745">URT_THREAD_PRIO_LOW_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="3696.2624" y="1659.6792">URT_THREAD_PRIO_NORMAL_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="3696.2624" y="1672.4839">URT_THREAD_PRIO_NORMAL_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="3696.2624" y="1685.2886">URT_THREAD_PRIO_HIGH_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="3696.2624" y="1698.0933">URT_THREAD_PRIO_HIGH_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="3696.2624" y="1710.8979">URT_THREAD_PRIO_RT_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="3696.2624" y="1723.7026">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3691.2624" x2="3886.2624" y1="1730.2969" y2="1730.2969"/><!--MD5=[69d8aab9aa387a2f5052ea3da80e80ea]

class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="3141.7624" y="1632.3594"/><ellipse cx="3189.5124" cy="1648.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3190.3562,1655.1094 L3187.903,1655.1094 L3187.903,1644.8594 L3184.7624,1644.8594 L3184.7624,1642.7188 L3193.4968,1642.7188 L3193.4968,1644.8594 L3190.3562,1644.8594 L3190.3562,1655.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="3210.0124" y="1652.5137">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3142.7624" x2="3392.7624" y1="1664.3594" y2="1664.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3142.7624" x2="3392.7624" y1="1672.3594" y2="1672.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="3147.7624" y="1686.5698">urt_osThreadFunction_t (arg : void*) : void</text><!--MD5=[ab5f611d45c3fa10609c33f780d8c3e1]

class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="3922.7624" y="1625.8594"/><ellipse cx="3944.5124" cy="1641.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3948.6218,1647.8594 L3940.903,1647.8594 L3940.903,1635.4688 L3948.6218,1635.4688 L3948.6218,1637.625 L3943.3562,1637.625 L3943.3562,1640.2969 L3948.1218,1640.2969 L3948.1218,1642.4531 L3943.3562,1642.4531 L3943.3562,1645.7031 L3948.6218,1645.7031 L3948.6218,1647.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="3960.0124" y="1646.0137">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3923.7624" x2="4163.7624" y1="1657.8594" y2="1657.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="3928.7624" y="1672.0698">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="3928.7624" y="1684.8745">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3923.7624" x2="4163.7624" y1="1691.4688" y2="1691.4688"/><!--MD5=[47d14ad2c233fae1b32b8d0a283e820a]

class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="137.6328" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="3428.7624" y="1593.8594"/><ellipse cx="3473.5124" cy="1609.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3477.6218,1615.8594 L3469.903,1615.8594 L3469.903,1603.4688 L3477.6218,1603.4688 L3477.6218,1605.625 L3472.3562,1605.625 L3472.3562,1608.2969 L3477.1218,1608.2969 L3477.1218,1610.4531 L3472.3562,1610.4531 L3472.3562,1613.7031 L3477.6218,1613.7031 L3477.6218,1615.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="3494.0124" y="1614.0137">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3429.7624" x2="3653.7624" y1="1625.8594" y2="1625.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="3434.7624" y="1640.0698">URT_THREAD_STATE_INACTIVE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="3434.7624" y="1652.8745">URT_THREAD_STATE_RUNNING = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="3434.7624" y="1665.6792">URT_THREAD_STATE_READY = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="3434.7624" y="1678.4839">URT_THREAD_STATE_SLEEPING = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="3434.7624" y="1691.2886">URT_THREAD_STATE_SUSPENDED = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="3434.7624" y="1704.0933">URT_THREAD_STATE_WAITING = 5</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="3434.7624" y="1716.8979">URT_THREAD_STATE_TERMINATED = 6</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3429.7624" x2="3653.7624" y1="1723.4922" y2="1723.4922"/><!--MD5=[0a16224ede9ffa9bb2d34e085a076e6d]

class urt_osThread_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="337.7031" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="560" x="3551.7624" y="1185.8594"/><ellipse cx="3780.5124" cy="1201.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3781.3562,1208.6094 L3778.903,1208.6094 L3778.903,1198.3594 L3775.7624,1198.3594 L3775.7624,1196.2188 L3784.4968,1196.2188 L3784.4968,1198.3594 L3781.3562,1198.3594 L3781.3562,1208.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="3801.0124" y="1206.0137">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3552.7624" x2="4110.7624" y1="1217.8594" y2="1217.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="3557.7624" y="1232.0698">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="3557.7624" y="1244.8745">URT_THREAD_SSLEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="225" x="3557.7624" y="1257.6792">URT_THREAD_MSLEEP_MAX : urt_delay_t</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="224" x="3557.7624" y="1270.4839">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="3552.7624" x2="4110.7624" y1="1277.0781" y2="1277.0781"/><ellipse cx="3562.7624" cy="1288.0781" 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="3571.7624" y="1291.2886">URT_THREAD_MEMORY (varname, stacksize)</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3552.7624" x2="4110.7624" y1="1297.8828" y2="1297.8828"/><ellipse cx="3562.7624" cy="1308.8828" 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="534" x="3571.7624" y="1312.0933">urtThreadInit (memory : void*, size : size_t, func : urt_osThreadFunction_t*) : urt_osThread_t*</text><ellipse cx="3562.7624" cy="1321.6875" 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="490" x="3571.7624" y="1324.8979">urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void</text><ellipse cx="3562.7624" cy="1334.4922" 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="3571.7624" y="1337.7026">urtThreadYield (void) : void</text><ellipse cx="3562.7624" cy="1347.2969" 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="3571.7624" y="1350.5073">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="3562.7624" cy="1360.1016" 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="3571.7624" y="1363.312">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="3562.7624" cy="1372.9063" 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="294" x="3571.7624" y="1376.1167">urtThreadSuspend (thread : urt_osThread_t*) : void</text><ellipse cx="3562.7624" cy="1385.7109" 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="335" x="3571.7624" y="1388.9214">urtThreadResume (thread : urt_osThread_t*) : urt_status_t</text><ellipse cx="3562.7624" cy="1398.5156" 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="220" x="3571.7624" y="1401.7261">urtThreadSleep (seconds : float) : void</text><ellipse cx="3562.7624" cy="1411.3203" 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="265" x="3571.7624" y="1414.5308">urtThreadSSleep (seconds : urt_delay_t) : void</text><ellipse cx="3562.7624" cy="1424.125" 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="289" x="3571.7624" y="1427.3354">urtThreadMSleep (milliseconds : urt_delay_t) : void</text><ellipse cx="3562.7624" cy="1436.9297" 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="297" x="3571.7624" y="1440.1401">urtThreadUSleep (microseconds : urt_delay_t) : void</text><ellipse cx="3562.7624" cy="1449.7344" 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="271" x="3571.7624" y="1452.9448">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="3562.7624" cy="1462.5391" 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="146" x="3571.7624" y="1465.7495">urtThreadExit (void) : void</text><ellipse cx="3562.7624" cy="1475.3438" 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="518" x="3571.7624" y="1478.5542">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="3562.7624" cy="1488.1484" 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="264" x="3571.7624" y="1491.3589">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="3562.7624" cy="1500.9531" 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="387" x="3571.7624" y="1504.1636">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="3562.7624" cy="1513.7578" 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="237" x="3571.7624" y="1516.9683">urtThreadGetSelf (void) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]

class urt_osEventMask_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="60.8047" id="urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.5;" width="280" x="2826.7624" y="1632.3594"/><ellipse cx="2904.0124" cy="1648.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2904.8562,1655.1094 L2902.403,1655.1094 L2902.403,1644.8594 L2899.2624,1644.8594 L2899.2624,1642.7188 L2907.9968,1642.7188 L2907.9968,1644.8594 L2904.8562,1644.8594 L2904.8562,1655.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="2924.5124" y="1652.5137">urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2827.7624" x2="3105.7624" y1="1664.3594" y2="1664.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="268" x="2832.7624" y="1678.5698">URT_EVENTMASK_MAXPRIO : urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2827.7624" x2="3105.7624" y1="1685.1641" y2="1685.1641"/><!--MD5=[dc1cc33af288560680c15dec1e56eda0]

class urt_osEventFlags_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="48" id="urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="2235.7624" y="1892.8594"/><ellipse cx="2250.7624" cy="1908.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2251.6062,1915.6094 L2249.153,1915.6094 L2249.153,1905.3594 L2246.0124,1905.3594 L2246.0124,1903.2188 L2254.7468,1903.2188 L2254.7468,1905.3594 L2251.6062,1905.3594 L2251.6062,1915.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="2264.7624" y="1913.0137">urt_osEventFlags_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2236.7624" x2="2384.7624" y1="1924.8594" y2="1924.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2236.7624" x2="2384.7624" y1="1932.8594" y2="1932.8594"/><!--MD5=[e2bbbd64e6979bf7b755747a6c0ba948]

class urt_osEventWait_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="86.4141" id="urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.5;" width="162" x="2629.7624" y="1619.8594"/><ellipse cx="2652.8624" cy="1635.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2656.9718,1641.8594 L2649.253,1641.8594 L2649.253,1629.4688 L2656.9718,1629.4688 L2656.9718,1631.625 L2651.7062,1631.625 L2651.7062,1634.2969 L2656.4718,1634.2969 L2656.4718,1636.4531 L2651.7062,1636.4531 L2651.7062,1639.7031 L2656.9718,1639.7031 L2656.9718,1641.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="2668.6624" y="1640.0137">urt_osEventWait_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2630.7624" x2="2790.7624" y1="1651.8594" y2="1651.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="2635.7624" y="1666.0698">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="2635.7624" y="1678.8745">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="2635.7624" y="1691.6792">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2630.7624" x2="2790.7624" y1="1698.2734" y2="1698.2734"/><!--MD5=[d054ac2eda12ce4b1fe5a18c9be716c1]

class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="2063.7624" y="1619.8594"/><ellipse cx="2239.0124" cy="1635.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2239.8562,1642.6094 L2237.403,1642.6094 L2237.403,1632.3594 L2234.2624,1632.3594 L2234.2624,1630.2188 L2242.9968,1630.2188 L2242.9968,1632.3594 L2239.8562,1632.3594 L2239.8562,1642.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="2259.5124" y="1640.0137">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2064.7624" x2="2556.7624" y1="1651.8594" y2="1651.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2064.7624" x2="2556.7624" y1="1659.8594" y2="1659.8594"/><ellipse cx="2074.7624" cy="1670.8594" 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="2083.7624" y="1674.0698">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="2074.7624" cy="1683.6641" 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="2083.7624" y="1686.8745">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="2074.7624" cy="1696.4688" 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="2083.7624" y="1699.6792">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]

class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="1481.2624" y="1625.8594"/><ellipse cx="1686.0124" cy="1641.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1686.8562,1648.6094 L1684.403,1648.6094 L1684.403,1638.3594 L1681.2624,1638.3594 L1681.2624,1636.2188 L1689.9968,1636.2188 L1689.9968,1638.3594 L1686.8562,1638.3594 L1686.8562,1648.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="1706.5124" y="1646.0137">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1482.2624" x2="2027.2624" y1="1657.8594" y2="1657.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1482.2624" x2="2027.2624" y1="1665.8594" y2="1665.8594"/><ellipse cx="1492.2624" cy="1676.8594" 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="1501.2624" y="1680.0698">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="1492.2624" cy="1689.6641" 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="1501.2624" y="1692.8745">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--MD5=[04a3b5a37031e2a4d723f19d8adf86f5]

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class urt_core_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="256.0703" id="urt_core_t" style="stroke: #A80036; stroke-width: 1.5;" width="515" x="7357.2624" y="110.8594"/><ellipse cx="7579.0124" cy="126.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7578.4968,127.4219 Q7576.6374,126.7188 7575.9812,125.9531 Q7575.3405,125.1719 7575.3405,123.8594 Q7575.3405,122.1719 7576.4187,121.2031 Q7577.4968,120.2344 7579.3718,120.2344 Q7580.2312,120.2344 7581.0749,120.4375 Q7581.9343,120.625 7582.778,121.0156 L7582.778,123.4063 Q7581.9968,122.8438 7581.1687,122.5625 Q7580.3562,122.2656 7579.5593,122.2656 Q7578.6843,122.2656 7578.1999,122.625 Q7577.7312,122.9844 7577.7312,123.6406 Q7577.7312,124.1563 7578.0749,124.5 Q7578.4187,124.8281 7579.5124,125.2344 L7580.5749,125.6406 Q7582.0593,126.1875 7582.7624,127.0938 Q7583.4812,128 7583.4812,129.375 Q7583.4812,131.25 7582.3718,132.1719 Q7581.2624,133.0938 7579.0124,133.0938 Q7578.0905,133.0938 7577.1687,132.875 Q7576.2468,132.6563 7575.3874,132.2344 L7575.3874,129.7031 Q7576.3562,130.3906 7577.278,130.7344 Q7578.1999,131.0781 7579.0905,131.0781 Q7579.9968,131.0781 7580.4968,130.6719 Q7580.9968,130.25 7580.9968,129.5156 Q7580.9968,128.9531 7580.653,128.5469 Q7580.3249,128.125 7579.6999,127.875 L7578.4968,127.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="63" x="7599.5124" y="131.0137">urt_core_t</text><line style="stroke: #A80036; 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stroke-width: 1.0;" width="6" x="7365.2624" y="206.0781"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="117" x="7377.2624" y="212.2886">_topics : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7358.2624" x2="7509.7624" y1="195.6758" y2="195.6758"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7509.7624" y="198.9839">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7719.7624" x2="7871.2624" y1="195.6758" y2="195.6758"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7365.2624" y="235.6875"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="145" x="7377.2624" y="241.8979">_services : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7358.2624" x2="7522.2624" y1="225.2852" y2="225.2852"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="7522.2624" y="228.5933">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7707.2624" x2="7871.2624" y1="225.2852" y2="225.2852"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7358.2624" x2="7871.2624" y1="248.4922" y2="248.4922"/><ellipse cx="7368.2624" cy="259.4922" 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="175" x="7377.2624" y="262.7026">urtCoreInit (void) : urt_status_t</text><ellipse cx="7368.2624" cy="272.2969" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="222" x="7377.2624" y="275.5073">urtCoreStartNodes (void) : urt_status_t</text><ellipse cx="7368.2624" cy="285.1016" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="489" x="7377.2624" y="288.312">urtCoreSynchronizeNodes (node : urt_node_t*, stage : urt_nodestage_t) : urt_status_t</text><ellipse cx="7368.2624" cy="297.9063" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="220" x="7377.2624" y="301.1167">urtCoreStopNodes (void) : urt_status_t</text><ellipse cx="7368.2624" cy="327.5156" 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="299" x="7377.2624" y="330.7261">urtCoreRetrieveTopic (id : urt_topicid_t) : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7358.2624" x2="7509.7624" y1="314.1133" y2="314.1133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="7509.7624" y="317.4214">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7719.7624" x2="7871.2624" y1="314.1133" y2="314.1133"/><ellipse cx="7368.2624" cy="357.125" 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="339" x="7377.2624" y="360.3354">urtCoreRetrieveService (id : urt_serviceid_t) : urt_service_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7358.2624" x2="7522.2624" y1="343.7227" y2="343.7227"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="7522.2624" y="347.0308">URT_CFG_RPC_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7707.2624" x2="7871.2624" y1="343.7227" y2="343.7227"/><!--MD5=[a7dea26996a1231aa68629b332780450]

class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="10880.7624" y="852.3594"/><ellipse cx="11026.5124" cy="868.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11027.3562,875.1094 L11024.903,875.1094 L11024.903,864.8594 L11021.7624,864.8594 L11021.7624,862.7188 L11030.4968,862.7188 L11030.4968,864.8594 L11027.3562,864.8594 L11027.3562,875.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="11047.0124" y="872.5137">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10881.7624" x2="11335.7624" y1="884.3594" y2="884.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="10881.7624" x2="11335.7624" y1="892.3594" y2="892.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="10886.7624" y="906.5698">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]

class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="10231.7624" y="852.3594"/><ellipse cx="10460.0124" cy="868.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10460.8562,875.1094 L10458.403,875.1094 L10458.403,864.8594 L10455.2624,864.8594 L10455.2624,862.7188 L10463.9968,862.7188 L10463.9968,864.8594 L10460.8562,864.8594 L10460.8562,875.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="10480.5124" y="872.5137">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10232.7624" x2="10844.7624" y1="884.3594" y2="884.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="10232.7624" x2="10844.7624" y1="892.3594" y2="892.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="10237.7624" y="906.5698">urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t</text><!--MD5=[d2563153d77472384a15c07b815d639f]

class urt_node_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="176.0469" id="urt_node_t" style="stroke: #A80036; stroke-width: 1.5;" width="1104" x="10231.7624" y="501.8594"/><ellipse cx="10746.0124" cy="517.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10745.4968,518.4219 Q10743.6374,517.7188 10742.9812,516.9531 Q10742.3405,516.1719 10742.3405,514.8594 Q10742.3405,513.1719 10743.4187,512.2031 Q10744.4968,511.2344 10746.3718,511.2344 Q10747.2312,511.2344 10748.0749,511.4375 Q10748.9343,511.625 10749.778,512.0156 L10749.778,514.4063 Q10748.9968,513.8438 10748.1687,513.5625 Q10747.3562,513.2656 10746.5593,513.2656 Q10745.6843,513.2656 10745.1999,513.625 Q10744.7312,513.9844 10744.7312,514.6406 Q10744.7312,515.1563 10745.0749,515.5 Q10745.4187,515.8281 10746.5124,516.2344 L10747.5749,516.6406 Q10749.0593,517.1875 10749.7624,518.0938 Q10750.4812,519 10750.4812,520.375 Q10750.4812,522.25 10749.3718,523.1719 Q10748.2624,524.0938 10746.0124,524.0938 Q10745.0905,524.0938 10744.1687,523.875 Q10743.2468,523.6563 10742.3874,523.2344 L10742.3874,520.7031 Q10743.3562,521.3906 10744.278,521.7344 Q10745.1999,522.0781 10746.0905,522.0781 Q10746.9968,522.0781 10747.4968,521.6719 Q10747.9968,521.25 10747.9968,520.5156 Q10747.9968,519.9531 10747.653,519.5469 Q10747.3249,519.125 10746.6999,518.875 L10745.4968,518.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="67" x="10766.5124" y="522.0137">urt_node_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10232.7624" x2="11334.7624" y1="533.8594" y2="533.8594"/><ellipse cx="10242.7624" cy="544.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="102" x="10251.7624" y="548.0698">next : urt_node_t*</text><ellipse cx="10242.7624" cy="557.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="10251.7624" y="560.8745">thread : urt_osThread_t*</text><ellipse cx="10242.7624" cy="570.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="10251.7624" y="573.6792">setupcallback : urt_nodeSetupCallback_t*</text><ellipse cx="10242.7624" cy="583.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="117" x="10251.7624" y="586.4839">setupparams : void*</text><ellipse cx="10242.7624" cy="596.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="221" x="10251.7624" y="599.2886">loopcallback : urt_nodeLoopCallback_t*</text><ellipse cx="10242.7624" cy="608.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="109" x="10251.7624" y="612.0933">loopparams : void*</text><ellipse cx="10242.7624" cy="621.6875" 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="136" x="10251.7624" y="624.8979">stage : urt_nodestage_t</text><ellipse cx="10242.7624" cy="634.4922" 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="178" x="10251.7624" y="637.7026">listener : urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10232.7624" x2="11334.7624" y1="644.2969" y2="644.2969"/><rect fill="#F24D5C" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="10239.7624" y="652.2969"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="179" x="10251.7624" y="658.5073">_main : urt_osThreadFunction_t</text><ellipse cx="10242.7624" cy="668.1016" 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="1078" x="10251.7624" y="671.312">urtNodeInit (node : urt_node_t*, stacksize : size_t, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*) : urt_status_t</text><!--MD5=[e602aa6d45f270ad04f88c9ca5352b33]

