commit c22d21adf8eb95fd23d41cc425b97ccb69d2232a
Author: Thomas Schöpping <tschoepp@cit-ec.uni-bielefeld.de>
Date:   Fri Feb 21 17:07:24 2020 +0100

    documentation: removed mutex lock from message structure (was redundantly used with topic lock)

diff --git a/doc/classdiagrams/overview.svg b/doc/classdiagrams/overview.svg
index df45f30..abafdc0 100644
--- a/doc/classdiagrams/overview.svg
+++ b/doc/classdiagrams/overview.svg
@@ -1,161 +1,161 @@
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-class urt_topicid_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="158.4375" id="urt_topicid_t" style="stroke: #A80036; stroke-width: 1.5;" width="191" x="6166.2624" y="1583.8594"/><ellipse cx="6219.0124" cy="1599.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6219.8562,1606.6094 L6217.403,1606.6094 L6217.403,1596.3594 L6214.2624,1596.3594 L6214.2624,1594.2188 L6222.9968,1594.2188 L6222.9968,1596.3594 L6219.8562,1596.3594 L6219.8562,1606.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="77" x="6239.5124" y="1604.0137">urt_topicid_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6167.2624" x2="6356.2624" y1="1615.8594" y2="1615.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="6172.2624" y="1646.8745">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6167.2624" x2="6173.7624" y1="1630.2617" y2="1630.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="6173.7624" y="1633.5698">URT_CFG_TOPICID_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6349.7624" x2="6356.2624" y1="1630.2617" y2="1630.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6172.2624" y="1676.4839">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6167.2624" x2="6170.2624" y1="1659.8711" y2="1659.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="6170.2624" y="1663.1792">URT_CFG_TOPICID_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6353.2624" x2="6356.2624" y1="1659.8711" y2="1659.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6172.2624" y="1706.0933">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6167.2624" x2="6170.2624" y1="1689.4805" y2="1689.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="6170.2624" y="1692.7886">URT_CFG_TOPICID_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6353.2624" x2="6356.2624" y1="1689.4805" y2="1689.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6172.2624" y="1735.7026">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6167.2624" x2="6170.2624" y1="1719.0898" y2="1719.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="6170.2624" y="1722.3979">URT_CFG_TOPICID_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6353.2624" x2="6356.2624" y1="1719.0898" y2="1719.0898"/><!--MD5=[4d8326c7af3a397210cbde406c7c860c]
-class urt_serviceid_t--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="158.4375" id="urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.5;" width="204" x="6859.7624" y="1583.8594"/><ellipse cx="6912.5124" cy="1599.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6913.3562,1606.6094 L6910.903,1606.6094 L6910.903,1596.3594 L6907.7624,1596.3594 L6907.7624,1594.2188 L6916.4968,1594.2188 L6916.4968,1596.3594 L6913.3562,1596.3594 L6913.3562,1606.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="90" x="6933.0124" y="1604.0137">urt_serviceid_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6860.7624" x2="7062.7624" y1="1615.8594" y2="1615.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="6865.7624" y="1646.8745">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6860.7624" x2="6867.2624" y1="1630.2617" y2="1630.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="6867.2624" y="1633.5698">URT_CFG_SERVICEID_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7056.2624" x2="7062.7624" y1="1630.2617" y2="1630.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6865.7624" y="1676.4839">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6860.7624" x2="6863.7624" y1="1659.8711" y2="1659.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="6863.7624" y="1663.1792">URT_CFG_SERVICEID_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7059.7624" x2="7062.7624" y1="1659.8711" y2="1659.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6865.7624" y="1706.0933">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6860.7624" x2="6863.7624" y1="1689.4805" y2="1689.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="6863.7624" y="1692.7886">URT_CFG_SERVICEID_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7059.7624" x2="7062.7624" y1="1689.4805" y2="1689.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6865.7624" y="1735.7026">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6860.7624" x2="6863.7624" y1="1719.0898" y2="1719.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="6863.7624" y="1722.3979">URT_CFG_SERVICEID_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7059.7624" x2="7062.7624" y1="1719.0898" y2="1719.0898"/><!--MD5=[e750dab3ce4ebe0433cc930181355272]
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-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]
-class urt_events--><rect fill="#FEFECE" filter="url(#f114bu1hjv8qr)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="890" x="2216.7624" y="1311.8594"/><ellipse cx="2624.5124" cy="1327.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2628.7468,1323.625 L2623.4655,1323.625 L2623.4655,1326.2969 L2628.2624,1326.2969 L2628.2624,1328.4531 L2623.4655,1328.4531 L2623.4655,1333.8594 L2621.028,1333.8594 L2621.028,1321.4688 L2628.7468,1321.4688 L2628.7468,1323.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="2645.0124" y="1332.0137">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2217.7624" x2="3105.7624" y1="1343.8594" y2="1343.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2217.7624" x2="3105.7624" y1="1351.8594" y2="1351.8594"/><ellipse cx="2227.7624" 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="864" x="2236.7624" y="1366.0698">urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : urt_status_t</text><ellipse cx="2227.7624" 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="567" x="2236.7624" y="1378.8745">urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : urt_status_t</text><ellipse cx="2227.7624" 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="618" x="2236.7624" y="1391.6792">urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWait_t, timeout : urt_delay_t) : urt_osEventMask_t</text><!--MD5=[89d25e87afdd75480e1ec2bd05524873]
-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; stroke-width: 1.5;" x1="7358.2624" x2="7871.2624" y1="142.8594" y2="142.8594"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7365.2624" y="150.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="7377.2624" y="157.0698">_nodes : urt_node_t*</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7365.2624" y="163.6641"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="192" x="7377.2624" y="169.8745">_evtSource : urt_osEventSource_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7365.2624" y="176.4688"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="7377.2624" y="182.6792">_lock : urt_osMutex_t</text><rect fill="none" height="6" style="stroke: #C82930; 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]
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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]
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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; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8597.7624" x2="9022.2624" y1="544.2852" y2="544.2852"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="9022.2624" y="547.5933">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9239.2624" x2="9663.7624" y1="544.2852" y2="544.2852"/><ellipse cx="8607.7624" cy="600.1016" 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="138" x="8616.7624" y="603.312">minLatency : urt_delay_t</text><ellipse cx="8607.7624" cy="612.9063" 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="141" x="8616.7624" y="616.1167">maxLatency : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="8597.7624" x2="9022.2624" y1="586.6992" y2="586.6992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="9022.2624" y="590.0073">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="9239.2624" x2="9663.7624" y1="586.6992" y2="586.6992"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="8597.7624" x2="9663.7624" y1="622.7109" y2="622.7109"/><ellipse cx="8607.7624" cy="633.7109" 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="359" x="8616.7624" y="636.9214">urtSubscriberInit (subscriber : urt_subscriber_t*) : urt_status_t</text><ellipse cx="8607.7624" cy="646.5156" 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="1042" x="8616.7624" y="649.7261">urtSubscriberSubscribeHrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, rate : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="8607.7624" cy="659.3203" 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="1040" x="8616.7624" y="662.5308">urtSubscriberSubscribeFrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, deadline : urt_delay_t, rate : urt_delay_t, jitter : urt_delay_t) : urt_status_t</text><ellipse cx="8607.7624" cy="672.125" 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="1042" x="8616.7624" y="675.3354">urtSubscriberSubscribeSrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_srtusefulnessfunc_t*, cbparams : void*) : urt_status_t</text><ellipse cx="8607.7624" cy="684.9297" 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="699" x="8616.7624" y="688.1401">urtSubscriberSubscribeNrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t</text><ellipse cx="8607.7624" cy="697.7344" 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="413" x="8616.7624" y="700.9448">urtSubscriberUnsubscribe (subscriber : urt_subscriber_t*) : urt_status_t</text><ellipse cx="8607.7624" cy="710.5391" 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="752" x="8616.7624" y="713.7495">urtSubscriberFetchNextMessage (subscriber : urt_subscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="8607.7624" cy="723.3438" 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="762" x="8616.7624" y="726.5542">urtSubscriberFetchLatestMessage (subscriber : urt_subscriber_t*, payload : void*, bytes : size_t, latency : urt_delay_t*) : urt_status_t</text><ellipse cx="8607.7624" cy="736.1484" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; 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-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]
