AMiRo-OS

    urt_node_t* _nodes;

    urt_osEventSource_t* _evtSource;

    urt_osMutex_t _lock;

    urt_status_t _status;

    #if (URT_CFG_PUBSUB_ENABLED)

        urt_topic_t* _topics;

    #endif /* URT_CFG_PUBSUB_ENABLED */

    #if (URT_CFG_RPC_ENABLED)

        urt_service_t* _services;

    #endif /* URT_CFG_RPC_ENABLED */

    void urtCoreInit(void);

    urt_status_t urtCoreGetStatus(void);

    void urtCoreStartNodes(void);

    urt_status_t urtCoreSynchronize(urt_node_t* node);

    urt_status_t urtCoreStopNodes(urt_status_t reason);

    urt_topic_t* urtCoreGetTopic(urt_topicid_t id);

    urt_service_t urtCoreGetService(urt_serviceid_t id);

    urt_message_t* next;

    void* payload;

    urt_osTime_t originTime;

    unsigned int numHrtConsumersLeft;

    #if (URT_CFG_PUBSUB_PROFILING)

        unsigned int numConsumersLeft;

    #endif /* URT_CFG_PUBSUB_PROFILING */

    void urtMessageInit(urt_message_t* message, void* payload);

    urt_node_t* next;

    urt_osThread_t* thread;

    urt_nodeSetupCallback_t* setupcallback;

    void* setupparams;

    urt_nodeLoopCallback_t* loopcallback;

    void* loopparams;

    urt_nodeShutdownCallback_t* shutdowncallback;

    void* shutdownparams;

    urt_nodestage_t stage;

    urt_osEventListener_t listener;

    #if (URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING)

        uint64_t loops;

    #endif /* URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING */

    void urtNodeInit(urt_node_t* node, urt_osThread_t* thread, urt_nodeSetupCallback_t* setupcallback, void* setupparams, urt_nodeLoopCallback_t* loopcallback, void* loopparams, urt_nodeShutdownCallback_t* shutdowncallback, void* shutodwnparams);

    urt_topic_t* topic;

    #if (URT_CFG_PUBSUB_PROFILING)

        uint64_t publishAttempts;

        uint64_t publishFails;

    #endif /* URT_CFG_PUBSUB_PROFILING */

    void urtPublisherInit(urt_publisher_t* publisher, urt_topic_t* topic, urt_message_t* message);

    urt_status_t urtPublisherPublish(urt_publisher_t* publisher, void* payload, size_t bytes, urt_osTime_t t, urt_delay_t timeout);

    urt_service_t* next;

    urt_serviceid_t id;

    urt_osMutex_t lock;

    urt_servicefunc_t* callback;

    #if (URT_CFG_RPC_PROFILING)

        uint64_t sumDurations;

        uint64_t numCalls;

        uint64_t numTimeouts;

        urt_delay_t minDuration;

        urt_delay_t maxDuration;

    #endif /* URT_CFG_RPC_PROFILING */

    urt_status_t urtServiceInit(urt_service_t* service, urt_serviceid_t id, urt_servicefunc_t* callback);

    urt_status_t urtServiceCall(urt_service_t* service, void* arg, void* ret, urt_delay_t timeout);

    urt_topic_t* topic;

    urt_osEventListener_t evtListener;

    urt_message_t* lastMessage;

    urt_osTime_t lastMessageTime;

    #if (URT_CFG_PUBSUB_PROFILING)

        uint64_t sumLatencies;

        uint64_t numMessagesReceived;

    #endif /* URT_CFG_PUBSUB_PROFILING */

    urt_basesubscriber_t base;

    #if (URT_CFG_PUBSUB_PROFILING)

        urt_delay_t minLatency;

        urt_delay_t maxLatency;

    #endif /* URT_CFG_PUBSUB_PROFILING */

    urt_basesubscriber_t base;

    urt_srtusefulnessfunc_t* usefulnesscb;

    #if (URT_CFG_PUBSUB_PROFILING)

        urt_delay_t minLatency;

        urt_delay_t maxLatency;