class urt_message_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="154.4375" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="451" x="7364.2624" y="805.8594"/><ellipse cx="7539.5124" cy="821.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7538.9968,822.4219 Q7537.1374,821.7188 7536.4812,820.9531 Q7535.8405,820.1719 7535.8405,818.8594 Q7535.8405,817.1719 7536.9187,816.2031 Q7537.9968,815.2344 7539.8718,815.2344 Q7540.7312,815.2344 7541.5749,815.4375 Q7542.4343,815.625 7543.278,816.0156 L7543.278,818.4063 Q7542.4968,817.8438 7541.6687,817.5625 Q7540.8562,817.2656 7540.0593,817.2656 Q7539.1843,817.2656 7538.6999,817.625 Q7538.2312,817.9844 7538.2312,818.6406 Q7538.2312,819.1563 7538.5749,819.5 Q7538.9187,819.8281 7540.0124,820.2344 L7541.0749,820.6406 Q7542.5593,821.1875 7543.2624,822.0938 Q7543.9812,823 7543.9812,824.375 Q7543.9812,826.25 7542.8718,827.1719 Q7541.7624,828.0938 7539.5124,828.0938 Q7538.5905,828.0938 7537.6687,827.875 Q7536.7468,827.6563 7535.8874,827.2344 L7535.8874,824.7031 Q7536.8562,825.3906 7537.778,825.7344 Q7538.6999,826.0781 7539.5905,826.0781 Q7540.4968,826.0781 7540.9968,825.6719 Q7541.4968,825.25 7541.4968,824.5156 Q7541.4968,823.9531 7541.153,823.5469 Q7540.8249,823.125 7540.1999,822.875 L7538.9968,822.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="7560.0124" y="826.0137">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7365.2624" x2="7814.2624" y1="837.8594" y2="837.8594"/><ellipse cx="7375.2624" cy="848.8594" 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="7384.2624" y="852.0698">next : urt_message_t*</text><ellipse cx="7375.2624" cy="861.6641" 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="7384.2624" y="864.8745">payload : void*</text><ellipse cx="7375.2624" cy="874.4688" 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="7384.2624" y="877.6792">originTime : urt_osTime_t</text><ellipse cx="7375.2624" cy="887.2734" 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="113" x="7384.2624" y="890.4839">lock : urt_osMutex_t</text><ellipse cx="7375.2624" cy="900.0781" 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="211" x="7384.2624" y="903.2886">numHrtConsumersLeft : unsigned int</text><ellipse cx="7375.2624" cy="929.6875" 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="194" x="7384.2624" y="932.8979">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7365.2624" x2="7481.2624" y1="916.2852" y2="916.2852"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="7481.2624" y="919.5933">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7698.2624" x2="7814.2624" y1="916.2852" y2="916.2852"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7365.2624" x2="7814.2624" y1="939.4922" y2="939.4922"/><ellipse cx="7375.2624" cy="950.4922" 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="425" x="7384.2624" y="953.7026">urtMessageInit (message : urt_message_t*, payload : void*) : urt_status_t</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]

class urt_publisher_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="128.8281" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="759" x="7802.2624" y="525.3594"/><ellipse cx="8131.0124" cy="541.3594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M8130.4968,541.9219 Q8128.6374,541.2188 8127.9812,540.4531 Q8127.3405,539.6719 8127.3405,538.3594 Q8127.3405,536.6719 8128.4187,535.7031 Q8129.4968,534.7344 8131.3718,534.7344 Q8132.2312,534.7344 8133.0749,534.9375 Q8133.9343,535.125 8134.778,535.5156 L8134.778,537.9063 Q8133.9968,537.3438 8133.1687,537.0625 Q8132.3562,536.7656 8131.5593,536.7656 Q8130.6843,536.7656 8130.1999,537.125 Q8129.7312,537.4844 8129.7312,538.1406 Q8129.7312,538.6563 8130.0749,539 Q8130.4187,539.3281 8131.5124,539.7344 L8132.5749,540.1406 Q8134.0593,540.6875 8134.7624,541.5938 Q8135.4812,542.5 8135.4812,543.875 Q8135.4812,545.75 8134.3718,546.6719 Q8133.2624,547.5938 8131.0124,547.5938 Q8130.0905,547.5938 8129.1687,547.375 Q8128.2468,547.1563 8127.3874,546.7344 L8127.3874,544.2031 Q8128.3562,544.8906 8129.278,545.2344 Q8130.1999,545.5781 8131.0905,545.5781 Q8131.9968,545.5781 8132.4968,545.1719 Q8132.9968,544.75 8132.9968,544.0156 Q8132.9968,543.4531 8132.653,543.0469 Q8132.3249,542.625 8131.6999,542.375 L8130.4968,541.9219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="8151.5124" y="545.5137">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7803.2624" x2="8560.2624" y1="557.3594" y2="557.3594"/><ellipse cx="7813.2624" cy="568.3594" 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="7822.2624" y="571.5698">topic : urt_topic_t*</text><ellipse cx="7813.2624" cy="597.9688" 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="149" x="7822.2624" y="601.1792">publishAttempts : uint64_t</text><ellipse cx="7813.2624" cy="610.7734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="7822.2624" y="613.9839">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7803.2624" x2="8099.7624" y1="584.5664" y2="584.5664"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="8099.7624" y="587.8745">URT_CFG_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8263.7624" x2="8560.2624" y1="584.5664" y2="584.5664"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7803.2624" x2="8560.2624" y1="620.5781" y2="620.5781"/><ellipse cx="7813.2624" cy="631.5781" 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="617" x="7822.2624" y="634.7886">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="7813.2624" cy="644.3828" 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="733" x="7822.2624" y="647.5933">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, n : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[a1b1e66ec52c209a9fa2dab315cd7630]

class urt_topic_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="248.0703" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="7364.7624" y="465.8594"/><ellipse cx="7519.5124" cy="481.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7518.9968,482.4219 Q7517.1374,481.7188 7516.4812,480.9531 Q7515.8405,480.1719 7515.8405,478.8594 Q7515.8405,477.1719 7516.9187,476.2031 Q7517.9968,475.2344 7519.8718,475.2344 Q7520.7312,475.2344 7521.5749,475.4375 Q7522.4343,475.625 7523.278,476.0156 L7523.278,478.4063 Q7522.4968,477.8438 7521.6687,477.5625 Q7520.8562,477.2656 7520.0593,477.2656 Q7519.1843,477.2656 7518.6999,477.625 Q7518.2312,477.9844 7518.2312,478.6406 Q7518.2312,479.1563 7518.5749,479.5 Q7518.9187,479.8281 7520.0124,480.2344 L7521.0749,480.6406 Q7522.5593,481.1875 7523.2624,482.0938 Q7523.9812,483 7523.9812,484.375 Q7523.9812,486.25 7522.8718,487.1719 Q7521.7624,488.0938 7519.5124,488.0938 Q7518.5905,488.0938 7517.6687,487.875 Q7516.7468,487.6563 7515.8874,487.2344 L7515.8874,484.7031 Q7516.8562,485.3906 7517.778,485.7344 Q7518.6999,486.0781 7519.5905,486.0781 Q7520.4968,486.0781 7520.9968,485.6719 Q7521.4968,485.25 7521.4968,484.5156 Q7521.4968,483.9531 7521.153,483.5469 Q7520.8249,483.125 7520.1999,482.875 L7518.9968,482.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="7540.0124" y="486.0137">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7365.7624" x2="7747.7624" y1="497.8594" y2="497.8594"/><ellipse cx="7375.7624" cy="508.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="7384.7624" y="512.0698">next : urt_topic_t*</text><ellipse cx="7375.7624" cy="521.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="7384.7624" y="524.8745">id : urt_topicid_t</text><ellipse cx="7375.7624" cy="534.4688" 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="7384.7624" y="537.6792">lock : urt_osMutex_t</text><ellipse cx="7375.7624" cy="547.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="7384.7624" y="550.4839">evtSource : urt_osEventSource_t</text><ellipse cx="7375.7624" cy="560.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="7384.7624" y="563.2886">numHrtSubscribers : unsigned int</text><ellipse cx="7375.7624" cy="572.8828" 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="196" x="7384.7624" y="576.0933">hrtSubscribers : urt_subscriber_t*</text><ellipse cx="7375.7624" cy="585.6875" 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="173" x="7384.7624" y="588.8979">hrtReleased : urt_osCondvar_t</text><ellipse cx="7375.7624" cy="598.4922" 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="209" x="7384.7624" y="601.7026">mandatoryMessage : urt_message_t</text><ellipse cx="7375.7624" cy="611.2969" 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="186" x="7384.7624" y="614.5073">latestMessage : urt_message_t*</text><ellipse cx="7375.7624" cy="640.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="170" x="7384.7624" y="644.1167">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7365.7624" x2="7424.2624" y1="627.5039" y2="627.5039"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="7424.2624" y="630.812">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7689.2624" x2="7747.7624" y1="627.5039" y2="627.5039"/><ellipse cx="7375.7624" cy="670.5156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="7384.7624" y="673.7261">numDiscardedMessages : uint64_t</text><ellipse cx="7375.7624" cy="683.3203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="7384.7624" y="686.5308">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7365.7624" x2="7448.2624" y1="657.1133" y2="657.1133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="7448.2624" y="660.4214">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7665.2624" x2="7747.7624" y1="657.1133" y2="657.1133"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7365.7624" x2="7747.7624" y1="693.125" y2="693.125"/><ellipse cx="7375.7624" cy="704.125" 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="358" x="7384.7624" y="707.3354">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[ab7cf431813e3be5d474948fd959cdbf]

class urt_subscriber_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="312.0938" id="urt_subscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1068" x="8596.7624" y="433.8594"/><ellipse cx="9076.0124" cy="449.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9075.4968,450.4219 Q9073.6374,449.7188 9072.9812,448.9531 Q9072.3405,448.1719 9072.3405,446.8594 Q9072.3405,445.1719 9073.4187,444.2031 Q9074.4968,443.2344 9076.3718,443.2344 Q9077.2312,443.2344 9078.0749,443.4375 Q9078.9343,443.625 9079.778,444.0156 L9079.778,446.4063 Q9078.9968,445.8438 9078.1687,445.5625 Q9077.3562,445.2656 9076.5593,445.2656 Q9075.6843,445.2656 9075.1999,445.625 Q9074.7312,445.9844 9074.7312,446.6406 Q9074.7312,447.1563 9075.0749,447.5 Q9075.4187,447.8281 9076.5124,448.2344 L9077.5749,448.6406 Q9079.0593,449.1875 9079.7624,450.0938 Q9080.4812,451 9080.4812,452.375 Q9080.4812,454.25 9079.3718,455.1719 Q9078.2624,456.0938 9076.0124,456.0938 Q9075.0905,456.0938 9074.1687,455.875 Q9073.2468,455.6563 9072.3874,455.2344 L9072.3874,452.7031 Q9073.3562,453.3906 9074.278,453.7344 Q9075.1999,454.0781 9076.0905,454.0781 Q9076.9968,454.0781 9077.4968,453.6719 Q9077.9968,453.25 9077.9968,452.5156 Q9077.9968,451.9531 9077.653,451.5469 Q9077.3249,451.125 9076.6999,450.875 L9075.4968,450.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="9096.5124" y="454.0137">urt_subscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8597.7624" x2="9663.7624" y1="465.8594" y2="465.8594"/><ellipse cx="8607.7624" cy="476.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="8616.7624" y="480.0698">topic : urt_topic_t*</text><ellipse cx="8607.7624" cy="489.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="8616.7624" y="492.8745">evtListener : urt_osEventListener_t</text><ellipse cx="8607.7624" cy="502.4688" 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="112" x="8616.7624" y="505.6792">rtdata : urt_rtdata_t</text><ellipse cx="8607.7624" cy="515.2734" 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="175" x="8616.7624" y="518.4839">lastMessage : urt_message_t*</text><ellipse cx="8607.7624" cy="528.0781" 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="186" x="8616.7624" y="531.2886">lastMessageTime : urt_osTime_t</text><ellipse cx="8607.7624" cy="557.6875" 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="136" x="8616.7624" y="560.8979">sumLatencies : uint64_t</text><ellipse cx="8607.7624" cy="570.4922" 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="190" x="8616.7624" y="573.7026">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; 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class urt_srtusefulnessfunc_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="60.8047" id="urt_srtusefulnessfunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="374" x="9809.7624" y="1632.3594"/><ellipse cx="9919.0124" cy="1648.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9923.2468,1644.125 L9917.9655,1644.125 L9917.9655,1646.7969 L9922.7624,1646.7969 L9922.7624,1648.9531 L9917.9655,1648.9531 L9917.9655,1654.3594 L9915.528,1654.3594 L9915.528,1641.9688 L9923.2468,1641.9688 L9923.2468,1644.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="147" x="9939.5124" y="1652.5137">urt_srtusefulnessfunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9810.7624" x2="10182.7624" y1="1664.3594" y2="1664.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="9810.7624" x2="10182.7624" y1="1672.3594" y2="1672.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="362" x="9815.7624" y="1686.5698">urt_srtusefulnessfunc_t (dt : urt_delay_t, params : void*) : float</text><!--MD5=[4a2daf41193a31389d6311337c2a120f]

class urt_srtdata_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="73.6094" id="urt_srtdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="258" x="9847.7624" y="1317.8594"/><ellipse cx="9932.0124" cy="1333.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9931.4968,1334.4219 Q9929.6374,1333.7188 9928.9812,1332.9531 Q9928.3405,1332.1719 9928.3405,1330.8594 Q9928.3405,1329.1719 9929.4187,1328.2031 Q9930.4968,1327.2344 9932.3718,1327.2344 Q9933.2312,1327.2344 9934.0749,1327.4375 Q9934.9343,1327.625 9935.778,1328.0156 L9935.778,1330.4063 Q9934.9968,1329.8438 9934.1687,1329.5625 Q9933.3562,1329.2656 9932.5593,1329.2656 Q9931.6843,1329.2656 9931.1999,1329.625 Q9930.7312,1329.9844 9930.7312,1330.6406 Q9930.7312,1331.1563 9931.0749,1331.5 Q9931.4187,1331.8281 9932.5124,1332.2344 L9933.5749,1332.6406 Q9935.0593,1333.1875 9935.7624,1334.0938 Q9936.4812,1335 9936.4812,1336.375 Q9936.4812,1338.25 9935.3718,1339.1719 Q9934.2624,1340.0938 9932.0124,1340.0938 Q9931.0905,1340.0938 9930.1687,1339.875 Q9929.2468,1339.6563 9928.3874,1339.2344 L9928.3874,1336.7031 Q9929.3562,1337.3906 9930.278,1337.7344 Q9931.1999,1338.0781 9932.0905,1338.0781 Q9932.9968,1338.0781 9933.4968,1337.6719 Q9933.9968,1337.25 9933.9968,1336.5156 Q9933.9968,1335.9531 9933.653,1335.5469 Q9933.3249,1335.125 9932.6999,1334.875 L9931.4968,1334.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="81" x="9952.5124" y="1338.0137">urt_srtdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9848.7624" x2="10104.7624" y1="1349.8594" y2="1349.8594"/><ellipse cx="9858.7624" cy="1360.8594" 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="232" x="9867.7624" y="1364.0698">usefullnesscb : urt_srtusefulnessfunc_t*</text><ellipse cx="9858.7624" cy="1373.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="9867.7624" y="1376.8745">cbparams : void*</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9848.7624" x2="10104.7624" y1="1383.4688" y2="1383.4688"/><!--MD5=[3226071078d8aeaa18fbafa5359ddee6]

class urt_servicefunc_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="60.8047" id="urt_servicefunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="451" x="11388.2624" y="852.3594"/><ellipse cx="11556.5124" cy="868.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11560.7468,864.125 L11555.4655,864.125 L11555.4655,866.7969 L11560.2624,866.7969 L11560.2624,868.9531 L11555.4655,868.9531 L11555.4655,874.3594 L11553.028,874.3594 L11553.028,861.9688 L11560.7468,861.9688 L11560.7468,864.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="106" x="11577.0124" y="872.5137">urt_servicefunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11389.2624" x2="11838.2624" y1="884.3594" y2="884.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11389.2624" x2="11838.2624" y1="892.3594" y2="892.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="439" x="11394.2624" y="906.5698">urt_servicefunc_t (arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[e60e0f8379a14e7a4a292c65add9d735]

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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="137" x="11408.7624" y="593.0933">sumDurations : uint64_t</text><ellipse cx="11399.7624" cy="602.6875" 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="110" x="11408.7624" y="605.8979">numCalls : uint64_t</text><ellipse cx="11399.7624" cy="615.4922" 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="135" x="11408.7624" y="618.7026">numTimeouts : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11389.7624" x2="11595.2624" y1="576.4805" y2="576.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="11595.2624" y="579.7886">URT_CFG_RPC_PROFLING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11784.2624" x2="11989.7624" y1="576.4805" y2="576.4805"/><ellipse cx="11399.7624" cy="645.1016" 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="143" x="11408.7624" y="648.312">minDuration : urt_delay_t</text><ellipse cx="11399.7624" cy="657.9063" 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="146" x="11408.7624" y="661.1167">maxDuration : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11389.7624" x2="11462.7624" y1="631.6992" y2="631.6992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="454" x="11462.7624" y="635.0073">URT_CFG_RPC_PROFILING == true || URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11916.7624" x2="11989.7624" y1="631.6992" y2="631.6992"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11389.7624" x2="11989.7624" y1="667.7109" y2="667.7109"/><ellipse cx="11399.7624" cy="678.7109" 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="576" x="11408.7624" y="681.9214">urtServiceInit(service : urt_service_t*, id : urt_serviceid_t, callback : urt_servicefunc_t*) : urt_status_t</text><ellipse cx="11399.7624" cy="691.5156" 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="557" x="11408.7624" y="694.7261">urtServiceCall(service : urt_service_t*, arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[5fff9a13948f7f5b5e6ca18c1c7a9716]

link urt_nodestage_t to urt_config--><path d="M6793.2742,1742.1818 C6810.3857,1759.9219 6828.8977,1779.1139 6847.1738,1798.0614 " 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="6850.8254,1801.8471,6847.4565,1792.5923,6847.3543,1798.2483,6841.6984,1798.1461,6850.8254,1801.8471" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7db439499cb1afd557b9be4c8c52b2ba]

link urt_topicid_t to urt_config--><path d="M6357.5807,1740.3363 C6363.2665,1743.758 6369.0134,1746.9633 6374.7624,1749.8594 C6514.8764,1820.4428 6689.2887,1865.245 6811.4464,1890.4761 " 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="6816.4959,1891.514,6808.4857,1885.7836,6811.5983,1890.5071,6806.8748,1893.6197,6816.4959,1891.514" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e851a4e79ca88682282ceaaad2100c63]

link urt_serviceid_t to urt_config--><path d="M6961.7624,1742.1818 C6961.7624,1759.4784 6961.7624,1778.1552 6961.7624,1796.6399 " 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="6961.7624,1801.8471,6965.7624,1792.8471,6961.7624,1796.8471,6957.7624,1792.8471,6961.7624,1801.8471" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[844001065b3bef53527c5dd4ba0c22e5]

link urt_delay_t to urt_config--><path d="M6539.339,1712.4045 C6555.6566,1725.4588 6573.8943,1738.9338 6591.7624,1749.8594 C6660.9024,1792.1353 6742.582,1830.1266 6811.5864,1859.1527 " 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="6816.5324,1861.2271,6809.7796,1854.0577,6811.9215,1859.2934,6806.6857,1861.4352,6816.5324,1861.2271" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7766572fa0c619a5409829048dc0b6d6]

link urt_osCondvar_t to urt_osCondvarWaitStatus_t--><path d="M5360.7624,1404.6872 C5360.7624,1462.5308 5360.7624,1557.2868 5360.7624,1614.4978 " 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="5360.7624,1619.5732,5364.7624,1610.5732,5360.7624,1614.5732,5356.7624,1610.5732,5360.7624,1619.5732" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9b2507ea88616aeae65e3c4d63560016]

