AMiRo-OS

<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="2192px" preserveAspectRatio="none" style="width:12249px;height:2192px;" version="1.1" viewBox="0 0 12249 2192" width="12249px" zoomAndPan="magnify"><defs><filter height="300%" id="fhythnghqj5dw" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><text fill="#000000" font-family="sans-serif" font-size="18" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="89" x="6065" y="16.708">µRtWare</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="87" x="6066" y="37.6611">Overview</text><text fill="#000000" font-family="sans-serif" font-size="18" lengthAdjust="spacingAndGlyphs" textLength="0" x="6112.5" y="58.6143"/><!--MD5=[915f6a2b4bff9d90dc7327d570275f1b]

cluster Configuration--><polygon fill="#FFFFFF" filter="url(#fhythnghqj5dw)" points="6808.7624,1767.8594,6818.7624,1757.8594,7114.7624,1757.8594,7114.7624,2017.8594,7104.7624,2027.8594,6808.7624,2027.8594,6808.7624,1767.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7104.7624" x2="7113.7624" y1="1767.8594" y2="1758.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="6808.7624" x2="7104.7624" y1="1767.8594" y2="1767.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7104.7624" x2="7104.7624" y1="1767.8594" y2="2027.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="107" x="6904.2624" y="1783.8545">Configuration</text><!--MD5=[1cb8ced355c85ab51f1ab55883ed8585]

cluster Primitives--><polygon fill="#FFFFFF" filter="url(#fhythnghqj5dw)" points="5877.7624,1549.8594,5887.7624,1539.8594,7286.7624,1539.8594,7286.7624,1727.8594,7276.7624,1737.8594,5877.7624,1737.8594,5877.7624,1549.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7276.7624" x2="7285.7624" y1="1549.8594" y2="1540.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="5877.7624" x2="7276.7624" y1="1549.8594" y2="1549.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="7276.7624" x2="7276.7624" y1="1549.8594" y2="1737.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="77" x="6539.7624" y="1565.8545">Primitives</text><!--MD5=[ba9da179b6f0b3bb0ea21772c5f4ec75]

cluster OSAL--><polygon fill="#FFFFFF" filter="url(#fhythnghqj5dw)" points="452.7624,1124.8594,462.7624,1114.8594,5731.7624,1114.8594,5731.7624,1934.8594,5721.7624,1944.8594,452.7624,1944.8594,452.7624,1124.8594" style="stroke: #000000; stroke-width: 1.5;"/><line style="stroke: #000000; stroke-width: 1.5;" x1="5721.7624" x2="5730.7624" y1="1124.8594" y2="1115.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="452.7624" x2="5721.7624" y1="1124.8594" y2="1124.8594"/><line style="stroke: #000000; stroke-width: 1.5;" x1="5721.7624" x2="5721.7624" y1="1124.8594" y2="1944.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="42" x="3067.2624" y="1140.8545">OSAL</text><!--MD5=[2e45f233f6bb64aa81ebe67fb6de8946]

cluster condition variable--><rect fill="#FFFFFF" filter="url(#fhythnghqj5dw)" height="435.5" style="stroke: #000000; stroke-width: 1.5;" width="726" x="4997.7624" y="1266.3594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="140" x="5290.7624" y="1281.3545">condition variable</text><!--MD5=[c7113df1f710ca294cbd01734aa00974]

cluster timer--><rect fill="#FFFFFF" filter="url(#fhythnghqj5dw)" height="429.5" style="stroke: #000000; stroke-width: 1.5;" width="798" x="4180.7624" y="1259.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="41" x="4559.2624" y="1274.8545">timer</text><!--MD5=[107bb3f79455a18bd83c75ada1ac7979]

cluster thread--><rect fill="#FFFFFF" filter="url(#fhythnghqj5dw)" height="587" style="stroke: #000000; stroke-width: 1.5;" width="1039" x="3133.7624" y="1146.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="52" x="3627.2624" y="1161.8545">thread</text><!--MD5=[8d74b40516bd265adb19f202ab81f40d]

cluster events--><rect fill="#FFFFFF" filter="url(#fhythnghqj5dw)" height="664" style="stroke: #000000; stroke-width: 1.5;" width="1642" x="1472.7624" y="1272.8594"/><text fill="#000000" font-family="sans-serif" font-size="14" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="54" x="2266.7624" y="1287.8545">events</text><!--MD5=[4e1a3510868d06a507f098bb08f0dae0]

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]

class urt_nodestage_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="158.4375" id="urt_nodestage_t" style="stroke: #A80036; stroke-width: 1.5;" width="216" x="6608.7624" y="1571.8594"/><ellipse cx="6661.0124" cy="1587.8594" fill="#00CFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M6661.8562,1594.6094 L6659.403,1594.6094 L6659.403,1584.3594 L6656.2624,1584.3594 L6656.2624,1582.2188 L6664.9968,1582.2188 L6664.9968,1584.3594 L6661.8562,1584.3594 L6661.8562,1594.6094 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="103" x="6681.5124" y="1592.0137">urt_nodestage_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="6609.7624" x2="6823.7624" y1="1603.8594" y2="1603.8594"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="34" x="6614.7624" y="1634.8745">uin8_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6609.7624" x2="6616.2624" y1="1618.2617" y2="1618.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="201" x="6616.2624" y="1621.5698">URT_CFG_NODESTAGE_WIDTH == 8</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6817.2624" x2="6823.7624" y1="1618.2617" y2="1618.2617"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6614.7624" y="1664.4839">uint16_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6609.7624" x2="6612.7624" y1="1647.8711" y2="1647.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="6612.7624" y="1651.1792">URT_CFG_NODESTAGE_WIDTH == 16</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6820.7624" x2="6823.7624" y1="1647.8711" y2="1647.8711"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6614.7624" y="1694.0933">uint32_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6609.7624" x2="6612.7624" y1="1677.4805" y2="1677.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="6612.7624" y="1680.7886">URT_CFG_NODESTAGE_WIDTH == 32</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6820.7624" x2="6823.7624" y1="1677.4805" y2="1677.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="45" x="6614.7624" y="1723.7026">uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6609.7624" x2="6612.7624" y1="1707.0898" y2="1707.0898"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="208" x="6612.7624" y="1710.3979">URT_CFG_NODESTAGE_WIDTH == 64</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="6820.7624" x2="6823.7624" y1="1707.0898" y2="1707.0898"/><!--MD5=[a55671f9c3a4eb2d749fd774fc81a82b]

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; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="197" x="7384.7624" y="673.7261">numDiscardedMessages : uint64_t</text><ellipse cx="7375.7624" cy="683.3203" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="176" x="7384.7624" y="686.5308">numSubscribers : unsigned int</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7365.7624" x2="7448.2624" y1="657.1133" y2="657.1133"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="217" x="7448.2624" y="660.4214">URT_CFG_PUBSUB_PROFILING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="7665.2624" x2="7747.7624" y1="657.1133" y2="657.1133"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="7365.7624" x2="7747.7624" y1="693.125" y2="693.125"/><ellipse cx="7375.7624" cy="704.125" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="358" x="7384.7624" y="707.3354">urtTopicInit (topic : urt_topic_t*, id : urt_topicid_t) : urt_status_t</text><!--MD5=[ab7cf431813e3be5d474948fd959cdbf]