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-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]
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-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]
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+cluster Middleware--><polygon fill="#FFFFFF" filter="url(#fhythnghqj5dw)" points="7348.7624,88.8594,7358.7624,78.8594,12024.7624,78.8594,12024.7624,1711.3594,12014.7624,1721.3594,7348.7624,1721.3594,7348.7624,88.8594" 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="1721.3594"/><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(#fhythnghqj5dw)" height="440.5" 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(#fhythnghqj5dw)" points="7356.7624,384.8594,7366.7624,374.8594,10215.7624,374.8594,10215.7624,1703.3594,10205.7624,1713.3594,7356.7624,1713.3594,7356.7624,384.8594" 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="1713.3594"/><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(#fhythnghqj5dw)" height="1298.5" 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(#fhythnghqj5dw)" height="884.5" style="stroke: #000000; stroke-width: 1.5;" width="1622" x="8577.7624" y="812.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="194" x="9291.7624" y="827.8545">real-time constraint data</text><!--MD5=[57c3116dbac3d3a2ea35fece1cdc00f4]
+cluster SRT data--><rect fill="#FFFFFF" filter="url(#fhythnghqj5dw)" height="410.5" style="stroke: #000000; stroke-width: 1.5;" width="390" x="9801.7624" y="1278.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="69" x="9962.2624" y="1293.8545">SRT data</text><!--MD5=[810d0f07e53ef611b6d803ef30301147]
+cluster Remote Procedure Call System--><polygon fill="#FFFFFF" filter="url(#fhythnghqj5dw)" points="11380.7624,456.8594,11390.7624,446.8594,12016.7624,446.8594,12016.7624,905.3594,12006.7624,915.3594,11380.7624,915.3594,11380.7624,456.8594" 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="915.3594"/><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]
+class urt_config--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="230.4609" id="urt_config" style="stroke: #A80036; stroke-width: 1.5;" width="290" x="6816.7624" y="1789.8594"/><ellipse cx="6926.5124" cy="1805.8594" fill="#BFBFBF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6929.4812,1811.5 Q6928.903,1811.7969 6928.2624,1811.9375 Q6927.6218,1812.0938 6926.9187,1812.0938 Q6924.4187,1812.0938 6923.0905,1810.4531 Q6921.778,1808.7969 6921.778,1805.6719 Q6921.778,1802.5469 6923.0905,1800.8906 Q6924.4187,1799.2344 6926.9187,1799.2344 Q6927.6218,1799.2344 6928.2624,1799.3906 Q6928.9187,1799.5469 6929.4812,1799.8438 L6929.4812,1802.5625 Q6928.8562,1801.9844 6928.2624,1801.7188 Q6927.6687,1801.4375 6927.0437,1801.4375 Q6925.6999,1801.4375 6925.0124,1802.5156 Q6924.3249,1803.5781 6924.3249,1805.6719 Q6924.3249,1807.7656 6925.0124,1808.8438 Q6925.6999,1809.9063 6927.0437,1809.9063 Q6927.6687,1809.9063 6928.2624,1809.6406 Q6928.8562,1809.3594 6929.4812,1808.7813 L6929.4812,1811.5 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="62" x="6947.0124" y="1810.0137">urt_config</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6817.7624" x2="7105.7624" y1="1821.8594" y2="1821.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="159" x="6822.7624" y="1836.0698">URT_CFG_DELAY_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="169" x="6822.7624" y="1848.8745">URT_CFG_TOPICID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="6822.7624" y="1861.6792">URT_CFG_SERVICEID_WIDTH : int</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="6822.7624" y="1874.4839">URT_CFG_NODESTAGE_WIDTH : int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6817.7624" x2="7105.7624" y1="1881.0781" y2="1881.0781"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="6822.7624" y="1895.2886">URT_CFG_DEBUG_ENABLED : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6817.7624" x2="7105.7624" y1="1901.8828" y2="1901.8828"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="6822.7624" y="1916.0933">URT_CFG_PUBSUB_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="204" x="6822.7624" y="1928.8979">URT_CFG_PUBSUB_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="278" x="6822.7624" y="1941.7026">URT_CFG_PUBSUB_QOS_DEADLINECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="252" x="6822.7624" y="1954.5073">URT_CFG_PUBSUB_QOS_RATECHECKS : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="6822.7624" y="1967.312">URT_CFG_PUBSUB_QOS_JITTERCHECKS : bool</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6817.7624" x2="7105.7624" y1="1973.9063" y2="1973.9063"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="172" x="6822.7624" y="1988.1167">URT_CFG_RPC_ENABLED : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="6822.7624" y="2000.9214">URT_CFG_RPC_PROFILING : bool</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="233" x="6822.7624" y="2013.7261">URT_CFG_RPC_QOS_JITTERCHECKS : bool</text><!--MD5=[9f69b6f4e23017059189983d6906a1eb]
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+class urt_topicid_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="158.4375" id="urt_topicid_t" style="stroke: #A80036; stroke-width: 1.5;" width="191" x="6166.2624" y="1571.8594"/><ellipse cx="6219.0124" cy="1587.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6219.8562,1594.6094 L6217.403,1594.6094 L6217.403,1584.3594 L6214.2624,1584.3594 L6214.2624,1582.2188 L6222.9968,1582.2188 L6222.9968,1584.3594 L6219.8562,1584.3594 L6219.8562,1594.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="77" x="6239.5124" y="1592.0137">urt_topicid_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6167.2624" x2="6356.2624" y1="1603.8594" y2="1603.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="6172.2624" y="1634.8745">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6167.2624" x2="6173.7624" y1="1618.2617" y2="1618.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="6173.7624" y="1621.5698">URT_CFG_TOPICID_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6349.7624" x2="6356.2624" y1="1618.2617" y2="1618.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6172.2624" y="1664.4839">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6167.2624" x2="6170.2624" y1="1647.8711" y2="1647.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="6170.2624" y="1651.1792">URT_CFG_TOPICID_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6353.2624" x2="6356.2624" y1="1647.8711" y2="1647.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6172.2624" y="1694.0933">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6167.2624" x2="6170.2624" y1="1677.4805" y2="1677.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="6170.2624" y="1680.7886">URT_CFG_TOPICID_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6353.2624" x2="6356.2624" y1="1677.4805" y2="1677.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6172.2624" y="1723.7026">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6167.2624" x2="6170.2624" y1="1707.0898" y2="1707.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="183" x="6170.2624" y="1710.3979">URT_CFG_TOPICID_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6353.2624" x2="6356.2624" y1="1707.0898" y2="1707.0898"/><!--MD5=[4d8326c7af3a397210cbde406c7c860c]