link urt_osCondvar_t to urt_osMutex_t--><path d="M5310.1437,1305.3481 C5240.2882,1241.9649 5107.2411,1138.4276 4969.2624,1122.8594 C4942.1429,1119.7995 1066.382,1119.7995 1039.2624,1122.8594 C951.0478,1132.8127 897.9434,1234.6974 872.6871,1300.0978 " 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="870.7697,1305.1327,877.7108,1298.1455,872.5492,1300.46,870.2346,1295.2984,870.7697,1305.1327" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[83094e108045c8f9585007cdb3b7cb2e]

link urt_osTimer_t to urt_osTimerCallback_t--><path d="M4579.7624,1410.9932 C4579.7624,1473.7318 4579.7624,1573.4721 4579.7624,1626.6616 " 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="4579.7624,1631.9737,4583.7624,1622.9737,4579.7624,1626.9737,4575.7624,1622.9737,4579.7624,1631.9737" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8d8c3240b5b2b5edf6544088e583ffa5]

link urt_osThread_t to urt_osThreadPrio_t--><path d="M3808.124,1524.1767 C3805.2877,1544.4924 3802.5016,1564.449 3799.9656,1582.6135 " 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="3799.2572,1587.688,3804.4633,1579.3276,3799.9486,1582.736,3796.5402,1578.2213,3799.2572,1587.688" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d7d1d43fd970fb07a484642bc19fcb13]

link urt_osThread_t to urt_osThreadFunction_t--><path d="M3551.6491,1475.7886 C3504.0228,1499.2895 3455.7694,1525.0211 3411.7624,1551.8594 C3374.2612,1574.73 3334.9809,1605.5348 3306.9364,1628.8902 " 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="3302.8818,1632.2802,3312.3521,1629.5759,3306.7177,1629.073,3307.2206,1623.4385,3302.8818,1632.2802" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6564761b32ad7eeb5abb8896c72cfca5]

link urt_osThread_t to urt_osThreadTerminateSignal_t--><path d="M3948.3055,1524.1767 C3973.2268,1560.3831 3997.363,1595.4489 4015.1305,1621.262 " 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="4018.1491,1625.6475,4016.3411,1615.966,4015.3142,1621.5288,4009.7513,1620.5019,4018.1491,1625.6475" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[92ba23225d8de8f8080583fedda5e6f8]

link urt_osThread_t to urt_osThreadState_t--><path d="M3672.3403,1524.1767 C3650.6238,1547.2412 3629.3431,1569.8428 3610.4726,1589.8845 " 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="3606.7312,1593.8581,3615.8131,1590.0476,3610.1588,1590.2178,3609.9886,1584.5635,3606.7312,1593.8581" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[78b286ab2177e5f7b31e6e832d821818]

link urt_osThread_t to urt_osTime_t--><path d="M3551.4946,1236.9424 C3418.8912,1188.5876 3256.7309,1139.9497 3105.2624,1122.8594 C3060.5738,1117.8171 1530.9511,1117.8171 1486.2624,1122.8594 C1384.7005,1134.3187 1310.7769,1242.5523 1275.3152,1307.0613 " 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="1272.8286,1311.6284,1280.6452,1305.6366,1275.2194,1307.237,1273.619,1301.8113,1272.8286,1311.6284" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[659af6ab57e6a38ebfd5c07c5616787c]

link urt_osEventListener_t to urt_osEventFlags_t--><path d="M2310.7624,1705.947 C2310.7624,1757.6304 2310.7624,1842.8733 2310.7624,1887.518 " 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="2310.7624,1892.7562,2314.7624,1883.7562,2310.7624,1887.7562,2306.7624,1883.7562,2310.7624,1892.7562" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[eac11679f26c499aa1c571e1f795945d]

link urt_osEventSource_t to urt_osEventFlags_t--><path d="M1835.9071,1699.9291 C1949.6905,1751.9092 2153.835,1845.1695 2253.2333,1890.5781 " 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="2257.8866,1892.7039,2251.3625,1885.3258,2253.3387,1890.6262,2248.0383,1892.6024,2257.8866,1892.7039" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0259cdb10c6c32168d1d17d25519d939]

link urt_events to urt_osEventSource_t--><path d="M2564.1398,1397.8685 C2474.3749,1435.8985 2336.8017,1490.3908 2212.7624,1523.8594 C2140.5259,1543.3504 2118.967,1532.2501 2046.7624,1551.8594 C1977.0202,1570.8 1900.7671,1600.0974 1843.6775,1623.8378 " 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="1838.9087,1625.8265,1848.7549,1626.0544,1843.5235,1623.9021,1845.6759,1618.6707,1838.9087,1625.8265" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0ce043e0e9532fc393f3f8836f5de19a]

link urt_events to urt_osEventListener_t--><path d="M2612.5878,1398.0098 C2547.0099,1455.554 2431.372,1557.0254 2363.8632,1616.2639 " 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="2359.8868,1619.7531,2369.2899,1616.8236,2363.645,1616.4553,2364.0134,1610.8104,2359.8868,1619.7531" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[430bebba9cd89d3ba8f63b2078968bca]

link urt_events to urt_osEventMask_t--><path d="M2704.4925,1398.0098 C2765.6139,1459.7324 2876.7812,1571.9931 2932.7052,1628.4672 " 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="2936.3079,1632.1053,2932.8174,1622.8957,2932.7897,1628.5525,2927.1329,1628.5248,2936.3079,1632.1053" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b1b185abc2161e087cab32ae7fdb2c40]

link urt_events to urt_osEventFlags_t--><path d="M2650.2222,1398.1156 C2639.7905,1437.9151 2624.3402,1498.6533 2612.7624,1551.8594 C2593.7275,1639.3356 2626.0601,1675.8015 2575.7624,1749.8594 C2529.0866,1818.5847 2443.7473,1864.7573 2382.5122,1890.8197 " 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="2377.7765,1892.8158,2387.6235,1893.006,2382.3839,1890.8737,2384.5162,1885.6341,2377.7765,1892.8158" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[706a1974d1b474cbba7e7b0213f243a1]

link urt_events to urt_osEventWait_t--><path d="M2668.6273,1398.0098 C2677.6781,1454.9005 2693.5595,1554.7263 2703.0259,1614.2294 " 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="2703.8651,1619.5046,2706.4011,1609.9878,2703.0794,1614.5667,2698.5005,1611.245,2703.8651,1619.5046" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5f656ccbf337bb70e2692ec6599b22aa]

link urt_osCondvar_t to urt_delay_t--><path d="M5465.5674,1404.5021 C5555.6705,1444.5889 5690.2435,1498.374 5813.7624,1523.8594 C5936.0093,1549.0824 6261.0183,1500.4516 6374.7624,1551.8594 C6402.3257,1564.3169 6426.52,1587.2611 6444.9835,1609.0696 " 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="6448.3639,1613.1257,6445.6747,1603.6511,6445.1628,1609.2847,6439.5291,1608.7728,6448.3639,1613.1257" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[2da0e339f7ca878d257c4a5336e8cad5]

link urt_osThread_t to urt_delay_t--><path d="M4111.8614,1505.5658 C4132.1109,1512.7506 4152.5284,1518.9845 4172.7624,1523.8594 C4291.7025,1552.5149 6262.3602,1503.5521 6374.7624,1551.8594 C6402.7849,1563.9027 6427.1793,1587.0684 6445.6584,1609.1345 " 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="6449.0396,1613.239,6446.4045,1603.7492,6445.8605,1609.3798,6440.2298,1608.8358,6449.0396,1613.239" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4dd831efde278dc905a11b75839a39d0]

link urt_osThread_t to urt_status_t--><path d="M4111.8441,1505.638 C4132.0977,1512.8054 4152.5209,1519.0158 4172.7624,1523.8594 C4329.9436,1561.4713 6933.3259,1487.9285 7081.7624,1551.8594 C7114.878,1566.1221 7142.7696,1596.1091 7161.7656,1621.323 " fill="none" id="urt_osThread_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7164.9724,1625.6471,7162.8242,1616.0354,7161.994,1621.631,7156.3984,1620.8008,7164.9724,1625.6471" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8bf77663ad208115c32fd5300d37f092]

link urt_osTimer_t to urt_delay_t--><path d="M4685.0481,1411.0186 C4765.8776,1450.934 4881.608,1501.3048 4989.7624,1523.8594 C5140.4412,1555.2821 6233.5777,1490.554 6374.7624,1551.8594 C6402.7396,1564.0077 6427.1287,1587.1853 6445.6162,1609.2322 " 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="6448.9991,1613.3327,6446.357,1603.8448,6445.8171,1609.4759,6440.1861,1608.936,6448.9991,1613.3327" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[97e66fd6906ece822f393f9bfe719297]

link urt_osTimer_t to urt_status_t--><path d="M4684.5818,1411.0236 C4765.4072,1451.083 4881.343,1501.6356 4989.7624,1523.8594 C5103.6276,1547.1995 6975.0967,1505.6811 7081.7624,1551.8594 C7114.8511,1566.1843 7142.7441,1596.168 7161.7475,1621.3649 " fill="none" id="urt_osTimer_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7164.9557,1625.6859,7162.802,1616.0754,7161.975,1621.6715,7156.3789,1620.8445,7164.9557,1625.6859" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[a4e2abbbace7909006fa5f13364d6021]

link urt_events to urt_delay_t--><path d="M2751.6297,1398.0313 C2843.2765,1439.5313 2990.7811,1499.4428 3125.7624,1523.8594 C3214.5745,1539.9245 6291.7698,1516.3927 6374.7624,1551.8594 C6402.8095,1563.8452 6427.2067,1587.0044 6445.6813,1609.0811 " 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="6449.0616,1613.1877,6446.4303,1603.6968,6445.884,1609.3272,6440.2536,1608.7809,6449.0616,1613.1877" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0549e7b45a7543f4046fb7eaa1b75598]

link urt_events to urt_status_t--><path d="M2751.1926,1397.8806 C2842.8014,1439.4219 2990.5514,1499.5087 3125.7624,1523.8594 C3233.9142,1543.3369 6980.7786,1508.5185 7081.7624,1551.8594 C7114.8961,1566.0799 7142.7867,1596.0691 7161.7778,1621.2946 " fill="none" id="urt_events-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7164.9838,1625.6207,7162.8389,1616.0082,7162.0068,1621.6035,7156.4115,1620.7714,7164.9838,1625.6207" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[182342162f0b9b45ddce11acc6582c59]

reverse link urt_node_t to urt_node_t--><path d="M11348.1812,562.8698 C11362.6515,570.3533 11370.7624,579.3498 11370.7624,589.8594 C11370.7624,603.0479 11357.9895,613.8537 11335.9051,622.2768 " fill="none" id="urt_node_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="11335.9051,557.442,11339.7752,563.5266,11346.8802,562.2945,11343.0102,556.2098,11335.9051,557.442" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11343.7259" y="553.9481">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="11343.8384" y="619.6947">0..1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]

reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M10879.7105,687.2608 C10941.686,744.5714 11019.128,813.2176 11066.4068,852.0624 " fill="none" id="urt_node_t&lt;-urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="10869.9036,678.1664,10871.5831,685.1792,10878.7024,686.3261,10877.0229,679.3133,10869.9036,678.1664" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10868.4492" y="697.8713">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11048.846" y="841.2644">1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]

reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M10898.1911,681.6388 C10964.8995,740.0192 11043.3577,811.9388 11083.2793,852.0624 " 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="10894.2189,678.1664,10898.3625,687.1012,10897.9834,681.457,10903.6275,681.078,10894.2189,678.1664" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b913f036db99e36b937989146817bd94]

reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M10689.3089,688.3234 C10640.0189,745.4177 10584.4339,813.4574 10556.319,852.0624 " fill="none" id="urt_node_t&lt;-urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="10698.1118,678.1664,10691.1594,680.0807,10690.2525,687.2345,10697.2049,685.3202,10698.1118,678.1664" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10682.9678" y="697.8713">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10551.115" y="841.2644">1</text><!--MD5=[b913f036db99e36b937989146817bd94]

reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M10719.0833,682.3372 C10672.2905,740.5917 10611.1742,812.0987 10573.1915,852.0624 " 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="10722.4271,678.1664,10713.6767,682.6863,10719.2996,682.0675,10719.9184,687.6904,10722.4271,678.1664" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0c465c1a61dfd99ff8b5568ca35c92d1]

reverse link urt_srtdata_t to urt_srtusefulnessfunc_t--><path d="M9980.019,1405.011 C9984.1949,1469.3196 9991.3084,1578.8665 9994.7624,1632.0592 " fill="none" id="urt_srtdata_t&lt;-urt_srtusefulnessfunc_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="9979.1749,1392.0114,9975.5721,1398.258,9979.9525,1403.9862,9983.5553,1397.7396,9979.1749,1392.0114" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9970.912" y="1411.5171">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="9967.8749" y="1621.2605">0..1</text><!--MD5=[3f22cd2af9b1d30da63b75b4db75ae6e]

reverse link urt_rtclassdata_t to urt_hrtdata_t--><path d="M9309.2131,1128.294 C9348.9295,1167.6656 9401.9328,1220.2088 9446.8969,1264.7826 " fill="none" id="urt_rtclassdata_t&lt;-urt_hrtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9299.9282,1119.0897,9301.3732,1126.1545,9308.4504,1127.5379,9307.0054,1120.4731,9299.9282,1119.0897" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9298.4203" y="1139.1985">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="9414.3784" y="1253.7724">0..1</text><!--MD5=[a94a8c9c209e194384613684e912df80]

reverse link urt_rtclassdata_t to urt_frtdata_t--><path d="M9164.6226,1116.6787 C9162.6639,1117.44 9160.7089,1118.1685 9158.7624,1118.8594 C9140.4431,1125.3616 9133.3584,1118.5975 9115.7624,1126.8594 C9038.3191,1163.2219 8964.6106,1226.8045 8913.1888,1277.6025 " fill="none" id="urt_rtclassdata_t&lt;-urt_frtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9176.6629,1111.6292,9169.5828,1110.2609,9165.5967,1116.2701,9172.6768,1117.6384,9176.6629,1111.6292" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9160.712" y="1112.2773">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="8894.6672" y="1266.8418">0..1</text><!--MD5=[e6a6d7a2212fadf5661857a71d4f05c3]

reverse link urt_rtclassdata_t to urt_srtdata_t--><path d="M9336.1201,1073.3858 C9490.5845,1081.2198 9802.0094,1100.1199 9843.7624,1126.8594 C9913.0322,1171.2211 9950.5503,1265.4668 9966.7876,1317.832 " fill="none" id="urt_rtclassdata_t&lt;-urt_srtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9323.0248,1072.7291,9328.8169,1077.0246,9335.0097,1073.3303,9329.2177,1069.0347,9323.0248,1072.7291" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9330.9925" y="1069.3656">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="9938.736" y="1306.7374">0..1</text><!--MD5=[206fe31eaf8244c7272230bb0ec7137c]

reverse link urt_rtclassdata_t to urt_nrtdata_t--><path d="M9236.6141,1131.9238 C9223.4934,1194.3564 9204.0075,1287.0767 9194.857,1330.6179 " fill="none" id="urt_rtclassdata_t&lt;-urt_nrtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9239.3112,1119.0897,9234.1627,1124.1387,9236.8432,1130.8331,9241.9917,1125.7841,9239.3112,1119.0897" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9229.279" y="1139.1985">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="9169.1738" y="1319.964">0..1</text><!--MD5=[1ba55993ff077c77667f6c7be6552d53]

reverse link urt_rtdata_t to urt_rtclass_t--><path d="M9113.2112,932.4551 C9103.6567,959.4536 9091.871,992.7572 9082.3162,1019.7568 " fill="none" id="urt_rtdata_t&lt;-urt_rtclass_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9117.565,920.1522,9111.7925,924.474,9113.5616,931.4647,9119.3342,927.1429,9117.565,920.1522" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9106.8242" y="939.3996">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9076.2222" y="1008.7876">1</text><!--MD5=[8318054091d2ecf2336b9e490f482e2a]

reverse link urt_rtdata_t to urt_rtclassdata_t--><path d="M9161.7086,931.3591 C9179.0572,958.5483 9200.651,992.3907 9218.1125,1019.7568 " fill="none" id="urt_rtdata_t&lt;-urt_rtclassdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9154.5579,920.1522,9154.4133,927.3618,9161.0127,930.2683,9161.1573,923.0586,9154.5579,920.1522" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9149.7128" y="939.3996">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9205.0992" y="1008.7876">1</text><!--MD5=[b6ee30948a218449c72edbee7363b5d7]

link urt_subscriber_t to urt_hrtdata_t--><path d="M9229.2109,746.089 C9241.1211,766.0481 9252.9023,786.3257 9263.7624,805.8594 C9348.7893,958.7933 9437.5126,1141.502 9490.1809,1252.8081 " fill="none" id="urt_subscriber_t-&gt;urt_hrtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="9495.7926,1264.6859,9496.8461,1257.5521,9490.6664,1253.8359,9489.6128,1260.9696,9495.7926,1264.6859" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="9209.3982" y="766.0875">0..1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9483.9857" y="1253.6677">1</text><!--MD5=[536025241394544a90bc53fb552f3a08]

reverse link urt_message_t to urt_message_t--><path d="M7827.7465,858.8913 C7841.8277,864.6222 7850.2624,872.6116 7850.2624,882.8594 C7850.2624,895.8467 7836.7153,905.2067 7815.2965,910.9394 " fill="none" id="urt_message_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="7815.2965,854.7794,7819.7394,860.4593,7826.6911,858.5427,7822.2483,852.8628,7815.2965,854.7794" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7823.5454" y="866.1012">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="7823.0906" y="908.6766">0..1</text><!--MD5=[f7eb638a1c2d853c6fb0ae6f53692e50]

reverse link urt_subscriber_t to urt_rtdata_t--><path d="M9130.7624,759.2614 C9130.7624,791.8323 9130.7624,822.8546 9130.7624,845.6724 " fill="none" id="urt_subscriber_t&lt;-urt_rtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9130.7624,746.2243,9126.7624,752.2243,9130.7624,758.2243,9134.7624,752.2243,9130.7624,746.2243" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9122.5687" y="766.2293">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9122.0499" y="834.826">1</text><!--MD5=[bf7bf5810813e0e9b75d3053dc098443]

reverse link urt_subscriber_t to urt_message_t--><path d="M8583.6925,747.7584 C8318.5097,803.1451 8016.5263,840.4056 7815.4633,861.5814 " fill="none" id="urt_subscriber_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8596.6911,745.0226,8589.9959,742.3441,8584.9484,747.494,8591.6436,750.1726,8596.6911,745.0226" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8580.9546" y="746.4738">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="7823.2629" y="857.699">0..1</text><!--MD5=[54fcf25ad8c5f1d36e678e42d5bfd4cc]

link urt_publisher_t to urt_message_t--><path d="M8051.1127,654.5222 C7962.461,698.3988 7844.6742,756.6953 7750.3063,803.4011 " 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="7745.5472,805.7565,7755.3876,805.3492,7750.0284,803.5386,7751.839,798.1793,7745.5472,805.7565" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b2afc1defaa6ed5a86f99c07f8466dd]

reverse link urt_topic_t to urt_topic_t--><path d="M7760.8063,549.9497 C7775.0685,559.0592 7783.7624,572.3624 7783.7624,589.8594 C7783.7624,611.8164 7770.0714,627.1692 7748.8664,635.9177 " fill="none" id="urt_topic_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="7748.8664,543.8011,7752.3694,550.1042,7759.5349,549.295,7756.032,542.9918,7748.8664,543.8011" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7756.5267" y="538.7771">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="7756.8392" y="634.492">0..1</text><!--MD5=[0b5167e958c0ed93ffc0c98ce399b54d]

reverse link urt_topic_t to urt_message_t--><path d="M7559.5113,727.2769 C7562.4123,754.1823 7565.9348,781.4978 7569.6679,805.5747 " fill="none" id="urt_topic_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="7558.1389,714.1178,7554.7828,720.5003,7559.3836,726.053,7562.7397,719.6705,7558.1389,714.1178" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7549.9872" y="733.8038">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="7542.7092" y="794.8114">1..1</text><!--MD5=[0b5167e958c0ed93ffc0c98ce399b54d]