class urt_subscriber_t--><rect fill="#FEFECE" filter="url(#fhythnghqj5dw)" height="312.0938" id="urt_subscriber_t" style="stroke: #A80036; stroke-width: 1.5;" width="1068" x="8596.7624" y="433.8594"/><ellipse cx="9076.0124" cy="449.8594" fill="#BFAFFF" rx="11" ry="11" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M9075.4968,450.4219 Q9073.6374,449.7188 9072.9812,448.9531 Q9072.3405,448.1719 9072.3405,446.8594 Q9072.3405,445.1719 9073.4187,444.2031 Q9074.4968,443.2344 9076.3718,443.2344 Q9077.2312,443.2344 9078.0749,443.4375 Q9078.9343,443.625 9079.778,444.0156 L9079.778,446.4063 Q9078.9968,445.8438 9078.1687,445.5625 Q9077.3562,445.2656 9076.5593,445.2656 Q9075.6843,445.2656 9075.1999,445.625 Q9074.7312,445.9844 9074.7312,446.6406 Q9074.7312,447.1563 9075.0749,447.5 Q9075.4187,447.8281 9076.5124,448.2344 L9077.5749,448.6406 Q9079.0593,449.1875 9079.7624,450.0938 Q9080.4812,451 9080.4812,452.375 Q9080.4812,454.25 9079.3718,455.1719 Q9078.2624,456.0938 9076.0124,456.0938 Q9075.0905,456.0938 9074.1687,455.875 Q9073.2468,455.6563 9072.3874,455.2344 L9072.3874,452.7031 Q9073.3562,453.3906 9074.278,453.7344 Q9075.1999,454.0781 9076.0905,454.0781 Q9076.9968,454.0781 9077.4968,453.6719 Q9077.9968,453.25 9077.9968,452.5156 Q9077.9968,451.9531 9077.653,451.5469 Q9077.3249,451.125 9076.6999,450.875 L9075.4968,450.4219 Z "/><text fill="#000000" font-family="sans-serif" font-size="12" lengthAdjust="spacingAndGlyphs" textLength="101" x="9096.5124" y="454.0137">urt_subscriber_t</text><line style="stroke: #A80036; stroke-width: 1.5;" x1="8597.7624" x2="9663.7624" y1="465.8594" y2="465.8594"/><ellipse cx="8607.7624" cy="476.8594" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="104" x="8616.7624" y="480.0698">topic : urt_topic_t*</text><ellipse cx="8607.7624" cy="489.6641" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="198" x="8616.7624" y="492.8745">evtListener : urt_osEventListener_t</text><ellipse cx="8607.7624" cy="502.4688" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="112" x="8616.7624" y="505.6792">rtdata : urt_rtdata_t</text><ellipse cx="8607.7624" cy="515.2734" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="175" x="8616.7624" y="518.4839">lastMessage : urt_message_t*</text><ellipse cx="8607.7624" cy="528.0781" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="186" x="8616.7624" y="531.2886">lastMessageTime : urt_osTime_t</text><ellipse cx="8607.7624" cy="557.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="136" x="8616.7624" y="560.8979">sumLatencies : uint64_t</text><ellipse cx="8607.7624" cy="570.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="190" x="8616.7624" y="573.7026">numMessagesReceived : uint64_t</text><line style="stroke: #A80036; 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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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;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="137" x="11408.7624" y="593.0933">sumDurations : uint64_t</text><ellipse cx="11399.7624" cy="602.6875" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="110" x="11408.7624" y="605.8979">numCalls : uint64_t</text><ellipse cx="11399.7624" cy="615.4922" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="135" x="11408.7624" y="618.7026">numTimeouts : uint64_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11389.7624" x2="11595.2624" y1="576.4805" y2="576.4805"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="189" x="11595.2624" y="579.7886">URT_CFG_RPC_PROFLING == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11784.2624" x2="11989.7624" y1="576.4805" y2="576.4805"/><ellipse cx="11399.7624" cy="645.1016" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="143" x="11408.7624" y="648.312">minDuration : urt_delay_t</text><ellipse cx="11399.7624" cy="657.9063" fill="none" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="146" x="11408.7624" y="661.1167">maxDuration : urt_delay_t</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11389.7624" x2="11462.7624" y1="631.6992" y2="631.6992"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="454" x="11462.7624" y="635.0073">URT_CFG_RPC_PROFILING == true || URT_CFG_RPC_QOS_JITTERCHECKS == true</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 1.0,2.0;" x1="11916.7624" x2="11989.7624" y1="631.6992" y2="631.6992"/><line style="stroke: #A80036; stroke-width: 1.5;" x1="11389.7624" x2="11989.7624" y1="667.7109" y2="667.7109"/><ellipse cx="11399.7624" cy="678.7109" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="576" x="11408.7624" y="681.9214">urtServiceInit(service : urt_service_t*, id : urt_serviceid_t, callback : urt_servicefunc_t*) : urt_status_t</text><ellipse cx="11399.7624" cy="691.5156" fill="#84BE84" rx="3" ry="3" style="stroke: #038048; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="11" lengthAdjust="spacingAndGlyphs" textLength="557" x="11408.7624" y="694.7261">urtServiceCall(service : urt_service_t*, arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t</text><!--MD5=[5fff9a13948f7f5b5e6ca18c1c7a9716]

link urt_nodestage_t to urt_config--><path d="M6793.2742,1730.1818 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]

link urt_osTimer_t to urt_status_t--><path d="M4684.5818,1399.0236 C4765.4072,1439.083 4881.343,1489.6356 4989.7624,1511.8594 C5103.6276,1535.1995 6975.0967,1493.6811 7081.7624,1539.8594 C7114.8511,1554.1843 7142.7441,1584.168 7161.7475,1609.3649 " fill="none" id="urt_osTimer_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7164.9557,1613.6859,7162.802,1604.0754,7161.975,1609.6715,7156.3789,1608.8445,7164.9557,1613.6859" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[a4e2abbbace7909006fa5f13364d6021]

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]

link urt_events to urt_status_t--><path d="M2751.1926,1385.8806 C2842.8014,1427.4219 2990.5514,1487.5087 3125.7624,1511.8594 C3233.9142,1531.3369 6980.7786,1496.5185 7081.7624,1539.8594 C7114.8961,1554.0799 7142.7867,1584.0691 7161.7778,1609.2946 " fill="none" id="urt_events-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7164.9838,1613.6207,7162.8389,1604.0082,7162.0068,1609.6035,7156.4115,1608.7714,7164.9838,1613.6207" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[182342162f0b9b45ddce11acc6582c59]

reverse link urt_node_t to urt_node_t--><path d="M11348.1812,563.4244 C11362.6515,570.7541 11370.7624,579.5658 11370.7624,589.8594 C11370.7624,602.7769 11357.9895,613.3606 11335.9051,621.6107 " fill="none" id="urt_node_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="11335.9051,558.1081,11339.8214,564.163,11346.9169,562.8768,11343.0006,556.8219,11335.9051,558.1081" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11343.7259" y="554.6236">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="11343.8384" y="619.0192">0..1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]

reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M10881.3571,686.757 C10942.8663,742.4211 11019.0849,808.5799 11065.9823,846.3514 " fill="none" id="urt_node_t&lt;-urt_nodeSetupCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="10871.6183,677.9193,10873.3734,684.9135,10880.5047,685.9835,10878.7496,678.9892,10871.6183,677.9193" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10870.5626" y="697.9033">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11047.7492" y="835.1399">1</text><!--MD5=[55d7f7c946c3356baf68288566af1bf6]

reverse link urt_node_t to urt_nodeSetupCallback_t--><path d="M10899.9813,681.2948 C10966.1045,738.0341 11043.2627,807.3364 11082.932,846.3514 " fill="none" id="urt_node_t&lt;-urt_nodeSetupCallback_t-1" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10896.0433,677.9193,10900.2734,686.8134,10899.8396,681.1733,10905.4798,680.7394,10896.0433,677.9193" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[b913f036db99e36b937989146817bd94]

reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M10688.0035,687.789 C10639.1892,743.2367 10584.5186,808.8131 10556.5732,846.3514 " fill="none" id="urt_node_t&lt;-urt_nodeLoopCallback_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="10696.7258,677.9193,10689.7553,679.7664,10688.7794,686.9112,10695.7499,685.064,10696.7258,677.9193" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10681.1868" y="697.9033">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="10551.5943" y="835.1399">1</text><!--MD5=[b913f036db99e36b937989146817bd94]

reverse link urt_node_t to urt_nodeLoopCallback_t--><path d="M10717.8277,681.9736 C10671.3386,738.5859 10611.1889,807.4919 10573.5229,846.3514 " fill="none" id="urt_node_t&lt;-urt_nodeLoopCallback_t-1" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="10721.1508,677.9193,10712.3519,682.344,10717.9811,681.7862,10718.539,687.4155,10721.1508,677.9193" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[0c465c1a61dfd99ff8b5568ca35c92d1]