+class urt_serviceid_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="158.4375" id="urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.5;" width="204" x="6859.7624" y="1571.8594"/><ellipse cx="6912.5124" cy="1587.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6913.3562,1594.6094 L6910.903,1594.6094 L6910.903,1584.3594 L6907.7624,1584.3594 L6907.7624,1582.2188 L6916.4968,1582.2188 L6916.4968,1584.3594 L6913.3562,1584.3594 L6913.3562,1594.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="90" x="6933.0124" y="1592.0137">urt_serviceid_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6860.7624" x2="7062.7624" y1="1603.8594" y2="1603.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="6865.7624" y="1634.8745">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6860.7624" x2="6867.2624" y1="1618.2617" y2="1618.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="6867.2624" y="1621.5698">URT_CFG_SERVICEID_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7056.2624" x2="7062.7624" y1="1618.2617" y2="1618.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6865.7624" y="1664.4839">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6860.7624" x2="6863.7624" y1="1647.8711" y2="1647.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="6863.7624" y="1651.1792">URT_CFG_SERVICEID_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7059.7624" x2="7062.7624" y1="1647.8711" y2="1647.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6865.7624" y="1694.0933">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6860.7624" x2="6863.7624" y1="1677.4805" y2="1677.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="6863.7624" y="1680.7886">URT_CFG_SERVICEID_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7059.7624" x2="7062.7624" y1="1677.4805" y2="1677.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6865.7624" y="1723.7026">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6860.7624" x2="6863.7624" y1="1707.0898" y2="1707.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="196" x="6863.7624" y="1710.3979">URT_CFG_SERVICEID_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7059.7624" x2="7062.7624" y1="1707.0898" y2="1707.0898"/><!--MD5=[e750dab3ce4ebe0433cc930181355272]
+class urt_status_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="73.6094" id="urt_status_t" style="stroke: #A80036; stroke-width: 1.5;" width="180" x="7098.7624" y="1613.8594"/><ellipse cx="7147.0124" cy="1629.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M7147.8562,1636.6094 L7145.403,1636.6094 L7145.403,1626.3594 L7142.2624,1626.3594 L7142.2624,1624.2188 L7150.9968,1624.2188 L7150.9968,1626.3594 L7147.8562,1626.3594 L7147.8562,1636.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="7167.5124" y="1634.0137">urt_status_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7099.7624" x2="7277.7624" y1="1645.8594" y2="1645.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="147" x="7104.7624" y="1660.0698">URT_STATUS_OK = 0x0..0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="168" x="7104.7624" y="1672.8745">URT_STATUS_ERROR = 0x8..0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="7099.7624" x2="7277.7624" y1="1679.4688" y2="1679.4688"/><!--MD5=[15452fea434e71f16c7de0feaca2b066]
+class urt_delay_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="99.2188" id="urt_delay_t" style="stroke: #A80036; stroke-width: 1.5;" width="181" x="6392.2624" y="1601.3594"/><ellipse cx="6444.5124" cy="1617.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6445.3562,1624.1094 L6442.903,1624.1094 L6442.903,1613.8594 L6439.7624,1613.8594 L6439.7624,1611.7188 L6448.4968,1611.7188 L6448.4968,1613.8594 L6445.3562,1613.8594 L6445.3562,1624.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="68" x="6465.0124" y="1621.5137">urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6393.2624" x2="6572.2624" y1="1633.3594" y2="1633.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6398.2624" y="1664.3745">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6393.2624" x2="6396.2624" y1="1647.7617" y2="1647.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="6396.2624" y="1651.0698">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="1647.7617" y2="1647.7617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6398.2624" y="1693.9839">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6393.2624" x2="6396.2624" y1="1677.3711" y2="1677.3711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="173" x="6396.2624" y="1680.6792">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="1677.3711" y2="1677.3711"/><!--MD5=[f106a25c06a671b3918b1a8f37571a4d]
+class urt_debug--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="60.8047" id="urt_debug" style="stroke: #A80036; stroke-width: 1.5;" width="245" x="5886.2624" y="1620.3594"/><ellipse cx="5972.5124" cy="1636.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5976.7468,1632.125 L5971.4655,1632.125 L5971.4655,1634.7969 L5976.2624,1634.7969 L5976.2624,1636.9531 L5971.4655,1636.9531 L5971.4655,1642.3594 L5969.028,1642.3594 L5969.028,1629.9688 L5976.7468,1629.9688 L5976.7468,1632.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="64" x="5993.0124" y="1640.5137">urt_debug</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5887.2624" x2="6130.2624" y1="1652.3594" y2="1652.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5887.2624" x2="6130.2624" y1="1660.3594" y2="1660.3594"/><ellipse cx="5897.2624" cy="1671.3594" 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="1674.5698">urtDebugAssert(condition : bool) : void</text><!--MD5=[3677786d1f00795918091b0110bfa4af]
+class urt_osTime_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="86.4141" id="urt_osTime_t" style="stroke: #A80036; stroke-width: 1.5;" width="425" x="1039.2624" y="1299.8594"/><ellipse cx="1208.0124" cy="1315.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1208.8562,1322.6094 L1206.403,1322.6094 L1206.403,1312.3594 L1203.2624,1312.3594 L1203.2624,1310.2188 L1211.9968,1310.2188 L1211.9968,1312.3594 L1208.8562,1312.3594 L1208.8562,1322.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="79" x="1228.5124" y="1320.0137">urt_osTime_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1040.2624" x2="1463.2624" y1="1331.8594" y2="1331.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1040.2624" x2="1463.2624" y1="1339.8594" y2="1339.8594"/><ellipse cx="1050.2624" cy="1350.8594" 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="1354.0698">urtTime2Us (t : urt_osTime_t*) : uint64_t</text><ellipse cx="1050.2624" cy="1363.6641" 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="1366.8745">urtTimeNow (void) : urt_osTime_t</text><ellipse cx="1050.2624" cy="1376.4688" 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="1379.6792">urtTimeAddUs (time : urt_osTime_t*, offset : uint32_t) : urt_osTime_t*</text><!--MD5=[532279a7a1cac9af7f32856ca2ae6b9b]
+class urt_osMutex_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="99.2188" id="urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.5;" width="298" x="705.7624" y="1293.3594"/><ellipse cx="807.0124" cy="1309.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M807.8562,1316.1094 L805.403,1316.1094 L805.403,1305.8594 L802.2624,1305.8594 L802.2624,1303.7188 L810.9968,1303.7188 L810.9968,1305.8594 L807.8562,1305.8594 L807.8562,1316.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="87" x="827.5124" y="1313.5137">urt_osMutex_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="706.7624" x2="1002.7624" y1="1325.3594" y2="1325.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="706.7624" x2="1002.7624" y1="1333.3594" y2="1333.3594"/><ellipse cx="716.7624" cy="1344.3594" 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="1347.5698">urtMutexInit (mutex : urt_osMutex_t*) : void</text><ellipse cx="716.7624" cy="1357.1641" 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="1360.3745">urtMutexLock (mutex : urt_osMutex_t*) : void</text><ellipse cx="716.7624" cy="1369.9688" 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="1373.1792">urtMutexTryLock (mutex : urt_osMutex_t*) : bool</text><ellipse cx="716.7624" cy="1382.7734" 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="1385.9839">urtMutexUnlock (mutex : urt_osMutex_t*) : void</text><!--MD5=[0cf29100c96c506429a28b45d347cc92]
+class urt_streams--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="73.6094" id="urt_streams" style="stroke: #A80036; stroke-width: 1.5;" width="209" x="461.2624" y="1305.8594"/><ellipse cx="524.0124" cy="1321.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M528.2468,1317.625 L522.9655,1317.625 L522.9655,1320.2969 L527.7624,1320.2969 L527.7624,1322.4531 L522.9655,1322.4531 L522.9655,1327.8594 L520.528,1327.8594 L520.528,1315.4688 L528.2468,1315.4688 L528.2468,1317.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="75" x="544.5124" y="1326.0137">urt_streams</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="462.2624" x2="669.2624" y1="1337.8594" y2="1337.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="462.2624" x2="669.2624" y1="1345.8594" y2="1345.8594"/><ellipse cx="472.2624" cy="1356.8594" 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="1360.0698">urtPrintf(fmt : char*, ... ) : int</text><ellipse cx="472.2624" cy="1369.6641" 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="1372.8745">urtErrPrintf(fmt : char*, ... ) : int</text><!--MD5=[52fa11869cb40c93fa7702378ddd839e]