reverse link urt_topic_t to urt_message_t--><path d="M7585.7164,727.2769 C7588.8837,754.1823 7591.4879,781.4978 7593.1182,805.5747 " fill="none" id="urt_topic_t&lt;-urt_message_t-1" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7584.1182,714.1178,7580.8709,720.5563,7585.5652,726.0302,7588.8125,719.5917,7584.1182,714.1178" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7577.4685" y="733.8038">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7585.0588" y="794.8114">1</text><!--MD5=[05f2c35569573d3273c65d3342945557]

reverse link urt_service_t to urt_service_t--><path d="M12002.5507,555.3923 C12017.1861,564.0864 12025.7624,575.5754 12025.7624,589.8594 C12025.7624,607.6104 12012.5176,621.045 11990.8589,630.1631 " fill="none" id="urt_service_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="11990.8589,549.5557,11994.4406,555.8144,12001.5954,554.9154,11998.0137,548.6567,11990.8589,549.5557" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11998.963" y="545.3484">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="11999.1755" y="628.097">0..1</text><!--MD5=[586e61fedafd54ae7ea71cebd9f9032a]

reverse link urt_service_t to urt_servicefunc_t--><path d="M11657.5961,713.8691 C11644.4183,764.6729 11630.2817,819.1732 11621.7302,852.1416 " fill="none" id="urt_service_t&lt;-urt_servicefunc_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="11660.9217,701.0479,11655.5434,705.8514,11657.9088,712.6635,11663.2871,707.86,11660.9217,701.0479" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11650.6126" y="721.4485">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="11596.8986" y="841.3599">0..1</text><!--MD5=[694e7400eb99f74d44ea388aed89d199]

reverse link urt_core_t to urt_osEventSource_t--><path d="M7343.7222,240.9268 C6265.9822,249.7254 2315.8461,287.6678 1761.7624,374.8594 C978.9934,498.0373 52.7624,90.4578 52.7624,882.8594 C52.7624,882.8594 52.7624,882.8594 52.7624,1069.3594 C52.7624,1271.5959 -65.7755,1378.4335 74.7624,1523.8594 C170.2544,1622.6726 1029.8612,1651.3128 1481.0118,1659.5595 " fill="none" id="urt_core_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7357.0471,240.8184,7351.0147,236.8674,7345.0475,240.9162,7351.0799,244.8672,7357.0471,240.8184" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7341.2774" y="237.7217">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1465.634" y="1671.7449">1</text><!--MD5=[b9eb8460041bde16ab6e44c28de7b0fc]

reverse link urt_core_t to urt_osMutex_t--><path d="M7343.8548,248.5646 C6775.2774,269.682 5473.6793,322.1509 5032.7624,374.8594 C3231.8579,590.1448 2556.5455,160.3989 1021.7624,1126.8594 C953.2552,1169.9988 903.6828,1252.2447 877.0964,1305.2654 " fill="none" id="urt_core_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7357.1486,248.0716,7351.0045,244.2967,7345.1568,248.5164,7351.301,252.2912,7357.1486,248.0716" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7341.3819" y="260.6355">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="880.7996" y="1294.2974">1</text><!--MD5=[53eb1ed31b8ffcbb98ca8a87ecf3ad40]

link urt_core_t to urt_status_t--><path d="M7872.6189,242.0068 C8805.2442,253.994 11952.1108,299.9327 12024.7624,374.8594 C12205.7545,561.5192 12200.4142,768.1657 12024.7624,959.8594 C11887.8484,1109.2776 10410.2077,1109.5233 10207.7624,1118.8594 C10162.3102,1120.9555 8614.465,1118.3755 8569.7624,1126.8594 C8045.1767,1226.4185 7463.1599,1517.0292 7261.8934,1623.3253 " fill="none" id="urt_core_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7257.2101,1625.8018,7267.0361,1625.1305,7261.6301,1623.4644,7263.2963,1618.0585,7257.2101,1625.8018" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f6f8ae0abb3c85244c8639cf15039f58]

link urt_core_t to urt_nodestage_t--><path d="M7357.0872,241.5184 C6877.5332,248.8133 5885.592,275.8282 5765.7624,374.8594 C5612.8512,501.2305 5675.7646,609.1988 5649.7624,805.8594 C5631.4946,944.0241 5567.5173,1023.0855 5668.7624,1118.8594 C5689.1444,1138.1399 5773.9213,1108.0763 5794.7624,1126.8594 C5927.6844,1246.6556 5727.3525,1405.7352 5861.7624,1523.8594 C5922.6502,1577.3697 6515.4939,1521.7708 6590.7624,1551.8594 C6607.8356,1558.6844 6624.144,1568.8838 6639.0282,1580.3808 " 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="6643.188,1583.6562,6638.5915,1574.9457,6639.2596,1580.5629,6633.6424,1581.2311,6643.188,1583.6562" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e894174e7ccaed139fbaaa0f9b9ae8dc]

link urt_core_t to urt_topicid_t--><path d="M7356.9625,247.8624 C6837.0426,267.2205 5706.8828,315.8673 5646.7624,374.8594 C5410.3835,606.8023 5379.1315,877.3829 5605.7624,1118.8594 C5624.9625,1139.3171 5711.1069,1107.8723 5731.7624,1126.8594 C5863.0904,1247.579 5660.3221,1402.1813 5790.7624,1523.8594 C5849.1144,1578.2915 6076.1375,1518.7925 6148.7624,1551.8594 C6164.1857,1558.8818 6178.7315,1568.9554 6191.9287,1580.2044 " 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="6195.9805,1583.7311,6191.8181,1574.805,6192.2091,1580.4484,6186.5657,1580.8393,6195.9805,1583.7311" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[972bd788fc5a0ee0badfa994920a3622]

link urt_core_t to urt_serviceid_t--><path d="M7357.2024,277.0979 C6884.0204,353.1821 5906.4736,539.4691 5707.7624,805.8594 C5623.357,919.0125 5650.2495,1032.2986 5761.7624,1118.8594 C5780.0728,1133.0726 5847.4015,1112.7117 5865.7624,1126.8594 C6013.7318,1240.8747 5853.3534,1413.0825 6003.7624,1523.8594 C6078.8654,1579.1731 6756.5633,1516.2256 6842.7624,1551.8594 C6859.2296,1558.6668 6874.8058,1568.8573 6888.9305,1580.3508 " 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="6892.8755,1583.6254,6888.5053,1574.7992,6889.0283,1580.4318,6883.3956,1580.9548,6892.8755,1583.6254" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[addb2e74eebae0995b3a6bf162197d46]

reverse link urt_node_t to urt_osThread_t--><path d="M10505.1273,681.4617 C10413.9339,707.3665 10311.4624,732.2071 10215.7624,745.8594 C10108.3648,761.1805 6402.9331,748.6443 6310.7624,805.8594 C6177.8522,888.3637 6283.1375,1037.1085 6149.7624,1118.8594 C6126.3516,1133.2088 4199.0212,1118.8314 4172.7624,1126.8594 C4128.6652,1140.341 4085.0601,1161.5888 4044.5191,1185.8116 " fill="none" id="urt_node_t&lt;-urt_osThread_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="10517.6292,677.8838,10510.7602,675.689,10506.0924,681.1855,10512.9614,683.3803,10517.6292,677.8838" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10487.2588" y="697.8648">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="4029.6159" y="1174.8884">0..1</text><!--MD5=[71f626b81c482d35e653d2b548781872]

reverse link urt_node_t to urt_nodestage_t--><path d="M10504.4858,681.5252 C10413.4485,707.3596 10311.2301,732.143 10215.7624,745.8594 C10025.6853,773.1689 6922.7979,704.3973 6759.7624,805.8594 C6481.7704,978.8626 6479.3632,1217.4403 6594.7624,1523.8594 C6602.8537,1545.344 6615.942,1565.6704 6630.6049,1583.8096 " fill="none" id="urt_node_t&lt;-urt_nodestage_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="10517.2555,677.874,10510.387,675.6777,10505.7179,681.1731,10512.5864,683.3694,10517.2555,677.874" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10495.5166" y="697.8542">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6614.2935" y="1572.8836">1</text><!--MD5=[ecbb69d8dc7b8a34ff21337736794c2a]

reverse link urt_node_t to urt_osEventListener_t--><path d="M10505.1324,681.4973 C10413.9392,707.4041 10311.4666,732.2369 10215.7624,745.8594 C9768.0043,809.5931 6597.2251,778.8257 6145.7624,805.8594 C5493.1168,844.9401 5334.5044,907.8401 4682.7624,959.8594 C3387.6247,1063.2318 3062.4334,1079.8546 1763.7624,1118.8594 C1753.9056,1119.1554 350.7157,1119.8668 343.7624,1126.8594 C219.3493,1251.9754 220.0278,1398.0724 343.7624,1523.8594 C376.9213,1557.5682 1999.4834,1542.1618 2045.7624,1551.8594 C2110.4484,1565.4141 2179.1644,1594.673 2230.4101,1619.7487 " fill="none" id="urt_node_t&lt;-urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="10517.6343,677.9191,10510.7653,675.7245,10506.0975,681.2211,10512.9666,683.4157,10517.6343,677.9191" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10433.6608" y="697.6555">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2218.2415" y="1608.7271">1</text><!--MD5=[a052f483eba01ccbd89eefaa281cffa6]

reverse link urt_node_t to urt_osThreadFunction_t--><path d="M10505.13,681.4811 C10413.9368,707.3869 10311.4647,732.2233 10215.7624,745.8594 C10105.9424,761.5071 6315.7135,745.3169 6222.7624,805.8594 C6094.4525,889.4325 6207.6379,1036.1611 6078.7624,1118.8594 C6062.2982,1129.4244 458.5854,1113.0168 444.7624,1126.8594 C320.086,1251.713 320.6513,1398.4438 444.7624,1523.8594 C497.0905,1576.7374 3052.4297,1527.6187 3122.7624,1551.8594 C3169.2201,1567.8713 3212.5763,1605.1856 3239.5558,1632.1365 " fill="none" id="urt_node_t&lt;-urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="10517.632,677.903,10510.763,675.7083,10506.0952,681.2048,10512.9642,683.3995,10517.632,677.903" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="23" x="10471.6407" y="697.8856">0..*</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3224.9132" y="1621.3537">1</text><!--MD5=[0cba389305cd35ebcbacaedacb3fbe88]

link urt_node_t to urt_status_t--><path d="M10516.8928,677.942 C10422.8019,705.0328 10315.5895,731.4852 10215.7624,745.8594 C10123.9994,759.0725 6943.726,739.7173 6878.7624,805.8594 C6655.1543,1033.5242 6669.0986,1283.2914 6878.7624,1523.8594 C6908.6822,1558.1893 7041.1704,1531.2193 7081.7624,1551.8594 C7113.3387,1567.9152 7140.8635,1597.0357 7160.0869,1621.4219 " 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="7163.339,1625.6032,7160.9709,1616.0433,7160.2693,1621.6564,7154.6561,1620.9548,7163.339,1625.6032" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b00c0c61b5ae38465e12763fb588229]

link urt_nodeSetupCallback_t to urt_osEventMask_t--><path d="M11031.5352,913.4289 C10983.9832,930.6576 10921.3094,950.5435 10863.7624,959.8594 C10064.7216,1089.2115 8019.3554,881.8604 7221.7624,1019.8594 C6532.916,1139.0432 6420.9475,1406.6493 5731.7624,1523.8594 C5589.0259,1548.1347 3263.6427,1507.6772 3125.7624,1551.8594 C3078.0519,1567.1477 3032.08,1602.172 3001.9485,1628.8198 " 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="2997.987,1632.3559,3007.3649,1629.3468,3001.7171,1629.0263,3002.0376,1623.3785,2997.987,1632.3559" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[aa0b59559007c8ad9b783f6dc5ed8ad9]

link urt_nodeLoopCallback_t to urt_osEventMask_t--><path d="M10432.8246,913.457 C10368.3626,930.5792 10284.0182,950.3447 10207.7624,959.8594 C9536.1721,1043.6565 7838.5225,982.3915 7162.7624,1019.8594 C6679.7215,1046.6419 6562.028,1096.4935 6078.7624,1118.8594 C6068.9916,1119.3116 451.6739,1119.9381 444.7624,1126.8594 C320.086,1251.713 320.7381,1398.358 444.7624,1523.8594 C490.9429,1570.5898 2747.2681,1531.5906 2809.7624,1551.8594 C2856.8647,1567.1361 2902.095,1601.9785 2931.8076,1628.5824 " 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="2935.7146,1632.1134,2931.7195,1623.1112,2932.0051,1628.7608,2926.3554,1629.0464,2935.7146,1632.1134" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b3fa89608aace108b23bbfcd22712ec]

link urt_publisher_t to urt_config--><path d="M8050.651,654.4871 C7974.9052,688.4514 7876.6866,726.8787 7784.7624,745.8594 C7685.3058,766.3954 6034.84,739.7352 5957.7624,805.8594 C5796.8048,943.9436 5679.0575,1589.4363 5817.7624,1749.8594 C5881.9562,1824.1045 6515.8935,1882.3858 6811.4728,1905.7552 " 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="6816.6637,1906.1648,6808.0064,1901.469,6811.6792,1905.7713,6807.3769,1909.4442,6816.6637,1906.1648" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[48a81098d0aa451a4923659bb2bbea3c]

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link urt_topic_t to urt_config--><path d="M7713.4607,713.8898 C7736.3358,726.8802 7760.4177,738.1387 7784.7624,745.8594 C7896.935,781.4338 11934.7251,725.5737 12020.7624,805.8594 C12106.6829,886.036 12042.7624,951.8408 12042.7624,1069.3594 C12042.7624,1069.3594 12042.7624,1069.3594 12042.7624,1354.8594 C12042.7624,2192.5722 11030.2614,1640.1586 10199.7624,1749.8594 C9590.6343,1830.3192 7665.7414,1894.9948 7112.0813,1912.2967 " 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="7106.8346,1912.4606,7115.9551,1916.1776,7111.8322,1912.3044,7115.7053,1908.1815,7106.8346,1912.4606" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[a01366c261f16bb61c03de8616a1256c]

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reverse link urt_message_t to urt_osTime_t--><path d="M7351.2322,902.6942 C7148.5887,923.265 6876.4308,960.8176 6784.7624,1019.8594 C6740.0961,1048.6281 6764.6731,1093.9174 6717.7624,1118.8594 C6685.5775,1135.9719 1502.2533,1112.4694 1468.7624,1126.8594 C1381.1508,1164.5034 1312.1529,1256.7646 1277.1003,1311.6937 " fill="none" id="urt_message_t&lt;-urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7364.1717,901.3941,7357.8018,898.0141,7352.2318,902.5939,7358.6017,905.974,7364.1717,901.3941" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7347.9208" y="898.8521">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1272.501" y="1300.6633">1</text><!--MD5=[7527c1e2a180419f2ba2182e8f11877d]

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reverse link urt_message_t to urt_osCondvar_t--><path d="M7351.0207,914.1379 C7228.168,935.1361 7077.7382,968.5818 6949.7624,1019.8594 C6871.7877,1051.1025 6867.4512,1089.4609 6788.7624,1118.8594 C6437.7399,1250.0031 6011.1105,1308.441 5716.0713,1334.3772 " fill="none" id="urt_message_t&lt;-urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7363.9579,911.9551,7357.376,909.0091,7352.1252,913.9517,7358.7071,916.8976,7363.9579,911.9551" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7348.4174" y="909.7256">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="5723.3698" y="1330.8748">1</text><!--MD5=[2bb9471b6fda5815e085c87a24a67f11]

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link urt_hrtdata_t to urt_config--><path d="M9414.9285,1444.8919 C9369.6949,1474.1846 9316.7685,1504.1854 9264.7624,1523.8594 C8490.6669,1816.702 7487.4517,1892.3933 7112.159,1911.0541 " fill="none" id="urt_hrtdata_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7106.953,1911.3113,7116.1394,1914.8623,7111.9469,1911.0646,7115.7447,1906.8721,7106.953,1911.3113" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ed989009be771aee0dc5ea42e965db70]

reverse link urt_hrtdata_t to urt_osTimer_t--><path d="M9462.1032,1254.5335 C9409.5674,1196.3343 9333.6592,1132.6076 9247.2624,1122.8594 C9218.0037,1119.5581 5036.5212,1119.5581 5007.2624,1122.8594 C4865.033,1138.9073 4723.7352,1235.4104 4644.4872,1298.7933 " fill="none" id="urt_hrtdata_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9470.9838,1264.5671,9470.0025,1257.4231,9463.0306,1255.5812,9464.0119,1262.7252,9470.9838,1264.5671" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9457.3436" y="1253.8446">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="4654.3176" y="1287.7228">0..1</text><!--MD5=[7e23fc46f17d4a9469ac4a553a110c32]

reverse link urt_hrtdata_t to urt_delay_t--><path d="M9412.4613,1452.2014 C9368.2452,1480.9971 9316.5822,1508.8242 9264.7624,1523.8594 C9122.1364,1565.2416 6728.4036,1493.6883 6591.7624,1551.8594 C6561.8177,1564.6075 6535.9129,1589.9478 6516.8794,1613.2014 " fill="none" id="urt_hrtdata_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9423.5378,1444.8668,9416.3267,1444.8443,9413.5325,1451.492,9420.7436,1451.5145,9423.5378,1444.8668" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9405.7473" y="1465.0121">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6495.9896" y="1602.2244">0..5</text><!--MD5=[84b4ddc626a7a0aa23e58213a3a30632]

link urt_frtdata_t to urt_config--><path d="M8585.2803,1431.5312 C8187.1436,1550.5487 7432.8887,1776.0227 7112.1639,1871.899 " fill="none" id="urt_frtdata_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7107.0061,1873.4408,7116.7747,1874.6954,7111.7966,1872.0086,7114.4833,1867.0305,7107.0061,1873.4408" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8b5e0556f8c73fbb24cf4e7733c873ff]

reverse link urt_frtdata_t to urt_osTimer_t--><path d="M8572.8147,1300.5869 C8273.2875,1243.1299 7773.9892,1156.2246 7339.2624,1122.8594 C7306.9685,1120.3808 5039.4471,1119.228 5007.2624,1122.8594 C4865.033,1138.9073 4723.7352,1235.4104 4644.4872,1298.7933 " fill="none" id="urt_frtdata_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8585.5971,1303.0443,8580.4602,1297.9834,8573.8129,1300.7786,8578.9498,1305.8395,8585.5971,1303.0443" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8569.8734" y="1298.3457">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="4627.2426" y="1287.7228">0..1</text><!--MD5=[29efa6d8db454d55b0473550ef148da3]

reverse link urt_frtdata_t to urt_delay_t--><path d="M8572.4457,1385.7377 C8237.8775,1423.1569 7649.3709,1485.8972 7143.7624,1523.8594 C7082.5226,1528.4574 6647.7723,1526.6731 6591.7624,1551.8594 C6562.3263,1565.0962 6536.6205,1590.162 6517.5766,1613.1291 " fill="none" id="urt_frtdata_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8585.7182,1384.2516,8579.3104,1380.9441,8573.7927,1385.5869,8580.2006,1388.8944,8585.7182,1384.2516" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8569.9981" y="1381.9639">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6524.1598" y="1602.1419">0..5</text><!--MD5=[19bf7f91edc926705d1714d4ed8cf052]

link urt_srtusefulnessfunc_t to urt_delay_t--><path d="M9960.0912,1632.3377 C9920.5549,1601.5895 9854.3598,1556.1548 9788.2624,1537.8594 C9745.7097,1526.081 6650.9263,1523.2445 6609.2624,1537.8594 C6572.4686,1550.766 6541.1916,1581.3587 6518.9425,1609.0468 " fill="none" id="urt_srtusefulnessfunc_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6515.7258,1613.1084,6524.4493,1608.5366,6518.8301,1609.1888,6518.1779,1603.5697,6515.7258,1613.1084" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[85137379eadac9ac066ccd1aa3005a20]