reverse link urt_srtdata_t to urt_srtusefulnessfunc_t--><path d="M9980.019,1393.011 C9984.1949,1457.3196 9991.3084,1566.8665 9994.7624,1620.0592 " fill="none" id="urt_srtdata_t&lt;-urt_srtusefulnessfunc_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="9979.1749,1380.0114,9975.5721,1386.258,9979.9525,1391.9862,9983.5553,1385.7396,9979.1749,1380.0114" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9970.912" y="1399.5171">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="9967.8749" y="1609.2605">0..1</text><!--MD5=[3f22cd2af9b1d30da63b75b4db75ae6e]

reverse link urt_rtclassdata_t to urt_hrtdata_t--><path d="M9309.2131,1116.294 C9348.9295,1155.6656 9401.9328,1208.2088 9446.8969,1252.7826 " fill="none" id="urt_rtclassdata_t&lt;-urt_hrtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9299.9282,1107.0897,9301.3732,1114.1545,9308.4504,1115.5379,9307.0054,1108.4731,9299.9282,1107.0897" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9298.4203" y="1127.1985">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="9414.3784" y="1241.7724">0..1</text><!--MD5=[a94a8c9c209e194384613684e912df80]

reverse link urt_rtclassdata_t to urt_frtdata_t--><path d="M9164.6226,1104.6787 C9162.6639,1105.44 9160.7089,1106.1685 9158.7624,1106.8594 C9140.4431,1113.3616 9133.3584,1106.5975 9115.7624,1114.8594 C9038.3191,1151.2219 8964.6106,1214.8045 8913.1888,1265.6025 " fill="none" id="urt_rtclassdata_t&lt;-urt_frtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9176.6629,1099.6292,9169.5828,1098.2609,9165.5967,1104.2701,9172.6768,1105.6384,9176.6629,1099.6292" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9160.712" y="1100.2773">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="8894.6672" y="1254.8418">0..1</text><!--MD5=[e6a6d7a2212fadf5661857a71d4f05c3]

reverse link urt_rtclassdata_t to urt_srtdata_t--><path d="M9336.1201,1061.3858 C9490.5845,1069.2198 9802.0094,1088.1199 9843.7624,1114.8594 C9913.0322,1159.2211 9950.5503,1253.4668 9966.7876,1305.832 " fill="none" id="urt_rtclassdata_t&lt;-urt_srtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9323.0248,1060.7291,9328.8169,1065.0246,9335.0097,1061.3303,9329.2177,1057.0347,9323.0248,1060.7291" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9330.9925" y="1057.3656">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="9938.736" y="1294.7374">0..1</text><!--MD5=[206fe31eaf8244c7272230bb0ec7137c]

reverse link urt_rtclassdata_t to urt_nrtdata_t--><path d="M9236.6141,1119.9238 C9223.4934,1182.3564 9204.0075,1275.0767 9194.857,1318.6179 " fill="none" id="urt_rtclassdata_t&lt;-urt_nrtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9239.3112,1107.0897,9234.1627,1112.1387,9236.8432,1118.8331,9241.9917,1113.7841,9239.3112,1107.0897" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9229.279" y="1127.1985">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="9169.1738" y="1307.964">0..1</text><!--MD5=[1ba55993ff077c77667f6c7be6552d53]

reverse link urt_rtdata_t to urt_rtclass_t--><path d="M9112.5926,926.5512 C9103.357,951.8091 9092.1648,982.4182 9082.9296,1007.675 " fill="none" id="urt_rtdata_t&lt;-urt_rtclass_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9117.0872,914.2591,9111.27,918.5205,9112.9662,925.5293,9118.7834,921.2678,9117.0872,914.2591" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9106.2702" y="933.5236">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9076.9219" y="996.6943">1</text><!--MD5=[8318054091d2ecf2336b9e490f482e2a]

reverse link urt_rtdata_t to urt_rtclassdata_t--><path d="M9162.6144,925.1726 C9179.4369,950.6891 9200.0511,981.9569 9217.0065,1007.675 " fill="none" id="urt_rtdata_t&lt;-urt_rtclassdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9155.4193,914.2591,9155.3823,921.4701,9162.0244,924.2777,9162.0614,917.0667,9155.4193,914.2591" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9150.7115" y="933.5236">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9203.8377" y="996.6943">1</text><!--MD5=[b6ee30948a218449c72edbee7363b5d7]

link urt_subscriber_t to urt_hrtdata_t--><path d="M9228.8673,745.8878 C9240.8655,765.9263 9252.7617,786.2782 9263.7624,805.8594 C9347.2688,954.4991 9435.442,1131.4004 9488.5328,1240.4159 " fill="none" id="urt_subscriber_t-&gt;urt_hrtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="9494.3535,1252.3848,9495.3266,1245.2396,9489.1053,1241.5933,9488.1322,1248.7384,9494.3535,1252.3848" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="9209.038" y="765.8765">0..1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9482.5756" y="1241.6477">1</text><!--MD5=[536025241394544a90bc53fb552f3a08]

reverse link urt_message_t to urt_message_t--><path d="M7827.7465,853.6645 C7841.8277,859.2105 7850.2624,866.9422 7850.2624,876.8594 C7850.2624,889.4278 7836.7153,898.4858 7815.2965,904.0336 " fill="none" id="urt_message_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="7815.2965,849.6852,7819.7939,855.322,7826.7268,853.3386,7822.2295,847.7018,7815.2965,849.6852" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7823.5454" y="845.5149">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="7823.0906" y="901.7542">0..1</text><!--MD5=[f7eb638a1c2d853c6fb0ae6f53692e50]

reverse link urt_subscriber_t to urt_rtdata_t--><path d="M9130.7624,759.0569 C9130.7624,789.4345 9130.7624,818.2238 9130.7624,839.7378 " fill="none" id="urt_subscriber_t&lt;-urt_rtdata_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="9130.7624,745.9573,9126.7624,751.9573,9130.7624,757.9573,9134.7624,751.9573,9130.7624,745.9573" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9122.5687" y="765.9494">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="9122.0499" y="828.9031">1</text><!--MD5=[bf7bf5810813e0e9b75d3053dc098443]

reverse link urt_subscriber_t to urt_topic_t--><path d="M8805.7338,429.1279 C8731.8372,401.8838 8652.35,379.5572 8575.2624,370.8594 C8532.5888,366.0445 7844.9361,366.0445 7802.2624,370.8594 C7794.3344,371.7539 7791.8006,371.1019 7784.7624,374.8594 C7741.207,398.113 7699.8801,431.8981 7664.6752,465.8258 " fill="none" id="urt_subscriber_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8818.0219,433.7221,8813.8027,427.8741,8806.7818,429.5196,8811.001,435.3675,8818.0219,433.7221" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8794.6798" y="422.8637">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="7646.5199" y="454.8792">0..1</text><!--MD5=[d3b08a81de663c21a5ec062e6c430f2b]

reverse link urt_topic_t to urt_subscriber_t--><path d="M7674.3094,456.6922 C7707.324,425.9123 7745.1202,396.0238 7784.7624,374.8594 C7791.8006,371.1019 7794.3344,371.7539 7802.2624,370.8594 C7844.9361,366.0445 8532.5888,366.0445 8575.2624,370.8594 C8656.6415,380.0415 8740.6947,404.4119 8818.0219,433.7221 " fill="none" id="urt_topic_t&lt;-urt_subscriber_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="7664.6752,465.8258,7671.7815,464.6006,7673.3837,457.5698,7666.2775,458.7949,7664.6752,465.8258" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7671.4949" y="454.8792">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="8803.4548" y="422.8637">0..1</text><!--MD5=[67fd999c5486ad1c37ee9b77e12afd1b]

reverse link urt_subscriber_t to urt_message_t--><path d="M8583.6968,747.7287 C8318.5534,802.2604 8016.5612,837.5624 7815.4844,857.2957 " fill="none" id="urt_subscriber_t&lt;-urt_message_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="8596.6935,745.034,8590.0063,742.3355,8584.9434,747.4704,8591.6306,750.1689,8596.6935,745.034" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8580.9571" y="746.4855">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="7823.2847" y="853.4827">0..1</text><!--MD5=[54fcf25ad8c5f1d36e678e42d5bfd4cc]

reverse link urt_publisher_t to urt_topic_t--><path d="M7788.6417,589.8594 C7775.4355,589.8594 7762.2293,589.8594 7749.0232,589.8594 " fill="none" id="urt_publisher_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="7801.8478,589.8594,7795.8478,585.8594,7789.8478,589.8594,7795.8478,593.8594,7801.8478,589.8594" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7786.0495" y="586.777">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7756.6896" y="586.6345">1</text><!--MD5=[5025b4c4053b8e7c7ca8a657f09f21c0]

link urt_publisher_t to urt_message_t--><path d="M8048.5372,654.4466 C7957.1604,698.7459 7835.7477,757.6064 7740.7778,803.6475 " fill="none" id="urt_publisher_t-&gt;urt_message_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7736.2757,805.8302,7746.1191,805.5033,7740.7748,803.649,7742.6292,798.3047,7736.2757,805.8302" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b2afc1defaa6ed5a86f99c07f8466dd]