+class urt_osCondvarWaitStatus_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="86.4141" id="urt_osCondvarWaitStatus_t" style="stroke: #A80036; stroke-width: 1.5;" width="270" x="5225.7624" y="1607.8594"/><ellipse cx="5272.0124" cy="1623.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5276.1218,1629.8594 L5268.403,1629.8594 L5268.403,1617.4688 L5276.1218,1617.4688 L5276.1218,1619.625 L5270.8562,1619.625 L5270.8562,1622.2969 L5275.6218,1622.2969 L5275.6218,1624.4531 L5270.8562,1624.4531 L5270.8562,1627.7031 L5276.1218,1627.7031 L5276.1218,1629.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="169" x="5292.5124" y="1628.0137">urt_osCondvarWaitStatus_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5226.7624" x2="5494.7624" y1="1639.8594" y2="1639.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="5231.7624" y="1654.0698">URT_CONDVAR_WAITSTATUS_SIGNAL = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="258" x="5231.7624" y="1666.8745">URT_CONDVAR_WAITSTATUS_BROADCAST = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="239" x="5231.7624" y="1679.6792">URT_CONDVAR_WAITSTATUS_TIMEOUT = 0</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5226.7624" x2="5494.7624" y1="1686.2734" y2="1686.2734"/><!--MD5=[004fc5dee471033e8e4138c1c73f0692]
+class urt_osCondvar_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="99.2188" id="urt_osCondvar_t" style="stroke: #A80036; stroke-width: 1.5;" width="710" x="5005.7624" y="1293.3594"/><ellipse cx="5306.0124" cy="1309.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M5306.8562,1316.1094 L5304.403,1316.1094 L5304.403,1305.8594 L5301.2624,1305.8594 L5301.2624,1303.7188 L5309.9968,1303.7188 L5309.9968,1305.8594 L5306.8562,1305.8594 L5306.8562,1316.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="5326.5124" y="1313.5137">urt_osCondvar_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="5006.7624" x2="5714.7624" y1="1325.3594" y2="1325.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="5006.7624" x2="5714.7624" y1="1333.3594" y2="1333.3594"/><ellipse cx="5016.7624" cy="1344.3594" 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="1347.5698">urtCondvarInit (condvar : urt_osCondvar_t*) : void</text><ellipse cx="5016.7624" cy="1357.1641" 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="1360.3745">urtCondvarSignal (condvar : urt_osCondvar_t*) : void</text><ellipse cx="5016.7624" cy="1369.9688" 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="1373.1792">urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void</text><ellipse cx="5016.7624" cy="1382.7734" 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="1385.9839">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(#fhythnghqj5dw)" height="60.8047" id="urt_osTimerCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="286" x="4436.7624" y="1620.3594"/><ellipse cx="4507.5124" cy="1636.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4508.3562,1643.1094 L4505.903,1643.1094 L4505.903,1632.8594 L4502.7624,1632.8594 L4502.7624,1630.7188 L4511.4968,1630.7188 L4511.4968,1632.8594 L4508.3562,1632.8594 L4508.3562,1643.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="136" x="4528.0124" y="1640.5137">urt_osTimerCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4437.7624" x2="4721.7624" y1="1652.3594" y2="1652.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4437.7624" x2="4721.7624" y1="1660.3594" y2="1660.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="274" x="4442.7624" y="1674.5698">urt_osTimerCallback_t (parameter : void*) : void</text><!--MD5=[0b340d7b925b1eab6a1b7e084f68a7c2]
+class urt_osTimer_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="112.0234" id="urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.5;" width="782" x="4188.7624" y="1286.8594"/><ellipse cx="4533.5124" cy="1302.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M4534.3562,1309.6094 L4531.903,1309.6094 L4531.903,1299.3594 L4528.7624,1299.3594 L4528.7624,1297.2188 L4537.4968,1297.2188 L4537.4968,1299.3594 L4534.3562,1299.3594 L4534.3562,1309.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="84" x="4554.0124" y="1307.0137">urt_osTimer_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="4189.7624" x2="4969.7624" y1="1318.8594" y2="1318.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="4189.7624" x2="4969.7624" y1="1326.8594" y2="1326.8594"/><ellipse cx="4199.7624" cy="1337.8594" 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="1341.0698">urtTimerInit (timer : urt_osTimer_t*) : void</text><ellipse cx="4199.7624" cy="1350.6641" 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="1353.8745">urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="4199.7624" cy="1363.4688" 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="1366.6792">urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t</text><ellipse cx="4199.7624" cy="1376.2734" 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="1379.4839">urtTimerReset (timer : urt_osTimer_t*) : urt_status_t</text><ellipse cx="4199.7624" cy="1389.0781" 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="1392.2886">urtTimerIsArmed (timer : urt_osTimer_t*) : bool</text><!--MD5=[86c16d91227b9a9ec3b6b9b0285de4e9]
+class urt_osThreadPrio_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="150.4375" id="urt_osThreadPrio_t" style="stroke: #A80036; stroke-width: 1.5;" width="197" x="3690.2624" y="1575.8594"/><ellipse cx="3726.4124" cy="1591.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3727.2562,1598.6094 L3724.803,1598.6094 L3724.803,1588.3594 L3721.6624,1588.3594 L3721.6624,1586.2188 L3730.3968,1586.2188 L3730.3968,1588.3594 L3727.2562,1588.3594 L3727.2562,1598.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="3745.1124" y="1596.0137">urt_osThreadPrio_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3691.2624" x2="3886.2624" y1="1607.8594" y2="1607.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="160" x="3696.2624" y="1622.0698">URT_THREAD_PRIO_LOW_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="163" x="3696.2624" y="1634.8745">URT_THREAD_PRIO_LOW_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="182" x="3696.2624" y="1647.6792">URT_THREAD_PRIO_NORMAL_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="185" x="3696.2624" y="1660.4839">URT_THREAD_PRIO_NORMAL_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="164" x="3696.2624" y="1673.2886">URT_THREAD_PRIO_HIGH_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="167" x="3696.2624" y="1686.0933">URT_THREAD_PRIO_HIGH_MAX</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="3696.2624" y="1698.8979">URT_THREAD_PRIO_RT_MIN</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="153" x="3696.2624" y="1711.7026">URT_THREAD_PRIO_RT_MAX</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3691.2624" x2="3886.2624" y1="1718.2969" y2="1718.2969"/><!--MD5=[69d8aab9aa387a2f5052ea3da80e80ea]
+class urt_osThreadFunction_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="60.8047" id="urt_osThreadFunction_t" style="stroke: #A80036; stroke-width: 1.5;" width="252" x="3141.7624" y="1620.3594"/><ellipse cx="3189.5124" cy="1636.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3190.3562,1643.1094 L3187.903,1643.1094 L3187.903,1632.8594 L3184.7624,1632.8594 L3184.7624,1630.7188 L3193.4968,1630.7188 L3193.4968,1632.8594 L3190.3562,1632.8594 L3190.3562,1643.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="148" x="3210.0124" y="1640.5137">urt_osThreadFunction_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3142.7624" x2="3392.7624" y1="1652.3594" y2="1652.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="3142.7624" x2="3392.7624" y1="1660.3594" y2="1660.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="240" x="3147.7624" y="1674.5698">urt_osThreadFunction_t (arg : void*) : void</text><!--MD5=[ab5f611d45c3fa10609c33f780d8c3e1]
+class urt_osThreadTerminateSignal_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="73.6094" id="urt_osThreadTerminateSignal_t" style="stroke: #A80036; stroke-width: 1.5;" width="242" x="3922.7624" y="1613.8594"/><ellipse cx="3944.5124" cy="1629.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3948.6218,1635.8594 L3940.903,1635.8594 L3940.903,1623.4688 L3948.6218,1623.4688 L3948.6218,1625.625 L3943.3562,1625.625 L3943.3562,1628.2969 L3948.1218,1628.2969 L3948.1218,1630.4531 L3943.3562,1630.4531 L3943.3562,1633.7031 L3948.6218,1633.7031 L3948.6218,1635.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="195" x="3960.0124" y="1634.0137">urt_osThreadTerminateSignal_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3923.7624" x2="4163.7624" y1="1645.8594" y2="1645.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="230" x="3928.7624" y="1660.0698">URT_THREAD_TERMINATE_REQUEST = 15</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="192" x="3928.7624" y="1672.8745">URT_THREAD_TERMINATE_KILL = 9</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3923.7624" x2="4163.7624" y1="1679.4688" y2="1679.4688"/><!--MD5=[47d14ad2c233fae1b32b8d0a283e820a]