reverse link urt_service_t to urt_serviceid_t--><path d="M11484.0219,706.3017 C11447.007,722.524 11408.0087,736.7428 11369.7624,745.8594 C11257.1824,772.6947 7295.5458,735.3596 7203.7624,805.8594 C6959.0056,993.8597 6948.8126,1409.7719 6956.1926,1583.835 " fill="none" id="urt_service_t&lt;-urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11495.9665,700.9682,11488.857,699.762,11485.0092,705.8607,11492.1187,707.0669,11495.9665,700.9682" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11482.6215" y="721.3632">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6947.3104" y="1572.9114">1</text><!--MD5=[bfc39859b663e58a9d342532110a4ed9]

reverse link urt_service_t to urt_osMutex_t--><path d="M11484.0375,706.3671 C11447.0208,722.5821 11408.0179,736.7814 11369.7624,745.8594 C11107.7944,808.0241 6776.2536,712.3717 6523.7624,805.8594 C6320.4957,881.1212 6353.4335,1044.6984 6149.7624,1118.8594 C6116.3005,1131.0436 1053.5108,1110.7288 1021.7624,1126.8594 C948.4923,1164.0864 899.6096,1250.2062 874.5683,1305.3009 " fill="none" id="urt_service_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11495.9826,701.0357,11488.8733,699.8284,11485.0245,705.9266,11492.1339,707.1338,11495.9826,701.0357" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11474.0762" y="721.4355">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="868.791" y="1294.3379">1</text><!--MD5=[33249c42c81fffc5b10022c232aa2b33]

link urt_service_t to urt_config--><path d="M11990.7922,689.0092 C12042.252,718.854 12089.6941,757.1056 12122.7624,805.8594 C12189.9151,904.865 12163.0689,1488.2759 12139.7624,1523.8594 C12002.8069,1732.9584 11868.4391,1694.1738 11624.7624,1749.8594 C11176.903,1852.2053 7861.3035,1904.2999 7111.9742,1914.8374 " 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="7106.7899,1914.9102,7115.8452,1918.7833,7111.7894,1914.8399,7115.7328,1910.7841,7106.7899,1914.9102" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ac5bbcedbd2eba97f2e594f2b75734f9]

reverse link urt_service_t to urt_delay_t--><path d="M11484.0254,706.3163 C11447.0101,722.537 11408.0107,736.7514 11369.7624,745.8594 C11137.2949,801.2163 7279.3303,692.8695 7068.7624,805.8594 C6730.8702,987.1711 6549.8698,1459.0116 6498.3558,1613.267 " fill="none" id="urt_service_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11495.9701,700.9833,11488.8606,699.7769,11485.0126,705.8755,11492.1221,707.0819,11495.9701,700.9833" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11442.2306" y="721.9753">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6474.8611" y="1602.2992">0..2</text><!--MD5=[5471b15d17b5493f5e528354308bf7b4]

link urt_service_t to urt_status_t--><path d="M11495.9624,700.9509 C11455.4532,719.3706 11412.1452,735.7451 11369.7624,745.8594 C11152.4509,797.7187 7540.6924,691.5064 7348.7624,805.8594 C7067.0206,973.7228 7147.5911,1471.3857 7178.9873,1620.299 " 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="7180.0827,1625.448,7182.1224,1615.8126,7179.0423,1620.5574,7174.2975,1617.4773,7180.0827,1625.448" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0826203957815bb9ddac9132e239afa7]

link urt_servicefunc_t to urt_delay_t--><path d="M11537.1387,913.3652 C11489.7541,930.6294 11427.2076,950.5747 11369.7624,959.8594 C11147.4012,995.7989 7519.5151,923.8333 7315.7624,1019.8594 C7259.2914,1046.4735 7256.6022,1073.161 7224.7624,1126.8594 C7128.4016,1289.374 7225.2438,1412.2985 7072.7624,1523.8594 C6986.3509,1587.0812 6689.249,1507.5838 6591.7624,1551.8594 C6564.0978,1564.4239 6539.6981,1587.3811 6521.0362,1609.1705 " fill="none" id="urt_servicefunc_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6517.6189,1613.2227,6526.4788,1608.9213,6520.8423,1609.4004,6520.3632,1603.7639,6517.6189,1613.2227" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3a1e539c88376aaf116c25a44ec54d4f]

link urt_servicefunc_t to urt_status_t--><path d="M11536.5732,913.4264 C11489.2464,930.5957 11426.9574,950.4206 11369.7624,959.8594 C10755.703,1061.1965 9191.2567,986.9487 8569.7624,1019.8594 C8288.0422,1034.7776 7513.4973,937.0737 7304.7624,1126.8594 C7172.0828,1247.4942 7275.9083,1349.8046 7232.7624,1523.8594 C7224.5924,1556.8182 7212.9025,1593.4042 7203.6252,1620.7654 " fill="none" id="urt_servicefunc_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7201.9224,1625.764,7208.6108,1618.5345,7203.5347,1621.031,7201.0381,1615.9549,7201.9224,1625.764" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6c5378378aee407f5bd50309d3bc22f2]

  + {field} lock : urt_osMutex_t

<?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="1205px" preserveAspectRatio="none" style="width:2868px;height:1205px;" version="1.1" viewBox="0 0 2868 1205" width="2868px" zoomAndPan="magnify"><defs><filter height="300%" id="fcvax0xwujy06" 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="1392.5" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="225" x="1324.5" y="37.6611">Publish-Subscribe System</text><!--MD5=[16a3bbbe805f94d6e6ce317c08ab945e]

cluster subscriber--><rect fill="#FFFFFF" filter="url(#fcvax0xwujy06)" height="1097" style="stroke: #000000; stroke-width: 1.5;" width="1611" x="14" y="97.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="85" x="777" y="112.9014">subscriber</text><!--MD5=[94ad99421f5a0f525bc1c13a3777c25e]

cluster real-time constraint data--><rect fill="#FFFFFF" filter="url(#fcvax0xwujy06)" height="677" style="stroke: #000000; stroke-width: 1.5;" width="1595" x="22" y="509.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="194" x="722.5" y="524.9014">real-time constraint data</text><!--MD5=[57c3116dbac3d3a2ea35fece1cdc00f4]

cluster SRT data--><rect fill="#FFFFFF" filter="url(#fcvax0xwujy06)" height="283" style="stroke: #000000; stroke-width: 1.5;" width="390" x="699" y="895.9063"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="69" x="859.5" y="910.9014">SRT data</text><!--MD5=[ab7cf431813e3be5d474948fd959cdbf]

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class urt_frtdata_t--><rect fill="#FEFECE" filter="url(#fcvax0xwujy06)" height="154.4375" id="urt_frtdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="512" x="30" y="882.9063"/><ellipse cx="242.75" cy="898.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M242.2344,899.4688 Q240.375,898.7656 239.7188,898 Q239.0781,897.2188 239.0781,895.9063 Q239.0781,894.2188 240.1563,893.25 Q241.2344,892.2813 243.1094,892.2813 Q243.9688,892.2813 244.8125,892.4844 Q245.6719,892.6719 246.5156,893.0625 L246.5156,895.4531 Q245.7344,894.8906 244.9063,894.6094 Q244.0938,894.3125 243.2969,894.3125 Q242.4219,894.3125 241.9375,894.6719 Q241.4688,895.0313 241.4688,895.6875 Q241.4688,896.2031 241.8125,896.5469 Q242.1563,896.875 243.25,897.2813 L244.3125,897.6875 Q245.7969,898.2344 246.5,899.1406 Q247.2188,900.0469 247.2188,901.4219 Q247.2188,903.2969 246.1094,904.2188 Q245,905.1406 242.75,905.1406 Q241.8281,905.1406 240.9063,904.9219 Q239.9844,904.7031 239.125,904.2813 L239.125,901.75 Q240.0938,902.4375 241.0156,902.7813 Q241.9375,903.125 242.8281,903.125 Q243.7344,903.125 244.2344,902.7188 Q244.7344,902.2969 244.7344,901.5625 Q244.7344,901 244.3906,900.5938 Q244.0625,900.1719 243.4375,899.9219 L242.2344,899.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="78" x="263.25" y="903.0605">urt_frtdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="31" x2="541" y1="914.9063" y2="914.9063"/><ellipse cx="41" cy="942.7109" 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="157" x="50" y="945.9214">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="31" x2="140.5" y1="929.3086" y2="929.3086"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="140.5" y="932.6167">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="431.5" x2="541" y1="929.3086" y2="929.3086"/><ellipse cx="41" cy="972.3203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="50" y="975.5308">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="31" x2="153.5" y1="958.918" y2="958.918"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="153.5" y="962.2261">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="418.5" x2="541" y1="958.918" y2="958.918"/><ellipse cx="41" cy="1001.9297" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="50" y="1005.1401">maxJitter : urt_delay_t</text><ellipse cx="41" cy="1014.7344" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="50" y="1017.9448">minLatency : urt_delay_t</text><ellipse cx="41" cy="1027.5391" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="50" y="1030.7495">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="31" x2="34" y1="988.5273" y2="988.5273"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="34" y="991.8354">URT_CFG_PUBSUB_PROFILING == true || URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="538" x2="541" y1="988.5273" y2="988.5273"/><!--MD5=[ca63c4d42025d7ce195746a6a8d32f3e]

class urt_nrtdata_t--><rect fill="#FEFECE" filter="url(#fcvax0xwujy06)" height="48" id="urt_nrtdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="114" x="577" y="935.9063"/><ellipse cx="592" cy="951.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M591.4844,952.4688 Q589.625,951.7656 588.9688,951 Q588.3281,950.2188 588.3281,948.9063 Q588.3281,947.2188 589.4063,946.25 Q590.4844,945.2813 592.3594,945.2813 Q593.2188,945.2813 594.0625,945.4844 Q594.9219,945.6719 595.7656,946.0625 L595.7656,948.4531 Q594.9844,947.8906 594.1563,947.6094 Q593.3438,947.3125 592.5469,947.3125 Q591.6719,947.3125 591.1875,947.6719 Q590.7188,948.0313 590.7188,948.6875 Q590.7188,949.2031 591.0625,949.5469 Q591.4063,949.875 592.5,950.2813 L593.5625,950.6875 Q595.0469,951.2344 595.75,952.1406 Q596.4688,953.0469 596.4688,954.4219 Q596.4688,956.2969 595.3594,957.2188 Q594.25,958.1406 592,958.1406 Q591.0781,958.1406 590.1563,957.9219 Q589.2344,957.7031 588.375,957.2813 L588.375,954.75 Q589.3438,955.4375 590.2656,955.7813 Q591.1875,956.125 592.0781,956.125 Q592.9844,956.125 593.4844,955.7188 Q593.9844,955.2969 593.9844,954.5625 Q593.9844,954 593.6406,953.5938 Q593.3125,953.1719 592.6875,952.9219 L591.4844,952.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="82" x="606" y="956.0605">urt_nrtdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="578" x2="690" y1="967.9063" y2="967.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="578" x2="690" y1="975.9063" y2="975.9063"/><!--MD5=[fc7708c915a0148c667d62e1370980fd]

class urt_srtusefulnessfunc_t--><rect fill="#FEFECE" filter="url(#fcvax0xwujy06)" height="60.8047" id="urt_srtusefulnessfunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="374" x="707" y="1109.9063"/><ellipse cx="816.25" cy="1125.9063" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M820.4844,1121.6719 L815.2031,1121.6719 L815.2031,1124.3438 L820,1124.3438 L820,1126.5 L815.2031,1126.5 L815.2031,1131.9063 L812.7656,1131.9063 L812.7656,1119.5156 L820.4844,1119.5156 L820.4844,1121.6719 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="147" x="836.75" y="1130.0605">urt_srtusefulnessfunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="708" x2="1080" y1="1141.9063" y2="1141.9063"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="708" x2="1080" y1="1149.9063" y2="1149.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="362" x="713" y="1164.1167">urt_srtusefulnessfunc_t (dt : urt_delay_t, params : void*) : float</text><!--MD5=[4a2daf41193a31389d6311337c2a120f]

class urt_srtdata_t--><rect fill="#FEFECE" filter="url(#fcvax0xwujy06)" height="73.6094" id="urt_srtdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="258" x="765" y="922.9063"/><ellipse cx="849.25" cy="938.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M848.7344,939.4688 Q846.875,938.7656 846.2188,938 Q845.5781,937.2188 845.5781,935.9063 Q845.5781,934.2188 846.6563,933.25 Q847.7344,932.2813 849.6094,932.2813 Q850.4688,932.2813 851.3125,932.4844 Q852.1719,932.6719 853.0156,933.0625 L853.0156,935.4531 Q852.2344,934.8906 851.4063,934.6094 Q850.5938,934.3125 849.7969,934.3125 Q848.9219,934.3125 848.4375,934.6719 Q847.9688,935.0313 847.9688,935.6875 Q847.9688,936.2031 848.3125,936.5469 Q848.6563,936.875 849.75,937.2813 L850.8125,937.6875 Q852.2969,938.2344 853,939.1406 Q853.7188,940.0469 853.7188,941.4219 Q853.7188,943.2969 852.6094,944.2188 Q851.5,945.1406 849.25,945.1406 Q848.3281,945.1406 847.4063,944.9219 Q846.4844,944.7031 845.625,944.2813 L845.625,941.75 Q846.5938,942.4375 847.5156,942.7813 Q848.4375,943.125 849.3281,943.125 Q850.2344,943.125 850.7344,942.7188 Q851.2344,942.2969 851.2344,941.5625 Q851.2344,941 850.8906,940.5938 Q850.5625,940.1719 849.9375,939.9219 L848.7344,939.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="81" x="869.75" y="943.0605">urt_srtdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="766" x2="1022" y1="954.9063" y2="954.9063"/><ellipse cx="776" cy="965.9063" 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="232" x="785" y="969.1167">usefullnesscb : urt_srtusefulnessfunc_t*</text><ellipse cx="776" cy="978.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="785" y="981.9214">cbparams : void*</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="766" x2="1022" y1="988.5156" y2="988.5156"/><!--MD5=[e602aa6d45f270ad04f88c9ca5352b33]

class urt_message_t--><rect fill="#FEFECE" filter="url(#fcvax0xwujy06)" height="154.4375" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="451" x="2099.5" y="496.9063"/><ellipse cx="2274.75" cy="512.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2274.2344,513.4688 Q2272.375,512.7656 2271.7188,512 Q2271.0781,511.2188 2271.0781,509.9063 Q2271.0781,508.2188 2272.1563,507.25 Q2273.2344,506.2813 2275.1094,506.2813 Q2275.9688,506.2813 2276.8125,506.4844 Q2277.6719,506.6719 2278.5156,507.0625 L2278.5156,509.4531 Q2277.7344,508.8906 2276.9063,508.6094 Q2276.0938,508.3125 2275.2969,508.3125 Q2274.4219,508.3125 2273.9375,508.6719 Q2273.4688,509.0313 2273.4688,509.6875 Q2273.4688,510.2031 2273.8125,510.5469 Q2274.1563,510.875 2275.25,511.2813 L2276.3125,511.6875 Q2277.7969,512.2344 2278.5,513.1406 Q2279.2188,514.0469 2279.2188,515.4219 Q2279.2188,517.2969 2278.1094,518.2188 Q2277,519.1406 2274.75,519.1406 Q2273.8281,519.1406 2272.9063,518.9219 Q2271.9844,518.7031 2271.125,518.2813 L2271.125,515.75 Q2272.0938,516.4375 2273.0156,516.7813 Q2273.9375,517.125 2274.8281,517.125 Q2275.7344,517.125 2276.2344,516.7188 Q2276.7344,516.2969 2276.7344,515.5625 Q2276.7344,515 2276.3906,514.5938 Q2276.0625,514.1719 2275.4375,513.9219 L2274.2344,513.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="2295.25" y="517.0605">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2100.5" x2="2549.5" y1="528.9063" y2="528.9063"/><ellipse cx="2110.5" cy="539.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="127" x="2119.5" y="543.1167">next : urt_message_t*</text><ellipse cx="2110.5" cy="552.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="2119.5" y="555.9214">payload : void*</text><ellipse cx="2110.5" cy="565.5156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="2119.5" y="568.7261">originTime : urt_osTime_t</text><ellipse cx="2110.5" cy="578.3203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="2119.5" y="581.5308">lock : urt_osMutex_t</text><ellipse cx="2110.5" cy="591.125" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="211" x="2119.5" y="594.3354">numHrtConsumersLeft : unsigned int</text><ellipse cx="2110.5" cy="620.7344" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="2119.5" y="623.9448">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2100.5" x2="2216.5" y1="607.332" y2="607.332"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2216.5" y="610.6401">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2433.5" x2="2549.5" y1="607.332" y2="607.332"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2100.5" x2="2549.5" y1="630.5391" y2="630.5391"/><ellipse cx="2110.5" cy="641.5391" 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="425" x="2119.5" y="644.7495">urtMessageInit (message : urt_message_t*, payload : void*) : urt_status_t</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]

class urt_publisher_t--><rect fill="#FEFECE" filter="url(#fcvax0xwujy06)" height="128.8281" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="759" x="1642.5" y="216.4063"/><ellipse cx="1971.25" cy="232.4063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1970.7344,232.9688 Q1968.875,232.2656 1968.2188,231.5 Q1967.5781,230.7188 1967.5781,229.4063 Q1967.5781,227.7188 1968.6563,226.75 Q1969.7344,225.7813 1971.6094,225.7813 Q1972.4688,225.7813 1973.3125,225.9844 Q1974.1719,226.1719 1975.0156,226.5625 L1975.0156,228.9531 Q1974.2344,228.3906 1973.4063,228.1094 Q1972.5938,227.8125 1971.7969,227.8125 Q1970.9219,227.8125 1970.4375,228.1719 Q1969.9688,228.5313 1969.9688,229.1875 Q1969.9688,229.7031 1970.3125,230.0469 Q1970.6563,230.375 1971.75,230.7813 L1972.8125,231.1875 Q1974.2969,231.7344 1975,232.6406 Q1975.7188,233.5469 1975.7188,234.9219 Q1975.7188,236.7969 1974.6094,237.7188 Q1973.5,238.6406 1971.25,238.6406 Q1970.3281,238.6406 1969.4063,238.4219 Q1968.4844,238.2031 1967.625,237.7813 L1967.625,235.25 Q1968.5938,235.9375 1969.5156,236.2813 Q1970.4375,236.625 1971.3281,236.625 Q1972.2344,236.625 1972.7344,236.2188 Q1973.2344,235.7969 1973.2344,235.0625 Q1973.2344,234.5 1972.8906,234.0938 Q1972.5625,233.6719 1971.9375,233.4219 L1970.7344,232.9688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="1991.75" y="236.5605">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1643.5" x2="2400.5" y1="248.4063" y2="248.4063"/><ellipse cx="1653.5" cy="259.4063" 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="104" x="1662.5" y="262.6167">topic : urt_topic_t*</text><ellipse cx="1653.5" cy="289.0156" 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="149" x="1662.5" y="292.2261">publishAttempts : uint64_t</text><ellipse cx="1653.5" cy="301.8203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="1662.5" y="305.0308">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1643.5" x2="1940" y1="275.6133" y2="275.6133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="1940" y="278.9214">URT_CFG_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2104" x2="2400.5" y1="275.6133" y2="275.6133"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1643.5" x2="2400.5" y1="311.625" y2="311.625"/><ellipse cx="1653.5" cy="322.625" 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="617" x="1662.5" y="325.8354">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="1653.5" cy="335.4297" 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="733" x="1662.5" y="338.6401">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, n : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[a1b1e66ec52c209a9fa2dab315cd7630]