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reverse link urt_topic_t to urt_message_t--><path d="M7586.0182,726.9893 C7589.2549,754.2576 7591.8758,781.8332 7593.427,805.7673 " fill="none" id="urt_topic_t&lt;-urt_message_t-1" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7584.4358,714.0726,7581.1951,720.5145,7585.895,725.9835,7589.1357,719.5416,7584.4358,714.0726" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7577.8784" y="734.1676">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7585.3924" y="794.7551">1</text><!--MD5=[05f2c35569573d3273c65d3342945557]

reverse link urt_service_t to urt_service_t--><path d="M12002.5507,556.1006 C12017.1861,564.616 12025.7624,575.8689 12025.7624,589.8594 C12025.7624,607.2456 12012.5176,620.4042 11990.8589,629.335 " fill="none" id="urt_service_t&lt;-urt_service_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="11990.8589,550.3838,11994.492,556.6128,12001.6392,555.6549,11998.0061,549.4259,11990.8589,550.3838" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11998.963" y="546.1985">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="11999.1755" y="627.2469">0..1</text><!--MD5=[586e61fedafd54ae7ea71cebd9f9032a]

reverse link urt_service_t to urt_servicefunc_t--><path d="M11656.9258,713.8608 C11644.0342,762.5438 11630.3347,814.2775 11621.9117,846.0853 " fill="none" id="urt_service_t&lt;-urt_servicefunc_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="11660.2701,701.2319,11654.8674,706.008,11657.1982,712.832,11662.6009,708.0559,11660.2701,701.2319" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="11650.0198" y="721.2745">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="11597.1175" y="835.292">0..1</text><!--MD5=[694e7400eb99f74d44ea388aed89d199]

reverse link urt_core_t to urt_node_t--><path d="M7885.689,242.4411 C8458.7974,251.7451 9777.2467,282.746 10215.7624,374.8594 C10346.5522,402.3327 10487.0696,455.3064 10595.62,501.7942 " fill="none" id="urt_core_t&lt;-urt_node_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#FFFFFF" points="7872.2904,242.2254,7878.2252,246.3215,7884.2888,242.4187,7878.3541,238.3226,7872.2904,242.2254" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7880.0545" y="254.6158">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="10554.4203" y="490.6521">0..1</text><!--MD5=[250695c91040478b50550bc37a8775c7]

reverse link urt_core_t to urt_topic_t--><path d="M7591.4377,380.0144 C7586.7461,408.4065 7581.8483,438.0467 7577.2617,465.8037 " fill="none" id="urt_core_t&lt;-urt_topic_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7593.5769,367.0684,7588.6522,372.3359,7591.6204,378.9078,7596.5451,373.6403,7593.5769,367.0684" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7584.1209" y="386.9828">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="7553.7796" y="454.8558">0..1</text><!--MD5=[8d0a227ec56585cdbc167f8316b34b64]

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reverse link urt_core_t to urt_osEventSource_t--><path d="M7343.5559,240.8195 C6260.5184,249.2334 2277.0717,285.9823 1718.7624,374.8594 C955.0504,496.4345 52.7624,103.5312 52.7624,876.8594 C52.7624,876.8594 52.7624,876.8594 52.7624,1057.3594 C52.7624,1259.5959 -65.7755,1366.4335 74.7624,1511.8594 C170.2544,1610.6726 1029.8612,1639.3128 1481.0118,1647.5595 " fill="none" id="urt_core_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7356.9455,240.7158,7350.9147,236.7624,7344.9459,240.8087,7350.9767,244.7621,7356.9455,240.7158" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7341.1728" y="253.0614">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1465.634" y="1659.7449">1</text><!--MD5=[b9eb8460041bde16ab6e44c28de7b0fc]

reverse link urt_core_t to urt_osMutex_t--><path d="M7343.7286,241.5819 C6872.3486,248.8921 5871.6265,275.8091 5032.7624,374.8594 C3232.517,587.4263 2557.1153,151.1374 1021.7624,1114.8594 C953.1929,1157.8997 903.6385,1240.1742 877.0728,1293.2278 " fill="none" id="urt_core_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7356.8311,241.3816,7350.7707,237.4738,7344.8325,241.565,7350.8929,245.4728,7356.8311,241.3816" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7341.055" y="238.3016">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="880.7727" y="1282.2545">1</text><!--MD5=[53eb1ed31b8ffcbb98ca8a87ecf3ad40]

link urt_core_t to urt_status_t--><path d="M7872.6189,242.0068 C8805.2442,253.994 11952.1108,299.9327 12024.7624,374.8594 C12202.0419,557.6902 12196.8111,760.0979 12024.7624,947.8594 C11887.8484,1097.2776 10410.2077,1097.5233 10207.7624,1106.8594 C10162.3102,1108.9555 8614.465,1106.3755 8569.7624,1114.8594 C8045.1767,1214.4185 7463.1599,1505.0292 7261.8934,1611.3253 " fill="none" id="urt_core_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7257.2101,1613.8018,7267.0361,1613.1305,7261.6301,1611.4644,7263.2963,1606.0585,7257.2101,1613.8018" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[f6f8ae0abb3c85244c8639cf15039f58]

link urt_core_t to urt_nodestage_t--><path d="M7356.8115,249.6522 C6862.7434,271.4517 5826.3613,323.0822 5767.7624,374.8594 C5621.3851,504.1967 5700.9666,611.474 5681.7624,805.8594 C5668.5647,939.4475 5608.7937,1015.0875 5706.7624,1106.8594 C5721.0932,1120.2837 5780.3565,1101.5159 5794.7624,1114.8594 C5926.0397,1236.4556 5727.3525,1393.7352 5861.7624,1511.8594 C5922.6502,1565.3697 6515.4939,1509.7708 6590.7624,1539.8594 C6607.8356,1546.6844 6624.144,1556.8838 6639.0282,1568.3808 " fill="none" id="urt_core_t-&gt;urt_nodestage_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6643.188,1571.6562,6638.5915,1562.9457,6639.2596,1568.5629,6633.6424,1569.2311,6643.188,1571.6562" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[e894174e7ccaed139fbaaa0f9b9ae8dc]

link urt_core_t to urt_topicid_t--><path d="M7357.1994,247.8703 C6841.6428,267.1326 5726.9419,315.4399 5668.7624,374.8594 C5441.0227,607.4531 5424.2498,866.4859 5643.7624,1106.8594 C5657.0039,1121.3592 5717.4884,1101.3749 5731.7624,1114.8594 C5861.4333,1237.3573 5660.3221,1390.1813 5790.7624,1511.8594 C5849.1144,1566.2915 6076.1375,1506.7925 6148.7624,1539.8594 C6164.1857,1546.8818 6178.7315,1556.9554 6191.9287,1568.2044 " fill="none" id="urt_core_t-&gt;urt_topicid_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6195.9805,1571.7311,6191.8181,1562.805,6192.2091,1568.4484,6186.5657,1568.8393,6195.9805,1571.7311" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[972bd788fc5a0ee0badfa994920a3622]

link urt_core_t to urt_serviceid_t--><path d="M7357.0079,277.2143 C6884.142,353.4165 5908.1795,539.7837 5709.7624,805.8594 C5672.0346,856.4521 5699.8299,885.5348 5709.7624,947.8594 C5721.4638,1021.2827 5703.2895,1060.9376 5761.7624,1106.8594 C5779.992,1121.176 5847.4015,1100.7117 5865.7624,1114.8594 C6013.7318,1228.8747 5853.3534,1401.0825 6003.7624,1511.8594 C6078.8654,1567.1731 6756.5633,1504.2256 6842.7624,1539.8594 C6859.2296,1546.6668 6874.8058,1556.8573 6888.9305,1568.3508 " fill="none" id="urt_core_t-&gt;urt_serviceid_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6892.8755,1571.6254,6888.5053,1562.7992,6889.0283,1568.4318,6883.3956,1568.9548,6892.8755,1571.6254" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[addb2e74eebae0995b3a6bf162197d46]