+class urt_osThreadState_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="137.6328" id="urt_osThreadState_t" style="stroke: #A80036; stroke-width: 1.5;" width="226" x="3428.7624" y="1581.8594"/><ellipse cx="3473.5124" cy="1597.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3477.6218,1603.8594 L3469.903,1603.8594 L3469.903,1591.4688 L3477.6218,1591.4688 L3477.6218,1593.625 L3472.3562,1593.625 L3472.3562,1596.2969 L3477.1218,1596.2969 L3477.1218,1598.4531 L3472.3562,1598.4531 L3472.3562,1601.7031 L3477.6218,1601.7031 L3477.6218,1603.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="128" x="3494.0124" y="1602.0137">urt_osThreadState_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3429.7624" x2="3653.7624" y1="1613.8594" y2="1613.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="3434.7624" y="1628.0698">URT_THREAD_STATE_INACTIVE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="195" x="3434.7624" y="1640.8745">URT_THREAD_STATE_RUNNING = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="180" x="3434.7624" y="1653.6792">URT_THREAD_STATE_READY = 2</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="199" x="3434.7624" y="1666.4839">URT_THREAD_STATE_SLEEPING = 3</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="213" x="3434.7624" y="1679.2886">URT_THREAD_STATE_SUSPENDED = 4</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="3434.7624" y="1692.0933">URT_THREAD_STATE_WAITING = 5</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="214" x="3434.7624" y="1704.8979">URT_THREAD_STATE_TERMINATED = 6</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3429.7624" x2="3653.7624" y1="1711.4922" y2="1711.4922"/><!--MD5=[0a16224ede9ffa9bb2d34e085a076e6d]
+class urt_osThread_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="337.7031" id="urt_osThread_t" style="stroke: #A80036; stroke-width: 1.5;" width="560" x="3551.7624" y="1173.8594"/><ellipse cx="3780.5124" cy="1189.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M3781.3562,1196.6094 L3778.903,1196.6094 L3778.903,1186.3594 L3775.7624,1186.3594 L3775.7624,1184.2188 L3784.4968,1184.2188 L3784.4968,1186.3594 L3781.3562,1186.3594 L3781.3562,1196.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="94" x="3801.0124" y="1194.0137">urt_osThread_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="3552.7624" x2="4110.7624" y1="1205.8594" y2="1205.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="179" x="3557.7624" y="1220.0698">URT_THREAD_SLEEP_MAX : float</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="3557.7624" y="1232.8745">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="1245.6792">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="1258.4839">URT_THREAD_USLEEP_MAX : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0;" x1="3552.7624" x2="4110.7624" y1="1265.0781" y2="1265.0781"/><ellipse cx="3562.7624" cy="1276.0781" 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="1279.2886">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="1285.8828" y2="1285.8828"/><ellipse cx="3562.7624" cy="1296.8828" 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="1300.0933">urtThreadInit (memory : void*, size : size_t, func : urt_osThreadFunction_t*) : urt_osThread_t*</text><ellipse cx="3562.7624" cy="1309.6875" 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="1312.8979">urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void</text><ellipse cx="3562.7624" cy="1322.4922" 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="1325.7026">urtThreadYield (void) : void</text><ellipse cx="3562.7624" cy="1335.2969" 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="1338.5073">urtThreadGetPriority (void) : urt_osThreadPrio_t</text><ellipse cx="3562.7624" cy="1348.1016" 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="1351.312">urtThreadSetPriority (prio : urt_osThreadPrio_t) : void</text><ellipse cx="3562.7624" cy="1360.9063" 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="1364.1167">urtThreadSuspend (thread : urt_osThread_t*) : void</text><ellipse cx="3562.7624" cy="1373.7109" 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="1376.9214">urtThreadResume (thread : urt_osThread_t*) : urt_status_t</text><ellipse cx="3562.7624" cy="1386.5156" 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="1389.7261">urtThreadSleep (seconds : float) : void</text><ellipse cx="3562.7624" cy="1399.3203" 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="1402.5308">urtThreadSSleep (seconds : urt_delay_t) : void</text><ellipse cx="3562.7624" cy="1412.125" 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="1415.3354">urtThreadMSleep (milliseconds : urt_delay_t) : void</text><ellipse cx="3562.7624" cy="1424.9297" 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="1428.1401">urtThreadUSleep (microseconds : urt_delay_t) : void</text><ellipse cx="3562.7624" cy="1437.7344" 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="1440.9448">urtThreadSleepUntil (time : urt_osTime_t) : void</text><ellipse cx="3562.7624" cy="1450.5391" 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="1453.7495">urtThreadExit (void) : void</text><ellipse cx="3562.7624" cy="1463.3438" 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="1466.5542">urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void</text><ellipse cx="3562.7624" cy="1476.1484" 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="1479.3589">urtThreadJoin (thread : urt_osThread_t*) : void</text><ellipse cx="3562.7624" cy="1488.9531" 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="1492.1636">urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t</text><ellipse cx="3562.7624" cy="1501.7578" 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="1504.9683">urtThreadGetSelf (void) : urt_osThread_t*</text><!--MD5=[0a4e0f34d8da0ad3ed6ecf72f02e09c8]
+class urt_osEventMask_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="60.8047" id="urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.5;" width="280" x="2826.7624" y="1620.3594"/><ellipse cx="2904.0124" cy="1636.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2904.8562,1643.1094 L2902.403,1643.1094 L2902.403,1632.8594 L2899.2624,1632.8594 L2899.2624,1630.7188 L2907.9968,1630.7188 L2907.9968,1632.8594 L2904.8562,1632.8594 L2904.8562,1643.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="117" x="2924.5124" y="1640.5137">urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2827.7624" x2="3105.7624" y1="1652.3594" y2="1652.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="268" x="2832.7624" y="1666.5698">URT_EVENTMASK_MAXPRIO : urt_osEventMask_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2827.7624" x2="3105.7624" y1="1673.1641" y2="1673.1641"/><!--MD5=[dc1cc33af288560680c15dec1e56eda0]
+class urt_osEventFlags_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="48" id="urt_osEventFlags_t" style="stroke: #A80036; stroke-width: 1.5;" width="150" x="2235.7624" y="1880.8594"/><ellipse cx="2250.7624" cy="1896.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2251.6062,1903.6094 L2249.153,1903.6094 L2249.153,1893.3594 L2246.0124,1893.3594 L2246.0124,1891.2188 L2254.7468,1891.2188 L2254.7468,1893.3594 L2251.6062,1893.3594 L2251.6062,1903.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="118" x="2264.7624" y="1901.0137">urt_osEventFlags_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2236.7624" x2="2384.7624" y1="1912.8594" y2="1912.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2236.7624" x2="2384.7624" y1="1920.8594" y2="1920.8594"/><!--MD5=[e2bbbd64e6979bf7b755747a6c0ba948]
+class urt_osEventWait_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="86.4141" id="urt_osEventWait_t" style="stroke: #A80036; stroke-width: 1.5;" width="162" x="2629.7624" y="1607.8594"/><ellipse cx="2652.8624" cy="1623.8594" fill="#FF7F3F" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2656.9718,1629.8594 L2649.253,1629.8594 L2649.253,1617.4688 L2656.9718,1617.4688 L2656.9718,1619.625 L2651.7062,1619.625 L2651.7062,1622.2969 L2656.4718,1622.2969 L2656.4718,1624.4531 L2651.7062,1624.4531 L2651.7062,1627.7031 L2656.9718,1627.7031 L2656.9718,1629.8594 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="112" x="2668.6624" y="1628.0137">urt_osEventWait_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2630.7624" x2="2790.7624" y1="1639.8594" y2="1639.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="150" x="2635.7624" y="1654.0698">URT_EVENT_WAIT_ONE = 0</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="148" x="2635.7624" y="1666.8745">URT_EVENT_WAIT_ANY = 1</text><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="145" x="2635.7624" y="1679.6792">URT_EVENT_WAIT_ALL = 2</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2630.7624" x2="2790.7624" y1="1686.2734" y2="1686.2734"/><!--MD5=[d054ac2eda12ce4b1fe5a18c9be716c1]
+class urt_osEventListener_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="86.4141" id="urt_osEventListener_t" style="stroke: #A80036; stroke-width: 1.5;" width="494" x="2063.7624" y="1607.8594"/><ellipse cx="2239.0124" cy="1623.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2239.8562,1630.6094 L2237.403,1630.6094 L2237.403,1620.3594 L2234.2624,1620.3594 L2234.2624,1618.2188 L2242.9968,1618.2188 L2242.9968,1620.3594 L2239.8562,1620.3594 L2239.8562,1630.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="135" x="2259.5124" y="1628.0137">urt_osEventListener_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2064.7624" x2="2556.7624" y1="1639.8594" y2="1639.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2064.7624" x2="2556.7624" y1="1647.8594" y2="1647.8594"/><ellipse cx="2074.7624" cy="1658.8594" 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="1662.0698">urtEventListenerInit (listener : urt_osEventListener_t*) : void</text><ellipse cx="2074.7624" cy="1671.6641" 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="1674.8745">urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><ellipse cx="2074.7624" cy="1684.4688" 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="1687.6792">urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t</text><!--MD5=[4d6906f8b977dc26629fa492460e6327]