class urt_topic_t--><rect fill="#FEFECE" filter="url(#fcvax0xwujy06)" height="248.0703" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="2437" y="156.9063"/><ellipse cx="2591.75" cy="172.9063" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2591.2344,173.4688 Q2589.375,172.7656 2588.7188,172 Q2588.0781,171.2188 2588.0781,169.9063 Q2588.0781,168.2188 2589.1563,167.25 Q2590.2344,166.2813 2592.1094,166.2813 Q2592.9688,166.2813 2593.8125,166.4844 Q2594.6719,166.6719 2595.5156,167.0625 L2595.5156,169.4531 Q2594.7344,168.8906 2593.9063,168.6094 Q2593.0938,168.3125 2592.2969,168.3125 Q2591.4219,168.3125 2590.9375,168.6719 Q2590.4688,169.0313 2590.4688,169.6875 Q2590.4688,170.2031 2590.8125,170.5469 Q2591.1563,170.875 2592.25,171.2813 L2593.3125,171.6875 Q2594.7969,172.2344 2595.5,173.1406 Q2596.2188,174.0469 2596.2188,175.4219 Q2596.2188,177.2969 2595.1094,178.2188 Q2594,179.1406 2591.75,179.1406 Q2590.8281,179.1406 2589.9063,178.9219 Q2588.9844,178.7031 2588.125,178.2813 L2588.125,175.75 Q2589.0938,176.4375 2590.0156,176.7813 Q2590.9375,177.125 2591.8281,177.125 Q2592.7344,177.125 2593.2344,176.7188 Q2593.7344,176.2969 2593.7344,175.5625 Q2593.7344,175 2593.3906,174.5938 Q2593.0625,174.1719 2592.4375,173.9219 L2591.2344,173.4688 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="2612.25" y="177.0605">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2438" x2="2820" y1="188.9063" y2="188.9063"/><ellipse cx="2448" cy="199.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="2457" y="203.1167">next : urt_topic_t*</text><ellipse cx="2448" cy="212.7109" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="2457" y="215.9214">id : urt_topicid_t</text><ellipse cx="2448" cy="225.5156" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="2457" y="228.7261">lock : urt_osMutex_t</text><ellipse cx="2448" cy="238.3203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="2457" y="241.5308">evtSource : urt_osEventSource_t</text><ellipse cx="2448" cy="251.125" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="2457" y="254.3354">numHrtSubscribers : unsigned int</text><ellipse cx="2448" cy="263.9297" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="2457" y="267.1401">hrtSubscribers : urt_subscriber_t*</text><ellipse cx="2448" cy="276.7344" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="2457" y="279.9448">hrtReleased : urt_osCondvar_t</text><ellipse cx="2448" cy="289.5391" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="209" x="2457" y="292.7495">mandatoryMessage : urt_message_t</text><ellipse cx="2448" cy="302.3438" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="2457" y="305.5542">latestMessage : urt_message_t*</text><ellipse cx="2448" cy="331.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="170" x="2457" y="335.1636">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2438" x2="2496.5" y1="318.5508" y2="318.5508"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="2496.5" y="321.8589">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2761.5" x2="2820" y1="318.5508" y2="318.5508"/><ellipse cx="2448" cy="361.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="2457" y="364.7729">numDiscardedMessages : uint64_t</text><ellipse cx="2448" cy="374.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="2457" y="377.5776">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2438" x2="2520.5" y1="348.1602" y2="348.1602"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="2520.5" y="351.4683">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="2737.5" x2="2820" y1="348.1602" y2="348.1602"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2438" x2="2820" y1="384.1719" y2="384.1719"/><ellipse cx="2448" cy="395.1719" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="358" x="2457" y="398.3823">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[0c465c1a61dfd99ff8b5568ca35c92d1]

reverse link urt_srtdata_t to urt_srtusefulnessfunc_t--><path d="M894,1010.4055 C894,1042.2978 894,1082.4665 894,1109.6495 " fill="none" id="urt_srtdata_t&lt;-urt_srtusefulnessfunc_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="894,997.3059,890,1003.3059,894,1009.3059,898,1003.3059,894,997.3059" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="885.3625" y="1016.5704">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="867.525" y="1098.8597">0..1</text><!--MD5=[3f22cd2af9b1d30da63b75b4db75ae6e]

reverse link urt_rtclassdata_t to urt_hrtdata_t--><path d="M978.9046,813.8557 C1020.5186,834.7068 1062.0203,853.0824 1102.757,869.8507 " fill="none" id="urt_rtclassdata_t&lt;-urt_hrtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="967.1648,807.9082,970.7094,814.188,977.8694,813.3313,974.3248,807.0515,967.1648,807.9082" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="975.1224" y="809.0958">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1065.2351" y="861.8895">0..1</text><!--MD5=[a94a8c9c209e194384613684e912df80]

reverse link urt_rtclassdata_t to urt_frtdata_t--><path d="M808.804,807.574 C806.8622,808.3811 804.9259,809.1601 803,809.9063 C698.8684,850.2537 666.3325,839.0675 559,869.9063 C544.7306,874.0061 530.0908,878.3686 515.3595,882.8772 " fill="none" id="urt_rtclassdata_t&lt;-urt_frtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="820.7605,802.2989,813.6564,801.0612,809.7816,807.1427,816.8857,808.3804,820.7605,802.2989" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="804.7952" y="802.9081">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="512.0766" y="871.8728">0..1</text><!--MD5=[e6a6d7a2212fadf5661857a71d4f05c3]

reverse link urt_rtclassdata_t to urt_srtdata_t--><path d="M894,823.1239 C894,855.8959 894,894.8833 894,922.8335 " fill="none" id="urt_rtclassdata_t&lt;-urt_srtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="894,809.9771,890,815.9771,894,821.9771,898,815.9771,894,809.9771" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="885.4375" y="830.0636">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="867.7875" y="911.7305">0..1</text><!--MD5=[206fe31eaf8244c7272230bb0ec7137c]

reverse link urt_rtclassdata_t to urt_nrtdata_t--><path d="M809.2125,806.7769 C755.6531,836.1145 696.2749,868.7443 695,869.9063 C674.2134,888.8516 656.9593,916.2319 646.1673,935.8103 " fill="none" id="urt_rtclassdata_t&lt;-urt_nrtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="820.8831,800.386,813.6993,799.7595,810.358,806.1497,817.5418,806.7762,820.8831,800.386" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="804.9304" y="817.3448">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="622.2102" y="924.7977">0..1</text><!--MD5=[1ba55993ff077c77667f6c7be6552d53]

reverse link urt_rtdata_t to urt_rtclass_t--><path d="M847.6864,620.5954 C820.4218,648.0811 785.9556,682.8267 758.2037,710.8037 " fill="none" id="urt_rtdata_t&lt;-urt_rtclass_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="857.0071,611.1991,849.9418,612.6418,848.5561,619.7185,855.6214,618.2758,857.0071,611.1991" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="842.4739" y="630.4465">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="756.5605" y="699.8344">1</text><!--MD5=[8318054091d2ecf2336b9e490f482e2a]

reverse link urt_rtdata_t to urt_rtclassdata_t--><path d="M894,624.2365 C894,651.1028 894,684.0484 894,710.8037 " fill="none" id="urt_rtdata_t&lt;-urt_rtclassdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="894,611.1991,890,617.1991,894,623.1991,898,617.1991,894,611.1991" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="885.3625" y="630.4465">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="885.4375" y="699.8344">1</text><!--MD5=[b6ee30948a218449c72edbee7363b5d7]

link urt_subscriber_t to urt_hrtdata_t--><path d="M1137.4134,437.1087 C1190.6444,566.194 1264.6968,745.7712 1310.6943,857.3149 " fill="none" id="urt_subscriber_t-&gt;urt_hrtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1315.7464,869.5663,1317.1568,862.4944,1311.1715,858.4726,1309.761,865.5444,1315.7464,869.5663" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1115.9522" y="457.1058">0..1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1304.459" y="858.8399">1</text><!--MD5=[536025241394544a90bc53fb552f3a08]

reverse link urt_message_t to urt_message_t--><path d="M2562.9841,549.9382 C2577.0653,555.6691 2585.5,563.6585 2585.5,573.9063 C2585.5,586.8936 2571.9528,596.2536 2550.534,601.9863 " fill="none" id="urt_message_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2550.534,545.8263,2554.9769,551.5061,2561.9286,549.5896,2557.4858,543.9097,2550.534,545.8263" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2558.7829" y="541.609">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2558.3281" y="599.7234">0..1</text><!--MD5=[f7eb638a1c2d853c6fb0ae6f53692e50]

reverse link urt_subscriber_t to urt_rtdata_t--><path d="M970.5661,448.5774 C950.2829,481.7785 930.905,513.4976 916.7184,536.7193 " fill="none" id="urt_subscriber_t&lt;-urt_rtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="977.4733,437.2712,970.9319,440.306,971.2173,447.5114,977.7587,444.4766,977.4733,437.2712" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="964.6525" y="457.2762">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="921.4776" y="525.8729">1</text><!--MD5=[bf7bf5810813e0e9b75d3053dc098443]

reverse link urt_subscriber_t to urt_message_t--><path d="M1619.9866,435.7061 C1621.6602,436.1079 1623.3314,436.5078 1625,436.9063 C1782.4864,474.5039 1961.7033,509.4335 2099.3717,534.613 " fill="none" id="urt_subscriber_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1607.1098,432.5943,1612.0023,437.8918,1618.774,435.4132,1613.8815,430.1156,1607.1098,432.5943" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1614.677" y="431.6891">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2067.5745" y="530.1394">0..1</text><!--MD5=[54fcf25ad8c5f1d36e678e42d5bfd4cc]

link urt_publisher_t to urt_message_t--><path d="M2088.8697,345.569 C2133.7958,389.0124 2193.341,446.5925 2241.3957,493.0612 " 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="2245.1276,496.6699,2241.4382,487.5381,2241.5332,493.1942,2235.8772,493.2891,2245.1276,496.6699" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b2afc1defaa6ed5a86f99c07f8466dd]

reverse link urt_topic_t to urt_topic_t--><path d="M2833.0439,240.9965 C2847.3061,250.106 2856,263.4093 2856,280.9063 C2856,302.8633 2842.309,318.2161 2821.1039,326.9646 " fill="none" id="urt_topic_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2821.1039,234.8479,2824.6069,241.1511,2831.7724,240.3418,2828.2695,234.0387,2821.1039,234.8479" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2828.7642" y="229.8239">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2829.0767" y="325.5388">0..1</text><!--MD5=[0b5167e958c0ed93ffc0c98ce399b54d]

reverse link urt_topic_t to urt_message_t--><path d="M2477.9026,414.2916 C2448.4497,442.4896 2418.9534,471.3409 2393.796,496.6215 " fill="none" id="urt_topic_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2487.4581,405.1647,2480.3565,406.4163,2478.7804,413.4531,2485.8821,412.2014,2487.4581,405.1647" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2471.044" y="424.8506">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2375.0319" y="485.8583">1..1</text><!--MD5=[0b5167e958c0ed93ffc0c98ce399b54d]

reverse link urt_topic_t to urt_message_t--><path d="M2504.0589,414.2916 C2475.01,442.4896 2444.6117,471.3409 2417.2463,496.6215 " fill="none" id="urt_topic_t&lt;-urt_message_t-1" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="2513.4374,405.1647,2506.3478,406.4826,2504.8376,413.5338,2511.9272,412.2158,2513.4374,405.1647" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2498.5252" y="424.8506">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2417.3815" y="485.8583">1</text><!--MD5=[fe948defc5542e1806c7e97fda3b48b5]

  + {field} lock : urt_osMutex_t

    'Mutex lock for exclusive access.

  + {field} lock : urt_osMutex_t

<?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="1441px" preserveAspectRatio="none" style="width:4669px;height:1441px;" version="1.1" viewBox="0 0 4669 1441" width="4669px" zoomAndPan="magnify"><defs><filter height="300%" id="f1rbvtu6dodgxm" 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="2292.5" y="16.708">µRtWare</text><!--MD5=[b9de0669a29c7bc934fd916b09c39491]

cluster node--><rect fill="#FFFFFF" filter="url(#f1rbvtu6dodgxm)" height="446.5" style="stroke: #000000; stroke-width: 1.5;" width="1138" x="2854" y="392.9531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="40" x="3403" y="407.9482">node</text><!--MD5=[d74e2ef346f73688f9378f6d3d42598c]

cluster Publish-Subscribe System--><polygon fill="#FFFFFF" filter="url(#f1rbvtu6dodgxm)" points="14,302.9531,24,292.9531,2846,292.9531,2846,1419.9531,2836,1429.9531,14,1429.9531,14,302.9531" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="2836" x2="2845" y1="302.9531" y2="293.9531"/><line style="stroke: #000000; stroke-width: 1.5;" x1="14" x2="2836" y1="302.9531" y2="302.9531"/><line style="stroke: #000000; stroke-width: 1.5;" x1="2836" x2="2836" y1="302.9531" y2="1429.9531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="205" x="1323.5" y="318.9482">Publish-Subscribe System</text><!--MD5=[16a3bbbe805f94d6e6ce317c08ab945e]

cluster subscriber--><rect fill="#FFFFFF" filter="url(#f1rbvtu6dodgxm)" height="1097" style="stroke: #000000; stroke-width: 1.5;" width="1611" x="1227" y="324.9531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="85" x="1990" y="339.9482">subscriber</text><!--MD5=[94ad99421f5a0f525bc1c13a3777c25e]

cluster real-time constraint data--><rect fill="#FFFFFF" filter="url(#f1rbvtu6dodgxm)" height="677" style="stroke: #000000; stroke-width: 1.5;" width="1595" x="1235" y="736.9531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="194" x="1935.5" y="751.9482">real-time constraint data</text><!--MD5=[57c3116dbac3d3a2ea35fece1cdc00f4]

cluster SRT data--><rect fill="#FFFFFF" filter="url(#f1rbvtu6dodgxm)" height="283" style="stroke: #000000; stroke-width: 1.5;" width="390" x="1912" y="1122.9531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="69" x="2072.5" y="1137.9482">SRT data</text><!--MD5=[810d0f07e53ef611b6d803ef30301147]

cluster Remote Procedure Call System--><polygon fill="#FFFFFF" filter="url(#f1rbvtu6dodgxm)" points="4011,374.9531,4021,364.9531,4647,364.9531,4647,829.4531,4637,839.4531,4011,839.4531,4011,374.9531" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="4637" x2="4646" y1="374.9531" y2="365.9531"/><line style="stroke: #000000; stroke-width: 1.5;" x1="4011" x2="4637" y1="374.9531" y2="374.9531"/><line style="stroke: #000000; stroke-width: 1.5;" x1="4637" x2="4637" y1="374.9531" y2="839.4531"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="244" x="4203" y="390.9482">Remote Procedure Call System</text><!--MD5=[a7dea26996a1231aa68629b332780450]

class urt_nodeSetupCallback_t--><rect fill="#FEFECE" filter="url(#f1rbvtu6dodgxm)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="2870" y="770.4531"/><ellipse cx="3015.75" cy="786.4531" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3016.5938,793.2031 L3014.1406,793.2031 L3014.1406,782.9531 L3011,782.9531 L3011,780.8125 L3019.7344,780.8125 L3019.7344,782.9531 L3016.5938,782.9531 L3016.5938,793.2031 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="3036.25" y="790.6074">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2871" x2="3325" y1="802.4531" y2="802.4531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2871" x2="3325" y1="810.4531" y2="810.4531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="2876" y="824.6636">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]

class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#f1rbvtu6dodgxm)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="3361" y="770.4531"/><ellipse cx="3589.25" cy="786.4531" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3590.0938,793.2031 L3587.6406,793.2031 L3587.6406,782.9531 L3584.5,782.9531 L3584.5,780.8125 L3593.2344,780.8125 L3593.2344,782.9531 L3590.0938,782.9531 L3590.0938,793.2031 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="3609.75" y="790.6074">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3362" x2="3974" y1="802.4531" y2="802.4531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3362" x2="3974" y1="810.4531" y2="810.4531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="3367" y="824.6636">urt_nodeLoopCallback_t (node : urt_node_t*, events : urt_osEventMask_t, arg : void*) : urt_osEventMask_t</text><!--MD5=[d2563153d77472384a15c07b815d639f]

class urt_node_t--><rect fill="#FEFECE" filter="url(#f1rbvtu6dodgxm)" height="176.0469" id="urt_node_t" style="stroke: #A80036; stroke-width: 1.5;" width="1104" x="2862" y="419.9531"/><ellipse cx="3376.25" cy="435.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3375.7344,436.5156 Q3373.875,435.8125 3373.2188,435.0469 Q3372.5781,434.2656 3372.5781,432.9531 Q3372.5781,431.2656 3373.6563,430.2969 Q3374.7344,429.3281 3376.6094,429.3281 Q3377.4688,429.3281 3378.3125,429.5313 Q3379.1719,429.7188 3380.0156,430.1094 L3380.0156,432.5 Q3379.2344,431.9375 3378.4063,431.6563 Q3377.5938,431.3594 3376.7969,431.3594 Q3375.9219,431.3594 3375.4375,431.7188 Q3374.9688,432.0781 3374.9688,432.7344 Q3374.9688,433.25 3375.3125,433.5938 Q3375.6563,433.9219 3376.75,434.3281 L3377.8125,434.7344 Q3379.2969,435.2813 3380,436.1875 Q3380.7188,437.0938 3380.7188,438.4688 Q3380.7188,440.3438 3379.6094,441.2656 Q3378.5,442.1875 3376.25,442.1875 Q3375.3281,442.1875 3374.4063,441.9688 Q3373.4844,441.75 3372.625,441.3281 L3372.625,438.7969 Q3373.5938,439.4844 3374.5156,439.8281 Q3375.4375,440.1719 3376.3281,440.1719 Q3377.2344,440.1719 3377.7344,439.7656 Q3378.2344,439.3438 3378.2344,438.6094 Q3378.2344,438.0469 3377.8906,437.6406 Q3377.5625,437.2188 3376.9375,436.9688 L3375.7344,436.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="67" x="3396.75" y="440.1074">urt_node_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2863" x2="3965" y1="451.9531" y2="451.9531"/><ellipse cx="2873" cy="462.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="102" x="2882" y="466.1636">next : urt_node_t*</text><ellipse cx="2873" cy="475.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="2882" y="478.9683">thread : urt_osThread_t*</text><ellipse cx="2873" cy="488.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="235" x="2882" y="491.7729">setupcallback : urt_nodeSetupCallback_t*</text><ellipse cx="2873" cy="501.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="117" x="2882" y="504.5776">setupparams : void*</text><ellipse cx="2873" cy="514.1719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="221" x="2882" y="517.3823">loopcallback : urt_nodeLoopCallback_t*</text><ellipse cx="2873" cy="526.9766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="109" x="2882" y="530.187">loopparams : void*</text><ellipse cx="2873" cy="539.7813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="2882" y="542.9917">stage : urt_nodestage_t</text><ellipse cx="2873" cy="552.5859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="178" x="2882" y="555.7964">listener : urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2863" x2="3965" y1="562.3906" y2="562.3906"/><rect fill="#F24D5C" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="2870" y="570.3906"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="179" x="2882" y="576.6011">_main : urt_osThreadFunction_t</text><ellipse cx="2873" cy="586.1953" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1078" x="2882" y="589.4058">urtNodeInit (node : urt_node_t*, stacksize : size_t, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*) : urt_status_t</text><!--MD5=[e602aa6d45f270ad04f88c9ca5352b33]