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link urt_node_t to urt_status_t--><path d="M10516.8928,677.942 C10422.8019,705.0328 10315.5895,731.4852 10215.7624,745.8594 C10123.9994,759.0725 6943.726,739.7173 6878.7624,805.8594 C6658.8915,1029.7193 6672.6027,1275.312 6878.7624,1511.8594 C6908.6822,1546.1893 7041.1704,1519.2193 7081.7624,1539.8594 C7113.3387,1555.9152 7140.8635,1585.0357 7160.0869,1609.4219 " fill="none" id="urt_node_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7163.339,1613.6032,7160.9709,1604.0433,7160.2693,1609.6564,7154.6561,1608.9548,7163.339,1613.6032" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b00c0c61b5ae38465e12763fb588229]

link urt_nodeSetupCallback_t to urt_osEventMask_t--><path d="M11024.1158,907.4169 C10977.4822,922.7115 10918.1744,939.6764 10863.7624,947.8594 C10063.3205,1068.2376 8019.3554,869.8604 7221.7624,1007.8594 C6532.916,1127.0432 6420.9475,1394.6493 5731.7624,1511.8594 C5589.0259,1536.1347 3263.6427,1495.6772 3125.7624,1539.8594 C3078.0519,1555.1477 3032.08,1590.172 3001.9485,1616.8198 " fill="none" id="urt_nodeSetupCallback_t-&gt;urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2997.987,1620.3559,3007.3649,1617.3468,3001.7171,1617.0263,3002.0376,1611.3785,2997.987,1620.3559" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[aa0b59559007c8ad9b783f6dc5ed8ad9]

link urt_nodeLoopCallback_t to urt_osEventMask_t--><path d="M10422.8655,907.4161 C10359.7536,922.6084 10280.0087,939.4776 10207.7624,947.8594 C9535.4738,1025.8564 7838.5225,970.3915 7162.7624,1007.8594 C6679.7215,1034.6419 6562.028,1084.4935 6078.7624,1106.8594 C6068.9916,1107.3116 451.6739,1107.9381 444.7624,1114.8594 C320.086,1239.713 320.7381,1386.358 444.7624,1511.8594 C490.9429,1558.5898 2747.2681,1519.5906 2809.7624,1539.8594 C2856.8647,1555.1361 2902.095,1589.9785 2931.8076,1616.5824 " fill="none" id="urt_nodeLoopCallback_t-&gt;urt_osEventMask_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="2935.7146,1620.1134,2931.7195,1611.1112,2932.0051,1616.7608,2926.3554,1617.0464,2935.7146,1620.1134" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[6b3fa89608aace108b23bbfcd22712ec]

link urt_publisher_t to urt_config--><path d="M8050.6505,654.4845 C7974.9046,688.448 7876.6859,726.8754 7784.7624,745.8594 C7685.524,766.3541 6038.9394,740.1935 5961.7624,805.8594 C5802.1507,941.6648 5680.695,1579.3302 5817.7624,1737.8594 C5881.9562,1812.1045 6515.8935,1870.3858 6811.4728,1893.7552 " fill="none" id="urt_publisher_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6816.6637,1894.1648,6808.0064,1889.469,6811.6792,1893.7713,6807.3769,1897.4442,6816.6637,1894.1648" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[48a81098d0aa451a4923659bb2bbea3c]

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link urt_publisher_t to urt_delay_t--><path d="M8050.6464,654.4645 C7974.8991,688.4216 7876.6805,726.8493 7784.7624,745.8594 C7687.2154,766.0337 6062.0098,734.2547 5992.7624,805.8594 C5948.8892,851.2262 5980.9286,885.8677 5992.7624,947.8594 C6007.0152,1022.5229 6000.8838,1054.2656 6055.7624,1106.8594 C6063.5763,1114.348 6070.9186,1107.4022 6078.7624,1114.8594 C6216.7555,1246.0491 6093.5255,1389.9267 6239.7624,1511.8594 C6286.8259,1551.101 6321.0399,1510.3848 6374.7624,1539.8594 C6400.6154,1554.0435 6424.1389,1576.447 6442.584,1597.424 " fill="none" id="urt_publisher_t-&gt;urt_delay_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="6445.9684,1601.3219,6443.0881,1591.9036,6442.6903,1597.5465,6437.0474,1597.1486,6445.9684,1601.3219" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3f75a4ca5db56e37c381a718c71f2950]

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reverse link urt_topic_t to urt_osMutex_t--><path d="M7351.6031,598.8046 C6839.229,622.732 5533.0733,694.0821 5372.7624,805.8594 C5311.7804,848.3794 5289.7279,1067.3357 5226.7624,1106.8594 C5202.0298,1122.3842 1047.7941,1101.6277 1021.7624,1114.8594 C948.4986,1152.0989 899.614,1238.2148 874.5706,1293.3054 " fill="none" id="urt_topic_t&lt;-urt_osMutex_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7364.6728,598.1965,7358.4934,594.4797,7352.6858,598.7543,7358.8652,602.4711,7364.6728,598.1965" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7349.0131" y="595.2973">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="868.7936" y="1282.343">1</text><!--MD5=[ee40dc1875ed5325eec4e6c8c8102744]

reverse link urt_topic_t to urt_osEventSource_t--><path d="M7350.9387,603.537 C6159.6652,682.8139 200.3148,1080.9853 168.7624,1114.8594 C48.5005,1243.9706 49.5682,1381.7618 168.7624,1511.8594 C255.4411,1606.467 1050.8039,1636.9597 1481.171,1646.5729 " fill="none" id="urt_topic_t&lt;-urt_osEventSource_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7364.3071,602.6474,7358.0547,599.0546,7352.3336,603.4443,7358.586,607.037,7364.3071,602.6474" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7348.6331" y="615.508">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1464.93" y="1643.2976">1</text><!--MD5=[f5e2f818dfb7c47ef0a661b061d2efd0]

link urt_topic_t to urt_config--><path d="M7713.4607,713.8898 C7736.3358,726.8802 7760.4177,738.1387 7784.7624,745.8594 C7896.935,781.4338 11934.5665,725.744 12020.7624,805.8594 C12102.949,882.2482 12042.7624,945.1548 12042.7624,1057.3594 C12042.7624,1057.3594 12042.7624,1057.3594 12042.7624,1342.8594 C12042.7624,2180.5722 11030.2614,1628.1586 10199.7624,1737.8594 C9590.6343,1818.3192 7665.7414,1882.9948 7112.0813,1900.2967 " fill="none" id="urt_topic_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7106.8346,1900.4606,7115.9551,1904.1776,7111.8322,1900.3044,7115.7053,1896.1815,7106.8346,1900.4606" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[a01366c261f16bb61c03de8616a1256c]

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reverse link urt_message_t to urt_osTime_t--><path d="M7350.978,894.8111 C7148.3992,913.7889 6876.4877,949.2505 6784.7624,1007.8594 C6739.9921,1036.4659 6764.6731,1081.9174 6717.7624,1106.8594 C6685.5775,1123.9719 1502.2533,1100.4694 1468.7624,1114.8594 C1381.1508,1152.5034 1312.1529,1244.7646 1277.1003,1299.6937 " fill="none" id="urt_message_t&lt;-urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="7364.2186,893.5849,7357.8753,890.1553,7352.2697,894.6916,7358.6131,898.1212,7364.2186,893.5849" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="7347.9694" y="890.9923">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1272.501" y="1288.6633">1</text><!--MD5=[7527c1e2a180419f2ba2182e8f11877d]

