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]