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);