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reverse link urt_subscriber_t to urt_osTime_t--><path d="M8583.7564,746.6633 C8344.9746,766.4599 6077.8553,730.8034 5955.7624,805.8594 C5826.5183,885.3116 5924.8298,1028.7621 5794.7624,1106.8594 C5769.0069,1122.324 1496.3622,1102.9953 1468.7624,1114.8594 C1381.1569,1152.5176 1312.1568,1244.7736 1277.1022,1299.698 " fill="none" id="urt_subscriber_t&lt;-urt_osTime_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8596.7314,745.2431,8590.3318,741.9196,8584.8026,746.5487,8591.2022,749.8721,8596.7314,745.2431" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8581.1653" y="759.6008">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="1281.7782" y="1288.6683">1</text><!--MD5=[86ebe93bbfa4ec3b6f23ec8ed904ce0f]

link urt_subscriber_t to urt_config--><path d="M9665.0576,678.6398 C9840.0762,704.517 10035.7842,730.0541 10215.7624,745.8594 C10318.3107,754.865 11989.771,738.6688 12067.7624,805.8594 C12153.8522,880.0268 12113.7624,943.7273 12113.7624,1057.3594 C12113.7624,1057.3594 12113.7624,1057.3594 12113.7624,1342.8594 C12113.7624,1813.2885 11597.6965,1672.9826 11131.7624,1737.8594 C10331.7571,1849.2524 7762.1353,1893.2881 7112.2182,1902.7989 " fill="none" id="urt_subscriber_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7107.0098,1902.875,7116.0674,1906.7429,7112.0093,1902.8018,7115.9503,1898.7437,7107.0098,1902.875" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[52cc257f73bbbb16d4f5605ee05234fd]

reverse link urt_subscriber_t to urt_delay_t--><path d="M8583.6725,746.5975 C8368.2572,762.782 6422.0532,718.2701 6336.7624,805.8594 C6261.6379,883.0085 6147.4516,877.8342 6381.7624,1511.8594 C6393.809,1544.4564 6415.808,1576.1714 6436.2064,1601.0564 " fill="none" id="urt_subscriber_t&lt;-urt_delay_t" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="#A80036" points="8596.7302,745.2356,8590.3476,741.8796,8584.795,746.4805,8591.1776,749.8365,8596.7302,745.2356" style="stroke: #A80036; stroke-width: 1.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="8" x="8581.1641" y="744.3823">1</text><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="24" x="6404.3379" y="1590.4174">0..2</text><!--MD5=[e382e2d38ad01b25c47e084dc0da57c4]

link urt_subscriber_t to urt_status_t--><path d="M8596.7301,745.2345 C8595.4062,745.4451 8594.0837,745.6534 8592.7624,745.8594 C8471.3509,764.7902 6467.4641,717.8005 6381.7624,805.8594 C6228.8936,962.9329 6596.7558,1466.9521 6665.7624,1511.8594 C6743.42,1562.3965 6997.7562,1500.7743 7081.7624,1539.8594 C7114.2243,1554.9628 7141.9755,1584.5874 7161.0762,1609.4349 " fill="none" id="urt_subscriber_t-&gt;urt_status_t" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7164.3036,1613.6956,7162.058,1604.1061,7161.2846,1609.7099,7155.6809,1608.9365,7164.3036,1613.6956" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[3efe35f90d26626840318a84096a56c5]

link urt_hrtdata_t to urt_config--><path d="M9414.9285,1432.8919 C9369.6949,1462.1846 9316.7685,1492.1854 9264.7624,1511.8594 C8490.6669,1804.702 7487.4517,1880.3933 7112.159,1899.0541 " fill="none" id="urt_hrtdata_t-&gt;urt_config" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="7106.953,1899.3113,7116.1394,1902.8623,7111.9469,1899.0646,7115.7447,1894.8721,7106.953,1899.3113" style="stroke: #A80036; stroke-width: 1.0;"/><!--MD5=[ed989009be771aee0dc5ea42e965db70]

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

  package "Configuration" <<Node>> {

  class urt_config <<C,BFBFBF>> {

  URT_CFG_DELAY_WIDTH : int

  URT_CFG_TOPICID_WIDTH : int

  URT_CFG_SERVICEID_WIDTH : int

  URT_CFG_NODESTAGE_WIDTH : int

  ..

  URT_CFG_DEBUG_ENABLED : bool

  ..

  URT_CFG_PUBSUB_ENABLED : bool

  URT_CFG_PUBSUB_PROFILING : bool

  URT_CFG_PUBSUB_QOS_DEADLINECHECKS : bool

  URT_CFG_PUBSUB_QOS_RATECHECKS : bool

  URT_CFG_PUBSUB_QOS_JITTERCHECKS : bool

  ..

  URT_CFG_RPC_ENABLED : bool

  URT_CFG_RPC_PROFILING : bool

  URT_CFG_RPC_QOS_JITTERCHECKS : bool

}

}

  package "Primitives" <<Node>> {

  class urt_nodestage_t <<T,00CFFF>> {

  .. URT_CFG_NODESTAGE_WIDTH == 8 ..

  uin8_t

  .. URT_CFG_NODESTAGE_WIDTH == 16 ..

  uint16_t

  .. URT_CFG_NODESTAGE_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_NODESTAGE_WIDTH == 64 ..

  uint64_t

}

  class urt_topicid_t <<T,00CFFF>> {

  .. URT_CFG_TOPICID_WIDTH == 8 ..

  uin8_t

  .. URT_CFG_TOPICID_WIDTH == 16 ..

  uint16_t

  .. URT_CFG_TOPICID_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_TOPICID_WIDTH == 64 ..

  uint64_t

}

  class urt_serviceid_t <<T,00CFFF>> {

  .. URT_CFG_SERVICEID_WIDTH == 8 ..

  uin8_t

  .. URT_CFG_SERVICEID_WIDTH == 16 ..

  uint16_t

  .. URT_CFG_SERVICEID_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_SERVICEID_WIDTH == 64 ..

  uint64_t

}

  class urt_status_t <<T,00CFFF>> {

  URT_STATUS_OK = 0x0..0

  URT_STATUS_ERROR = 0x8..0

}

  class urt_delay_t <<T,00CFFF>> {

  .. URT_CFG_DELAY_WIDTH == 32 ..

  uint32_t

  .. URT_CFG_DELAY_WIDTH == 64 ..

  uint64_t

}

  class urt_debug <<F,E0E0E0>> {

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

}

}

  package "OSAL" <<Node>> {

  class urt_osTime_t <<T,00CFFF>> {

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

  + {method} urtTimeNow (void) : urt_osTime_t

  + {method} urtTimeAddUs (time : urt_osTime_t*, offset : uint32_t) : urt_osTime_t*