class urt_message_t--><rect fill="#FEFECE" filter="url(#f1rbvtu6dodgxm)" height="154.4375" id="urt_message_t" style="stroke: #A80036; stroke-width: 1.5;" width="451" x="750.5" y="723.9531"/><ellipse cx="925.75" cy="739.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M925.2344,740.5156 Q923.375,739.8125 922.7188,739.0469 Q922.0781,738.2656 922.0781,736.9531 Q922.0781,735.2656 923.1563,734.2969 Q924.2344,733.3281 926.1094,733.3281 Q926.9688,733.3281 927.8125,733.5313 Q928.6719,733.7188 929.5156,734.1094 L929.5156,736.5 Q928.7344,735.9375 927.9063,735.6563 Q927.0938,735.3594 926.2969,735.3594 Q925.4219,735.3594 924.9375,735.7188 Q924.4688,736.0781 924.4688,736.7344 Q924.4688,737.25 924.8125,737.5938 Q925.1563,737.9219 926.25,738.3281 L927.3125,738.7344 Q928.7969,739.2813 929.5,740.1875 Q930.2188,741.0938 930.2188,742.4688 Q930.2188,744.3438 929.1094,745.2656 Q928,746.1875 925.75,746.1875 Q924.8281,746.1875 923.9063,745.9688 Q922.9844,745.75 922.125,745.3281 L922.125,742.7969 Q923.0938,743.4844 924.0156,743.8281 Q924.9375,744.1719 925.8281,744.1719 Q926.7344,744.1719 927.2344,743.7656 Q927.7344,743.3438 927.7344,742.6094 Q927.7344,742.0469 927.3906,741.6406 Q927.0625,741.2188 926.4375,740.9688 L925.2344,740.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="92" x="946.25" y="744.1074">urt_message_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="751.5" x2="1200.5" y1="755.9531" y2="755.9531"/><ellipse cx="761.5" cy="766.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="127" x="770.5" y="770.1636">next : urt_message_t*</text><ellipse cx="761.5" cy="779.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="85" x="770.5" y="782.9683">payload : void*</text><ellipse cx="761.5" cy="792.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="770.5" y="795.7729">originTime : urt_osTime_t</text><ellipse cx="761.5" cy="805.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="770.5" y="808.5776">lock : urt_osMutex_t</text><ellipse cx="761.5" cy="818.1719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="211" x="770.5" y="821.3823">numHrtConsumersLeft : unsigned int</text><ellipse cx="761.5" cy="847.7813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="770.5" y="850.9917">numConsumersLeft : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="751.5" x2="867.5" y1="834.3789" y2="834.3789"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="867.5" y="837.687">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1084.5" x2="1200.5" y1="834.3789" y2="834.3789"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="751.5" x2="1200.5" y1="857.5859" y2="857.5859"/><ellipse cx="761.5" cy="868.5859" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="425" x="770.5" y="871.7964">urtMessageInit (message : urt_message_t*, payload : void*) : urt_status_t</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]

class urt_publisher_t--><rect fill="#FEFECE" filter="url(#f1rbvtu6dodgxm)" height="128.8281" id="urt_publisher_t" style="stroke: #A80036; stroke-width: 1.5;" width="759" x="22.5" y="443.4531"/><ellipse cx="351.25" cy="459.4531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M350.7344,460.0156 Q348.875,459.3125 348.2188,458.5469 Q347.5781,457.7656 347.5781,456.4531 Q347.5781,454.7656 348.6563,453.7969 Q349.7344,452.8281 351.6094,452.8281 Q352.4688,452.8281 353.3125,453.0313 Q354.1719,453.2188 355.0156,453.6094 L355.0156,456 Q354.2344,455.4375 353.4063,455.1563 Q352.5938,454.8594 351.7969,454.8594 Q350.9219,454.8594 350.4375,455.2188 Q349.9688,455.5781 349.9688,456.2344 Q349.9688,456.75 350.3125,457.0938 Q350.6563,457.4219 351.75,457.8281 L352.8125,458.2344 Q354.2969,458.7813 355,459.6875 Q355.7188,460.5938 355.7188,461.9688 Q355.7188,463.8438 354.6094,464.7656 Q353.5,465.6875 351.25,465.6875 Q350.3281,465.6875 349.4063,465.4688 Q348.4844,465.25 347.625,464.8281 L347.625,462.2969 Q348.5938,462.9844 349.5156,463.3281 Q350.4375,463.6719 351.3281,463.6719 Q352.2344,463.6719 352.7344,463.2656 Q353.2344,462.8438 353.2344,462.1094 Q353.2344,461.5469 352.8906,461.1406 Q352.5625,460.7188 351.9375,460.4688 L350.7344,460.0156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="93" x="371.75" y="463.6074">urt_publisher_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="23.5" x2="780.5" y1="475.4531" y2="475.4531"/><ellipse cx="33.5" cy="486.4531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="42.5" y="489.6636">topic : urt_topic_t*</text><ellipse cx="33.5" cy="516.0625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="149" x="42.5" y="519.2729">publishAttempts : uint64_t</text><ellipse cx="33.5" cy="528.8672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="42.5" y="532.0776">publishFails : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="23.5" x2="320" y1="502.6602" y2="502.6602"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="320" y="505.9683">URT_CFG_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="484" x2="780.5" y1="502.6602" y2="502.6602"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="23.5" x2="780.5" y1="538.6719" y2="538.6719"/><ellipse cx="33.5" cy="549.6719" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="617" x="42.5" y="552.8823">urtPublisherInit (publisher : urt_publisher_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="33.5" cy="562.4766" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="733" x="42.5" y="565.687">urtPublisherPublish (publisher : urt_publisher_t*, payload : void*, n : size_t, t : urt_osTime_t, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[a1b1e66ec52c209a9fa2dab315cd7630]

class urt_topic_t--><rect fill="#FEFECE" filter="url(#f1rbvtu6dodgxm)" height="248.0703" id="urt_topic_t" style="stroke: #A80036; stroke-width: 1.5;" width="384" x="817" y="383.9531"/><ellipse cx="971.75" cy="399.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M971.2344,400.5156 Q969.375,399.8125 968.7188,399.0469 Q968.0781,398.2656 968.0781,396.9531 Q968.0781,395.2656 969.1563,394.2969 Q970.2344,393.3281 972.1094,393.3281 Q972.9688,393.3281 973.8125,393.5313 Q974.6719,393.7188 975.5156,394.1094 L975.5156,396.5 Q974.7344,395.9375 973.9063,395.6563 Q973.0938,395.3594 972.2969,395.3594 Q971.4219,395.3594 970.9375,395.7188 Q970.4688,396.0781 970.4688,396.7344 Q970.4688,397.25 970.8125,397.5938 Q971.1563,397.9219 972.25,398.3281 L973.3125,398.7344 Q974.7969,399.2813 975.5,400.1875 Q976.2188,401.0938 976.2188,402.4688 Q976.2188,404.3438 975.1094,405.2656 Q974,406.1875 971.75,406.1875 Q970.8281,406.1875 969.9063,405.9688 Q968.9844,405.75 968.125,405.3281 L968.125,402.7969 Q969.0938,403.4844 970.0156,403.8281 Q970.9375,404.1719 971.8281,404.1719 Q972.7344,404.1719 973.2344,403.7656 Q973.7344,403.3438 973.7344,402.6094 Q973.7344,402.0469 973.3906,401.6406 Q973.0625,401.2188 972.4375,400.9688 L971.2344,400.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="992.25" y="404.1074">urt_topic_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="818" x2="1200" y1="415.9531" y2="415.9531"/><ellipse cx="828" cy="426.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="101" x="837" y="430.1636">next : urt_topic_t*</text><ellipse cx="828" cy="439.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="91" x="837" y="442.9683">id : urt_topicid_t</text><ellipse cx="828" cy="452.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="837" y="455.7729">lock : urt_osMutex_t</text><ellipse cx="828" cy="465.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="837" y="468.5776">evtSource : urt_osEventSource_t</text><ellipse cx="828" cy="478.1719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="193" x="837" y="481.3823">numHrtSubscribers : unsigned int</text><ellipse cx="828" cy="490.9766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="837" y="494.187">hrtSubscribers : urt_subscriber_t*</text><ellipse cx="828" cy="503.7813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="837" y="506.9917">hrtReleased : urt_osCondvar_t</text><ellipse cx="828" cy="516.5859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="209" x="837" y="519.7964">mandatoryMessage : urt_message_t</text><ellipse cx="828" cy="529.3906" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="837" y="532.6011">latestMessage : urt_message_t*</text><ellipse cx="828" cy="559" fill="none" 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="837" y="562.2104">qosRateTimer : urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="818" x2="876.5" y1="545.5977" y2="545.5977"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="876.5" y="548.9058">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1141.5" x2="1200" y1="545.5977" y2="545.5977"/><ellipse cx="828" cy="588.6094" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="837" y="591.8198">numDiscardedMessages : uint64_t</text><ellipse cx="828" cy="601.4141" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="837" y="604.6245">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="818" x2="900.5" y1="575.207" y2="575.207"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="900.5" y="578.5151">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1117.5" x2="1200" y1="575.207" y2="575.207"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="818" x2="1200" y1="611.2188" y2="611.2188"/><ellipse cx="828" cy="622.2188" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="358" x="837" y="625.4292">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[ab7cf431813e3be5d474948fd959cdbf]

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stroke-width: 1.5;" x1="1255" x2="2321" y1="383.9531" y2="383.9531"/><ellipse cx="1265" cy="394.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="1274" y="398.1636">topic : urt_topic_t*</text><ellipse cx="1265" cy="407.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="1274" y="410.9683">evtListener : urt_osEventListener_t</text><ellipse cx="1265" cy="420.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="112" x="1274" y="423.7729">rtdata : urt_rtdata_t</text><ellipse cx="1265" cy="433.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="175" x="1274" y="436.5776">lastMessage : urt_message_t*</text><ellipse cx="1265" cy="446.1719" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="1274" y="449.3823">lastMessageTime : urt_osTime_t</text><ellipse cx="1265" cy="475.7813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="1274" y="478.9917">sumLatencies : uint64_t</text><ellipse cx="1265" cy="488.5859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="1274" y="491.7964">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1255" x2="1679.5" y1="462.3789" y2="462.3789"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="1679.5" y="465.687">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1896.5" x2="2321" y1="462.3789" y2="462.3789"/><ellipse cx="1265" cy="518.1953" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="1274" y="521.4058">minLatency : urt_delay_t</text><ellipse cx="1265" cy="531" fill="none" 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="1274" y="534.2104">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1255" x2="1679.5" y1="504.793" y2="504.793"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="1679.5" y="508.1011">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1896.5" x2="2321" y1="504.793" y2="504.793"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1255" x2="2321" y1="540.8047" y2="540.8047"/><ellipse cx="1265" cy="551.8047" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="359" x="1274" y="555.0151">urtSubscriberInit (subscriber : urt_subscriber_t*) : urt_status_t</text><ellipse cx="1265" cy="564.6094" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1042" x="1274" y="567.8198">urtSubscriberSubscribeHrt (subscriber : urt_subscriber_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="1265" cy="577.4141" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1040" x="1274" y="580.6245">urtSubscriberSubscribeFrt (subscriber : urt_subscriber_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="1265" cy="590.2188" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="1042" x="1274" y="593.4292">urtSubscriberSubscribeSrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_srtusefulnessfunc_t*, cbparams : void*) : urt_status_t</text><ellipse cx="1265" cy="603.0234" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="699" x="1274" y="606.2339">urtSubscriberSubscribeNrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="1265" cy="615.8281" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="413" x="1274" y="619.0386">urtSubscriberUnsubscribe (subscriber : urt_subscriber_t*) : urt_status_t</text><ellipse cx="1265" cy="628.6328" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="752" x="1274" y="631.8433">urtSubscriberFetchNextMessage (subscriber : urt_subscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="1265" cy="641.4375" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="762" x="1274" y="644.6479">urtSubscriberFetchLatestMessage (subscriber : urt_subscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="1265" cy="654.2422" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="537" x="1274" y="657.4526">urtSubscriberCalculateUsefulness (subscriber : urt_subscriber_t*, latency : urt_delay_t) : float</text><!--MD5=[82a1b6b26b12edcbd86fa16935c3353e]

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class urt_frtdata_t--><rect fill="#FEFECE" filter="url(#f1rbvtu6dodgxm)" height="154.4375" id="urt_frtdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="512" x="1243" y="1109.9531"/><ellipse cx="1455.75" cy="1125.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1455.2344,1126.5156 Q1453.375,1125.8125 1452.7188,1125.0469 Q1452.0781,1124.2656 1452.0781,1122.9531 Q1452.0781,1121.2656 1453.1563,1120.2969 Q1454.2344,1119.3281 1456.1094,1119.3281 Q1456.9688,1119.3281 1457.8125,1119.5313 Q1458.6719,1119.7188 1459.5156,1120.1094 L1459.5156,1122.5 Q1458.7344,1121.9375 1457.9063,1121.6563 Q1457.0938,1121.3594 1456.2969,1121.3594 Q1455.4219,1121.3594 1454.9375,1121.7188 Q1454.4688,1122.0781 1454.4688,1122.7344 Q1454.4688,1123.25 1454.8125,1123.5938 Q1455.1563,1123.9219 1456.25,1124.3281 L1457.3125,1124.7344 Q1458.7969,1125.2813 1459.5,1126.1875 Q1460.2188,1127.0938 1460.2188,1128.4688 Q1460.2188,1130.3438 1459.1094,1131.2656 Q1458,1132.1875 1455.75,1132.1875 Q1454.8281,1132.1875 1453.9063,1131.9688 Q1452.9844,1131.75 1452.125,1131.3281 L1452.125,1128.7969 Q1453.0938,1129.4844 1454.0156,1129.8281 Q1454.9375,1130.1719 1455.8281,1130.1719 Q1456.7344,1130.1719 1457.2344,1129.7656 Q1457.7344,1129.3438 1457.7344,1128.6094 Q1457.7344,1128.0469 1457.3906,1127.6406 Q1457.0625,1127.2188 1456.4375,1126.9688 L1455.2344,1126.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="78" x="1476.25" y="1130.1074">urt_frtdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1244" x2="1754" y1="1141.9531" y2="1141.9531"/><ellipse cx="1254" cy="1169.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="157" x="1263" y="1172.9683">deadlineOffset : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1244" x2="1353.5" y1="1156.3555" y2="1156.3555"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="291" x="1353.5" y="1159.6636">URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1644.5" x2="1754" y1="1156.3555" y2="1156.3555"/><ellipse cx="1254" cy="1199.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="1263" y="1202.5776">expectedRate : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1244" x2="1366.5" y1="1185.9648" y2="1185.9648"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="265" x="1366.5" y="1189.2729">URT_CFG_PUBSUB_QOS_RATECHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1631.5" x2="1754" y1="1185.9648" y2="1185.9648"/><ellipse cx="1254" cy="1228.9766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="124" x="1263" y="1232.187">maxJitter : urt_delay_t</text><ellipse cx="1254" cy="1241.7813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="138" x="1263" y="1244.9917">minLatency : urt_delay_t</text><ellipse cx="1254" cy="1254.5859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="141" x="1263" y="1257.7964">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1244" x2="1247" y1="1215.5742" y2="1215.5742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="504" x="1247" y="1218.8823">URT_CFG_PUBSUB_PROFILING == true || URT_CFG_PUBSUB_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="1751" x2="1754" y1="1215.5742" y2="1215.5742"/><!--MD5=[ca63c4d42025d7ce195746a6a8d32f3e]

class urt_nrtdata_t--><rect fill="#FEFECE" filter="url(#f1rbvtu6dodgxm)" height="48" id="urt_nrtdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="114" x="1790" y="1162.9531"/><ellipse cx="1805" cy="1178.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1804.4844,1179.5156 Q1802.625,1178.8125 1801.9688,1178.0469 Q1801.3281,1177.2656 1801.3281,1175.9531 Q1801.3281,1174.2656 1802.4063,1173.2969 Q1803.4844,1172.3281 1805.3594,1172.3281 Q1806.2188,1172.3281 1807.0625,1172.5313 Q1807.9219,1172.7188 1808.7656,1173.1094 L1808.7656,1175.5 Q1807.9844,1174.9375 1807.1563,1174.6563 Q1806.3438,1174.3594 1805.5469,1174.3594 Q1804.6719,1174.3594 1804.1875,1174.7188 Q1803.7188,1175.0781 1803.7188,1175.7344 Q1803.7188,1176.25 1804.0625,1176.5938 Q1804.4063,1176.9219 1805.5,1177.3281 L1806.5625,1177.7344 Q1808.0469,1178.2813 1808.75,1179.1875 Q1809.4688,1180.0938 1809.4688,1181.4688 Q1809.4688,1183.3438 1808.3594,1184.2656 Q1807.25,1185.1875 1805,1185.1875 Q1804.0781,1185.1875 1803.1563,1184.9688 Q1802.2344,1184.75 1801.375,1184.3281 L1801.375,1181.7969 Q1802.3438,1182.4844 1803.2656,1182.8281 Q1804.1875,1183.1719 1805.0781,1183.1719 Q1805.9844,1183.1719 1806.4844,1182.7656 Q1806.9844,1182.3438 1806.9844,1181.6094 Q1806.9844,1181.0469 1806.6406,1180.6406 Q1806.3125,1180.2188 1805.6875,1179.9688 L1804.4844,1179.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="82" x="1819" y="1183.1074">urt_nrtdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1791" x2="1903" y1="1194.9531" y2="1194.9531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1791" x2="1903" y1="1202.9531" y2="1202.9531"/><!--MD5=[fc7708c915a0148c667d62e1370980fd]

class urt_srtusefulnessfunc_t--><rect fill="#FEFECE" filter="url(#f1rbvtu6dodgxm)" height="60.8047" id="urt_srtusefulnessfunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="374" x="1920" y="1336.9531"/><ellipse cx="2029.25" cy="1352.9531" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2033.4844,1348.7188 L2028.2031,1348.7188 L2028.2031,1351.3906 L2033,1351.3906 L2033,1353.5469 L2028.2031,1353.5469 L2028.2031,1358.9531 L2025.7656,1358.9531 L2025.7656,1346.5625 L2033.4844,1346.5625 L2033.4844,1348.7188 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="147" x="2049.75" y="1357.1074">urt_srtusefulnessfunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1921" x2="2293" y1="1368.9531" y2="1368.9531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1921" x2="2293" y1="1376.9531" y2="1376.9531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="362" x="1926" y="1391.1636">urt_srtusefulnessfunc_t (dt : urt_delay_t, params : void*) : float</text><!--MD5=[4a2daf41193a31389d6311337c2a120f]

class urt_srtdata_t--><rect fill="#FEFECE" filter="url(#f1rbvtu6dodgxm)" height="73.6094" id="urt_srtdata_t" style="stroke: #A80036; stroke-width: 1.5;" width="258" x="1958" y="1149.9531"/><ellipse cx="2042.25" cy="1165.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2041.7344,1166.5156 Q2039.875,1165.8125 2039.2188,1165.0469 Q2038.5781,1164.2656 2038.5781,1162.9531 Q2038.5781,1161.2656 2039.6563,1160.2969 Q2040.7344,1159.3281 2042.6094,1159.3281 Q2043.4688,1159.3281 2044.3125,1159.5313 Q2045.1719,1159.7188 2046.0156,1160.1094 L2046.0156,1162.5 Q2045.2344,1161.9375 2044.4063,1161.6563 Q2043.5938,1161.3594 2042.7969,1161.3594 Q2041.9219,1161.3594 2041.4375,1161.7188 Q2040.9688,1162.0781 2040.9688,1162.7344 Q2040.9688,1163.25 2041.3125,1163.5938 Q2041.6563,1163.9219 2042.75,1164.3281 L2043.8125,1164.7344 Q2045.2969,1165.2813 2046,1166.1875 Q2046.7188,1167.0938 2046.7188,1168.4688 Q2046.7188,1170.3438 2045.6094,1171.2656 Q2044.5,1172.1875 2042.25,1172.1875 Q2041.3281,1172.1875 2040.4063,1171.9688 Q2039.4844,1171.75 2038.625,1171.3281 L2038.625,1168.7969 Q2039.5938,1169.4844 2040.5156,1169.8281 Q2041.4375,1170.1719 2042.3281,1170.1719 Q2043.2344,1170.1719 2043.7344,1169.7656 Q2044.2344,1169.3438 2044.2344,1168.6094 Q2044.2344,1168.0469 2043.8906,1167.6406 Q2043.5625,1167.2188 2042.9375,1166.9688 L2041.7344,1166.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="81" x="2062.75" y="1170.1074">urt_srtdata_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1959" x2="2215" y1="1181.9531" y2="1181.9531"/><ellipse cx="1969" cy="1192.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="232" x="1978" y="1196.1636">usefullnesscb : urt_srtusefulnessfunc_t*</text><ellipse cx="1969" cy="1205.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="98" x="1978" y="1208.9683">cbparams : void*</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1959" x2="2215" y1="1215.5625" y2="1215.5625"/><!--MD5=[3226071078d8aeaa18fbafa5359ddee6]