+class urt_osEventSource_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="73.6094" id="urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.5;" width="547" x="1481.2624" y="1613.8594"/><ellipse cx="1686.0124" cy="1629.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M1686.8562,1636.6094 L1684.403,1636.6094 L1684.403,1626.3594 L1681.2624,1626.3594 L1681.2624,1624.2188 L1689.9968,1624.2188 L1689.9968,1626.3594 L1686.8562,1626.3594 L1686.8562,1636.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="129" x="1706.5124" y="1634.0137">urt_osEventSource_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="1482.2624" x2="2027.2624" y1="1645.8594" y2="1645.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="1482.2624" x2="2027.2624" y1="1653.8594" y2="1653.8594"/><ellipse cx="1492.2624" cy="1664.8594" 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="1668.0698">urtEventSourceInit (source : urt_osEventSource_t*) : void</text><ellipse cx="1492.2624" cy="1677.6641" 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="1680.8745">urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void</text><!--MD5=[04a3b5a37031e2a4d723f19d8adf86f5]
+class urt_events--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="86.4141" id="urt_events" style="stroke: #A80036; stroke-width: 1.5;" width="890" x="2216.7624" y="1299.8594"/><ellipse cx="2624.5124" cy="1315.8594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M2628.7468,1311.625 L2623.4655,1311.625 L2623.4655,1314.2969 L2628.2624,1314.2969 L2628.2624,1316.4531 L2623.4655,1316.4531 L2623.4655,1321.8594 L2621.028,1321.8594 L2621.028,1309.4688 L2628.7468,1309.4688 L2628.7468,1311.625 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="66" x="2645.0124" y="1320.0137">urt_events</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="2217.7624" x2="3105.7624" y1="1331.8594" y2="1331.8594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="2217.7624" x2="3105.7624" y1="1339.8594" y2="1339.8594"/><ellipse cx="2227.7624" cy="1350.8594" 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="864" x="2236.7624" y="1354.0698">urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : urt_status_t</text><ellipse cx="2227.7624" cy="1363.6641" 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="567" x="2236.7624" y="1366.8745">urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : urt_status_t</text><ellipse cx="2227.7624" cy="1376.4688" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="618" x="2236.7624" y="1379.6792">urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWait_t, timeout : urt_delay_t) : urt_osEventMask_t</text><!--MD5=[89d25e87afdd75480e1ec2bd05524873]
+class urt_core_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" 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; stroke-width: 1.5;" x1="7358.2624" x2="7871.2624" y1="142.8594" y2="142.8594"/><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7365.2624" y="150.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="7377.2624" y="157.0698">_nodes : urt_node_t*</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7365.2624" y="163.6641"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="192" x="7377.2624" y="169.8745">_evtSource : urt_osEventSource_t</text><rect fill="none" height="6" style="stroke: #C82930; stroke-width: 1.0;" width="6" x="7365.2624" y="176.4688"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" text-decoration="underline" textLength="119" x="7377.2624" y="182.6792">_lock : urt_osMutex_t</text><rect fill="none" height="6" style="stroke: #C82930; 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(#fhythnghqj5dw)" height="60.8047" id="urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="456" x="10880.7624" y="846.3594"/><ellipse cx="11026.5124" cy="862.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11027.3562,869.1094 L11024.903,869.1094 L11024.903,858.8594 L11021.7624,858.8594 L11021.7624,856.7188 L11030.4968,856.7188 L11030.4968,858.8594 L11027.3562,858.8594 L11027.3562,869.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="156" x="11047.0124" y="866.5137">urt_nodeSetupCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10881.7624" x2="11335.7624" y1="878.3594" y2="878.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="10881.7624" x2="11335.7624" y1="886.3594" y2="886.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="444" x="10886.7624" y="900.5698">urt_nodeSetupCallback_t (node : urt_node_t*, arg : void*) : urt_osEventMask_t</text><!--MD5=[7f869e17e281b89d59a4c09e0f22c3af]
+class urt_nodeLoopCallback_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="60.8047" id="urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.5;" width="614" x="10231.7624" y="846.3594"/><ellipse cx="10460.0124" cy="862.3594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M10460.8562,869.1094 L10458.403,869.1094 L10458.403,858.8594 L10455.2624,858.8594 L10455.2624,856.7188 L10463.9968,856.7188 L10463.9968,858.8594 L10460.8562,858.8594 L10460.8562,869.1094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="149" x="10480.5124" y="866.5137">urt_nodeLoopCallback_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="10232.7624" x2="10844.7624" y1="878.3594" y2="878.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="10232.7624" x2="10844.7624" y1="886.3594" y2="886.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="602" x="10237.7624" y="900.5698">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(#fhythnghqj5dw)" 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(#fhythnghqj5dw)" height="141.6328" 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="211" x="7384.2624" y="890.4839">numHrtConsumersLeft : unsigned int</text><ellipse cx="7375.2624" cy="916.8828" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="194" x="7384.2624" y="920.0933">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="903.4805" y2="903.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="7481.2624" y="906.7886">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="903.4805" y2="903.4805"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7365.2624" x2="7814.2624" y1="926.6875" y2="926.6875"/><ellipse cx="7375.2624" cy="937.6875" 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="425" x="7384.2624" y="940.8979">urtMessageInit (message : urt_message_t*, payload : void*) : urt_status_t</text><!--MD5=[2ac85a9c1cceb8bb0c9045edc105e6e3]
+class urt_publisher_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" 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(#fhythnghqj5dw)" 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; 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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(#fhythnghqj5dw)" height="60.8047" id="urt_srtusefulnessfunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="374" x="9809.7624" y="1620.3594"/><ellipse cx="9919.0124" cy="1636.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9923.2468,1632.125 L9917.9655,1632.125 L9917.9655,1634.7969 L9922.7624,1634.7969 L9922.7624,1636.9531 L9917.9655,1636.9531 L9917.9655,1642.3594 L9915.528,1642.3594 L9915.528,1629.9688 L9923.2468,1629.9688 L9923.2468,1632.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="147" x="9939.5124" y="1640.5137">urt_srtusefulnessfunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="9810.7624" x2="10182.7624" y1="1652.3594" y2="1652.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="9810.7624" x2="10182.7624" y1="1660.3594" y2="1660.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="362" x="9815.7624" y="1674.5698">urt_srtusefulnessfunc_t (dt : urt_delay_t, params : void*) : float</text><!--MD5=[4a2daf41193a31389d6311337c2a120f]
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+class urt_servicefunc_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="60.8047" id="urt_servicefunc_t" style="stroke: #A80036; stroke-width: 1.5;" width="451" x="11388.2624" y="846.3594"/><ellipse cx="11556.5124" cy="862.3594" fill="#E0E0E0" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M11560.7468,858.125 L11555.4655,858.125 L11555.4655,860.7969 L11560.2624,860.7969 L11560.2624,862.9531 L11555.4655,862.9531 L11555.4655,868.3594 L11553.028,868.3594 L11553.028,855.9688 L11560.7468,855.9688 L11560.7468,858.125 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="106" x="11577.0124" y="866.5137">urt_servicefunc_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="11389.2624" x2="11838.2624" y1="878.3594" y2="878.3594"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11389.2624" x2="11838.2624" y1="886.3594" y2="886.3594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="439" x="11394.2624" y="900.5698">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; 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="M6793.2742,1730.1818 C6810.3857,1747.9219 6828.8977,1767.1139 6847.1738,1786.0614 " 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="6850.8254,1789.8471,6847.4565,1780.5923,6847.3543,1786.2483,6841.6984,1786.1461,6850.8254,1789.8471" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7db439499cb1afd557b9be4c8c52b2ba]