}

  class urt_osMutex_t <<T,00CFFF>> {

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

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

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

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

}

  package "condition variable" <<Rectangle>> {

    class urt_osCondvarWaitStatus_t <<E,FF7F3F>> {

    URT_CONDVAR_WAITSTATUS_SIGNAL = 1

    URT_CONDVAR_WAITSTATUS_BROADCAST = 2

    URT_CONDVAR_WAITSTATUS_TIMEOUT = 0

  }

    class urt_osCondvar_t <<T,00CFFF>> {

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

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

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

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

  }

}

  package "timer" <<Rectangle>> {

    class urt_osTimerCallback_t <<T,00CFFF>> {

    urt_osTimerCallback_t (parameter : void*) : void

  }

    class urt_osTimer_t <<T,00CFFF>> {

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

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

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

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

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

  }

} 

  package "thread" <<Rectangle>> {

    class urt_osThreadPrio_t <<T,00CFFF>> {

    URT_THREAD_PRIO_LOW_MIN

    URT_THREAD_PRIO_LOW_MAX

    URT_THREAD_PRIO_NORMAL_MIN

    URT_THREAD_PRIO_NORMAL_MAX

    URT_THREAD_PRIO_HIGH_MIN

    URT_THREAD_PRIO_HIGH_MAX

    URT_THREAD_PRIO_RT_MIN

    URT_THREAD_PRIO_RT_MAX

  }

    class urt_osThreadFunction_t <<T,00CFFF>> {

    urt_osThreadFunction_t (arg : void*) : void

  }

    class urt_osThreadTerminateSignal_t <<E,FF7F3F>> {

    URT_THREAD_TERMINATE_REQUEST = 15

    URT_THREAD_TERMINATE_KILL = 9

  }

    class urt_osThreadState_t <<E,FF7F3F>> {

    URT_THREAD_STATE_INACTIVE = 0

    URT_THREAD_STATE_RUNNING = 1

    URT_THREAD_STATE_READY = 2

    URT_THREAD_STATE_SLEEPING = 3

    URT_THREAD_STATE_SUSPENDED = 4

    URT_THREAD_STATE_WAITING = 5

    URT_THREAD_STATE_TERMINATED = 6

  }

    class urt_osThread_t <<T,00CFFF>> {

    URT_THREAD_SLEEP_MAX : float

    URT_THREAD_SSLEP_MAX : urt_delay_t

    URT_THREAD_MSLEEP_MAX : urt_delay_t

    URT_THREAD_USLEEP_MAX : urt_delay_t

    - -

    + {method} URT_THREAD_MEMORY (varname, stacksize)

    ..

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

    + {method} urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void

    + {method} urtThreadYield (void) : void

    + {method} urtThreadGetPriority (void) : urt_osThreadPrio_t

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

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

    + {method} urtThreadResume (thread : urt_osThread_t*) : urt_status_t

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

    + {method} urtThreadSSleep (seconds : urt_delay_t) : void

    + {method} urtThreadMSleep (milliseconds : urt_delay_t) : void

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

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

    + {method} urtThreadExit (void) : void

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

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

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

    + {method} urtThreadGetSelf (void) : urt_osThread_t*

  }

} 

  package "events" <<Rectangle>> {

    class urt_osEventMask_t <<T,00CFFF>> {

    URT_EVENTMASK_MAXPRIO : urt_osEventMask_t

  }

    class urt_osEventFlags_t <<T,00CFFF>> {

  }

    class urt_osEventWait_t <<E,FF7F3F>> {

    URT_EVENT_WAIT_ONE = 0

    URT_EVENT_WAIT_ANY = 1

    URT_EVENT_WAIT_ALL = 2

  }

    class urt_osEventListener_t <<T,00CFFF>> {

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

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

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

  }

    class urt_osEventSource_t <<T,00CFFF>> {

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

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

  }

    class urt_events <<F,E0E0E0>> {

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

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

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

  }

} 

  class urt_streams <<F,E0E0E0>> {

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

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

}

}

  package "Middleware" <<Node>> {

  class urt_core_t <<S,BFAFFF>> {

  - {field} {static} _nodes : urt_node_t*

  - {field} {static} _evtSource : urt_osEventSource_t

  - {field} {static} _lock : urt_osMutex_t

  .. URT_CFG_PUBSUB_ENABLED == true ..

  - {field} {static} _topics : urt_topic_t*

  .. URT_CFG_RPC_ENABLED == true ..

  - {field} {static} _services : urt_service_t*

  __

  + {method} urtCoreInit (void) : urt_status_t

  + {method} urtCoreStartNodes (void) : urt_status_t

  + {method} urtCoreSynchronizeNodes (node : urt_node_t*, stage : urt_nodestage_t) : urt_status_t

  + {method} urtCoreStopNodes (void) : urt_status_t

  .. URT_CFG_PUBSUB_ENABLED == true ..

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

  .. URT_CFG_RPC_ENABLED == true ..

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

}

  package "node" <<Rectangle>> {

    class urt_nodeSetupCallback_t <<T,00CFFF>> {

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

  }

    class urt_nodeLoopCallback_t <<T,00CFFF>> {

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

  }

    class urt_node_t <<S,BFAFFF>> {

    + {field} next : urt_node_t*

    + {field} thread : urt_osThread_t*

    + {field} setupcallback : urt_nodeSetupCallback_t*

    + {field} setupparams : void*

    + {field} loopcallback : urt_nodeLoopCallback_t*

    + {field} loopparams : void*

    + {field} stage : urt_nodestage_t

    + {field} listener : urt_osEventListener_t

    __

    - {method} {static} _main : urt_osThreadFunction_t

    + {method} urtNodeInit (node : urt_node_t*, stacksize : size_t, setupcallback : urt_nodeSetupCallback_t*, setupparams : void*, loopcallback : urt_nodeLoopCallback_t*, loopparams : void*) : urt_status_t

  }

} 

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

  class urt_message_t <<S,BFAFFF>> {

  + {field} next : urt_message_t*

  + {field} payload : void*

  + {field} originTime : urt_osTime_t

  + {field} numHrtConsumersLeft : unsigned int

  .. URT_CFG_PUBSUB_PROFILING == true ..

  + {field} numConsumersLeft : unsigned int

  __

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

}

  package "subscriber" <<Rectangle>> {

    package "real-time constraint data" <<Rectangle>> {

      class urt_rtdata_t <<S,BFAFFF>> {

      + {field} class : urt_rtconstraintclass_t

      + {field} params : urt_rtconstraintsparams_t

    }

      class urt_rtclass_t <<E,FF7F3F>> {

      URT_RTCLASS_HARD = 0

      URT_RTCLASS_FIRM = 1

      URT_RTCLASS_SOFT = 2

      URT_RTCLASS_NONE = 3

    }

      class urt_rtclassdata_t <<U,7FCF7F>> {

      + {field} hrt : urt_hrtparams_t

      + {field} frt : urt_frtparams_t

      + {field} srt : urt_srtparans_t

      + {field} nrt : urt_nrtparams_t

    }

      class urt_hrtdata_t <<S,BFAFFF>> {

      + {field} next : urt_subscriber_t*

      .. URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true ..

      + {field} qosDeadlineTimer : urt_osTimer_t

      + {field} deadlineOffset : urt_delay_t

      .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..

      + {field} expectedRate : urt_delay_t

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

      + {field} maxJitter : urt_delay_t

      + {field} minLatency : urt_delay_t

      + {field} maxLatency : urt_delay_t

    }

      class urt_frtdata_t <<S,BFAFFF>> {

      .. URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true ..

      + {field} deadlineOffset : urt_delay_t

      .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..

      + {field} expectedRate : urt_delay_t

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

      + {field} maxJitter : urt_delay_t

      + {field} minLatency : urt_delay_t

      + {field} maxLatency : urt_delay_t

    }

      package "SRT data" <<Rectangle>> {

        class urt_srtusefulnessfunc_t <<F,E0E0E0>> {

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

      }

        class urt_srtdata_t <<S,BFAFFF>> {

        + {field} usefullnesscb : urt_srtusefulnessfunc_t*

        + {field} cbparams : void*

      }

    } 

      class urt_nrtdata_t <<S,BFAFFF>> {

    }

  } 

    class urt_subscriber_t <<S,BFAFFF>> {

    + {field} topic : urt_topic_t*

    + {field} evtListener : urt_osEventListener_t

    + {field} rtdata : urt_rtdata_t

    + {field} lastMessage : urt_message_t*

    + {field} lastMessageTime : urt_osTime_t

    .. URT_CFG_PUBSUB_PROFILING == true ..

    + {field} sumLatencies : uint64_t

    + {field} numMessagesReceived : uint64_t

    .. URT_CFG_PUBSUB_PROFILING == true ..

    + {field} minLatency : urt_delay_t

    + {field} maxLatency : urt_delay_t

    __

    + {method} urtSubscriberInit (subscriber : urt_subscriber_t*) : urt_status_t

    + {method} 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

    + {method} 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

    + {method} urtSubscriberSubscribeSrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*, usefulnesscb : urt_srtusefulnessfunc_t*, cbparams : void*) : urt_status_t

    + {method} urtSubscriberSubscribeNrt (subscriber : urt_subscriber_t*, topic : urt_topic_t*, messages : urt_message_t*) : urt_status_t

    + {method} urtSubscriberUnsubscribe (subscriber : urt_subscriber_t*) : urt_status_t

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

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

    + {method} urtSubscriberCalculateUsefulness (subscriber : urt_subscriber_t*, latency : urt_delay_t) : float

  }

} 

  class urt_publisher_t <<S,BFAFFF>> {

  + {field} topic : urt_topic_t*

  .. URT_CFG_PROFILING == true ..