class urt_servicefunc_t--><rect fill="#FEFECE" filter="url(#f1rbvtu6dodgxm)" height="60.8047" id="urt_servicefunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="451" x="4094.5" y="770.4531"/><ellipse cx="4262.75" cy="786.4531" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4266.9844,782.2188 L4261.7031,782.2188 L4261.7031,784.8906 L4266.5,784.8906 L4266.5,787.0469 L4261.7031,787.0469 L4261.7031,792.4531 L4259.2656,792.4531 L4259.2656,780.0625 L4266.9844,780.0625 L4266.9844,782.2188 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="106" x="4283.25" y="790.6074">urt_servicefunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4095.5" x2="4544.5" y1="802.4531" y2="802.4531"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4095.5" x2="4544.5" y1="810.4531" y2="810.4531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="439" x="4100.5" y="824.6636">urt_servicefunc_t (arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[e60e0f8379a14e7a4a292c65add9d735]

class urt_service_t--><rect fill="#FEFECE" filter="url(#f1rbvtu6dodgxm)" height="222.4609" id="urt_service_t" style="stroke: #A80036; stroke-width: 1.5;" width="602" x="4019" y="396.9531"/><ellipse cx="4276.25" cy="412.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4275.7344,413.5156 Q4273.875,412.8125 4273.2188,412.0469 Q4272.5781,411.2656 4272.5781,409.9531 Q4272.5781,408.2656 4273.6563,407.2969 Q4274.7344,406.3281 4276.6094,406.3281 Q4277.4688,406.3281 4278.3125,406.5313 Q4279.1719,406.7188 4280.0156,407.1094 L4280.0156,409.5 Q4279.2344,408.9375 4278.4063,408.6563 Q4277.5938,408.3594 4276.7969,408.3594 Q4275.9219,408.3594 4275.4375,408.7188 Q4274.9688,409.0781 4274.9688,409.7344 Q4274.9688,410.25 4275.3125,410.5938 Q4275.6563,410.9219 4276.75,411.3281 L4277.8125,411.7344 Q4279.2969,412.2813 4280,413.1875 Q4280.7188,414.0938 4280.7188,415.4688 Q4280.7188,417.3438 4279.6094,418.2656 Q4278.5,419.1875 4276.25,419.1875 Q4275.3281,419.1875 4274.4063,418.9688 Q4273.4844,418.75 4272.625,418.3281 L4272.625,415.7969 Q4273.5938,416.4844 4274.5156,416.8281 Q4275.4375,417.1719 4276.3281,417.1719 Q4277.2344,417.1719 4277.7344,416.7656 Q4278.2344,416.3438 4278.2344,415.6094 Q4278.2344,415.0469 4277.8906,414.6406 Q4277.5625,414.2188 4276.9375,413.9688 L4275.7344,413.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="4296.75" y="417.1074">urt_service_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4020" x2="4620" y1="428.9531" y2="428.9531"/><ellipse cx="4030" cy="439.9531" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="115" x="4039" y="443.1636">next : urt_service_t*</text><ellipse cx="4030" cy="452.7578" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="105" x="4039" y="455.9683">id : urt_serviceid_t</text><ellipse cx="4030" cy="465.5625" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="113" x="4039" y="468.7729">lock : urt_osMutex_t</text><ellipse cx="4030" cy="478.3672" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="4039" y="481.5776">callback : urt_servicefunc_t*</text><ellipse cx="4030" cy="507.9766" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="137" x="4039" y="511.187">sumDurations : uint64_t</text><ellipse cx="4030" cy="520.7813" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="4039" y="523.9917">numCalls : uint64_t</text><ellipse cx="4030" cy="533.5859" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="135" x="4039" y="536.7964">numTimeouts : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4020" x2="4225.5" y1="494.5742" y2="494.5742"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="4225.5" y="497.8823">URT_CFG_RPC_PROFLING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4414.5" x2="4620" y1="494.5742" y2="494.5742"/><ellipse cx="4030" cy="563.1953" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="143" x="4039" y="566.4058">minDuration : urt_delay_t</text><ellipse cx="4030" cy="576" fill="none" 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="4039" y="579.2104">maxDuration : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4020" x2="4093" y1="549.793" y2="549.793"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="454" x="4093" y="553.1011">URT_CFG_RPC_PROFILING == true || URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="4547" x2="4620" y1="549.793" y2="549.793"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4020" x2="4620" y1="585.8047" y2="585.8047"/><ellipse cx="4030" cy="596.8047" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="576" x="4039" y="600.0151">urtServiceInit(service : urt_service_t*, id : urt_serviceid_t, callback : urt_servicefunc_t*) : urt_status_t</text><ellipse cx="4030" cy="609.6094" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="557" x="4039" y="612.8198">urtServiceCall(service : urt_service_t*, arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[89d25e87afdd75480e1ec2bd05524873]

class urt_core_t--><rect fill="#FEFECE" filter="url(#f1rbvtu6dodgxm)" height="256.0703" id="urt_core_t" style="stroke: #A80036; stroke-width: 1.5;" width="515" x="3156.5" y="28.9531"/><ellipse cx="3378.25" cy="44.9531" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3377.7344,45.5156 Q3375.875,44.8125 3375.2188,44.0469 Q3374.5781,43.2656 3374.5781,41.9531 Q3374.5781,40.2656 3375.6563,39.2969 Q3376.7344,38.3281 3378.6094,38.3281 Q3379.4688,38.3281 3380.3125,38.5313 Q3381.1719,38.7188 3382.0156,39.1094 L3382.0156,41.5 Q3381.2344,40.9375 3380.4063,40.6563 Q3379.5938,40.3594 3378.7969,40.3594 Q3377.9219,40.3594 3377.4375,40.7188 Q3376.9688,41.0781 3376.9688,41.7344 Q3376.9688,42.25 3377.3125,42.5938 Q3377.6563,42.9219 3378.75,43.3281 L3379.8125,43.7344 Q3381.2969,44.2813 3382,45.1875 Q3382.7188,46.0938 3382.7188,47.4688 Q3382.7188,49.3438 3381.6094,50.2656 Q3380.5,51.1875 3378.25,51.1875 Q3377.3281,51.1875 3376.4063,50.9688 Q3375.4844,50.75 3374.625,50.3281 L3374.625,47.7969 Q3375.5938,48.4844 3376.5156,48.8281 Q3377.4375,49.1719 3378.3281,49.1719 Q3379.2344,49.1719 3379.7344,48.7656 Q3380.2344,48.3438 3380.2344,47.6094 Q3380.2344,47.0469 3379.8906,46.6406 Q3379.5625,46.2188 3378.9375,45.9688 L3377.7344,45.5156 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="63" x="3398.75" y="49.1074">urt_core_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3157.5" x2="3670.5" y1="60.9531" y2="60.9531"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="3164.5" y="68.9531"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="3176.5" y="75.1636">_nodes : urt_node_t*</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="3164.5" y="81.7578"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="192" x="3176.5" y="87.9683">_evtSource : urt_osEventSource_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="3164.5" y="94.5625"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="3176.5" y="100.7729">_lock : urt_osMutex_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="3164.5" y="124.1719"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="117" x="3176.5" y="130.3823">_topics : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3157.5" x2="3309" y1="113.7695" y2="113.7695"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="3309" y="117.0776">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3519" x2="3670.5" y1="113.7695" y2="113.7695"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="3164.5" y="153.7813"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="145" x="3176.5" y="159.9917">_services : urt_service_t*</text><line style="stroke: #A80036; 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stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="489" x="3176.5" y="206.4058">urtCoreSynchronizeNodes (node : urt_node_t*, stage : urt_nodestage_t) : urt_status_t</text><ellipse cx="3167.5" cy="216" fill="#84BE84" 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="3176.5" y="219.2104">urtCoreStopNodes (void) : urt_status_t</text><ellipse cx="3167.5" cy="245.6094" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="299" x="3176.5" y="248.8198">urtCoreRetrieveTopic (id : urt_topicid_t) : urt_topic_t*</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="3157.5" x2="3309" y1="232.207" y2="232.207"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="210" x="3309" y="235.5151">URT_CFG_PUBSUB_ENABLED == true</text><line style="stroke: #A80036; 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reverse link urt_node_t to urt_node_t--><path d="M3978.4188,480.9635 C3992.8891,488.447 4001,497.4435 4001,507.9531 C4001,521.1416 3988.2271,531.9474 3966.1426,540.3705 " fill="none" id="urt_node_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3966.1426,475.5357,3970.0126,481.6204,3977.1177,480.3883,3973.2477,474.3037,3966.1426,475.5357" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3973.9634" y="472.0419">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="3974.0759" y="537.7884">0..1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]

reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M3297.2531,605.0008 C3233.7575,662.3825 3160.7993,731.2314 3123.0193,770.1561 " fill="none" id="urt_node_t&lt;-urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3306.9508,596.2601,3299.8159,597.3059,3298.0371,604.2942,3305.172,603.2484,3306.9508,596.2601" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3290.1016" y="615.9651">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3119.3545" y="759.3581">1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]

reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M3327.6416,599.7325 C3266.6305,658.1129 3187.7492,730.0325 3139.8917,770.1561 " 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="3331.2661,596.2601,3322.0001,599.598,3327.6557,599.7191,3327.5345,605.3747,3331.2661,596.2601" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b913f036db99e36b937989146817bd94]

reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M3487.2376,606.4171 C3535.1834,663.5114 3595.475,731.5511 3633.1071,770.1561 " fill="none" id="urt_node_t&lt;-urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="3478.7425,596.2601,3479.5236,603.4288,3486.4413,605.465,3485.6602,598.2963,3478.7425,596.2601" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3475.5829" y="615.9651">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3617.0854" y="759.3581">1</text><!--MD5=[b913f036db99e36b937989146817bd94]

reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M3506.5028,600.0815 C3558.9932,658.3993 3619.841,730.1124 3649.9796,770.1561 " 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="3503.0578,596.2601,3506.113,605.6231,3506.4057,599.9739,3512.0549,600.2665,3503.0578,596.2601" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0c465c1a61dfd99ff8b5568ca35c92d1]

reverse link urt_srtdata_t to urt_srtusefulnessfunc_t--><path d="M2092.5955,1237.4523 C2096.1293,1269.3446 2100.5801,1309.5133 2103.592,1336.6963 " fill="none" id="urt_srtdata_t&lt;-urt_srtusefulnessfunc_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2091.144,1224.3528,2087.8292,1230.7569,2092.4657,1236.2798,2095.7805,1229.8757,2091.144,1224.3528" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2083.167" y="1243.6173">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2076.4141" y="1325.9066">0..1</text><!--MD5=[3f22cd2af9b1d30da63b75b4db75ae6e]

reverse link urt_rtclassdata_t to urt_hrtdata_t--><path d="M1995.297,1040.0604 C2123.8884,1088.5033 2170.7904,1061.0452 2306,1096.9531 C2307.2696,1097.2903 2308.5419,1097.6306 2309.8167,1097.9739 " fill="none" id="urt_rtclassdata_t&lt;-urt_hrtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1983.0096,1035.2973,1987.1582,1041.1956,1994.1983,1039.6347,1990.0497,1033.7365,1983.0096,1035.2973" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1990.9512" y="1036.5203">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2277.855" y="1092.1779">0..1</text><!--MD5=[a94a8c9c209e194384613684e912df80]

reverse link urt_rtclassdata_t to urt_frtdata_t--><path d="M1825.0133,1033.8881 C1822.9927,1034.9255 1820.986,1035.9486 1819,1036.9531 C1770.545,1061.4609 1717.3487,1086.9504 1668.4801,1109.814 " fill="none" id="urt_rtclassdata_t&lt;-urt_frtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1836.6931,1027.8175,1829.5245,1027.0354,1826.0455,1033.3517,1833.214,1034.1339,1836.6931,1027.8175" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1821.0832" y="1028.1153">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1659.4899" y="1098.7992">0..1</text><!--MD5=[e6a6d7a2212fadf5661857a71d4f05c3]

reverse link urt_rtclassdata_t to urt_srtdata_t--><path d="M1962.9469,1047.1306 C1992.5584,1080.5062 2028.5389,1121.0605 2054.1083,1149.8803 " fill="none" id="urt_rtclassdata_t&lt;-urt_srtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1953.9802,1037.024,1954.97,1044.1669,1961.9441,1046.0004,1960.9543,1038.8576,1953.9802,1037.024" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1951.6024" y="1057.1105">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="2021.8314" y="1138.7774">0..1</text><!--MD5=[206fe31eaf8244c7272230bb0ec7137c]

reverse link urt_rtclassdata_t to urt_nrtdata_t--><path d="M1890.3632,1049.6363 C1878.2731,1087.9215 1863.4526,1134.8532 1854.6423,1162.7525 " fill="none" id="urt_rtclassdata_t&lt;-urt_nrtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1894.346,1037.024,1888.7248,1041.5409,1890.7323,1048.467,1896.3535,1043.9501,1894.346,1037.024" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1883.5822" y="1057.1105">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1829.5256" y="1151.7132">0..1</text><!--MD5=[1ba55993ff077c77667f6c7be6552d53]

reverse link urt_rtdata_t to urt_rtclass_t--><path d="M1771.1226,850.9157 C1762.0246,877.8486 1750.8351,910.973 1741.7558,937.8505 " fill="none" id="urt_rtdata_t&lt;-urt_rtclass_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1775.4024,838.2459,1769.6925,842.6502,1771.5619,849.6148,1777.2718,845.2105,1775.4024,838.2459" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1764.7572" y="857.4934">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1735.5496" y="926.8813">1</text><!--MD5=[8318054091d2ecf2336b9e490f482e2a]

reverse link urt_rtdata_t to urt_rtclassdata_t--><path d="M1819.7263,849.4528 C1837.5123,876.642 1859.6505,910.4844 1877.5522,937.8505 " fill="none" id="urt_rtdata_t&lt;-urt_rtclassdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1812.3953,838.2459,1812.3325,845.4568,1818.9645,848.2881,1819.0273,841.0773,1812.3953,838.2459" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1807.6458" y="857.4934">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1864.4267" y="926.8813">1</text><!--MD5=[b6ee30948a218449c72edbee7363b5d7]

link urt_subscriber_t to urt_hrtdata_t--><path d="M1966.9771,664.1555 C2116.4912,794.644 2325.1235,976.728 2452.5906,1087.9749 " fill="none" id="urt_subscriber_t-&gt;urt_hrtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="2462.7651,1096.8548,2460.8748,1089.8959,2453.7241,1088.9643,2455.6144,1095.9232,2462.7651,1096.8548" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1951.0651" y="684.1527">0..1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="2445.8847" y="1085.8429">1</text><!--MD5=[536025241394544a90bc53fb552f3a08]

reverse link urt_message_t to urt_message_t--><path d="M1213.9841,776.985 C1228.0653,782.7159 1236.5,790.7053 1236.5,800.9531 C1236.5,813.9404 1222.9528,823.3004 1201.534,829.0331 " fill="none" id="urt_message_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1201.534,772.8731,1205.9769,778.553,1212.9286,776.6365,1208.4858,770.9566,1201.534,772.8731" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1209.7829" y="768.6559">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1209.3281" y="826.7703">0..1</text><!--MD5=[f7eb638a1c2d853c6fb0ae6f53692e50]

reverse link urt_subscriber_t to urt_rtdata_t--><path d="M1788,677.3551 C1788,709.926 1788,740.9483 1788,763.7661 " fill="none" id="urt_subscriber_t&lt;-urt_rtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1788,664.318,1784,670.318,1788,676.318,1792,670.318,1788,664.318" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1779.8063" y="684.3231">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1779.2875" y="752.9198">1</text><!--MD5=[bf7bf5810813e0e9b75d3053dc098443]

reverse link urt_subscriber_t to urt_message_t--><path d="M1343.0697,668.5006 C1289.7205,687.751 1237.2761,706.6749 1189.4669,723.9262 " fill="none" id="urt_subscriber_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1355.5513,663.9968,1348.5498,662.2708,1344.2637,668.0699,1351.2652,669.7959,1355.5513,663.9968" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1326.4108" y="683.9863">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1184.6692" y="712.9221">0..1</text><!--MD5=[54fcf25ad8c5f1d36e678e42d5bfd4cc]

link urt_publisher_t to urt_message_t--><path d="M528.6773,572.6159 C614.6335,616.4925 728.839,674.789 820.3376,721.4948 " 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="824.9519,723.8502,818.7546,716.1956,820.4986,721.5769,815.1173,723.3209,824.9519,723.8502" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b2afc1defaa6ed5a86f99c07f8466dd]

reverse link urt_topic_t to urt_topic_t--><path d="M1213.0439,468.0434 C1227.3061,477.1529 1236,490.4561 1236,507.9531 C1236,529.9101 1222.309,545.2629 1201.1039,554.0114 " fill="none" id="urt_topic_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="1201.1039,461.8948,1204.6069,468.1979,1211.7724,467.3887,1208.2695,461.0856,1201.1039,461.8948" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1208.7642" y="456.8708">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="1209.0767" y="552.5857">0..1</text><!--MD5=[0b5167e958c0ed93ffc0c98ce399b54d]

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reverse link urt_topic_t to urt_message_t--><path d="M1006.9999,645.3706 C1004.1065,672.276 1000.5577,699.5915 996.7645,723.6684 " fill="none" id="urt_topic_t&lt;-urt_message_t-1" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="1008.3658,632.2115,1003.7677,637.7664,1007.1268,644.1474,1011.7249,638.5925,1008.3658,632.2115" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1000.0979" y="651.8975">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="990.31" y="712.9052">1</text><!--MD5=[05f2c35569573d3273c65d3342945557]

reverse link urt_service_t to urt_service_t--><path d="M4632.7882,473.486 C4647.4237,482.1801 4656,493.6691 4656,507.9531 C4656,525.7041 4642.7552,539.1387 4621.0965,548.2568 " fill="none" id="urt_service_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="4621.0965,467.6494,4624.6781,473.9082,4631.833,473.0093,4628.2514,466.7505,4621.0965,467.6494" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4629.2006" y="463.4422">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="4629.4131" y="546.1907">0..1</text><!--MD5=[586e61fedafd54ae7ea71cebd9f9032a]

reverse link urt_service_t to urt_servicefunc_t--><path d="M4320,632.2858 C4320,682.9975 4320,737.3367 4320,770.2353 " fill="none" id="urt_service_t&lt;-urt_servicefunc_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="4320,619.1416,4316,625.1416,4320,631.1416,4324,625.1416,4320,619.1416" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="4311.7188" y="639.5423">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="4293.525" y="759.4536">0..1</text><!--MD5=[694e7400eb99f74d44ea388aed89d199]

reverse link urt_core_t to urt_service_t--><path d="M3684.694,198.4163 C3786.2037,219.4381 3900.9032,249.9035 4000,292.9531 C4062.1554,319.9546 4125.2013,359.2292 4178.7107,396.8449 " fill="none" id="urt_core_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="3671.744,195.7706,3676.8219,200.8907,3683.5011,198.1727,3678.4233,193.0526,3671.744,195.7706" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="3679.5145" y="193.7682">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="4144.4116" y="385.9318">0..1</text><!--MD5=[a10441da5a087837729000420a7aa5a0]

  + {field} lock : urt_osMutex_t