    #endif /* URT_CFG_PUBSUB_PROFILING */

    urt_basesubscriber_t base;

    #if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS)

        urt_delay_t deadlineOffset;

    #endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */

    #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS)

        urt_delay_t maxJitter;

    #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */

    #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING)

        urt_delay_t minLatency;

        urt_delay_t maxLatency;

    #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */

    urt_basesubscriber_t base;

    urt_hrtsubscriber_t* next;

    #if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS)

        urt_delay_t deadlineOffset;

        urt_osTimer_t qosDeadlineTimer;

    #endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */

    #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS)

        urt_delay_t maxJitter;

    #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */

    #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING)

        urt_delay_t minLatency;

        urt_delay_t maxLatency;

    #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */

    #if (URT_CFG_PUBSUB_QOS_RATECHECKS)

        urt_delay_t expectedRate;

    #endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */

    void urtNrtSubscriberInit(urt_nrtsubscriber_t* subscriber);

    urt_status_t urtNrtSubscriberSubscribe(urt_nrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages);

    urt_status_t urtNrtSubscriberFetchNextMessage(urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);

    urt_status_t urtNrtSubscriberFetchLatestMessage(urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);

    urt_status_t urtNrtSubscriberUnsubscribe(urt_nrtsubscriber_t* subscriber);

    void urtSrtSubscriberInit(urt_srtsubscriber_t* subscriber);

    urt_status_t urtSrtSubscriberSubscribe(urt_srtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* message, urt_srtusefulnessfunc_t* usefulnesscb, void* cbparams);

    urt_status_t urtSrtSubscriberFetchNextMessage(urt_srtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);

    urt_status_t urtSrtSubscriberFetchLatestMessage(urt_srtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);

    urt_status_t urtSrtSubscriberCalculateUsefulness(urt_srtsubscriber_t* subscriber, urt_delay_t latency);

    urt_status_t urtSrtSubscriberUnsubscribe(urt_srtsubscriber_t* subscriber);

    void urtFrtSubscriberInit(urt_frtsubscriber_t* subscriber);

    urt_status_t urtFrtSubscriberSubscribe(urt_frtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages, urt_delay_t deadline, urt_delay_t jitter);

    urt_status_t urtFrtSubscriberFetchNextMessage(urt_frtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);

    urt_status_t urtFrtSubscriberFetchLatestMessage(urt_frtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);

    bool urtFrtSubscriberCalculateValidity(urt_frtsubscriber_t* subscriber, urt_delay_t latency);

    urt_status_t urtFrtSubscriberUnsubscribe(urt_frtsubscriber_t* subscriber);

    void urtHrtSubscriberInit(urt_hrtsubscriber_t* subscriber);

    urt_status_t urtHrtSubscriberSubscribe(urt_hrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* message, urt_delay_t deadline, urt_delay_t rate, urt_delay_t jitter);

    urt_status_t urtHrtSubscriberFetchNextMessage(urt_hrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);

    urt_status_t urtHrtSubscriberFetchLatestMessage(urt_hrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);

    urt_status_t urtHrtSubscriberUnsubscribe(urt_hrtsubscriber_t* subscriber);

    urt_topic_t* next;

    urt_topicid_t id;

    urt_osMutex_t lock;

    urt_osEventSource_t evtSource;

    unsigned int numHrtSubscribers;

    urt_osCondvar_t hrtReleased;

    urt_message_t mandatoryMessage;

    urt_message_t* latestMessage;

    #if (URT_CFG_PUBSUB_QOS_RATECHECKS)

        urt_hrtsubscriber_t* hrtSubscribers;

        urt_osTimer_t qosRateTimer;

    #endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */

    #if (URT_CFG_PUBSUB_PROFILING)

        uint64_t numMessagesPublished;

        uint64_t numMessagesDiscarded;

        unsigned int numSubscribers;

    #endif /* URT_CFG_PUBSUB_PROFILING */

    urt_status_t urtTopicInit(urt_topic_t* topic, urt_topicid_t id);