  + {field} publishAttempts : uint64_t

  + {field} publishFails : uint64_t

  __

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

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

}

  class urt_topic_t <<S,BFAFFF>> {

  + {field} next : urt_topic_t*

  + {field} id : urt_topicid_t

  + {field} lock : urt_osMutex_t

  + {field} evtSource : urt_osEventSource_t

  + {field} numHrtSubscribers : unsigned int

  + {field} hrtSubscribers : urt_subscriber_t*

  + {field} hrtReleased : urt_osCondvar_t

  + {field} mandatoryMessage : urt_message_t

  + {field} latestMessage : urt_message_t*

  .. URT_CFG_PUBSUB_QOS_RATECHECKS == true ..

  + {field} qosRateTimer : urt_osTimer_t

  .. URT_CFG_PUBSUB_PROFILING == true ..

  + {field} numDiscardedMessages : uint64_t

  + {field} numSubscribers : unsigned int

  __

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

}

}

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

  class urt_servicefunc_t <<F,E0E0E0>> {

  urt_servicefunc_t (arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t

}

  class urt_service_t <<S,BFAFFF>> {

  + {field} next : urt_service_t*

  + {field} id : urt_serviceid_t

  + {field} lock : urt_osMutex_t

  + {field} callback : urt_servicefunc_t*

  .. URT_CFG_RPC_PROFLING == true ..

  + {field} sumDurations : uint64_t

  + {field} numCalls : uint64_t

  + {field} numTimeouts : uint64_t

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

  + {field} minDuration : urt_delay_t

  + {field} maxDuration : urt_delay_t

  __

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

  + {method} urtServiceCall(service : urt_service_t*, arg : void*, ret : void*, timeout : urt_delay_t) : urt_status_t

}

}

}

urt_nodestage_t ..> urt_config

urt_topicid_t ..> urt_config

urt_serviceid_t ..> urt_config

urt_delay_t ..> urt_config

urt_osCondvar_t ..> urt_osCondvarWaitStatus_t

urt_osCondvar_t .> urt_osMutex_t

urt_osTimer_t ..> urt_osTimerCallback_t

urt_osThread_t ..> urt_osThreadPrio_t

urt_osThread_t ..> urt_osThreadFunction_t

urt_osThread_t ..> urt_osThreadTerminateSignal_t

urt_osThread_t ..> urt_osThreadState_t

urt_osThread_t .> urt_osTime_t

urt_osEventListener_t ..> urt_osEventFlags_t

urt_osEventSource_t ..> urt_osEventFlags_t

urt_events ..> urt_osEventSource_t

urt_events ..> urt_osEventListener_t

urt_events ..> urt_osEventMask_t

urt_events ..> urt_osEventFlags_t

urt_events ..> urt_osEventWait_t

urt_osCondvar_t ..> urt_delay_t

urt_osThread_t ..> urt_delay_t

urt_osThread_t ..> urt_status_t

urt_osTimer_t ..> urt_delay_t

urt_osTimer_t ..> urt_status_t

urt_events ..> urt_delay_t

urt_events ..> urt_status_t

urt_node_t "1" o- - "0..1" urt_node_t

urt_node_t "1" o- - "1" urt_nodeSetupCallback_t

urt_node_t <.. urt_nodeSetupCallback_t

urt_node_t "1" o- - "1" urt_nodeLoopCallback_t

urt_node_t <.. urt_nodeLoopCallback_t

urt_srtdata_t "1" o- - "0..1" urt_srtusefulnessfunc_t

urt_rtclassdata_t "1" *- - "0..1" urt_hrtdata_t

urt_rtclassdata_t "1" *- - "0..1" urt_frtdata_t

urt_rtclassdata_t "1" *- - "0..1" urt_srtdata_t

urt_rtclassdata_t "1" *- - "0..1" urt_nrtdata_t

urt_rtdata_t "1" *- - "1" urt_rtclass_t

urt_rtdata_t "1" *- - "1" urt_rtclassdata_t

urt_hrtdata_t "1" o-up- "0..1" urt_subscriber_t

urt_message_t "1" o- - "0..1" urt_message_t

urt_subscriber_t "1" *- - "1" urt_rtdata_t

urt_subscriber_t "1" o- "0..1" urt_topic_t

urt_subscriber_t "1" o- - "0..1" urt_message_t

urt_publisher_t "1" o- "1" urt_topic_t

urt_publisher_t ..> urt_message_t

urt_topic_t "1" o- - "0..1" urt_topic_t

urt_topic_t "1" o- "0..1" urt_subscriber_t

urt_topic_t "1" o- - "1..1" urt_message_t

urt_topic_t "1" *- - "1" urt_message_t

urt_service_t "1" o- - "0..1" urt_service_t

urt_service_t "1" o- - "0..1" urt_servicefunc_t

urt_core_t "1" o- - "0..1" urt_node_t

urt_core_t "1" *- - "0..1" urt_topic_t

urt_core_t "1" *- - "0..1" urt_service_t

urt_core_t "1" *- - "1" urt_osEventSource_t

urt_core_t "1" *- - "1" urt_osMutex_t

urt_core_t ..> urt_status_t

urt_core_t ..> urt_nodestage_t

urt_core_t ..> urt_topicid_t

urt_core_t ..> urt_serviceid_t

urt_node_t "1" o- - "0..1" urt_osThread_t

urt_node_t "1" *- - "1" urt_nodestage_t

urt_node_t "1" *- - "1" urt_osEventListener_t

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

urt_node_t ..> urt_status_t

urt_nodeSetupCallback_t ..> urt_osEventMask_t

urt_nodeLoopCallback_t ..> urt_osEventMask_t

urt_publisher_t ..> urt_config

urt_publisher_t ..> urt_status_t

urt_publisher_t ..> urt_delay_t

urt_topic_t "1" *- - "1" urt_topicid_t

urt_topic_t "1" *- - "1" urt_osMutex_t

urt_topic_t "1" *- - "1" urt_osEventSource_t

urt_topic_t ..> urt_config

urt_topic_t "1" *- - "0..1" urt_osTimer_t

urt_topic_t ..> urt_status_t

urt_message_t "1" *- - "1" urt_osTime_t

urt_message_t "1" *- - "1" urt_osMutex_t

urt_message_t "1" *- - "1" urt_osCondvar_t

urt_message_t ..> urt_config

urt_message_t ..> urt_status_t

urt_subscriber_t "1" *- - "1" urt_osEventListener_t

urt_subscriber_t "1" *- - "1" urt_osTime_t

urt_subscriber_t ..> urt_config

urt_subscriber_t "1" *- - "0..2" urt_delay_t

urt_subscriber_t ..> urt_status_t

urt_hrtdata_t ..> urt_config

urt_hrtdata_t "1" *- - "0..1" urt_osTimer_t

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

urt_frtdata_t ..> urt_config

urt_frtdata_t "1" *- - "0..1" urt_osTimer_t

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

urt_srtusefulnessfunc_t ..> urt_delay_t

urt_service_t "1" *- - "1" urt_serviceid_t

urt_service_t "1" *- - "1" urt_osMutex_t

urt_service_t ..> urt_config

urt_service_t "1" *- - "0..2" urt_delay_t

urt_service_t ..> urt_status_t

urt_servicefunc_t ..> urt_delay_t

urt_servicefunc_t ..> urt_status_t

@enduml

PlantUML version 1.2020.00(Sat Jan 11 13:30:53 CET 2020)

(GPL source distribution)

Java Runtime: OpenJDK Runtime Environment

JVM: OpenJDK 64-Bit Server VM

Java Version: 11.0.6+10-post-Ubuntu-1ubuntu118.04.1

Operating System: Linux

Default Encoding: UTF-8

Language: en

Country: US

--></g></svg>