+link urt_topicid_t to urt_config--><path d="M6357.5807,1728.3363 C6363.2665,1731.758 6369.0134,1734.9633 6374.7624,1737.8594 C6514.8764,1808.4428 6689.2887,1853.245 6811.4464,1878.4761 " 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="6816.4959,1879.514,6808.4857,1873.7836,6811.5983,1878.5071,6806.8748,1881.6197,6816.4959,1879.514" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e851a4e79ca88682282ceaaad2100c63]
+link urt_serviceid_t to urt_config--><path d="M6961.7624,1730.1818 C6961.7624,1747.4784 6961.7624,1766.1552 6961.7624,1784.6399 " 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="6961.7624,1789.8471,6965.7624,1780.8471,6961.7624,1784.8471,6957.7624,1780.8471,6961.7624,1789.8471" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[844001065b3bef53527c5dd4ba0c22e5]
+link urt_delay_t to urt_config--><path d="M6539.339,1700.4045 C6555.6566,1713.4588 6573.8943,1726.9338 6591.7624,1737.8594 C6660.9024,1780.1353 6742.582,1818.1266 6811.5864,1847.1527 " 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="6816.5324,1849.2271,6809.7796,1842.0577,6811.9215,1847.2934,6806.6857,1849.4352,6816.5324,1849.2271" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[7766572fa0c619a5409829048dc0b6d6]
+link urt_osCondvar_t to urt_osCondvarWaitStatus_t--><path d="M5360.7624,1392.6872 C5360.7624,1450.5308 5360.7624,1545.2868 5360.7624,1602.4978 " 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="5360.7624,1607.5732,5364.7624,1598.5732,5360.7624,1602.5732,5356.7624,1598.5732,5360.7624,1607.5732" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[9b2507ea88616aeae65e3c4d63560016]
+link urt_osCondvar_t to urt_osMutex_t--><path d="M5310.1437,1293.3481 C5240.2882,1229.9649 5107.2411,1126.4276 4969.2624,1110.8594 C4942.1429,1107.7995 1066.382,1107.7995 1039.2624,1110.8594 C951.0478,1120.8127 897.9434,1222.6974 872.6871,1288.0978 " 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="870.7697,1293.1327,877.7108,1286.1455,872.5492,1288.46,870.2346,1283.2984,870.7697,1293.1327" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[83094e108045c8f9585007cdb3b7cb2e]
+link urt_osTimer_t to urt_osTimerCallback_t--><path d="M4579.7624,1398.9932 C4579.7624,1461.7318 4579.7624,1561.4721 4579.7624,1614.6616 " 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="4579.7624,1619.9737,4583.7624,1610.9737,4579.7624,1614.9737,4575.7624,1610.9737,4579.7624,1619.9737" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8d8c3240b5b2b5edf6544088e583ffa5]
+link urt_osThread_t to urt_osThreadPrio_t--><path d="M3808.124,1512.1767 C3805.2877,1532.4924 3802.5016,1552.449 3799.9656,1570.6135 " 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="3799.2572,1575.688,3804.4633,1567.3276,3799.9486,1570.736,3796.5402,1566.2213,3799.2572,1575.688" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[d7d1d43fd970fb07a484642bc19fcb13]
+link urt_osThread_t to urt_osThreadFunction_t--><path d="M3551.6491,1463.7886 C3504.0228,1487.2895 3455.7694,1513.0211 3411.7624,1539.8594 C3374.2612,1562.73 3334.9809,1593.5348 3306.9364,1616.8902 " 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="3302.8818,1620.2802,3312.3521,1617.5759,3306.7177,1617.073,3307.2206,1611.4385,3302.8818,1620.2802" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6564761b32ad7eeb5abb8896c72cfca5]
+link urt_osThread_t to urt_osThreadTerminateSignal_t--><path d="M3948.3055,1512.1767 C3973.2268,1548.3831 3997.363,1583.4489 4015.1305,1609.262 " 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="4018.1491,1613.6475,4016.3411,1603.966,4015.3142,1609.5288,4009.7513,1608.5019,4018.1491,1613.6475" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[92ba23225d8de8f8080583fedda5e6f8]
+link urt_osThread_t to urt_osThreadState_t--><path d="M3672.3403,1512.1767 C3650.6238,1535.2412 3629.3431,1557.8428 3610.4726,1577.8845 " 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="3606.7312,1581.8581,3615.8131,1578.0476,3610.1588,1578.2178,3609.9886,1572.5635,3606.7312,1581.8581" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[78b286ab2177e5f7b31e6e832d821818]
+link urt_osThread_t to urt_osTime_t--><path d="M3551.4946,1224.9424 C3418.8912,1176.5876 3256.7309,1127.9497 3105.2624,1110.8594 C3060.5738,1105.8171 1530.9511,1105.8171 1486.2624,1110.8594 C1384.7005,1122.3187 1310.7769,1230.5523 1275.3152,1295.0613 " 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="1272.8286,1299.6284,1280.6452,1293.6366,1275.2194,1295.237,1273.619,1289.8113,1272.8286,1299.6284" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[659af6ab57e6a38ebfd5c07c5616787c]
+link urt_osEventListener_t to urt_osEventFlags_t--><path d="M2310.7624,1693.947 C2310.7624,1745.6304 2310.7624,1830.8733 2310.7624,1875.518 " 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="2310.7624,1880.7562,2314.7624,1871.7562,2310.7624,1875.7562,2306.7624,1871.7562,2310.7624,1880.7562" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[eac11679f26c499aa1c571e1f795945d]
+link urt_osEventSource_t to urt_osEventFlags_t--><path d="M1835.9071,1687.9291 C1949.6905,1739.9092 2153.835,1833.1695 2253.2333,1878.5781 " 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="2257.8866,1880.7039,2251.3625,1873.3258,2253.3387,1878.6262,2248.0383,1880.6024,2257.8866,1880.7039" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0259cdb10c6c32168d1d17d25519d939]
+link urt_events to urt_osEventSource_t--><path d="M2564.1398,1385.8685 C2474.3749,1423.8985 2336.8017,1478.3908 2212.7624,1511.8594 C2140.5259,1531.3504 2118.967,1520.2501 2046.7624,1539.8594 C1977.0202,1558.8 1900.7671,1588.0974 1843.6775,1611.8378 " 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="1838.9087,1613.8265,1848.7549,1614.0544,1843.5235,1611.9021,1845.6759,1606.6707,1838.9087,1613.8265" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0ce043e0e9532fc393f3f8836f5de19a]
+link urt_events to urt_osEventListener_t--><path d="M2612.5878,1386.0098 C2547.0099,1443.554 2431.372,1545.0254 2363.8632,1604.2639 " 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="2359.8868,1607.7531,2369.2899,1604.8236,2363.645,1604.4553,2364.0134,1598.8104,2359.8868,1607.7531" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[430bebba9cd89d3ba8f63b2078968bca]
+link urt_events to urt_osEventMask_t--><path d="M2704.4925,1386.0098 C2765.6139,1447.7324 2876.7812,1559.9931 2932.7052,1616.4672 " 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="2936.3079,1620.1053,2932.8174,1610.8957,2932.7897,1616.5525,2927.1329,1616.5248,2936.3079,1620.1053" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b1b185abc2161e087cab32ae7fdb2c40]
+link urt_events to urt_osEventFlags_t--><path d="M2650.2222,1386.1156 C2639.7905,1425.9151 2624.3402,1486.6533 2612.7624,1539.8594 C2593.7275,1627.3356 2626.0601,1663.8015 2575.7624,1737.8594 C2529.0866,1806.5847 2443.7473,1852.7573 2382.5122,1878.8197 " 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="2377.7765,1880.8158,2387.6235,1881.006,2382.3839,1878.8737,2384.5162,1873.6341,2377.7765,1880.8158" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[706a1974d1b474cbba7e7b0213f243a1]
+link urt_events to urt_osEventWait_t--><path d="M2668.6273,1386.0098 C2677.6781,1442.9005 2693.5595,1542.7263 2703.0259,1602.2294 " 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="2703.8651,1607.5046,2706.4011,1597.9878,2703.0794,1602.5667,2698.5005,1599.245,2703.8651,1607.5046" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[5f656ccbf337bb70e2692ec6599b22aa]
+link urt_osCondvar_t to urt_delay_t--><path d="M5465.5674,1392.5021 C5555.6705,1432.5889 5690.2435,1486.374 5813.7624,1511.8594 C5936.0093,1537.0824 6261.0183,1488.4516 6374.7624,1539.8594 C6402.3257,1552.3169 6426.52,1575.2611 6444.9835,1597.0696 " 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="6448.3639,1601.1257,6445.6747,1591.6511,6445.1628,1597.2847,6439.5291,1596.7728,6448.3639,1601.1257" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[2da0e339f7ca878d257c4a5336e8cad5]
+link urt_osThread_t to urt_delay_t--><path d="M4111.8614,1493.5658 C4132.1109,1500.7506 4152.5284,1506.9845 4172.7624,1511.8594 C4291.7025,1540.5149 6262.3602,1491.5521 6374.7624,1539.8594 C6402.7849,1551.9027 6427.1793,1575.0684 6445.6584,1597.1345 " 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="6449.0396,1601.239,6446.4045,1591.7492,6445.8605,1597.3798,6440.2298,1596.8358,6449.0396,1601.239" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[4dd831efde278dc905a11b75839a39d0]
+link urt_osThread_t to urt_status_t--><path d="M4111.8441,1493.638 C4132.0977,1500.8054 4152.5209,1507.0158 4172.7624,1511.8594 C4329.9436,1549.4713 6933.3259,1475.9285 7081.7624,1539.8594 C7114.878,1554.1221 7142.7696,1584.1091 7161.7656,1609.323 " 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="7164.9724,1613.6471,7162.8242,1604.0354,7161.994,1609.631,7156.3984,1608.8008,7164.9724,1613.6471" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8bf77663ad208115c32fd5300d37f092]
+link urt_osTimer_t to urt_delay_t--><path d="M4685.0481,1399.0186 C4765.8776,1438.934 4881.608,1489.3048 4989.7624,1511.8594 C5140.4412,1543.2821 6233.5777,1478.554 6374.7624,1539.8594 C6402.7396,1552.0077 6427.1287,1575.1853 6445.6162,1597.2322 " 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="6448.9991,1601.3327,6446.357,1591.8448,6445.8171,1597.4759,6440.1861,1596.936,6448.9991,1601.3327" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[97e66fd6906ece822f393f9bfe719297]
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+link urt_events to urt_delay_t--><path d="M2751.6297,1386.0313 C2843.2765,1427.5313 2990.7811,1487.4428 3125.7624,1511.8594 C3214.5745,1527.9245 6291.7698,1504.3927 6374.7624,1539.8594 C6402.8095,1551.8452 6427.2067,1575.0044 6445.6813,1597.0811 " 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="6449.0616,1601.1877,6446.4303,1591.6968,6445.884,1597.3272,6440.2536,1596.7809,6449.0616,1601.1877" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0549e7b45a7543f4046fb7eaa1b75598]
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+reverse link urt_hrtdata_t to urt_osTimer_t--><path d="M9462.1032,1242.5335 C9409.5674,1184.3343 9333.6592,1120.6076 9247.2624,1110.8594 C9218.0037,1107.5581 5036.5212,1107.5581 5007.2624,1110.8594 C4865.033,1126.9073 4723.7352,1223.4104 4644.4872,1286.7933 " fill="none" id="urt_hrtdata_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9470.9838,1252.5671,9470.0025,1245.4231,9463.0306,1243.5812,9464.0119,1250.7252,9470.9838,1252.5671" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9457.3436" y="1241.8446">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="4654.3176" y="1275.7228">0..1</text><!--MD5=[7e23fc46f17d4a9469ac4a553a110c32]
+reverse link urt_hrtdata_t to urt_delay_t--><path d="M9412.4613,1440.2014 C9368.2452,1468.9971 9316.5822,1496.8242 9264.7624,1511.8594 C9122.1364,1553.2416 6728.4036,1481.6883 6591.7624,1539.8594 C6561.8177,1552.6075 6535.9129,1577.9478 6516.8794,1601.2014 " fill="none" id="urt_hrtdata_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9423.5378,1432.8668,9416.3267,1432.8443,9413.5325,1439.492,9420.7436,1439.5145,9423.5378,1432.8668" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9405.7473" y="1453.0121">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6495.9896" y="1590.2244">0..5</text><!--MD5=[84b4ddc626a7a0aa23e58213a3a30632]
+link urt_frtdata_t to urt_config--><path d="M8585.2803,1419.5312 C8187.1436,1538.5487 7432.8887,1764.0227 7112.1639,1859.899 " fill="none" id="urt_frtdata_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7107.0061,1861.4408,7116.7747,1862.6954,7111.7966,1860.0086,7114.4833,1855.0305,7107.0061,1861.4408" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[8b5e0556f8c73fbb24cf4e7733c873ff]
+reverse link urt_frtdata_t to urt_osTimer_t--><path d="M8572.8147,1288.5869 C8273.2875,1231.1299 7773.9892,1144.2246 7339.2624,1110.8594 C7306.9685,1108.3808 5039.4471,1107.228 5007.2624,1110.8594 C4865.033,1126.9073 4723.7352,1223.4104 4644.4872,1286.7933 " fill="none" id="urt_frtdata_t&lt;-urt_osTimer_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8585.5971,1291.0443,8580.4602,1285.9834,8573.8129,1288.7786,8578.9498,1293.8395,8585.5971,1291.0443" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8569.8734" y="1286.3457">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="4627.2426" y="1275.7228">0..1</text><!--MD5=[29efa6d8db454d55b0473550ef148da3]
+reverse link urt_frtdata_t to urt_delay_t--><path d="M8572.4457,1373.7377 C8237.8775,1411.1569 7649.3709,1473.8972 7143.7624,1511.8594 C7082.5226,1516.4574 6647.7723,1514.6731 6591.7624,1539.8594 C6562.3263,1553.0962 6536.6205,1578.162 6517.5766,1601.1291 " fill="none" id="urt_frtdata_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8585.7182,1372.2516,8579.3104,1368.9441,8573.7927,1373.5869,8580.2006,1376.8944,8585.7182,1372.2516" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8569.9981" y="1369.9639">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6524.1598" y="1590.1419">0..5</text><!--MD5=[19bf7f91edc926705d1714d4ed8cf052]
+link urt_srtusefulnessfunc_t to urt_delay_t--><path d="M9960.0912,1620.3377 C9920.5549,1589.5895 9854.3598,1544.1548 9788.2624,1525.8594 C9745.7097,1514.081 6650.9263,1511.2445 6609.2624,1525.8594 C6572.4686,1538.766 6541.1916,1569.3587 6518.9425,1597.0468 " fill="none" id="urt_srtusefulnessfunc_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6515.7258,1601.1084,6524.4493,1596.5366,6518.8301,1597.1888,6518.1779,1591.5697,6515.7258,1601.1084" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[85137379eadac9ac066ccd1aa3005a20]
+reverse link urt_service_t to urt_serviceid_t--><path d="M11484.0218,706.3012 C11447.0069,722.5236 11408.0086,736.7425 11369.7624,745.8594 C11257.2906,772.6697 7299.741,735.7976 7207.7624,805.8594 C6965.7334,990.2173 6951.3847,1399.0204 6956.9552,1571.5667 " fill="none" id="urt_service_t&lt;-urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11495.9664,700.9677,11488.8569,699.7615,11485.0091,705.8602,11492.1186,707.0664,11495.9664,700.9677" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11482.6214" y="721.3627">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="6948.1708" y="1560.89">1</text><!--MD5=[bfc39859b663e58a9d342532110a4ed9]
+reverse link urt_service_t to urt_osMutex_t--><path d="M11484.0375,706.3671 C11447.0208,722.5821 11408.0179,736.7814 11369.7624,745.8594 C11107.7944,808.0241 6777.138,714.7961 6523.7624,805.8594 C6322.9679,878.025 6350.9445,1035.7812 6149.7624,1106.8594 C6116.1853,1118.7223 1053.5108,1098.7288 1021.7624,1114.8594 C948.4923,1152.0864 899.6096,1238.2062 874.5683,1293.3009 " fill="none" id="urt_service_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11495.9826,701.0357,11488.8733,699.8284,11485.0245,705.9266,11492.1339,707.1338,11495.9826,701.0357" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11474.0762" y="721.4355">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="868.791" y="1282.3379">1</text><!--MD5=[33249c42c81fffc5b10022c232aa2b33]
+link urt_service_t to urt_config--><path d="M11990.9626,690.6233 C12041.4761,720.2607 12088.0354,758.0227 12120.7624,805.8594 C12206.4484,931.1056 12237.5755,1362.1188 12139.7624,1511.8594 C12003.0652,1721.1273 11868.4391,1682.1738 11624.7624,1737.8594 C11176.903,1840.2053 7861.3035,1892.2999 7111.9742,1902.8374 " fill="none" id="urt_service_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7106.7899,1902.9102,7115.8452,1906.7833,7111.7894,1902.8399,7115.7328,1898.7841,7106.7899,1902.9102" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ac5bbcedbd2eba97f2e594f2b75734f9]
+reverse link urt_service_t to urt_delay_t--><path d="M11484.0252,706.3155 C11447.0099,722.5362 11408.0106,736.7509 11369.7624,745.8594 C11137.7279,801.1163 7287.6632,694.4403 7076.7624,805.8594 C6740.0321,983.7544 6553.1957,1448.035 6499.2965,1601.1052 " fill="none" id="urt_service_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="11495.9699,700.9824,11488.8604,699.776,11485.0125,705.8747,11492.1219,707.081,11495.9699,700.9824" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11442.2304" y="721.9741">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6475.9341" y="1590.1147">0..2</text><!--MD5=[5471b15d17b5493f5e528354308bf7b4]
+link urt_service_t to urt_status_t--><path d="M11495.9624,700.9509 C11455.4532,719.3706 11412.1452,735.7451 11369.7624,745.8594 C11152.4509,797.7187 7542.1058,693.9128 7348.7624,805.8594 C7068.7852,967.9675 7148.1331,1461.0208 7179.1121,1608.6539 " fill="none" id="urt_service_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7180.1931,1613.7589,7182.2418,1604.1255,7179.1573,1608.8673,7174.4154,1605.7828,7180.1931,1613.7589" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0826203957815bb9ddac9132e239afa7]
+link urt_servicefunc_t to urt_delay_t--><path d="M11529.7571,907.3615 C11483.2759,922.691 11424.081,939.7065 11369.7624,947.8594 C11147.0107,981.2931 7519.5151,911.8333 7315.7624,1007.8594 C7259.2914,1034.4735 7256.6022,1061.161 7224.7624,1114.8594 C7128.4016,1277.374 7225.2438,1400.2985 7072.7624,1511.8594 C6986.3509,1575.0812 6689.249,1495.5838 6591.7624,1539.8594 C6564.0978,1552.4239 6539.6981,1575.3811 6521.0362,1597.1705 " fill="none" id="urt_servicefunc_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6517.6189,1601.2227,6526.4788,1596.9213,6520.8423,1597.4004,6520.3632,1591.7639,6517.6189,1601.2227" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3a1e539c88376aaf116c25a44ec54d4f]
+link urt_servicefunc_t to urt_status_t--><path d="M11529.1747,907.4033 C11482.7725,922.6428 11423.8357,939.5601 11369.7624,947.8594 C10754.6009,1042.2764 9191.2567,974.9487 8569.7624,1007.8594 C8288.0422,1022.7776 7513.4973,925.0737 7304.7624,1114.8594 C7172.0828,1235.4942 7275.9083,1337.8046 7232.7624,1511.8594 C7224.5924,1544.8182 7212.9025,1581.4042 7203.6252,1608.7654 " fill="none" id="urt_servicefunc_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7201.9224,1613.764,7208.6108,1606.5345,7203.5347,1609.031,7201.0381,1603.9549,7201.9224,1613.764" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[a361f49b537eb2d03f47c7ffbd7d9fd7]
 @startuml
 
 title **µRtWare**\nOverview\n
@@ -441,7 +441,6 @@ title **µRtWare**\nOverview\n
   + {field} next : urt_message_t*
   + {field} payload : void*
   + {field} originTime : urt_osTime_t
-  + {field} lock : urt_osMutex_t
   + {field} numHrtConsumersLeft : unsigned int
   .. URT_CFG_PUBSUB_PROFILING == true ..
   + {field} numConsumersLeft : unsigned int
